CN106672216A - Method for controlling landing of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Method for controlling landing of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN106672216A CN106672216A CN201611143351.3A CN201611143351A CN106672216A CN 106672216 A CN106672216 A CN 106672216A CN 201611143351 A CN201611143351 A CN 201611143351A CN 106672216 A CN106672216 A CN 106672216A
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- 238000012360 testing method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 7
- 230000010339 dilation Effects 0.000 description 6
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- 230000001174 ascending effect Effects 0.000 description 2
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- 238000007665 sagging Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/60—Take-off or landing of UAVs from a runway using their own power
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a method for controlling landing of an unmanned aerial vehicle. The method comprises the following steps of enabling the unmanned aerial vehicle to measure N distances between N undercarriages and the ground when the unmanned aerial vehicle is ready to land, wherein N is a positive integer more than 1, calculating a first difference value of the maximum value Dmax and the minimum value Dmin in the N distances, judging whether the first difference value is less than a first difference value threshold, if yes, enabling the unmanned aerial vehicle to adjust the expansion lengths of the N undercarriages according to the N distances, and finally enabling the unmanned aerial vehicle to land. In addition, the embodiment of the invention further discloses the unmanned aerial vehicle. By implementing the method provided by the embodiment of the invention, the unmanned aerial vehicle adjusts the expansion lengths of the undercarriages according to the different landforms so as to land safely.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of method and unmanned plane of control unmanned plane landing.
Background technology
At present unmanned plane is commercially enjoyed and pursued, and gradually buys and be applied to life ＆ amusement, film and tv photography, work by user
The various fields such as industry and agricultural.Unmanned plane safe falling how is set to be always the difficult point and emphasis of market and all big enterprises' concern,
This is because unmanned plane has many uncertain factors in descent, landform is changeable, environment is changeable etc., unmanned plane are similar to
Jing often meets with " Waterloo event " in descent, it is impossible to safe landing, the regular body injury for causing unmanned plane, significantly
Reduce the service life of unmanned plane.
Unmanned plane does not adapt to different terrain and carries out ascending, descending in prior art, causes unmanned plane to be difficult to protect after landing
Maintain an equal level weighing apparatus, it is impossible to safe falling.
The content of the invention
The embodiment of the invention discloses the method and unmanned plane of a kind of control unmanned plane landing, can make unmanned plane in landing
Process adapts to different terrain, it is ensured that unmanned plane keeps after landing balance, safe falling.
Embodiment of the present invention first aspect discloses a kind of method of control unmanned plane landing, including：When unmanned plane prepares
During landing, the unmanned plane measures the N number of distance between N number of undercarriage and ground, and wherein N is the positive integer more than 1；It is described
Unmanned plane calculates the first difference of the maximum Dmax in N number of distance and minima Dmin；The unmanned plane judges institute
The first difference is stated whether less than the first difference threshold；When the difference is less than first difference threshold, then the unmanned plane
The collapsing length of N number of undercarriage is adjusted according to N number of distance；The unmanned plane is landed.
In a kind of alternative, in the method that first aspect is provided, the unmanned plane is according to N number of distance adjustment
The collapsing length of N number of undercarriage is specifically included；On the basis of minima Dmin in N number of distance, residue is calculated
N-1 difference between N-1 distance and minima Dmin, according to the N-1 differences remaining N-1 undercarriage is adjusted
Collapsing length；Or, according to N number of distance and the scaling of the N number of undercarriage of distance threshold range computation, stretched according to described
Contracting ratio controls the collapsing length of N number of undercarriage.
In a kind of alternative, in the method that first aspect is provided, the unmanned plane includes：N number of laser range finder,
N number of laser range finder and the N number of undercarriage are corresponded, and the difference in height of the laser range finder and the undercarriage
It is constant；Methods described also includes：N number of laser range finder described in the unmanned aerial vehicle (UAV) control measures N number of undercarriage and ground
Between described N number of distance.
In a kind of alternative, in the method that first aspect is provided, also include：Periodically detect that first rises and falls
M distance between frame and ground, wherein M is the positive integer more than 1；Calculate the maxima and minima in the M distance
Between the second difference；Judge second difference whether less than the second difference threshold；If second difference is less than described the
Two difference thresholds, then control first undercarriage extends to the first undercarriage unmanned plane and cannot extend.
In a kind of alternative, first aspect provide method in, methods described the unmanned plane landing after,
Also include：Whether the unmanned plane test pose balances, the attitude if uneven, between the unmanned plane adjustment and ground
Angle, changes landing place.
Embodiment of the present invention second aspect discloses a kind of unmanned plane, including：Range cells, for when unmanned plane standard
When making preparation for dropping, the N number of distance between N number of undercarriage and ground is measured, wherein N is the positive integer more than 1；Computing unit, uses
In first difference of the maximum Dmax and minima Dmin calculated in N number of distance；Judging unit, it is described for judging
Whether first difference of computing unit output is less than the first difference threshold；Control unit, for being less than institute when the difference
When stating the first difference threshold, the collapsing length of N number of undercarriage is adjusted according to N number of distance, control the unmanned plane and enter
Row landing.
In a kind of alternative, in the unmanned plane that second aspect is provided, described control unit, specifically for：With institute
On the basis of stating minima Dmin in N number of distance, N-1 between remaining N-1 distance and minima Dmin is calculated
Difference, according to the N-1 differences collapsing length of remaining N-1 undercarriage is adjusted；Or, according to N number of distance and distance
Threshold range calculates the scaling of N number of undercarriage, and according to the scaling the flexible length of N number of undercarriage is controlled
Degree.
In a kind of alternative, in the unmanned plane that second aspect is provided, the unmanned plane also includes：N number of Laser Measuring
Distance meter, N number of laser range finder is corresponded with N number of undercarriage, and the laser range finder and the undercarriage
Difference in height is constant；The range cells specifically for：Control N number of laser range finder and measure N number of undercarriage with ground
Described N number of distance between face, wherein N is the positive integer more than 1.
In a kind of alternative, in the unmanned plane that second aspect is provided, also include：The range cells, are additionally operable to
M distance between the first undercarriage and ground is periodically detected, wherein M is the positive integer more than 1；It is described to calculate single
Unit, is additionally operable to calculate the second difference between the maxima and minima in the M distance；The judging unit, is additionally operable to
Judge second difference whether less than the second difference threshold；Described control unit, is additionally operable to when the judging unit is judged
When second difference is less than second difference threshold, control first undercarriage extend to first undercarriage nobody
Till machine cannot extend.
In a kind of alternative, in the unmanned plane that second aspect is provided, also include：Posture detecting unit is used to detect
Whether the attitude of the unmanned plane balances；Pose adjustment unit, for detecting the unmanned plane when the posture detecting unit
When attitude is uneven, the attitude angle between the unmanned plane and ground is adjusted, change landing place.
In the embodiment of the present invention, when unmanned plane prepares to land, unmanned plane measures the N between N number of undercarriage and ground
Individual distance, wherein N are the positive integer more than 1；Calculate the first of maximum Dmax in N number of distance and minima Dmin
Difference；Whether unmanned plane judges first difference less than the first difference threshold；If difference is less than the first difference threshold, nobody
Collapsing length of the machine according to the N number of undercarriage of N number of distance adjustment；Last unmanned plane is landed；And after unmanned plane landing, inspection
Survey whether UAV Attitude balances, the attitude angle between unmanned plane and ground is adjusted if imbalance, readjust landing place.
As can be seen that the embodiment of the present invention can make unmanned plane that the collapsing length of undercarriage is adjusted according to different landform, it is ensured that nobody
Machine safe landing.
Description of the drawings
Technical scheme in order to be illustrated more clearly that the embodiment of the present invention, below by to be used needed for embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, general for this area
For logical technical staff, on the premise of not paying creative work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is a kind of hardware architecture diagram of unmanned plane disclosed in the embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of the method for control unmanned plane landing disclosed in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the method for disclosed another the control unmanned plane landing of the embodiment of the present invention；
Fig. 4 is a kind of structural representation of unmanned plane disclosed in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than the embodiment of whole.Based on this
Embodiment in bright, the every other enforcement that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
The embodiment of the invention discloses a kind of method of control unmanned plane landing, and a kind of unmanned plane, nobody can be made
Machine is adapted to for different terrain carries out ascending, descending, and in order to unmanned plane balance is kept after landing, reaches safe falling.With
It is lower to be described in detail respectively.
Fig. 1 is referred to, Fig. 1 is a kind of hardware architecture diagram of unmanned plane disclosed in the embodiment of the present invention.Such as Fig. 1 institutes
Show, the unmanned plane structure can include：Unmanned plane body 11, the first undercarriage 12, the second undercarriage 13, the and of the 3rd undercarriage 14
Fourth frame 15 that falls.Certainly, in actual applications, it is also possible to the undercarriage of other numbers is set, is not limited herein.
Wherein, undercarriage refer to unmanned plane park, slide on ground, takeoff and anding (the taking-off and landing mistake of unmanned plane
Journey) slide when running for supporting without aircraft gravity, bear the device of respective loads.Wherein, the first undercarriage 12, the second undercarriage
13rd, the 3rd undercarriage 14 and fourth frame 15 that falls can be to be extended or shortened in default length range.Flying
Machine normal flight, when being not ready to landing, four undercarriages are at being contracted in the state of unmanned plane internal body, work as unmanned plane
When needing landing, the order that each undercarriage can send according to the control system of unmanned plane is extended or is shortened.
Optionally, above-mentioned unmanned plane can also include：Four laser range finders, four laser range finders rise and fall with four
Frame is corresponded, and each laser range finder is constant with the difference in height of undercarriage.Certainly, in actual applications, it is also possible to configure
Other multiple laser range finders matched with undercarriage number, do not limit herein.
Fig. 2 is referred to, Fig. 2 is that a kind of flow process of the method for control unmanned plane landing is illustrated disclosed in the embodiment of the present invention
Figure.As shown in Fig. 2 the method for the control unmanned plane landing can include：
S201, when unmanned plane prepare land when, unmanned plane measures the N number of distance between N number of undercarriage and ground, wherein
N is the positive integer more than 1.
Unmanned plane refers to the abbreviation of UAV in above-mentioned steps S201, be using radio robot and from
The not manned aircraft that standby presetting apparatus is manipulated.The unmanned plane includes：N number of undercarriage, the undercarriage can be default
Extended in length range or shortened, can be specifically the first undercarriage 12 in Fig. 1, the second undercarriage 13, the 3rd
Fall frame 14 and fourth frame 15 that falls.
In the prior art, the undercarriage of unmanned plane is all fixed, it is impossible to enough extended, shunk, and take off,
The landform of landing is often changeable, and fixed undercarriage significantly limit the use of unmanned plane, so in present invention enforcement
In example, using the undercarriage of changeable-shaped, elongation can be realized according to the control command that unmanned plane sends or be shortened.
Optionally, above-mentioned steps S201 unmanned plane also includes：N number of laser range finder, N number of laser range finder rises and falls with N number of
Frame is corresponded, and laser range finder is constant with the difference in height of undercarriage, and wherein N is the positive integer more than 1.Laser range finder energy
Enough when unmanned plane needs landing, the N number of distance between N number of undercarriage of unmanned plane and ground is measured.Certainly actually should
With in, above-mentioned unmanned plane can also include other measurement distance devices, not limit herein.
S202, unmanned plane calculate the first difference of the maximum Dmax in N number of distance and minima Dmin.
Unmanned plane calculates maximum Dmax in N number of distance and the first of minima Dmin poor in above-mentioned steps S202
Value, for example：When N is 4, i.e., 4 undercarriages are measured 44 distances between undercarriage and ground and are respectively：2.0 meters,
1.9 meters, 1.8 meters, 1.8 meters, then maximum Dmax is 2.0 meters, and minima Dmin is 1.8 meters, and unmanned plane is calculated in 4 distances
Maximum Dmax and the first difference of minima Dmin be 0.2 meter.
Optionally, above-mentioned steps S202 calculate the maximum Dmax in N number of distance and minima Dmin in unmanned plane
Before first difference, can also include：Whether the meansigma methodss of N number of distance are judged less than default distance threshold, when the meansigma methodss
Less than default distance threshold, then judge that unmanned plane meets the condition of landing, can enter and prepare landing state, then calculate
First difference of maximum Dmax and minima Dmin in N number of distance.
Whether S203, unmanned plane judge the first difference less than the first difference threshold.
The first difference threshold in above-mentioned steps in S203 is corresponding with the maximal dilation length of undercarriage, i.e. the first difference
Maximal dilation length of the threshold value less than or equal to undercarriage.
S204, when the first difference is less than the first difference threshold, then unmanned plane is according to the N number of undercarriage of N number of distance adjustment
Collapsing length.
Used as a kind of optional embodiment, above-mentioned unmanned plane adjusts the collapsing length of N number of undercarriage according to N number of distance,
Including；On the basis of minima Dmin in N number of distance, N-1 between remaining N-1 distance and minima Dmin is calculated
Difference, according to N-1 differences the collapsing length of remaining N-1 undercarriage is adjusted, and wherein N is the positive integer more than 1.For example：Work as nothing
During 4 undercarriages of man-machine configuration, measure 4 distances and be respectively 2.0 meters, 1.9 meters, 1.8 meters, 1.85 meters, then with 1.8 meters as base
Standard, the difference calculated between remaining 3 distances and 1.8 meters show that 3 differences are respectively：0.2 meter, 0.1 meter, 0.05 meter, root
Remaining 3 undercarriages are extended respectively according to this 3 differences：0.2 meter, 0.1 meter, 0.05 meter.
Used as a kind of optional embodiment, above-mentioned unmanned plane adjusts the collapsing length of N number of undercarriage according to N number of distance,
Can also include：Unmanned plane is flexible according to this according to N number of distance and the scaling of the N number of undercarriage of distance threshold range computation
Ratio controls the collapsing length of N number of undercarriage.
Optionally, above-mentioned distance threshold scope includes：Distance threshold scope maximum and distance threshold stated range minimum, should
The maximal dilation equal length of distance threshold stated range minimum and undercarriage；Unmanned plane is according to N number of distance and distance threshold scope
The scaling of N number of undercarriage is calculated, including：The meansigma methodss of N number of distance are calculated, judges the meansigma methodss whether in distance threshold model
In enclosing, if the meansigma methodss are more than distance threshold scope maximum, control N number of undercarriage and do not stretched；If the meansigma methodss are little
In distance threshold scope maximum, more than distance threshold stated range minimum, then N number of undercarriage is controlled according to the first scaling
Collapsing length, wherein the first scaling is the ratio of the first measurement distance and the collapsing length of undercarriage first, equal to distance threshold
Scope maximum and undercarriage maximal dilation length ratio；If the meansigma methodss are less than distance threshold stated range minimum, according to the
Two scaling control the collapsing length of N number of undercarriage, wherein the second scaling is the second measurement distance and undercarriage second
The ratio of collapsing length, equal to distance threshold stated range minimum and undercarriage maximal dilation length ratio, i.e., 1:1.Certainly in reality
Using in, the distance threshold scope is set by the user, and does not limit herein.Here arranging undercarriage carries out flexible adjustment twice,
When being to prevent unmanned plane from will land, the problems such as due to unmanned plane inertia or time delay, if only once being adjusted nothing
Method reaches the problem being precisely controlled, it may occur however that unmanned plane landed but undercarriage also do not have enough time adjust situation.
For example：It is general to initially enter preparation landing mode when unmanned plane drops to 2 meters, when unmanned plane undercarriage declines
During to certain undercarriage maximal dilation length (such as 20 centimetres), then start to land, it is possible to by distance threshold range set
For 20 centimetres to 2 meters.When N number of distance is when being more than 20 centimetres and less than 2 meters, according to 1:10 scaling control undercarriage
Collapsing length, the front distance for such as measuring a undercarriage with ground is 2 meters, then extend the undercarriage to 20 centimetres；When it is N number of away from
From when less than 20 centimetres, according to 1:1 scaling controls the collapsing length of undercarriage, such as when a undercarriage with identity distance
From for 18 centimetres when, directly control the undercarriage and extend 18 centimetres.
S205, unmanned plane are landed.
Used as a kind of optional embodiment, above-mentioned steps S205 also include after unmanned plane is landed：
Whether unmanned plane test pose balances, if uneven, the attitude angle between unmanned plane adjustment and ground changes drop
Dropping place is put.Wherein, the unmanned plane in one embodiment of the invention includes：Gyroscope, when unmanned plane test pose is uneven, then
The unmanned plane reconfigures the gyroscope parameters of unmanned plane, adjusts depression angle and roll angle of the unmanned plane relative to ground, so as to
In attitude angle of the unmanned plane relative to ground is readjusted, the balance of unmanned plane is kept.
In the method described by Fig. 2, unmanned plane includes the undercarriage of extension type, when unmanned plane prepares to land, nothing
The man-machine N number of distance measured between N number of undercarriage and ground, wherein N is the positive integer more than 1；Then unmanned plane is calculated
Whether first difference of maximum Dmax and minima Dmin in N number of distance, judge first difference less than the first difference
Threshold value, when the difference is less than the first difference threshold, then unmanned plane adjusts the collapsing length of each undercarriages of N according to N number of distance,
Last unmanned plane is landed.By implementing the method described by Fig. 2, unmanned plane can be made to adapt to adjust many according to different terrain
The collapsing length of individual undercarriage, in order to unmanned plane balance can be kept after landing, reach stable landing.
Fig. 3 is referred to, Fig. 3 is that the flow process of the method for another kind of control unmanned plane landing disclosed in the embodiment of the present invention is illustrated
Figure.As shown in figure 3, the method for the control unmanned plane landing can include：
S301, M distance between the first undercarriage and ground is periodically detected, wherein M is just whole more than 1
Number.
M distance between the first undercarriage and ground is periodically detected in above-mentioned steps S301, is referred to
The distance between one undercarriage and ground carry out high frequency measurement, and measurement frequency specifically can be set by the user, for example：10 times/second,
Or 20 times/second, the cycle is frequency/1.
The definition and explanation of the undercarriage in above-mentioned steps S301 may be referred to such as the word description in Fig. 1.
The second difference between maxima and minima in S302, M distance of calculating.
For example：It is when 8 distances measuring between the first undercarriage and ground for 7 times are carried out continuously：1.8 meters, 1.85 meters,
2 meters, 1.9 meters, 1.8 meters, 2 meters, 1.9 meters, 1.8 meters, then the second difference to be 2 meters deduct 1.8 meters of value, i.e., 0.2 meter.
S303, judge second difference whether less than the second difference threshold.
If S303, the second difference be less than the second difference threshold, control the first undercarriage extend to the first undercarriage nobody
Till machine cannot extend.
The principle of realizing of the technical scheme that the embodiment of the application one is provided is that unmanned plane would ordinarily be encountered during landing
Changeable landform and environment, the common situation of one of which is that have the weedy ground of class to survey by mistake for normal ground length, at that time
When unmanned plane lands, situations such as unmanned plane can meet with sagging；But weeds are made in the blade that natural wind or unmanned plane land
Into wind blows under, the multiple distances between periodic measurement the first undercarriage out and ground are necessarily different, while
Mobility scale again can be in certain scope, so in one embodiment of the invention, by periodically detecting first
M distance between undercarriage and ground, wherein M is the positive integer more than 1, and then M distance is carried out to screen the calculating M
The second difference between maxima and minima in individual distance；Judge the second difference whether less than the second difference threshold；If the
Two differences are less than second difference threshold, then control the first undercarriage extends to the first undercarriage unmanned plane and cannot extend,
So when unmanned plane lands, the situation that can substantially avoid unmanned plane sagging makes unmanned plane safe falling.
Used as a kind of optional embodiment, the implementation that processing length in the method for figure 3 has the landform of weeds may be used also
To include：The M distance that measurement draws is depicted as into curve chart, whether the number for screening the crest in the curve chart and trough surpasses
Default number threshold value is crossed, crest value is screened and valley value specifically can be big with both sides distance value by comparing each distance value
It is little, if when the distance value is more than both sides distance value, being judged as crest value；If the distance value is less than both sides distance value,
It is judged as valley value, after finding out all of crest value and valley value, counts the number of crest value and valley value, then judges respectively
Whether the number of crest and trough exceedes default number threshold value, if judging, crest and the number of trough exceed default number threshold
Value, then judge the first undercarriage by land landform for weeds landform, control the first undercarriage extend to the first undercarriage nobody
Till machine cannot extend, in order to UAV Landing after, can keep balance.
As can be seen that by the method described by Fig. 3, unmanned plane can be made to adapt to common length many of the plants such as weeds
Become landform, it is ensured that after UAV Landing, it is to avoid undercarriage sink and keeps balance, safe landing.
Fig. 4 is referred to, Fig. 4 is a kind of structural representation of unmanned plane disclosed in the embodiment of the present invention, can be used for performing
The method of Fig. 2 disclosed in the embodiment of the present invention and Fig. 3.As shown in figure 4, the unmanned plane 400 can include：
Range cells 401, for when unmanned plane prepare land when, measure between N number of undercarriage and ground it is N number of away from
From wherein N is the positive integer more than 1.
Computing unit 402, for calculating N number of distance in maximum Dmax and minima Dmin the first difference.
Judging unit 403, for judging whether the first difference that computing unit is exported is less than the first difference threshold.
Control unit 404, for when first difference is less than the first difference threshold, according to N number of N number of of distance adjustment
Fall the collapsing length of frame, and control unmanned plane is landed.
Optionally, in above-mentioned unmanned plane control unit 404 specifically for:On the basis of minima Dmin in N number of distance,
N-1 difference between remaining N-1 distance and minima Dmin is calculated, residue N-1 is adjusted according to the N-1 differences
The collapsing length of individual undercarriage；Or, according to N number of distance and the scaling of the N number of undercarriage of distance threshold range computation,
The collapsing length of N number of undercarriage is controlled according to the scaling, wherein N is the positive integer more than 1.
Optionally, above-mentioned unmanned plane also includes：N number of laser range finder, N number of laser range finder is with N number of undercarriage one by one
Correspondence, and laser range finder is constant with the difference in height of undercarriage.
Above-mentioned range cells 401 specifically for：Control above-mentioned N number of laser range finder measure N number of undercarriage and ground it
Between N number of distance, wherein N is the positive integer more than 1.
Optionally, above-mentioned unmanned plane also includes：
The range cells 401, are additionally operable to periodically detect M distance between the first undercarriage and ground, its
Middle M is the positive integer more than 1.
The computing unit 402, is additionally operable to calculate the second difference between the maxima and minima in M distance.
Whether the judging unit 403, be additionally operable to judge the second difference less than the second difference threshold.
Described control unit 404, is additionally operable to when judging unit 403 judges that the second difference is less than the second difference threshold,
Control the first undercarriage extends to the first undercarriage unmanned plane and cannot extend.
Optionally, said apparatus also include：
Posture detecting unit 405, for detecting whether the attitude of unmanned plane balances.
Pose adjustment unit 406, when the attitude for detecting unmanned plane when posture detecting unit is uneven, adjusts unmanned plane
Attitude angle between ground, changes landing place.
Specifically, the unmanned plane introduced in the embodiment of the present invention can implement one kind that the present invention is introduced with reference to Fig. 2 or Fig. 3
Part or all of flow process in the embodiment of the method for control unmanned plane landing.
Unit or module in all embodiments of the invention, by universal integrated circuit, such as CPU, or can pass through
ASIC (Application Specific Integrated Circuit, special IC) is realizing.
It should be noted that for aforesaid each embodiment of the method, in order to be briefly described, therefore it is all expressed as one it is
The combination of actions of row, but those skilled in the art should know, and the present invention is not limited by described sequence of movement, because
It is that, according to the application, certain some step can adopt other orders or while carry out.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this Shen
Please be necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in certain embodiment
Part, may refer to the associated description of other embodiment.
Step in present invention method can according to actual needs carry out order adjustment, merge and delete.
Unit in embodiment of the present invention user terminal can according to actual needs be merged, divides and deleted.
One of ordinary skill in the art will appreciate that realizing all or part of flow process in above-described embodiment method, can be
Related hardware is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, abbreviation RAM) etc..
Above detailed Jie is carried out to the method and unmanned plane of a kind of control unmanned plane landing disclosed in the embodiment of the present invention
Continue, specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example is only
It is to be used to help understand the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to this
Bright thought, will change in specific embodiments and applications, and in sum, this specification content should not be managed
Solve as limitation of the present invention.
Claims (10)
1. a kind of method that control unmanned plane lands, it is characterised in that include：
When unmanned plane prepares to land, the unmanned plane measures the N number of distance between N number of undercarriage and ground, and wherein N is big
In 1 positive integer；
The unmanned plane calculates the first difference of the maximum Dmax in N number of distance and minima Dmin；
Whether the unmanned plane judges first difference less than the first difference threshold；
When first difference is less than first difference threshold, then the unmanned plane adjusts the N according to N number of distance
The collapsing length of individual undercarriage；
The unmanned plane is landed.
2. method according to claim 1, it is characterised in that the unmanned plane is described N number of according to N number of distance adjustment
The collapsing length of undercarriage is specifically included；
On the basis of minima Dmin in N number of distance, calculate between remaining N-1 distance and minima Dmin
N-1 difference, the collapsing length of remaining N-1 undercarriage is adjusted according to the N-1 differences；
Or,
According to N number of distance and the scaling of the N number of undercarriage of distance threshold range computation, controlled according to the scaling
The collapsing length of N number of undercarriage.
3. method according to claim 1, it is characterised in that the unmanned plane includes：N number of laser range finder, it is described N number of
Laser range finder is corresponded with N number of undercarriage, and the laser range finder is constant with the difference in height of the undercarriage, its
Middle N is the positive integer more than 1；
Methods described also includes：N number of laser range finder described in the unmanned aerial vehicle (UAV) control measure N number of undercarriage and ground it
Between described N number of distance.
4. method according to claim 1, methods described, also include：
M distance between the first undercarriage and ground is periodically detected, wherein M is the positive integer more than 1；
Calculate the second difference between the maxima and minima in the M distance；
Judge second difference whether less than the second difference threshold；
If second difference is less than second difference threshold, control first undercarriage and extend to described first to rise and fall
Till frame unmanned plane cannot extend.
5. method according to claim 1, it is characterised in that methods described also includes after unmanned plane landing：
Whether the unmanned plane test pose balances, if uneven, the attitude angle between the unmanned plane adjustment and ground changes drop
Dropping place is put.
6. a kind of unmanned plane, it is characterised in that include：
Range cells, for when the unmanned plane prepares to land, measuring the N number of distance between N number of undercarriage and ground, its
Middle N is the positive integer more than 1；
Computing unit, for calculating N number of distance in maximum Dmax and minima Dmin the first difference；
Judging unit, for judging first difference of the computing unit output whether less than the first difference threshold
Control unit, for when first difference is less than first difference threshold, according to N number of distance adjustment
The collapsing length of N number of undercarriage, controls the unmanned plane and is landed.
7. unmanned plane according to claim 6, it is characterised in that described control unit specifically for：
On the basis of minima Dmin in N number of distance, calculate between remaining N-1 distance and minima Dmin
N-1 difference, the collapsing length of remaining N-1 undercarriage is adjusted according to the N-1 differences, wherein N is just whole more than 1
Number；
Or,
The scaling of N number of undercarriage according to N number of distance and distance threshold range computation, according to the scaling
Control the collapsing length of N number of undercarriage.
8. unmanned plane according to claim 6, it is characterised in that the unmanned plane also includes：N number of laser range finder, institute
State N number of laser range finder to correspond with N number of undercarriage, and the laser range finder is permanent with the difference in height of the undercarriage
It is fixed；
The range cells specifically for：Control N number of laser range finder to measure between N number of undercarriage and ground
N number of distance, wherein N is the positive integer more than 1.
9. unmanned plane according to claim 6, it is characterised in that also include：
The range cells, are additionally operable to periodically detect M distance between the first undercarriage and ground, wherein M is big
In 1 positive integer；
The computing unit, is additionally operable to calculate the second difference between the maxima and minima in the M distance；
Whether the judging unit, be additionally operable to judge second difference less than the second difference threshold；
Described control unit, is additionally operable to when the judging unit judges that second difference is less than second difference threshold
When, control first undercarriage is extended to the first undercarriage unmanned plane cannot extending.
10. unmanned plane according to claim 6, it is characterised in that the unmanned plane also includes
Posture detecting unit, for detecting whether the attitude of the unmanned plane balances；
Pose adjustment unit, when the attitude for detecting the unmanned plane when the posture detecting unit is uneven, adjustment is described
Attitude angle between unmanned plane and ground, changes landing place.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143351.3A CN106672216A (en) | 2016-12-13 | 2016-12-13 | Method for controlling landing of unmanned aerial vehicle and unmanned aerial vehicle |
| PCT/CN2017/071713 WO2018107561A1 (en) | 2016-12-13 | 2017-01-19 | Method for controlling landing of unmanned aerial vehicle, and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143351.3A CN106672216A (en) | 2016-12-13 | 2016-12-13 | Method for controlling landing of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN106672216A true CN106672216A (en) | 2017-05-17 |
Family
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| CN201611143351.3A Pending CN106672216A (en) | 2016-12-13 | 2016-12-13 | Method for controlling landing of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN (1) | CN106672216A (en) |
| WO (1) | WO2018107561A1 (en) |
Cited By (4)
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| CN107272733A (en) * | 2017-06-13 | 2017-10-20 | 深圳市伊特利网络科技有限公司 | The unmanned aerial vehicle (UAV) control method and system of terminal positioning |
| CN111190439A (en) * | 2020-01-09 | 2020-05-22 | 上海海洋大学 | Multi-rotor unmanned aerial vehicle takeoff and landing control method |
| CN112154390A (en) * | 2019-07-30 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Landing method for aircraft, unmanned aircraft, and computer-readable storage medium |
| CN112306085A (en) * | 2019-07-30 | 2021-02-02 | 广州极飞科技有限公司 | Forced landing method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
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| CN112783181B (en) * | 2021-01-13 | 2024-02-06 | 中国人民解放军空军工程大学 | Multi-rotor unmanned aerial vehicle cluster vision landing method based on fuzzy control |
| CN117163342B (en) * | 2023-10-27 | 2024-01-19 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle landing gear control method and device and computer storage medium |
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| Publication number | Publication date |
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| WO2018107561A1 (en) | 2018-06-21 |
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