CN107000830B - A kind of control method, device and the unmanned plane of unmanned plane decline - Google Patents
A kind of control method, device and the unmanned plane of unmanned plane decline Download PDFInfo
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- CN107000830B CN107000830B CN201680003420.2A CN201680003420A CN107000830B CN 107000830 B CN107000830 B CN 107000830B CN 201680003420 A CN201680003420 A CN 201680003420A CN 107000830 B CN107000830 B CN 107000830B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- 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
- G05D1/042—Control of altitude or depth specially adapted for aircraft
- G05D1/046—Control of altitude or depth specially adapted for aircraft to counteract a perturbation, e.g. gust of wind
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses control method, device and the unmanned plane of a kind of decline of unmanned plane, this method are as follows: obtain the expectation decrease speed of unmanned plane；The horizontal velocity of unmanned plane is adjusted according to desired decrease speed, so that desirably decrease speed declines unmanned plane.It can thus be appreciated that, unmanned plane can combine the movement of horizontal direction while moving downward, speed so due to unmanned plane in the horizontal direction, the air-flow below the propeller of unmanned plane can be made to have the component of horizontal direction, then when unmanned plane is declined with higher expectation decrease speed, the air-flow of horizontal direction can effectively be alleviated, and then the posture of unmanned plane can not be influenced by sinuous flow and keep stable.
Description
Technical field
The invention relates to the controlling parties that the flight control technique field of unmanned plane more particularly to a kind of unmanned plane decline
Method, device and unmanned plane.
Background technique
In general, unmanned plane can be divided into fixed-wing unmanned plane and rotor wing unmanned aerial vehicle two types.Wherein, conventional to consolidate
Although determining wing unmanned plane has the advantages that speed is fast, voyage is remote, takes off or have site requirements when landing, while can not carry out
Aerial fixed point suspends, and rotor wing unmanned aerial vehicle is comparatively, can VTOL, to taking off or place of landing does not require, and can be
Aerial spot hover executes task.Thus, rotor wing unmanned aerial vehicle has the characteristics that operation ease and executes multitask.
With the rapid development of unmanned air vehicle technique, in recent years, rotor wing unmanned aerial vehicle, which receives, ardent to be pursued and becoming increasingly popular.
Different from aircraft and helicopter, the rotary power of rotor wing unmanned aerial vehicle can be mentioned the principle of taking off of rotor wing unmanned aerial vehicle by dynamical system
For, and gyroscopic effect and empty mechanomotive force torque are offset by the direction of rotation of control propeller, to keep rotor wing unmanned aerial vehicle fuselage
Stability, meanwhile, rotor wing unmanned aerial vehicle can change the revolving speed of propeller by adjusting the revolving speed of motor, reach realization variation
The purpose of lift.
It is well known that the lower section of the propeller of rotor wing unmanned aerial vehicle will generate sinuous flow during the decline of rotor wing unmanned aerial vehicle,
And decrease speed is faster, sinuous flow is bigger to the disturbance of rotor wing unmanned aerial vehicle, so will lead to rotor wing unmanned aerial vehicle unsteady attitude and
It shakes seriously, or even the safety accidents such as aircraft bombing danger occurs.Therefore, high decrease speed easilys lead to aircraft accident.In order to mention
High safety performance, the highest decrease speed of existing rotor wing unmanned aerial vehicle are generally limited to 3 meters per second to per second between 4 meters, however,
On the one hand, for the unmanned plane fan of part, which is unable to satisfy the stimulation sexual psychology of challenge, separately
On the one hand, in certain special unmanned plane tasks, which also can not adapt to task feature and to revolve
Wing unmanned plane preferably executes task, for example, when rotor wing unmanned aerial vehicle is applied to carry out some particular fields such as take photo by plane to skiing camera lens
Jing Shi, if necessary to skier carry out with clap, then necessarily require rotor wing unmanned aerial vehicle have higher decrease speed come into
Line trace shooting, and it is impossible to meet this demands of taking photo by plane to 4 meters of decrease speed per second for common 3 meters per second.
Therefore, it is necessary to provide a kind of method, so that rotor wing unmanned aerial vehicle can be with rapid decrease, and posture is relatively stable.
Summary of the invention
The embodiment of the invention provides control method, device and the unmanned planes of a kind of decline of unmanned plane, adjust for passing through
Whole horizontal velocity makes unmanned plane obtain biggish decrease speed, and the attitude stabilization of unmanned plane is kept during decline.
In view of this, first aspect present invention provides a kind of control method of unmanned plane decline, it may include:
Obtain the expectation decrease speed of unmanned plane；
The horizontal velocity of unmanned plane is adjusted according to desired decrease speed, so that unmanned plane is desirably under decrease speed
Drop.
Second aspect of the present invention provides a kind of control device of unmanned plane decline, it may include:
First obtains module, for obtaining the expectation decrease speed of unmanned plane；
The first adjustment module, for adjusting the horizontal velocity of unmanned plane according to desired decrease speed, so that unmanned plane is pressed
Decline according to desired decrease speed.
Third aspect present invention provides a kind of unmanned plane, it may include the unmanned plane decline provided such as the second aspect of the present invention
Control device, further include the power device being connect with control device；Wherein, power device includes the mechanical, electrical tune of electricity, propeller.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
In the present embodiment, after the expectation decrease speed for obtaining unmanned plane, it can be made by the horizontal velocity of control unmanned plane
Unmanned plane is obtained it is expected that decrease speed declines, it follows that unmanned plane can combine horizontal direction while moving downward
Movement, then the speed due to unmanned plane in the horizontal direction, can make the air-flow below the propeller of unmanned plane have water
Square to component, then when unmanned plane is declined with higher expectation decrease speed, the air-flow of horizontal direction can be obtained effectively
Ground is alleviated, and then the posture of unmanned plane can not be influenced by sinuous flow and keep stable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is quadrotor schematic diagram；
Fig. 2 is control method one embodiment schematic diagram of unmanned plane decline in the embodiment of the present invention；
Fig. 3 is another embodiment schematic diagram of control method of unmanned plane decline in the embodiment of the present invention；
Fig. 4 is each decrease speed and minimum level speed of the control method of unmanned plane decline in the embodiment of the present invention
Logical relation schematic diagram；
Fig. 5 is another embodiment schematic diagram of control method of unmanned plane decline in the embodiment of the present invention；
Fig. 6 is another embodiment schematic diagram of control method of unmanned plane decline in the embodiment of the present invention；
Fig. 7 is an application scenarios schematic diagram of the control method of unmanned plane decline in the embodiment of the present invention；
Fig. 8 is another embodiment schematic diagram of control method of unmanned plane decline in the embodiment of the present invention；
Fig. 9 is the another application schematic diagram of a scenario of the control method of unmanned plane decline in the embodiment of the present invention；
Figure 10 is another embodiment schematic diagram of control method of unmanned plane decline in the embodiment of the present invention；
Figure 11 is the another application schematic diagram of a scenario of the control method of unmanned plane decline in the embodiment of the present invention；
Figure 12 is control device one embodiment schematic diagram of unmanned plane decline in the embodiment of the present invention；
Figure 13 is another embodiment schematic diagram of control device of unmanned plane decline in the embodiment of the present invention；
Figure 14 is another embodiment schematic diagram of control device of unmanned plane decline in the embodiment of the present invention；
Figure 15 is another embodiment schematic diagram of control device of unmanned plane decline in the embodiment of the present invention；
Figure 16 is another embodiment schematic diagram of control device of unmanned plane decline in the embodiment of the present invention；
Figure 17 is another embodiment schematic diagram of control device of unmanned plane decline in the embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides control method, device and the unmanned planes of a kind of decline of unmanned plane, for passing through water
Flat speed makes unmanned plane obtain biggish decrease speed, and the attitude stabilization of unmanned plane is kept during decline.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
In the embodiment of the present invention, it is assumed that there are a kind of unmanned plane, which can be rotor craft, and may include
But more rotors such as DCB Specimen, quadrotor, six rotors are not limited to, the embodiment of the present invention illustrates by taking quadrotor 1 as an example.
As shown in Figure 1, the tool of quadrotor 1 is respectively equipped with motor in each horn structure there are four horn structure
11, motor 12, motor 13 and motor 14, it is corresponding, propeller 15, propeller 16, spiral shell are also respectively equipped on each horn
Revolve paddle 17 and propeller 18, which can change propeller by adjusting the revolving speed of aforementioned four motor
Revolving speed reaches the variation for realizing lift, to control posture and the position of itself.Wherein, 11 He of motor of quadrotor 1
The direction of rotation of motor 13 is identical, and with the direction of rotation of motor 12 and motor 14 on the contrary, then when the balance of quadrotor 1 flies
When row, gyroscopic effect and air force torque effect are cancelled.
In upper figure, it is assumed that using the connection direction of motor 11 and motor 13 as X-axis, the connection direction with motor 12 and 14 is
Y-axis, using the direction of the plane formed perpendicular to X-axis and Y-axis as Z axis, and motor 11 and motor 13 rotate counterclockwise, motor 12
It is rotated clockwise with motor 14, during the decline of quadrotor 1, currently existing scheme mainly passes through reduction motor
11, the output power of motor 12, motor 13 and motor 14, so that the total pulling force that propeller generates is not enough to that quadrotor is overcome to fly
1 self gravity of device and realize vertical decline.However, when quadrotor 1 declines, propeller 15, propeller 16, spiral 17
Sinuous flow can be generated with the lower section of propeller 18, and decrease speed is bigger, sinuous flow is bigger to the disturbance of quadrotor 1, and disturbs
Fuselage unstability caused by dynamic easily leads to the generation of peril, so that quadrotor 1 is difficult to keep fuselage
Stablize and rapid decrease.
In the embodiment of the present invention, in order to be conducive to increase decrease speed, and the fuselage for being able to maintain quadrotor 1 is steady
It is qualitative, it taking the example shown in figure 1, can be by such as to motor when getting the expectation decrease speed of quadrotor 1
11, motor 12, motor 13 and motor 14 carry out respective treated mode, reach the horizontal velocity progress to quadrotor 1
The purpose adjusted accordingly, so that quadrotor 1 can desirably decrease speed decline, then in four rotations
During the decline of rotor aircraft 1, due to decrease speed combination have horizontal velocity, then quadrotor 1 will no longer vertically to
Lower movement, then due to the influence of horizontal velocity, propeller 15, propeller 16, spiral 17 and propeller in quadrotor 1
The air-flow of 18 lower sections can be eased in the horizontal direction, be conducive to the holding of 1 fuselage stability of quadrotor, Jin Eryou
Conducive to it is expected that decrease speed declines faster.
In the embodiment of the present invention, the movement of various dimensions is may be implemented in unmanned plane, such as vertical movement, pitching movement, rolling fortune
It moves, move forward and backward, wherein the auxiliary device of carrier can be installed, can be realized carrier on the fuselage of unmanned plane
Fixation, arbitrarily adjust the posture (such as: changing height, inclination angle and/or the direction of carrier) of carrier and keep carrier steady
Surely it being maintained in determining posture etc., the carrier on auxiliary device then may include camera, video camera or sensor etc., with
Can be realized different task execution and unmanned plane it is multi-functional, specifically herein without limitation.
It should be noted that the decrease speed in the present embodiment refers to unmanned plane in the vertical side vertical with horizontal direction
To speed, it is expected that decrease speed is to refer to a certain it is expected that the decrease speed that reaches, horizontal velocity refer to unmanned plane in water
Square to speed, and the practical decrease speed of unmanned plane should be the sum of the vector of horizontal velocity and decrease speed.
It is understood that by physical knowledge it is found that uniform motion refers to the movement that acceleration is zero, however due to reality
There are many influence factors in the situation of border, therefore the perfect condition that acceleration is 0 is extremely difficult in reality, then for the present invention
The uniform descent illustrated in embodiment, it is merely meant that unmanned plane can steadily decline, decline average speed is close under expectation
Reduction of speed degree, i.e., the vertical acceleration of its decline is close to 0, and does not imply that uniform descent ideally.Specially illustrate
Except situation.
For ease of understanding, the detailed process in the embodiment of the present invention is described below, please refers to Fig. 1 and Fig. 2, this hair
Control method one embodiment of unmanned plane decline includes: in bright embodiment
201, the expectation decrease speed of unmanned plane is obtained；
In the present embodiment, when unmanned plane connects execution decline order, the expectation decrease speed of available unmanned plane.
In practical applications, which, which can be, is customized by the user operation and obtains, and is also possible to according to nothing
The man-machine task feature needed to be implemented is calculated, and can also be and is calculated according to the currently practical height of unmanned plane, may be used also
Being obtained according to other control instructions, specifically herein without limitation.
202, the horizontal velocity of unmanned plane is adjusted according to desired decrease speed, so that unmanned plane desirably decrease speed
Decline.
It, can be by adjusting the horizontal velocity of unmanned plane after getting the expectation decrease speed of unmanned plane in the present embodiment
Reach the control to decrease speed, so that the decrease speed of unmanned plane can achieve desired decrease speed, and can be with expectation
Decrease speed carries out uniform descent.
For example, it is assumed that expectation decrease speed is 5m/s, and current decrease speed is 2m/s, then can be declined according to expectation
Speed sends corresponding speed command to control unmanned plane, reaches the adjustment to horizontal velocity, and unmanned plane is made to obtain such as 3m/
The horizontal velocity of s, then unmanned plane will not keep track vertically downward during decline due to the influence of horizontal velocity,
But oblique movement, to be conducive to hide sinuous flow, and the air-flow below the propeller of unmanned plane can obtain in the horizontal direction
Alleviate, and then can control the expectation decrease speed that unmanned plane reaches 5m/s.It should be noted that current decrease speed not
In the case where for expectation decrease speed, when adjusting decrease speed to desired decrease speed, allow that there are the regular hour is poor.
Specifically, can have the case where horizontal velocity is 0 and non-zero value in the flight course of unmanned plane, as unmanned plane hangs down
Decline after straight rising, for another example unmanned plane declines in propulsion, in practical applications, in order to enable unmanned plane obtains non-zero value
Horizontal velocity, continue to use Fig. 1, the revolving speed that can increase motor 13 increases corresponding pulling force, and the revolving speed for reducing motor 11 makes
Corresponding pulling force reduces, while keeping the revolving speed of motor 12 and motor 14 constant, so that reaction torque still maintains balance, then four rotation
A degree of inclination can occur in the case where force unbalance for rotor aircraft 1, and total pulling force can be made to generate centainly
Horizontal component.Therefore, under such as above-mentioned treatment conditions, unmanned plane can obtain horizontal velocity, and may be implemented to horizontal speed
The corresponding adjustment of degree.
Further, in order to stablize adjustment horizontal velocity, reach the control to desired decrease speed, unmanned plane is such as deposited
Storage device can store the logical relation of horizontal velocity and decrease speed, so that can be according to the logical relation and determination
Expectation decrease speed adjust horizontal velocity, specific logical relation can according to the actual situation and flight require to carry out it is corresponding
Setting, specifically herein without limitation.
It is understood that horizontal velocity can be adjusted correspondingly according to the actual situation in the embodiment of the present invention,
And unmanned plane can be controlled accordingly after horizontal velocity adjustment, referring specifically to Fig. 3, in the embodiment of the present invention nobody
Machine decline another embodiment of control method include:
Step 301 in the present embodiment is identical as the step 201 in embodiment illustrated in fig. 2, and details are not described herein again.
302, the corresponding minimum level speed of expectation decrease speed is determined；
In the present embodiment, after getting the expectation decrease speed of unmanned plane, it can determine that desired decrease speed is corresponding most
Small horizontal velocity, can compare minimum level speed and the horizontal velocity of unmanned plane current detection, so that unmanned plane
Horizontal velocity can with desired decrease speed be adapted, be conducive to unmanned plane and reach desired decrease speed.
Specifically, unmanned plane can be equipped with the upper limit value of decrease speed, each decrease speed below the upper limit can be with
A minimum level speed has been respectively corresponded, in order to be conducive to be adjusted to horizontal velocity, each decline can be preset
The corresponding minimum level speed of speed, and the logical relation is stored in such as storage device of unmanned plane, thus in determination
It is expected that can determine expectation decrease speed pair according to the logical relation of minimum level speed and each decrease speed after decrease speed
The minimum level speed answered.In the present embodiment, minimum level speed can be as follows with the logical relation of each decrease speed: due to
Each decrease speed below the upper limit can respectively correspond a minimum level speed, then for each lower reduction of speed
It spends for corresponding minimum level speed, the horizontal velocity of only unmanned plane is at least up to the minimum level speed, just can control
Unmanned plane reaches corresponding decrease speed, i.e. minimum level speed can serve to indicate that, when control unmanned plane keeps decrease speed
When, it can control horizontal velocity equal to or more than the corresponding minimum level speed of decrease speed, for example, it is assumed that with Y for lower reduction of speed
Degree, X are horizontal velocity, and the upper limit value of Y is YM, M is the integer greater than 0, then as shown in figure 4, available following function
Expression formula:
Y=Y1, X >=X1；Y=Y2, X >=X2；Y=Y3, X >=X3；Y=Y4, X >=X4；And so on, Y=YM, X >=XM。
From above-mentioned function expression it is found that for example, if corresponding minimum level speed is 5m/s when decrease speed is 8m/s,
Corresponding minimum level speed is 6m/s when decrease speed is 9m/s, then the horizontal velocity of only unmanned plane reaches 5m/s, decline
Speed can be only achieved 8m/s, and the horizontal velocity of only unmanned plane reaches 6m/s, and decrease speed can be only achieved 9m/s, and if unmanned plane
Horizontal velocity reach 6m/s, then can control unmanned plane decrease speed be 8m/s or 9m/s.However, in practical applications,
Unmanned plane should be able to be stablized to reach a certain decrease speed and maintain, therefore, the stability contorting of unmanned plane decrease speed is in addition to needing
So that horizontal velocity meets corresponding minimum level speed, it is also necessary to which such as flight control assemblies dependent on unmanned plane are to decline
Speed is controlled, i.e., when horizontal velocity minimum level speed corresponding equal to or more than desired decrease speed, can control
Unmanned plane keeps expectation decrease speed, such as continues to use above explained content, it is assumed that expectation decrease speed is 8m/s, then working as level
When speed reaches 6m/s, unmanned plane should be can control and keep 8m/s, rather than 9m/s.
Further, since the decrease speed of unmanned plane has upper limit value, then above explained function expression is continued to use,
When horizontal velocity is equal to or more than minimum level speed XMWhen, it, should if unmanned plane has reached the upper limit value of the decrease speed
Control the upper limit value that unmanned plane keeps decrease speed, i.e. YM。
It is understood that above-mentioned function expression is by way of example only, wherein decrease speed and horizontal velocity are not
It is limited to integer, X1To XNIn there may also be identical numerical value, in practical applications, each decrease speed and corresponding minimum level
Logical relation between speed can be arranged accordingly according to specific needs, specifically herein without limitation.
It should be noted that the minimum level speed in the present embodiment only illustrates numerical values recited, it is not directed to direction, in reality
In the application of border, the direction of minimum level speed should be consistent with the direction of horizontal component of practical decrease speed of unmanned plane.
303, the corresponding minimum level speed of desired decrease speed is compared with present level speed；
It, can be by desired decrease speed after determining the corresponding minimum level speed of expectation decrease speed in the present embodiment
Corresponding minimum level speed is compared with present level speed, which is that detection unmanned plane obtains.
Specifically, in practical applications, the direction of the horizontal component of the practical decrease speed of available unmanned plane, and can
Using by the direction as the direction of minimum level speed, then continue to use step 302 illustrate content, it is assumed that expectation decrease speed be
8m/s, corresponding minimum level speed are 5m/s, then can be in the direction by 5m/s and the present level of unmanned plane that detects
Speed is compared, to judge whether the present level speed detected is equal to or more than 5m/s.
It is understood that in the present embodiment, using the direction of the horizontal component of the practical decrease speed of unmanned plane as most
The direction of small horizontal velocity, and it is fast with present level as the corresponding minimum level speed of desired decrease speed is compared in the direction
The direction of degree is conducive to avoid the corresponding minimum level speed of expectation decrease speed different from the direction of present level speed, but
The numerical value of present level speed be greater than the corresponding minimum level speed of it is expected decrease speed numerical value, caused by unmanned plane generation
The case where maloperation, after described herein as, is not repeated to limit later.
If 304, present level speed is less than the corresponding minimum level speed of desired decrease speed, according to present level speed
Minimum level speed corresponding with aspiration level speed is spent, obtains horizontal acceleration according to preset rules control unmanned plane；
In the present embodiment, if the present level speed of unmanned plane is less than the corresponding minimum level speed of desired decrease speed,
So nobody can be controlled according to preset rules according to present level speed minimum level speed corresponding with desired decrease speed
Machine obtains horizontal acceleration.
It in practical applications, can be by determining present level speed minimum level speed corresponding with time limit decrease speed
Difference, and according to the difference in the way of the first posture of preset rules adjustment unmanned plane so that unmanned plane obtain it is corresponding
Horizontal acceleration.It can specifically be accomplished in that
On the one hand, in the direction of the present level speed detected minimum level speed corresponding with desired decrease speed
In the identical situation in direction, if the numerical value of present level speed is less than the numerical value of minimum level speed, adjustable unmanned plane
The first posture so that unmanned plane generates horizontal pull in the direction of present level speed, and the horizontal pull be should be greater than on the contrary
The resistance in direction, so that unmanned plane can obtain horizontal acceleration in the direction of present level speed, so that unmanned plane
Horizontal velocity be capable of increasing minimum level speed corresponding to desired decrease speed.
On the other hand, in the direction phase of the direction of present level speed minimum level speed corresponding with desired decrease speed
In the case where anti-, it is believed that numerical value of the present level speed in the direction of the corresponding minimum level speed of desired decrease speed is
0, then the first posture of adjustable unmanned plane, draws so that opposite direction generation of the unmanned plane in the direction of present level speed is horizontal
Power, and the horizontal pull should be greater than the resistance in the direction of present level speed, so that unmanned plane can be in present level speed
The opposite direction of degree obtains horizontal acceleration, so that the horizontal velocity of unmanned plane can be in the corresponding minimum water of desired decrease speed
The direction of flat speed increases to the corresponding minimum level speed of desired decrease speed.
It is understood that the size of horizontal acceleration can be adjusted correspondingly by the size of horizontal pull, level is drawn
The size of power, then can be accomplished by adjusting the total pulling force of unmanned plane and the posture of unmanned plane.
305, according to horizontal acceleration adjust unmanned plane horizontal velocity to equal than or be greater than desired decrease speed it is corresponding
Minimum level speed；
In the present embodiment, according to horizontal velocity minimum level speed corresponding with desired decrease speed, according to preset rules
After controlling unmanned plane acquisition horizontal acceleration, the horizontal velocity of unmanned plane can be modulated according to horizontal acceleration to equal than or is greater than
It is expected that the corresponding minimum level speed of decrease speed.
Specifically, present level speed is 2m/s, it is expected that lower reduction of speed for example, it is assumed that the horizontal acceleration obtained is 1m/s
Corresponding minimum level speed is spent for 3m/s, and the side of present level speed minimum level speed corresponding with desired decrease speed
To identical, then the horizontal velocity of unmanned plane can be adjusted with the horizontal acceleration of 1m/s to equal than or be greater than desired decrease speed
Corresponding minimum level speed.
306, the horizontal acceleration for controlling unmanned plane is reduced to zero, so that after unmanned plane keeps adjustment in flight course
Horizontal velocity.
In the present embodiment, the horizontal velocity of unmanned plane is adjusted according to horizontal acceleration to equal than or greater than desired decrease speed
After corresponding minimum level speed, the horizontal acceleration that can control unmanned plane is reduced to zero, so that unmanned plane was flying
Horizontal velocity adjusted is kept in journey, i.e., is in the horizontal direction uniform motion.Meanwhile if unmanned plane is judged in step 303
Horizontal velocity be equal to or more than the corresponding minimum level speed of desired decrease speed, then it is also possible that unmanned plane is flying
Present level speed is kept in the process.
Specifically, in order to be satisfied with horizontal velocity and decrease speed setting logical relation and each decrease speed with
Logical relation between corresponding minimum level speed, when to reach desired decrease speed corresponding for the real standard speed of unmanned plane
After minimum level speed, the corresponding minimum level speed of the expectation decrease speed can be maintained, can continue to the horizontal speed of increase
Degree, but the expectation decrease speed should be maintained after the decrease speed for making unmanned plane reaches desired decrease speed.And it is actually answering
In, in order to reduce the processing load of unmanned plane, it can reach corresponding equal to or more than desired decrease speed in horizontal velocity
When certain level speed after minimum level speed, unmanned plane can be made to keep the water adjusted by adjusting horizontal acceleration
Flat speed, in the case where adjusting horizontal acceleration is zero, due to drag effects of the unmanned plane in flight course, unmanned plane machine
Body can be by the oblique attitude of certain angle with balancing resistance, and making horizontal acceleration as much as possible is zero.It needs to illustrate
Be, due to changing greatly for resistance, the case where horizontal acceleration is zero in the present embodiment also non-ideal conditions, and refer to it is horizontal plus
The case where speed is close to 0.It is understood that the pose adjustment in the present embodiment by unmanned plane is so that horizontal acceleration
The case where being zero is a progressive formation, and in the progressive formation, the posture of unmanned plane can changing according to horizontal acceleration
To continuous adjustment, finally to realize the counteracting of horizontal pull and resistance.
It should be noted that in practical applications, it, can be with unmanned plane if the resistance that unmanned plane is subject in flight course
A certain device generate power offset, then adjustment unmanned plane horizontal velocity to equal than or be greater than expectation under reduction of speed
It spends after corresponding minimum level speed, the horizontal attitude that fuselage tilts and keeps fuselage can not also be controlled.
It is understood that, by combining different application scenarios, being declined according to the expectation of acquisition in the embodiment of the present invention
Speed can choose the decline mode of unmanned plane, referring specifically to Fig. 5, the control method of unmanned plane decline in the embodiment of the present invention
Another embodiment includes:
Step 501 in the present embodiment is identical as the step 201 in embodiment illustrated in fig. 2, and details are not described herein again.
502, whether detection expectation decrease speed is greater than pre-set velocity threshold value, if so, 503 are thened follow the steps, if it is not, then holding
Row step 508；
In the present embodiment, after getting the expectation decrease speed of unmanned plane, whether big desired decrease speed can detecte
In pre-set velocity threshold value.
Specifically, under the assistance for not needing horizontal velocity, unmanned plane can due in existing unmanned plane decline technology
To reach the maximum falling speed range of such as 3m/s to 4m/s, then can according to unmanned plane during vertical decline most
Big decrease speed is configured pre-set velocity threshold value, selects the unmanned plane suitably side of decline by separation of pre-set velocity threshold value
Formula, i.e., the combination only with the vertical decline mode of decrease speed, and with horizontal velocity, decrease speed decline mode.
It is understood that in practical applications, the setting of pre-set velocity threshold value, can be in addition to above explained content
It is to be configured according to following any speed of the attainable maximum falling speed of institute during vertical decline, is somebody's turn to do as long as being no more than
Maximum falling speed, specifically herein without limitation.
503, the corresponding minimum level speed of expectation decrease speed is determined；
In the present embodiment, if detecting, desired decrease speed is greater than pre-set velocity threshold value, then can be defaulted as at nobody
Machine needs then determine under expectation using horizontal velocity so that unmanned plane reaches desired decrease speed during declining
The corresponding minimum level speed of reduction of speed degree, the partial content that can be specifically illustrated based on step 302 in embodiment illustrated in fig. 3, herein
It repeats no more.
Step 504 in the present embodiment is identical to step 306 as the step 303 in embodiment illustrated in fig. 3 to step 507,
Details are not described herein again.
508, other processes are executed.
In the present embodiment, if detecting desired decrease speed no more than pre-set velocity threshold value, then can be defaulted as in nothing
It does not need unmanned plane to can be realized and reach desired decrease speed using horizontal velocity during man-machine decline, then it can not be into
Other operations of row, but unmanned plane can be made by reaching desired decrease speed after certain adjustment, specific adjustment mode and
The prior art is identical, and details are not described herein again.
It should be noted that in the horizontal velocity for adjusting unmanned plane according to desired decrease speed in the present embodiment, so that
Unmanned plane is desirably after decrease speed decline, and according to different practical situations, unmanned plane can be corresponding with different fly
Row processing mode, is illustrated separately below:
Referring specifically to Fig. 6, another embodiment of control method that unmanned plane declines in the embodiment of the present invention includes:
Step 601 in the present embodiment is identical to step 202 as the step 201 in embodiment illustrated in fig. 2 to step 602,
Details are not described herein again.
603, whether the distance away the ground for detecting unmanned plane is greater than preset height threshold value, if so, 604 are thened follow the steps, if so,
Then follow the steps 605；
In the present embodiment, by adjusting the horizontal velocity of unmanned plane, so that desirably decrease speed declines it to unmanned plane
Afterwards, whether the distance away the ground that can detecte unmanned plane is greater than preset height threshold value, which is unmanned plane relative to object
Vertical height.
During the decline of unmanned plane, in order to control the decrease speed of unmanned plane, avoid unmanned plane due to decrease speed
It is very fast and contacting object leads to the generation of safety accident, such as aircraft bombing, preset height threshold value can be configured, to unmanned plane
Decline mode and decrease speed be adjusted, realize the safe flight of unmanned plane, in practical applications, can also be by pre-
If the setting of height threshold, the special flight demand of unmanned plane is realized, such as shorten fall time and safe landing.Specifically, nothing
It is man-machine that the detection devices such as camera or sensor can be installed, to realize the detection to distance away the ground, wherein default
Height threshold can be configured according to actual needs, and such as 1 meter, specifically herein without limitation.
Object in the present embodiment can be barrier, such as building, ground carton, be also possible to ground, as long as
The object of vertical drop can be formed with unmanned plane, specifically herein without limitation.
604, expectation decrease speed is adjusted according to distance away the ground, so that unmanned plane is according to expectation decrease speed adjusted
Decline；
In the present embodiment, if detecting, the distance away the ground of unmanned plane is not more than preset height threshold value, can be according to over the ground
Height adjustment expectation decrease speed, so that unmanned plane can decline according to expectation decrease speed adjusted.
Specifically, unmanned plane can not be to the phase when detecting the distance away the ground of unmanned plane no more than preset height threshold value
It hopes that decrease speed is responded, but current distance away the ground can be maintained, and in this distance away the ground level, according to current
Distance away the ground calculate corresponding decrease speed so that expectation decrease speed it is adjustable for current distance away the ground it is corresponding under
Reduction of speed degree.Wherein, in preset height threshold value hereinafter, distance away the ground can be positively correlated with decrease speed.
Further, when the distance away the ground for detecting unmanned plane is not more than preset height threshold value, it is also possible that nobody
Machine is changed to vertical decline mode from combination decline mode, then can pass through unmanned aerial vehicle body on the basis of above-mentioned processing
Oblique attitude and horizontal pull are adjusted current horizontal velocity, so that unmanned plane obtains the opposite direction of horizontal velocity
Horizontal acceleration is gradually decreased as zero so as to control the horizontal velocity of unmanned plane so that unmanned plane only exist it is adjusted
It is expected that decrease speed, and declined with the expectation decrease speed adjusted.
It is understood that during adjusting the horizontal velocity or expectation decrease speed of unmanned plane, in addition to making nothing
It is man-machine except current distance away the ground performs corresponding processing, the safety that can also reach another setting in unmanned plane is high over the ground
Horizontal velocity is realized before degree or it is expected that is, comparatively the adjustment of decrease speed is also provided with below preset height threshold value
Another safe distance away the ground threshold value, allow horizontal velocity or expectation decrease speed preset height threshold value and safety over the ground
It is adjusted between height threshold, notably, unmanned plane can also be controlled rises to preset height threshold value or more and be adjusted accordingly
Decline again after whole, specific adjustment mode is herein without limitation.
605, other processes are executed.
In the present embodiment, if detecting, the distance away the ground of unmanned plane is greater than preset height threshold value, can be without other
Operation, allows unmanned plane to keep current state of flight.
Based on the content that embodiment illustrated in fig. 6 illustrates, it is illustrated by taking following application scenarios as an example: when unmanned plane needs
High-altitude is drop to when landing, can be more than preset height threshold value in order to reduce the fall time of unmanned plane, can be using combination
The mode of decline makes unmanned plane obtain biggish decrease speed, and is able to maintain the stabilization of posture using horizontal velocity, that
For vertical decline mode, although running track increases than the length of original vertical descending trajectory, due to the group
The decrease speed closed in decline mode can be far longer than the decrease speed in vertical decline mode, so as to effectively shorten nothing
The man-machine fall time more than the preset height threshold value, and work as unmanned plane in the way of combining decline with faster decrease speed
When dropping to preset height threshold value, then it can restore vertical decline mode, to guarantee what the safety of unmanned plane was landed and determined
Landing point.For example, as shown in Figure 7, it is assumed that unmanned plane 2 and unmanned plane 3 are the unmanned plane without essential difference, unmanned plane 2 and nobody
Machine 3 is in same level height, wherein unmanned plane 2 is setting height threshold or more using combination decline mode, corresponding horizontal speed
Degree V1 is 6m/s, and decrease speed 8m/s, unmanned plane 3 declines mode using vertical more than preset height threshold value, under corresponding
Reduction of speed degree is 4m/s, and the distance between horizontal line H is 40m where the horizontal line to preset height threshold value where starting point of landing, that
The time for knowing that unmanned plane 2 reaches preset height threshold value is 5s, and the time that unmanned plane 3 reaches preset height threshold value is 10s,
It follows that fall time highly can be greatly reduced using combination decline mode more than preset height threshold value, thus favorably
In the decline energy consumption for reducing unmanned plane, the decline efficiency of unmanned plane is improved.
Referring specifically to Fig. 8, another embodiment of control method that unmanned plane declines in the embodiment of the present invention includes:
Step 801 in the present embodiment is identical to step 202 as the step 201 in embodiment illustrated in fig. 2 to step 802,
Details are not described herein again.
803, when getting the first expectation rate of climb of unmanned plane, the geographical shape of unmanned plane geographic location is acquired
Looks；
In the present embodiment, by adjusting the horizontal velocity of unmanned plane, so that desirably decrease speed declines it to unmanned plane
Afterwards, during decline, when getting the first expectation rate of climb of unmanned plane, then on illustrating that unmanned plane needs at this time
It rises, then can acquire the pattern of unmanned plane geographic location.
Specifically, due to not influenced by sinuous flow, then can control unmanned plane in the uphill process of unmanned plane to hang down
Straight rising manner rises, i.e., only has the rate of climb in uphill process, can control unmanned plane also to combine rising manner rising,
There is horizontal velocity and the rate of climb i.e. in uphill process, then the geographical pattern of unmanned plane geographic location can be acquired,
To select the specific rising manner of unmanned plane according to actual needs.
It should be noted that in practical applications, can be realized by installing such as video camera on unmanned plane to geography
The acquisition of pattern, can also be by being equipped with GPS (Global Positioning System, global positioning system on unmanned plane
System) using the geographical pattern of server acquisition position, it realizes the acquisition to geographical pattern, can also use other feasible
Mode is acquired, specifically herein without limitation.
804, the second posture of unmanned plane is adjusted according to geographical pattern, so that unmanned plane is with posture adjusted according to the
The one expectation rate of climb rises.
It, can be according to geographical pattern tune after collecting the geographical pattern of unmanned plane geographic location in the present embodiment
Second posture of whole unmanned plane, so that unmanned plane can be risen with posture adjusted according to the first expectation rate of climb.
For example, it is assumed that the geographical pattern in the geographical location where unmanned plane is Plain, then the adjustable fuselage of unmanned plane
For horizontal attitude, allow unmanned plane in a manner of vertical ascent under the horizontal attitude, and according to the first expectation rate of climb
Rise, it is assumed that the geographical pattern in the geographical location where unmanned plane is the grotto with stalactite, then unmanned plane is adjustable
Fuselage is lateral attitude, allows unmanned plane under the lateral attitude to combine rising manner, and rise according to the first expectation
Speed rises.
It is understood that only the rising manner of unmanned plane has been carried out with two kinds of geographical patterns above for example,
In practical application, such as massif, the second posture of unmanned plane can also be adjusted accordingly under conditions of other geographical patterns
It is whole, so that unmanned plane is risen with posture adjusted according to the first expectation rate of climb, specifically herein without limitation.
It based on the content that embodiment illustrated in fig. 8 illustrates, is illustrated by taking following application scenarios as an example: when unmanned plane executes
Ground surveys task, and unmanned plane position be massif throughout geographical pattern when, as shown in figure 9, from right to left, unmanned plane
If 45 start to carry out ground exploration from the hilltop, then unmanned plane 4 from the hilltop 5 to the foot of the hill 6, is needed to combine in a manner of decline along mountain
The surface weather pattern on mound flies obliquely, and when unmanned plane needs to carry out ground exploration from massif slope surface 7 of the foot of the hill 6 to the other side
When, then it needs to fly obliquely, then the second posture of unmanned plane 4 should be adjusted correspondingly, so that unmanned plane 4 can
To rise to combine rising manner, and the first expectation rate of climb can be reached.
Referring specifically to Figure 10, another embodiment of control method that unmanned plane declines in the embodiment of the present invention includes:
1001, the decrease speed of first object object is obtained；
In the present embodiment, if unmanned plane need to first object object execute corresponding task, such as to first object object carry out with
Track shooting, then unmanned plane can use the decrease speed that such as sensor obtains first object object, so that unmanned plane can be with
Preferably complete task.
1002, the expectation decrease speed of unmanned plane is determined according to the decrease speed of first object object and the first pre-determined distance；
It, can be according to the decrease speed of first object object after the decrease speed for getting first object object in the present embodiment
The expectation decrease speed of unmanned plane is determined with the first pre-determined distance, which is unmanned plane relative to first object object
Distance.
Specifically, in order to keep first object object and unmanned plane within the scope of a certain distance, it can be pre- to first
If distance is configured, such as 50cm, which be can be using first object object as a certain of the forming region at diverging center
Target position is at a distance from first object object, and unmanned plane can be located at the target position, for example, unmanned plane can be located at first object
The over top of object, and the first pre-determined distance is kept with first object object, it is to be understood that in practical applications, according to nothing
The man-machine task feature to first object object, unmanned plane also can change the relative position with first object object.
Further, in order to keep the first pre-determined distance with first object object, then in the decline for obtaining first object object
After speed, the expectation decrease speed of unmanned plane can be determined according to the decrease speed and the first pre-determined distance, i.e., so that unmanned plane
It can be declined with the expectation decrease speed, and the first pre-determined distance being able to maintain between first object object.For example, it is assumed that the
One object is vertical decline, then the first pre-determined distance is combined, it can be using the decrease speed of first object object as unmanned plane
Expectation decrease speed, if first object object be non-perpendicular decline, then can be determined according to the decrease speed of first object object
The practical decrease speed of unmanned plane, the logical relation between the practical decrease speed further according to unmanned plane and expectation decrease speed are pre-
The first pre-determined distance is counted, then can determine the expectation decrease speed of unmanned plane.
It is understood that in practical applications, can also using the first pre-determined distance as calculation basis so that unmanned plane with
The distance between first object object is kept in a certain range, specifically herein without limitation.
Step 1003 in the present embodiment is to step 1004 and the step 201 in embodiment illustrated in fig. 2 to step 202 phase
Together, details are not described herein again.
It is understood that in the present embodiment, if controlled level speed is not zero, then the descending trajectory of unmanned plane will
It is influenced by horizontal velocity, then in order to be conducive to keep the first pre-determined distance between unmanned plane and first object object, it can
Horizontal velocity is adjusted with task based access control feature.
It based on the content that the present embodiment above-mentioned steps illustrate, is illustrated by taking following application scenarios as an example: being transported in skiing
In dynamic, it can use unmanned plane tracking carried out to skiing process and take photo by plane, wherein skiing person can be used as first object object, then
In order to preferably realize that, with clapping effect, unmanned plane can keep the first pre-determined distance, and the mistake to glide in skiing person with skiing person
Cheng Zhong can obtain the gliding speed of skiing person in real time, and can be according to the gliding speed and the first pre-determined distance of skiing person
The expectation decrease speed for calculating unmanned plane, and then can be adjusted horizontal velocity, allow unmanned plane desirably under
The decline of reduction of speed degree, takes photo by plane to the tracking of skiing person with realizing.
It should be noted that on the basis of above-mentioned steps, if first object object is moving always, and on having after declining
The possibility risen, then following step can be continued to execute, in following step, first object object is the second object, and first
Pre-determined distance is the second pre-determined distance.
1005, the rate of climb of the second object is obtained；
In the present embodiment, when adjustment unmanned plane horizontal velocity so that unmanned plane desirably decrease speed decline after, nothing
The man-machine rate of climb that can use such as sensor and obtain the second object.
1006, determine that the second expectation of unmanned plane rises speed according to the rate of climb of the second object and the second pre-determined distance
Degree, so that unmanned plane rises according to the second expectation rate of climb.
It, can be according to the rate of climb of the second object after the rate of climb for getting the second object in the present embodiment
The second expectation rate of climb of unmanned plane is determined with the second pre-determined distance, so that unmanned plane is according in the second expectation rate of climb
It rises.
Based on the content that step 1002 illustrates, the mode of the second expectation rate of climb of unmanned plane is determined in the step 1006
It is similar to the content illustrated in step 1002, but the decrease speed of first object object is replaced with to the upper raising speed of the second object
Degree, details are not described herein again.
It is understood that in practical applications, the present embodiment can not also execute step 1001 to step 1002, so that
Step 1003 to step 1006 is another embodiment, meanwhile, in the case where executing step 1001 to step 1002, first object
Object may also be distinct from that the second object, the first pre-determined distance may also be distinct from that the second pre-determined distance, to adapt to other application
Scene, but the second pre-determined distance can be identical as the definition of the first pre-determined distance, specifically herein without limitation.
Application based on unmanned plane in previous skiing scene can be with another on the basis of step 1005 to step 1006
One skiing scene is illustrated: as shown in figure 11, if the ski slide that skiing person 8 utilizes is the hillside of such as V-shaped, then
When skiing person 8 slides into the bottom on V-shaped hillside, skiing person 8 will continue to slide onto hillside, then unmanned plane 9 need to follow skiing person 8 into
Row is taken photo by plane, then in order to keep and the second pre-determined distance of the person of skiing 8, during sliding on skiing person 8, can obtain cunning in real time
The upper slip velocity degree of snow person 8, and the second of unmanned plane 9 can be calculated according to the upper slip velocity degree of skiing person 8 and the second pre-determined distance
It is expected that the rate of climb, and then horizontal velocity can be adjusted, allow unmanned plane 9 according in the second expectation rate of climb
It rises, is taken photo by plane with realizing to the tracking of skiing person 8.
It is understood that for ease of description convenienct and succinct, the respective process in above-mentioned each embodiment can phase
Mutually reference, details are not described herein.In addition, above explained application scenarios are also only for example, in practical applications, unmanned plane
Decline mode also or rising manner can according to actual needs and task feature is adapted to plurality of application scenes, specifically
Herein without limitation.
It should be noted that the posture of the unmanned plane in the corresponding schematic diagram of above-described embodiment is only to schematically illustrate, have
Body can carry out corresponding adjustment according to actual requirement.
The control method of the unmanned plane decline in the embodiment of the present invention is described above, the present invention is implemented below
The control device of unmanned plane decline in example is described, and please refers to Figure 12, the control that unmanned plane declines in the embodiment of the present invention
Device one embodiment includes:
First obtains module 1201, for getting the expectation decrease speed of unmanned plane；
The first adjustment module 1202, for adjusting the horizontal velocity of unmanned plane according to desired decrease speed, so that nobody
Desirably decrease speed declines machine.
In the present embodiment, when obtaining expectation decrease speed of the module 1201 to unmanned plane, the first adjustment module 1202 can
With by control unmanned plane horizontal velocity so that unmanned plane with it is expected decrease speed decline, it follows that unmanned plane is downward
The movement of horizontal direction can be combined while movement, then the speed due to unmanned plane in the horizontal direction, can make
Air-flow below the propeller of unmanned plane has the component of horizontal direction, then when unmanned plane is declined with higher expectation decrease speed
When, the air-flow of horizontal direction can effectively be alleviated, and then the posture of unmanned plane can not be influenced by sinuous flow and be protected
It is fixed to keep steady.
Figure 13 is please referred to, another embodiment of control device that unmanned plane declines in the embodiment of the present invention includes:
Module 1301 in the present embodiment is identical as the module 1201 in embodiment illustrated in fig. 12, module 1302 and Figure 12 institute
Show that the module 1202 in embodiment is identical, details are not described herein again.
Setup module 1303, for presetting the corresponding minimum level speed of each decrease speed, minimum level speed
It is used to indicate, when controlling unmanned plane holding decrease speed, controlled level speed is equal to or more than the corresponding minimum of decrease speed
Horizontal velocity；
Control module 1304, the horizontal acceleration for controlling unmanned plane is reduced to zero, so that unmanned plane was flying
Horizontal velocity adjusted is kept in journey.
In the present embodiment, the first adjustment module 1302 be may further include:
Determination unit 13021, for determining the corresponding minimum level speed of expectation decrease speed；
Comparing unit 13022, for that will it is expected that the corresponding minimum level speed of decrease speed and present level speed carry out
Compare, present level speed is that detection unmanned plane obtains；
Adjustment unit 13023, for when present level speed is unsatisfactory for aspiration level speed, then adjusting the water of unmanned plane
Flat speed is to aspiration level speed.
In the present embodiment, adjustment unit 13023 be may further include:
Subelement 130231 is controlled, for according to present level speed minimum level speed corresponding with desired decrease speed
Degree obtains horizontal acceleration according to preset rules control unmanned plane；
Subelement 130232 is adjusted, for adjusting the horizontal velocity of unmanned plane according to horizontal acceleration to more than or equal to the phase
Hope the corresponding minimum level speed of decrease speed.
In the present embodiment, control subelement 130231 be may further include:
Submodule 1302311 is determined, for determining present level speed horizontal velocity corresponding with time limit decrease speed
Difference；
Adjusting submodule 1302312, for adjusting the first posture of unmanned plane according to preset rules according to difference, so that
It obtains unmanned plane and obtains horizontal acceleration.
Figure 14 is please referred to, another embodiment of control device that unmanned plane declines in the embodiment of the present invention includes:
Module 1401 in the present embodiment is identical as the module 1301 in embodiment illustrated in fig. 13, and details are not described herein again.
First detection module 1402, for detecting whether expectation decrease speed is greater than pre-set velocity threshold value；
Module 1403 in the present embodiment is identical as the module 1302 in embodiment illustrated in fig. 13, module 1404 and Figure 13 institute
Show that the module 1303 in embodiment is identical, module 1405 is identical as the module 1304 in embodiment illustrated in fig. 13, no longer superfluous herein
It states.
Trigger module 1406, for when desired decrease speed is greater than pre-set velocity threshold value, then triggering the first adjustment module
The horizontal velocity of unmanned plane is adjusted according to time limit decrease speed.
Figure 15 is please referred to, another embodiment of control device that unmanned plane declines in the embodiment of the present invention includes:
Module 1501 in the present embodiment is identical as the module 1201 in embodiment illustrated in fig. 12, module 1502 and Figure 12 institute
Show that the module 1202 in embodiment is identical, details are not described herein again.
Second detection module 1503, whether the distance away the ground for detecting unmanned plane is greater than preset height threshold value, high over the ground
Degree is vertical height of the unmanned plane relative to object；
Second adjustment module 1504, for being adjusted according to distance away the ground when distance away the ground is not more than preset height threshold value
It is expected that decrease speed, so that unmanned plane declines according to expectation decrease speed adjusted.
Figure 16 is please referred to, another embodiment of control device that unmanned plane declines in the embodiment of the present invention includes:
Module 1601 in the present embodiment is identical as the module 1201 in embodiment illustrated in fig. 12, module 1602 and Figure 12 institute
Show that the module 1202 in embodiment is identical, details are not described herein again.
Acquisition module 1603, when getting the first expectation rate of climb of unmanned plane, geographical position where acquisition unmanned plane
The geographical pattern set；
Third adjusts module 1604, for adjusting the posture of unmanned plane according to geographical pattern, so that unmanned plane is to adjust
Posture afterwards rises according to the first expectation rate of climb.
Figure 17 is please referred to, another embodiment of control device that unmanned plane declines in the embodiment of the present invention includes:
Second obtains module 1701, for obtaining the decrease speed of first object object；
First determining module 1702, for determining unmanned plane according to the decrease speed and the first pre-determined distance of first object object
Expectation decrease speed, the first pre-determined distance be distance of the unmanned plane relative to first object object.
Module 1703 in the present embodiment is identical as the module 1201 in embodiment illustrated in fig. 12, module 1704 and Figure 12 institute
Show that the module 1202 in embodiment is identical, details are not described herein again.
Third obtains module 1705, for obtaining the rate of climb of the second object；
Second determining module 1706, for determining unmanned plane according to the rate of climb and the second pre-determined distance of the second object
Second expectation the rate of climb so that unmanned plane according to second expectation the rate of climb rise.
The present invention implements the unmanned plane provided, is provided with the control dress of the unmanned plane decline in any of the above-described embodiment
It sets, can also include the power device being connect with control device, wherein power device may include the mechanical, electrical tune of electricity, propeller.
Since the unmanned plane is equipped with the control device of unmanned plane decline, so that the control device with unmanned plane decline is had
All beneficial effects having, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (21)
1. a kind of control method of unmanned plane decline characterized by comprising
Obtain the expectation decrease speed of unmanned plane；
The horizontal velocity that the unmanned plane is adjusted according to the expectation decrease speed, so that the unmanned plane is according to the expectation
Decrease speed decline；
It is described the horizontal velocity of the unmanned plane is adjusted according to the expectation decrease speed before, the method also includes:
Detect whether the expectation decrease speed is greater than pre-set velocity threshold value；
If the expectation decrease speed is greater than the pre-set velocity threshold value, trigger described according to expectation decrease speed adjustment
The step of horizontal velocity of the unmanned plane.
2. the control method of unmanned plane decline according to claim 1, which is characterized in that described according under the expectation
Before reduction of speed degree adjusts the horizontal velocity of the unmanned plane, the method also includes:
The corresponding minimum level speed of each decrease speed is preset, the minimum level speed is used to indicate, when control institute
When stating the unmanned plane holding decrease speed, the horizontal velocity minimum water corresponding equal to or more than the decrease speed is controlled
Flat speed.
3. the control method of unmanned plane decline according to claim 2, which is characterized in that described to be declined according to the expectation
The horizontal velocity that speed adjusts the unmanned plane includes:
Determine the corresponding minimum level speed of the expectation decrease speed；
The corresponding minimum level speed of the expectation decrease speed is compared with present level speed, the present level speed
Degree obtains to detect the unmanned plane；
If the present level speed is less than the corresponding minimum level speed of the expectation decrease speed, the unmanned plane is adjusted
Horizontal velocity to more than or be equal to the minimum level speed.
4. the control method of unmanned plane decline according to claim 3, which is characterized in that the adjustment unmanned plane
Horizontal velocity to more than or equal to the minimum level speed include:
According to the present level speed and the corresponding minimum level speed of the expectation decrease speed, controlled according to preset rules
The unmanned plane obtains horizontal acceleration；
The horizontal velocity of the unmanned plane is adjusted according to the horizontal acceleration to more than or equal to the expectation decrease speed pair
The minimum level speed answered.
5. the control method of unmanned plane decline according to claim 4, which is characterized in that described according to the present level
Speed and the corresponding minimum level speed of the expectation decrease speed control the unmanned plane according to preset rules and obtain horizontal add
Speed includes:
Determine the difference of present level speed minimum level speed corresponding with the expectation decrease speed；
According to the difference, the first posture of the unmanned plane is adjusted according to preset rules, so that the unmanned plane obtains water
Flat acceleration.
6. the control method of unmanned plane decline according to claim 4 or 5, which is characterized in that add according to the level
Speed adjust the unmanned plane horizontal velocity to more than or be equal to the minimum level speed after, the method also includes:
The horizontal acceleration for controlling the unmanned plane is reduced to zero, so that the unmanned plane keeps adjusting in flight course
Horizontal velocity after whole.
7. the control method of unmanned plane decline according to any one of claims 1 to 5, which is characterized in that in the basis
After the expectation decrease speed adjusts the horizontal velocity of the unmanned plane, the method also includes:
Whether the distance away the ground for detecting the unmanned plane is greater than preset height threshold value, and the distance away the ground is that the unmanned plane is opposite
In the vertical height of object；
If being not more than the preset height threshold value, the expectation decrease speed is adjusted according to the distance away the ground, so that institute
Unmanned plane is stated to decline according to expectation decrease speed adjusted.
8. the control method of unmanned plane decline according to any one of claims 1 to 5, which is characterized in that in the basis
After the expectation decrease speed adjusts the horizontal velocity of the unmanned plane, the method also includes:
When getting the first expectation rate of climb of the unmanned plane, the geographical shape of the unmanned plane geographic location is acquired
Looks；
The second posture that the unmanned plane is adjusted according to the geographical pattern, so that the unmanned plane is pressed with posture adjusted
Rise according to the first expectation rate of climb.
9. the control method of unmanned plane decline according to any one of claims 1 to 5, which is characterized in that detect the phase
Hope whether decrease speed is greater than before pre-set velocity threshold value, the method also includes:
Obtain the decrease speed of first object object；
Reduction of speed under the expectation of the unmanned plane is determined according to the decrease speed of the first object object and the first pre-determined distance
Degree, first pre-determined distance are distance of the unmanned plane relative to the first object object.
10. the control method of unmanned plane decline according to any one of claims 1 to 5, which is characterized in that in the basis
After the expectation decrease speed controls the horizontal velocity of the unmanned plane, the method also includes:
Obtain the rate of climb of the second object；
Determine that the second expectation of the unmanned plane rises speed according to the rate of climb of second object and the second pre-determined distance
Degree, so that the unmanned plane rises according to the second expectation rate of climb, second pre-determined distance is the unmanned plane
Distance relative to second object.
11. a kind of control device of unmanned plane decline characterized by comprising
First obtains module, for getting the expectation decrease speed of unmanned plane；
The first adjustment module, for adjusting the horizontal velocity of the unmanned plane according to the expectation decrease speed, so that described
Unmanned plane declines according to the expectation decrease speed；
Described device further include:
First detection module, for detecting whether the expectation decrease speed is greater than pre-set velocity threshold value；
Trigger module, for when the expectation decrease speed is greater than the pre-set velocity threshold value, then triggering the adjustment module
The horizontal velocity of the unmanned plane is adjusted according to the expectation decrease speed.
12. the control device of unmanned plane decline according to claim 11, which is characterized in that described device further include:
Setup module, for presetting the corresponding minimum level speed of each decrease speed, the minimum level speed is used for
Instruction controls the horizontal velocity equal to or more than the decline when controlling the unmanned plane holding decrease speed
The corresponding minimum level speed of speed.
13. the control device of unmanned plane decline according to claim 12, which is characterized in that the first adjustment module packet
It includes:
Determination unit, for determining the corresponding minimum level speed of the expectation decrease speed；
Comparing unit, for the corresponding minimum level speed of the expectation decrease speed to be compared with present level speed,
The present level speed is to detect the unmanned plane to obtain；
Adjustment unit is used for when present level speed minimum level speed corresponding less than the expectation decrease speed,
Then adjust the horizontal velocity of the unmanned plane to more than or equal to the minimum level speed.
14. the control device of unmanned plane according to claim 13 decline, which is characterized in that the adjustment unit includes:
Subelement is controlled, is used for according to the present level speed and the corresponding minimum level speed of the expectation decrease speed,
The unmanned plane, which is controlled, according to preset rules obtains horizontal acceleration；
Subelement is adjusted, for adjusting the horizontal velocity of the unmanned plane according to the horizontal acceleration to more than or being equal to described
It is expected that the corresponding minimum level speed of decrease speed.
15. the control device of unmanned plane decline according to claim 14, which is characterized in that the control subelement packet
It includes:
Submodule is determined, for determining the difference of present level speed horizontal velocity corresponding with the expectation decrease speed
It is different；
Adjusting submodule, for the first posture of the unmanned plane being adjusted according to preset rules, so that institute according to the difference
It states unmanned plane and obtains horizontal acceleration.
16. the control device of unmanned plane decline according to claim 14 or 15, which is characterized in that described device is also wrapped
It includes:
Control module, the horizontal acceleration for controlling the unmanned plane are reduced to zero, so that the unmanned plane is flying
Horizontal velocity adjusted is kept during row.
17. the control device of 1 to 15 described in any item unmanned plane declines according to claim 1, which is characterized in that described device
Further include:
Second detection module, whether the distance away the ground for detecting the unmanned plane is greater than preset height threshold value, described high over the ground
Degree is vertical height of the unmanned plane relative to object；
Second adjustment module, for when the distance away the ground is not more than the preset height threshold value, then basis to be described high over the ground
Degree adjusts the expectation decrease speed, so that the unmanned plane declines according to expectation decrease speed adjusted.
18. the control device of 1 to 15 described in any item unmanned plane declines according to claim 1, which is characterized in that described device
Further include:
Acquisition module acquires geographical position where the unmanned plane when getting the first expectation rate of climb of the unmanned plane
The geographical pattern set；
Third adjusts module, for adjusting the second posture of the unmanned plane according to the geographical pattern so that it is described nobody
Machine is risen with posture adjusted according to the first expectation rate of climb.
19. the control device of 1 to 15 described in any item unmanned plane declines according to claim 1, which is characterized in that described device
Further include:
Second obtains module, for obtaining the decrease speed of first object object；
First determining module, for determining the unmanned plane according to the decrease speed and the first pre-determined distance of the first object object
The expectation decrease speed, first pre-determined distance be distance of the unmanned plane relative to the first object object.
20. the control device of 1 to 15 described in any item unmanned plane declines according to claim 1, which is characterized in that described device
Further include:
Third obtains module, for obtaining the rate of climb of the second object；
Second determining module, for determining the unmanned plane according to the rate of climb and the second pre-determined distance of second object
The second expectation rate of climb so that the unmanned plane rises according to the second expectation rate of climb, described second is default
Distance is distance of the unmanned plane relative to second object.
21. a kind of unmanned plane, which is characterized in that the control including the unmanned plane decline as described in any one of claim 11 to 20
Device processed further includes the power device connecting with the control device；Wherein, the power device includes the mechanical, electrical tune of electricity, spiral
Paddle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/105333 WO2018086030A1 (en) | 2016-11-10 | 2016-11-10 | Landing control method and device for unmanned aerial vehicle, and unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN107000830A CN107000830A (en) | 2017-08-01 |
| CN107000830B true CN107000830B (en) | 2019-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680003420.2A Expired - Fee Related CN107000830B (en) | 2016-11-10 | 2016-11-10 | A kind of control method, device and the unmanned plane of unmanned plane decline |
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| Country | Link |
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| CN (1) | CN107000830B (en) |
| WO (1) | WO2018086030A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108241377B (en) * | 2017-12-08 | 2020-12-29 | 中国航空工业集团公司成都飞机设计研究所 | Automatic height slow descending control method of unmanned aerial vehicle based on voyage and time performance |
| CN110383197A (en) * | 2018-01-23 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Mobile platform method for limiting speed and unit and recording medium |
| CN108372927A (en) * | 2018-02-07 | 2018-08-07 | 渤海大学 | Six degree of freedom based on displacement paddle controls eight-rotary wing aircraft entirely |
| CN108803645B (en) * | 2018-08-03 | 2021-07-13 | 成都纵横自动化技术股份有限公司 | Forced landing method and device for unmanned aerial vehicle, automatic pilot and unmanned aerial vehicle |
| CN109298722A (en) * | 2018-11-05 | 2019-02-01 | 苏州极目机器人科技有限公司 | Terrain following flying method, terrain following flight control method and operational method |
| CN110134131B (en) * | 2019-04-10 | 2022-06-21 | 广州极飞科技股份有限公司 | Control method and control device for unmanned aerial vehicle and unmanned aerial vehicle |
| WO2020237531A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle return method and device, unmanned aerial vehicle, and storage medium |
| CN110347177A (en) * | 2019-06-20 | 2019-10-18 | 沈阳无距科技有限公司 | Unmanned plane is grounded judgment method, device, storage medium and unmanned plane |
| CN110262559B (en) * | 2019-07-18 | 2022-11-08 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle safety protection method and device and unmanned aerial vehicle |
| CN110673639A (en) * | 2019-10-18 | 2020-01-10 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster take-off and landing control method and device, computer equipment and storage medium |
| CN112673330B (en) * | 2020-03-30 | 2024-05-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle descending control method and device and unmanned aerial vehicle |
| CN113145538B (en) * | 2021-03-25 | 2024-05-14 | 中国科学技术大学 | Insulator cleaning control method and system |
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| CN105259917A (en) * | 2015-11-08 | 2016-01-20 | 杨珊珊 | Quick and safe landing device and method for unmanned aerial vehicle |
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| US20070262195A1 (en) * | 2006-05-11 | 2007-11-15 | Robert Bulaga | UAV With Control and Stability System |
| CN104648656B (en) * | 2015-02-12 | 2017-02-01 | 厦门大学 | Vertical take-off and landing unmanned plane lift augmentation control device and vertical take-off and landing unmanned plane lift augmentation control method |
| CN104932529B (en) * | 2015-06-05 | 2018-01-02 | 北京中科遥数信息技术有限公司 | A kind of high in the clouds control system of unmanned plane autonomous flight |
| CN205121348U (en) * | 2015-11-08 | 2016-03-30 | 杨珊珊 | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof |
| CN105676873A (en) * | 2016-03-08 | 2016-06-15 | 览意科技（上海）有限公司 | Automatic landing method and control system of unmanned aerial vehicle |
| CN205633038U (en) * | 2016-03-24 | 2016-10-12 | 深圳市创翼睿翔天空科技有限公司 | Many rotor unmanned aerial vehicle safety descending system |
| CN105913634B (en) * | 2016-04-18 | 2019-06-21 | 王竹林 | Unmanned vehicle safety control system, method, unmanned vehicle and remote controler |
| CN105691613B (en) * | 2016-05-04 | 2019-04-02 | 北方民族大学 | A kind of unmanned plane device steadily gone up and down and control method |
| CN105923147B (en) * | 2016-06-07 | 2018-07-10 | 广东泰一高新技术发展有限公司 | A kind of fixed-wing unmanned plane landing control method |
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- 2016-11-10 WO PCT/CN2016/105333 patent/WO2018086030A1/en active Application Filing
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| CN105259917A (en) * | 2015-11-08 | 2016-01-20 | 杨珊珊 | Quick and safe landing device and method for unmanned aerial vehicle |
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| CN107000830A (en) | 2017-08-01 |
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