CN107047366A - The control method and its unmanned plane of a kind of automatic intelligent traction unmanned plane - Google Patents
The control method and its unmanned plane of a kind of automatic intelligent traction unmanned plane Download PDFInfo
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- CN107047366A CN107047366A CN201710295313.8A CN201710295313A CN107047366A CN 107047366 A CN107047366 A CN 107047366A CN 201710295313 A CN201710295313 A CN 201710295313A CN 107047366 A CN107047366 A CN 107047366A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 14
- 230000029142 excretion Effects 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000010191 image analysis Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000012937 correction Methods 0.000 abstract description 2
- 241001465754 Metazoa Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008520 organization Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241001425718 Vagrans egista Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K27/00—Leads or collars, e.g. for dogs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Remote Sensing (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the control method that a kind of automatic intelligent draws unmanned plane, methods described includes：In the lock being fixed on back belt type pet leash on unmanned plane, unmanned plane starts startup optimization；When unmanned plane carries out pre-set velocity walking according to the route pre-set, absorb pet image using camera and analyze whether pet walks according to the route pre-set according to it；Pet is controlled to the route correction pre-set using pull rope if the unmanned plane not and if absorbs around surrounding Image detection whether have motor-driven vehicle going using camera；If thering is motor vehicle to be flown upwards according to the first pre-set velocity with pet using pull rope and absorbing the travel direction and travel speed of motor vehicle Image detection motor vehicle；Whether exceed the time that unmanned plane flies upwards with pet if detecting motor vehicle and being analyzed to itself direction if close motor vehicle to itself close running time；If not less than if control unmanned plane flown upwards according to the second pre-set velocity with pet using pull rope.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of automatic intelligent draws the control method and its nothing of unmanned plane
It is man-machine.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus 22 is manipulated.It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, nobody vertically rises
Drop machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application is that unmanned plane has really just been needed；At present taking photo by plane, agricultural, plant protection, miniature auto heterodyne, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system
The application in romance etc. field is made, the purposes of unmanned plane in itself has greatly been expanded, developed country also answers in actively extension industry
With with developing unmanned air vehicle technique.
Nowadays with the quickening pace of modern life, the increasing of pressure, people are in order to eliminate lonely or be fed for amusement purpose
Animal is supported as pet, so, user is due to needing work companion pet or not dote on for a long time without too many time-bands
Thing is gone out for a stroll.
The content of the invention
Goal of the invention：In order to overcome the shortcoming in background technology, led the embodiments of the invention provide a kind of automatic intelligent
Draw the control method and its unmanned plane of unmanned plane, can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：A kind of automatic intelligent draws the control method of unmanned plane, for drawing pet, including body, takes the photograph
As head, processing unit and lock, methods described includes：
In the lock being fixed on back belt type pet leash on traction unmanned plane, the traction unmanned plane starts to start fortune
OK；
When the traction unmanned plane carries out pre-set velocity walking according to the route pre-set, using installed in the traction nothing
Camera on man-machine absorbs pet image and according to the pet image analysing computer pet whether according to the route row pre-set
Walk；
Pet is controlled to be corrected to the route pre-set using back belt type pet leash if the traction unmanned plane not if
And absorb around surrounding Image detection whether have motor-driven vehicle going using camera；
If having motor vehicle it is described traction unmanned plane using back belt type pet leash with pet according to the first pre-set velocity to
The upper travel direction and travel speed flown and absorb motor vehicle Image detection motor vehicle；
If detect motor vehicle to itself direction it is close if analyze motor vehicle whether exceed to itself close running time it is described
The time that traction unmanned plane flies upwards with pet；
Utilize back belt type pet leash with pet according to the second pre-set velocity if controlling the traction unmanned plane not less than if
Flight upwards.
As a kind of preferred embodiment of the present invention, default speed is carried out according to the route pre-set in the traction unmanned plane
During degree walking, methods described also includes：
Using installed in it is described traction unmanned plane lock on pulling force inductor detection back belt type pet leash pulling force whether
Disappear；
Pet real-time imaging is absorbed using camera and detect pet whether in excretion if disappearing；
According to whether having other pets in pre-determined distance around pet Real-time image analysis pet if not draining；
The alarm song of default decibel is sent with right using the loudspeaker on the traction unmanned plane if there are other pets
It is driven.
As a kind of preferred embodiment of the present invention, absorb pet real-time imaging using camera and detect pet whether in row
When letting out, methods described also includes：
The traction unmanned plane is controlled to hover over directly over pet and sense by the pulling force if excretion if detecting pet
The pulling force of device detection back belt type pet leash whether there is；
If in the presence of if it is described traction unmanned plane continue with back belt type pet traction wire saws pet according to the route pre-set
Carry out pre-set velocity walking.
As a kind of preferred embodiment of the present invention, default speed is carried out according to the route pre-set in the traction unmanned plane
During degree walking, methods described also includes：
Utilize the direction of travel of external equipment and the connection control traction unmanned plane of the control device of the traction unmanned plane
And the speed of travel；
Utilize the track route of external equipment and the connection control traction unmanned plane of the guider of the traction unmanned plane.
As a kind of preferred embodiment of the present invention, default speed is carried out according to the route pre-set in the traction unmanned plane
During degree walking, methods described also includes：
The wireless device of the traction unmanned plane is connected using external equipment and is observed by the camera of the traction unmanned plane
The real-time condition of pet；
The positioner of the traction unmanned plane is connected using external equipment and inquires about determining for the traction unmanned plane current location
Position information.
A kind of automatic intelligent draws unmanned plane, the traction unmanned plane include body, some cameras, processing unit with
And lock, some cameras are located on body, for absorbing image；The processing unit is located in the traction unmanned plane
Portion, the lock is located at centre position below the traction unmanned plane, for fixing on back belt type pet leash, the lock
Provided with pulling force inductor, the pulling force for sensing back belt type pet leash；
The processing unit includes：
Inductor, for sensing whether back belt type pet leash is fixed on lock；
Guider, the route for setting the unmanned machine travel pet of traction；
Control device, for controlling the traction unmanned plane direction and being walked according to pre-set velocity；
First analysis module, for analyzing whether pet walks according to the route pre-set；
Rectification module, for controlling the traction unmanned plane to correct pet track route；
First Speed module, for controlling the traction unmanned plane pre- according to first with pet using back belt type pet leash
If speed is flown upwards；
Computing module, when calculating motor vehicle to itself close traveling for the travel direction by motor vehicle and travel speed
Between；
Second analysis module, for analyze motor vehicle to itself close running time whether exceed it is described traction unmanned plane with
The time that pet flies upwards；
Second speed module, for controlling the traction unmanned plane pre- according to second with pet using back belt type pet leash
If speed is flown upwards.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
3rd analysis module, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module, have other pets for analyzing in pre-determined distance around pet；
The body also includes：
Loudspeaker, is arranged at body centre position, the alarm song for sending default decibel.
As a kind of preferred embodiment of the present invention in the processing unit also includes：
Hovering module, for controlling the traction unmanned plane to hover over pet position directly above.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Wireless device, for being attached with external equipment.
Positioner, for positioning the traction unmanned plane current location and storing current location information.
The present invention realizes following beneficial effect：In the lock being fixed on back belt type pet leash on traction unmanned plane
When, the traction unmanned plane starts startup optimization, and pre-set velocity is carried out according to the route pre-set in the traction unmanned plane
During walking, absorb pet image using the camera on the traction unmanned plane and doted on according to the pet image analysing computer
Whether thing walks according to the route pre-set, is controlled if the traction unmanned plane not if using back belt type pet leash
Pet to the route correction pre-set and absorbs around surrounding Image detection whether have motor-driven vehicle going using camera, if having
Then the traction unmanned plane is flown simultaneously motor vehicle upwards using back belt type pet leash with pet according to the first pre-set velocity
Absorb motor vehicle Image detection motor vehicle travel direction and travel speed, if detect motor vehicle to itself direction it is close if
Whether analysis motor vehicle exceedes the time that the traction unmanned plane flies upwards with pet to itself close running time, if
Flown upwards according to the second pre-set velocity with pet using back belt type pet leash not less than the traction unmanned plane is then controlled
OK；Pet when traction unmanned plane is taken a walk with pet can be prevented effectively to run chaotically, and can be when detecting automobile with pet
Flight is hidden upward.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 draws the schematic diagram of unmanned plane for the automatic intelligent that one of example of the invention is provided；
The flow chart of the control method for the automatic intelligent traction unmanned plane that Fig. 2 provides for one of example of the invention；
The flow chart that Fig. 3 stops for the sensing pet that one of example of the invention is provided；
The flow chart for the traction unmanned plane hovering that Fig. 4 provides for one of example of the invention；
The flow chart that Fig. 5 is set for the change traction unmanned plane that one of example of the invention is provided；
Fig. 6 inquires about the flow chart of pet situation for the user that one of example of the invention is provided；
Fig. 7 draws the Organization Chart of unmanned plane for the automatic intelligent that one of example of the invention is provided.
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 only a part of embodiment of the invention, rather than whole embodiments.
Embodiment one
With reference to Fig. 1-2, shown in Fig. 7, Fig. 1 draws the signal of unmanned plane for the automatic intelligent that one of example of the invention is provided
Figure；The flow chart of the control method for the automatic intelligent traction unmanned plane that Fig. 2 provides for one of example of the invention；
Fig. 7 draws the Organization Chart of unmanned plane for the automatic intelligent that one of example of the invention is provided.
Specifically, the present embodiment provides the control method that a kind of automatic intelligent draws unmanned plane, and for drawing pet, bag
Body 1, camera 11, processing unit 2 and lock 3 are included, methods described includes：
S1, back belt type pet leash is fixed on traction unmanned plane on lock 3 when, the traction unmanned plane start start
Operation；
S2, when the traction unmanned plane carries out pre-set velocity walking according to the route that pre-sets, led using installed in described
Draw the intake pet image of the camera 11 on unmanned plane and according to the pet image analysing computer pet whether according to pre-setting
Route is walked；
S3, if not if it is described traction unmanned plane using back belt type pet leash control pet to the route pre-set rectify
Just and using camera 11 absorb around surrounding Image detection whether have motor-driven vehicle going；
S4, if having motor vehicle it is described traction unmanned plane using back belt type pet leash with pet according to the first pre-set velocity
Fly and absorb upwards the travel direction and travel speed of motor vehicle Image detection motor vehicle；
S5, if detect motor vehicle to itself direction it is close if analyze motor vehicle to itself close running time whether exceed institute
State the time that traction unmanned plane flies upwards with pet；
S6, if controlled not less than if the traction unmanned plane using back belt type pet leash with pet according to the second default speed
Degree flight upwards.
Wherein, the route pre-set refers to spread the park in 0-10 kilometers to surrounding centered on user dwelling
Route map, preferably 2 kilometers in the present embodiment；The pre-set velocity is 0-40KM/ hours, is preferably in the present embodiment
5km/ is per hour；Whether whether the pet refer to pet according to the park pre-set according to the route walking pre-set
The route of route map is walked, either with or without running chaotically；It is described to correct to draw unmanned machine travel pet to the route pre-set
Return in the park route map pre-set；The images of environment surrounding absorbs for some cameras 11 of the traction unmanned plane
Image in 360 ° of 0-5 kilometers of scopes, in the present embodiment preferably 1 kilometer；First pre-set velocity is 0-30 meter per seconds,
It is preferably 3 meter per seconds in the present embodiment；It is described to itself close running time be when advance vehicle running speed to itself
Time required for position, such as automobile driving speed are 40km/ hours, apart from itself 50 meters, then when to itself close traveling
Between be apart from itself distance/travel speed=4.5 second；Second pre-set velocity is 0-50 meter per seconds, in the present embodiment preferably
For 10 meter per seconds.
Specifically, back belt type pet leash is fixed on the lock 3 of traction unmanned plane, the traction unmanned plane sensing
Start startup optimization after to pull rope, the traction unmanned plane operationally enters according to the route of the park route map pre-set
Row 5km/ hours is walked, at the same using the intake pet of camera 11 being arranged on the traction unmanned plane image and according to taking the photograph
Whether the pet image analysing computer pet taken is walked according to the route of the park route map pre-set, if pet not according to
Then the traction unmanned plane returns to the park route map pre-set using back belt type traction wire saws pet for the route walking
In and using the camera 11 absorb itself 1 kilometer of 360 ° of scope in image, then detected whether motor-driven vehicle going, if
Detect motor-driven vehicle going then it is described traction robot using back belt type rop for pet with pet according to 3 meter per seconds speed to
The travel direction and travel speed of motor vehicle Image detection motor vehicle are hidden and absorbed to upper fly, if detecting motor vehicle to certainly
Body flies upwards close to then analysis motor vehicle to whether itself close running time exceedes the traction unmanned plane with pet
Time, for example detect automobile driving speed for 40km/ seconds, apart from itself 10 meters, then be to itself close running time
Apart from itself distance/travel speed=0.9 second, the time flown upwards with pet not less than the traction unmanned plane, then control
The traction unmanned plane is flown to carry out hiding machine upwards using back belt type pet leash with pet according to 10 meter per second speed
Motor-car.
Embodiment two
With reference to Fig. 1, Fig. 3, shown in Fig. 7, the flow chart that Fig. 3 stops for the sensing pet that one of example of the invention is provided.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, is led described
When drawing unmanned plane according to the route progress pre-set velocity walking pre-set, methods described also includes：
S11, the drawing using the detection back belt type pet leash of pulling force inductor 30 on the traction unmanned plane lock 3
Whether power disappears；
S12, if disappear if using camera 11 absorb pet real-time imaging and detect pet whether excretion；
S13, if not draining according to whether having other pets in pre-determined distance around pet Real-time image analysis pet；
S14, the loudspeaker on the traction unmanned plane is utilized if there are other pets to send the alarm song of default decibel
To be driven to it.
Wherein, the pre-determined distance is spreads 0-500 meters of scopes centered on itself to surrounding, in the present embodiment preferably
For 10 meters；The default decibel is 0-100 decibels, in the present embodiment preferably 60 decibels.
Specifically, when the traction unmanned plane carries out traction pet according to the route of the park route map pre-set,
Whether disappeared using the pulling force of the pulling force sensor detection pet leash on the traction unmanned plane lock 3, if
Disappear and then absorb the real-time image of pet using camera 11 and analyze whether pet is being drained, basis is doted on if not draining
Whether there are other pets or vagrant animal around thing Real-time image analysis pet, installed if having and utilizing on the traction unmanned plane
Loudspeaker send 60 decibels of alarm song it driven, it is to avoid other animal injuries to itself pet.
Embodiment three
With reference to Fig. 1, Fig. 4, shown in Fig. 7, the flow chart for the traction unmanned plane hovering that Fig. 4 provides for one of example of the invention.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, utilizes shooting
First 11 intake pet real-time imaging simultaneously detects pet whether in excretion, and methods described also includes：
S20, if detect pet excretion if control it is described traction unmanned plane hover over directly over pet and by the pulling force
The pulling force of the detection back belt type pet leash of inductor 30 whether there is；
S21, if in the presence of if the traction unmanned plane continue with back belt type pet traction wire saws pet according to pre-setting
Route carries out pre-set velocity walking.
Specifically, when implementing image using the intake pet of camera 11 and whether detecting pet in excretion, if detecting
Pet then controls the traction unmanned plane to hover over the positive overhead of pet and carried on the back in real time by the sensing of pulling force inductor 30 in excretion
The pulling force of belt pet leash whether there is, and if illustrating pet excretion completion in the presence of if, the traction unmanned plane is continued with
Back belt type pet traction wire saws pet according to the route of the park route map pre-set walk within 5km/ hours, it is to avoid dote on
Thing unmanned plane image pet excretion in excretion.
Example IV
With reference to Fig. 1, Fig. 5, shown in Fig. 7, the flow that Fig. 5 is set for the change traction unmanned plane that one of example of the invention is provided
Figure.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, is led described
When drawing unmanned plane according to the route progress pre-set velocity walking pre-set, methods described also includes：
S15, the row using external equipment and the connection control traction unmanned plane of the control device 22 of the traction unmanned plane
Walk direction and the speed of travel；
S16, the row using external equipment and the connection control traction unmanned plane of the guider 21 of the traction unmanned plane
Walk route.
Specifically, user can pass through wireless device 33 and the traction unmanned aerial vehicle (UAV) control device 22 using external equipment
Connect to control the traction robot direction of travel and the speed of travel, and user can also pass through nothing using external equipment
Line apparatus 33 changes the track route of the traction robot with the connection of the traction Navigation of Pilotless Aircraft device 21.
Embodiment five
With reference to Fig. 1, shown in Fig. 6-7, Fig. 6 inquires about the flow chart of pet situation for the user that one of example of the invention is provided.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, is led described
When drawing unmanned plane according to the route progress pre-set velocity walking pre-set, methods described also includes：
S17, the wireless device 33 using the external equipment connection traction unmanned plane simultaneously pass through the shooting of the traction unmanned plane
The real-time condition of first 11 observation pet；
S18, the positioner 34 using the external equipment connection traction unmanned plane simultaneously inquire about the traction unmanned plane present bit
The location information put.
Specifically, when user needs the current situation of observation pet, the traction nothing can be connected using external equipment
Then man-machine wireless device 33 observes the present case of pet by the camera 11 of the traction unmanned plane；When user needs
It is to be understood that when drawing the current position of unmanned machine travel pet, it is possible to use external equipment connects described lead by wireless device 33
Draw the positioner 34 in unmanned plane to inquire about the location information of the traction unmanned plane current location, let the user know that dote in time
Thing current location.
Embodiment six
With reference to Fig. 1, shown in Fig. 7.
Specifically, the present embodiment provides a kind of automatic intelligent traction unmanned plane, the traction unmanned plane include body 1,
Some cameras 11, processing unit 2 and lock 3, some cameras 11 are located on body 1, for absorbing image；It is described
Processing unit 2 is located inside the traction unmanned plane, and the lock 3 is located at centre position below the traction unmanned plane, is used for
Fixed back belt type pet leash, the lock 3 is provided with pulling force inductor 30, the drawing for sensing back belt type pet leash
Power,
The processing unit 2 includes：
Inductor 20, for sensing whether back belt type pet leash is fixed on lock 3；
Guider 21, the route for setting the unmanned machine travel pet of traction；
Control device 22, for controlling the traction unmanned plane direction and being walked according to pre-set velocity；
First analysis module 23, for analyzing whether pet walks according to the route pre-set；
Rectification module 24, for controlling the traction unmanned plane to correct pet track route；
First Speed module 25, for controlling the traction unmanned plane to utilize back belt type pet leash with pet according to first
Pre-set velocity is flown upwards；
Computing module 26, motor vehicle is calculated to itself close traveling for the travel direction by motor vehicle and travel speed
Time；
Second analysis module 27, for whether analyzing motor vehicle to itself close running time more than the traction unmanned plane band
The time that pet flies upwards；
Second speed module 28, for controlling the traction unmanned plane to utilize back belt type pet leash with pet according to second
Pre-set velocity is flown upwards.
As a kind of preferred embodiment of the present invention, the processing unit 2 also includes：
3rd analysis module 29, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module 31, have other pets for analyzing in pre-determined distance around pet；
The body 1 also includes：
Loudspeaker 12, is arranged at the centre position of body 1, the alarm song for sending default decibel.
As a kind of preferred embodiment of the present invention, the processing unit 2 also includes：
Hovering module 32, for controlling the traction unmanned plane to hover over pet position directly above.
As a kind of preferred embodiment of the present invention, the processing unit 2 also includes：
Wireless device 33, for being attached with external equipment.
Positioner 34, for positioning the traction unmanned plane current location and storing current location information.
It should be understood that in embodiment six, the process that implements of above-mentioned modules can be with (the implementation of above method embodiment
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
The unmanned plane that above-described embodiment six is provided, is only carried out with the division of above-mentioned each functional module for example, actual
In, it can will appeal function distribution as needed and be completed by different functional modules, i.e., by the internal structure of unmanned plane
Different functional modules are divided into, to complete all or part of function described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should all be included within the scope of the present invention.
Claims (9)
1. a kind of automatic intelligent draws the control method of unmanned plane, for drawing pet, including body, camera, processing dress
Put and latch, it is characterised in that methods described includes：
In the lock being fixed on back belt type pet leash on traction unmanned plane, the traction unmanned plane starts to start fortune
OK；
When the traction unmanned plane carries out pre-set velocity walking according to the route pre-set, using installed in the traction nothing
Camera on man-machine absorbs pet image and according to the pet image analysing computer pet whether according to the route row pre-set
Walk；
Pet is controlled to be corrected to the route pre-set using back belt type pet leash if the traction unmanned plane not if
And absorb around surrounding Image detection whether have motor-driven vehicle going using camera；
If having motor vehicle it is described traction unmanned plane using back belt type pet leash with pet according to the first pre-set velocity to
The upper travel direction and travel speed flown and absorb motor vehicle Image detection motor vehicle；
If detect motor vehicle to itself direction it is close if analyze motor vehicle whether exceed to itself close running time it is described
The time that traction unmanned plane flies upwards with pet；
Utilize back belt type pet leash with pet according to the second pre-set velocity if controlling the traction unmanned plane not less than if
Flight upwards.
2. a kind of automatic intelligent according to claim 1 draws the control method of unmanned plane, it is characterised in that described
When traction unmanned plane carries out pre-set velocity walking according to the route pre-set, methods described also includes：
Using installed in it is described traction unmanned plane lock on pulling force inductor detection back belt type pet leash pulling force whether
Disappear；
Pet real-time imaging is absorbed using camera and detect pet whether in excretion if disappearing；
According to whether having other pets in pre-determined distance around pet Real-time image analysis pet if not draining；
The alarm song of default decibel is sent with right using the loudspeaker on the traction unmanned plane if there are other pets
It is driven.
3. a kind of automatic intelligent according to claim 2 draws the control method of unmanned plane, it is characterised in that using taking the photograph
As head absorb pet real-time imaging and detect pet whether excretion when, methods described also includes：
The traction unmanned plane is controlled to hover over directly over pet and sense by the pulling force if excretion if detecting pet
The pulling force of device detection back belt type pet leash whether there is；
If in the presence of if it is described traction unmanned plane continue with back belt type pet traction wire saws pet according to the route pre-set
Carry out pre-set velocity walking.
4. a kind of automatic intelligent according to claim 1 draws the control method of unmanned plane, it is characterised in that described
When traction unmanned plane carries out pre-set velocity walking according to the route pre-set, methods described also includes：
Utilize the direction of travel of external equipment and the connection control traction unmanned plane of the control device of the traction unmanned plane
And the speed of travel；
Utilize the track route of external equipment and the connection control traction unmanned plane of the guider of the traction unmanned plane.
5. a kind of automatic intelligent according to claim 1 draws the control method of unmanned plane, it is characterised in that described
When traction unmanned plane carries out pre-set velocity walking according to the route pre-set, methods described also includes：
The wireless device of the traction unmanned plane is connected using external equipment and is observed by the camera of the traction unmanned plane
The real-time condition of pet；
The positioner of the traction unmanned plane is connected using external equipment and inquires about determining for the traction unmanned plane current location
Position information.
6. a kind of automatic intelligent draws unmanned plane, the traction unmanned plane include body, some cameras, processing unit and
Lock, some cameras are located on body, for absorbing image；The processing unit is located in the traction unmanned plane
Portion, the lock is located at centre position below the traction unmanned plane, for fixing on back belt type pet leash, the lock
Provided with pulling force inductor, the pulling force for sensing back belt type pet leash, it is characterised in that
The processing unit includes：
Inductor, for sensing whether back belt type pet leash is fixed on lock；
Guider, the route for setting the unmanned machine travel pet of traction；
Control device, for controlling the traction unmanned plane direction and being walked according to pre-set velocity；
First analysis module, for analyzing whether pet walks according to the route pre-set；
Rectification module, for controlling the traction unmanned plane to correct pet track route；
First Speed module, for controlling the traction unmanned plane pre- according to first with pet using back belt type pet leash
If speed is flown upwards；
Computing module, when calculating motor vehicle to itself close traveling for the travel direction by motor vehicle and travel speed
Between；
Second analysis module, for analyze motor vehicle to itself close running time whether exceed it is described traction unmanned plane with
The time that pet flies upwards；
Second speed module, for controlling the traction unmanned plane pre- according to second with pet using back belt type pet leash
If speed is flown upwards.
7. a kind of automatic intelligent according to claim 6 draws the control method of unmanned plane, it is characterised in that the place
Reason device also includes：
3rd analysis module, for analyzing whether pet in intake pet real-time imaging is draining；
Whether the 4th analysis module, have other pets for analyzing in pre-determined distance around pet；
The body also includes：
Loudspeaker, is arranged at body centre position, the alarm song for sending default decibel.
8. a kind of automatic intelligent according to claim 6 draws the control method of unmanned plane, it is characterised in that the place
Reason device also includes：
Hovering module, for controlling the traction unmanned plane to hover over pet position directly above.
9. a kind of automatic intelligent according to claim 6 draws the control method of unmanned plane, it is characterised in that the place
Reason device also includes：
Wireless device, for being attached with external equipment；
Positioner, for positioning the traction unmanned plane current location and storing current location information.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107485501A (en) * | 2017-09-11 | 2017-12-19 | 太仓史瑞克工业设计有限公司 | A kind of intelligent wheel chair and its control method based on unmanned plane |
| CN107831679A (en) * | 2017-11-09 | 2018-03-23 | 深圳市终极进化科技有限公司 | The human nature networked control systems and its control method of a kind of four-leg bionic robot |
| CN109463301A (en) * | 2018-11-28 | 2019-03-15 | 中山乐心电子有限公司 | Method for retrieving pets and wearable device for pets |
| TWI691268B (en) * | 2019-08-28 | 2020-04-21 | 南開科技大學 | Smart dog walking system and method thereof |
| WO2021128865A1 (en) * | 2019-12-23 | 2021-07-01 | 深圳市智宠科技有限公司 | Reminding processing method and apparatus for pet tractor |
| WO2021258622A1 (en) * | 2020-06-22 | 2021-12-30 | 中国科学院深圳先进技术研究院 | Observation device for observing animal activities |
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| CN106455523A (en) * | 2014-10-31 | 2017-02-22 | 深圳市大疆创新科技有限公司 | Systems and methods for walking pets |
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| CN106455523A (en) * | 2014-10-31 | 2017-02-22 | 深圳市大疆创新科技有限公司 | Systems and methods for walking pets |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485501A (en) * | 2017-09-11 | 2017-12-19 | 太仓史瑞克工业设计有限公司 | A kind of intelligent wheel chair and its control method based on unmanned plane |
| CN107831679A (en) * | 2017-11-09 | 2018-03-23 | 深圳市终极进化科技有限公司 | The human nature networked control systems and its control method of a kind of four-leg bionic robot |
| CN109463301A (en) * | 2018-11-28 | 2019-03-15 | 中山乐心电子有限公司 | Method for retrieving pets and wearable device for pets |
| TWI691268B (en) * | 2019-08-28 | 2020-04-21 | 南開科技大學 | Smart dog walking system and method thereof |
| WO2021128865A1 (en) * | 2019-12-23 | 2021-07-01 | 深圳市智宠科技有限公司 | Reminding processing method and apparatus for pet tractor |
| WO2021258622A1 (en) * | 2020-06-22 | 2021-12-30 | 中国科学院深圳先进技术研究院 | Observation device for observing animal activities |
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