CN107438805B - Unmanned aerial vehicle (UAV) control method and device - Google Patents
Unmanned aerial vehicle (UAV) control method and device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims abstract description 69
- 238000011217 control strategy Methods 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 34
- 230000004888 barrier function Effects 0.000 claims description 22
- 230000001953 sensory effect Effects 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 230000009514 concussion Effects 0.000 abstract description 8
- 238000004891 communication Methods 0.000 description 17
- 230000007246 mechanism Effects 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
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- 238000005259 measurement Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—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
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of control method of unmanned plane, device and UAV system, method include: to obtain the status information of unmanned plane, are fitted the hovering position of unmanned plane according to the state information, control the unmanned plane during flying to the hovering position.When unmanned plane throws winged, different throwings flies direction and throws to fly dynamics, so that unmanned plane has different states (including speed, acceleration and position) after throwing flies, hovering position is fitted according to the state, unmanned plane smooth flight is controlled to the hovering position using automated closed-loop control strategy, reduces unmanned plane from the concussion thrown during flying to hovering.
Description
Technical field
The present invention relates to control field more particularly to a kind of unmanned aerial vehicle (UAV) control method and devices.
Background technique
UAV (Unmanned Aerial Vehicle, UAV), abbreviation unmanned plane are to utilize wireless remote control
The not manned aircraft of equipment and the presetting apparatus provided for oneself manipulation.Existing unmanned plane takes off mode, is that first unlocking motor rises
Turn, is then taken off by remote control control.For Portable unmanned machine, this mode of taking off is troublesome.
Summary of the invention
The embodiment of the invention provides a kind of unmanned aerial vehicle (UAV) control method and device, to control unmanned plane throw fly after fly to
Hovering position reduces unmanned plane and throws the concussion flown to during hovering.
First aspect present invention provides a kind of unmanned aerial vehicle (UAV) control method, comprising:
Obtain the status information of unmanned plane；
It is fitted the hovering position of the unmanned plane according to the state information；
The unmanned plane during flying is controlled to the hovering position.
Optionally, the status information includes at least one of the following: speed, acceleration or current location.
Optionally, the speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical
Acceleration；The hovering position for being fitted unmanned plane according to the state information, comprising: according to the horizontal velocity and the water
Flat acceleration calculates the horizontal displacement of the hovering position of the current location and fitting；According to the horizontal displacement, the level
Speed and the vertical speed, calculate the difference in height of the current location Yu the hovering position；According to the horizontal displacement, institute
Difference in height and the current location are stated, the hovering position of unmanned plane is fitted.
Optionally, the speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical
Acceleration；The hovering position for being fitted unmanned plane according to the state information, comprising: according to the vertical speed and described perpendicular
Straight acceleration calculates the difference in height of the hovering position of the current location and fitting；According to the difference in height, the vertical speed
And the horizontal velocity, calculate the horizontal displacement of the current location Yu the hovering position；According to the difference in height, the water
Prosposition moves and the current location, is fitted the hovering position of unmanned plane.
Optionally, the control unmanned plane during flying to the hovering position include: using automated closed-loop control strategy,
The unmanned plane during flying is controlled to the hovering position.
Optionally, the automated closed-loop control strategy comprises at least one of the following: proportional integral differential control or ratio
The control of example-differential.
Optionally, after unmanned plane throwing flies, and before obtaining drone status, the method also includes: control
It makes the unmanned plane and enters gesture mode.
Optionally, after controlling the unmanned plane and entering gesture mode, the method also includes: adjust the unmanned plane
To preset posture angle.
Optionally, the preset posture angle is less than or equal to 30 degree.
Optionally, the preset posture angle is the brake limited angular of the unmanned plane, i.e., the maximum of the described unmanned plane is stopped
Vehicle attitude angle.
Optionally, the preset posture angle includes at least one of default pitch angle, default roll angle.
Optionally, user can configure the preset posture angle.
Optionally, after adjusting the unmanned plane to preset posture angle, the method also includes: it controls under gesture mode
The unmanned plane is made to stable state.
It is optionally, described that the unmanned plane is controlled under gesture mode to stable state, comprising:
The unmanned plane is controlled under gesture mode stablizes preset duration.
After unmanned plane throwing flies, into gesture mode, attitude angle is adjusted, and stablize preset duration, it is possible to reduce unmanned plane
Concussion, and smooth it is transitioned into next state of flight.
Optionally, after unmanned plane throwing flies, and before obtaining drone status, the method also includes: it adjusts
Whole unmanned plane is to preset direction.
Optionally, adjustment unmanned plane to the preset direction includes: the direction that unmanned plane is carried to barrier sensory perceptual system
Fly direction towards throwing.
Optionally, the barrier sensory perceptual system include at least one of the following: vision system, TOF system, ultrasonic wave or
Laser radar.
In the unmanned plane for not having omnidirectional's barrier avoiding function, by that will have the direction of barrier sensory perceptual system winged towards throwing
Emergency safe handling is made in time so that the barrier thrown and flown on direction can be perceived in direction.
A kind of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, obtains the status information of unmanned plane, according to the shape
State information is fitted the hovering position of unmanned plane, controls the unmanned plane during flying to the hovering position.When unmanned plane throws winged, due to
Different throwing flies direction and throws to fly dynamics so that unmanned plane throw fly after with different state (including speed, acceleration and position
Set), it is fitted hovering position according to the state, unmanned plane smooth flight is controlled to the hovering position using automated closed-loop control strategy
It sets, reduces unmanned plane from the concussion thrown during flying to hovering.
Second aspect of the present invention provides a kind of unmanned aerial vehicle (UAV) control device, comprising:
Module is obtained, with the status information for obtaining unmanned plane；
Fitting module, for being fitted the hovering position of the unmanned plane according to the state information；
Control module, for controlling the unmanned plane during flying to the hovering position.
Optionally, the status information includes at least one of the following: speed, acceleration or current location.
Optionally, the speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical
Acceleration；The fitting module is specifically used for, and according to the horizontal velocity and the horizontal acceleration, calculates the current location
With the horizontal displacement of the hovering position of fitting；According to the horizontal displacement, the horizontal velocity and the vertical speed, institute is calculated
State the difference in height of current location Yu the hovering position；According to the horizontal displacement, the difference in height and the current location, intend
Close hovering position.
Optionally, the speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical
Acceleration；The fitting module is specifically used for, and according to the vertical speed and the vertical acceleration, calculates the current location
With the difference in height of the hovering position；According to the difference in height, the vertical speed and the horizontal velocity, calculate described current
The horizontal displacement of position and the hovering position；According to the difference in height, the horizontal displacement and the current location, fitting is outstanding
Off-position is set.
Optionally, the control module is specifically used for, and using automated closed-loop control strategy, controls the unmanned plane during flying and arrives
The hovering position.
Optionally, the automated closed-loop control strategy comprises at least one of the following: proportional-integral-differential (PID) control,
Or proportional-plus-derivative (PD) control.
Optionally, described after unmanned plane throwing flies, and before the acquisition module obtains drone status information
Control module is also used to control the unmanned plane and enters gesture mode.
Optionally, the control module is also used to adjust the nothing after controlling the unmanned plane and entering gesture mode
It is man-machine to preset posture angle.
Optionally, the preset posture angle is less than or equal to 30 degree.
Optionally, preset posture angle is the brake limited angular of the unmanned plane, i.e., the maximum brake appearance of the described unmanned plane
State angle.
Optionally, the preset posture angle includes at least one of default pitch angle, default roll angle.
Optionally, the control module is also used to after adjusting the unmanned plane to preset posture angle in gesture mode
It is lower to control the unmanned plane to stable state.
Optionally, the control module stablizes preset duration specifically for controlling the unmanned plane under gesture mode.
After unmanned plane throwing flies, into gesture mode, attitude angle is adjusted, and stablize preset duration, it is possible to reduce unmanned plane
Concussion smoothly can be transitioned into next state of flight.
Optionally, described after unmanned plane throwing flies, and before the acquisition module obtains drone status information
Control module is also used to adjust unmanned plane to preset direction.
Optionally, the control module is specifically used for, and the direction that unmanned plane is carried barrier sensory perceptual system is winged towards throwing
Direction.
Optionally, the barrier sensory perceptual system include at least one of the following: vision system, TOF system, ultrasonic wave or
Laser radar.
In the unmanned plane for not having omnidirectional's barrier avoiding function, by that will have the direction of barrier sensory perceptual system winged towards throwing
Emergency safe handling is made in time so that the barrier thrown and flown on direction can be perceived in direction.
Unmanned aerial vehicle (UAV) control device provided in an embodiment of the present invention, comprising: obtain module, the state for obtaining unmanned plane is believed
Breath；Fitting module, for being fitted the hovering position of unmanned plane according to the state information；Control module, for controlling the nothing
Man-machine flight is to the hovering position.When unmanned plane throws winged, since different throwings flies direction and throw to fly dynamics, so that unmanned plane exists
Throwing has different states (including speed, acceleration and position) after flying, hovering position is fitted according to the state, using closing automatically
Ring control strategy controls unmanned plane smooth flight to the hovering position, reduces unmanned plane from the concussion thrown during flying to hovering.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is a kind of schematic diagram of movable fixture 100 provided in an embodiment of the present invention；
Fig. 2 is a kind of unmanned aerial vehicle (UAV) control method flow diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of unmanned aerial vehicle (UAV) control schematic diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of unmanned aerial vehicle (UAV) control method flow diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of unmanned aerial vehicle (UAV) control schematic device provided in an embodiment of the present invention；
Fig. 6 is a kind of unmanned aerial vehicle (UAV) control schematic device provided in an embodiment of the present invention；
Fig. 7 is a kind of UAV system schematic diagram provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the invention provides a kind of unmanned aerial vehicle (UAV) control method, apparatus and UAV system, are thrown and are flown according to unmanned plane
Status information simulates hovering position afterwards, using the control unmanned plane smooth flight of automated closed-loop control strategy to the hovering position, subtracts
Few unmanned plane flies to the concussion during hovering from throwing.
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 solution in the embodiment of the present invention are explicitly described, it is clear that described embodiment is only the present invention
The embodiment of a part, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, should fall within the scope of the present invention.
Below by specific embodiment, it is described in detail respectively.
Movable fixture
Fig. 1 is a kind of schematic diagram of movable fixture 100 provided in an embodiment of the present invention.The movable fixture 100 includes
Supporting body 102 and load 104.Although movable fixture 100 is described as aircraft, such description is not limitation,
Any kind of movable fixture is all suitable for.It will be understood by a person skilled in the art that described herein any about aircraft
The embodiment of system is suitable for any movable fixture (such as unmanned vehicle).In certain embodiments, load 104 can be direct
On movable fixture 100, without supporting body 102.Movable fixture 100 may include power mechanism 106, sensing system
System 108 and communication system 110.
Power mechanism 106 may include one or more rotary body, propeller, blade, engine, motor, wheel, axis
It holds, magnet, nozzle.For example, the rotary body of the power mechanism can be Self-fastening (self-tightening) rotary body, rotation
Swivel component or other rotary body power units.Movable fixture can have one or more power mechanisms.All is dynamic
Force mechanisms can be identical type.Optionally, one or more power mechanism can be different type.Power mechanism
106 can be mounted on movable fixture by suitable means, such as pass through support component (such as drive shaft).Power mechanism 106
It may be mounted at any suitable position of movable fixture 100, such as top, lower end, front end, rear end, side or therein
Meaning combines.
In certain embodiments, power mechanism 106 can make movable fixture vertically take off from surface, or vertically
Land on the surface, without any horizontal movement of movable fixture 100 (not needing such as to slide on runway).Optionally,
Power mechanism 106 can permit movable fixture 100, and predeterminated position and/or direction are spiraled in the sky.One or more power
Mechanism 106 can be independently of other power mechanisms when being controlled.Optionally, one or more power mechanism 106 can
To be controlled simultaneously.For example, movable fixture 100 can have the rotary body of multiple horizontal directions, to track the promotion of target
And/or it pushes.The rotary body of horizontal direction, which can be activated, to be taken off vertically with providing movable fixture 100, vertical landing, is spiraled
Ability.In certain embodiments, one or more in the rotary body of horizontal direction can be rotated clockwise, and water
Square to rotary body in other one or more can rotate in a counter-clockwise direction.For example, the rotary body rotated clockwise
As the quantity of the rotary body rotated counterclockwise.The speed of rotation of the rotary body of each horizontal direction can independently change,
To realize promotion caused by each rotary body and/or push operation, dimensional orientation, speed so as to adjust movable fixture 100
And/or acceleration (such as relative to the rotation and translation of up to three degree of freedom).
Sensor-based system 108 may include one or more sensor, with sense movable fixture 100 dimensional orientation,
Speed and/or acceleration (such as relative to the rotation and translation of up to three degree of freedom).One or more of sensor packets
Include any sensor of foregoing description, including GPS sensor, motion sensor, inertial sensor, proximity sensor or image
Sensor.The sensing data that sensor-based system 108 provides can be used for tracking dimensional orientation, speed and/or the acceleration of target 100
(as described below, to utilize suitable processing unit and/or control unit).Optionally, sensor-based system 108 can be used for acquiring removable
The data of the environment of dynamic device, such as weather conditions, the potential obstacle to be approached, the position of geographical feature, man-made structures position
It sets.
Communication system 110, which can be realized, to be communicated with the terminal 112 with communication system 114 by wireless signal 116.
Communication system 110,114 may include any amount of transmitter, receiver and/or transceiver for wireless telecommunications.It is described
Communication can be one-way communication, and such data can be sent from a direction.For example, one-way communication may include, it is only removable
Dynamic device 100 transfers data to terminal 112, or vice versa.One or more transmitter of communication system 110 can be sent out
Send data to one or more receiver of communication system 112, vice versa.Optionally, the communication can be two-way
News, in this way, data can be transmitted between movable fixture 100 and terminal 112 in both direction.Both-way communication includes communication system
One or more transmitter of system 110 can send data to one or more receiver of communication system 114 and on the contrary
?.
In certain embodiments, terminal 112 can be to one in movable fixture 100, supporting body 102 and load 104
Or multiple offers control data, and from one or more in movable fixture 100, supporting body 102 and load 104
Receiving information, (position and/or motion information of such as movable fixture, supporting body or load, load the data of sensing, such as camera
The image data of capture).In certain embodiments, the control data of terminal may include the finger about position, movement, actuating
It enables, or to movable fixture, supporting body and/or the control of load.For example, control data can lead to movable fixture position
And/or the change (as passed through control power mechanism 106) in direction, or lead to movement of the supporting body relative to movable fixture
(such as passing through the control to supporting body 102).The control data of terminal can cause to load control, such as control camera or other shadows
As capture device operation (capture it is static or movement image, zoom, open or close, switch imaging pattern, change image
Resolution ratio changes focal length, changes the depth of field, change the time for exposure, change visible angle or visual field).In certain embodiments, may be used
Mobile device, supporting body and/or the communication of load may include one or more sensor (such as sensor-based system 108 or negative
Carry the information 104) issued.The communication may include from one or more different types of sensor (such as GPS sensor,
Motion sensor, inertial sensor, proximity sensor or image sensor) transmission induction information.The induction information is
About movable fixture, supporting body and/or the position of load (such as direction, position), movement or acceleration.It is transmitted from load
Induction information include load capture data or load state.The control data that the transmission of terminal 112 provides can be used for
Track the state of one or more in movable fixture 100, supporting body 102 or load 104.Optionally or simultaneously,
Supporting body 102 and load 104 each may include communication module, for communicating with terminal 112, so that terminal can be independent
Ground communication or tracking movable fixture 100, supporting body 102 and load 104.
In certain embodiments, movable fixture 100 can be communicated with other remote equipments other than terminal 112,
Terminal 112 can also be communicated with other remote equipments in addition to movable fixture 100.For example, movable fixture and/or
Terminal 112 can be communicated with the supporting body or load of another movable fixture or another movable fixture.When in need
When, the other remote equipment can be second terminal or other calculating equipment (such as computer, desktop computer,
Tablet computer, smart phone or other mobile devices).The remote equipment can transmit data to movable fixture 100, from
Movable fixture 100 receives data, transfers data to terminal 112, and/or receive data from terminal 112.Optionally, this is long-range
Equipment may be coupled to internet or other telecommunication networks, so that from movable fixture 100 and/or the received number of terminal 112
According to uploading on website or server.
In certain embodiments, the relatively fixed object of reference of the movement of movable fixture, the movement of supporting body and load is (as outside
Portion's environment) movement and/or person movement to each other, can be controlled by terminal.The terminal can be long-range control eventually
End, is located remotely from movable fixture, supporting body and/or the place of load.Terminal can be located at or be pasted in support platform.
Optionally, the terminal can be hand-held or wearable.For example, the terminal may include smart phone, plate electricity
Brain, desktop computer, computer, glasses, gloves, the helmet, microphone or any of them combination.The terminal may include
User interface, such as keyboard, mouse, control stick, touch screen or display.Any suitable user's input can be handed over terminal
Mutually, such as it is manually entered instruction, sound control, gesture control or position control (such as by the movement of terminal, position or are inclined
Tiltedly).
Fig. 2 is a kind of unmanned aerial vehicle (UAV) control method flow diagram provided in an embodiment of the present invention.Include:
Unmanned plane idling.After unmanned plane powers on unlock, motor idling, different model unmanned plane, motor speed can when idling
With difference, it can be 1000~3000 revs/min, such as 2000 revs/min.Inertial Measurement Unit (inertial at this time
Measurement unit, IMU) it starts to work, using acceleration, the angular speed of IMU observation unmanned plane, and then obtain unmanned plane
Posture.By vision system observation speed.This stage is the preparation stage, and each sensor is started to work, and provides observation data,
But control loop does not export.
It is winged whether detection unmanned plane has been thrown.For user when throwing winged unmanned plane, unmanned plane can pass through detection unmanned plane speed
Degree changes or by modes such as sensor-based system sensings, judges whether unmanned plane has cast user aside.
Unmanned plane, which is thrown, flies whether direction meets preset condition.When unmanned plane casts user aside, a detection is done for speed, with
Judge to throw and flies whether direction meets preset condition.If detection directional velocity be relative to horizontal direction obliquely (for example, inspection
Degree of testing the speed and horizontal direction angle are 0 °~90 °), then meet preset condition；If detection speed is oblique relative to horizontal direction
Downward, then it is unsatisfactory for preset condition.When detecting speed is obliquely, it may be possible to which user's operation fault turns electricity if rising at this time
Machine is easy to hurt people, to guarantee safety, determines to throw winged failure at this time, can control unmanned plane stable landing, or stalling motor.
Adjust UAV Attitude and direction.After unmanned plane, which throws winged direction, meets preset condition, into gesture mode, by nothing
Human-machine Control is to preset posture angle.Preset posture angle can be the brake limited angular of unmanned plane, the i.e. maximum brake of unmanned plane
Attitude angle.Preset posture angle may include at least one of default pitch angle, default roll angle.Specifically, preset posture angle can
To be less than or equal to 45 °, can be less than or equal to 30 °, for example, it may be 30 °, it is allowed to have in the horizontal direction certain
Backward acceleration reduces speed now in horizontal direction.There is no barrier sensory perceptual system if detecting and throwing on winged direction,
Adjustable unmanned plane direction flies have barrier sensing module on direction so that throwing.Barrier sensory perceptual system can be vision system
At least one of system, TOF (time of fight) system, ultrasonic wave or laser radar.For example, only forward-looking vision system
When, head towards present speed direction, so as to detect front obstacle, emergency safe handling is made in time.It is optional
, after adjusting unmanned plane to preset posture angle, unmanned plane is controlled under gesture mode to stable state.Specifically, can be in appearance
The unmanned plane is controlled under morphotype formula stablizes preset duration.After unmanned plane throwing flies, into gesture mode, attitude angle is adjusted, and steady
Determine preset duration, it is possible to reduce the concussion of unmanned plane, and smooth it is transitioned into next state of flight.
Drone status is detected, and is fitted unmanned plane hovering position.After unmanned plane is adjusted to preset posture angle, this is detected
When unmanned plane state, for example, the speed V in vertical directionz, acceleration azAnd the speed V in horizontal directionx.Unmanned plane
Heading can be planned according to initial velocity when casting aside, fly direction for example, continuing and throwing.Specifically, according to vertical direction speed
Spend Vz, normal acceleration azAnd horizontal velocity Vx, calculate hovering position.
As shown in figure 3, unmanned plane adjusts the initial velocity V detected at this time to preset posture angle θ0With horizontal direction
Angle is α.Unmanned plane has initial velocity V in the vertical directionz, horizontal direction is with initial velocity Vx, VzWith VxVector sum
The initial velocity V obtained for the detection of unmanned plane0.It is influenced by gravity, there is a acceleration g straight down.Unmanned plane simultaneously
Lift F vertical direction component generates vertical accelerationWherein, m is unmanned plane quality.When flying unmanned plane because throwing, initial velocity
Smaller, air drag can be ignored at this time, and therefore, acceleration can indicate in the vertical direction are as follows:
If it is desired to deceleration as fast as possible, needs azIt close to g, that is, needs to take biggish θ angle, for example, choosing θ is 30 °.
It can be along V at this time0Extended line is done in direction, fits hovering position.Current location (i.e. detection drone status
Position) with fitting hovering position difference in height Δ H are as follows:
Wherein, vertical direction speed VzAnd vertical direction acceleration az, it can be obtained by detection drone status, because
This can be according to VzAnd azCalculate Δ H.
The horizontal displacement of current location and fitting hovering position are as follows:
Wherein, horizontal velocity Vx, can also be obtained by detection drone status, in conjunction with Vx、VzAnd az, can calculate
ΔS。
Optionally, unmanned plane is adjusted to preset posture angle, and detection obtains the horizontal velocity V of current unmanned planex, vertical speed
Spend VzAnd horizontal acceleration ax, current location can be calculated and be fitted horizontal displacement Δ S, the difference in height Δ of hovering position
H,
According to the Δ S and Δ H being calculated, fitting hovering position is obtained are as follows:
Htarget=Hnow+ΔH
Starget=Snow+ΔS
Wherein, HnowFor present level, that is, height when drone status is detected, can be obtained by height sensor, it is high
Degree sensor can be at least one of ultrasonic wave, TOF, vision system, GPS, barometer.SnowFor on present level direction
Position can be obtained by position sensor, and position sensor can be at least one of visual odometry, GPS.In conjunction with meter
Obtained Δ H and Δ S, so that it may obtain height and the horizontal position of fitting hovering position.
A small difference in height δ may be had by fitting the hovering position come and practical parabola, can be according to the warp of actual measurement
Value is tested, the height of matching position is modified:
Htarget=Hnow+ΔH+δ
δ is corrected parameter, can be measured by many experiments, adjustment obtains empirical value.
Unmanned plane during flying is controlled to hovering position.H is obtainedtargetAnd Starget, control unmanned plane and smoothly fly to fitting
Hovering position.It reaches in fitting hovering position a certain range, i.e., it is believed that having restrained, completes spot hover.
||H-Htarget| | < εH
||SStarget||εS
Wherein, εHAnd εSIt for preset convergence parameter, can be pre-configured in the product, optionally, can permit user and repair
Change.
In some embodiments, using automated closed-loop control strategy, the unmanned plane during flying is controlled to the hovering position.
Optionally, automated closed-loop control strategy comprises at least one of the following: proportional integral differential control or proportional-plus-derivative control.
Fig. 4 is another unmanned aerial vehicle (UAV) control method flow diagram provided in an embodiment of the present invention.Include:
S401 obtains the status information of unmanned plane.
User, which throws unmanned plane, to fly, and after unmanned plane, which detects, has thrown winged, detects the status information of unmanned plane.
Optionally, status information includes at least one of the following: speed, acceleration or current location.
S402 is fitted the hovering position of unmanned plane according to the state information.
In some embodiments, in the status information of acquisition, speed includes horizontal velocity and vertical speed, and acceleration includes
Horizontal acceleration and vertical acceleration.According to the horizontal velocity and horizontal acceleration of acquisition, calculates current location and be fitted outstanding
The horizontal displacement that off-position is set；According to the horizontal velocity and vertical speed of the horizontal displacement, acquisition being calculated, current location is calculated
With the difference in height of hovering position；According to horizontal displacement, difference in height and the current location being calculated, it is fitted hovering position.
In some embodiments, in the status information of acquisition, speed includes horizontal velocity and vertical speed, and acceleration includes
Horizontal acceleration and vertical acceleration.According to the vertical speed of acquisition and vertical acceleration, calculates current location and be fitted outstanding
The difference in height that off-position is set；According to the vertical speed and horizontal velocity of the difference in height, acquisition being calculated, calculates current location and hang
The horizontal displacement that off-position is set；According to difference in height, horizontal displacement and the current location being calculated, it is fitted hovering position.
S403 controls the unmanned plane during flying to the hovering position.
In some embodiments, using automated closed-loop control strategy, the unmanned plane during flying is controlled to the hovering position.
Optionally, automated closed-loop control strategy comprises at least one of the following: proportional integral differential control or ratio-are micro-
Sub-control system.
In some embodiments, it after unmanned plane detects and thrown and fly, and before obtaining drone status, controls
Unmanned plane enters gesture module.
In some embodiments, after control unmanned plane enters gesture mode, adjustment unmanned plane to preset posture angle.
The preset posture angle includes at least one of default pitch angle, default roll angle.
Optionally, preset posture angle is less than or equal to 30 degree.Specifically, brake limited angular can be chosen, such as 30 degree.
In some embodiments, after adjusting the unmanned plane to preset posture angle, under gesture mode described in control
Unmanned plane is to stable state.Specifically, controlling the unmanned plane under gesture mode stablizes preset duration.The preset duration can be with
Be it is pre-configured, be also possible to by test of many times fly obtain empirical data.
In some embodiments, it after unmanned plane detects and thrown and fly, and before obtaining drone status, adjusts
Unmanned plane is to preset direction.Optionally, the direction that unmanned plane is carried to barrier sensory perceptual system flies direction, barrier sense towards throwing
Know that module can be at least one of vision system, TOF system, ultrasonic system or laser radar.If detecting that throwing flies
Direction on there is no barrier sensing module, adjustable unmanned plane direction.For example, only forward-looking vision system when, can
Emergency safe handling is made in time so as to detect front obstacle so that head is flown direction towards current throwing.
Fig. 5 is a kind of unmanned aerial vehicle (UAV) control schematic device provided in an embodiment of the present invention.Include:
Module 501 is obtained, for obtaining the status information of unmanned plane.Status information may include at least one of following: speed
Degree, acceleration or current location.
Fitting module 502, for being fitted the hovering position of unmanned plane according to the state information.
In some embodiments, it obtains in the status information that module 501 obtains, speed includes horizontal velocity and vertical speed
Degree, acceleration includes horizontal acceleration and vertical acceleration.Fitting module 502, according to the horizontal velocity of acquisition and horizontal acceleration
Degree calculates the horizontal displacement of the hovering position of current location and fitting；According to the horizontal displacement being calculated, the level speed obtained
Degree and vertical speed calculate the difference in height of current location and hovering position；According to the horizontal displacement being calculated, difference in height and work as
Front position is fitted hovering position.
In some embodiments, it obtains in the status information that module 501 obtains, speed includes horizontal velocity and vertical speed
Degree, acceleration includes horizontal acceleration and vertical acceleration.Fitting module 502, according to the vertical speed of acquisition and vertical acceleration
Degree calculates the difference in height of the hovering position of current location and fitting；According to the vertical speed for the difference in height, acquisition being calculated and
Horizontal velocity calculates the horizontal displacement of current location and hovering position；According to be calculated difference in height, horizontal displacement and current
Position is fitted hovering position.
Control module 503, for controlling the unmanned plane during flying to the hovering position.
In some embodiments, control module 503 uses automated closed-loop control strategy, controls the unmanned plane during flying to institute
State hovering position.
Optionally, automated closed-loop control strategy comprises at least one of the following: proportional integral differential control or ratio-are micro-
Sub-control system.
In some embodiments, unmanned plane detect thrown fly after, obtain module 501 obtain drone status it
Before, control module 503 controls unmanned plane and enters gesture module.
In some embodiments, after control unmanned plane enters gesture mode, control module 503 adjusts unmanned plane to pre-
If attitude angle.
Optionally, preset posture angle is less than or equal to 30 degree.Specifically, brake limited angular can be chosen, such as 30 degree.
Optionally, preset posture angle can be the brake limited angular of unmanned plane, the i.e. maximum brake attitude angle of unmanned plane.
Optionally, preset posture angle includes at least one of default pitch angle, default roll angle.
In some embodiments, control module 503, after being also used to adjust unmanned plane to preset posture angle, in gesture mode
It is lower to control the unmanned plane to stable state.Control module 503 is stablized specifically for controlling the unmanned plane under gesture mode
Preset duration.The preset duration can be it is pre-configured, be also possible to by test of many times fly obtain empirical data.It can
Choosing, unmanned plane detect thrown fly after, and obtain module 501 obtain drone status before, control module 503
Unmanned plane is adjusted to preset direction.Optionally, control module 503 throws the direction direction that unmanned plane carries barrier sensory perceptual system
Fly direction, barrier sensing module can be at least one of vision system, TOF system, ultrasonic system.If detected
Throwing on winged direction does not have barrier sensory perceptual system, adjustable unmanned plane direction.For example, only forward-looking vision system when
It waits, so as to detect front obstacle, emergency safe handling can be made in time head towards present speed direction.
As shown in fig. 6, the present invention also provides a kind of unmanned aerial vehicle (UAV) control devices, comprising:
Memory, for storing unmanned aerial vehicle (UAV) control program；
One or more processors, for calling described program to execute following steps:
Obtain the status information of unmanned plane；
It is fitted the hovering position of the unmanned plane according to the state information；
The unmanned plane during flying is controlled to the hovering position.
As shown in fig. 7, the present invention also provides a kind of UAV system, including in power device and previous embodiment
Unmanned aerial vehicle (UAV) control device.
In some embodiments, power device includes at least one of the following: the mechanical, electrical tune of electricity or propeller.
The present invention also provides a kind of storage mediums, for storing instruction, instruct provided by the present invention for executing
The step of unmanned aerial vehicle (UAV) control method.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Networking verification method provided by the present invention and device, UAV system and storage medium have been carried out in detail above
It is thin to introduce.Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention.It should be pointed out that for the ordinary skill of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for personnel, these improvement
It is also fallen within the protection scope of the claims of the present invention with modification.
Claims (26)
1. a kind of unmanned aerial vehicle (UAV) control method characterized by comprising
After unmanned plane, which detects, has thrown winged, the speed of unmanned plane is detected, flies whether direction meets preset condition to judge to throw,
If detecting obtained speed is relative to horizontal direction obliquely, to judge that throwing winged direction is unsatisfactory for preset condition, makes
The motor of unmanned plane stalls；
If detecting obtained directional velocity is relative to horizontal direction obliquely, to judge that throwing winged direction meets preset condition,
Obtain the status information of unmanned plane；
It is fitted the hovering position of the unmanned plane according to the state information；
The unmanned plane during flying is controlled to the hovering position,
Wherein, the status information includes: speed, acceleration, current location；
The speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical acceleration；
The hovering position for being fitted unmanned plane according to the state information, comprising:
According to the horizontal velocity and the horizontal acceleration, the horizontal displacement of the current location and hovering position is calculated；Root
According to the horizontal displacement, horizontal velocity and vertical speed, the difference in height of the current location and hovering position is calculated；According to described
Horizontal displacement, the difference in height and the current location are fitted hovering position；
Alternatively, the hovering position for being fitted unmanned plane according to the state information, comprising:
According to the vertical speed and the vertical acceleration, the difference in height of the current location and hovering position is calculated；According to
The difference in height, the vertical speed and the horizontal velocity, calculate the horizontal position of the current location Yu the hovering position
It moves；According to the difference in height, the horizontal displacement and the current location, it is fitted hovering position.
2. the method according to claim 1, wherein described control the unmanned plane during flying to the hovering position
It include: that the unmanned plane during flying is controlled to the hovering position using automated closed-loop control strategy.
3. according to the method described in claim 2, it is characterized in that, the automated closed-loop control strategy includes following at least one
Kind: proportional integral differential control or proportional-plus-derivative control.
4. the method according to claim 1, wherein the unmanned plane throw fly after, and obtain unmanned plane
Before state, the method also includes: control unmanned plane enters gesture mode.
5. described according to the method described in claim 4, it is characterized in that, after controlling the unmanned plane and entering gesture mode
Method further include: adjustment unmanned plane to preset posture angle.
6. according to the method described in claim 5, it is characterized in that, the preset posture angle is less than or equal to 30 degree.
7. according to the method described in claim 5, it is characterized in that, after adjusting the unmanned plane to preset posture angle, institute
State method further include: the unmanned plane is controlled under gesture mode to stable state.
8. the method according to the description of claim 7 is characterized in that described control the unmanned plane to stabilization under gesture mode
State, comprising: control the unmanned plane under gesture mode and stablize preset duration.
9. the method according to claim 1, wherein the unmanned plane throw fly after, and obtain unmanned plane
Before state, the method also includes: the unmanned plane is adjusted to preset direction.
10. according to the method described in claim 9, it is characterized in that, the adjustment unmanned plane to preset direction include: by
The direction that the unmanned plane carries barrier sensory perceptual system flies direction towards throwing.
11. according to the method described in claim 10, it is characterized in that, the barrier sensory perceptual system includes following at least one
: vision system, TOF system, ultrasonic wave or laser radar.
12. a kind of unmanned aerial vehicle (UAV) control device characterized by comprising
Module is obtained, after unmanned plane, which detects, has thrown winged, detects the speed of unmanned plane, flies whether direction meets to judge to throw
Preset condition,
If detecting obtained speed is relative to horizontal direction obliquely, to judge that throwing winged direction is unsatisfactory for preset condition, makes
The motor of unmanned plane stalls；
If detecting obtained directional velocity is relative to horizontal direction obliquely, to judge that throwing winged direction meets preset condition,
The status information for obtaining module and being used to obtain unmanned plane；
Fitting module, for being fitted the hovering position of the unmanned plane according to the state information；
Control module, for controlling the unmanned plane during flying to the hovering position,
Wherein, the status information includes: speed, acceleration, current location；
The speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical acceleration；
The fitting module is used for, and according to the horizontal velocity and the horizontal acceleration, calculates the current location and fitting
Hovering position horizontal displacement；According to the horizontal displacement, the horizontal velocity and the vertical speed, calculate described current
The difference in height of position and the hovering position；According to the horizontal displacement, the difference in height and the current location, fitting hovering
Position；
Alternatively, the fitting module is used for, according to the vertical speed and the vertical acceleration, calculate the current location with
The difference in height of the hovering position；According to the difference in height, the vertical speed and the horizontal velocity, the present bit is calculated
Set the horizontal displacement with the hovering position；According to the difference in height, the horizontal displacement and the current location, fitting hovering
Position.
13. device according to claim 12, which is characterized in that the control module is used for, and is controlled using automated closed-loop
Strategy controls the unmanned plane during flying to the hovering position.
14. device according to claim 13, which is characterized in that the automated closed-loop control strategy includes following at least one
Kind: proportional integral differential control or proportional-plus-derivative control.
15. device according to claim 12, which is characterized in that after unmanned plane throwing flies, and in the acquisition module
Before obtaining drone status information, the control module is also used to control the unmanned plane and enters gesture mode.
16. device according to claim 15, which is characterized in that the control module enters controlling the unmanned plane
After gesture mode, it is also used to adjust the unmanned plane to preset posture angle.
17. device according to claim 16, which is characterized in that the preset posture angle is less than or equal to 30 degree.
18. device according to claim 16, which is characterized in that the control module is adjusting the unmanned plane to pre-
If after attitude angle, being also used to control the unmanned plane under gesture mode to stable state.
19. device according to claim 18, which is characterized in that the control module is used for, and is controlled under gesture mode
The unmanned plane stablizes preset duration.
20. device according to claim 12, which is characterized in that after unmanned plane throwing flies, and in the acquisition
Before module obtains drone status information, the control module is also used to adjust unmanned plane to preset direction.
21. device according to claim 20, which is characterized in that the control module is used for, and unmanned plane is carried obstacle
The direction of object sensory perceptual system flies direction towards throwing.
22. device according to claim 21, which is characterized in that the barrier sensory perceptual system includes following at least one
: vision system, TOF system, ultrasonic wave or laser radar.
23. a kind of unmanned aerial vehicle (UAV) control device, comprising:
Memory, for storing program；
One or more processors complete following steps for executing described program:
After unmanned plane, which detects, has thrown winged, the speed of unmanned plane is detected, flies whether direction meets preset condition to judge to throw,
If detecting obtained speed is relative to horizontal direction obliquely, to judge that throwing winged direction is unsatisfactory for preset condition, makes
The motor of unmanned plane stalls；
If detecting obtained directional velocity is relative to horizontal direction obliquely, to judge that throwing winged direction meets preset condition,
Obtain the status information of unmanned plane；
It is fitted the hovering position of the unmanned plane according to the state information；
The unmanned plane during flying is controlled to the hovering position,
Wherein, the status information includes: speed, acceleration, current location；
The speed includes horizontal velocity and vertical speed, and the acceleration includes horizontal acceleration and vertical acceleration；
The hovering position for being fitted unmanned plane according to the state information, comprising:
According to the horizontal velocity and the horizontal acceleration, the horizontal displacement of the current location and hovering position is calculated；Root
According to the horizontal displacement, horizontal velocity and vertical speed, the difference in height of the current location and hovering position is calculated；According to described
Horizontal displacement, the difference in height and the current location are fitted hovering position；
Alternatively, the hovering position for being fitted unmanned plane according to the state information, comprising:
According to the vertical speed and the vertical acceleration, the difference in height of the current location and hovering position is calculated；According to
The difference in height, the vertical speed and the horizontal velocity, calculate the horizontal position of the current location Yu the hovering position
It moves；According to the difference in height, the horizontal displacement and the current location, it is fitted hovering position.
24. a kind of UAV system, which is characterized in that including the described in any item unmanned aerial vehicle (UAV) control dresses of such as claim 12 to 23
It sets, further includes power device.
25. system according to claim 24, which is characterized in that the power device include at least one of the following: motor,
Electricity is adjusted or propeller.
26. a kind of storage medium, which is characterized in that for storing instruction, described instruction is for executing such as claim 1 to 11 times
The step of unmanned aerial vehicle (UAV) control method described in one.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/100385 WO2018058320A1 (en) | 2016-09-27 | 2016-09-27 | Method and apparatus for controlling unmanned aerial vehicle |
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| CN107438805A CN107438805A (en) | 2017-12-05 |
| CN107438805B true CN107438805B (en) | 2019-07-30 |
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| WO (1) | WO2018058320A1 (en) |
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| WO2019127029A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Obstacle avoidance method and device and aircraft |
| JP6751935B2 (en) * | 2018-02-28 | 2020-09-09 | 株式会社ナイルワークス | Agricultural drone with improved safety |
| CN108839808A (en) * | 2018-07-05 | 2018-11-20 | 上海歌尔泰克机器人有限公司 | Flight control assemblies and unmanned vehicle |
| 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 |
| CN111307144B (en) * | 2018-12-11 | 2022-02-08 | 杭州海康机器人技术有限公司 | Method, device and system for detecting unmanned aerial vehicle skew |
| CN109828274B (en) * | 2019-01-07 | 2022-03-04 | 深圳市道通智能航空技术股份有限公司 | Method and device for adjusting main detection direction of airborne radar and unmanned aerial vehicle |
| CN110531617B (en) * | 2019-07-30 | 2021-01-08 | 北京邮电大学 | Multi-unmanned aerial vehicle 3D hovering position joint optimization method and device and unmanned aerial vehicle base station |
| CN111552307A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Rapid hovering method for unmanned aerial vehicle |
| CN112304312B (en) * | 2020-09-17 | 2022-09-13 | 合肥赛为智能有限公司 | Unmanned aerial vehicle attitude calculation method and system based on least square method and EKF |
| CN112462798B (en) * | 2020-12-04 | 2021-05-28 | 三生万物(北京)人工智能技术有限公司 | Unmanned aerial vehicle and method for improving flight performance of unmanned aerial vehicle |
| WO2022141311A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and apparatus, unmanned aerial vehicle, terminal, system and storage medium |
| CN113485445A (en) * | 2021-08-11 | 2021-10-08 | 深圳微希科技有限公司 | Unmanned aerial vehicle deceleration hovering control method and device, electronic equipment and storage medium |
| CN114089777A (en) * | 2021-11-22 | 2022-02-25 | 广州市华科尔科技股份有限公司 | Control method and device for throwing unmanned aerial vehicle |
| CN114460967B (en) * | 2022-02-09 | 2022-12-02 | 沃飞长空科技(成都)有限公司 | Takeoff method and system of unmanned aerial vehicle, terminal device and storage medium |
| CN116828132A (en) * | 2023-07-05 | 2023-09-29 | 广州磐碟塔信息科技有限公司 | Virtual photography control method and system |
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| TWI408568B (en) * | 2010-06-24 | 2013-09-11 | Hon Hai Prec Ind Co Ltd | Handheld device and method for controlling a unmanned aerial vehicle using the handheld device |
| FR2964573B1 (en) * | 2010-09-15 | 2012-09-28 | Parrot | METHOD FOR CONTROLLING A MULTI-ROTOR ROTOR SAILING DRONE |
| CN103365297B (en) * | 2013-06-29 | 2016-03-09 | 天津大学 | Based on four rotor wing unmanned aerial vehicle flight control methods of light stream |
| CN104044734B (en) * | 2014-06-20 | 2016-03-02 | 中国科学院合肥物质科学研究院 | There is many rotor wing unmanned aerial vehicles control system and the method for tiltable wing and rotor |
| CN204390044U (en) * | 2015-01-29 | 2015-06-10 | 北京中科遥数信息技术有限公司 | A kind of device optimizing unmanned plane during flying record |
| CN105045286B (en) * | 2015-09-16 | 2019-11-19 | 北京中科遥数信息技术有限公司 | A method of based on the monitoring unmanned plane of autopilot and genetic algorithm hovering range |
| CN105446356A (en) * | 2015-12-17 | 2016-03-30 | 小米科技有限责任公司 | Unmanned plane control method and unmanned plane control device |
| CN105527972A (en) * | 2016-01-13 | 2016-04-27 | 深圳一电航空技术有限公司 | Unmanned aerial vehicle (UAV) flight control method and device |
| CN105527974B (en) * | 2016-01-31 | 2018-07-06 | 中国人民解放军国防科学技术大学 | A kind of asymptotic control method of underactuated spacecraft hovering for lacking radially control |
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| CN107438805A (en) | 2017-12-05 |
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