CN107479570B - Unmanned aerial vehicle automatic flight control method capable of adjusting spiral wing attitude - Google Patents
Unmanned aerial vehicle automatic flight control method capable of adjusting spiral wing attitude Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle automatic flight control method capable of adjusting the attitude of a spiral wing, which comprises the following steps: firstly, initializing: carrying out initialization self-checking on the system, judging the operation condition of each component in the system, carrying out four actions of taking off, advancing, backing off and descending, and adjusting a balance attitude reference control quantity in the action process; detecting path points; thirdly, planning a route; judging the position; fifthly, posture adjustment; and sixthly, finishing. The invention can effectively solve the problem of fixed-point automatic flight through several operation processes of initialization, path point detection, route planning, position judgment and attitude adjustment, and provides powerful guarantee for high-efficiency and low-cost operation of short-distance logistics.
Description
Technical Field
The invention relates to an unmanned aerial vehicle automatic flight control method capable of adjusting the attitude of a spiral wing.
Background
At present, part colleges and universities campus is great, or has a plurality of school districts that close to, and the mode that special messenger ridden is adopted to wherein smallclothes commodity circulation more, and the human cost is high, efficient.
Particularly, the above-mentioned short distance commodity circulation is most fixed point, small batch, can adopt unmanned aerial vehicle to transport in order to practice thrift the human cost, but the unmanned aerial vehicle technique among the prior art does not provide sufficient support to this, especially to unmanned aerial vehicle automatic flight control among the prior art, generally control through external control center is unified, but this mode is higher to communication signal's requirement, and control center assumes the cost is higher moreover, consequently to the unit of implementing the commodity circulation, its cost and fault rate (because of the signal is unusual) are all difficult to accept.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unmanned aerial vehicle automatic flight control method capable of adjusting the spiral wing attitude, which can effectively solve the problem of fixed-point automatic flight through initialization, path point detection, route planning, position judgment and attitude adjustment, and provides powerful guarantee for high-efficiency and low-cost operation of short-distance logistics.
The invention is realized by the following technical scheme.
The invention provides an unmanned aerial vehicle automatic flight control method capable of adjusting the attitude of a spiral wing, which comprises the following steps:
firstly, initializing: carrying out initialization self-checking on the system, judging the operation condition of each component in the system, carrying out four actions of taking off, advancing, backing off and descending, and adjusting a balance attitude reference control quantity in the action process;
path point detection: inputting path points by a user, recording the path points input by the user by the system, storing the path points as a path point set, connecting every two adjacent path points in the path point set, circularly taking two path points which are ranked most front as a current starting point and a current terminal point, and performing the step (c) and the step (d) until only one path point is left;
and thirdly, planning a route: correcting the connecting line of the starting point and the terminal point according to the map data and the height information of the buildings in the map data, so that the connecting line of the starting point and the terminal point does not pass through any buildings, and obtaining a current route;
judging the position: judging the current position in real time, judging whether the distance between the current position and the current route is greater than a preset value, if so, performing the step (v), and if the distance between the current position and the terminal point is less than the preset value, returning to the step (ii) to enter the next cycle;
posture adjustment: taking a triangular hypotenuse with a preset angle as a return route according to the fact that a perpendicular line between the current position and the current route is a triangular right-angle side, and adjusting the attitude to the attitude of flying along the return route according to the balance attitude reference control quantity;
sixthly, the completion: and clearing the balance attitude reference control quantity and the path point set, and shutting down the machine.
The preset value is 0.3-1.5 m.
The preset angle is 40-50 degrees.
The map data is obtained by adding a height value of a building to each building block in the planar map data.
The invention has the beneficial effects that: through several operation processes of initialization, path point detection, route planning, position judgment and attitude adjustment, the problem of fixed-point automatic flight can be effectively solved, and powerful guarantee is provided for high-efficiency low-cost operation of short-distance logistics.
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FIG. 1 is a schematic process diagram of the present invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
The invention provides an unmanned aerial vehicle automatic flight control method capable of adjusting the attitude of a spiral wing, which comprises the following steps:
firstly, initializing: carrying out initialization self-checking on the system, judging the operation condition of each component in the system, carrying out four actions of taking off, advancing, backing off and descending, and adjusting a balance attitude reference control quantity in the action process;
path point detection: inputting path points by a user, recording the path points input by the user by the system, storing the path points as a path point set, connecting every two adjacent path points in the path point set, circularly taking two path points which are ranked most front as a current starting point and a current terminal point, and performing the step (c) and the step (d) until only one path point is left;
and thirdly, planning a route: correcting the connecting line of the starting point and the terminal point according to the map data and the height information of the buildings in the map data, so that the connecting line of the starting point and the terminal point does not pass through any buildings, and obtaining a current route;
judging the position: judging the current position in real time, judging whether the distance between the current position and the current route is greater than a preset value, if so, performing the step (v), and if the distance between the current position and the terminal point is less than the preset value, returning to the step (ii) to enter the next cycle;
posture adjustment: taking a triangular hypotenuse with a preset angle as a return route according to the fact that a perpendicular line between the current position and the current route is a triangular right-angle side, and adjusting the attitude to the attitude of flying along the return route according to the balance attitude reference control quantity;
sixthly, the completion: and clearing the balance attitude reference control quantity and the path point set, and shutting down the machine.
Therefore, when the user uses the unmanned aerial vehicle, as long as bind the article to be transported on the unmanned aerial vehicle earlier, then set for the waypoint can, the transportation can be accomplished automatically to unmanned aerial vehicle, does not need artificial control, and owing to do not have such automatic identification computational process as neural network, the calculated amount is also less, and the performance is secure, to the condition that a plurality of little parcels will be transported the multiple spot, as long as put down the article when reaching specific waypoint with other control module control unmanned aerial vehicle on the unmanned aerial vehicle.
Specifically, the preset value is 0.3-1.5 m. The control process adopts a mode of taking the calculated route as a reference and continuously correcting to finish flying according to the calculated route, so that on one hand, the calculated amount can be greatly reduced, and the cost is greatly reduced, but on the other hand, the method means that the preset value is set reasonably, the preset value is adjusted too frequently when the preset value is too small, the efficiency is seriously influenced, and the preset value is easy to yaw to collide with a building when the preset value is too large, so 0.3-1.5 m is most suitable, and 0.5 m is generally adopted.
The preset angle is 40-50 degrees. If the preset angle is too small, the return line may cause serious yaw, and if the preset angle is too large, the adjustment is inevitably too frequent, which is not favorable for efficient transportation.
As a simplest generation method of map data, the map data is obtained by adding a building height value to each building block in the planar map data.
Claims (1)
1. An unmanned aerial vehicle automatic flight control method capable of adjusting the attitude of a spiral wing is characterized in that: the method comprises the following steps:
firstly, initializing: the system is subjected to an initial self-check,
judging the operation condition of each component in the system, carrying out four actions of taking off, advancing, backing off and descending, and adjusting the reference control quantity of the balance attitude in the action process;
path point detection: inputting path points by a user, recording the path points input by the user by the system, storing the path points as a path point set, connecting every two adjacent path points in the path point set, circularly taking two path points which are ranked most front as a current starting point and a current terminal point, and performing the step (c) and the step (d) until only one path point is left;
and thirdly, planning a route: correcting the connecting line of the starting point and the terminal point according to the map data and the height information of the buildings in the map data, so that the connecting line of the starting point and the terminal point does not pass through any buildings, and obtaining a current route;
judging the position: judging the current position in real time, judging whether the distance between the current position and the current route is greater than a preset value, if so, performing the step (v), and if the distance between the current position and the terminal point is less than the preset value, returning to the step (ii) to enter the next cycle;
posture adjustment: taking a triangular hypotenuse with a preset angle as a return route according to the fact that a perpendicular line between the current position and the current route is a triangular right-angle side, and adjusting the attitude to the attitude of flying along the return route according to the balance attitude reference control quantity;
sixthly, the completion: clearing the balance attitude reference control quantity and the path point set, and shutting down;
the preset value is 0.3-1.5 m; the preset angle is 40-50 degrees;
the map data is obtained by adding a height value of a building to each building block in the planar map data.
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| US9428961B2 (en) * | 2014-06-25 | 2016-08-30 | Motive Drilling Technologies, Inc. | Surface steerable drilling system for use with rotary steerable system |
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