CN107807668A - A kind of multi-rotor unmanned aerial vehicle autocontrol method - Google Patents
A kind of multi-rotor unmanned aerial vehicle autocontrol method Download PDFInfo
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- CN107807668A CN107807668A CN201711239033.1A CN201711239033A CN107807668A CN 107807668 A CN107807668 A CN 107807668A CN 201711239033 A CN201711239033 A CN 201711239033A CN 107807668 A CN107807668 A CN 107807668A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
A kind of multi-rotor unmanned aerial vehicle autocontrol method, the unmanned plane includes head, fuselage and multiple folding rotors, the unmanned aerial vehicle body bottom is provided with light stream positioner, the unmanned plane head front end is provided with an infrared sensor, the fuselage both sides and bottom are respectively equipped with an infrared sensor, the unmanned plane includes manual mode, automatic mode and motor pattern, the automatic mode is divided into the floating state of automatic mode, the state of flight of automatic mode and a key make a return voyage state, the autocontrol method is the control method under automatic mode, the autocontrol method includes automatic takeoff method, automatic landing method, automatic hovering method and automatic obstacle-avoiding method.The unmanned plane autocontrol method of the present invention, the automatic takeoff, automatic landing method, automatic hovering and automatic obstacle-avoiding, it is only necessary to which user starts correlation function in control interface, and convenient and swift, user is easily mastered.
Description
Technical field
The invention belongs to multi-rotor unmanned aerial vehicle automation field, and in particular to a kind of multi-rotor unmanned aerial vehicle side of automatically controlling
Method.
Background technology
Have benefited from the progress of the technologies such as sensor, executing agency, processor and the reduction of relevant cost, with reference to this part
The advantages of so that semi-automatic and full automatic multi-rotor aerocraft is built into possibility.The research of unmanned aerial vehicle (UAV) control technology is
One of focus of attention of each unmanned plane research and development company and university, research institution both at home and abroad at present, such as pocket unmanned plane, independently keep away
Allow dancing unmanned plane etc., all cause unmanned plane miniaturization, it is intelligent, automatically control a very high platform of having been marched toward in precision
Rank, and existing unmanned plane also extensively and profoundly arrives the every field such as military, civilian, such as self-timer and synchronously send circle of friends, boat
Shoot shadow, factory's eminence equipment operation condition inspection, electric inspection process, environmental monitoring, forest fire protection, disaster inspection, anti-terrorism lifesaving,
The fields such as military surveillance, battle assessment, with progressively going deep into for unmanned plane, the cost and danger greatly reduced over when taking photo by plane
The loss that can not be estimated that injury under dangerous environment work to operating personnel is brought, it is aerial that it effectively overcomes manned aircraft
The deficiency of operation, purchase and maintenance cost are reduced, improve the security of delivery vehicle.
With the continuous maturation of consumer level unmanned air vehicle technique, the automatic obstacle-avoiding system of constantly improve can be significantly reduced because
Operational error and the every loss brought, at present avoidance ability be increasingly becoming unmanned plane automation or intelligentized key point
Place.And unmanned plane automatic obstacle-avoiding how is realized, first have to be accomplished that how accurately to measure between unmanned plane and barrier
Distance, only first measure the distance in risk range, just unmanned plane can be stopped before barrier is hit with having time
Forward motion, and then avoid the generation of accident.
With the fast development of unmanned air vehicle technique, the function that unmanned plane can be realized is also more and more, and function increases, can not
The control method avoided can become increasingly complex, and the component of unmanned plane itself also can be more and more, add unmanned plane weight
Meanwhile control method is become more complicated, especially for multi-rotor unmanned aerial vehicle, the motor being related to is more, and control program is more
Add complexity.Especially for new hand, thick this specification is read to understand that how to control flight is difficult Er Qieyi
Denier is made a fault when operating, and unmanned plane may be caused to damage, be caused user to lose.Therefore before unmanned plane function is complicated and diversified
Put, simplify user's operation, realize that multi-functional autocontrol method is particularly important.
The content of the invention
Volume purpose of the present invention is to provide a kind of convenient, simple unmanned plane autocontrol method, and this method step is few, behaviour
It is convenient to make.
In order to solve the above problems, the present invention provides a kind of multi-rotor unmanned aerial vehicle autocontrol method, the unmanned plane bag
Head, fuselage and multiple folding rotors are included, the unmanned aerial vehicle body bottom is provided with light stream positioner, the unmanned plane
Head front end is provided with an infrared sensor, and the fuselage both sides and bottom are respectively equipped with an infrared sensor, it is described nobody
Machine includes manual mode, automatic mode and motor pattern, and the automatic mode is divided into the floating state of automatic mode, automatic mode
State of flight and a key make a return voyage state, the autocontrol method is the control method under automatic mode, the automatic control
Method processed includes automatic takeoff method, automatic landing method, automatic hovering method and automatic obstacle-avoiding method, described to automatically control
Method comprises the following steps：
Automatic takeoff method：
A1：Open unmanned plane；
A2：Select automatic mode or motor pattern；
A3：Automatic takeoff；
Automatic landing method：
B1：The automatic landing instruction of input；
B2：Unmanned plane lands；
Automatic hovering method：
C1：Open hovering pattern, record hovering initial pictures；
C2：Start to sample；
C3：The image sampled in the step C2 is contrasted with initial pictures, draws the two overlapping region；
C4：According to the overlapping region in the step C3, the displacement for needing to offset is calculated；
C5：According to result of calculation in the step C4, control unmanned plane compensation skew；
Automatic obstacle-avoiding method：
D1：Unmanned plane automatic mode or a key is opened to make a return voyage pattern；
D2：Infrared sensor detects the distance of unmanned plane and peripheral obstacle；
D3：Unmanned plane automatic obstacle-avoiding.
The present invention is directed small-sized multi-rotor unmanned aerial vehicle, other kinds of unmanned plane can also be realized.
Unmanned plane of the present invention is provided with plurality of flight, and automatic rise could be realized under automatic mode or motor pattern
Flying, after unmanned plane is powered, maiden flight is defaulted as automatic mode, in automatic mode, there is fixed high, fixed point, brake function,
Flying speed is slower, general≤5m/s.If gps signal is bad or does not have signal, height can only be determined in automatic mode, without
Fixed point.When not needing automatic mode, user can carry out selective switching by remote control.User can be by controlling remote control to shake
Bar releases automatic takeoff.The automatic landing method, it is only necessary to which user starts automatic landing in control interface and can be achieved, convenient
Fast, user is easily mastered.
Under the motor pattern, there is fixed high, fixed point and brake function, flying speed is very fast, but it is general also can≤10m/s.
If gps signal is bad or does not have signal, height can only be determined in the sport mode, without pinpointing；When user wants to be switched to other
During pattern, equally selective switching can be carried out by remote control, in the sport mode also for user by remote control to unmanned plane
Manipulated, therefore the automatic manipulation of unmanned plane can not be realized.
One key pattern of making a return voyage returns to initial position for unmanned plane in flight course, when unmanned plane returns into a key
Endurance, user had better not move other switches and button, prevent unmanned plane instruction from intersecting, cause to slip up；In the present invention, when nobody
Machine can make a return voyage after losing remote control information automatically into out of control；When unmanned plane cell voltage is too low and unmanned plane and required position of making a return voyage
When putting horizontal range and being more than 30m, unmanned plane can make a return voyage automatically；If unmanned plane is less than 30m with required position horizontal range of making a return voyage,
Aircraft will land automatically from current location.When gps signal is abnormal or GPS does not work, it can not realize and make a return voyage, but can be certainly
Dynamic landing.If during making a return voyage, user thinks that cancellation is maked a return voyage, it is necessary to switch offline mode.
The light stream positioner includes light stream camera and light stream control mainboard, the light stream camera and light stream control
Mainboard is connected by the master board with unmanned plane, so as to realize the automatic hovering of unmanned plane.Wherein light stream camera is located at nothing
People's motor spindle, for shooting, collecting shooting image, the light stream control mainboard electrically connects inside unmanned plane with camera.
This method compared with prior art, does not only individually increase the positioner of auxiliary, and do not use using light stream positioning hovering
Light stream locator, unmanned plane holistic cost is reduced, and make unmanned plane lighter and handier, also more saved, and can realized precisely
Positioning.
The advance typing control program of light stream control mainboard, when opening automatic suspension stop mode, the light stream camera
Start, and the image of shooting is sent to light stream control mainboard, wherein first shot image is reference picture picture, then by second
Pictures are contrasted with first, identify the overlapping region of the two, so as to calculate relative first figure of second image
The offset direction of picture and the shift value of skew, the result of calculating is converted to control instruction by the light stream control mainboard, then is passed through
The master board control unmanned plane motor compensating deviant of unmanned plane, realizes the hovering of unmanned plane.The unmanned plane of the present invention is provided with
Plurality of flight, such as automatic mode, manual mode, motor pattern, when using automatic hovering function, using automatic mode
.
The unmanned plane is provided with corresponding program, can be attached with mobile terminal by network, the mobile terminal can clamp
Formula is fixed on the remote control of unmanned plane, user-friendly.Further, the unmanned plane is additionally provided with locking mode and with clapping mould
Formula, under light stream station-keeping mode, to the greatest extent can be used locking mode, now unmanned plane position is constant, can course locking follow target.
This method is simple to operate, and user only needs to be switched to corresponding modes, you can realizes the function of hovering automatically.And in the present invention, from
The involved element of dynamic hovering is few, relates generally to the programming and calculating of computer, compared with prior art middle other components of increase
To be hovered, method of the invention is more cost-effective, and especially suitable for the compact unmanned plane of small size, by that will calculate
Machine application program editor is on chip, then by inside implanted chip unmanned plane, you can realizes.
The unmanned plane during hovering, occur offset deviation include all around and oblique angle all directions, because
This needs calculating unmanned plane the direction of deviation and displacement occur, and the direction is any side for including unmanned plane hovering position
To, by calculating the coordinate of differential location, will can also be programmed to by compare light stream camera shooting before and after two
Photo, the overlapping region of two photos is calculated, then with optical flow algorithm, displacement difference is calculated, finally by light stream
Result of calculation is transferred to the master board of unmanned plane by control mainboard, and the master board controls the rotation control of unmanned plane motor again
The skew of fuselage processed, unmanned plane is set to recover to initial hovering position.Whole calculating process is convenient and swift, can realize that unmanned plane exists
Quickly corrected during hovering, return to initial position, simultaneously, it is not necessary to the operation bidirectional of user, it is easy to use, suitable for promoting.
Because under motor pattern and manual mode, the state of flight of unmanned plane is all manipulated by user, therefore institute
Stating unmanned plane automatic obstacle avoidance functions can only be carried out in the case where automatic mode and a key make a return voyage pattern.
Therefore, automatic mode or a key is opened to make a return voyage the i.e. achievable automatic obstacle-avoiding of pattern.When unlatching unmanned plane automatic mold
Formula or a key make a return voyage after pattern, the distance of infrared transmitter and infrared remote receiver the detection unmanned plane and peripheral obstacle, by
Under different mode, the flying speed of unmanned plane is also variant, therefore is directed to different patterns, and avoidance mode is also different.Pass through
Offline mode is classified, unmanned plane is used different barrier-avoiding methods according to different patterns, simplifies avoidance program, so as to
Enough realize the accurate avoidance under different mode.
The automatic obstacle avoidance functions of unmanned plane can be achieved under automatic mode, unmanned plane is judged according to itself testing result,
Realize avoidance, it is not necessary to the cooperation of other barrier avoiding function elements, saved cost on the whole, simplified barrier-avoiding method.
Further, in the step A3, the default height of the automatic takeoff is 2 ~ 4m.
In order to ensure the safety of unmanned plane, in automatic takeoff, taking off for acquiescence highly will not be too high, is easy to user to enter one
Step voluntarily manipulates, and preferably sets the default height to take off as 3m.
Further, in the step B2, the unmanned plane landing also includes the step of control unmanned plane landing place manually
Suddenly.
Because unmanned plane will not detect surface state in automatic descent, it is therefore desirable to which user adjusts as the case may be
Section needs the position landed, and so as to avoid the danger position unfavorable to unmanned plane or be inconvenient to the position landed, realizes flexible
Manipulation, adjusting method is simple, easy.
Further, the automatic hovering method also includes reminding step, and the prompting step includes reminding current environment
Lower user is adapted to hover or is not suitable for hovering.
The automatic hovering method of the present invention mainly for the hovering positioned in light stream, due to light stream positioning hovering have it is certain
Limitation, therefore different environment is directed to, can carry out light stream positioning needs concrete condition to make a concrete analysis of.In practical application
In, also have and be combined a variety of suspension devices, realize that unmanned plane can realize hovering under various conditions.The three-dimensional of unmanned plane
Coordinate typically can realize measure according to different devices, and the height is generally by ultrasonic sensor（Measurement and ground
Distance）Either barometer（Height can influence the change of atmospheric pressure）Come what is measured, and the coordinate of horizontal level is then by GPS module
To determine.Certainly, GPS can also provide elevation information, but for the unmanned plane of main flow, be more likely to use barometer,
Because the GPS of low cost Refresh Data rate is too low, data hysteresis can cause unmanned plane highly to fall when high-speed motion.
In addition to being positioned except GPS patterns, unmanned plane also has a kind of " gesture mode ", and dependence is internal IMU（Inertial Measurement Unit,
Actually one group of gyroscope+acceierometer sensor）To identify the state of flight of itself and relative displacement, by winged control person
It is manually operated, allow it reach precalculated position hovered.
And positioned for light stream, user when in use, after selecting the automatic hovering of light stream positioning, the light stream camera of unmanned plane
By detecting current environment, judge whether the condition for meeting light stream positioning hovering, after the completion of judgement, transmitted and believed by master board
Number give user use end, user can receive current environment if appropriate for light stream position hovering prompting.The setting of step is reminded,
It can make to be judged by device itself will not occur judging inaccuracy because of the judgement of individual subscriber, so as to cause nobody
There is the situation of hovering failure in machine.
Further, the unmanned plane during flying height is below three meters and/or without gps signal, or the unmanned plane during flying
Height is below three meters and/or gps signal is below four stars, and/or during unmanned plane flight indoors, reminds user to be adapted to hang
Stop.
Because the light stream positioning hovering described in this method has suitable condition accordingly, light stream positioning is it is desirable that light stream images
Head is calculated by image difference before and after contrast, and when unmanned plane during flying distance is too high, the picture of front and rear shooting may be caused
Face is not clear enough, can not carry out accurate comparative analysis, in fact it could happen that misjudgment, therefore select to remind user below three meters
It is adapted to hovering.
And conventional unmanned plane can all be equipped with GPS positioning device, for judging distance, in theory for, with ground point
Three-dimensional coordinate（X, Y, Z）For undetermined parameter, the distance for only needing to measure 3 satellites to ground points really is assured that the point
Three-dimensional coordinate.But defend distance be as obtained from the propagation time difference Δ t of signal is multiplied by the spread speed v of signal.
Wherein, the spread speed v of signal is very big close to the light velocity in vacuum, value.Therefore, this requires to enter time difference Δ t
Row very accurately measure, if slightly deviation, then measure defend distance will leading to great error.And time difference Δ t is logical
Spend the time that the signal transmission time that will be measured at satellite reaches with the signal measured at receiver and ask what difference obtained.Wherein, defend
The atomic clock disposed on star, stability are very high, it is believed that the time of this clock and coincide during GPS；Clock at receiver is
Quartz clock, stability are general, it is believed that existence time synchronous error when its clock time and GPS, and this error is made
For a undetermined parameter.So, actually need to solve just there are 4 undetermined parameters for each ground point, therefore at least need
4 satellites of observation defend ground range data to ground point.From the perspective of mathematics, 4 unknown ginsengs are just to solve in brief
Number, it is inevitable at least to need 4 equations.Therefore, when without gps signal or gps signal below four stars, GPS can not be carried out
Accurately positioning, therefore, it may remind the user that under the environment and carry out light stream positioning hovering.The present invention is directed to different environment, right
User is reminded, and makes user's use more convenient, and unmanned plane itself is judged, more accurately.
Indoor flight during flight indoors, typically can not because not general gps signal, or gps signal are very weak
Accurately positioned from GPS, therefore, preferred light stream positioning hovering.When it is indoor flight that unmanned plane, which detects, reminds and use
Family can select light stream positioning hovering, and after user selects automatic hovering, the light stream camera of unmanned plane is opened, and carries out ground
Environment measuring, when ground environment meets light stream location condition, you can hovering is realized, when ground environment does not meet light stream positioning strip
During part, user's current environment can be also further reminded to be not suitable for hovering.Many promptings, user is allowed for the use of more,
Will not be due to artificially being caused damage to the erroneous judgement of environment to unmanned plane.
Further, the ground in the unmanned plane during flying region be solid color and/or it is reflective and/or have inverted image and/or
When the water surface and/or transparent substance and/or moving object and/or illumination variation face and/or repeat patterns, user is reminded to be not suitable for outstanding
Stop.
Light stream is exactly the obvious visual movement felt in the moving world, without absolute static, also without exhausted
To motion.Vision positioning system includes camera and ultrasonic wave module, and it mainly utilizes built-in light stream control system, will
The information such as pixel distribution and color, brightness is changed into data signal and sends the various computings of image processing system progress to extract mesh
Target feature, and then the action of aircraft is controlled according to the result of differentiation, it can also differentiate indoors with ultrasonic sensor
Relative altitude, calculated by efficient vision processor and allow unmanned plane to realize precision indoor positioning hovering and smooth flight.
Because light stream positioning hovering is mainly judged by vision system, therefore, all may influence vision judge
As a result factor may all influence the accuracy of light stream positioning hovering.When ground is solid color or repeat patterns, due to light
Identical color or pattern when flowing the front and rear comparison diagram of camera shooting, therefore, even if unmanned plane is offset, its light stream is determined
Position system also can't detect, and think that unmanned plane does not shift, may it is therefore possible to cause the failure that unmanned plane senses
Bump against other objects and cause danger.In addition, when ground is minute surface or the water surface or reflective more strong reflecting surface, also can be serious
The judgement of unmanned plane light stream camera is influenceed, causes same error.In addition, ground light conditions are unstable, suddenly bright to neglect
Secretly, or there is an object quickly moved, when above the shrub or thick grass that the stream of people such as quickly to walk, wagon flow, or wind are blown, all
Normal light stream positioning can not be realized.Therefore, for these situations, the present invention is set to a variety of situations that can not be realized to be carried
Wake up, be user-friendly.
Further, in the step D1, the automatic mode includes the floating state of automatic mode, at the unmanned plane
When the floating state of automatic mode, in the step D2, the infrared sensor inspection of the front side and the left and right sides of the unmanned plane
Obstacle distance is surveyed when being less than 0.8 ~ 1.2m, unmanned plane flight automatic obstacle-avoiding in the opposite direction.
Unmanned plane of the present invention except there is provided automatic obstacle avoidance functions, being also provided with automatic hovering function, therefore
Under automatic mode, there can be two kinds of state of flights, i.e., the state of flight under floating state and automatic mode under automatic mode, together
Sample, different state of flights, unmanned plane during flying speed is different, therefore barrier-avoiding method is also different, therefore automatic mode is divided into
Two kinds of state of flights, the barrier-avoiding method that different state of flights is directed to is also different, and avoidance can so more had and is directed to
Property, avoid the danger that all state of flights may all be triggered with same barrier-avoiding method.
When the floating state in automatic mode, can recover automatically to original position when fuselage shifts,
In this case, unmanned plane automatic obstacle-avoiding mainly for due to fuselage it is unstable skew need carry out avoidance, due to now nobody
Machine does not have to advance substantially or mobile speed, therefore the present invention sets the infrared sensor of the front side and the left and right sides when unmanned plane
Detection obstacle distance is when being less than 0.8 ~ 1.2m, unmanned plane flight automatic obstacle-avoiding in the opposite direction, i.e., when unmanned plane front is red
When outer sensor detects that obstacle distance is less than 0.8 ~ 1.2m, when optimal design is less than 1m, unmanned plane can be kept away backward
Barrier.Equally, left side or right side avoidance be on the left of unmanned plane or right side infrared sensor detect obstacle distance be less than 0.8 ~
During 1.2m, optimal design be less than 1m when, unmanned plane can to the right or left side carry out avoidance.
Another situation, i.e. two sides or three faces be detected simultaneously by obstacle distance be less than setting avoidance apart from when, from
Under dynamic hovering pattern, the direction that the unmanned plane can be towards sensing less than barrier is moved.Therefore the design of many-sided avoidance, can
For the various situations in flight course, flexibly reply, enables unmanned plane to realize comprehensive avoidance, ensure that unmanned plane exists
Safety in flight course, add the reliability of product.
Further, the automatic mode also includes the state of flight of automatic mode, and the unmanned plane is in automatic mode
State of flight when, in the step D3, the unmanned plane automatic obstacle-avoiding includes automatic retarding step and the step that halts.
For the state of flight of automatic mode, due to being dynamic state, therefore the present invention increases in unmanned plane automatic obstacle-avoiding
If automatic retarding step and the step that halts.When the front of unmanned plane or the infrared detector of left and right sides detect distance
During barrier certain distance, the unmanned plane automatic retarding continues to move to, when continuously move to warning apart from when, the unmanned plane
Stopping moves on, and continues to move to also will not continue to advance even if target is followed.Therefore during automatic follow, unmanned plane meeting
According to the flexible avoidance of current environment, and increased avoidance step can have certain buffer time, fast particular for target is followed
When spending very fast, avoidance is more accurate, also safer.
Further, the unmanned plane automatic retarding step for the unmanned plane front side and/or the left and right sides it is infrared
When sensor detection obstacle distance is less than 4 ~ 8m, the unmanned plane automatic retarding；The step that halts of the unmanned plane is
When the detection of the infrared sensor of the front side of the unmanned plane and/or the left and right sides is less than 2 ~ 4m with obstacle distance, it is described nobody
Machine halts.
For in deceleration steps, setting a buffer distance to be used to slow down, the buffer distance is when the front side of unmanned plane
And/or the infrared sensor detection obstacle distance of the left and right sides is when being less than 4 ~ 8m, the unmanned plane automatic retarding, for quick
Motion follows target, sets 4 ~ 8 meters, unmanned plane is had enough reaction time and deceleration time, it is preferred that sets 5 meters
Safe distance.
The unmanned plane is provided with the warning distance during following, when unmanned plane during following it is first with obstacle distance
When being first less than safe distance, unmanned plane meeting Reduced Speed Now, after unmanned plane moves on, it is less than warning distance with obstacle distance
When, unmanned plane halts, and it is outer to hover over warning distance.In order to be further ensured that the driving safety of unmanned plane, the warning away from
From 2 ~ 4m is arranged to, the unmanned plane can be halted, and hover over the position to halt, it is preferred that the warning distance is set
It is set to 2.5m.
Further, the unmanned plane be in a key make a return voyage state when, the unmanned plane automatic obstacle-avoiding also includes on automatic
Rise step, the automatic up step of unmanned plane for unmanned plane front side infrared sensor detection with obstacle distance be less than 7 ~
During 9m, the unmanned plane is further continued for toward direction flight of making a return voyage after first rising 90 ~ 110m automatically.
Due to being maked a return voyage in a key under state, unmanned plane is constantly in forward travel state, therefore when a key makes a return voyage under pattern, only
There is the infrared sensor on front side of unmanned plane to play a role, in avoidance under a key makes a return voyage pattern, the same safety for being provided with avoidance
Distance, thus the infrared sensor on front side of unmanned plane detect apart from barrier exceed safe distance when, will rise, pass through
Rise certain height, circumvent barrier, be further continued for advancing.It is 7 ~ 9 meters that the present invention, which sets the safe distance, preferably
8m, when unmanned plane is less than 8m with obstacle distance, the unmanned plane just rises automatically, in order to circumvent under general scenario
All barriers, it is 90 ~ 110m, preferably 100m that the present invention, which sets lifting height, after rising to 100m height, the nothing
Man-machine continuation flight forward realizes avoidance.
Another situation is, when unmanned plane and obstacle distance are less than safe distance, the unmanned plane just automatically on
Rise, in uphill process, front side infrared sensor continues to monitor, and when front side infrared sensor is monitored less than barrier, just stops
Only rise, move on, when running into barrier again during advance, likewise, unmanned plane continues to rise, and front is infrared
Sensor continues to detect, and is moved on again when can't detect barrier.This mode is more flexible, it is not necessary to disposable rise
To maximum height, but gradually rise, carry out avoidance several times, because uphill process can consume many electricity, therefore progressively on
Electricity can also be saved to the full extent by rising, and more be saved.
Beneficial effects of the present invention：
（1）The automatic takeoff and automatic landing method, it is only necessary to which user starts automatic landing in control interface and can be achieved, side
Just quick, user is easily mastered.
（2）The inventive method step is simple, and from hovering is started to hovering is realized, the time is very short, only individually uses light stream
Positioning hovering, does not increase the positioner of auxiliary, and without light stream locator is used, reduces unmanned plane holistic cost, and
Make unmanned plane lighter and handier, also more save, and precise positioning can be realized.
（3）The whole calculating process of the present invention is convenient and swift, can realize that unmanned plane is quickly corrected during hovering, returns
To initial position, simultaneously, it is not necessary to the operation bidirectional of user, it is easy to use, suitable for promoting.
（4）Because unmanned plane is in flight course, the position that is easiest to occur colliding concentrate on front side, the left and right sides and
Bottom during decline, therefore, the present invention can reduce nobody by the setting in the side setting infrared sensor easily collided
The risk that machine collides, make flight course more safe and stable.
（5）The automatic obstacle avoidance functions of unmanned plane can be achieved under automatic mode, unmanned plane is sentenced according to itself testing result
It is fixed, realize avoidance, it is not necessary to the cooperation of other barrier avoiding function elements, saved cost on the whole, simplified barrier-avoiding method.
（6）By the way that offline mode is classified, unmanned plane is used different barrier-avoiding methods according to different patterns, simplify
Avoidance program, so as to realize the accurate avoidance under different mode.
Brief description of the drawings
Fig. 1 is unmanned plane automatic takeoff method schematic diagram of the present invention.
Fig. 2 is the automatic landing method schematic diagram of unmanned plane of the present invention.
Fig. 3 is that unmanned plane of the present invention hovers method schematic diagram automatically.
Fig. 4 is unmanned plane automatic obstacle-avoiding method schematic diagram of the present invention.
Fig. 5 is automatic obstacle-avoiding method figure under unmanned plane automatic mode of the present invention.
Fig. 6 is that an of the invention key makes a return voyage barrier-avoiding method schematic diagram under pattern.
Specific embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
Part of the embodiment, rather than whole embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to uses
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.Under
Embodiments of the invention are described in detail with reference to accompanying drawing for face.
A kind of multi-rotor unmanned aerial vehicle autocontrol method, the unmanned plane include head, fuselage and multiple folding
Rotor, the unmanned aerial vehicle body bottom are provided with light stream positioner, and the unmanned plane head front end is provided with an infrared sensor,
The fuselage both sides and bottom are respectively equipped with an infrared sensor, and the unmanned plane includes manual mode, automatic mode and fortune
Dynamic model formula, the automatic mode are divided into the floating state of automatic mode, the state of flight of automatic mode and a key and maked a return voyage state,
The autocontrol method is the control method under automatic mode, it is characterised in that the autocontrol method includes automatic rise
Flying method, automatic landing method, automatic hovering method and automatic obstacle-avoiding method, the autocontrol method includes following step
Suddenly：
As shown in figure 1, automatic takeoff method is：
A1：Open unmanned plane；
A2：Select automatic mode or motor pattern；
A3：Select automatic takeoff；
Further, in the step A3, the default height of the automatic takeoff is 3m.
As shown in Fig. 2 automatic landing method：
B1：The automatic landing instruction of input；
B2：Unmanned plane lands；
Further, in the step B2, the unmanned plane landing also includes manual the step of controlling unmanned plane landing place.
As shown in figure 3, method of hovering automatically：
C1：Open hovering pattern, record hovering initial pictures；
C2：Start to sample；
C3：The image sampled in the step C2 is contrasted with initial pictures, draws the two overlapping region；
C4：According to the overlapping region in the step C3, the displacement for needing to offset is calculated；
C5：According to result of calculation in the step C4, control unmanned plane compensation skew；
Further, the automatic hovering method also includes reminding step, and the prompting step includes reminding to be used under current environment
Family is adapted to hover or is not suitable for hovering.
Further, the unmanned plane during flying height is below three meters and/or without gps signal, or the unmanned plane during flying
Height is below three meters and/or gps signal is below four stars, and/or during unmanned plane flight indoors, reminds user to be adapted to hang
Stop.
Further, the ground in the unmanned plane during flying region be solid color and/or it is reflective and/or have inverted image and/or
When the water surface and/or transparent substance and/or moving object and/or illumination variation face and/or repeat patterns, user is reminded to be not suitable for outstanding
Stop.
As shown in figure 4, automatic obstacle-avoiding method：
D1：Unmanned plane automatic mode or a key is opened to make a return voyage pattern；
D2：Infrared sensor detects the distance of unmanned plane and peripheral obstacle；
D3：Unmanned plane automatic obstacle-avoiding.
Further, as shown in figure 5, the automatic mode also includes the state of flight of automatic mode, at the unmanned plane
When the state of flight of automatic mode, in the step D3, the unmanned plane automatic obstacle-avoiding includes automatic retarding step and stopping
Advance step.
Further, in the step D1, the automatic mode includes the floating state of automatic mode, and the unmanned plane is in certainly
During the floating state of dynamic model formula, in the step D2, the front side of the unmanned plane and the infrared sensor detection barrier of the left and right sides
Hinder thing distance when being less than 0.8 ~ 1.2m, unmanned plane flight automatic obstacle-avoiding in the opposite direction.
Further, the unmanned plane automatic retarding step for the unmanned plane front side and/or the left and right sides it is infrared
When sensor detection obstacle distance is less than 4 ~ 8m, the unmanned plane automatic retarding；The step that halts of the unmanned plane is
When the detection of the infrared sensor of the front side of the unmanned plane and/or the left and right sides is less than 2 ~ 4m with obstacle distance, it is described nobody
Machine halts.
Further, as shown in fig. 6, the unmanned plane be in a key make a return voyage state when, the unmanned plane automatic obstacle-avoiding is also
Including automatic up step, the automatic up step of unmanned plane is the infrared sensor detection of the front side of unmanned plane and barrier
When distance is less than 7 ~ 9m, the unmanned plane is further continued for toward direction flight of making a return voyage after first rising 90 ~ 110m automatically.
Embodiment of above is merely illustrative of the technical solution of the present invention and unrestricted, although the preferable embodiment party with reference to more than
The present invention is described in detail formula, it will be understood by those within the art that, can be to technical scheme
Modify or equivalent substitution should not all depart from the spirit and scope of technical solution of the present invention.Those skilled in the art can also be at this
The design that other changes etc. are used in the present invention is done in spirit, without departing from the technique effect of the present invention.These
The change done according to present invention spirit, it should all be included within scope of the present invention.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle autocontrol method, the unmanned plane includes head, fuselage and multiple folding rotations
The wing, the unmanned aerial vehicle body bottom are provided with light stream positioner, and the unmanned plane head front end is provided with an infrared sensor, institute
State fuselage both sides and bottom and be respectively equipped with an infrared sensor, the unmanned plane includes manual mode, automatic mode and motion
Pattern, the automatic mode are divided into the floating state of automatic mode, the state of flight of automatic mode and a key and maked a return voyage state, institute
Autocontrol method is stated as the control method under automatic mode, it is characterised in that the autocontrol method includes automatic takeoff
Method, automatic landing method, automatic hovering method and automatic obstacle-avoiding method, the autocontrol method comprise the following steps：
Automatic takeoff method：
A1：Open unmanned plane；
A2：Select automatic mode or motor pattern；
A3：Automatic takeoff；
Automatic landing method：
B1：The automatic landing instruction of input；
B2：Unmanned plane lands；
Automatic hovering method：
C1：Open hovering pattern, record hovering initial pictures；
C2：Start to sample；
C3：The image sampled in the step C2 is contrasted with initial pictures, draws the two overlapping region；
C4：According to the overlapping region in the step C3, the displacement for needing to offset is calculated；
C5：According to result of calculation in the step C4, control unmanned plane compensation skew；
Automatic obstacle-avoiding method：
D1：Unmanned plane automatic mode or a key is opened to make a return voyage pattern；
D2：Infrared sensor detects the distance of unmanned plane and peripheral obstacle；
D3：Unmanned plane automatic obstacle-avoiding.
2. multi-rotor unmanned aerial vehicle autocontrol method according to claim 1, it is characterised in that in the step A3, institute
The default height for stating automatic takeoff is 2 ~ 4m.
3. multi-rotor unmanned aerial vehicle autocontrol method according to claim 1, it is characterised in that in the step B2, institute
State the step of unmanned plane landing also includes control unmanned plane landing place manually.
4. multi-rotor unmanned aerial vehicle autocontrol method according to claim 1, it is characterised in that the automatic hovering method
Also include prompting step, the prompting step includes reminding user under current environment to be adapted to hover or be not suitable for hovering.
5. multi-rotor unmanned aerial vehicle autocontrol method according to claim 4, it is characterised in that the unmanned plane during flying is high
Degree is below three meters and/or without gps signal, or unmanned plane during flying height is below three meters and/or gps signal is in four stars
Hereinafter, and/or during unmanned plane flight indoors, user is reminded to be adapted to hover.
6. multi-rotor unmanned aerial vehicle autocontrol method according to claim 4, it is characterised in that the unmanned plane during flying area
The ground in domain be solid color and/or it is reflective and/or have inverted image and/or the water surface and/or transparent substance and/or moving object and/
Or when illumination variation face and/or repeat patterns, user is reminded to be not suitable for hovering.
7. multi-rotor unmanned aerial vehicle autocontrol method according to claim 1, it is characterised in that in the step D1, institute
Stating automatic mode includes the floating state of automatic mode, when the unmanned plane is in the floating state of automatic mode, the step
It is described when the front side of the unmanned plane and the infrared sensor detection obstacle distance of the left and right sides are less than 0.8 ~ 1.2m in D2
Unmanned plane flight automatic obstacle-avoiding in the opposite direction.
8. multi-rotor unmanned aerial vehicle autocontrol method according to claim 7, it is characterised in that the automatic mode also wraps
Include the state of flight of automatic mode, when the unmanned plane is in the state of flight of automatic mode, in the step D3, it is described nobody
Machine automatic obstacle-avoiding includes automatic retarding step and the step that halts.
9. multi-rotor unmanned aerial vehicle autocontrol method according to claim 8, it is characterised in that the unmanned plane subtracts automatically
Trot suddenly for the unmanned plane front side and/or the left and right sides infrared sensor detect obstacle distance be less than 4 ~ 8m when, institute
State unmanned plane automatic retarding；The unmanned plane halt step be the unmanned plane front side and/or the left and right sides it is red
When outer sensor detects and obstacle distance is less than 2 ~ 4m, the unmanned plane halts.
10. multi-rotor unmanned aerial vehicle autocontrol method according to claim 1, it is characterised in that the unmanned plane is in
One key make a return voyage state when, the unmanned plane automatic obstacle-avoiding also includes automatic up step, and the automatic up step of unmanned plane is
When the infrared sensor detection of the front side of unmanned plane is less than 7 ~ 9m with obstacle distance, the unmanned plane first automatic rising 90 ~
It is further continued for after 110m toward direction flight of making a return voyage.
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| CN111650965A (en) * | 2020-06-17 | 2020-09-11 | 北华航天工业学院 | Unmanned aerial vehicle autonomous return control system and control method thereof |
| CN112810807A (en) * | 2021-02-10 | 2021-05-18 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle and control method thereof |
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Application publication date: 20180316 |