CN108037773A - Hide flying method in a kind of miniature drone low latitude - Google Patents
Hide flying method in a kind of miniature drone low latitude Download PDFInfo
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- CN108037773A CN108037773A CN201711325416.0A CN201711325416A CN108037773A CN 108037773 A CN108037773 A CN 108037773A CN 201711325416 A CN201711325416 A CN 201711325416A CN 108037773 A CN108037773 A CN 108037773A
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- unmanned plane
- flight
- risk object
- concealment
- lifting
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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
- G05D1/12—Target-seeking control
Abstract
The invention discloses a kind of miniature drone low latitude to hide flying method, comprises the following steps successively：Horizontal arc flight：Using risk object as the center of circle, with the distance between the risk object and unmanned plane for radius, to hide the position of background, unmanned plane and the risk object three point on a straight line as terminal, as horizontal circle arching trajectory；Unmanned plane flies along the horizontal circle arching trajectory or corresponding string；Turn to lifting flight：Unmanned plane flies to the height for being higher than the risk object upwards；Lasting concealment flight：Rectilinear flight is made in the direction of unmanned plane towards the risk object, flies to the rear of the risk object, then proceedes to flight with away from the risk object.The present invention by way of finding and hiding background Binding change state of flight, can effectively escape from danger target Eye-controlling focus, miniature drone is carried out the protection of itself during remote tasks carrying.
Description
Technical field
The present invention relates to a kind of miniature drone flight intelligence control system technical field, particularly a kind of miniature drone
Hide flying method in low latitude.
Background technology
With the continuous development of remotely-piloted vehicle, that is, unmanned plane with real-time imaging collection transfer function, its volume can
It is made and is increasingly miniaturized, while its flight range also constantly increases, miniature drone on the one hand can be more narrow and multiple
Fly in miscellaneous space environment, on the other hand its flight operation has more preferably crypticity.But for some flight ranges compared with
Big miniature drone, it performs the place of task and either operate base thus operator away from operator or operate base
Protection directly can not be provided for miniature drone, this kind of miniature drone may be by during remote execution task
To monitoring, then it is captured or is attacked, if a kind of method for effectively protecting miniature drone cannot be provided, at a distance
Tasks carrying will be difficult to carry out.
The usual flying height of miniature multi-rotor unmanned aerial vehicle is relatively low, the distance with ground usually between 1 meter to 5 meters, because
The miniature multi-rotor unmanned aerial vehicle of this low-latitude flying is easier to be subject to the attack of the personnel of empty-handed or hand-held simple utensil or catches
Catch；Additionally due to the flying speed of miniature multi-rotor unmanned aerial vehicle is limited, directly flying in a manner of away from threat personnel, also have can
It can be pursued and attacked or be chased.Based on the above situation, applicant proposed a kind of sight for first departing from threat personnel, further away from threat
The flying method of personnel, enables the Eye-controlling focus of miniature drone escape from danger target in low-latitude flying, so as to ensure certainly
Body safety.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of miniature drone low latitude to hide flying method, energy
Enough hide the Eye-controlling focus of low-speed motion or static risk object in horizontal direction, make miniature drone in remote task
The protection of itself can be carried out in implementation procedure, so as to avoid being caught or attack.
The technical solution adopted by the present invention to solve the technical problems is：
Flying method is hidden in a kind of miniature drone low latitude, comprises the following steps successively：
Horizontal arc flight：Using risk object as the center of circle, with the distance between the risk object and unmanned plane for radius, with nothing
Man-machine current location is starting point, and to hide the position of background, unmanned plane and the risk object three point on a straight line as terminal, as
Horizontal circle arching trajectory；Unmanned plane flies along the horizontal circle arching trajectory or the corresponding string of the horizontal circle arching trajectory；
Turn to lifting flight：Unmanned plane turns to flight upwards in the terminal of the horizontal arc flight, flies to the height of unmanned plane
Height of the degree higher than the risk object；
Lasting concealment flight：Unmanned plane flies in the terminal steering horizontal of the steering lifting flight, towards the risk object
Direction make rectilinear flight, fly to the rear of the risk object, then proceed to flight with away from the risk object.
As the further preferred of above-mentioned technical proposal, the horizontal arc flight comprises the following steps：
S11：Determine the position of the risk object, the spacing of unmanned plane and the risk object is measured by distance-measuring equipment；
S12：Pass through the rotatable camera for being arranged on the camera of unmanned plane surrounding or being provided on unmanned plane, collection
Image in unmanned plane horizontal direction all angles, chooses described in the color of image region conduct close with unmanned plane appearance color
Hide background；
S13：What measurement unmanned plane and the line and the line of unmanned plane and the risk object of the concealment background were formed
The angle of angle, and according to the spacing of unmanned plane and the risk object, determine the horizontal circle arching trajectory；
S14：Along the horizontal circle arching trajectory or the corresponding string flight of the horizontal circle arching trajectory.
As the further preferred of above-mentioned technical proposal, in step s 12, chosen from the image of camera collection multiple
Color of image and the close region of unmanned plane appearance color alternately background, height is chosen most from multiple alternative backgrounds
The high alternative background is as the concealment background.
As the further preferred of above-mentioned technical proposal, in step s 13, make the distance-measuring equipment first towards the danger
Dangerous target, then rotates the distance-measuring equipment and is allowed to towards the concealment background, by the anglec of rotation for measuring the distance-measuring equipment
Degree determines the angle that the line of unmanned plane and the concealment background and the line of unmanned plane and the risk object are formed
Angle.
As the further preferred of above-mentioned technical proposal, in the steering lifting flight step, unmanned plane is upward to be turned
It it is 90 ° to angle.
As the further preferred of above-mentioned technical proposal, in the steering lifting flight step, the steering lifting flies
Line between capable starting point and the risk object is lifting starting point line, the terminal for turning to lifting flight and the danger
Line between dangerous target is lifting terminal line, and the angle between the lifting terminal line and the lifting starting point line is big
In 25 °.
As the further preferred of above-mentioned technical proposal, flight linear velocity of the unmanned plane in the steering lifting flight is big
Flight linear velocity when in the horizontal arc flight.It is low when this method on the one hand can be by the steering lifting flight
Speed benumbs the judgement of the risk object, makes flight linear speed of the risk object to unmanned plane in the horizontal arc flight
Degree produces erroneous judgement, therefore risk object search range radius after target is lost is less than unmanned plane and flies in the steering lifting
Practical flight distance during row；On the other hand the low speed during steering lifting flight is conducive to unmanned plane in the steering lifting
Quickly turned to during flight, reduce motional inertia in the horizontal direction when unmanned plane turns to.
Compared with prior art, the beneficial effects of the invention are as follows：
A kind of miniature drone low latitude concealment flying method provided by the present invention, is flown by finding concealment background Binding change
The mode of state, can effectively escape from danger target Eye-controlling focus；And define along horizontal arc in paralysis mission phase
Track or the flight of horizontal arching trajectory corresponding string, on the one hand to lifting or dive and have reserved flight space, on the other hand can be with
Avoid unmanned plane born；Hide low-speed motion or static in horizontal direction in low-latitude flying present invention is particularly suitable for unmanned plane
Risk object Eye-controlling focus, miniature drone is carried out the protection of itself during remote tasks carrying,
So as to avoid being caught or attack.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structure diagram of multi-rotor unmanned aerial vehicle using rotating camera in specific embodiment；
Fig. 2 is the structure that wide-angle camera is uniformly distributed a kind of multi-rotor unmanned aerial vehicle for being arranged at fuselage side in specific embodiment
Schematic diagram；
Fig. 3 is the structure that wide-angle camera is uniformly distributed a kind of multi-rotor unmanned aerial vehicle being arranged on the outside of rotor in specific embodiment
Schematic diagram；
Fig. 4 is a kind of schematic diagram of multi-rotor unmanned aerial vehicle low latitude concealment flying method of the present invention.
Embodiment
Risk object of the present invention is primarily referred to as the people for having seizure and attack attempt to unmanned plane, and of the present invention
Risk object is only only referred in daily life and does not have carry out remotely seizure or the instrument attacked for unmanned plane, also do not have
There is the layman that locating and tracking auxiliary tool is carried out for unmanned plane；Low latitude of the present invention is primarily referred to as the dangerous mesh
Mark has unmanned plane the people of seizure and attack attempt can be to the height of its attempt of unmanned aerial vehicle；Due to the dangerous mesh
Layman is designated as, it is substantially highly suitable with its own that it can implement the height of its attempt, i.e. the flying height of unmanned plane
Substantially it is in same level with the risk object.
In these cases, unmanned plane can use following flying method after the risk object is found, to hide
The Eye-controlling focus of risk object is stated, so that the attempt of the risk object can not be implemented：
S10, horizontal arc paralysis mission phase
S11, the position for determining the risk object：
Since unmanned plane is artificial straighforward operation, it is described that remote control personnel can artificially judge that possible threat determines
Risk object, then issues an order to unmanned plane, therefore the position of the risk object is given.
S12, determine that the concealment background positions of the risk object sight can be disturbed：
By the rotatable camera for being arranged on the camera of unmanned plane surrounding or being provided on unmanned plane, to unmanned plane
Image in horizontal direction all angles carries out rapidly collection analysis；According to itself exterior color of unmanned plane, analysis obtains
The concealment background.
Specifically, such as unmanned plane exterior color is white, then from the image in unmanned plane horizontal direction all angles
The light object closest to white is selected as the concealment background；If unmanned plane exterior color is black, then from unmanned plane water
Square the most deep object of color is selected into the image in all angles as the concealment background.
When unmanned plane and the concealment background overlapping in the sight of the risk object, the concealment background can have
Effect ground disturbs tracking of the risk object to unmanned plane, and unmanned plane adjusts state of flight at this moment, change of flight direction is not easy
Discovered by the risk object, can suitably extend the risk object and find that oneself Eye-controlling focus unmanned plane is lost anti-
Between seasonable.
S13, determine flight path and carry out paralysis flight：
Behind the position that the concealment background is determined by above-mentioned steps S12, analysis is obtained using the risk object as the center of circle, with
The distance between the risk object and unmanned plane are the horizontal circle arching trajectory of radius, make horizontal circle of the unmanned plane along acquisition
Arching trajectory flies, until fly to the position of the concealment background, unmanned plane and the risk object three point on a straight line, and nobody
Machine should be located at the position between the concealment background and the risk object.
Using arc-shaped flight path, the risk object is set ceaselessly to be in rotating state, so as to need adaptation one
After the section time, the risk object could prejudge out the track of unmanned plane and speed and make seizure or attack, flight speed
Degree should be relatively low or moderate, in order to make Eye-controlling focus speed as the risk object adaptation, and makes the risk object
Rotation form inertia, be also used for benumbing that the risk object is allowed to the flight path follow-up to unmanned plane and position produces in addition
Erroneous judgement.
Obviously, the flight path of horizontal arc paralysis mission phase is also not necessarily arc or linear
, i.e., fly along the string corresponding to the arc of projected path, its purpose is still to reach the concealment background, nothing
The position of man-machine and described risk object three point on a straight line.
S20, adjust mission phase vertically
When the position of unmanned plane during flying to the concealment background, unmanned plane and the risk object three point on a straight line, unmanned plane is fast
Lifting flight is carried out fastly；At this time since the risk object has adapted to rotating action and forms inertia, the lift of unmanned plane
The Eye-controlling focus of the risk object can promptly be departed from by rising flight.
It can thus be appreciated that：
One side lifting flight is not limited to lifting straight up, and the change of unmanned plane during flying angle is obviously got over closer to 180 °
Easily and quickly depart from the Eye-controlling focus of the risk object, but 180 ° of steering flights are obviously for unmanned plane immediately
Relatively difficult to achieve, and steering flight 90 ° approximate has feasibility for most of unmanned planes；Further, since unmanned plane
Original flying height is not just high, if it is obvious hastily to reduce height come change of flight direction by way of underriding again
Steering lifting flight that is born, thus selecting promptly to carry out 90 ° approximate herein easily occurs.
On the other hand if the initial stretch footpath of unmanned plane lifting flight is still in the concealment background and the danger
Between dangerous target, then the state of flight after unmanned plane changes obviously can be preferably hidden, so as to further increase the danger
Again search difficulty of the dangerous target after sight loses unmanned plane, therefore can also be subject in the selection for the concealment background
Limit：Being allowed in the vertical direction has larger length, is more more specifically to have higher height.
But after the risk object finds that unmanned plane is lost in sight, it can promptly adjust, be searched again
Action, therefore unmanned plane also needs to carry out following lasting concealment mission phase.
Lasting concealment mission phase after S30, lifting
The risk object Eye-controlling focus has been temporarily disengaged from when unmanned plane carries out lifting flight and flying height is higher than the danger
When dangerous object height, in order to avoid the risk object searches unmanned plane again, unmanned plane should be towards the danger
Horizontal rectilinear flight is promptly made in the direction of target, until flying to the rear of the risk object；Due to the dangerous mesh
Mark unmanned plane with Eye-controlling focus always, therefore unmanned plane crosses the risk object towards the risk object horizontal flight
Afterwards, it is located exactly at the maximum blind area of the risk object sight.
Then unmanned plane continues flight with the remote risk object, until unmanned plane completely disengages the risk object
Threat range either range of vision.
It will also realize that herein, the selection progress steering lifting flight 90 ° approximate in above-mentioned steps S20, also having can
The promptly effect of lifting unmanned plane during flying height, crosses the risk object in order to unmanned plane and flies to the risk object
Rear.
Based on the above method, with reference to Fig. 1-3, what Fig. 1-3 was that the present embodiment is provided a kind of can implement the above method
The concrete structure schematic diagram of multi-rotor unmanned aerial vehicle.
As shown in Figs. 1-3, multi-rotor unmanned aerial vehicle includes：Fuselage 1, be uniformly distributed be arranged at it is multiple around the fuselage 1
Rotor 2, the non-contact distance measurement device being arranged on the fuselage 1 and it is arranged at the fuselage 1 or multiple rotors 2
On external image harvester 6；It is first 3, axially vertically disposed vertical that the non-contact distance measurement device includes rotation ranging
The shaft monitor 5 of rotation axis 4 and monitoring 4 rotation angle of vertical rotary shaft, the shaft monitor 5 are fixedly installed
In on the fuselage 1, axial one end of the vertical rotary shaft 4 connects the fuselage 1, and the axial direction of the vertical rotary shaft 4 is another
One end connection rotation ranging first 3.
Although more 2 unmanned planes of rotor are low-latitude flyings in the present invention, more 2 unmanned planes of rotor under normal conditions
Flying height still will be equal to or slightly higher than the height of the risk object and surrounding objects, so if non-being connect described
Touch range unit is arranged at the top of the fuselage 1, then the fuselage 1 and the surrounding rotor 2 non-can connect to described
The ranging operation of touch range unit, which is formed, to be hindered；Therefore：
The upper end of the vertical rotary shaft 4 connects the bottom surface of the fuselage 1, and the lower end of the vertical rotary shaft 4 connects the rotation
Turn ranging first 3；And the lower end of multiple rotors 2 is highly above the height of the rotation ranging first 3.
As shown in Figure 1：The external image harvester 6 can use rotating camera, pass through rotating acquisition unmanned plane
Image in horizontal direction all angles；Then the external image harvester 6 and the rotation ranging first 3 can be integrated knot
The ranging camera head of structure.
As shown in Figures 2 and 3：The external image harvester 6 can also use the wide-angle camera that camera lens is fixed, with institute
In the same manner, the external image harvester 6 is not suitable for being arranged at the top of the fuselage 1 to the reason for stating non-contact distance measurement device
Portion, and if the external image harvester 6 forms for single camera and is arranged at the bottom of the fuselage 1, for
Image Acquisition effect in unmanned plane horizontal direction is poor, its picture material mainly gathered is the unmanned plane lower section i.e. letter on ground
Breath, substantially belongs to useless information for unmanned plane.
It is preferred that the external image harvester 6 is formed for the wide-angle camera that a plurality of lenses is fixed, and as schemed
Shown in 2, multiple wide-angle cameras are uniformly distributed the side that is arranged at the fuselage 1 or as shown in figure 3, each described
The outside of rotor 2 is provided with a wide-angle camera.
Based on above-mentioned multi-rotor unmanned aerial vehicle, with reference to Fig. 4, Fig. 4 is that a kind of multi-rotor unmanned aerial vehicle that the present embodiment is provided is low
The schematic diagram of sky concealment flying method.
Fly as shown in figure 4, the flight control system of multi-rotor unmanned aerial vehicle controls it to carry out low latitude concealment by the following method
OK：
S1：The image gathered by the external image harvester on unmanned plane P determines the risk object A, the rotation
Turn the length for the unmanned plane target line that ranging head is measured towards the risk object A between the risk object A and unmanned plane P
r。
S2：The image gathered by the external image harvester on unmanned plane P determines multiple colors and unmanned plane P
The close concealment background B of appearance color, then rotates the rotation ranging head by the vertical rotary shaft, makes the rotation
Turn ranging head successively towards multiple concealment background B, and measure nobody between each concealment background B and unmanned plane P
The length L1 of machine background line, the shaft monitor monitor the vertical rotary shaft and obtain the rotation ranging head by towards institute
Risk object A is stated to rotate to the angle [alpha] of the target background angle turned over towards the concealment background B.
S3：According to the length r of the unmanned plane target line, the length L1 of the unmanned plane background line and the target
The angle [alpha] of background angle calculates the length for obtaining the target background line between the risk object A and the concealment background B
L2, the requirement of the length r of the unmanned plane target line is more than according to the length L2 of the target background line, to multiple described
Concealment background B is screened.
S4：After screening in the satisfactory concealment background B, the figure of the external image harvester collection is selected
The highest concealment background B of image height degree is as finally selected unique concealment background B.
The highly highest concealment background B is shown in the image of external image harvester collection：
On the one hand it is probably the closer to the distance of the concealment background B and unmanned plane P, then unmanned plane P can pass through shorter stroke
Fly to the position of the concealment background B, unmanned plane P and the risk object A three point on a straight line；
On the other hand it is probably that the concealment background B has higher actual height really, then the concealment background B can be preferable
State of flight after ground concealment unmanned plane P changes, sight and judgement to the risk object A have preferable interference effect.
S5：On the basis of the concealment background B is finally selected, according to the length r of the unmanned plane target line, described
The angle [alpha] of the length L1 of unmanned plane background line and the target background angle calculate obtain the target background line with it is described
The angle beta of unmanned plane background angle between unmanned plane target line.
S6：Unmanned plane P along using the distance between the risk object A and unmanned plane P r as radius, with the dangerous mesh
A is marked for the arc track R1 in the center of circle or the corresponding string R2 flights of the arc track, the radian of the arc track R1 to be equal to
The angle beta of the unmanned plane background angle.
S7：Unmanned plane P flies to the steering lift of the concealment background B, unmanned plane P and the risk object A three point on a straight line
Initial position is risen, lifting is carried out then up and flies to target visual field external position, target visual field external position is the danger
Above the field range of target A, and the height of target visual field external position is higher than the height of the risk object A.
Specifically, the line between target visual field external position and the risk object A is lifting terminal line, described
The line turned between lifting initial position and the risk object A is lifting starting point line, the lifting terminal line and institute
Should be more than by stating the angle between lifting starting point line by 25 °.
In the case where direction of visual lines determines, the visual field angle of people is about 45 °, i.e., up or down respectively have 20 °~
25 ° of sight remaining light scope；Therefore using the position of the risk object A as the center of circle, when the radian that unmanned plane P liftings are flown over
During more than 25 °, the Eye-controlling focus scope of the risk object A has been had been detached from substantially.
S8：Unmanned plane P flies to the external position of the target visual field, towards the risk object A surface flight until
Flight is continued with away from the risk object A in flight to the rear of the risk object A, then unmanned plane P.
Above the preferable of the present invention is implemented to be illustrated, certainly, the present invention can also use and above-mentioned implementation
The different form of mode, the equivalent conversion that those skilled in the art are made on the premise of without prejudice to spirit of the invention
Or corresponding change, it should all belong in protection scope of the present invention.
Claims (7)
1. flying method is hidden in a kind of miniature drone low latitude, it is characterised in that comprises the following steps successively：
Horizontal arc flight：Using risk object as the center of circle, with the distance between the risk object and unmanned plane for radius, with nothing
Man-machine current location is starting point, and to hide the position of background, unmanned plane and the risk object three point on a straight line as terminal, as
Horizontal circle arching trajectory；Unmanned plane flies along the horizontal circle arching trajectory or the corresponding string of the horizontal circle arching trajectory；
Turn to lifting flight：Unmanned plane turns to flight upwards in the terminal of the horizontal arc flight, flies to the height of unmanned plane
Height of the degree higher than the risk object；
Lasting concealment flight：Unmanned plane flies in the terminal steering horizontal of the steering lifting flight, towards the risk object
Direction make rectilinear flight, fly to the rear of the risk object, then proceed to flight with away from the risk object.
A kind of 2. miniature drone low latitude concealment flying method according to claim 1, it is characterised in that：The arc of horizon
Shape flight comprises the following steps：
S11：Determine the position of the risk object, the spacing of unmanned plane and the risk object is measured by distance-measuring equipment；
S12：Pass through the rotatable camera for being arranged on the camera of unmanned plane surrounding or being provided on unmanned plane, collection
Image in unmanned plane horizontal direction all angles, chooses described in the color of image region conduct close with unmanned plane appearance color
Hide background；
S13：What measurement unmanned plane and the line and the line of unmanned plane and the risk object of the concealment background were formed
The angle of angle, and according to the spacing of unmanned plane and the risk object, determine the horizontal circle arching trajectory；
S14：Along the horizontal circle arching trajectory or the corresponding string flight of the horizontal circle arching trajectory.
A kind of 3. miniature drone low latitude concealment flying method according to claim 2, it is characterised in that：In step S12
In, the multiple images color region close with unmanned plane appearance color is chosen from the image of camera collection and is alternately carried on the back
Scape, chooses the highly highest alternative background as the concealment background from multiple alternative backgrounds.
A kind of 4. miniature drone low latitude concealment flying method according to claim 2, it is characterised in that：In step S13
In, the distance-measuring equipment is then rotated the distance-measuring equipment towards the risk object and is allowed to towards the concealment back of the body first
Scape, the rotation angle by measuring the distance-measuring equipment determine unmanned plane with it is described concealment background line and unmanned plane with
The angle for the angle that the line of the risk object is formed.
A kind of 5. miniature drone low latitude concealment flying method according to claim 1, it is characterised in that：In the steering
In lifting flight step, the upward steering angle of unmanned plane is 90 °.
A kind of 6. miniature drone low latitude concealment flying method according to claim 1, it is characterised in that：In the steering
In lifting flight step, the line between the starting point for turning to lifting flight and the risk object is lifting starting point line,
Line between the terminal for turning to lifting flight and the risk object is lifting terminal line, the lifting terminal line
Angle between the lifting starting point line is more than 25 °.
A kind of 7. miniature drone low latitude concealment flying method according to claim 1, it is characterised in that：Unmanned plane is in institute
Flight linear velocity when turning to lifting flight is stated more than the flight linear velocity in the horizontal arc flight.
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|---|---|
| CN108037773B (en) | 2020-11-03 |
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