CN108073184B - Unmanned aerial vehicle flight control method and device - Google Patents
Unmanned aerial vehicle flight control method and device Download PDFInfo
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- CN108073184B CN108073184B CN201711205873.6A CN201711205873A CN108073184B CN 108073184 B CN108073184 B CN 108073184B CN 201711205873 A CN201711205873 A CN 201711205873A CN 108073184 B CN108073184 B CN 108073184B
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Classifications
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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
The invention relates to a flight control method and a flight control device for an unmanned aerial vehicle. The method comprises the following steps: acquiring pre-stored pictures from a pre-stored picture group in sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged in sequence; comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result; determining a first flight direction corresponding to the current picture according to the comparison result; and controlling the unmanned aerial vehicle to fly according to the first flight direction. According to the technical scheme, the flight accuracy of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is prevented from failing to fly due to the fact that the flight direction cannot be determined.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight control method and device.
Background
Unmanned aerial vehicles, abbreviated as "unmanned aerial vehicles", abbreviated as "UAVs", are unmanned aerial vehicles that are operated by means of radio remote control devices and self-contained programmed control devices, or are operated autonomously, either entirely or intermittently, by an onboard computer. Compared with manned aircraft, it has the advantages of small size, low cost, convenient use, low requirement for battle environment, strong battlefield survivability, etc. The unmanned aerial vehicle is generally provided with a GPS positioning system, so that the unmanned aerial vehicle can fly by presetting a flight track, execute shooting tasks and the like.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling unmanned aerial vehicle flight. The technical scheme is as follows:
according to a first aspect of an embodiment of the present invention, there is provided a method for controlling flight of an unmanned aerial vehicle, including
Acquiring pre-stored pictures from a pre-stored picture group in sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged in sequence;
comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result;
determining a first flight direction corresponding to the current picture according to the comparison result;
and controlling the unmanned aerial vehicle to fly according to the first flight direction.
In another embodiment, comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result includes:
calculating the matching degree of the current picture and the pre-stored picture;
determining a first flight direction corresponding to the current picture according to the comparison result, wherein the determining comprises the following steps:
and when the matching degree of the current picture and the pre-stored picture is larger than or equal to a preset threshold value, determining the shooting direction corresponding to the current picture as a first flight direction.
In another embodiment, the determining, according to the comparison result, the first flight direction corresponding to the current picture includes:
and when the matching degree of the current picture and the pre-stored picture is smaller than a preset threshold value, determining that the first flight direction is the flight starting point of the returned unmanned aerial vehicle.
In another embodiment, controlling the unmanned aerial vehicle to fly according to the first flight direction includes:
when a GPS signal exists currently, acquiring preset navigation data and current position information;
judging whether the first flight direction is correct or not according to the navigation data and the current position information;
and when the first flight direction is correct, controlling the unmanned aerial vehicle to fly according to the first flight direction.
In another embodiment, controlling the unmanned aerial vehicle to fly according to the first flight direction further comprises:
when the first flight direction is incorrect, correcting the first flight direction according to the navigation data and the current position information to obtain a second flight direction;
and controlling the unmanned aerial vehicle to fly according to the second flight direction.
According to a second aspect of an embodiment of the present invention, there is provided an unmanned aerial vehicle flight control apparatus including:
the acquisition module is used for acquiring pre-stored pictures from a pre-stored picture group in sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged in sequence;
the comparison module is used for comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result;
the determining module is used for determining a first flight direction corresponding to the current picture according to the comparison result;
and the control module is used for controlling the unmanned aerial vehicle to fly according to the first flight direction.
In another embodiment, the comparison module is configured to calculate a matching degree between the current picture and the pre-stored picture;
the determining module is configured to determine, when the matching degree between the current picture and the pre-stored picture is greater than or equal to a preset threshold, that the shooting direction corresponding to the current picture is a first flight direction.
In another embodiment, the determining module is configured to determine that the first flight direction is a return unmanned aerial vehicle flight start point when the matching degree of the current picture and the pre-stored picture is smaller than a preset threshold.
In another embodiment, the control module includes:
the acquisition sub-module is used for acquiring preset navigation data and current position information when the GPS signal exists currently;
the judging sub-module is used for judging whether the first flight direction is correct or not according to the navigation data and the current position information;
and the control sub-module is used for controlling the unmanned aerial vehicle to fly according to the first flight direction when the first flight direction is correct.
In another embodiment, the control module further comprises:
the correction sub-module is used for correcting the first flight direction according to the navigation data and the current position information to obtain a second flight direction when the first flight direction is incorrect;
and the control submodule is used for controlling the unmanned aerial vehicle to fly according to the second flight direction.
In this embodiment, because of the influence of hand geographical environment, unmanned aerial vehicle flight in-process, the condition of GPS no signal probably appears, perhaps GPS subassembly trouble on the unmanned aerial vehicle at this moment, confirms the flight direction through the picture with unmanned aerial vehicle shooting with prestore the picture contrast, improves unmanned aerial vehicle flight's accuracy, avoids unmanned aerial vehicle to fly the failure because unable determination flight direction.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart illustrating a method of unmanned aerial vehicle flight control according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of unmanned aerial vehicle flight control according to another exemplary embodiment;
FIG. 3 is a block diagram of a drone flight control device, shown according to an example embodiment;
FIG. 4 is a block diagram of control module 34 shown in accordance with an exemplary embodiment;
fig. 5 is a block diagram of control module 34 shown according to another exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
Fig. 1 is a flowchart illustrating a method of controlling a flight of a drone, according to an exemplary embodiment, as shown in fig. 1, including the steps of:
step S11, obtaining pre-stored pictures from a pre-stored picture group according to the sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged according to the sequence.
And S12, comparing the current picture obtained by shooting the surrounding environment with a pre-stored picture to obtain a comparison result.
And S13, determining a first flight direction corresponding to the current picture according to the comparison result.
Step S14, controlling the unmanned aerial vehicle to fly according to the first flight direction.
In another embodiment, step S12 includes: and calculating the matching degree of the current picture and the pre-stored picture. The step S13 includes: when the matching degree of the current picture and the pre-stored picture is larger than or equal to a preset threshold value, determining the shooting direction corresponding to the current picture as a first flight direction.
In another embodiment, determining the first flight direction corresponding to the current picture according to the comparison result includes:
when the matching degree of the current picture and the pre-stored picture is smaller than a preset threshold value, determining the first flight direction as a flight starting point of the returned unmanned aerial vehicle.
In this embodiment, in the unmanned aerial vehicle flight process, control unmanned aerial vehicle is photographed around to, compares the photo of taking with prestored picture to confirm unmanned aerial vehicle flight direction. When the shot picture is matched with the pre-stored picture, the current flight direction of the unmanned aerial vehicle strives for, the unmanned aerial vehicle can continue to fly in the direction, if the current flight direction is not matched with the pre-stored picture, the unmanned aerial vehicle can be controlled to return to the flight starting point.
The embodiment of the invention can be used as an auxiliary positioning mode when the unmanned aerial vehicle does not have GPS signals. Due to the influence of the geographical environment of the hand, the condition that GPS has no signal possibly occurs in the flight process of the unmanned aerial vehicle, or the GPS component on the unmanned aerial vehicle fails, at this time, the flight direction is determined by comparing the picture shot by the unmanned aerial vehicle with the pre-stored picture, the flight accuracy of the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is prevented from failing to fly due to the fact that the flight direction cannot be determined.
Fig. 2 is a flowchart illustrating a method of controlling unmanned aerial vehicle flight according to another exemplary embodiment, as shown in fig. 2, in another embodiment, step S14 includes:
step S21, when the GPS signal exists currently, the preset navigation data and the current position information are obtained.
Step S22, judging whether the first flight direction is correct or not according to the navigation data and the current position information, if yes, executing step S23, and if not, executing step S24.
And S23, controlling the unmanned aerial vehicle to fly according to the first flight direction when the first flight direction is correct.
In another embodiment, step S14 further includes:
and S24, correcting the first flight direction according to the navigation data and the current position information to obtain a second flight direction when the first flight direction is incorrect.
And S25, controlling the unmanned aerial vehicle to fly according to the second flight direction.
In this embodiment, the GPS positioning mode and the image comparison mode may be combined to determine the flight direction of the unmanned aerial vehicle, so as to further improve the flight accuracy.
The following are examples of the apparatus of the present invention that may be used to perform the method embodiments of the present invention.
Fig. 3 is a block diagram of a drone flight control apparatus that may be implemented as part or all of an electronic device by software, hardware, or a combination of both, according to an example embodiment. As shown in fig. 3, the unmanned aerial vehicle flight control device includes:
the obtaining module 31 is configured to obtain pre-stored pictures from a pre-stored picture group in sequence, where the pre-stored picture group includes at least two pre-stored pictures arranged in sequence.
The comparison module 32 is configured to compare a current picture obtained by capturing a surrounding environment with a pre-stored picture to obtain a comparison result.
And the determining module 33 is configured to determine a first flight direction corresponding to the current picture according to the comparison result.
The control module 34 is configured to control the unmanned aerial vehicle to fly according to the first flight direction.
In another embodiment, the comparison module 32 is used for calculating the matching degree between the current picture and the pre-stored picture. The determining module 33 is configured to determine, when the matching degree between the current picture and the pre-stored picture is greater than or equal to a preset threshold, that the shooting direction corresponding to the current picture is the first flight direction.
In another embodiment, the determining module 33 is configured to determine the first flight direction as the return unmanned aerial vehicle flight start point when the matching degree between the current picture and the pre-stored picture is less than a preset threshold.
FIG. 4 is a block diagram of the control module 34 shown in accordance with an exemplary embodiment, as shown in FIG. 4, the control module 34 includes:
the obtaining sub-module 41 is configured to obtain preset navigation data and current location information when a GPS signal is currently present.
The judging sub-module 42 is configured to judge whether the first flight direction is correct according to the navigation data and the current position information.
And the control sub-module 43 is used for controlling the unmanned aerial vehicle to fly according to the first flight direction when the first flight direction is correct.
Fig. 5 is a block diagram of the control module 34 shown according to another exemplary embodiment, as shown in fig. 5, the control module 34 further includes: a syndrome module 44.
And the correction sub-module 44 is configured to correct the first flight direction according to the navigation data and the current position information to obtain the second flight direction when the first flight direction is incorrect.
And a control sub-module 43 for controlling the unmanned aerial vehicle to fly according to the second flight direction.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A flight control method of an unmanned aerial vehicle is characterized in that,
comprising the following steps:
acquiring pre-stored pictures from a pre-stored picture group in sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged in sequence;
comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result, and further comprising;
calculating the matching degree of the current picture and the pre-stored picture;
determining a first flight direction corresponding to the current picture according to the comparison result, wherein the determining comprises the following steps:
when the matching degree of the current picture and the pre-stored picture is larger than or equal to a preset threshold value, determining the shooting direction corresponding to the current picture as a first flight direction;
and controlling the unmanned aerial vehicle to fly according to the first flight direction.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the determining, according to the comparison result, a first flight direction corresponding to the current picture includes:
and when the matching degree of the current picture and the pre-stored picture is smaller than a preset threshold value, determining that the first flight direction is the flight starting point of the returned unmanned aerial vehicle.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
controlling the unmanned aerial vehicle to fly according to the first flight direction, comprising:
when a GPS signal exists currently, acquiring preset navigation data and current position information;
judging whether the first flight direction is correct or not according to the navigation data and the current position information;
and when the first flight direction is correct, controlling the unmanned aerial vehicle to fly according to the first flight direction.
4. The method of claim 3, wherein the step of,
controlling the unmanned aerial vehicle to fly according to the first flight direction, further comprising:
when the first flight direction is incorrect, correcting the first flight direction according to the navigation data and the current position information to obtain a second flight direction;
and controlling the unmanned aerial vehicle to fly according to the second flight direction.
5. An unmanned aerial vehicle flight control device is characterized in that,
comprising the following steps:
the acquisition module is used for acquiring pre-stored pictures from a pre-stored picture group in sequence, wherein the pre-stored picture group comprises at least two pre-stored pictures arranged in sequence;
the comparison module is used for comparing the current picture obtained by shooting the surrounding environment with the pre-stored picture to obtain a comparison result;
the determining module is used for determining a first flight direction corresponding to the current picture according to the comparison result;
the comparison module is used for calculating the matching degree of the current picture and the pre-stored picture;
the determining module is used for determining that the shooting direction corresponding to the current picture is a first flight direction when the matching degree of the current picture and the pre-stored picture is greater than or equal to a preset threshold value;
and the control module is used for controlling the unmanned aerial vehicle to fly according to the first flight direction.
6. The apparatus of claim 5, wherein the device comprises a plurality of sensors,
the determining module is configured to determine that the first flight direction is a return unmanned aerial vehicle flight starting point when the matching degree of the current picture and the pre-stored picture is smaller than a preset threshold.
7. The apparatus of claim 5, wherein the device comprises a plurality of sensors,
the control module includes:
the acquisition sub-module is used for acquiring preset navigation data and current position information when the GPS signal exists currently;
the judging sub-module is used for judging whether the first flight direction is correct or not according to the navigation data and the current position information;
and the control sub-module is used for controlling the unmanned aerial vehicle to fly according to the first flight direction when the first flight direction is correct.
8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,
the control module further includes:
the correction sub-module is used for correcting the first flight direction according to the navigation data and the current position information to obtain a second flight direction when the first flight direction is incorrect;
and the control submodule is used for controlling the unmanned aerial vehicle to fly according to the second flight direction.
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| CN201711205873.6A CN108073184B (en) | 2017-11-27 | 2017-11-27 | Unmanned aerial vehicle flight control method and device |
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