CN108227730A - The method and apparatus that flight path is planned for unmanned plane - Google Patents
The method and apparatus that flight path is planned for unmanned plane Download PDFInfo
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- CN108227730A CN108227730A CN201611163245.1A CN201611163245A CN108227730A CN 108227730 A CN108227730 A CN 108227730A CN 201611163245 A CN201611163245 A CN 201611163245A CN 108227730 A CN108227730 A CN 108227730A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
This disclosure relates to a kind of method and apparatus that flight path is planned for unmanned plane, are related to field of vehicles, can solve the problems, such as the energy supplement of the vehicles, this method includes：Flight program track is generated for the unmanned plane, the flight program track includes flight program route and flight program height layer；When there are other unmanned plane during flyings except the unmanned plane in the flight program height layer, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules；When judging that other described unmanned planes can bump against with the unmanned plane, the flight program track is adjusted, until judging that other described unmanned planes will not bump against with the unmanned plane according to the preset rules.
Description
Technical field
A kind of this disclosure relates to field of vehicles, and in particular, to method and dress that flight path is planned for unmanned plane
It puts.
Background technology
Electric vehicle includes EV electric vehicles and HEV electric vehicles, although electric vehicle these years in eruptive growth, for electronic
The energy supplement problem of vehicle also annoyings car owner, and if the quantity of charging station is few, arrangement is uneven, for another example, charging time length causes
Costly (place that charging station needs causes greatly its cost big, and charging time length causes parking fee to exceed electricity charge etc.) of charging etc.
Problem hampers the development of electric vehicle, how to solve the problems, such as the energy supplement of electric vehicle and becomes electric vehicle industry or even country's urgent need
It solves the problems, such as.
Invention content
The purpose of the disclosure is to provide a kind of method and apparatus that flight path is planned for unmanned plane, can solve traffic work
The energy supplement problem of tool.
To achieve these goals, the disclosure provides a kind of method that flight path is planned for unmanned plane, the unmanned plane
For charging for the vehicles to be charged, the method includes：
Flight program track is generated for the unmanned plane, the flight program track includes flight program route and flight is advised
Draw height layer；
When having other unmanned plane during flyings except the unmanned plane in the flight program height layer, according to preset rules
Judge whether other described unmanned planes can bump against with the unmanned plane；
When judging that other described unmanned planes can bump against with the unmanned plane, the flight program track is adjusted, until pressing
Judge that other described unmanned planes will not bump against with the unmanned plane according to the preset rules.
The embodiment of the present disclosure also provides a kind of device that flight path is planned for unmanned plane, and the unmanned plane is used for wait to fill
Electric vehicles charging, described device include：
Flight program Track Pick-up module, for generating flight program track, the flight program rail for the unmanned plane
Mark includes flight program route and flight program height layer；
Judgment module, for there is other unmanned plane during flyings except the unmanned plane in the flight program height layer
When, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules；
Module is adjusted, for when the judgment module judges that other described unmanned planes can bump against with the unmanned plane, adjusting
The whole flight program track, until the judgment module judges other described unmanned planes and the nothing according to the preset rules
It is man-machine to bump against.
Through the above technical solutions, by there is other unmanned planes except the unmanned plane to fly in flight program height layer
During row, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules, and judging other described nothings
When the man-machine and unmanned plane can bump against, the flight program track is adjusted, therefore can be ensured that as unmanned plane planning safety
So that unmanned plane is flown to, the vehicles to be charged perform charging tasks, and then can effectively realize traffic to be charged to flight path
The electricity supply of tool increases the course continuation mileage of the vehicles, improves the efficiency of vehicles electricity supply, additionally it is possible to be user
More convenient method of service is provided, saves the time of user.In addition, it is pure electric automobile in the vehicles to be charged
In the case of, additionally it is possible to dependence of the pure electric automobile to vehicle mounted dynamic battery electricity is reduced, effectively reduces vehicle mounted dynamic battery
Weight.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure, but do not form the limitation to the disclosure together.In the accompanying drawings：
Fig. 1 is the schematic block diagram of scene being applicable according to each embodiment of the disclosure.
Fig. 2 is the flow chart according to the method that the first embodiment of the present disclosure is unmanned plane planning flight path.
Fig. 3 is the another flow chart according to the method that the first embodiment of the present disclosure is unmanned plane planning flight path.
Fig. 4 is the schematic block diagram according to the device that the second embodiment of the present disclosure is unmanned plane planning flight path.
Fig. 5 is the flow chart according to the unmanned plane collision-proof method of the third embodiment of the present disclosure.
Fig. 6 is the another flow chart according to the unmanned plane collision-proof method of the third embodiment of the present disclosure.
Fig. 7 is the another flow chart according to the unmanned plane collision-proof method of the third embodiment of the present disclosure.
Fig. 8 is the another flow chart according to the unmanned plane collision-proof method of the third embodiment of the present disclosure.
Fig. 9 is the another flow chart according to the unmanned plane collision-proof method of the third embodiment of the present disclosure.
Figure 10 is the schematic block diagram according to the unmanned plane collision prevention device of the fourth embodiment of the present disclosure.
Figure 11 is the another schematic block diagram according to the unmanned plane collision prevention device of the fourth embodiment of the present disclosure.
Specific embodiment
The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Before detailed description is according to various embodiments of the present disclosure, the base according to the embodiment of the present disclosure is introduced first
In the environment that the method for supplying power to and device of unmanned plane are applicable in.
As shown in Figure 1, the environment can include the vehicles 10, Cloud Server 20, charging station 30 and unmanned plane 40.
It wherein, can be by the terminal that the vehicles 10 carry to Cloud Server 20 when the vehicles 10 need charging
Send charge request, can also by the portable device of mobile phone, the tablet computer of the personnel in the vehicles 10 etc. to
Cloud Server 20 sends charge request.The terminal that the vehicles 10 carry is arranged on the vehicles 10, is vehicles prison
Keyholed back plate manages the headend equipment of system, and major function is the functions such as integrated positioning, communication, has the function of powerful traffic scheduling sum number
According to processing capacity, can also include on-line monitoring, management and running, report management, onboard diagnostics (On-Board Diagnostic,
OBD) the functions such as management, client information management, order management, media information, system administration.The terminal that the vehicles carry can be received
Collect vehicle information, such as the information such as electricity, position, route, speed per hour, the information being collected into be sent to Cloud Server 20,
It is handled accordingly convenient for Cloud Server 20.Moreover, the terminal that the vehicles 10 carry can both communicate with Cloud Server 20,
It can also communicate with unmanned plane 40.
Cloud Server 20 can receive the charge request of the transmission of the vehicles 10；Identification and 10 relevant letter of the vehicles
Breath, such as position, route, speed per hour, electricity information；By the location information of the vehicles 10, search near the vehicles 10
Charging station 30；With reference to the travel route of the vehicles 10 and speed per hour etc., the driving trace of the vehicles 10 can be prejudged in advance；It will
The charge request information that the vehicles 10 are sent is supplied to the charging station 30 of 10 driving trace attachment of the vehicles, such charging station
30 can just send the charge request information of the vehicles 10 to unmanned plane 40.Certainly, Cloud Server 20 can also directly with nothing
Man-machine 40 communication, and it is sent to the charge request information of the vehicles 10.
Charging station 30 can receive the charge request that the vehicles 10 are sent by Cloud Server 20, and assign unmanned plane 40
It charges to the vehicles 10.
Unmanned plane 40 is implemented as the mobile charging tool of the charging of the vehicles 10.Unmanned plane 40 can be from Cloud Server 20
Or charging station 30 is received as the instruction of the charging of the vehicles 10, then performs charging according to the route of the setting vehicles 10 that fly to
Task.During the vehicles 10 that fly to and during charging for the vehicles 10, unmanned plane 40 can be real
When communicate with Cloud Server 20 and/or charging station 30, in order to which Cloud Server 20 and/or charging station 30 can be in real time
Grasp the situation of unmanned plane 40.After charging tasks are completed, unmanned plane 40 can send task completed information to the vehicles 10,
Task completed information is sent to charging station 30 and/or Cloud Server 20 simultaneously, then unmanned plane 40 can carry out next charging times
Business returns to charging station 30.
Each embodiment according to the disclosure will be described in detail below.In addition, it is carried in each embodiment of the disclosure
And the vehicles to be charged can be vehicle or the other kinds of vehicles, it is particularly possible to be pure electric automobile or mixing
Power vehicle.
According to first embodiment of the present disclosure, a kind of method that flight path is planned for unmanned plane is provided, so as to unmanned plane
The vehicles to be charged can be flown to according to the flight path planned and perform charging for the vehicles to be charged for task.The party
Method can be applied to the Cloud Server 20 or charging station 30 shown in Fig. 1.Method can include following step according to this embodiment
Rapid S201 to S204.
In step s 201, flight program track is generated for the unmanned plane, the flight program track includes flight and advises
Draw route and flight program height layer.
Wherein, height layer described here is meant that, the flight between unmanned plane in adjacent height layer is mutually not
Even if interference namely two unmanned planes in adjacent height layer are located at mutually mutual just upper underface, remain able to pacify
Full flight.
In step S202, there are other unmanned plane during flyings except the unmanned plane in the flight program height layer
When, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules.
In step S203, when judging that other described unmanned planes can bump against with the unmanned plane, the flight rule are adjusted
Track is drawn, until judging that other described unmanned planes will not bump against with the unmanned plane according to the preset rules.
Through the above technical solutions, by there is other unmanned planes except the unmanned plane to fly in flight program height layer
During row, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules, and judging other described nothings
When the man-machine and unmanned plane can bump against, the flight program track is adjusted, therefore can be ensured that before unmanned plane sets out and be
So that unmanned plane is flown to, the vehicles to be charged perform charging tasks, and then can be effective to the flight path of unmanned plane planning safety
The electricity supply of the vehicles to be charged is realized on ground, is increased the course continuation mileage of the vehicles, is improved the supply of vehicles electricity
Efficiency, additionally it is possible to provide more convenient method of service to the user, save the time of user.In addition, in traffic to be charged
In the case that tool is pure electric automobile, additionally it is possible to reduce dependence of the pure electric automobile to vehicle mounted dynamic battery electricity, effectively
Ground reduces the weight of vehicle mounted dynamic battery.
In a kind of possible embodiment, as shown in figure 3, described in described in step S202 judged according to preset rules
Whether other unmanned planes can bump against with the unmanned plane may comprise steps of S203a to S203c.
Step S203a, the flight path and flying speed of other unmanned planes are obtained；
Step S203b, when the flight path in the flight program track and other unmanned planes has overlapping region, according to
According to the flight path and flying speed of other unmanned planes and the flight program track of the unmanned plane and flying speed, meter
It calculates other described unmanned planes and the unmanned plane reaches the time point interval of the overlapping region；
When step S203c, being less than or equal to prefixed time interval at the time point interval, judge other described unmanned planes with
The unmanned plane can bump against.
Wherein, it is contemplated that the reasons such as unmanned plane during flying environment and velocity deviation, in this embodiment by judging other
Whether the time point interval that unmanned plane and the unmanned plane reach the overlapping region judges less than or equal to prefixed time interval
Other unmanned planes and the unmanned plane whether have collision possibility rather than by judge other unmanned planes and the unmanned plane whether
Same time point reaches overlapping region to judge whether the two has the possibility of collision.
In a kind of possible embodiment, the flight program track of the adjustment unmanned plane described in step S204 can
To include：By adjusting flight program height layer of the unmanned plane at least described overlapping region and/or flight program road
Line adjusts the flight program track.
It for example, can be by adjusting flight program height layer, flight program of the unmanned plane at least described overlapping region
Route or the two avoid possible collision.For example, flight program of the unmanned plane at overlapping region can be made high
Degree layer increaseds or decreases predetermined amount, until the time point interval that other unmanned planes and the unmanned plane reach the overlapping region is big
There is no overlapping region in prefixed time interval or the initial flight planned trajectory and the flight path of other unmanned planes
Until.Wherein, the size for the predetermined amount that flight program height layer increaseds or decreases needs to consider the size of unmanned plane, for example, false
If the oneself height size of unmanned plane is 3 meters, then the predetermined amount that flight program height layer increaseds or decreases is needed at least more than 3
Rice, such as can be 5 meters.The adjustment of flight program route is similar with the adjustment of flight program height layer.
In addition, the flight program height layer after the adjustment of the unmanned plane needs the lower limit flight positioned at the unmanned plane high
Between degree and upper limit flying height, to ensure the safe flight of unmanned plane.
In a kind of possible embodiment, it is not still avoided that other unmanned planes after step S202 and S203 is repeated
In the case of with the unmanned plane bumping against, illustrate to perform point of the unmanned plane of charging tasks in the geographic area residing for the unmanned plane
Cloth is too intensive and large number of.Then, in this case, method can also include according to this embodiment：Make described default
Time interval reduces predetermined amount, and step S202 is then back to judge other described unmanned planes and institute according to preset rules again
State whether unmanned plane can bump against, to guarantee to plan a relatively safest flight path for unmanned plane.
In another embodiment, repeat still not to be avoided that after step S202 and S203 other unmanned planes with it is described nobody
In the case that machine bumps against, illustrate that the distribution that the unmanned plane of charging tasks is performed in the geographic area residing for the unmanned plane is too intensive
It is and large number of.Then while flight program track is generated for the unmanned plane, also flying speed is planned for the unmanned plane,
And the flying speed planned is mapped with flight program track, i.e., each section of flight is pressed in each section of flight program track
Speed is flown.Usually, flying speed of the unmanned plane on whole section of flight program track is all defaulted as flying at a constant speed, and is repeating to walk
In the case of not still being avoided that other unmanned planes bump against with the unmanned plane after rapid S202 and S203, also whole section of flight is advised
Trajectory segment is drawn, is that each section of flight program trajectory planning flying speed bumps against to avoid the unmanned plane and other unmanned planes.
In a kind of possible embodiment, described in step S201 generates flight program track for the unmanned plane can
To include：The air objective of current location, the unmanned plane according to the unmanned plane and three-dimensional map come generate it is described fly
Row planned trajectory.
Wherein, can be the air objective of unmanned plane the vehicles to be charged or charging station.
In addition, according to the unmanned plane current location, the air objective of the unmanned plane and three-dimensional map next life
Into also needing to during the flight program track consider the barrier situation in three-dimensional map, to be unmanned plane planning one
The flight program track of avoiding obstacles.
For example, it can first determine whether there are obstacles on the flight program track；In the flight program track
On there are the height for when barrier (such as towering buildings), judging the barrier whether to be more than or equal to the unmanned plane
Upper limit flying height；The barrier height be more than or equal to the unmanned plane the upper limit flying height when, make it is described nobody
The machine detour barrier；It is less than the upper limit of the unmanned plane in the height of the barrier (for example, than broader mountain)
During flying height, flight level of the unmanned plane at the barrier is made to be higher than the height of the barrier.
According to second embodiment of the present disclosure, a kind of device that flight path is planned for unmanned plane is provided, so as to unmanned plane
The vehicles to be charged can be flown to according to the flight path planned and perform charging for the vehicles to be charged for task.The dress
Put the Cloud Server 20 or charging station 30 that can be applied to shown in Fig. 1.As shown in figure 4, device can be with according to this embodiment
Including：
Flight program Track Pick-up module 401, for generating flight program track, the flight program for the unmanned plane
Track includes flight program route and flight program height layer；
Judgment module 402, for thering are other unmanned planes except the unmanned plane to fly in the flight program height layer
During row, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules；
Module 403 is adjusted, for when judging that other described unmanned planes can bump against with the unmanned plane, adjusting the flight
Planned trajectory, until the judgment module 402 judges other described unmanned planes with the unmanned plane not according to the preset rules
It can bump against.
Through the above technical solutions, by there is other unmanned planes except the unmanned plane to fly in flight program height layer
During row, judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules, and judging other described nothings
When the man-machine and unmanned plane can bump against, the flight program track is adjusted, therefore can be ensured that as unmanned plane planning safety
So that unmanned plane is flown to, the vehicles to be charged perform charging tasks, and then can effectively realize traffic to be charged to flight path
The electricity supply of tool increases the course continuation mileage of the vehicles, improves the efficiency of vehicles electricity supply, additionally it is possible to be user
More convenient method of service is provided, saves the time of user.In addition, it is pure electric automobile in the vehicles to be charged
In the case of, additionally it is possible to dependence of the pure electric automobile to vehicle mounted dynamic battery electricity is reduced, effectively reduces vehicle mounted dynamic battery
Weight.
In a kind of possible embodiment, the judgment module 402 can include：Acquisition submodule (not shown) is used
In the flight path and flying speed that obtain other unmanned planes；Computational submodule (not shown), in the flight program rail
When the flight path of mark and other unmanned planes has overlapping region, according to the flight path of other unmanned planes and flight speed
Flight program track and the flying speed of degree and the unmanned plane, calculate other described unmanned planes and the unmanned plane reaches institute
State the time point interval of overlapping region；Judging submodule (not shown), for when the time point interval is less than or equal to presetting
Between when being spaced, judge that other described unmanned planes can bump against with the unmanned plane.
In a kind of possible embodiment, the adjustment module 403 is additionally operable to：By adjusting the unmanned plane at least
Flight program height layer and/or flight program route at the overlapping region adjust the flight program track, obtain institute
State new flight program track.
Wherein, the flight program height layer after the adjustment of the unmanned plane be located at the lower limit flying height of the unmanned plane with
Between upper limit flying height.
In a kind of possible embodiment, adjust the flight program track in the adjustment module 403 and still cannot
In the case of avoiding other unmanned planes and unmanned plane collision, illustrate that charging is performed in the geographic area residing for the unmanned plane appoints
The distribution of the unmanned plane of business is too intensive and large number of.Then, in this case, the adjustment module 403 is additionally operable to make institute
State prefixed time interval and reduce predetermined amount, so as to the judgment module 402 again according to preset rules judge it is described other nobody
Whether machine can bump against with the unmanned plane, to guarantee to plan a relatively safest flight path for unmanned plane.
In another embodiment, repeat still not to be avoided that after step S202 and S203 other unmanned planes with it is described nobody
In the case that machine bumps against, illustrate that the distribution that the unmanned plane of charging tasks is performed in the geographic area residing for the unmanned plane is too intensive
It is and large number of.Then while flight program track is generated for the unmanned plane, also flying speed is planned for the unmanned plane,
And the flying speed planned is mapped with flight program track, i.e., each section of flight is pressed in each section of flight program track
Speed is flown.Usually, flying speed of the unmanned plane on whole section of flight program track is all defaulted as flying at a constant speed, and is repeating to walk
In the case of not still being avoided that other unmanned planes bump against with the unmanned plane after rapid S202 and S203, also whole section of flight is advised
Trajectory segment is drawn, is that each section of flight program trajectory planning flying speed bumps against to avoid the unmanned plane and other unmanned planes.
In a kind of possible embodiment, the flight program Track Pick-up module 401 be additionally operable to according to it is described nobody
The current location of machine, the unmanned plane air objective and three-dimensional map generate the flight program track.Wherein, nobody
Can be the air objective of machine the vehicles to be charged or charging station.
In addition, flight program Track Pick-up module 401 according to the unmanned plane current location, the unmanned plane fly
Row destination and three-dimensional map also need to consider the barrier in three-dimensional map during generating the flight program track
Situation, to plan the flight program track of an avoiding obstacles for unmanned plane.
For example, flight program Track Pick-up module 401 can be first determined whether on the flight program track with the presence or absence of barrier
Hinder object；, there are when barrier (such as towering buildings), judging the height of the barrier on the flight program track
Whether the upper limit flying height of the unmanned plane is more than or equal to；It is more than or equal to the upper of the unmanned plane in the height of the barrier
When limiting flying height, make the unmanned plane detour barrier；In the height of the barrier (for example, than broader mountain)
When degree is less than the upper limit flying height of the unmanned plane, flight level of the unmanned plane at the barrier is made to be higher than institute
State the height of barrier.
The specific embodiment of the operation in device performed by modules is according to this public affairs according to this embodiment
It is described in detail in the first embodiment opened, details are not described herein again.
According to third embodiment of the present disclosure, a kind of unmanned plane collision-proof method is provided, the unmanned plane is used for wait to fill
Electric vehicles charging.This method can be applied to unmanned plane, the unmanned plane 40 especially shown in Fig. 1.As shown in figure 5,
During unmanned plane performs the task for the vehicles to be charged charging, method can include following step according to this embodiment
Rapid S501 and S502.
In step S501, the relative distance between the unmanned plane and front obstacle is detected.
Wherein, which can pass through the detection device of such as radar detection device, ultrasonic detection device etc
To detect.These detection devices can be arranged at the fore-body especially Handpiece Location of unmanned plane.
In addition, when using ultrasonic detection device detection relative distance, due to the aerial spread speed of ultrasonic wave
It is related with air themperature, thus in order to be more accurate obtain ultrasonic wave current propagation speed, can be in ultrasonic detection device
Including external temperature sensor, this makes it possible to ultrasound examination is filled using the external temperature that external temperature sensor detects
The ultrasonic wave current propagation speed put, which carries out air themperature, to be influenced to correct, so that its relative distance detected is more accurate.
In step S502, the nothing is controlled depending at least on the relative distance between the unmanned plane and front obstacle
Man-machine execution anticollision operation.
Through the above technical solutions, by detecting the relative distance between unmanned plane and barrier and based on the relative distance
Unmanned plane is controlled to perform anticollision operation, therefore can be ensured that the safe flight of the unmanned plane to charge for the vehicles to be charged,
And then the electricity supply of the vehicles to be charged can be effectively realized, increase the course continuation mileage of the vehicles, improve traffic work
Has the efficiency of electricity supply, additionally it is possible to provide more convenient method of service to the user, save the time of user.In addition,
In the case where the vehicles to be charged are pure electric automobile, additionally it is possible to reduce pure electric automobile to vehicle mounted dynamic battery electricity
Dependence effectively reduces the weight of vehicle mounted dynamic battery.
In a kind of possible embodiment, the relative distance between the unmanned plane and front obstacle is less than or equal to
During the first default relative distance, in step S502 it is described depending at least between the unmanned plane and front obstacle it is opposite away from
It can include from the unmanned plane to be controlled to perform anticollision operation：The unmanned plane is controlled by being based on the first positive correlation
Flying speed the unmanned plane is controlled to perform with the variation of the relative distance between the unmanned plane and front obstacle
Anticollision operates.
Wherein, the first default relative distance can be set according to actual conditions, for example, its can be 200 meters or other
Numerical value.
Wherein, the flying speed of the unmanned plane is controlled based on the first positive correlation as the unmanned plane and front hinder
The variation of the relative distance between object is hindered to refer to that the relative distance between unmanned plane and front obstacle is smaller, unmanned plane
Flying speed is smaller, is even if ensuring the flying speed of unmanned plane in the case of this makes it possible to bump against in unmanned plane with barrier
Small, so as to which effectively reducing collisions damages.Wherein the first positive correlation can be linear positive correlation or non-
Linear positive correlation.
In a kind of possible embodiment, it is less than the described first default relative distance and institute in the second default relative distance
When stating the relative distance between unmanned plane and front obstacle less than or equal to the second default relative distance, in step S502
The relative distance depending at least between the unmanned plane and front obstacle is grasped the unmanned plane to be controlled to perform anticollision
Work can also include：By adjusting the flight path (such as at least one of flight path, flying height) of the unmanned plane
The unmanned plane to be controlled to perform anticollision operation.It does not detect in the first pre-determined distance and exists in the right and left sensor of unmanned plane
During barrier, it is carried out the flight path of adjustment unmanned plane；It is examined in the first pre-determined distance in the right and left sensor of unmanned plane
Measure barrier, and the upper and lower sensor of unmanned plane does not detect and sets apart from interior that there are during barrier, be carried out adjusting to second in advance
The flying height of whole unmanned plane；Barrier is detected in the first pre-determined distance, and in nothing in the right and left sensor of unmanned plane
Man-machine upper and lower sensor detects barrier in the second pre-determined distance, is carried out adjusting the flight path of unmanned plane simultaneously
And flying height.Second default relative distance can also be set according to actual conditions, for example, its can be 20 meters or other
Numerical value.
For example, the first default relative distance can be less than or equal to but more than second in the relative distance of unmanned plane and barrier
In the case of default relative distance, the flying speed of the unmanned plane is controlled with opposite between unmanned plane and front obstacle
The reduction of distance and reduce；In the case where the relative distance of unmanned plane and barrier is less than the second default relative distance, still
The flying speed of unmanned plane is made to reduce with the reduction of the relative distance between unmanned plane and front obstacle, but is adjusted simultaneously
At least one of flying height and flight path of whole unmanned plane, damaged condition when being collided with mitigating as possible.
(other obstacles will not can be again run into the flying height by adjusting unmanned plane and flight path in the case of
Object), if barrier is unmanned plane, the flying height of preferential selection adjustment unmanned plane, even if in this way can be to avoid having occurred
Collision, will not damage two frame unmanned planes, because the undercarriage of unmanned plane or other non-paddle members, which are damaged, will not lead to aircraft bombing,
But blade, which is damaged, is just likely to result in aircraft bombing, so the flying height of selection adjustment unmanned plane carrys out maximum possible and avoids unmanned plane
Aircraft bombing.
In addition, when the relative distance between unmanned plane and barrier becomes greater than second from less than the second default relative distance
After default relative distance, the flying height that unmanned plane convalescence is previous can be controlled.And then with unmanned plane and barrier it
Between relative distance gradual increase, the flying speed of unmanned plane can also be controlled to restore its previous flying speed.
In a kind of possible embodiment, to merge to give traffic work to be charged with the vehicles to be charged in unmanned plane
In the case of tool charging, as shown in fig. 6, method can also include the following steps S601 to S603 according to this embodiment.
In step s 601, the relative distance between the unmanned plane and the vehicles to be charged is detected.
In step S602, relative distance between the unmanned plane and the vehicles to be charged is less than or equal to the
During three default relative distance, obtain the unmanned plane with using the unmanned plane as the unmanned plane in the range of the pre-set radius in the center of circle it
Between relative distance.
The step can by unmanned plane to Cloud Server 20 send ask, then by Cloud Server 20 feed back it is described nobody
It machine and is completed using relative distance of the unmanned plane between the unmanned plane in the range of the pre-set radius in the center of circle.
In addition, the relative distance between the unmanned plane and the vehicles to be charged presets phase less than or equal to third
When adjusting the distance, illustrate that unmanned plane has been positioned at the vehicles to be charged nearby and is prepared for charging for the vehicles to be charged.
In step S603, the unmanned plane in the range of the unmanned plane with the pre-set radius using the unmanned plane as the center of circle
Between relative distance when being less than or equal to four default relative distance, control the unmanned plane by being based on the second positive correlation
Flying speed with the unmanned plane and the phase using the unmanned plane between the unmanned plane in the range of the pre-set radius in the center of circle
The variation adjusted the distance operates the unmanned plane to be controlled to perform anticollision.
Wherein, the second positive correlation can be linear positive correlation, can also be positively nonlinear correlation relationship.And
And the flying speed of unmanned plane is with the unmanned plane and using the unmanned plane as the unmanned plane in the range of the pre-set radius in the center of circle
Between relative distance reduction and reduce.
In addition, third, which is preset, does not have numerical values recited relationship between relative distance and the 4th default relative distance, be all according to
It is set according to actual conditions.
Pass through step S601 to S603, it will be able to be effectively prevented from sending out during unmanned plane merges with the vehicles to be charged
Raw collision.
In a kind of possible embodiment, the relative distance between the unmanned plane and front obstacle is less than or equal to
The first default relative distance and the unmanned plane with using the unmanned plane as the unmanned plane in the range of the pre-set radius in the center of circle
Between relative distance when being less than or equal to the four default relative distance, the speed of the unmanned plane be based on described first just
The speed that correlativity controls and the reckling in the speed controlled based on second positive correlation.Thus
Unmanned plane can effectively be mitigated to have arrived at the vehicles to be charged nearby and be prepared as vehicles charging situation to be charged
Under damaged condition when colliding.
In a kind of possible embodiment, method can also include according to this embodiment：In the unmanned plane and institute
When stating the relative distance between the vehicles to be charged and presetting relative distance less than or equal to the third, based on the unmanned plane and
The height of other unmanned planes for the vehicles to be charged charging and its respectively opposite with the vehicles to be charged
Distance, to control the charging order that the unmanned plane is the vehicles to be charged.For example, can according to unmanned plane height from
Low to high sequence come control each unmanned plane be the vehicles to be charged charging order.In the identical situation of unmanned plane height
Under, each unmanned plane is controlled to treat according to the sequence of the relative distance between unmanned plane and the vehicles to be charged from small to large
Charge the sequence that the vehicles charge.In addition, the relative distance between other unmanned planes and the vehicles to be charged can pass through
All Cloud Servers as shown in Figure 1 20 or charging station 30 obtain, because having other nothings in Cloud Server 20 and charging station 30
Man-machine real time information.
In a kind of possible embodiment, lead to it without Faville when unmanned plane meets with irresistible natural disaster or man-made calamity
When holding flight function and falling, method also is able to injury caused by falling and is reduced to minimum degree according to this embodiment.For
This, as shown in fig. 7, method can also include according to this embodiment：
The acceleration of S701, the detection unmanned plane during decline.Wherein, the acceleration during declining can lead to
Acceleration transducer is crossed to detect.
S702, when the acceleration during the decline is more than predetermined acceleration threshold value, send and control the unmanned plane
Forced landing buffering parachute start signal.Wherein, predetermined acceleration threshold value can be the value that for example force of gravity acceleration is slightly smaller
Or other preset values set according to actual conditions.
In addition, when the acceleration during the decline is more than predetermined acceleration threshold value, unmanned plane can also be controlled
Boombox is reminded namely is reminded ground staff to pay attention to avoiding, and avoids being injured by a crashing object.
Pass through step S701 and S702, it will be able to start forced landing buffering parachute in time when unmanned plane falls, effectively
Speed when ground reduction unmanned plane is born, to ground staff and the damaged condition of itself when mitigation unmanned plane is born.
In a kind of possible embodiment, method also is able to touch in unmanned plane and barrier according to this embodiment
Necessary measure is taken before hitting to mitigate the damage that inevitable collision belt comes.In this case, as shown in figure 8, step
The relative distance depending at least between the unmanned plane and front obstacle in rapid S502 controls the unmanned plane to hold
Row anticollision operates, and may comprise steps of S801 to S803.
In step S801, changed with time calculating based on the relative distance between the unmanned plane and front obstacle
Relative velocity between the unmanned plane and the barrier.
For example, record detects while the relative distance between unmanned plane and front obstacle is detected in step S501
Time, this makes it possible to the relative distances obtained between unmanned plane and front obstacle to change with time, and then can obtain
Relative velocity between unmanned plane and barrier.
In step S802, based between the unmanned plane and front obstacle relative distance, the relative velocity, institute
State the projected path and maximum deceleration of unmanned plane, judge the unmanned plane and the barrier whether can collide with
And whether relative velocity when colliding is more than or equal to default relative velocity.
In general, default relative velocity can be configured to be equal to the value of high flying speed in unmanned plane.In this way, with regard to energy
It is enough to be determined when unmanned plane and barrier collide happens is that no is high speed collision.Due to high speed collision can generate compared with
Big damage for example, leading to battery drain or short circuit of the unmanned plane to the vehicles to be charged charging, and then can result in nobody
Machine explodes or personnel get an electric shock.Therefore, judge whether high speed collision occurs, be significantly.
In step S803, judging that the unmanned plane can collide and opposite when colliding with the barrier
When speed is more than or equal to the default relative velocity, send it is following at least one：
(1) signal of the unmanned plane for the battery runs down of the vehicles charging to be charged is controlled；
(2) signal that the forced landing buffering parachute of the unmanned plane is controlled to start；
(3) signal that the unmanned plane is controlled to slow down with maximum deceleration；
(4) signal of the unmanned plane change flight path and/or deceleration is controlled.
Wherein, control the unmanned plane that can first be sent out for the signal of the battery runs down of the vehicles charging to be charged
The battery manager of unmanned plane is given, then break-make of the battery manager to control for the battery of the vehicles to be charged charging
Switch (such as relay, contactor etc.) send the signal, carried out after the switch receives the signal
Action is broken for the action of the battery runs down, such as execution high-voltage electricity so that is the battery of the vehicles to be charged charging
Inside open circuit.
Wherein, the forced landing buffering parachute that the signal that forced landing buffering parachute starts can be sent to unmanned plane starts dress
It puts, it is slow to open forced landing after forced landing buffering parachute starter receives the signal of forced landing buffering parachute startup
Parachute is rushed, so as to just take steps to reduce unmanned plane during flying in advance before unmanned plane does not collide with barrier
Speed effectively mitigates damage caused by inevitable unmanned plane collision.
Wherein, control the signal that the unmanned plane is slowed down with maximum deceleration that can be sent to the flight control of unmanned plane
System.This makes it possible to be that UAV Flight Control System control unmanned plane is opened before the collision of inevitable unmanned plane occurs
Beginning is slowed down with maximum deceleration, is effectively mitigated and is damaged caused by inevitably colliding.
By step S801 to S803, can take effective measures to come before inevitable unmanned plane collides generation
Damage caused by mitigating inevitably collision, for example, electric leakage or short of the unmanned plane to the battery of the vehicles to be charged charging
Road, unmanned plane explosion or personnel's electric shock etc..
In a kind of possible embodiment, judging that the unmanned plane can collide and touch with the barrier
When relative velocity when hitting is less than the default relative velocity, as shown in figure 8, method can also include step according to this embodiment
Rapid S804：Send the signal for controlling the unmanned plane change flight path and/or deceleration.Wherein, change flight path (for example,
At least one of flight path and flying height) and/or slow down signal can be sent to unmanned plane flight control system
System.This makes it possible to the relative velocities when judging that unmanned plane can collide but collide with barrier to be less than default relative velocity
When, such as when judging that low speed collision occurs for unmanned plane, by changing the flight path of unmanned plane before the collision occurs, making nothing
Man-machine deceleration avoids unmanned plane from colliding to ensure that the safe flight of unmanned plane or mitigation can not be kept away by the two
It is damaged caused by the collision exempted from.In addition, allow the maximum deceleration that the deceleration value that unmanned plane slows down is unmanned plane here,
Can be the deceleration value smaller than maximum deceleration.
In a kind of possible embodiment, method also is able to have after unmanned plane collides according to this embodiment
The damage that effect ground reducing collisions is brought.As shown in figure 9, in this case, according to this embodiment method can also include with
Lower step S901 and S902.
In step S901, the deceleration of the unmanned plane is detected.
Wherein, the deceleration of unmanned plane can be detected by crash sensor.Crash sensor can be arranged on nothing
Two crash sensors are at least arranged at the positions such as man-machine front end, rear end, left side, right side, and at each side position.Collision
Default deceleration threshold (it is a certain fixed deceleration absolute value) is provided in sensor, when unmanned plane and barrier occur
Inevitably collision and its deceleration is when meeting or exceeding the default deceleration threshold values of crash sensor, crash sensor will
Experience this collision.
In step S902, when the deceleration is more than or equal to default deceleration threshold, send it is following at least one：
(1) signal of the unmanned plane for the battery runs down of the vehicles charging to be charged is controlled.It waits to fill to be described
The signal of the battery runs down of electric vehicles charging was described above with particularity, and details are not described herein again.
(2) signal that the forced landing buffering parachute of the unmanned plane is controlled to start.
Wherein, the forced landing buffering parachute that the signal that forced landing buffering parachute starts can be sent to unmanned plane starts dress
It puts, it is slow to open forced landing after forced landing buffering parachute starter receives the signal of forced landing buffering parachute startup
Parachute is rushed, so as to just take steps to reduce unmanned plane during flying in advance before unmanned plane does not collide with barrier
Speed effectively mitigates damage caused by inevitable unmanned plane collision.
Pass through step S901 and S902, it will be able to after unmanned plane collides, damage that effectively reducing collisions is brought
It is bad, the short circuit or electric leakage of the battery of vehicles charging for example, to be charged.
In addition, before step S902 is performed, method can also optionally be detected as friendship to be charged according to this embodiment
Whether the battery of logical tool charging has powered off, whether buffering of force-landing parachute has been started up, and then performs step S902 again.
According to fourth embodiment of the present disclosure, a kind of unmanned plane collision prevention device is provided, the unmanned plane is used for wait to fill
Electric vehicles charging.The device can be applied to unmanned plane, the unmanned plane 40 especially shown in Fig. 1.As shown in Figure 10, root
It can include according to the device of the embodiment：
Detection module 1001, for detecting the relative distance between the unmanned plane and front obstacle；
Control module 1002, for depending at least on the relative distance between the unmanned plane and front obstacle to control
It states unmanned plane and performs anticollision operation.
Through the above technical solutions, by detecting the relative distance between unmanned plane and barrier and based on the relative distance
Unmanned plane is controlled to perform anticollision operation, therefore can be ensured that the safe flight of the unmanned plane to charge for the vehicles to be charged,
And then the electricity supply of the vehicles to be charged can be effectively realized, increase the course continuation mileage of the vehicles, improve traffic work
Has the efficiency of electricity supply, additionally it is possible to provide more convenient method of service to the user, save the time of user.In addition,
In the case where the vehicles to be charged are pure electric automobile, additionally it is possible to reduce pure electric automobile to vehicle mounted dynamic battery electricity
Dependence effectively reduces the weight of vehicle mounted dynamic battery.
In a kind of possible embodiment, the control module 1002 is used for：In the unmanned plane and front obstacle
Between relative distance when being less than or equal to the first default relative distance, control the unmanned plane by being based on the first positive correlation
Flying speed the unmanned plane is controlled to perform with the variation of the relative distance between the unmanned plane and front obstacle
Anticollision operates.
In a kind of possible embodiment, the control module 1002 is additionally operable to be less than in the second default relative distance
It is pre- that the first default relative distance and the relative distance between the unmanned plane and front obstacle are less than or equal to described second
If it during relative distance, is operated by adjusting the flight path of the unmanned plane the unmanned plane to be controlled to perform anticollision.
In a kind of possible embodiment, as shown in Figure 10, which further includes acquisition module 1003.The detection mould
Block 1001 is additionally operable to detect the relative distance between the unmanned plane and the vehicles to be charged；The acquisition module
1003, for the relative distance between the unmanned plane and the vehicles to be charged less than or equal to third preset it is opposite away from
From when, obtain the unmanned plane and using the unmanned plane between the unmanned plane in the range of the pre-set radius in the center of circle it is opposite away from
From；The control module 1002 is additionally operable in the range of the unmanned plane with the pre-set radius using the unmanned plane as the center of circle
When relative distance between unmanned plane is less than or equal to four default relative distance, by being based on described in the control of the second positive correlation
The flying speed of unmanned plane with the unmanned plane with using the unmanned plane as the unmanned plane in the range of the pre-set radius in the center of circle it
Between the variation of relative distance control the unmanned plane to perform anticollision operation.
In a kind of possible embodiment, the relative distance between the unmanned plane and front obstacle is less than or equal to
The first default relative distance and the unmanned plane with using the unmanned plane as the unmanned plane in the range of the pre-set radius in the center of circle
Between relative distance when being less than or equal to the four default relative distance, the speed of the unmanned plane be based on described first just
The speed that correlativity controls and the reckling in the speed controlled based on second positive correlation.
In a kind of possible embodiment, the control module 1002 is additionally operable to：It waits to fill with described in the unmanned plane
Based on the unmanned plane and it is described when relative distance between the electric vehicles presets relative distance less than or equal to the third
The height of other unmanned planes of vehicles charging to be charged and its respectively relative distance with the vehicles to be charged, come
Control the charging order that the unmanned plane is the vehicles to be charged.It for example, can be according to unmanned plane height from low to high
Sequence come control each unmanned plane be the vehicles to be charged charging order.In the case where unmanned plane height is identical, press
Each unmanned plane is controlled to be to be charged according to the sequence of the relative distance between unmanned plane and the vehicles to be charged from small to large
The sequence of vehicles charging.In addition, the relative distance between other unmanned planes and the vehicles to be charged can be by such as
Cloud Server 20 or charging station 30 shown in Fig. 1 obtain, because having other unmanned planes in Cloud Server 20 and charging station 30
Real time information.
In a kind of possible embodiment, lead to it without Faville when unmanned plane meets with irresistible natural disaster or man-made calamity
When holding flight function and falling, the detection module 1001 is additionally operable to detect acceleration of the unmanned plane during decline；
The control module 1002 is additionally operable to, when the acceleration during the decline is more than predetermined acceleration threshold value, send control
The signal that the forced landing buffering parachute of the unmanned plane starts.
In a kind of possible embodiment, device also is able to touch in unmanned plane and barrier according to this embodiment
Necessary measure is taken before hitting to mitigate the damage that inevitable collision belt comes.In this case, as shown in figure 11, institute
Stating control module 1002 can include：
Computational submodule 1101, for the change based on the relative distance between the unmanned plane and front obstacle at any time
Change the relative velocity calculated between the unmanned plane and the barrier；
Judging submodule 1102, for based on the relative distance, described opposite between the unmanned plane and front obstacle
Speed, the projected path of the unmanned plane and maximum deceleration, judge whether the unmanned plane can be sent out with the barrier
Whether relative velocity when life is collided and collided is more than or equal to default relative velocity；
Sending submodule 1103, for judging that the unmanned plane and the barrier can collide and when colliding
Relative velocity when being more than or equal to the default relative velocity, send it is following at least one：
(1) signal of the unmanned plane for the battery runs down of the vehicles charging to be charged is controlled；
(2) signal that the forced landing buffering parachute of the unmanned plane is controlled to start；
(3) signal that the unmanned plane is controlled to slow down with maximum deceleration；
(4) signal of the unmanned plane change flight path and/or deceleration is controlled.
In a kind of possible embodiment, the sending submodule 1103 is additionally operable in the judging submodule 1102
It is described default relatively fast to judge that the relative velocity when unmanned plane and the barrier can collide and collide is less than
When spending, the signal for controlling the unmanned plane change flight path and/or deceleration is sent.
In a kind of possible embodiment, the detection module 1001 is additionally operable to detect the deceleration of the unmanned plane；
The control module 1002 is additionally operable to when the deceleration is more than or equal to default deceleration threshold, send it is following at least one：
(1) signal of the unmanned plane for the battery runs down of the vehicles charging to be charged is controlled；(2) unmanned plane is controlled
The signal that forced landing buffering parachute starts.
The specific embodiment of the operation in device performed by modules is by according to this public affairs according to this embodiment
It opens and is described in detail in the method for 3rd embodiment, details are not described herein again.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought should equally be considered as disclosure disclosure of that.
Claims (13)
- A kind of 1. method that flight path is planned for unmanned plane, which is characterized in that the unmanned plane is used for as traffic work to be charged Tool charging, the method includes：Flight program track is generated for the unmanned plane, the flight program track includes flight program route and flight program is high Spend layer；When there are other unmanned plane during flyings except the unmanned plane in the flight program height layer, judge according to preset rules Whether other described unmanned planes can bump against with the unmanned plane；When judging that other described unmanned planes can bump against with the unmanned plane, the flight program track is adjusted, until according to institute It states preset rules and judges that other described unmanned planes will not bump against with the unmanned plane.
- 2. according to the method described in claim 1, it is characterized in that, it is described according to preset rules judge other described unmanned planes with Whether the unmanned plane can bump against, including：Obtain the flight path and flying speed of other unmanned planes；When the flight path of the flight program track and other unmanned planes has overlapping region, according to it is described other nobody The flight path and flying speed of machine and the flight program track of the unmanned plane and flying speed, calculate it is described other nobody Machine and the unmanned plane reach the time point interval of the overlapping region；When being less than or equal to prefixed time interval at the time point interval, judge that other described unmanned planes can phase with the unmanned plane It hits.
- 3. according to the method described in claim 2, it is characterized in that, the flight program track of the adjustment unmanned plane, packet It includes：By adjusting flight program height layer and/or flight program route of the unmanned plane at least described overlapping region Adjust the flight program track.
- 4. according to the method described in claim 3, it is characterized in that, flight program height layer position after the adjustment of the unmanned plane Between the lower limit flying height of the unmanned plane and upper limit flying height.
- 5. according to the method described in claim 2, it is characterized in that, after the flight program track is adjusted it is described other nobody When machine still can bump against with the unmanned plane, this method further includes：The prefixed time interval is made to reduce predetermined amount, and returns and judges other described unmanned planes and the nothing according to preset rules Man-machine the step of whether bumping against.
- 6. according to the method described in claim 1, it is characterized in that, described generate flight program track packet for the unmanned plane It includes：The air objective of current location, the unmanned plane according to the unmanned plane and three-dimensional map come generate it is described flight rule Draw track.
- 7. a kind of device that flight path is planned for unmanned plane, which is characterized in that the unmanned plane is used for as traffic work to be charged Tool charging, described device include：Flight program Track Pick-up module, for generating flight program track, the flight program track packet for the unmanned plane Include flight program route and flight program height layer；Judgment module during for there is other unmanned plane during flyings except the unmanned plane in the flight program height layer, is pressed Judge whether other described unmanned planes can bump against with the unmanned plane according to preset rules；Module is adjusted, for when the judgment module judges that other described unmanned planes can bump against with the unmanned plane, adjusting institute Flight program track is stated, until the judgment module judges other described unmanned planes and the unmanned plane according to the preset rules It will not bump against.
- 8. device according to claim 7, which is characterized in that the judgment module includes：Acquisition submodule, for obtaining the flight path and flying speed of other unmanned planes；Computational submodule, when the flight path in the flight program track and other unmanned planes has overlapping region, foundation The flight path and flying speed of other unmanned planes and the flight program track of the unmanned plane and flying speed calculate Other described unmanned planes and the unmanned plane reach the time point interval of the overlapping region；Judging submodule, for when the time point interval is less than or equal to prefixed time interval, judging other described unmanned planes It can bump against with the unmanned plane.
- 9. device according to claim 8, which is characterized in that the adjustment module is additionally operable to：By adjusting flight program height layer and/or flight program route of the unmanned plane at least described overlapping region Adjust the flight program track.
- 10. device according to claim 9, which is characterized in that the flight program height layer after the adjustment of the unmanned plane Between the lower limit flying height of the unmanned plane and upper limit flying height.
- 11. device according to claim 8, which is characterized in that the adjustment module is additionally operable to：When other unmanned planes described after adjusting the flight program track still can bump against with the unmanned plane, make described pre- If time interval reduces predetermined amount, and the judgment module is notified to rejudge other described unmanned planes according to the preset rules Whether can bump against with the unmanned plane.
- 12. device according to claim 7, which is characterized in that the flight program Track Pick-up module is additionally operable to foundation The current location of the unmanned plane, the unmanned plane air objective and three-dimensional map generate the flight program track.
- 13. device according to claim 7, which is characterized in that described device is Cloud Server or charging station.
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