CN108445915A - Flight control method and device - Google Patents
Flight control method and device Download PDFInfo
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- CN108445915A CN108445915A CN201810167805.3A CN201810167805A CN108445915A CN 108445915 A CN108445915 A CN 108445915A CN 201810167805 A CN201810167805 A CN 201810167805A CN 108445915 A CN108445915 A CN 108445915A
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- unmanned plane
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- 238000000034 method Methods 0.000 title claims abstract description 24
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 18
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
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
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A kind of flight control method of offer of the embodiment of the present invention and device are applied to unmanned plane, and it is umbrella that shelter is provided on unmanned plane such as, and this method includes：Obtain the position of target object；Obtain the input direction of climatic factor；The position of unmanned plane is adjusted according to the input direction of the current position of the position of target object, unmanned plane and climatic factor, so that target object is blocked by obstructions, to realize the purpose to open an umbrella for user by unmanned plane, has provided convenience to the user.
Description
Technical field
The present invention relates to automatic control technology field more particularly to a kind of flight control methods and device.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, currently,
Unmanned plane obtains extensive concern in fields such as military affairs, amusement, express deliveries.
Inventor has found, in daily life, can also further expand the application scenarios of unmanned plane, such as
Summer or rainy days, people need hand support parasols or umbrella, and especially when holding excessive thing in hand, opening an umbrella can be more
Add inconvenience, and if can automatically be opened an umbrella by unmanned plane to realize at this time, it will provide prodigious facility to the user.
Invention content
In view of this, a kind of flight control method of offer of the embodiment of the present invention and device, to extend the use of unmanned plane
Scene realizes automatic sun-shading by unmanned plane, keeps off the rain.
The embodiment of the present invention provides a kind of flight control method, is applied to unmanned plane, is provided with and blocks on the unmanned plane
Object, the method includes：Obtain the position of target object；Obtain the input direction of climatic factor；According to the target object
The current position of position, the unmanned plane and the input direction adjust the position of the unmanned plane, so that the target object
It is blocked by the shelter.
Further, the position for obtaining target object, including：By to the target object carry out track up with
Determine the position of the target object；If not clapping to include the image of the target object in predetermined time period, to institute
It states the corresponding terminal device of target object and sends Positioning Notification；Receive what the terminal device was fed back in response to the Positioning Notification
The position of the target object.
Further, the climatic factor includes sunlight, the input direction for obtaining climatic factor, including：Pass through institute
State the light sensor detection luminous intensity and light incident direction of the different directions being arranged on unmanned plane；According to detecting largest light intensity
The corresponding smooth incident direction of light sensor of degree determines the input direction.
Further, the climatic factor includes rainwater, the input direction for obtaining climatic factor, including：Pass through institute
State the sensor detection humidity and pressure value of the different directions being arranged on unmanned plane；According to detecting maximal humidity and pressure value
The direction of sensor determines the input direction.
Further, described according to the current position of the position of the target object, the unmanned plane and the input side
To the position for adjusting the unmanned plane, including：Determine that the shelter exists when the unmanned plane is in the current position
The view field earthward projected on the input direction；The position for adjusting the unmanned plane is：So that the target object
Position is in the center range of the view field.
The present invention also provides a kind of flight control assemblies, are applied to unmanned plane, shelter, institute are provided on the unmanned plane
Stating device includes：First acquisition module, the position for obtaining target object；Second acquisition module, for obtaining climatic factor
Input direction；Module is adjusted, for according to the current position of the position of the target object, the unmanned plane and the input
Direction adjusts the position of the unmanned plane, so that the target object is blocked by the shelter.
Further, first acquisition module is used for：By carrying out track up to the target object to determine
State the position of target object；If not clapping to include the image of the target object in predetermined time period, to the target
The corresponding terminal device of object sends Positioning Notification；Receive the mesh that the terminal device is fed back in response to the Positioning Notification
Mark the position of object.
Further, the climatic factor includes sunlight, and second acquisition module is used for：By being set on the unmanned plane
The light sensor detection luminous intensity and light incident direction for the different directions set；According to the light level for detecting maximum light intensity
The corresponding smooth incident direction of device determines the input direction.
Further, the climatic factor includes rainwater, and second acquisition module is used for：By being set on the unmanned plane
The sensor detection humidity and pressure value for the different directions set；According to the direction for the sensor for detecting maximal humidity and pressure value
Determine the input direction.
Further, the adjustment module is specifically used for：It determines and is in the current position when institute in the unmanned plane
State the view field that shelter earthward projects on the input direction；The position for adjusting the unmanned plane is：So that described
The position of target object is in the center range of the view field.
Flight control method and device provided in an embodiment of the present invention, on unmanned plane be arranged shelter such as umbrella, with
In keep the sun off for user, rainwater etc..In application process, the position of target object is obtained in real time, which can be special
Fixed someone, also, obtain at this time climatic factor such as sunlight, rainwater to the input direction such as sunlight incidence side of unmanned plane
It descends slowly and lightly direction to, rainwater, to which the input direction of, the position of combining target object, man-machine current position and climatic factor comes
The position of adjustment unmanned plane passes through unmanned plane so that target object is blocked by the shelter being arranged on unmanned plane to realize
For the purpose that user opens an umbrella, convenience has been provided to the user.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of flight control method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of unmanned plane shaded effects；
Fig. 3 is the schematic diagram of unmanned plane rain-proof effect；
Fig. 4 is the structural schematic diagram of flight control assemblies provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It will be appreciated that though may XXX be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX being distinguished from each other out.For example, not departing from implementation of the present invention
In the case of example range, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Fig. 1 is the flow chart of flight control method provided in an embodiment of the present invention, flight control provided in this embodiment
Method can be executed by a flight control assemblies, which can be implemented as software, or be embodied as software and
The combination of hardware, the flight control assemblies can be integrally disposed in the controller of unmanned plane.
Firstly the need of explanation, in the embodiment of the present invention, it is provided with shelter on unmanned plane, can be used for blocking sun
Light, rainwater etc., the shelter can be umbrella-shaped structures, be fixedly connected with unmanned plane, and connection type can be that clamping etc. is detachable
Connection type.Also, optionally, which can be arranged in the lower section of unmanned plane, as shown in Figure 2 and Figure 3.In addition, this is blocked
Object has foldable structure, for example when the shelter is umbrella, the structure for making umbrella stand auto-folder pack up can be arranged, so as in nothing
It when need not use the shelter in man-machine flight course, can be packed up, avoid having an impact flight.
In an alternative embodiment, when with unmanned plane be user's sunshade or keep off the rain snow when, can be based on to ambient enviroment
It detects to control whether to open above-mentioned shelter, such as：When detecting that around bright intensity is more than certain threshold value, the screening is opened
Block material comes for user's sunshade；When detecting that ambient humidity is more than certain threshold value, the shelter is opened to keep off the rain for user.
Based on the setting of shelter on above-mentioned unmanned plane, as shown in Figure 1, flight control method provided in an embodiment of the present invention
It may include steps of：
101, the position of target object is obtained.
The target object can be some specific user, which can be the owner of unmanned plane, below with target
Object be the user for illustrate.
In an alternative embodiment, unmanned plane can establish binding relationship with the terminal device of the user in advance, such as logical
The binding relationship is established after the phone number for obtaining the user in advance, also, is configured with locating module in the terminal device, than
Such as GPS positioning module, the real time position for detecting user.To which the terminal device of user can be by the user detected position
It sets and is sent to unmanned plane through wireless communication, so that unmanned plane obtains user location.It is understood that terminal device
The real time position that user can constantly be sent to unmanned plane at a time interval, so that unmanned plane will appreciate that user's is real-time
Position.
In another alternative embodiment, unmanned plane can also be realized by start-up trace pattern to the position of the user
It obtains, i.e., by carrying out track up to the user to determine the real time position of the user.Under the pattern, in simple terms, in advance
It is provided to the reference picture of the unmanned plane user, when unmanned plane is in flight course, constantly shoots surrounding image, if from
It claps to identify the user for including in the reference picture in image, then passes through the location information ratio of image analysis combination unmanned plane
Such as height, longitude and latitude, course angle determine the position of active user.
The purpose for obtaining user location mainly enables unmanned plane to follow the movement of user and fly.But another
In one alternative embodiment, when carrying out the positioning of user location using the pattern of above-mentioned track up, if user in certain time
Enter into it is indoor, across bridge etc. due to can not take the image of user, at this time in order to continue to control unmanned plane with
User's flight, it can be using the location information that subscriber terminal equipment reports as the means of supplementing out economy.Specifically, if it is long in preset time
It does not clap to include the image of the user in degree, then sends Positioning Notification to the corresponding terminal device of the user, and receive terminal
The user location that equipment is fed back in response to the Positioning Notification.
It is understood that when subsequently transferring that the image comprising the user can be continuously shot, can be set to the terminal
Preparation send instruction information, stops the localization process of user location with instruction terminal equipment.
102, the input direction of climatic factor is obtained.
In the present embodiment, which may include sunlight, rainwater etc., and correspondingly, which refers to sunlight phase
To the incident direction of unmanned plane, descend slowly and lightly direction of the rainwater with respect to unmanned plane.
The acquisition of the input direction can be realized in conjunction with the sensor being arranged on unmanned plane.
For the incident direction for obtaining sunlight, the light sensor for the different directions being arranged on unmanned plane can be passed through
Luminous intensity and light incident direction are detected, to according to detecting the corresponding smooth incident direction of the light sensor of maximum light intensity
Determine input direction.
In practical application, multiple light sensors can be set on the fuselage of unmanned plane, each light sensor is used for
Receive the light that different directions incidence comes, such as four direction or more direction all around.Light sensor may be used
It is capable of the sensor of detection light incident direction and luminous intensity, which can be that incident intensity can also be reflective light intensity
Degree.
It is worth noting that in an alternative embodiment, shelter can be arranged above unmanned plane, at this point, to ensure
The accuracy of light incident direction testing result, installation position of the above-mentioned each light sensor on the fuselage object that is not blocked cover
Lid；Alternatively, above-mentioned each light sensor can also be arranged on blocking exterior surface, towards different directions.
In an alternative embodiment, through-hole can be provided on the light incident surface of light sensor, light can be by this
Through-hole is irradiated on the light-sensitive device being arranged at the different location of light receiving surface, to which the light-sensitive device for receiving light can be with
The luminous intensity received is exported, to determine that the luminous intensity which light-sensitive device receives is maximum, light is received so as to basis
The location determination light incident direction of the light-sensitive device of maximum intensity, the as direction of through-hole to the light-sensitive device.
For the direction that descends slowly and lightly for obtaining rainwater, it can be detected by the sensor for the different directions being arranged on unmanned plane
Humidity and pressure value, to according to detecting that the direction of the sensor of maximal humidity and pressure value determines input direction.
The hybrid sensor that humidity and pressure can be installed at the different location of the fuselage of unmanned plane, i.e., can either detect
Pressure can detect the sensor module of humidity again.On rainy day, when being affected by the wind so that rainwater descends slowly and lightly from certain direction,
The amount of rainfall received by sensor module in this direction compares the meeting bigger of the sensor module on other directions with pressure, because
This when the humidity value of certain sensor module output is maximum and pressure value maximum, can recognize compared with other sensors module
Direction for the sensor module is the direction that descends slowly and lightly of rainwater.It is understood that the detection faces of the sensor module are past
Toward out of plumb and ground.
It is worth noting that in an alternative embodiment, shelter can be arranged above unmanned plane, at this point, to ensure
Rainwater descends slowly and lightly the accuracy of angle detecting result, and installation position of the above-mentioned each sensor module on the fuselage object that is not blocked covers
Lid；Alternatively, above-mentioned each sensor module can also be arranged on blocking exterior surface, towards different directions.
103, the position of unmanned plane is adjusted according to the current position of the position of target object, unmanned plane and the input direction
It sets, so that target object is blocked by the shelter being arranged on unmanned plane.
In order to be embodied as the purpose that aforementioned specific user carries out sunshade, keeps off the rain, the position for constantly adjusting unmanned plane is needed,
Such as height, longitude and latitude, so that the shelter being arranged on unmanned plane can shelter from user.
It is alternatively possible to adjust the position of unmanned plane according to such as under type：It determines when unmanned plane is in current position
The view field that shelter earthward projects on the input direction of climatic factor；The position of adjustment unmanned plane is：Make target
The position of object is in the center range of view field.
Specifically, for the purpose using shelter as umbrella, and for user's progress sunshade, obtain user's when certain moment
When position and sunlight incident direction at this time, it can calculate umbrella based on the current flying height of unmanned plane and enter along sunlight
Direction is penetrated and view field earthward, if the user location at this time based on acquisition finds that user is located in the view field
Within the scope of the pre-set radius of heart range, that is, center, then it is assumed that the position of current unmanned plane is not required to be adjusted.And if this
Although Shi Faxian user is not located at the center range and is not such as located in the view field or is located in the view field still
Outside center range, then can according to user location with respect to view field's central point vector shift determine unmanned plane need to
How far is which direction movement.
For convenience of understanding, as shown in Fig. 2, easily and intuitively illustrating the change with sunniness direction, nothing in Fig. 2
The position of man-machine opposite user also changes correspondingly, to be embodied as the purpose of user's sunshade.In figure, when sunlight incident direction with
When the rear of family, unmanned plane automatic adjusting position flight to user back upper place is user's sunshade；When sunlight incident direction user just
It is user's sunshade right over the flight to user of unmanned plane automatic adjusting position when top；When sunlight incident direction is in front of user
When, unmanned plane automatic adjusting position flight to user front upper place is user's sunshade.Again as shown in figure 3, Fig. 3 simply illustrate with
It rainwater to descend slowly and lightly the change in direction, unmanned plane is also changed correspondingly with respect to the position of user, to be embodied as the purpose of user's rain cover.
To sum up, by unmanned plane be arranged shelter such as umbrella, and based on to user's real time position detection and
The detection that such as sunlight, rainwater inject the direction of unmanned plane follows user so as to realize, is in conjunction with the position of unmanned plane
User keeps the sun off, the purpose of rainwater, has provided convenience to the user.
Fig. 4 is the structural schematic diagram of flight control assemblies provided in an embodiment of the present invention, which is applied to unmanned plane, should
Shelter is provided on unmanned plane, as shown in figure 4, the device includes：First acquisition module 11, the second acquisition module 12, adjustment
Module 13.
First acquisition module 11, the position for obtaining target object.
Second acquisition module 12, the input direction for obtaining climatic factor.
Module 13 is adjusted, for according to the current position of the position of the target object, the unmanned plane and the input
Direction adjusts the position of the unmanned plane, so that the target object is blocked by the shelter.
Optionally, first acquisition module 11 is used for：
By carrying out track up to the target object with the position of the determination target object；
It is corresponding to the target object if not clapping to include the image of the target object in predetermined time period
Terminal device sends Positioning Notification；
Receive the position for the target object that the terminal device is fed back in response to the Positioning Notification.
Optionally, the climatic factor includes sunlight, and second acquisition module 12 is used for：
Luminous intensity and light incident direction are detected by the light sensor for the different directions being arranged on the unmanned plane；
According to detecting that the corresponding smooth incident direction of the light sensor of maximum light intensity determines the input direction.
Optionally, the climatic factor includes rainwater, and second acquisition module 12 is used for：
Humidity and pressure value are detected by the sensor for the different directions being arranged on the unmanned plane；
According to detecting that the direction of the sensor of maximal humidity and pressure value determines the input direction.
Optionally, the adjustment module 13 is specifically used for：
Determine when the unmanned plane is in the current position shelter on the input direction earthward
The view field of projection；
The position for adjusting the unmanned plane is：So that the position of the target object is in the center model of the view field
It encloses.
The method that Fig. 4 shown devices can execute embodiment illustrated in fig. 1, the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 1.In implementation procedure and the technique effect embodiment shown in Figure 1 of the technical solution
Description, details are not described herein.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
It is physically separated with being or may not be, the component shown as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case of, you can to understand and implement.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of flight control method, which is characterized in that it is applied to unmanned plane, shelter is provided on the unmanned plane, it is described
Method includes：
Obtain the position of target object；
Obtain the input direction of climatic factor；
The unmanned plane is adjusted according to the current position of the position of the target object, the unmanned plane and the input direction
Position, so that the target object is blocked by the shelter.
2. according to the method described in claim 1, it is characterized in that, it is described obtain target object position, including：
By carrying out track up to the target object with the position of the determination target object；
If not clapping to include the image of the target object in predetermined time period, to the corresponding terminal of the target object
Equipment sends Positioning Notification；
Receive the position for the target object that the terminal device is fed back in response to the Positioning Notification.
3. according to the method described in claim 1, it is characterized in that, the climatic factor includes sunlight, the acquisition weather because
The input direction of element, including：
Luminous intensity and light incident direction are detected by the light sensor for the different directions being arranged on the unmanned plane；
According to detecting that the corresponding smooth incident direction of the light sensor of maximum light intensity determines the input direction.
4. according to the method described in claim 1, it is characterized in that, the climatic factor includes rainwater, the acquisition weather because
The input direction of element, including：
Humidity and pressure value are detected by the sensor for the different directions being arranged on the unmanned plane；
According to detecting that the direction of the sensor of maximal humidity and pressure value determines the input direction.
5. method according to claim 1 to 4, which is characterized in that the position according to the target object
Set, the position that the unmanned plane is current and the input direction adjust the position of the unmanned plane, including：
Determine that the shelter earthward projects on the input direction when the unmanned plane is in the current position
View field；
The position for adjusting the unmanned plane is：So that the position of the target object is in the center range of the view field.
6. a kind of flight control assemblies, which is characterized in that it is applied to unmanned plane, shelter is provided on the unmanned plane, it is described
Device includes：
First acquisition module, the position for obtaining target object；
Second acquisition module, the input direction for obtaining climatic factor；
Module is adjusted, for according to the current position of the position of the target object, the unmanned plane and the input direction tune
The position of the whole unmanned plane, so that the target object is blocked by the shelter.
7. device according to claim 6, which is characterized in that first acquisition module is used for：
By carrying out track up to the target object with the position of the determination target object；
If not clapping to include the image of the target object in predetermined time period, to the corresponding terminal of the target object
Equipment sends Positioning Notification；
Receive the position for the target object that the terminal device is fed back in response to the Positioning Notification.
8. device according to claim 6, which is characterized in that the climatic factor includes sunlight, and described second obtains mould
Block is used for：
Luminous intensity and light incident direction are detected by the light sensor for the different directions being arranged on the unmanned plane；
According to detecting that the corresponding smooth incident direction of the light sensor of maximum light intensity determines the input direction.
9. device according to claim 6, which is characterized in that the climatic factor includes rainwater, and described second obtains mould
Block is used for：
Humidity and pressure value are detected by the sensor for the different directions being arranged on the unmanned plane；
According to detecting that the direction of the sensor of maximal humidity and pressure value determines the input direction.
10. the device according to any one of claim 6 to 9, which is characterized in that the adjustment module is specifically used for：
Determine that the shelter earthward projects on the input direction when the unmanned plane is in the current position
View field；
The position for adjusting the unmanned plane is：So that the position of the target object is in the center range of the view field.
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| CN201810167805.3A CN108445915B (en) | 2018-02-28 | 2018-02-28 | Flight control method and device |
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| CN201810167805.3A CN108445915B (en) | 2018-02-28 | 2018-02-28 | Flight control method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021074989A1 (en) * | 2019-10-16 | 2021-04-22 | 株式会社エアロネクスト | Light shielding method |
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