CN108445915B - Flight control method and device - Google Patents
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- CN108445915B CN108445915B CN201810167805.3A CN201810167805A CN108445915B CN 108445915 B CN108445915 B CN 108445915B CN 201810167805 A CN201810167805 A CN 201810167805A CN 108445915 B CN108445915 B CN 108445915B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The embodiment of the invention provides a flight control method and a flight control device, which are applied to an unmanned aerial vehicle, wherein a shelter such as an umbrella is arranged on the unmanned aerial vehicle, and the method comprises the following steps: acquiring the position of a target object; acquiring the input direction of the climate factors; according to the position of the target object, the current position of the unmanned aerial vehicle and the input direction of the weather factor, the position of the unmanned aerial vehicle is adjusted, so that the target object is shielded by the shielding object, the purpose of supporting the umbrella for the user through the unmanned aerial vehicle is achieved, and convenience is provided for the user.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a flight control method and device.
Background
Unmanned aerial vehicles are unmanned aerial vehicles operated by radio remote control equipment and self-contained program control devices, and currently, unmanned aerial vehicles are widely concerned in the fields of military affairs, entertainment, express delivery and the like.
The inventor finds that in people's daily life, can also further expand unmanned aerial vehicle's application scene, for example in summer or overcast and rainy day, people need hand prop sun shade or umbrella, especially when holding too much thing in the hand, prop the umbrella and can be more inconvenient, and if can realize automatic propping the umbrella with the help of unmanned aerial vehicle this moment, will provide very big facility for the user.
Disclosure of Invention
In view of this, embodiments of the present invention provide a flight control method and apparatus, so as to expand the usage scenario of an unmanned aerial vehicle, and achieve automatic sun-shading and rain-shielding by the unmanned aerial vehicle.
The embodiment of the invention provides a flight control method, which is applied to an unmanned aerial vehicle, wherein a shelter is arranged on the unmanned aerial vehicle, and the method comprises the following steps: acquiring the position of a target object; acquiring the input direction of the climate factors; adjusting the position of the unmanned aerial vehicle according to the position of the target object, the current position of the unmanned aerial vehicle and the input direction, so that the target object is shielded by the shielding object.
Further, the acquiring the position of the target object includes: determining the position of the target object by tracking and shooting the target object; if the image containing the target object is not shot within a preset time length, sending a positioning notification to the terminal equipment corresponding to the target object; and receiving the position of the target object fed back by the terminal equipment in response to the positioning notification.
Further, the climate factor includes sunlight, and the obtaining of the input direction of the climate factor includes: detecting light intensity and light incidence direction through light sensors in different directions arranged on the unmanned aerial vehicle; and determining the input direction according to the light incidence direction corresponding to the light ray sensor which detects the maximum light intensity.
Further, the climate factor includes rain, and the obtaining the input direction of the climate factor includes: detecting humidity and pressure values through sensors in different directions arranged on the unmanned aerial vehicle; the input direction is determined according to the orientation of the sensor that detects the maximum humidity and pressure values.
Further, the adjusting the position of the drone according to the position of the target object, the current position of the drone, and the input direction includes: determining a projection area of the obstruction projected toward the ground in the input direction when the drone is in the current position; adjusting the position of the unmanned aerial vehicle: such that the position of the target object is in the central range of the projection area.
The invention also provides a flight control device, which is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a shielding object, and the flight control device comprises: the first acquisition module is used for acquiring the position of a target object; the second acquisition module is used for acquiring the input direction of the climate factors; and the adjusting module is used for adjusting the position of the unmanned aerial vehicle according to the position of the target object, the current position of the unmanned aerial vehicle and the input direction so as to enable the target object to be shielded by the shielding object.
Further, the first obtaining module is configured to: determining the position of the target object by tracking and shooting the target object; if the image containing the target object is not shot within a preset time length, sending a positioning notification to the terminal equipment corresponding to the target object; and receiving the position of the target object fed back by the terminal equipment in response to the positioning notification.
Further, the climate factor includes sunlight, and the second obtaining module is configured to: detecting light intensity and light incidence direction through light sensors in different directions arranged on the unmanned aerial vehicle; and determining the input direction according to the light incidence direction corresponding to the light ray sensor which detects the maximum light intensity.
Further, the climate factor includes rain, and the second obtaining module is configured to: detecting humidity and pressure values through sensors in different directions arranged on the unmanned aerial vehicle; the input direction is determined according to the orientation of the sensor that detects the maximum humidity and pressure values.
Further, the adjusting module is specifically configured to: determining a projection area of the obstruction projected toward the ground in the input direction when the drone is in the current position; adjusting the position of the unmanned aerial vehicle: such that the position of the target object is in the central range of the projection area.
According to the flight control method and device provided by the embodiment of the invention, the unmanned aerial vehicle is provided with the shielding object such as the umbrella, so as to shield sunlight, rainwater and the like for users. In the application, obtain the position of target object in real time, this target object can be specific someone, and, it is like sunshine to obtain climatic factor this moment, the rainwater is to unmanned aerial vehicle's input direction like sunshine incident direction, the rainwater direction of wafting, thereby, combine target object's position, unmanned aerial vehicle's position is adjusted to the input direction of man-machine current position and climatic factor, so that target object is sheltered from by the shelter that unmanned aerial vehicle went up the setting, thereby realized supporting the purpose of umbrella for the user through unmanned aerial vehicle, convenience is provided for the user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a flight control method provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the sun-shading effect of the unmanned aerial vehicle;
FIG. 3 is a schematic view of the rain-shielding effect of the unmanned aerial vehicle;
fig. 4 is a schematic structural diagram of a flight control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that although the terms first, second, third, etc. may be used to describe XXX in embodiments of the present invention, these XXX should not be limited to these terms. These terms are only used to distinguish XXX from each other. For example, a first XXX may also be referred to as a second XXX, and similarly, a second XXX may also be referred to as a first XXX, without departing from the scope of embodiments of the present invention.
Fig. 1 is a flowchart of a flight control method according to an embodiment of the present invention, where the flight control method according to this embodiment may be executed by a flight control device, and the flight control device may be implemented as software, or implemented as a combination of software and hardware, and the flight control device may be integrated in a controller of an unmanned aerial vehicle.
It should be noted that, in the embodiment of the present invention, the unmanned aerial vehicle is provided with the shielding object, which can be used for shielding sunlight, rainwater, etc., the shielding object may be an umbrella-shaped structure and is fixedly connected with the unmanned aerial vehicle, and the connection mode may be a detachable connection mode such as clamping connection, etc. And, optionally, the shelter may be disposed below the drone, as shown in fig. 2, 3. In addition, this shelter has beta structure, for example when this shelter is the umbrella, can set up the structure that makes the automatic folding of umbrella stand pack up to when unmanned aerial vehicle flight in-process need not use this shelter, can pack it up, avoid producing the influence to the flight.
In an alternative embodiment, when the drone is used to shade the user from the sun or rain and snow, it is possible to control whether to open the above-mentioned shades based on the detection of the surrounding environment, such as: when the brightness intensity of the surroundings is detected to be larger than a certain threshold value, the shelter is opened to shade the sun for the user; when it is detected that the ambient humidity is above a certain threshold, the shelter is opened to shield the user from rain.
Based on the arrangement of the shelter on the unmanned aerial vehicle, as shown in fig. 1, the flight control method provided by the embodiment of the invention can comprise the following steps:
101. the position of the target object is acquired.
The target object may be a specific user, which may be the owner of the drone, and the target object is taken as an example for the user to be described below.
In an optional embodiment, the drone may establish a binding relationship with the terminal device of the user in advance, for example, by acquiring a mobile phone number of the user in advance to establish the binding relationship, and a positioning module, such as a GPS positioning module, is configured in the terminal device and is used to detect a real-time location of the user. Therefore, the terminal equipment of the user can send the detected user position to the unmanned aerial vehicle in a wireless communication mode so that the unmanned aerial vehicle obtains the user position. It can be understood that the terminal device can continuously send the real-time position of the user to the unmanned aerial vehicle at certain time intervals, so that the unmanned aerial vehicle can master the real-time position of the user.
In another alternative embodiment, the drone may also enable acquisition of the user's location by initiating a tracking mode, i.e., by taking a tracking shot of the user to determine the user's real-time location. In this mode, in brief, a reference image provided to the user of the unmanned aerial vehicle is needed in advance, when the unmanned aerial vehicle is in the flight process, surrounding images are continuously shot, and if the user included in the reference image is identified from the shot images, the position of the current user is determined by combining image analysis with the position information of the unmanned aerial vehicle, such as the height, longitude and latitude, and heading angle.
The purpose of obtaining the user's location is primarily to enable the drone to follow the user's movements. However, in another optional embodiment, when the above-mentioned tracking shooting mode is used to locate the position of the user, if the user cannot shoot the image of the user due to walking indoors, passing through a bridge, or the like within a certain time, in order to continue to control the unmanned aerial vehicle to fly along with the user, the position information reported by the user terminal device may be used as a supplementary means. Specifically, if the image including the user is not captured within the preset time period, a positioning notification is sent to the terminal device corresponding to the user, and the user position fed back by the terminal device in response to the positioning notification is received.
It is understood that when the user-included image can be continuously photographed by subsequent turns, indication information may be transmitted to the terminal device to instruct the terminal device to stop the positioning process of the user position.
102. And acquiring the input direction of the climate factors.
In this embodiment, this climate factor can include sunshine, rainwater etc. correspondingly, this input direction indicates the relative unmanned aerial vehicle's of sunshine incident direction, the relative unmanned aerial vehicle's of rainwater direction of wafting.
This acquisition of input direction can combine the sensor that sets up on the unmanned aerial vehicle to realize.
To the incident direction who acquires sunshine, can detect luminous intensity and light incident direction through the light sensor of the different orientations that set up on the unmanned aerial vehicle to, input direction is confirmed according to the light incident direction that the light sensor who detects maximum luminous intensity corresponds.
In practical application, can set up a plurality of light sensor on unmanned aerial vehicle's fuselage, every light sensor is used for receiving the light that different directions incided, for example four directions or more directions all around. The light sensor may be a sensor capable of detecting the incident direction of light and the intensity of the light, which may be the intensity of the incident light or the intensity of the reflected light.
It should be noted that, in an optional embodiment, the shielding object may be disposed above the unmanned aerial vehicle, and at this time, in order to ensure accuracy of a detection result of a light incidence direction, the arrangement position of each light sensor on the body is not covered by the shielding object; alternatively, the light sensors may be disposed on the outer surface of the shield so as to face different directions.
In an alternative embodiment, the light incident surface of the light sensor may be provided with through holes through which light may be irradiated onto the photosensors disposed at different positions of the light receiving surface, so that the photosensors receiving light may output the received light intensities to determine which photosensor receives the largest light intensity, and the light incident direction, i.e., the direction from the through hole to the photosensor, may be determined according to the position of the photosensor receiving the largest light intensity.
To the direction of driping that acquires the rainwater, can detect humidity and pressure value through the sensor of the different orientations that set up on the unmanned aerial vehicle to, according to the orientation determination input direction of the sensor that detects maximum humidity and pressure value.
Can locate the hybrid sensor who installs humidity and pressure at the different positions of unmanned aerial vehicle's fuselage, can enough detect pressure and can detect the sensor module of humidity again promptly. In rainy days, when being influenced by wind and making the rainwater drift from a certain direction, the sensor module in this direction received the rainfall and pressure compare other sensor module in the orientation can be bigger, consequently, compare with other sensor module, when the humidity value that certain sensor module output is the biggest and the pressure value is the biggest, can think that the orientation of this sensor module is the direction that drifts off of rainwater promptly. It can be understood that the detection surface of the sensor module is not perpendicular to the ground.
It is worth explaining that, in an optional embodiment, the shielding object can be arranged above the unmanned aerial vehicle, and at the moment, in order to ensure the accuracy of the detection result of the falling direction of the rainwater, the arrangement positions of the sensor modules on the body are not covered by the shielding object; alternatively, the sensor modules may be provided on the outer surface of the shield so as to face different directions.
103. According to the position of the target object, the current position of the unmanned aerial vehicle and the position of the unmanned aerial vehicle, the position of the unmanned aerial vehicle is adjusted so that the target object is shielded by a shielding object arranged on the unmanned aerial vehicle.
In order to realize the purpose of shading the sun and keeping off the rain for the specific user, the position of the unmanned aerial vehicle, such as the height and the longitude and latitude, needs to be continuously adjusted, so that the shelter arranged on the unmanned aerial vehicle can shelter the user.
Optionally, the position of the drone may be adjusted according to the following: determining a projection area projected by a shelter to the ground in the input direction of the climate factor when the unmanned aerial vehicle is at the current position; the position of adjustment unmanned aerial vehicle does: so that the position of the target object is in the central range of the projection area.
Specifically, for example, when the position of the user and the sunlight incidence direction at that time are obtained at a certain time, a projection area of the umbrella to the ground along the sunlight incidence direction may be calculated based on the current flight height of the unmanned aerial vehicle, and if it is found that the user is located within a preset radius range of a center range, that is, a center position, of the projection area based on the obtained position of the user at that time, it is determined that the position of the current unmanned aerial vehicle does not need to be adjusted. And if the user is not located in the central range, for example, not located in the projection area or located in the projection area but outside the central range, it can be determined in accordance with the vector displacement of the user position with respect to the central point of the projection area, which direction the unmanned aerial vehicle needs to move far.
For convenience of understanding, as shown in fig. 2, it is simply and intuitively illustrated in fig. 2 that as the sunlight irradiation direction changes, the position of the unmanned aerial vehicle relative to the user also changes, so as to achieve the purpose of shading the user. In the figure, when the sunlight incidence direction is behind the user, the unmanned aerial vehicle automatically adjusts the position to fly to the back upper side of the user to shade the user; when the sunlight incidence direction is right above the user, the unmanned aerial vehicle automatically adjusts the position to fly right above the user to shade the user; when sunshine incident direction was in user the place ahead, unmanned aerial vehicle automatic adjustment position flies to the user front upper place for the user sunshade. As shown in fig. 3 again, fig. 3 simply illustrates that as the direction of the rain falls changes, the position of the drone relative to the user also changes, so as to achieve the purpose of shielding the user from rain.
To sum up, through setting up shelter from thing such as the umbrella on unmanned aerial vehicle to and based on the detection to user real-time position and such as sunshine, the detection of rainwater injection unmanned aerial vehicle's direction, combine unmanned aerial vehicle's position, thereby can realize following the user, shelter from the purpose of sunshine, rainwater for the user, provide the convenience for the user.
Fig. 4 is a schematic structural view of a flight control device provided in an embodiment of the present invention, where the flight control device is applied to an unmanned aerial vehicle, and a shelter is disposed on the unmanned aerial vehicle, as shown in fig. 4, the flight control device includes: the device comprises a first acquisition module 11, a second acquisition module 12 and an adjustment module 13.
The first obtaining module 11 is configured to obtain a position of the target object.
And a second obtaining module 12, configured to obtain an input direction of the climate factor.
An adjusting module 13, configured to adjust the position of the unmanned aerial vehicle according to the position of the target object, the current position of the unmanned aerial vehicle, and the input direction, so that the target object is shielded by the shielding object.
Optionally, the first obtaining module 11 is configured to:
determining the position of the target object by tracking and shooting the target object;
if the image containing the target object is not shot within a preset time length, sending a positioning notification to the terminal equipment corresponding to the target object;
and receiving the position of the target object fed back by the terminal equipment in response to the positioning notification.
Optionally, the climate factor includes sunlight, and the second obtaining module 12 is configured to:
detecting light intensity and light incidence direction through light sensors in different directions arranged on the unmanned aerial vehicle;
and determining the input direction according to the light incidence direction corresponding to the light ray sensor which detects the maximum light intensity.
Optionally, the climate factor includes rain, and the second obtaining module 12 is configured to:
detecting humidity and pressure values through sensors in different directions arranged on the unmanned aerial vehicle;
the input direction is determined according to the orientation of the sensor that detects the maximum humidity and pressure values.
Optionally, the adjusting module 13 is specifically configured to:
determining a projection area of the obstruction projected toward the ground in the input direction when the drone is in the current position;
adjusting the position of the unmanned aerial vehicle: such that the position of the target object is in the central range of the projection area.
The apparatus shown in fig. 4 can perform the method of the embodiment shown in fig. 1, and reference may be made to the related description of the embodiment shown in fig. 1 for a part of this embodiment that is not described in detail. The implementation process and technical effect of the technical solution refer to the description in the embodiment shown in fig. 1, and are not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A flight control method is applied to an unmanned aerial vehicle, a shelter is arranged on the unmanned aerial vehicle, and the method comprises the following steps:
acquiring the position of a target object;
acquiring the input direction of the climate factors;
adjusting the position of the unmanned aerial vehicle according to the position of the target object, the current position of the unmanned aerial vehicle and the input direction so that the target object is shielded by the shielding object, comprising: determining a projection area of the obstruction projected toward the ground in the input direction when the drone is in the current position; adjusting the position of the unmanned aerial vehicle: causing the position of the target object to be in a central range of the projection area; when the position of the target object and the input direction at the moment are obtained at a certain moment, the projection area of the shelter to the ground along the input direction can be calculated based on the current flight height of the unmanned aerial vehicle, and if the position of the target object is found to be within the preset radius range of the central range of the projection area based on the obtained position of the target object at the moment, the current position of the unmanned aerial vehicle is considered not to be adjusted; and if the position of the target object is not located in the central range or is located in the projection area but out of the central range, determining which direction the unmanned aerial vehicle needs to move to according to the vector displacement of the position of the target object relative to the central point of the projection area.
2. The method of claim 1, wherein obtaining the location of the target object comprises:
determining the position of the target object by tracking and shooting the target object;
if the image containing the target object is not shot within a preset time length, sending a positioning notification to the terminal equipment corresponding to the target object;
and receiving the position of the target object fed back by the terminal equipment in response to the positioning notification.
3. The method of claim 1, wherein the climate factor comprises sunlight, and the obtaining the input direction of the climate factor comprises:
detecting light intensity and light incidence direction through light sensors in different directions arranged on the unmanned aerial vehicle;
and determining the input direction according to the light incidence direction corresponding to the light ray sensor which detects the maximum light intensity.
4. The method of claim 1, wherein the climate factor comprises rain, and the obtaining the input direction of the climate factor comprises:
detecting humidity and pressure values through sensors in different directions arranged on the unmanned aerial vehicle;
the input direction is determined according to the orientation of the sensor that detects the maximum humidity and pressure values.
5. The utility model provides a flight control device, its characterized in that is applied to unmanned aerial vehicle, unmanned aerial vehicle is last to have set up shelters from the thing, the device includes:
the first acquisition module is used for acquiring the position of a target object;
the second acquisition module is used for acquiring the input direction of the climate factors;
an adjusting module, configured to adjust the position of the drone according to the position of the target object, the current position of the drone, and the input direction, so that the target object is shielded by the shield, specifically configured to: determining a projection area of the obstruction projected toward the ground in the input direction when the drone is in the current position; adjusting the position of the unmanned aerial vehicle: causing the position of the target object to be in a central range of the projection area; when the position of the target object and the input direction at the moment are obtained at a certain moment, the projection area of the shelter to the ground along the input direction can be calculated based on the current flight height of the unmanned aerial vehicle, and if the position of the target object is found to be within the preset radius range of the central range of the projection area based on the obtained position of the target object at the moment, the current position of the unmanned aerial vehicle is considered not to be adjusted; and if the position of the target object is not located in the central range or is located in the projection area but out of the central range, determining which direction the unmanned aerial vehicle needs to move to according to the vector displacement of the position of the target object relative to the central point of the projection area.
6. The apparatus of claim 5, wherein the first obtaining module is configured to:
determining the position of the target object by tracking and shooting the target object;
if the image containing the target object is not shot within a preset time length, sending a positioning notification to the terminal equipment corresponding to the target object;
and receiving the position of the target object fed back by the terminal equipment in response to the positioning notification.
7. The apparatus of claim 5, wherein the climate factor comprises sunlight, and the second obtaining module is to:
detecting light intensity and light incidence direction through light sensors in different directions arranged on the unmanned aerial vehicle;
and determining the input direction according to the light incidence direction corresponding to the light ray sensor which detects the maximum light intensity.
8. The apparatus of claim 5, wherein the climate factor comprises rain, and the second obtaining module is to:
detecting humidity and pressure values through sensors in different directions arranged on the unmanned aerial vehicle;
the input direction is determined according to the orientation of the sensor that detects the maximum humidity and pressure values.
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