CN109062259A - A kind of unmanned plane automatic obstacle-avoiding method and device thereof - Google Patents
A kind of unmanned plane automatic obstacle-avoiding method and device thereof Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a kind of unmanned plane automatic obstacle-avoiding method and device thereof.This method, comprising: obtain obstacle information, the obstacle information includes the information on the automatic line of flight there are barrier；Under the automatic offline mode of unmanned plane, according to the obstacle information, the flight avoidance message that remote controler is sent is obtained, to realize that the detour to the barrier is flown, the remote controler includes the remote controler connecting with the unmanned plane；When determining that the unmanned plane flies over the barrier, the message that flies back for the automatic line of flight that flies back is sent to the unmanned plane, the message that flies back includes indicating that the unmanned plane flies back along the direction straight line perpendicular to the automatic line of flight to the message of the automatic line of flight.It realizes in the barrier caught sight of, unmanned plane carries out avoidance under automatic offline mode, and the former automatic line of flight set that voluntarily flies back after getting around barrier, and then improves unmanned plane operating efficiency.
Description
Technical field
The present invention relates to unmanned plane plant protection technology field, espespecially a kind of unmanned plane automatic obstacle-avoiding method and device thereof.
Background technique
With development in science and technology, unmanned plane has been widely used in each face of each side of life, wherein unmanned plane is to utilize nothing
The not manned aircraft of line electrical remote control equipment and the presetting apparatus provided for oneself manipulation.
Before unmanned plane during flying, first by getting ready with the automatic line of flight of determination, while also carrying out barrier and getting ready,
To realize the avoiding obstacles when planning course line.However, those skilled in the art send out during stating the prior art in realization
Existing, for suddenly appearing in the barrier of the automatic line of flight, unmanned plane can not carry out Real Time Obstacle Avoiding, so as to cause unmanned plane work
Industry efficiency is lower.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of unmanned plane automatic obstacle-avoiding method and device thereof, can
It solves the problems, such as to cause unmanned plane operating efficiency lower.
In order to reach the object of the invention, the present invention provides a kind of unmanned plane automatic obstacle-avoiding methods, comprising:
Obstacle information is obtained, the obstacle information includes the information on the automatic line of flight there are barrier；
Under the automatic offline mode of unmanned plane, according to the obstacle information, the flight avoidance that remote controler is sent is obtained
Message, to realize that the detour to the barrier is flown, the remote controler includes the remote controler connecting with the unmanned plane；
When determining that the unmanned plane flies over the barrier, the automatic line of flight that flies back is sent to the unmanned plane
The message that flies back, the message that flies back includes indicating that the unmanned plane flies along the direction straight line perpendicular to the automatic line of flight
It is back to the message of the automatic line of flight.
Further, after the acquisition obstacle information, further includes:
The first rocking bar amount of the first rocking bar is obtained, the first rocking bar amount includes the first rocking bar that the remote controler is arranged in
The displacement of distance the first rocking bar initial point；
When determining that the first rocking bar amount is greater than or equal to preset value, the unmanned plane is controlled under automatic offline mode
Receive the flight avoidance message that the remote controler is sent.
Further, described when determining that the unmanned plane flies over the barrier, the institute that flies back is sent to the unmanned plane
Before the message that flies back for stating the automatic line of flight, further includes:
The second rocking bar amount of first rocking bar and the third rocking bar amount of the second rocking bar are obtained, the second rocking bar amount includes
The displacement of the first rocking bar distance the first rocking bar initial point, the third rocking bar amount include second that the remote controler is arranged in
The displacement of rocking bar distance the second rocking bar initial point；
According to the second rocking bar amount and the third rocking bar amount, determine whether the unmanned plane flies over the obstacle
Object；
When determining that the second rocking bar amount and the third rocking bar amount are respectively less than the second preset value, the unmanned plane is determined
Fly over the barrier.
Further, described according to the obstacle information, the flight avoidance message that remote controler is sent is obtained, with realization pair
The detour of the barrier is flown, comprising:
Obtain the first rocking bar offset of first rocking bar, the second rocking bar offset of second rocking bar and described
The third rocking bar offset of three rocking bars；
The difference that second longitude offset of the first longitude offset of first rocking bar and second rocking bar is subtracted each other
Value is added with the first longitude, and the sum number of acquisition is determined as the second longitude of the unmanned plane, the first longitude offset
The product of dextrorotation value and the first rocking bar offset including course angle, the second longitude offset includes the remaining of course angle
The product of rotation value and the second rocking bar offset, first longitude are included in first rocking bar and second rocking bar
The longitude of the unmanned plane before mobile, second longitude include institute after first rocking bar and second rocking bar movement
State the longitude of unmanned plane；
By the first latitudinal offset amount of first rocking bar, the second latitudinal offset amount of second rocking bar and the first latitude
Value is added, and the sum number of acquisition is determined as the second latitude value of the unmanned plane, and the first latitudinal offset amount includes course angle
The product of Yu Xuan value and the first rocking bar offset, the second latitudinal offset amount include the dextrorotation value and described the of course angle
The product of two rocking bar offsets, first latitude value are included in first rocking bar and the mobile preceding nothing of second rocking bar
Man-machine latitude value, second latitude value include the latitude of the unmanned plane after first rocking bar and second rocking bar movement
Angle value；
By being added for the first height offset of the third rocking bar and the first height value, the sum number of acquisition is determined as described
Second height value of unmanned plane.
Further, first rocking bar includes: aileron horn；Second rocking bar includes: elevating lever；The third rocking bar
It include: throttle lever.
The present invention also provides a kind of unmanned plane automatic fault avoidnig devices, comprising:
Module is obtained, for obtaining obstacle information, the obstacle information includes that there are obstacles on the automatic line of flight
The information of object；
Processing module, for according to the obstacle information, obtaining remote controler hair under the automatic offline mode of unmanned plane
The flight avoidance message sent, to realize that the detour to the barrier is flown, the remote controler includes connecting with the unmanned plane
Remote controler；
Sending module, for sending the institute that flies back to the unmanned plane when determining that the unmanned plane flies over the barrier
The message that flies back of the automatic line of flight is stated, the message that flies back includes indicating that the unmanned plane navigates along perpendicular to the automatic flight
The direction straight line of line flies back to the message of the automatic line of flight.
Further, the acquisition module is also used to obtain the first rocking bar amount of the first rocking bar, the first rocking bar amount packet
Include the displacement that first rocking bar distance the first rocking bar initial point of the remote controler is set；
The processing module is also used to control the nothing when determining that the first rocking bar amount is greater than or equal to preset value
The man-machine flight avoidance message for receiving the remote controler under automatic offline mode and sending.
Further, the acquisition module is also used to obtain the second rocking bar amount and the second rocking bar of first rocking bar
Third rocking bar amount, the second rocking bar amount include the displacement of the first rocking bar distance the first rocking bar initial point, and the third is shaken
Rod volume includes that the displacement of second rocking bar distance the second rocking bar initial point of the remote controler is arranged in；
The processing module is also used to determine the nothing according to the second rocking bar amount and the third rocking bar amount
It is man-machine whether to fly over the barrier；Determining that the second rocking bar amount and the third rocking bar amount be respectively less than the second preset value
When, determine that the unmanned plane flies over the barrier.
Further, the acquisition module, be also used to obtain first rocking bar the first rocking bar offset, described second
Second rocking bar offset of rocking bar and the third rocking bar offset of the third rocking bar；
The processing module, be also used to obtain the first rocking bar offset of first rocking bar, second rocking bar
The third rocking bar offset of two rocking bar offsets and the third rocking bar；By the first longitude offset of first rocking bar and institute
The difference that the second longitude offset of the second rocking bar is subtracted each other is stated to be added with the first longitude, the sum number of acquisition be determined as it is described nobody
Second longitude of machine, the first longitude offset include the dextrorotation value of course angle and multiplying for the first rocking bar offset
Product, the second longitude offset include the remaining rotation value of course angle and the product of the second rocking bar offset, first warp
Angle value includes the longitude of the unmanned plane before first rocking bar and second rocking bar are mobile, the second longitude packet
Include first rocking bar and second rocking bar it is mobile after the unmanned plane longitude；By the first latitude of first rocking bar
Offset, the second latitudinal offset amount of second rocking bar are added with the first latitude value, the sum number of acquisition be determined as it is described nobody
Second latitude value of machine, the first latitudinal offset amount include the remaining rotation value of course angle and multiplying for the first rocking bar offset
Product, the second latitudinal offset amount includes the dextrorotation value of course angle and the product of the second rocking bar offset, first latitude
Angle value includes the latitude value of the unmanned plane before first rocking bar and second rocking bar are mobile, the second latitude value packet
Include first rocking bar and second rocking bar it is mobile after the unmanned plane latitude value；By the first height of the third rocking bar
Offset is added with the first height value, and the sum number of acquisition is determined as the second height value of the unmanned plane.
Further, first rocking bar includes: aileron horn；Second rocking bar includes: elevating lever；The third rocking bar
It include: throttle lever.
Compared with prior art, the present invention includes automatic flight boat by obtaining obstacle information, the obstacle information
There are the information of barrier on line；Under the automatic offline mode of unmanned plane, according to the obstacle information, remote controler hair is obtained
The flight avoidance message sent, to realize that the detour to the barrier is flown, the remote controler includes connecting with the unmanned plane
Remote controler；When determining that the unmanned plane flies over the barrier, the automatic flight boat that flies back is sent to the unmanned plane
The message that flies back of line, the message that flies back include indicating the unmanned plane along the direction straight line perpendicular to the automatic line of flight
It flies back to the message of the automatic line of flight.It realizes in the barrier caught sight of, unmanned plane is in automatic offline mode
Lower carry out avoidance, and the former automatic line of flight set that voluntarily flies back after getting around barrier, and then improve unmanned machine operation
Efficiency.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to further understand technical solution of the present invention, and constitutes part of specification, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is the flow diagram of one embodiment of unmanned plane automatic obstacle-avoiding method of the present invention；
Fig. 2 is the schematic illustration of one embodiment of unmanned plane automatic obstacle-avoiding method of the present invention；
Fig. 3 is the structural schematic diagram of one embodiment of unmanned plane automatic fault avoidnig device of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Fig. 1 is the flow diagram of one embodiment of unmanned plane automatic obstacle-avoiding method of the present invention.As shown in Figure 1, the present embodiment
Executing subject be unmanned plane automatic fault avoidnig device, wherein unmanned plane automatic fault avoidnig device can be independently arranged, and also can be set
On unmanned plane.When the applicable scene of the present embodiment is unmanned plane avoidance.Unmanned plane automatic obstacle-avoiding method provided in this embodiment,
Include:
Step 101 obtains obstacle information.
Specifically, unmanned plane, under automatic offline mode, when flight is to apart from one pre-determined distance of barrier, unmanned plane is automatic
Obstacle avoidance apparatus can receive obstacle information, wherein obstacle information may include that there are barriers on the automatic line of flight
Information, wherein the obstacle information can be the location information of barrier.
Step 102, under the automatic offline mode of unmanned plane, according to the obstacle information, obtain what remote controler was sent
Flight avoidance message.
Specifically, during unmanned plane flies under automatic offline mode according to the automatic line of flight, suddenly automatic
It, can be by the operation mode of unmanned plane in the prior art if operator's discovery is timely when occurring barrier on the line of flight
It is switched to manual operation mode from automatic offline mode, avoidance is then carried out by remote manual control unmanned plane, is being broken the barriers
Afterwards, the automatic line of flight of unmanned plane is redefined, is then switched under automatic offline mode and is flown automatically again, alternatively,
Not in time, unmanned plane then can directly rush at barrier to operator's discovery in the prior art.The unmanned plane of the present embodiment is automatic
During flying under offline mode according to the automatic line of flight, when there is barrier suddenly on the automatic line of flight, pass through
It receives remote controler and sends message to unmanned plane, so that unmanned plane under automatic offline mode, is kept away according to the flight that remote controler is sent
Hinder message, to realize that the detour to the barrier is flown, that is, realizes and the avoidance of barrier is handled, wherein the flight avoidance
Message may include instruction nobody fly to the left, to the right flight and to height or to bottom fly message.It should be noted that this reality
Applying the remote controler in example includes the remote controler connecting with the unmanned plane.
Step 103, when determining that the unmanned plane flies over the barrier, fly back to unmanned plane transmission described automatic
The message that flies back of the line of flight.
In the present embodiment, the message that flies back includes indicating the unmanned plane along perpendicular to the automatic line of flight
Direction straight line flies back to the message of the automatic line of flight.
Specifically, after operator determines that unmanned plane has bypassed avoidance object, unmanned plane automatic fault avoidnig device can be to
Unmanned plane sends the message that flies back for the automatic line of flight that flies back, so that unmanned plane is along perpendicular to the automatic line of flight
Direction straight line flies back to the automatic line of flight, is flying back to the automatic line of flight, is continuing under automatic offline mode
It flies along the automatic line of flight.Alternatively, unmanned plane is certainly when the sensing system confirmation unmanned plane of unmanned plane has flown over barrier
Dynamic obstacle avoidance apparatus sends the message that flies back for the automatic line of flight that flies back to the unmanned plane, and the message that flies back includes instruction
The unmanned plane flies back along the direction straight line perpendicular to the automatic line of flight to the message of the automatic line of flight, so that
Unmanned plane flies back along the direction straight line perpendicular to the automatic line of flight to the automatic line of flight, flies flying back to automatic
After row course line, automatic line of flight flight is continued under automatic offline mode.
In the present embodiment, obstacle information is obtained, the obstacle information includes that there are obstacles on the automatic line of flight
The information of object；Under the automatic offline mode of unmanned plane, according to the obstacle information, the flight avoidance that remote controler is sent is obtained
Message, to realize that the detour to the barrier is flown, the remote controler includes the remote controler connecting with the unmanned plane；True
When the fixed unmanned plane flies over the barrier, the message that flies back for the automatic line of flight that flies back is sent to the unmanned plane,
The message that flies back include indicate the unmanned plane along the direction straight line perpendicular to the automatic line of flight fly back to it is described from
The message of the dynamic line of flight.It realizing in the barrier caught sight of, unmanned plane carries out avoidance under automatic offline mode, and
And the former automatic line of flight set that voluntarily flies back after getting around barrier, and then improve unmanned plane operating efficiency.
Further, on the basis of the present embodiment, after the acquisition obstacle information, further includes:
The first rocking bar amount of the first rocking bar is obtained, the first rocking bar amount includes the first rocking bar that the remote controler is arranged in
The displacement of distance the first rocking bar initial point；
When determining that the first rocking bar amount is greater than or equal to preset value, the unmanned plane is controlled under automatic offline mode
Receive the flight avoidance message that the remote controler is sent.
Specifically, when acquisition rocking bar is made to the left or to the right, i.e. when the first rocking bar amount is greater than or equal to preset value, control
The unmanned plane receives the message that the remote controler is sent under automatic offline mode.For example, the first rocking bar can be distant
Control the aileron horn of device.
Preferably, on the basis of the above embodiments, described when determining that the unmanned plane flies over the barrier, to institute
State unmanned plane send fly back the automatic line of flight the message that flies back before, further includes:
The second rocking bar amount of first rocking bar and the third rocking bar amount of the second rocking bar are obtained, the second rocking bar amount includes
The displacement of the first rocking bar distance the first rocking bar initial point, the third rocking bar amount include second that the remote controler is arranged in
The displacement of rocking bar distance the second rocking bar initial point；
According to the second rocking bar amount and the third rocking bar amount, determine whether the unmanned plane flies over the obstacle
Object；
When determining that the second rocking bar amount and the third rocking bar amount are respectively less than the second preset value, the unmanned plane is determined
Fly over the barrier.
For example, when the first rocking bar is arranged in the first rocking bar initial point, while the second rocking bar is arranged at the beginning of the second rocking bar
When initial point, it can determine that unmanned plane has flown over the barrier.
Optionally, on the basis of the above embodiments, first rocking bar includes: aileron horn；Second rocking bar includes:
Elevating lever；The third rocking bar includes: throttle lever.
Further, on the basis of the above embodiments, described according to the obstacle information, obtain remote controler hair
The flight avoidance message sent, to realize that the detour to the barrier is flown, comprising:
Obtain the first rocking bar offset of first rocking bar, the second rocking bar offset of second rocking bar and described
The third rocking bar offset of three rocking bars；
The difference that second longitude offset of the first longitude offset of first rocking bar and second rocking bar is subtracted each other
Value is added with the first longitude, and the sum number of acquisition is determined as the second longitude of the unmanned plane, the first longitude offset
The product of dextrorotation value and the first rocking bar offset including course angle, the second longitude offset includes the remaining of course angle
The product of rotation value and the second rocking bar offset, first longitude are included in first rocking bar and second rocking bar
The longitude of the unmanned plane before mobile, second longitude include institute after first rocking bar and second rocking bar movement
State the longitude of unmanned plane；
By the first latitudinal offset amount of first rocking bar, the second latitudinal offset amount of second rocking bar and the first latitude
Value is added, and the sum number of acquisition is determined as the second latitude value of the unmanned plane, and the first latitudinal offset amount includes course angle
The product of Yu Xuan value and the first rocking bar offset, the second latitudinal offset amount include the dextrorotation value and described the of course angle
The product of two rocking bar offsets, first latitude value are included in first rocking bar and the mobile preceding nothing of second rocking bar
Man-machine latitude value, second latitude value include the latitude of the unmanned plane after first rocking bar and second rocking bar movement
Angle value；
By being added for the first height offset of the third rocking bar and the first height value, the sum number of acquisition is determined as described
Second height value of unmanned plane.
Fig. 2 is the schematic illustration of one embodiment of unmanned plane automatic obstacle-avoiding method of the present invention.As shown in Fig. 2, the present embodiment
Applicable scene be unmanned plane avoidance when.Unmanned plane automatic obstacle-avoiding method provided in this embodiment, comprising:
Unmanned plane is under automatic offline mode, and along the automatic line of flight when flight, which is included in nothing
Before man-machine automatic flight, starting point and target point are obtained by getting ready, straight line between the starting point and target point is determined as
The automatic line of flight, for example, the coordinate information of the longitude of the starting point, latitude and height is respectively
(positionPre.lat, positionPre.lon, positionPre.alt), the seat of the longitude of target point, latitude and height
Marking information is respectively (positionCur.lat, positionCur.lon, positionCur.alt)；
Further, during unmanned plane flies under automatic offline mode according to the automatic line of flight, suddenly certainly
When there is barrier on the dynamic line of flight, remote controler aileron horn (S1) is made into bar to the left or to the right, is kept away automatically by unmanned plane
Fault device confirms that the aileron horn triggers under the automatic offline mode of unmanned plane, connects according to the first rocking bar amount of the aileron horn
The flight avoidance message that remote controler is sent is received, meanwhile, unmanned plane automatic fault avoidnig device records the current position coordinates of unmanned plane, i.e.,
First longitude posA_x, the first latitude value posA_y, the first height value posA_z.Then, pass through throttle lever (S2), elevating lever
(S3), aileron horn (S1) controls unmanned plane during flying, passes through throttle for example to send the flight avoidance message
The third rocking bar amount manual.z of bar, the second rocking bar amount manual.x of elevating lever, aileron horn the first rocking bar amount manual.y,
The next way point information for determining aircraft is the second longitude pos_sp_x, the second latitude value pos_sp_y, the second height value pos_
Sp_z is calculate by the following formula:
Pos_sp_x=_pos (x)-_ y_offset*sin (nav_yaw)+_ x_offset*cos (nav_yaw)
Pos_sp_y=_pos (y)+_ y_offset*cos (nav_yaw)+_ x_offset*sin (nav_yaw)
Pos_sp_z=_pos (z)+_ z_offset, wherein
_ x_offset=_params_avoid_xy_speed*manual.x
_ y_offset=_params_avoid_xy_speed*manual.y
_ z_offset=_params_avoid_z_speed*manual.z
Wherein, the first rocking bar offset includes that the first control rocking bar amount and horizontal direction flying speed of the first rocking bar is
Several products；Second rocking bar offset includes the coefficient of the first control rocking bar amount and horizontal direction flying speed of the second rocking bar
Product；Third rocking bar offset includes the first control rocking bar amount of third rocking bar and multiplying for the coefficient of short transverse flying speed
Product, it should be noted that the first control rocking bar amount is to obtain the flight that remote controler is sent under the automatic offline mode of unmanned plane and keep away
When hindering message, the rocking bar amount of the first shift rocker movable property life on remote controler；Second control rocking bar amount is the automatic flight of unmanned plane
Under mode, when obtaining the flight avoidance message that remote controler is sent, the rocking bar amount of the second shift rocker movable property life on remote controler；Third
It controls under the automatic offline mode that rocking bar amount is unmanned plane, when obtaining the flight avoidance message that remote controler is sent, on remote controler
The raw rocking bar amount of third shift rocker movable property.
In above-mentioned formula, coefficient _ params_avoid_xy_speed of horizontal direction flying speed, short transverse flight
Coefficient _ params_avoid_z_speed of speed, wherein above-mentioned two coefficient value can be configured according to actual scene,
Wherein, nav_yaw is the course angle of aircraft.
Further, when circumventing barrier, elevating lever (S3), aileron horn (S1) return initial bit, and unmanned plane detects back
When middle bit duration is more than T, record current aircraft position (posB_x, posB_y, posB_z).Further, unmanned plane edge
Fly back perpendicular to the direction straight line of the automatic line of flight to the message of the automatic line of flight, further, along it is former from
The dynamic line of flight flies to target point (positionCur.lat, positionCur.lon, positionCur.alt), in turn
Remote controler controllable state is exited, continues to fly by under automatic offline mode.
Fig. 3 is the structural schematic diagram of one embodiment of unmanned plane automatic fault avoidnig device of the present invention.As shown in figure 3, the present embodiment
The unmanned plane automatic fault avoidnig device of offer, comprising: obtain module 31, processing module 32 and sending module 33, wherein
Module 31 is obtained, for obtaining obstacle information, the obstacle information includes the presence of barrier on the automatic line of flight
Hinder the information of object；
Processing module 32, for according to the obstacle information, obtaining remote controler under the automatic offline mode of unmanned plane
The flight avoidance message of transmission, to realize that the detour to the barrier is flown, the remote controler includes connecting with the unmanned plane
The remote controler connect；
Sending module 33, for being flown back to unmanned plane transmission when determining that the unmanned plane flies over the barrier
The message that flies back of the automatic line of flight, the message that flies back include indicating the unmanned plane along perpendicular to the automatic flight
The direction straight line in course line flies back to the message of the automatic line of flight.
In the present embodiment, obstacle information is obtained, the obstacle information includes that there are obstacles on the automatic line of flight
The information of object；Under the automatic offline mode of unmanned plane, according to the obstacle information, the flight avoidance that remote controler is sent is obtained
Message, to realize that the detour to the barrier is flown, the remote controler includes the remote controler connecting with the unmanned plane；True
When the fixed unmanned plane flies over the barrier, the message that flies back for the automatic line of flight that flies back is sent to the unmanned plane,
The message that flies back include indicate the unmanned plane along the direction straight line perpendicular to the automatic line of flight fly back to it is described from
The message of the dynamic line of flight.It realizing in the barrier caught sight of, unmanned plane carries out avoidance under automatic offline mode, and
And the former automatic line of flight set that voluntarily flies back after getting around barrier, and then improve unmanned plane operating efficiency.
On the basis of the above embodiments, the acquisition module 31 is also used to obtain the first rocking bar amount of the first rocking bar, institute
Stating the first rocking bar amount includes the displacement that the first rocking bar of the remote controler is arranged in apart from rocking bar initial point；
The processing module 32 is also used to when determining that the first rocking bar amount is greater than or equal to preset value, described in control
Unmanned plane receives the message that the remote controler is sent under automatic offline mode.
The acquisition module 31 is also used to obtain the second rocking bar amount of first rocking bar and the third rocking bar of the second rocking bar
Amount, the second rocking bar amount includes the displacement of the first rocking bar distance the first rocking bar initial point, and the third rocking bar amount includes
The displacement of second rocking bar distance the second rocking bar initial point of the remote controler is set；
The processing module 32 is also used to be determined described according to the second rocking bar amount and the third rocking bar amount
Whether unmanned plane flies over the barrier；Determining that the second rocking bar amount and the third rocking bar amount be respectively less than the second preset value
When, determine that the unmanned plane flies over the barrier.
Further, on the basis of the above embodiments, the acquisition module 31, is also used to obtain first rocking bar
The third rocking bar offset of first rocking bar offset, the second rocking bar offset of second rocking bar and the third rocking bar；
The processing module 32, be also used to by the first longitude offset of first rocking bar, second rocking bar
Two longitude offsets are added with the first longitude, and the sum number of acquisition is determined as the second longitude of the unmanned plane, and described first
Longitude offset includes the dextrorotation value of course angle and the product of the first rocking bar offset, and the second longitude offset includes
The remaining rotation value of course angle and the product of the second rocking bar offset；By the first latitudinal offset amount of first rocking bar, described
Second latitudinal offset amount of the second rocking bar is added with the first latitude value, and the sum number of acquisition is determined as the second latitude of the unmanned plane
Value, the first latitudinal offset amount includes the remaining rotation value of course angle and the product of the first rocking bar offset, second latitude
Spending offset includes the dextrorotation value of course angle and the product of the first rocking bar offset；By the first height of the third rocking bar
Offset is added with the first height value, and the sum number of acquisition is determined as the second height value of the unmanned plane.
Further, on the basis of the above embodiments, first rocking bar includes: aileron horn；The second rocking bar packet
It includes: elevating lever；The third rocking bar includes: throttle lever.
Although disclosed herein embodiment it is as above, the content only for ease of understanding the present invention and use
Embodiment is not intended to limit the invention.Technical staff in any fields of the present invention is taken off not departing from the present invention
Under the premise of the spirit and scope of dew, any modification and variation, but the present invention can be carried out in the form and details of implementation
Scope of patent protection, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of unmanned plane automatic obstacle-avoiding method characterized by comprising
Obstacle information is obtained, the obstacle information includes the information on the automatic line of flight there are barrier；
Under the automatic offline mode of unmanned plane, according to the obstacle information, the flight avoidance message that remote controler is sent is obtained,
To realize that the detour to the barrier is flown, the remote controler includes the remote controler connecting with the unmanned plane；
When determining that the unmanned plane flies over the barrier, flying for the automatic line of flight that flies back is sent to the unmanned plane
Return message, the message that flies back include indicate the unmanned plane along the direction straight line perpendicular to the automatic line of flight fly back to
The message of the automatic line of flight.
2. the method according to claim 1, wherein after the acquisition obstacle information, further includes:
The first rocking bar amount of the first rocking bar is obtained, the first rocking bar amount includes that the first rocking bar distance of the remote controler is arranged in
The displacement of first rocking bar initial point；
When determining that the first rocking bar amount is greater than or equal to preset value, controls the unmanned plane and received under automatic offline mode
The flight avoidance message that the remote controler is sent.
3. according to the method described in claim 2, it is characterized in that, described determining that the unmanned plane flies over the barrier
When, to the unmanned plane send fly back the automatic line of flight the message that flies back before, further includes:
The second rocking bar amount of first rocking bar and the third rocking bar amount of the second rocking bar are obtained, the second rocking bar amount includes described
The displacement of first rocking bar distance the first rocking bar initial point, the third rocking bar amount include the second rocking bar that the remote controler is arranged in
The displacement of distance the second rocking bar initial point；
According to the second rocking bar amount and the third rocking bar amount, determine whether the unmanned plane flies over the barrier；
When determining that the second rocking bar amount and the third rocking bar amount are respectively less than the second preset value, determine that the unmanned plane is flown over
The barrier.
4. method according to claim 1-3, which is characterized in that it is described according to the obstacle information, it obtains
The flight avoidance message that remote controler is sent, to realize that the detour to the barrier is flown, comprising:
The first rocking bar offset of first rocking bar, the second rocking bar offset of second rocking bar and the third is obtained to shake
The third rocking bar offset of bar；
The difference that second horizontal offset of the first level offset of first rocking bar and second rocking bar is subtracted each other with
First level coordinate value is added, and the sum number of acquisition is determined as the second horizontal coordinate value of the unmanned plane, and the first level is inclined
Shifting amount includes the dextrorotation value of course angle and the product of the first rocking bar offset, and second horizontal offset includes course angle
Remaining rotation value and the second rocking bar offset product, the first level coordinate value is included in first rocking bar and described
The horizontal axial coordinate of the unmanned plane before second rocking bar is mobile, second horizontal coordinate value include first rocking bar and described
The horizontal coordinate value of the unmanned plane after second rocking bar is mobile；
By the first longitudinal axis amount of first rocking bar, the second longitudinal axis amount of second rocking bar and the first ordinate of orthogonal axes
Value is added, and the sum number of acquisition is determined as the second ordinate of orthogonal axes value of the unmanned plane, and the first longitudinal axis amount includes course
The remaining rotation value at angle and the product of the first rocking bar offset, the second longitudinal axis amount includes dextrorotation value and the institute of course angle
The product of the second rocking bar offset is stated, the first ordinate of orthogonal axes value is included in first rocking bar and second rocking bar is mobile
The ordinate of orthogonal axes value of the preceding unmanned plane, the second ordinate of orthogonal axes value include that first rocking bar and second rocking bar are mobile
The ordinate of orthogonal axes value of the unmanned plane afterwards；
By being added for the first height offset of the third rocking bar and the first height value, the sum number of acquisition be determined as it is described nobody
Second height value of machine.
5. according to the method described in claim 4, it is characterized in that, first rocking bar includes: aileron horn；Second rocking bar
It include: elevating lever；The third rocking bar includes: throttle lever.
6. a kind of unmanned plane automatic fault avoidnig device characterized by comprising
Module is obtained, for obtaining obstacle information, the obstacle information includes that there are barriers on the automatic line of flight
Information；
Processing module, for according to the obstacle information, obtaining what remote controler was sent under the automatic offline mode of unmanned plane
Flight avoidance message flies to the detour of the barrier with realizing, the remote controler include connect with the unmanned plane it is distant
Control device；
Sending module, for being sent to the unmanned plane described in flying back certainly when determining that the unmanned plane flies over the barrier
The message that flies back of the dynamic line of flight, the message that flies back include indicating the unmanned plane along perpendicular to the automatic line of flight
Direction straight line flies back to the message of the automatic line of flight.
7. device according to claim 6, which is characterized in that the acquisition module is also used to obtain the of the first rocking bar
One rocking bar amount, the first rocking bar amount include that the position of first rocking bar distance the first rocking bar initial point of the remote controler is arranged in
It moves；
The processing module is also used to control the unmanned plane when determining that the first rocking bar amount is greater than or equal to preset value
The flight avoidance message that the remote controler is sent is received under automatic offline mode.
8. device according to claim 7, which is characterized in that the acquisition module is also used to obtain first rocking bar
The second rocking bar amount and the second rocking bar third rocking bar amount, the second rocking bar amount includes the first rocking bar of the first rocking bar distance
The displacement of initial point, the third rocking bar amount include second rocking bar distance the second rocking bar initial point that the remote controler is arranged in
Displacement；
The processing module is also used to determine the unmanned plane according to the second rocking bar amount and the third rocking bar amount
Whether the barrier is flown over；When determining that the second rocking bar amount and the third rocking bar amount are respectively less than the second preset value, really
The fixed unmanned plane flies over the barrier.
9. according to the described in any item devices of claim 6-8, which is characterized in that the acquisition module is also used to obtain described
The third rocking bar of first rocking bar offset of the first rocking bar, the second rocking bar offset of second rocking bar and the third rocking bar
Offset；
The processing module is also used to obtain the first rocking bar offset of first rocking bar, the second of second rocking bar shakes
The third rocking bar offset of bar offset and the third rocking bar；By the first level offset of first rocking bar and described the
The difference that second horizontal offset of two rocking bars subtracts each other is added with first level coordinate value, the sum number of acquisition be determined as it is described nobody
Second horizontal coordinate value of machine, the first level offset include the dextrorotation value and the first rocking bar offset of course angle
Product, second horizontal offset include the remaining rotation value of course angle and the product of the second rocking bar offset, and described first
Horizontal coordinate value includes the horizontal coordinate value of the unmanned plane before first rocking bar and second rocking bar are mobile, and described the
Two horizontal coordinate values include the horizontal coordinate value of the unmanned plane after first rocking bar and second rocking bar movement；It will be described
First latitudinal offset amount of the first rocking bar, the second longitudinal axis amount of second rocking bar are added with the first ordinate of orthogonal axes value, are obtained
The sum number obtained is determined as the second ordinate of orthogonal axes value of the unmanned plane, and the first latitudinal offset amount includes the remaining rotation value of course angle
With the product of the first rocking bar offset, the second longitudinal axis amount include course angle dextrorotation value and second rocking bar
The product of offset, the first ordinate of orthogonal axes value be included in first rocking bar and second rocking bar it is mobile before it is described nobody
The ordinate of orthogonal axes value of machine, the second ordinate of orthogonal axes value include after first rocking bar and second rocking bar are mobile it is described nobody
The ordinate of orthogonal axes value of machine；By being added for the first height offset of the third rocking bar and the first height value, the sum number of acquisition is true
It is set to the second height value of the unmanned plane.
10. device according to claim 9, which is characterized in that first rocking bar includes: aileron horn；Described second shakes
Bar includes: elevating lever；The third rocking bar includes: throttle lever.
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