CN110244758A - A kind of unmanned plane precisely lands control method and system - Google Patents
A kind of unmanned plane precisely lands control method and system Download PDFInfo
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- CN110244758A CN110244758A CN201910479294.3A CN201910479294A CN110244758A CN 110244758 A CN110244758 A CN 110244758A CN 201910479294 A CN201910479294 A CN 201910479294A CN 110244758 A CN110244758 A CN 110244758A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 16
- 238000009955 starching Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 229920002472 Starch Polymers 0.000 claims description 6
- 235000019698 starch Nutrition 0.000 claims description 6
- 239000008107 starch Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 239000002002 slurry Substances 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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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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- 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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- Automation & Control Theory (AREA)
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Abstract
The present invention provides unmanned plane and precisely lands control method and system, and method includes: the target image that target level point is used to indicate in harvester nest；When unmanned plane starts landing, the control instruction that horizontal distance control is carried out to unmanned plane is generated compared to the horizontal distance of target image according to unmanned plane；When unmanned plane starts landing, horizontal distance control is carried out to unmanned plane according to the control instruction of generation；In descent, the horizontal distance more new control instruction according to unmanned plane compared to target image in real time, and horizontal distance control is carried out to unmanned plane according to control instruction after update in real time；In descent, obtain the actual height of unmanned plane and when corresponding height unmanned plane compared to target image horizontal distance within the scope of the range error of setting, control unmanned plane with the speed of matched land.The implementation present invention, it is ensured that entire descent stabilization, reliable, timely and high-precision.
Description
Technical field
Precisely land control method and system the present invention relates to air vehicle technique field more particularly to a kind of unmanned plane.
Background technique
The Autonomous landing technology of unmanned plane is the important link that unmanned plane realizes automation control, and technology of precisely landing
It is accuracy and the higher technology of technology content in landing technology.Common Autonomous landing technology relies primarily on GPS positioning, carries out
Vertical landing, but GPS signal is easy to be lost when due to close to ground, unmanned plane location information misalignment, it is difficult to drop to designated position；
Accurate landing technology is related to image recognition, multisensor surveys high data fusion, as landing precision and the degree of automation improve,
The importance of flight control system and method is also increasing.
Existing accurate landing control system, precision and reliability are to be improved.
Summary of the invention
Technical problem to be solved by the present invention lies in, a kind of unmanned plane is provided and is precisely landed control method and system, it can
Guarantee entire descent stabilization, reliable, timely and high-precision.
Precisely land control method firstly, the present invention provides a kind of unmanned plane, comprising: be used to indicate target in harvester nest
The target image in level point；Water when the unmanned plane starts landing, according to the unmanned plane compared to the target image
Flat distance generates the control instruction that horizontal distance control is carried out to the unmanned plane；When the unmanned plane starts landing, according to
The control instruction of the generation carries out horizontal distance control to the unmanned plane；In descent, in real time according to it is described nobody
Machine updates the control instruction compared to the horizontal distance of the target image, and in real time according to control instruction after update to institute
It states unmanned plane and carries out horizontal distance control；In descent, the actual height of the unmanned plane is obtained and when in corresponding height
The unmanned plane compared to the target image horizontal distance within the scope of the range error of setting, control the unmanned plane with
Land with the speed of the matched.
In an alternate embodiment of the invention, when horizontal distance of the unmanned plane described in corresponding height compared to the target image
Not within the scope of the range error of setting, the unmanned plane pause landing is controlled；And horizontal distance control is carried out to the unmanned plane
Make the range error model for falling in setting compared to the horizontal distance of the target image until the unmanned plane described in corresponding height
In enclosing.
In an alternate embodiment of the invention, method of the invention further include: real after the unmanned plane drops in the machine nest
Now stop to starch automatically.
In an alternate embodiment of the invention, the horizontal distance generation pair according to the unmanned plane compared to the target image
The unmanned plane carries out the control instruction of horizontal distance control or the level according to the unmanned plane compared to the target image
Distance updates the control instruction, comprising: carries out image recognition to the target image of the acquisition, calculates the unmanned plane and compare
In the horizontal distance of the target image；It is carried out according to the current absolute location of the unmanned plane and the horizontal distance of the calculating
First order PID control exports the target level speed that the unmanned plane need to move；According to the target level speed and GPS mould
The calculated real standard speed of block carries out second level PID control, exports the target angle that the unmanned plane need to move.
In an alternate embodiment of the invention, the control instruction according to the generation carries out horizontal distance control to the unmanned plane
System carries out horizontal distance control to the unmanned plane according to control instruction after update, comprising: is exported according to the target angle
Serve Motor Control amount is to carry out flexion-extension control, rolling control and yaw control.
In an alternate embodiment of the invention, the actual height of the unmanned plane is obtained and when the unmanned plane described in corresponding height is compared
In the target image horizontal distance within the scope of the range error of setting, control the unmanned plane with the matched
Speed landing, comprising: according to the actual height of the unmanned plane of acquisition and the unmanned plane compared to the target image
Horizontal distance, obtain target vertical speed；The practical vertical speed of the unmanned plane is calculated by GPS module；According to described
Target vertical speed and the practical vertical speed carry out vertical speed PID control, and output Serve Motor Control amount carries out throttle
Control.
In an alternate embodiment of the invention, after the unmanned plane drops in the machine nest, and when the unmanned plane meets: place
In accurate landing mode；Distance away the ground is effective, and height is less than threshold value；Attitude angle variation range is less than threshold value, and keeps certain
Time；Target velocity downward, and is greater than threshold value；Target velocity and actual speed gap are greater than threshold value；Acceleration upward, and accelerates
When the absolute value of degree is greater than threshold value, realization stops starching automatically.
Precisely land control system secondly, the present invention provides a kind of unmanned plane, comprising: Airborne Camera is used for harvester nest
In be used to indicate the target image in target level point；Airborne winged pipe computer, when the unmanned plane starts landing, according to described
Unmanned plane generates the control instruction that horizontal distance control is carried out to the unmanned plane compared to the horizontal distance of the target image,
In descent, the control instruction is updated compared to the horizontal distance of the target image according to the unmanned plane in real time,
And in descent, the actual height of the unmanned plane is obtained and when the unmanned plane described in corresponding height is compared to the mesh
The horizontal distance of logo image calls vertical speed control module within the scope of the range error of setting；Airborne flight control system works as institute
State unmanned plane start landing when, according to the control instruction of the generation to the unmanned plane carry out horizontal distance control, with
And in descent, horizontal distance control is carried out to the unmanned plane according to control instruction after update in real time；Vertical speed control
Molding block, for when the unmanned plane described in corresponding height compared to the target image horizontal distance setting range error
When in range, the unmanned plane is controlled to land with the speed of the matched.
In an alternate embodiment of the invention, the vertical speed control system is also used to: when the unmanned plane described in corresponding height
Compared to the target image horizontal distance not within the scope of the range error of setting, control unmanned plane pause landing；
The airborne winged pipe computer and the airborne flight control system be also used to the unmanned plane carry out horizontal distance control until
The unmanned plane is fallen within the scope of the range error of setting compared to the horizontal distance of the target image when corresponding height.
In an alternate embodiment of the invention, unmanned plane of the invention precisely land control system further include stop automatically starch module, use
In after the unmanned plane drops in the machine nest, realization stops starching automatically.
In an alternate embodiment of the invention, the airborne winged pipe computer includes: image recognition and distance calculation module, for pair
The target image of the acquisition carries out image recognition, calculates horizontal distance of the unmanned plane compared to the target image；Water
Flat position control module, for carrying out the first order according to the current absolute location of the unmanned plane and the horizontal distance of the calculating
PID control exports the target level speed that the unmanned plane need to move；GPS module, for calculating the practical water of the unmanned plane
Flat speed；Horizontal velocity control module, for carrying out the second level according to the target level speed and the real standard speed
PID control exports the target angle that the unmanned plane need to move.
In an alternate embodiment of the invention, the airborne flight control system is specifically used for exporting servo motor according to the target angle
Control amount is to carry out flexion-extension control, rolling control and yaw control.
In an alternate embodiment of the invention, the airborne winged pipe computer further include: target velocity obtains module, obtains for basis
The actual height of the unmanned plane taken and the unmanned plane obtain target vertical compared to the horizontal distance of the target image
Speed；GPS module, for calculating the practical vertical speed of the unmanned plane；The vertical speed control module is specifically used for: root
Carry out vertical speed PID control according to the target vertical speed and the practical vertical speed, output Serve Motor Control amount into
Row Throttle Opening Control.
In an alternate embodiment of the invention, after the unmanned plane drops in the machine nest, and when the unmanned plane meets: place
In accurate landing mode；Distance away the ground is effective, and height is less than threshold value；Attitude angle variation range is less than threshold value, and keeps certain
Time；Target velocity downward, and is greater than threshold value；Target velocity and actual speed gap are greater than threshold value；Acceleration upward, and accelerates
It is described to stop to starch module and realize automatically to stop starching automatically when the absolute value of degree is greater than threshold value.
The beneficial effect of the embodiment of the present invention is:
Unmanned plane provided by the present invention precisely lands in control method and system, controls unmanned plane according to different height
Compared to the horizontal distance error and sinking speed of target image, can meet as height reduces, the raising of range accuracy needs
Flight control precision and the demand that is also gradually increased of time；In addition, in optional embodiment of the present invention, horizontal distance control
2 grades of PID controls need to be passed through altogether, stability, anti-interference and the Control platform of unmanned plane landing control are increased, to guarantee essence
Quasi- control；In addition, multiple conditions for stopping slurry automatically are arranged, it is accurate to be able to achieve automatic dead stick in optional embodiment of the present invention
Judgement, avoids erroneous judgement, improves the safety and the degree of automation of unmanned plane.
Detailed description of the invention
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 technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 be unmanned plane of the invention precisely land control method one embodiment flow diagram.
Fig. 2 be unmanned plane of the invention precisely land control method another embodiment flow diagram.
Fig. 3 shows the horizontal distance according to the actual height of unmanned plane and the unmanned plane compared to the target image
Control the detail flowchart of one embodiment of decrease speed.
Fig. 4 be unmanned plane of the invention precisely land control system one embodiment structure composition schematic diagram.
The work that Fig. 5 shows one embodiment of airborne winged pipe computer 42 and airborne flight control system 43 of the invention is former
Reason figure.
Fig. 6 shows the work of one embodiment of airborne winged pipe computer 42 and vertical speed control module 44 of the invention
Make schematic diagram.
Fig. 7 be unmanned plane of the invention precisely land control system another embodiment structure composition schematic diagram.
Specific embodiment
The explanation of following embodiment be with reference to attached drawing, can be to the specific embodiment implemented to the example present invention.
Fig. 1 be unmanned plane of the invention precisely land control method one embodiment flow diagram.Such as Fig. 1 institute
Show, unmanned plane of the invention precisely lands control method can include:
Step S10 is used to indicate the target image in target level point in harvester nest.
In the specific implementation, unmanned plane fly away from machine nest and prepare landing when, can by the airborne photographic device in unmanned plane,
For example, the target in level point is used in Airborne Camera harvester nest, for example, figure H.When the target image shown in acquiring, by machine
It carries camera and shoots image vertically downward, if the unidentified image to targeted graphical in the camera perspective of current location, by one
Determine pitch angle rotary camera holder scanning surrounding ground environment, the image of targeted graphical is found in camera image.
Step S20, the level when the unmanned plane starts landing, according to the unmanned plane compared to the target image
Distance generates the control instruction that horizontal distance control is carried out to the unmanned plane.
In the specific implementation, unmanned plane can be obtained by the image that image recognition technology processing step S10 is acquired in step S20
To horizontal distance, the horizontal distance in the horizontal distance concretely unmanned plane camera relative target level point certainly may be used
For the horizontal distance in unmanned plane other parts relative target level point.As an example, the image recognition technology is to use
Yolov3 algorithm cognitron nest color lump target calculates horizontal distance.Certainly, any of image can be used in specific implementation
Identification and distance calculating method.Then, unmanned plane generates according to the horizontal distance of calculating and carries out horizontal distance to the unmanned plane
The control instruction of control.In an alternate embodiment of the invention, unmanned plane can (be exactly " ratio (proportional), product by 2 grades of PID
Divide (integral), differential (derivative) ") it controls to generate the control instruction.2 grades of PID controls, respectively water
Prosposition sets control ring, horizontal velocity control ring, and horizontal position control ring receives the current absolute location and image recognition of unmanned plane
The horizontal distance of acquisition carries out PID control, and exports target level speed, and typical case's control frequency is 100Hz；Horizontal velocity
Control ring receives the target level speed of horizontal position control ring, and the real standard speed calculated in conjunction with GPS module carries out PID
Control exports target angle, and typical case's control frequency is 100Hz.Wherein, PID control frequency of the present invention is guaranteeing nothing
Under the premise of man-machine stability contorting, it can reduce or increase.Certainly, in other embodiments, the carry out horizontal distance control of generation
Control instruction is also possible to the practical flight speed of unmanned plane and the single traveling time of setting and heading etc., it is therefore intended that
Control the flight shift position and direction of unmanned plane.
Step S30 carries out the unmanned plane according to the control instruction of the generation when the unmanned plane starts landing
Horizontal distance control.
In the specific implementation, in step S30, unmanned plane can be according to the mesh when the control instruction of generation is target angle
Mark angle output Serve Motor Control amount is to carry out flexion-extension control, rolling control and yaw control.And when what is generated is unmanned plane
Practical flight speed and setting single traveling time and heading when, step S30 control unmanned plane with set fly
The traveling time of the mobile setting of line direction.
Step S40, in descent, in real time according to the unmanned plane compared to the target image horizontal distance more
The new control instruction, and horizontal distance control is carried out to the unmanned plane according to control instruction after update in real time.
In the specific implementation, step S40 repeats step S20-S30.A closed-loop control in descent is formed as a result,
Process.
Step S50 obtains the actual height of the unmanned plane and when the unmanned plane described in corresponding height in descent
Compared to the target image horizontal distance within the scope of the range error of setting, control the unmanned plane with the height
Matched speed landing.
In the specific implementation, in an alternative embodiment, when the actual height for getting the unmanned plane and when in phase
Answer unmanned plane described in height compared to the target image horizontal distance within the scope of the range error of setting when, can be according to obtaining
The actual height of the unmanned plane taken and the unmanned plane obtain target vertical compared to the horizontal distance of the target image
Speed；Then the practical vertical speed of the unmanned plane is calculated by GPS module；Finally according to the target vertical speed and institute
It states practical vertical speed and carries out vertical speed PID control, output Serve Motor Control amount carries out Throttle Opening Control.It is optional at another
Embodiment in, the target vertical speed can be preset.For example, it is assumed that the flying height range of unmanned plane is 0-15
Rice, then can do following setting: the range of the first height is 4 meters -15 meters, generally takes 5 meters, the range of the second height is 1.5 meter -4
Rice, generally takes 1.8 meters.When the flying height of unmanned plane is greater than the first height, horizontal distance minimum allowable error range is
30cm~60cm, target vertical velocity interval are 30cm/s~80cm/s；When height is between the first height and the second height, water
Putting down apart from minimum allowable error range is 10cm~30cm, and vertical speed range is 25cm/s~50cm/s；When height is less than
When two height, horizontal distance minimum allowable error range is 2cm~10cm, and vertical speed range is 10cm/s~25cm/s.
In addition, in other embodiments, the level there are unmanned plane described when corresponding height compared to the target image
Apart from the not situation within the scope of the range error of setting.At this point, can control the unmanned plane pause landing；And to it is described nobody
Machine carries out horizontal distance control until the unmanned plane described in corresponding height is fallen in compared to the horizontal distance of the target image
Within the scope of the range error of setting.
Fig. 3 shows the horizontal distance according to the actual height of unmanned plane and the unmanned plane compared to the target image
The detail flowchart for controlling one embodiment of decrease speed will highly be divided into three sections in an illustrated embodiment, high
It is specific between the first height and the second height, and lower than the second height in the first height:
In step S300, the actual height of unmanned plane is obtained.
Step S301, judges whether the actual height of unmanned plane is higher than the first height, if the judgment is Yes, executes step
S302 executes step S305 if the judgment is No；
Whether step S302 judges horizontal distance of the unmanned plane compared to the target image in minimum allowable error D1 model
In enclosing, if the judgment is Yes, step S303 is executed, it is no to then follow the steps S304；
Step S303 controls the sinking speed of the unmanned plane as the speed V1 with first matched.
Step S304 sets 0 for the sinking speed of unmanned plane, controls the unmanned plane pause and lands and correct the nothing
The man-machine horizontal distance compared to the target image.In the specific implementation, correcting horizontal distance in step S304 can specifically pass through
Step S20-S30 or S40 are modified.
Step S305, judges whether the actual height of unmanned plane is higher than the second height, if the judgment is Yes, executes step
S306 executes step S309 if the judgment is No；
Whether step S306 judges horizontal distance of the unmanned plane compared to the target image in minimum allowable error D2 model
In enclosing, if the judgment is Yes, step S307 is executed, it is no to then follow the steps S308；
Step S307, the sinking speed for controlling the unmanned plane are and the height between the first height and the second height
The speed V2 of commensurate in scope.
Step S308 sets 0 for the sinking speed of unmanned plane, controls the unmanned plane pause and lands and correct the nothing
The man-machine horizontal distance compared to the target image.In the specific implementation, correcting horizontal distance in step S308 can specifically pass through
Step S20-S30 or S40 are modified.
Whether step S309 judges horizontal distance of the unmanned plane compared to the target image in minimum allowable error D3 model
In enclosing, if the judgment is Yes, step S310 is executed, it is no to then follow the steps S311；
Step S310, the sinking speed for controlling the unmanned plane are and the matched speed of altitude range less than the second height
V3。
Step S311 sets 0 for the sinking speed of unmanned plane, controls the unmanned plane pause and lands and correct the nothing
The man-machine horizontal distance compared to the target image.In the specific implementation, correcting horizontal distance in step S311 can specifically pass through
Step S20-S30 or S40 are modified.
Fig. 2 be unmanned plane of the invention precisely land control method another embodiment flow diagram.Such as Fig. 2 institute
Show, the difference with embodiment shown in FIG. 1 is, after step S50 further include:
Step S60, after the unmanned plane drops in the machine nest, realization stops starching automatically.In an alternate embodiment of the invention,
After judging that shown unmanned plane drops in the machine nest, it can be realized and stop starching automatically.And as optional embodiment, it is realizing
Automatically before stopping slurry, the embodiment of the present invention can determine whether unmanned plane meets: be in accurate landing mode；Distance away the ground is effective,
And height is less than threshold value；Attitude angle variation range is less than threshold value, and keeps certain time；Target velocity downward, and is greater than threshold value；
Target velocity and actual speed gap are greater than threshold value；Upward, and the absolute value of acceleration is greater than the conditions such as threshold value to acceleration, if
It is, then final implementation stops starching automatically.
In addition, precisely landing control system invention further discloses unmanned plane.As shown in figure 4, unmanned plane essence of the invention
One embodiment of quasi- landing control system can include:
Airborne Camera 41, for being used to indicate the target image in target level point in harvester nest.In the specific implementation, in nothing
It is man-machine fly away from machine nest and prepare landing when, can be by the airborne photographic device in unmanned plane, for example, in Airborne Camera harvester nest
For the target in level point, for example, figure H.When the target image shown in acquiring, Airborne Camera is shot into image vertically downward,
If the unidentified image to targeted graphical in the camera perspective of current location, scanned by certain pitch angle rotary camera holder
Surrounding ground environment finds the image of targeted graphical in camera image.
Airborne winged pipe computer 42, for when the unmanned plane start landing when, according to the unmanned plane compared to described
The horizontal distance of target image generates the control instruction that horizontal distance control is carried out to the unmanned plane, real in descent
When the control instruction updated compared to the horizontal distance of the target image according to the unmanned plane, and in descent
In, obtain the actual height of the unmanned plane and when the unmanned plane described in corresponding height compared to the target image it is horizontal away from
From within the scope of the range error of setting, vertical speed control module is called.
In an alternate embodiment of the invention, airborne winged pipe computer 42 can handle Airborne Camera acquisition by image recognition technology
Image obtains horizontal distance, the horizontal distance in the horizontal distance concretely unmanned plane camera relative target level point, when
The right horizontal distance can also be the horizontal distance in unmanned plane other parts relative target level point.As an example, the figure
As identification technology is to calculate horizontal distance using yolov3 algorithm cognitron nest color lump target.Certainly, can make in specific implementation
With any of image recognition and distance calculating method.Then, unmanned plane is generated according to the horizontal distance of calculating to the nothing
The control instruction of man-machine carry out horizontal distance control.In an alternate embodiment of the invention, unmanned plane can (be exactly " ratio by 2 grades of PID
(proportional), (integral), differential (derivative) are integrated ") it controls to generate the control instruction.Described 2
Grade PID may include horizontal position control ring, horizontal velocity control ring, and horizontal position control ring receives the current absolute position of unmanned plane
The horizontal distance obtained with image recognition is set, carries out PID control, and export target level speed, typical case's control frequency is
100Hz；Horizontal velocity control ring receives the target level speed of horizontal position control ring, the reality calculated in conjunction with GPS module
Horizontal velocity carries out PID control, exports target angle, typical case's control frequency is 100Hz.Wherein, PID control of the present invention
Frequency processed can reduce or increase under the premise of guaranteeing unmanned plane stability contorting.Certainly, in other embodiments, the progress of generation
The control instruction of horizontal distance control is also possible to the practical flight speed of unmanned plane and the single traveling time of setting and flight
Direction etc., it is therefore intended that control the flight shift position and direction of unmanned plane.
Airborne flight control system 43, for when the unmanned plane start landing when, according to the control instruction of the generation
Horizontal distance control is carried out to the unmanned plane, and in descent, in real time according to control instruction after update to the nothing
Man-machine carry out horizontal distance control.
In the specific implementation, airborne flight control system 43 can be according to the target when the control instruction of generation is target angle
Angle exports Serve Motor Control amount to carry out flexion-extension control, rolling control and yaw control.And when what is generated is unmanned plane
When practical flight speed and the single traveling time and heading of setting, airborne flight control system 43 controls unmanned plane to set
The traveling time of the mobile setting of heading.
Vertical speed control module 44, for when level of the unmanned plane described in corresponding height compared to the target image
When distance is within the scope of the range error of setting, the unmanned plane is controlled to land with the speed of the matched.It is specific real
In existing, in an alternative embodiment, when the actual height for getting the unmanned plane and when described in the corresponding height nobody
Machine compared to the target image horizontal distance within the scope of the range error of setting when, vertical speed control module 44 can root
According to the actual height and the unmanned plane of the unmanned plane of acquisition compared to the horizontal distance of the target image, target is obtained
Vertical speed；Then the practical vertical speed of the unmanned plane is calculated by GPS module；Finally according to the target vertical speed
Vertical speed PID control is carried out with the practical vertical speed, output Serve Motor Control amount carries out Throttle Opening Control.At another
In optional embodiment, the target vertical speed can be preset.For example, it is assumed that the flying height range of unmanned plane is 0-
15 meters, then can do following setting: the range of the first height is 4 meters -15 meters, generally takes 5 meters, the range of the second height is 1.5 meters -
4 meters, generally take 1.8 meters.When the flying height of unmanned plane is greater than the first height, horizontal distance minimum allowable error range is
30cm~60cm, target vertical velocity interval are 30cm/s~80cm/s；When height is between the first height and the second height, water
Putting down apart from minimum allowable error range is 10cm~30cm, and vertical speed range is 25cm/s~50cm/s；When height is less than
When two height, horizontal distance minimum allowable error range is 2cm~10cm, and vertical speed range is 10cm/s~25cm/s.
In other alternative-embodiments, the vertical speed control module 44 is also used to: described in corresponding height
Unmanned plane compared to the target image horizontal distance not within the scope of the range error of setting, control unmanned plane pause
Landing；The airborne winged pipe computer 42 and the airborne flight control system 43 are also used to carry out horizontal distance control to the unmanned plane
Make the range error model for falling in setting compared to the horizontal distance of the target image until the unmanned plane described in corresponding height
In enclosing.
As an example, Fig. 5 shows an implementation of airborne winged pipe computer 42 and airborne flight control system 43 of the invention
The working principle diagram of example.Specifically, as shown in figure 5, being the control of carrying out horizontal distance, airborne winged pipe computer 42 can include:
Image recognition and distance calculation module 421 calculate the unmanned plane for carrying out image recognition to the target image of the acquisition
Compared to the horizontal distance of the target image；Horizontal position control module 422, for according to the current absolute of the unmanned plane
The horizontal distance of position and the calculating carries out first order PID control, exports the target level speed that the unmanned plane need to move；
GPS module 423, for calculating the real standard speed of the unmanned plane；Horizontal velocity control module 424, for according to
Target level speed and the real standard speed carry out second level PID control, export the target angle that the unmanned plane need to move
Degree.Further, the airborne flight control system 43 is specifically used for exporting Serve Motor Control amount according to the target angle to carry out
Pitch control, rolling control and yaw control.
As an example, Fig. 6 shows one of airborne winged pipe computer 42 and vertical speed control module 44 of the invention
The working principle diagram of embodiment.Specifically, as shown in fig. 6, to implement the control of decrease speed, airborne winged pipe computer 42 can be wrapped
It includes target velocity and obtains module 425, for the actual height and the unmanned plane according to the unmanned plane of acquisition compared to institute
The horizontal distance for stating target image obtains target vertical speed；GPS module 423, for calculating the practical vertical of the unmanned plane
Speed；The vertical speed control module 44 is specifically used for: according to the target vertical speed and the practical vertical speed into
Row vertical speed PID control, output Serve Motor Control amount carry out Throttle Opening Control.
Fig. 7 be unmanned plane of the invention precisely land control system another embodiment structure composition schematic diagram.Fig. 7
Shown in difference of the embodiment compared to embodiment shown in Fig. 4 be, further includes: stop to starch module 45 automatically, for when described
After unmanned plane drops in the machine nest, realization stops starching automatically.
In conclusion unmanned plane provided by the present invention precisely lands in control method and system, according to different height
Horizontal distance error and sinking speed of the unmanned plane compared to target image are controlled, can be met as height reduces, range accuracy
Raising, the flight control precision and the demand that is also gradually increased of time needed；In addition, in optional embodiment of the present invention,
Horizontal distance control need to pass through 2 grades of PID controls altogether, increase the stability, anti-interference and control product of unmanned plane landing control
Matter, to guarantee to be precisely controlled；In addition, multiple conditions for stopping slurry automatically are arranged, are able to achieve in optional embodiment of the present invention
Automatic dead stick accurate judgement, avoids erroneous judgement, improves the safety and the degree of automation of unmanned plane.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (14)
- The control method 1. a kind of unmanned plane precisely lands characterized by comprisingThe target image in target level point is used to indicate in harvester nest；When the unmanned plane starts landing, the horizontal distance according to the unmanned plane compared to the target image is generated to institute State the control instruction that unmanned plane carries out horizontal distance control；When the unmanned plane starts to land, according to the control instruction of the generation to unmanned plane progress horizontal distance control；In descent, the control is updated compared to the horizontal distance of the target image according to the unmanned plane in real time and is referred to It enables, and horizontal distance control is carried out to the unmanned plane according to control instruction after update in real time；In descent, the actual height of the unmanned plane is obtained and when the unmanned plane described in corresponding height is compared to the mesh The horizontal distance of logo image controls the unmanned plane within the scope of the range error of setting to drop with the speed of the matched It falls.
- The control method 2. unmanned plane according to claim 1 precisely lands, which is characterized in that described in corresponding height Unmanned plane compared to the target image horizontal distance not within the scope of the range error of setting, control unmanned plane pause Landing；Horizontal distance control is carried out until the unmanned plane described in corresponding height is compared to the target image to the unmanned plane Horizontal distance fall within the scope of the range error of setting.
- The control method 3. unmanned plane according to claim 1 precisely lands, which is characterized in that further include:After the unmanned plane drops in the machine nest, realization stops starching automatically.
- The control method 4. unmanned plane according to any one of claim 1-3 precisely lands, which is characterized in that the basis The unmanned plane generates the control that horizontal distance control is carried out to the unmanned plane compared to the horizontal distance of the target image Instruction updates the control instruction compared to the horizontal distance of the target image according to the unmanned plane, comprising:Image recognition is carried out to the target image of the acquisition, calculate the unmanned plane compared to the target image it is horizontal away from From；First order PID control is carried out according to the current absolute location of the unmanned plane and the horizontal distance of the calculating, exports institute State the target level speed that unmanned plane need to move；Second level PID control is carried out according to the target level speed and the calculated real standard speed of GPS module, exports institute State the target angle that unmanned plane need to move.
- The control method 5. unmanned plane according to claim 4 precisely lands, which is characterized in that described according to the generation Control instruction carries out horizontal distance control to the unmanned plane or is carried out according to control instruction after update to the unmanned plane horizontal Distance controlling, comprising:Serve Motor Control amount is exported according to the target angle to carry out flexion-extension control, rolling control and yaw control.
- The control method 6. unmanned plane according to any one of claim 1-3 precisely lands, which is characterized in that described in acquisition The actual height of unmanned plane and when the unmanned plane described in corresponding height compared to the target image horizontal distance in setting Within the scope of range error, the unmanned plane is controlled to land with the speed of the matched, comprising:According to the actual height of the unmanned plane of acquisition and the unmanned plane compared to the horizontal distance of the target image, obtain To target vertical speed；The practical vertical speed of the unmanned plane is calculated by GPS module；Vertical speed PID control is carried out according to the target vertical speed and the practical vertical speed, exports servo motor control Amount processed carries out Throttle Opening Control.
- The control method 7. unmanned plane according to claim 1 precisely lands, which is characterized in that when the unmanned plane drops to After in the machine nest, and when the unmanned plane meets: being in accurate landing mode；Distance away the ground is effective, and height is less than threshold value； Attitude angle variation range is less than threshold value, and keeps certain time；Target velocity downward, and is greater than threshold value；Target velocity and reality Gaps between their growth rates are greater than threshold value；Acceleration upward, and the absolute value of acceleration be greater than threshold value when, realization stop starching automatically.
- The control system 8. a kind of unmanned plane precisely lands characterized by comprisingAirborne Camera, for being used to indicate the target image in target level point in harvester nest；Airborne winged pipe computer, for when the unmanned plane start landing when, according to the unmanned plane compared to the target figure The horizontal distance of picture generates the control instruction that horizontal distance control is carried out to the unmanned plane, in descent, real-time basis The unmanned plane updates the control instruction compared to the horizontal distance of the target image, and in descent, obtains It the actual height of the unmanned plane and is being set compared to the horizontal distance of the target image when the unmanned plane described in corresponding height Within the scope of fixed range error, vertical speed control module is called；Airborne flight control system, for when the unmanned plane start landing when, according to the control instruction of the generation to described Unmanned plane carries out horizontal distance control, and in descent, in real time according to control instruction after update to the unmanned plane into The control of row horizontal distance；Vertical speed control module, for existing when the unmanned plane described in corresponding height compared to the horizontal distance of the target image When within the scope of the range error of setting, the unmanned plane is controlled to land with the speed of the matched.
- The control system 9. unmanned plane according to claim 8 precisely lands, which is characterized in that vertical speed control system System is also used to: when the unmanned plane described in corresponding height is not missed in the distance of setting compared to the horizontal distance of the target image In poor range, the unmanned plane pause landing is controlled；The airborne winged pipe computer and the airborne flight control system are also used to carry out the unmanned plane horizontal distance control straight Within the scope of the range error for falling in setting compared to the horizontal distance of the target image to the unmanned plane described in corresponding height.
- The control system 10. unmanned plane according to claim 8 precisely lands, which is characterized in that stop to starch module automatically, be used for After the unmanned plane drops in the machine nest, realization stops starching automatically.
- The control system 11. unmanned plane according to any one of claim 8-10 precisely lands, which is characterized in that the machine Carrying winged pipe computer includes:Image recognition and distance calculation module, for carrying out image recognition to the target image of the acquisition, calculate it is described nobody Horizontal distance of the machine compared to the target image；Horizontal position control module, for being carried out according to the current absolute location of the unmanned plane and the horizontal distance of the calculating First order PID control exports the target level speed that the unmanned plane need to move；GPS module, for calculating the real standard speed of the unmanned plane；Horizontal velocity control module, for carrying out second level PID according to the target level speed and the real standard speed Control, exports the target angle that the unmanned plane need to move.
- The control system 12. unmanned plane according to claim 11 precisely lands, which is characterized in that the airborne flight control system It is controlled specifically for exporting Serve Motor Control amount according to the target angle with carrying out flexion-extension control, rolling control and yaw.
- The control system 13. unmanned plane according to any one of claim 8-10 precisely lands, which is characterized in that the machine It carries and flies pipe computer further include:Target velocity obtains module, for the actual height and the unmanned plane according to the unmanned plane of acquisition compared to described The horizontal distance of target image obtains target vertical speed；GPS module, for calculating the practical vertical speed of the unmanned plane；The vertical speed control module is specifically used for: being hung down according to the target vertical speed and the practical vertical speed Straight speed by PID control, output Serve Motor Control amount carry out Throttle Opening Control.
- The control system 14. unmanned plane according to claim 8 precisely lands, which is characterized in that when the unmanned plane lands After into the machine nest, and when the unmanned plane meets: being in accurate landing mode；Distance away the ground is effective, and height is less than threshold Value；Attitude angle variation range is less than threshold value, and keeps certain time；Target velocity downward, and is greater than threshold value；Target velocity and reality Border gaps between their growth rates are greater than threshold value；Acceleration upward, and the absolute value of acceleration be greater than threshold value when, it is described automatically stop starch module realize Automatically stop starching.
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