CN110262530A - Take off control method, device, storage medium and electronic equipment - Google Patents
Take off control method, device, storage medium and electronic equipment Download PDFInfo
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- CN110262530A CN110262530A CN201910522974.9A CN201910522974A CN110262530A CN 110262530 A CN110262530 A CN 110262530A CN 201910522974 A CN201910522974 A CN 201910522974A CN 110262530 A CN110262530 A CN 110262530A
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- Prior art keywords
- unmanned plane
- terrain clearance
- target
- control
- control strategy
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
Control method, device, storage medium and electronic equipment this disclosure relates to which one kind is taken off, to realize the safe take-off of unmanned plane when extraneous environmental perturbation is larger.The control method of taking off can be applied to the on-board controller or remote terminal of unmanned plane, may include: the terrain clearance for obtaining unmanned plane；According to the terrain clearance, it determines and takes off control strategy to the target of the unmanned plane, wherein, the control strategy that takes off has and the preset corresponding relationship of terrain clearance range, and, when the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, the target control strategy that takes off does not include position control strategy to the unmanned plane；It is taken off control strategy according to the target, control of taking off is carried out to the unmanned plane.
Description
Technical field
This disclosure relates to air vehicle technique field, and in particular, to one kind take off control method, device, storage medium and
Electronic equipment.
Background technique
Unmanned plane is the not manned aircraft manipulated using radio robot and presetting apparatus.With science and technology
Development, unmanned air vehicle technique also continued to develop, application of the unmanned plane in all trades and professions all further frequently, such as by nothing
It is man-machine for taking photo by plane, disaster relief, express transportation, etc..
In the control to unmanned plane, control of taking off is particularly important, if external disturbance is larger in take-off process,
The fuselage or other positions for being then likely to occur unmanned plane contact to earth, and cause the damage to unmanned plane.
Summary of the invention
It takes off control method, device, storage medium and electronic equipment purpose of this disclosure is to provide one kind, in extraneous ring
The safe take-off of unmanned plane is realized when border disturbs larger.
To achieve the goals above, in a first aspect, the disclosure provides one kind takes off control method, the machine applied to unmanned plane
Set controller or remote terminal, comprising:
Obtain the terrain clearance of unmanned plane；
According to the terrain clearance, determines and take off control strategy to the target of the unmanned plane, wherein take off control strategy
With with the preset corresponding relationship of terrain clearance range, also, when the terrain clearance of the unmanned plane is located at target terrain clearance
When in range, the target control strategy that takes off does not include position control strategy to the unmanned plane；
It is taken off control strategy according to the target, control of taking off is carried out to the unmanned plane.
Optionally, described according to the terrain clearance, it determines and takes off control strategy to the target of the unmanned plane, comprising:
When the terrain clearance of the unmanned plane is not within the scope of the target terrain clearance, determine that the target rises
Winged control strategy includes the position control strategy to the unmanned plane.
Optionally, the unmanned plane is the unmanned plane that rotor plane can vert relative to unmanned plane body to different directions,
It is described according to the terrain clearance, determine and take off control strategy to the target of the unmanned plane, comprising:
When the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, leaned forward according to working as the unmanned plane
Rake angle and target tilt angle carry out PID control calculating, obtain the first PWM for controlling the unmanned plane tiliting axis steering engine
Signal, and the second pwm signal for controlling the unmanned plane rotor motor；
According to first pwm signal, the unmanned plane tiliting axis steering engine is controlled, and according to the 2nd PWM
Signal controls the unmanned plane rotor motor.
Optionally, the method also includes:
Identify the scene that the unmanned plane is presently in；
According to the scene of identification, the target terrain clearance range of the unmanned plane is determined, wherein the unmanned plane is pre-
The corresponding relationship being equipped between different scenes and target terrain clearance range.
Optionally, the unmanned plane is stored with the default corresponding pass of the multiple groups between terrain clearance range and the control strategy that takes off
System, the method also includes:
According to the target terrain clearance range of the unmanned plane, the terrain clearance range of the unmanned plane is determined and control of taking off
Target corresponding relationship between system strategy；
According to the terrain clearance of the target corresponding relationship and the unmanned plane, determines and the target of the unmanned plane is risen
Fly control strategy.
Second aspect, the disclosure also provide one kind and take off control device, on-board controller or remote control applied to unmanned plane
Terminal, described device include:
Module is obtained, for obtaining the terrain clearance of unmanned plane；
Determining module takes off control strategy to the target of the unmanned plane for determining according to the terrain clearance,
In, the control strategy that takes off have with the preset corresponding relationship of terrain clearance range, also, work as the unmanned plane terrain clearance position
When within the scope of target terrain clearance, the target control strategy that takes off does not include position control strategy to the unmanned plane；
Control module carries out control of taking off to the unmanned plane for taking off control strategy according to the target.
Optionally, the determining module is used for:
When the terrain clearance of the unmanned plane is not within the scope of the target terrain clearance, determine that the target rises
Winged control strategy includes the position control strategy to the unmanned plane.
Optionally, the unmanned plane is the unmanned plane that rotor plane can vert relative to unmanned plane body to different directions,
The determining module is used for:
When the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, leaned forward according to working as the unmanned plane
Rake angle and target tilt angle carry out PID control calculating, obtain the first PWM for controlling the unmanned plane tiliting axis steering engine
Signal, and the second pwm signal for controlling the unmanned plane rotor motor；
According to first pwm signal, the unmanned plane tiliting axis steering engine is controlled, and according to the 2nd PWM
Signal controls the unmanned plane rotor motor.
Optionally, described device further include:
Identification module, the scene that the unmanned plane is presently in for identification；
Range determination module determines the target terrain clearance range of the unmanned plane for the scene according to identification,
Wherein, the unmanned plane presets the corresponding relationship between different scenes and target terrain clearance range.
Optionally, the unmanned plane is stored with the default corresponding pass of the multiple groups between terrain clearance range and the control strategy that takes off
System, described device further include:
First determining module, for the target terrain clearance range according to the unmanned plane, determine the unmanned plane from
Target corresponding relationship between ground altitude range and the control strategy that takes off；
Second determining module, for the terrain clearance according to the target corresponding relationship and the unmanned plane, determining pair
The target of the unmanned plane is taken off control strategy.
The third aspect, the disclosure also provide a kind of computer readable storage medium, are stored thereon with computer program, the journey
The step of any one of first aspect the method is realized when sequence is executed by processor.
Fourth aspect, the disclosure also provide a kind of electronic equipment, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one institute in first aspect
The step of stating method.
Through the above technical solutions, can determine and take off control to the target of unmanned plane according to the terrain clearance of unmanned plane
Then strategy takes off control strategy according to target, carries out control of taking off to unmanned plane.Also, work as the terrain clearance position of unmanned plane
When within the scope of target terrain clearance, the target control strategy that takes off does not include position control strategy to unmanned plane.In other words,
When the terrain clearance of unmanned plane is located within the scope of target terrain clearance, gesture stability only is carried out to unmanned plane, and without position
Control is set, so as to avoid the fuselage run-off the straight of unmanned plane, prevents the fuselage of unmanned plane or other positions from contacting to earth, guarantees nothing
The man-machine safety in take-off process.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of control method of taking off shown according to one exemplary embodiment of the disclosure；
Fig. 2 is a kind of flow chart of control method of taking off shown according to disclosure another exemplary embodiment；
Fig. 3 is a kind of block diagram of control device that takes off shown according to one exemplary embodiment of the disclosure；
Fig. 4 is the block diagram according to a kind of electronic equipment shown in one exemplary embodiment of the disclosure.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
It in the related technology, include position control and gesture stability for the flight control of unmanned plane.For example, flat for rotor
The unmanned plane that face can vert relative to unmanned plane body to different directions, position control can be through on-board controller or distant
The tilt angle of control terminal adjustment tiliting axis.In some instances, above-mentioned unmanned plane can pass through the control rotor plane of setting
The horizontal and vertical steering engine to vert realizes that rotor plane is verted relative to unmanned plane body to different directions.
For example, rotor wing rotation rudder face can generate corresponding inclination angle, and then corresponding horizontal with the rotation of tiliting axis
Direction generates thrust, reaches the adjustment to unmanned plane during flying position.It, can be by adjusting each rotor electricity in terms of gesture stability
The revolving speed of machine come adjust at each rotor of unmanned plane generate lift, so that UAV Attitude is reached stable.And for controlling simultaneously
The case where position and posture, can calculate the lift generated at four rotors for reaching and holding position required, then root again first
Horizontal direction power needed for being calculated according to the feedback that flow perturbation obtains, then as unit of the minimum tilt angle of setting, guaranteeing
In the case that vertical lift is constant, minimum tilt angle and required throttle increment needed for calculating unmanned plane, and then realize position
Set the stabilization with posture.
In the control of taking off to unmanned plane, if external disturbance is larger, in order to eliminate extraneous disturbance, for example, for
It can be verted by rotor to change the unmanned plane of position and posture, need to carry out position control to unmanned plane, that is, need to adjust
Unmanned plane rotor tiliting axis generates corresponding thrust, and in such cases, unmanned plane rotor plane cannot keep water with respect to ground
It is flat.Closer with ground distance if unmanned plane, which takes off, does not obtain certain altitude also, then have that rotor blade position contacts to earth asks
Topic, to not can guarantee the safety that unmanned plane takes off.
To solve the above-mentioned problems, the embodiment of the present disclosure provide one kind take off control method, device, storage medium and nobody
Machine, to realize the safe take-off of unmanned plane when external disturbance is larger.
Fig. 1 is a kind of flow chart of control method of taking off shown according to one exemplary embodiment of the disclosure.Referring to Fig.1,
The control method of taking off can be applied to the on-board controller or remote terminal of unmanned plane, comprising:
Step S101 obtains the terrain clearance of unmanned plane.
Step S102 is determined and is taken off control strategy to the target of unmanned plane, wherein take off and control plan according to terrain clearance
Somewhat have with the preset corresponding relationship of terrain clearance range, also, when the terrain clearance of unmanned plane is located at target terrain clearance model
When enclosing interior, the target control strategy that takes off does not include position control strategy to the unmanned plane.
Step S103 takes off control strategy according to target, carries out control of taking off to unmanned plane.
It through the above scheme, can be when the terrain clearance of unmanned plane be located within the scope of target terrain clearance, only to nobody
Machine carries out gesture stability, and without position control.Unmanned plane can adjust turning for each rotor motor when carrying out gesture stability
Speed, the rotor tiliting axis without adjusting unmanned plane, and then can be to avoid the rotor of adjustment unmanned plane without position control
Tiliting axis takes off in unmanned plane and does not obtain also so as to avoid the rotor wing rotation rudder face of unmanned plane from generating corresponding inclination angle
When certain altitude, the problem of rotor blade position is contacted to earth occurs and guarantees safety of the unmanned plane in take-off process.
In order to make those skilled in the art more understand the control method of taking off in the embodiment of the present disclosure, below to above-mentioned each
Step carries out illustrated in greater detail.
Illustratively, in step S101, the terrain clearance for obtaining unmanned plane can be distance by being arranged on unmanned plane
What sensor was got, etc., the embodiment of the present disclosure is not construed as limiting for obtaining the concrete mode of unmanned plane terrain clearance.
Illustratively, in step S102, target take off control strategy may include to unmanned plane carry out gesture stability, to nobody
Machine carries out position control and controls plan to unmanned plane progress a variety of different taking off such as gesture stability and position control simultaneously
Slightly.For example, when the terrain clearance of unmanned plane is located within the scope of target terrain clearance, the target control strategy that takes off does not include to institute
State the position control strategy of unmanned plane.
In other possible situations, in order to compensate for when the terrain clearance of unmanned plane is located within the scope of target terrain clearance
The not existing position deviation to unmanned plane progress position control, can be located at target terrain clearance when the terrain clearance of unmanned plane
When in range, determine that the target control strategy that takes off does not include position control to unmanned plane.
Illustratively, in step S102, the corresponding relationship between terrain clearance range and the control strategy that takes off be can be in advance
Determining according to multiple test, for different unmanned planes, the corresponding relationship can be different, or for the different environment that takes off,
The corresponding relationship can also be different, and the embodiment of the present disclosure is not construed as limiting this.
Illustratively, in step S102, target terrain clearance range can be preset, be also possible to according to practical feelings
What condition determined, etc., the embodiment of the present disclosure is not construed as limiting this.It should be understood that for different unmanned planes, or for
The different environment that takes off, target terrain clearance range can be different.
Under a kind of possible mode, the determination process of target terrain clearance range can be the first identification current institute of unmanned plane
The scene at place determines the target terrain clearance range of unmanned plane, wherein unmanned plane is preset not then according to the scene of identification
With the corresponding relationship between scene and target terrain clearance range.
Illustratively, the scene that unmanned plane is presently in can be the camera shooting unmanned plane for first passing through and being arranged on unmanned plane
Around scene image, then to the scene image carry out image recognition determine, etc., the embodiment of the present disclosure does not limit this
It is fixed.
Illustratively, the corresponding relationship between different scenes and target terrain clearance range, which can be, pre- first passes through multiple test
Determining, for different unmanned planes, which can be different.For example, under Same Scene, the corresponding target of unmanned plane A
Terrain clearance range can be 0~0.3 meter, and the corresponding target terrain clearance range of unmanned plane B can be 0~0.4 meter.
By above-mentioned mode, the corresponding control strategy that takes off of unmanned plane can be determined according to the scene locating for unmanned plane,
The control of taking off of unmanned plane under different scenes is more flexible, and also increases unmanned plane to a certain extent and takes off control
Intelligence.
Under a kind of possible mode, multiple groups that unmanned plane can store terrain clearance range between the control strategy that takes off
Default corresponding relationship, then can also determine nothing according to the target terrain clearance range after determining target terrain clearance range
Target corresponding relationship between man-machine terrain clearance range and the control strategy that takes off, then according to target corresponding relationship and nothing
Man-machine terrain clearance is determined and is taken off control strategy to the target of unmanned plane.
It in other words, in the embodiments of the present disclosure, can be with preset terrain clearance range and the control strategy that takes off in unmanned plane
Between multiple groups corresponding relationship, for example, target terrain clearance range be 0~0.3 meter when, which can be as shown in table 1,
And when target terrain clearance range is 0~0.4 meter, which can be as shown in table 2.
Table 1
| Terrain clearance range | Take off control strategy |
| 0~0.3 meter | Gesture stability |
| More than 0.3 meter | Gesture stability and position control |
Table 2
| Terrain clearance range | Take off control strategy |
| 0~0.4 meter | Gesture stability |
| More than 0.4 meter | Gesture stability and position control |
After the corresponding relationship for determining terrain clearance range between the control strategy that takes off, can according to the corresponding relationship,
And the current terrain clearance of unmanned plane, determine the corresponding control strategy that takes off.For example, determine terrain clearance range with take off
Corresponding relationship between control strategy is as shown in table 1, and the terrain clearance of the unmanned plane determined is 0.2 meter, then can root
Determine that target takes off control strategy as to unmanned plane progress gesture stability according to corresponding relationship shown in the terrain clearance and table 1.Or
Person, the terrain clearance of determining unmanned plane are 0.8 meter, then can the corresponding relationship according to shown in the terrain clearance and table 1 it is true
It sets the goal and takes off control strategy to carry out gesture stability and position control to unmanned plane.
It should be understood that if being respectively provided with an identical mesh for different take off environment or different unmanned planes
Terrain clearance range is marked, then can be only corresponding between preset one group of terrain clearance range and the control strategy that takes off in unmanned plane
Relationship.Correspondingly, the corresponding control strategy that takes off directly can be determined according to the terrain clearance after determining terrain clearance, and
Without determining the corresponding relationship between corresponding terrain clearance range and the control strategy that takes off according to target terrain clearance range.
In a kind of possible situation, unmanned plane is what rotor plane can vert relative to unmanned plane body to different directions
Unmanned plane can also control unmanned aerial vehicle (UAV) control unmanned plane when the terrain clearance of unmanned plane is located within the scope of target terrain clearance
Into multiaxis offline mode, wherein the rotor disc not run-off the straight of unmanned plane under multiaxis offline mode.
The unmanned plane that rotor plane can vert relative to unmanned plane body to different directions can have X-type and independently rotate rotation
Wing mechanism, being capable of any change of flight mode.Wherein, under multiaxis offline mode, rotor plane can be relative to unmanned plane body
The rotor disc not run-off the straight of the unmanned plane to vert to different directions.Therefore, when taking off, entered by control unmanned plane
Multiaxis offline mode can guarantee the rotor disc not run-off the straight of unmanned plane, the rotor disc of unmanned plane when avoiding taking off
The danger contacted to earth further improves the safety that unmanned plane takes off.
In a kind of possible situation, unmanned plane is what rotor plane can vert relative to unmanned plane body to different directions
Unmanned plane, determining can be when the terrain clearance of unmanned plane is located at target terrain clearance the target of the unmanned plane control strategy that takes off
When in range, PID control calculating is carried out according to the current tilt angle of unmanned plane and target tilt angle, is obtained for controlling nothing
First pwm signal of man-machine tiliting axis steering engine, and the second pwm signal for controlling unmanned plane rotor motor, then basis
First pwm signal controls unmanned plane tiliting axis steering engine, and according to the second pwm signal, carries out to unmanned plane rotor motor
Control.
Illustratively, target tilt angle can be pre-set, be also possible to be calculated according to the actual situation,
Etc., the embodiment of the present disclosure is not construed as limiting this.It should be understood that in the embodiments of the present disclosure, in order to guarantee unmanned plane
Rotor disc keeps horizontal with respect to ground, avoids the danger of contacting to earth in take-off process, target tilt angle, which can be, makes nobody
Machine rotor disc keeps horizontal tilt angle with respect to ground.
PID control, which refers to, carries out closed loop feedback control, specific implementation according to deviation by ratio, integral, differential calculation
Process with it is similar in the related technology, which is not described herein again.
In the embodiments of the present disclosure, when the terrain clearance of unmanned plane is located within the scope of target terrain clearance, target is taken off
Control strategy, which can be, only carries out gesture stability to unmanned plane, and can be relative to unmanned plane body to not Tongfang for rotor plane
To for the unmanned plane to vert, gesture stability can be realized by the tilting rotor surfaces of revolution.
Specifically, the unmanned plane that can be verted relative to unmanned plane body to different directions for rotor plane, by adjusting
The steering engine tilt angle of unmanned plane can make the rotor disc of unmanned plane with respect to ground holding level, therefore carry out posture control
When processed, PID control calculating can be carried out according to current tilt angle and target tilt angle first, obtained for controlling unmanned plane
Then first pwm signal is sent to the steering engine of unmanned plane by the first pwm signal of tiliting axis steering engine, to realize to unmanned plane
The adjustment of steering engine tilt angle.
Further, when taking off, since there are drone center of unmanned aerial vehicle position deviation, external disturbance or rotor motor manufacturing process
Etc. differences, if the revolving speed of each rotor motor of unmanned plane is identical, unmanned plane be also unable to reach relative to ground holding level
Posture, therefore for run-off the straight when unmanned plane carry out pose adjustment, can also be according to the current tilt angle of unmanned plane
PID control calculating is carried out with target tilt angle, obtains the second pwm signal for controlling unmanned plane rotor motor revolving speed, and
Second pwm signal is sent to the rotor motor of unmanned plane, to realize the adjustment to rotor motor revolving speed.
By the above-mentioned means, the gesture stability to unmanned plane may be implemented, so that unmanned plane keeps posture water with respect to ground
It is flat, so that the danger that unmanned plane contacts to earth when avoiding taking off, improves the stability and safety that unmanned plane takes off.
It is illustrated below by take off control method of another exemplary embodiment to the disclosure.
Referring to Fig. 2, which can be applied to unmanned plane, may comprise steps of:
Step S201, the scene that identification unmanned plane is presently in.
Step S202 determines the corresponding target terrain clearance range of unmanned plane according to the scene of identification；
Step S203 obtains the terrain clearance of unmanned plane.
It should be understood that in the embodiment of the present disclosure for determining target terrain clearance range and obtaining the liftoff of unmanned plane
The execution sequence of height is not construed as limiting.For example, unmanned plane is obtained again after first can determining target terrain clearance range as shown in Figure 2
Terrain clearance.In other possible situations, the terrain clearance that can also first obtain unmanned plane determines target terrain clearance again
Range, or the step of may also be performed simultaneously determining target terrain clearance range and obtaining the terrain clearance of unmanned plane.
Step S204, judges whether the terrain clearance of unmanned plane is located within the scope of target terrain clearance, if it is, into
Step S205, otherwise enters step S206.
Step S205 determines that the control strategy that takes off to unmanned plane is to carry out gesture stability to unmanned plane.
Step S206 determines that the control strategy that takes off to unmanned plane is to carry out gesture stability and position control to unmanned plane.
The specific implementation process of above steps is being described above, and which is not described herein again.
By the above-mentioned means, can determine the corresponding target terrain clearance range of unmanned plane according to the scene recognized, so
Afterwards when unmanned plane is located at target terrain clearance range, gesture stability only can be carried out to unmanned plane, and without position control,
So as to avoid the fuselage run-off the straight of unmanned plane, prevents the fuselage of unmanned plane or other positions from contacting to earth, guarantee that unmanned plane exists
Safety in take-off process.
Based on the same inventive concept, referring to Fig. 3, the embodiment of the present disclosure also provides one kind and takes off control device 300, the device
300 can be applied to unmanned plane, can become unmanned aerial vehicle onboard controller or distant in such a way that hardware, software or both combine
Some or all of control terminal.Referring to Fig. 3, which may include:
Module 301 is obtained, for obtaining the terrain clearance of unmanned plane；
Determining module 302 takes off control strategy to the target of the unmanned plane for determining according to the terrain clearance,
Wherein, the control strategy that takes off have with the preset corresponding relationship of terrain clearance range, also, work as the unmanned plane terrain clearance
When within the scope of target terrain clearance, the target control strategy that takes off does not include position control plan to the unmanned plane
Slightly；
Control module 303 carries out control of taking off to the unmanned plane for taking off control strategy according to the target.
Optionally, the determining module 302 is used for:
When the terrain clearance of the unmanned plane is not within the scope of the target terrain clearance, determine that the target rises
Winged control strategy includes the position control strategy to the unmanned plane.
Optionally, the unmanned plane is the unmanned plane that rotor plane can vert relative to unmanned plane body to different directions,
The determining module 302 is used for:
When the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, leaned forward according to working as the unmanned plane
Rake angle and target tilt angle carry out PID control calculating, obtain the first PWM for controlling the unmanned plane tiliting axis steering engine
Signal, and the second pwm signal for controlling the unmanned plane rotor motor；
According to first pwm signal, the unmanned plane tiliting axis steering engine is controlled, and according to the 2nd PWM
Signal controls the unmanned plane rotor motor.
Optionally, described device 300 further include:
Identification module, the scene that the unmanned plane is presently in for identification；
Range determination module determines the target terrain clearance range of the unmanned plane for the scene according to identification,
Wherein, the unmanned plane presets the corresponding relationship between different scenes and target terrain clearance range.
Optionally, the unmanned plane is stored with the default corresponding pass of the multiple groups between terrain clearance range and the control strategy that takes off
System, described device further include:
First determining module, for the target terrain clearance range according to the unmanned plane, determine the unmanned plane from
Target corresponding relationship between ground altitude range and the control strategy that takes off；
Second determining module, for the terrain clearance according to the target corresponding relationship and the unmanned plane, determining pair
The target of the unmanned plane is taken off control strategy.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
It through the above scheme, can be when the terrain clearance of unmanned plane be located within the scope of target terrain clearance, only to nobody
Machine carries out gesture stability, and without position control.Unmanned plane can adjust turning for each rotor motor when carrying out gesture stability
Speed, the rotor tiliting axis without adjusting unmanned plane, and then can be to avoid the rotor of adjustment unmanned plane without position control
Tiliting axis takes off in unmanned plane and does not obtain also so as to avoid the rotor wing rotation rudder face of unmanned plane from generating corresponding inclination angle
When certain altitude, the problem of rotor blade position is contacted to earth occurs and guarantees safety of the unmanned plane in take-off process.
Based on the same inventive concept, the disclosure also provides a kind of computer readable storage medium, is stored thereon with computer
Program, the program may be implemented when being executed by processor any of the above-described unmanned plane take off control method the step of.
Based on the same inventive concept, the disclosure also provides a kind of electronic equipment, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize that any of the above-described unmanned plane rises
The step of flying control method.
Fig. 4 is a kind of schematic diagram of above-mentioned electronic equipment.As shown in figure 4, the electronic equipment 400 may include: processor
401, memory 402.The electronic equipment 400 can also include multimedia component 403, input/output (I/O) interface 404, and
One or more of communication component 405.
Wherein, processor 401 is used to control the integrated operation of the electronic equipment 400, is taken off with the unmanned plane for completing above-mentioned
The all or part of the steps of control method.Memory 402 is for storing various types of data to support in the electronic equipment 400
Operation, these data for example may include the finger of any application or method for operating on the electronic equipment 400
Order and the relevant data of application program, such as the terrain clearance of unmanned plane, the control strategy etc. that takes off of unmanned plane.
The memory 402 can be real by any kind of volatibility or non-volatile memory device or their combination
It is existing, such as static random access memory (Static Random Access Memory, abbreviation SRAM), electric erasable can be compiled
Journey read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM),
Erasable Programmable Read Only Memory EPROM (Erasable Programmable Read-Only Memory, abbreviation EPROM), can compile
Journey read-only memory (Programmable Read-Only Memory, abbreviation PROM), read-only memory (Read-Only
Memory, abbreviation ROM), magnetic memory, flash memory, disk or CD.Multimedia component 403 may include screen and sound
Frequency component.
I/O interface 404 provides interface between processor 401 and other interface modules, other above-mentioned interface modules can be with
It is keyboard, mouse, button etc..These buttons can be virtual push button or entity button.
Communication component 405 between the electronic equipment 400 and unmanned plane for being communicated.
In one exemplary embodiment, electronic equipment 400 can be by one or more application specific integrated circuit
(Application Specific Integrated Circuit, abbreviation ASIC), digital signal processor (Digital
Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal Processing Device,
Abbreviation DSPD), programmable logic device (Programmable Logic Device, abbreviation PLD), field programmable gate array
(Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller, microprocessor or other electronics member
Part is realized, is taken off control method for executing above-mentioned unmanned plane.
In addition, the computer readable storage medium of above-mentioned offer can with for the above-mentioned memory 402 including program instruction,
The program instruction can be executed by the processor 401 of electronic equipment 400 to complete above-mentioned unmanned plane and take off control method.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
- The control method 1. one kind is taken off, which is characterized in that applied to the on-board controller or remote terminal of unmanned plane, the method Include:Obtain the terrain clearance of unmanned plane；According to the terrain clearance, determines and take off control strategy to the target of the unmanned plane, wherein the control strategy that takes off has With the preset corresponding relationship of terrain clearance range, also, when the terrain clearance of the unmanned plane is located at target terrain clearance range When interior, the target control strategy that takes off does not include position control strategy to the unmanned plane；It is taken off control strategy according to the target, control of taking off is carried out to the unmanned plane.
- 2. the method according to claim 1, wherein described according to the terrain clearance, determine to it is described nobody The target of machine is taken off control strategy, comprising:When the terrain clearance of the unmanned plane is not within the scope of the target terrain clearance, determine that the target is taken off control System strategy includes the position control strategy to the unmanned plane.
- 3. method according to claim 1 or 2, which is characterized in that the unmanned plane is that rotor plane can be relative to nobody The unmanned plane that machine body verts to different directions, described according to the terrain clearance, determination takes off to the target of the unmanned plane Control strategy, comprising:When the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, according to the current tilt angle of the unmanned plane Degree carries out PID control calculating with target tilt angle, obtains the first PWM letter for controlling the unmanned plane tiliting axis steering engine Number, and the second pwm signal for controlling the unmanned plane rotor motor；According to first pwm signal, the unmanned plane tiliting axis steering engine is controlled, and according to second pwm signal, The unmanned plane rotor motor is controlled.
- 4. method according to claim 1 or 2, which is characterized in that the method also includes:Identify the scene that the unmanned plane is presently in；According to the scene of identification, the target terrain clearance range of the unmanned plane is determined, wherein the unmanned plane is preset Corresponding relationship between different scenes and target terrain clearance range.
- 5. according to the method described in claim 4, it is characterized in that, the unmanned plane is stored with terrain clearance range and control of taking off Multiple groups between system strategy preset corresponding relationship, the method also includes:According to the target terrain clearance range of the unmanned plane, determines the terrain clearance range of the unmanned plane and take off and control plan Target corresponding relationship between slightly；According to the terrain clearance of the target corresponding relationship and the unmanned plane, determines and take off control to the target of the unmanned plane System strategy.
- The control device 6. one kind is taken off, which is characterized in that applied to the on-board controller or remote terminal of unmanned plane, described device Include:Module is obtained, for obtaining the terrain clearance of unmanned plane；Determining module takes off control strategy to the target of the unmanned plane for determining according to the terrain clearance, wherein rise Fly control strategy have with the preset corresponding relationship of terrain clearance range, also, when the terrain clearance of the unmanned plane is located at mesh When marking within the scope of terrain clearance, the target control strategy that takes off does not include position control strategy to the unmanned plane；Control module carries out control of taking off to the unmanned plane for taking off control strategy according to the target.
- 7. device according to claim 6, which is characterized in that the determining module is used for:When the terrain clearance of the unmanned plane is not within the scope of the target terrain clearance, determine that the target is taken off control System strategy includes the position control strategy to the unmanned plane.
- 8. device according to claim 6 or 7, which is characterized in that the unmanned plane is that rotor plane can be relative to nobody The unmanned plane that machine body verts to different directions, the determining module are used for:When the terrain clearance of the unmanned plane is located within the scope of target terrain clearance, according to the current tilt angle of the unmanned plane Degree carries out PID control calculating with target tilt angle, obtains the first PWM letter for controlling the unmanned plane tiliting axis steering engine Number, and the second pwm signal for controlling the unmanned plane rotor motor；According to first pwm signal, the unmanned plane tiliting axis steering engine is controlled, and according to second pwm signal, The unmanned plane rotor motor is controlled.
- 9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor The step of any one of claim 1-5 the method is realized when row.
- 10. a kind of electronic equipment characterized by comprisingMemory is stored thereon with computer program；Processor, for executing the computer program in the memory, to realize described in any one of claim 1-5 The step of method.
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| CN201910522974.9A CN110262530A (en) | 2019-06-17 | 2019-06-17 | Take off control method, device, storage medium and electronic equipment |
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