CN110347177A - Unmanned plane is grounded judgment method, device, storage medium and unmanned plane - Google Patents
Unmanned plane is grounded judgment method, device, storage medium and unmanned plane Download PDFInfo
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- CN110347177A CN110347177A CN201910539217.2A CN201910539217A CN110347177A CN 110347177 A CN110347177 A CN 110347177A CN 201910539217 A CN201910539217 A CN 201910539217A CN 110347177 A CN110347177 A CN 110347177A
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- unmanned plane
- speed
- throttle amount
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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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
- G05D1/10—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
This disclosure relates to which a kind of unmanned plane ground connection judgment method, device, storage medium and unmanned plane guarantee the landing safety of unmanned plane to improve the accuracy of unmanned plane ground connection judgement.Unmanned plane ground connection judgment method includes: according to pre-set velocity control unmanned plane decline；When the unmanned plane drops to object height, the flying speed of the unmanned plane is obtained；If the flying speed of the unmanned plane is within the scope of pre-set velocity, it is determined that the unmanned plane is in ground state.
Description
Technical field
This disclosure relates to air vehicle technique field, and in particular, to a kind of unmanned plane ground connection judgment method, device, storage
Medium and unmanned plane.
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 related technology, to the ground connection judgement of unmanned plane mainly by judging what the flying height of unmanned plane carried out, but
It is during unmanned plane has executed aerial mission and maked a return voyage, due to the use through flight after a period of time, being arranged in unmanned plane
In the barometer of the measurement flying height situation inaccurate there may be reading, so as to cause the deviation judged is grounded to unmanned plane,
For example determine that unmanned plane is grounded when unmanned plane is higher with respect to ground level, to carry out Landing Control to unmanned plane, make
At the crash of unmanned plane.
Summary of the invention
Purpose of this disclosure is to provide a kind of unmanned plane ground connection judgment method, device, storage medium and unmanned planes, to improve
To the accuracy of unmanned plane ground connection judgement, guarantee the landing safety of unmanned plane.
To achieve the goals above, in a first aspect, the disclosure provides a kind of unmanned plane ground connection judgment method, comprising:
According to pre-set velocity control unmanned plane decline；
When the unmanned plane drops to object height, the flying speed of the unmanned plane is obtained；
If the flying speed of the unmanned plane is within the scope of pre-set velocity, it is determined that the unmanned plane is in ground connection shape
State.
Optionally, the speed for obtaining the unmanned plane, comprising:
It obtains in the unmanned plane rotor plane in the first component velocity of heading, the rotor plane along vertical machine
Head direction the second component velocity and along perpendicular to the rotor plane third component velocity；
If the flying speed of the unmanned plane is located within the scope of pre-set velocity, it is determined that the unmanned plane is in and connects
Ground state, comprising:
If first component velocity of the unmanned plane is less than the first pre-set velocity, second component velocity less than second
Pre-set velocity and the third component velocity are less than third pre-set velocity, it is determined that the unmanned plane is in ground state.
Optionally, the flying speed for obtaining the unmanned plane, comprising:
Determine the throttle amount of the unmanned plane；
When the throttle amount of the unmanned plane is less than default throttle amount, the flying speed of the unmanned plane is obtained.
Optionally, the method also includes:
Determine that the unmanned plane is in the hovering throttle amount of floating state；
Using the hovering throttle amount multiplied by the throttle amount obtained after preset ratio coefficient as the default throttle amount.
It is optionally, described according to pre-set velocity control unmanned plane decline, comprising:
According to the first decrease speed, the unmanned plane decline is controlled；
The method also includes:
When the unmanned plane drops to object height, according to the second decrease speed, the unmanned plane decline is controlled,
In, second decrease speed is less than first decrease speed.
It is optionally, described according to the control unmanned plane decline of default decrease speed, comprising:
Judge whether the distance between the unmanned plane and the target level point are less than pre-determined distance；
If the distance between the unmanned plane and the target level point are less than the pre-determined distance, according to setting in advance
The decline of unmanned plane described in speed control is dropped.
It is optionally, described according to the control unmanned plane decline of default decrease speed, further includes:
If the distance between the unmanned plane and the target level point are greater than or equal to the pre-determined distance, judge
Whether the unmanned plane is greater than or equal to the first preset height with respect to the present level on ground；
When the unmanned plane is greater than or equal to first preset height with respect to the present level on ground, the nothing is controlled
It is man-machine to be flown with the present level；
When the unmanned plane during flying to the target level point, the unmanned plane is controlled according to the default decrease speed
Decline.
Optionally, the method also includes:
When the unmanned plane is less than first preset height with respect to the present level on ground, control on the unmanned plane
The second preset height is risen to, and controls the unmanned plane and is flown with second preset height, wherein second preset height
More than or equal to first preset height.
Second aspect, the disclosure also provide a kind of unmanned plane ground connection judgment means, and described device includes:
Decline control module, for according to the control unmanned plane decline of default decrease speed；
Speed acquiring module, for when the unmanned plane drops to object height, obtaining the flight speed of the unmanned plane
Degree；
State determining module, described in determining when the flying speed of the unmanned plane is within the scope of pre-set velocity
Unmanned plane is in ground state.
Optionally, the speed acquiring module is for obtaining in the unmanned plane rotor plane along first point of heading
Along the second component velocity of vertical heading and along the third point perpendicular to the rotor plane in speed, the rotor plane
Speed；
The state determining module is used for first component velocity when the unmanned plane less than the first pre-set velocity, described
Second component velocity determines at the unmanned plane less than the second pre-set velocity and when the third component velocity is less than third pre-set velocity
In ground state.
Optionally, the speed acquiring module is used for:
Determine the throttle amount of the unmanned plane；
When the throttle amount of the unmanned plane is less than default throttle amount, the flying speed of the unmanned plane is obtained.
Optionally, described device further include:
Throttle amount determining module, for determining that the unmanned plane is in the hovering throttle amount of floating state；
Computing module, for using the hovering throttle amount multiplied by the throttle amount obtained after preset ratio coefficient as described pre-
If throttle amount.
Optionally, the decline control module includes:
Judging submodule, for judge the distance between the unmanned plane and the target level point whether be less than it is default away from
From；
Control submodule, for being less than the pre-determined distance when the distance between the unmanned plane and the target level point
When, the unmanned plane, which is controlled, according to default decrease speed drops to object height.
Optionally, described device further include:
Judgment module, for being greater than or equal to described preset when the distance between the unmanned plane and the target level point
Apart from when, judge whether the unmanned plane is greater than or equal to the first preset height with respect to the present level on ground；
First control module, for being preset when the unmanned plane is greater than or equal to described first with respect to the present level on ground
When height, controls the unmanned plane and flown with the present level；
Second control module is used for when the unmanned plane during flying to the target level point, according to the default decline
Unmanned plane described in speed control drops to object height.
Optionally, described device further include:
Third control module, for being less than first preset height with respect to the present level on ground when the unmanned plane
When, it controls the unmanned plane and rises to the second preset height, and control the unmanned plane and flown with second preset height,
In, second preset height is greater than or equal to first preset height.
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 unmanned plane, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one of first aspect institute
The step of stating method.
Through the above technical solutions, nothing can be obtained when dropping to object height according to pre-set velocity control unmanned plane
Man-machine flying speed, if the flying speed of unmanned plane is within the scope of pre-set velocity, it is determined that unmanned plane is in ground connection shape
State.In other words, the unmanned plane ground connection judgment method of the disclosure can carry out connecing for unmanned plane by the flying speed of unmanned plane
Ground judgement avoids passing through unmanned plane terrain clearance and carries out when ground connection judges unmanned plane since drone flying height judges to be not allowed
Judgment bias caused by really improves the accuracy of unmanned plane ground connection judgement, guarantees the landing safety of unmanned plane.
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 the flow chart according to a kind of unmanned plane ground connection judgment method shown in one exemplary embodiment of the disclosure.
Fig. 2 is a kind of flow chart of unmanned plane ground connection judgment method shown according to disclosure another exemplary embodiment.
Fig. 3 is the block diagram according to a kind of unmanned plane ground connection judgment means shown in 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.
In the related technology, to the ground connection judgement of unmanned plane mainly by judging what the flying height of unmanned plane carried out, but
It is during unmanned plane has executed aerial mission and maked a return voyage, due to the use through flight after a period of time, being arranged in unmanned plane
In the barometer of the measurement flying height situation inaccurate there may be reading, so as to cause the deviation judged is grounded to unmanned plane,
For example determine that unmanned plane is grounded when unmanned plane is higher with respect to ground level, to carry out Landing Control to unmanned plane, make
At the crash of unmanned plane.
To solve the above-mentioned problems, the embodiment of the present disclosure proposes a kind of unmanned plane ground connection judgment method, device, storage medium
And unmanned plane, ground connection judgement can be carried out to unmanned plane by the flying speed of unmanned plane, to improve unmanned plane ground connection judgement
Accuracy, guarantee unmanned plane landing safety.
Fig. 1 is according to a kind of flow chart of unmanned plane ground connection judgment method shown in one exemplary embodiment of the disclosure, ginseng
According to Fig. 1, this method comprises:
Step S101, according to the control unmanned plane decline of default decrease speed.
Illustratively, default decrease speed can be according to the practical landing scene settings of unmanned plane, or be also possible to
According to the concrete type of unmanned plane setting, etc., the embodiment of the present disclosure is not construed as limiting this.It should be understood that for not
With landing scene or different types of unmanned plane, which be may be the same or different.
Step S102 obtains the flying speed of unmanned plane when unmanned plane drops to object height.
It may include two stages during unmanned plane landing: decline stage and ground connection stage.When unmanned plane declines
When to object height, unmanned plane can enter ground connection stage, i.e. itself available flying speed of unmanned plane, to judge itself to be
It is no to be in ground state.
Illustratively, object height can be preset, etc. according to the actual situation, and the embodiment of the present disclosure is for target
The specific value of height and specific setting process are not construed as limiting.It should be understood that for different unmanned planes, or for not
With landing scene, which can be different.
For example, the object height can be 8m, correspondingly, when unmanned plane drops to liftoff height under the first landing scene
When degree is 8m, that is, enter the ground connection stage, unmanned plane starts to obtain itself flying speed, to judge whether itself is grounded success.Or
Person, under the second landing scene, which can be 7m, when it is 7m that unmanned plane, which drops to terrain clearance, that is, enters and connect
Ground stage, unmanned plane start to obtain itself flying speed, to judge whether itself is grounded success.
Step S103, if the flying speed of unmanned plane is within the scope of pre-set velocity, it is determined that unmanned plane is in ground connection
State.
After the flying speed for obtaining unmanned plane, it can be determined that whether the flying speed is within the scope of pre-set velocity.
Wherein, pre-set velocity range can be preset, etc. according to the actual situation, and the embodiment of the present disclosure is not construed as limiting this,
It for example can be 0.1m/s~0.2m/s according to different landing scene settings pre-set velocity ranges, or also can be set as
0.02m/s~0.1m/s, etc..
If the flying speed of unmanned plane is within the scope of pre-set velocity, it is determined that unmanned plane is in ground state, otherwise
Continue according to the control unmanned plane decline of default decrease speed, while continuing to obtain the flying speed of unmanned plane, and judge unmanned plane
Flying speed whether be in pre-set velocity range, until determining that unmanned plane is in ground state.Wherein, it is determining at unmanned plane
After ground state, Landing Control can be carried out to unmanned plane, for example can execute and close the throttle of unmanned plane, lock nobody
A variety of UAV Landing control operations such as the rotor motor of machine.
In practical applications, when unmanned aerial vehicle body, wing or other any positions are grounded, itself speed of unmanned plane
It will be normally in a lesser velocity interval, for example itself speed of unmanned plane is possibly close to 0, therefore by judging nothing
Whether man-machine flying speed is located within the scope of pre-set velocity, can determine whether unmanned plane is in ground state, to avoid
Only unmanned plane is carried out when ground connection judges since drone flying height judgement inaccuracy causes by unmanned plane terrain clearance
Judgment bias, improve unmanned plane ground connection judgement accuracy, guarantee unmanned plane landing safety.
In order to understand those skilled in the art more, unmanned plane in the embodiment of the present disclosure is grounded judgment method, below it is right
Above steps is illustrated.
In a kind of possible mode, step S101 be can be first according to the first decrease speed, control unmanned plane decline, so
Afterwards when unmanned plane drops to object height, according to the second decrease speed, unmanned plane decline is controlled, wherein the second decrease speed
Less than the first decrease speed.
In other words, in the embodiment of the present disclosure according to default decrease speed control unmanned plane decline when, can first according to
Biggish decrease speed control unmanned plane decline, then when unmanned plane drops to a specified altitude assignment, according still further to lesser decline
Speed control unmanned plane continues to decline, until determining that unmanned plane is in ground state.
For example, the first decrease speed is 1.2m/s, the second decrease speed is 0.4m/s, object height 8m, then in nothing
The first stage of man-machine decline, the i.e. present level of unmanned plane are greater than the stage of object height, can be according to the decline of 1.2m/s
The decline of speed control unmanned plane.Then in the second stage of unmanned plane decline, i.e., when unmanned plane drops to terrain clearance less than 8m
After (object height), unmanned plane can be controlled according to the decrease speed of 0.4m/s and continue to decline, connect until determining that unmanned plane is in
Ground state.In this way, the decline Landing Control of unmanned plane is more flexible, so as to more guarantee nobody
Machine declines the safety in landing mission.
In alternatively possible mode, step S101 can also be first judge between unmanned plane and target level point away from
From whether being less than pre-determined distance, if the distance between unmanned plane and target level point less than pre-determined distance, according to setting in advance
The decline of speed control unmanned plane is dropped.
Illustratively, pre-determined distance, which can be, is set according to actual conditions, such as can according to the practical flight of unmanned plane
Scene settings, or can also according to the concrete type of unmanned plane set, etc., the embodiment of the present disclosure this be not construed as limiting.
Illustratively, the distance between unmanned plane and target level point can be unmanned plane according to its current position and mesh
It marks the position in level point and is calculated, or be also possible to other equipment and landed according to the current distance and target of unmanned plane
The position of point is sent to unmanned plane after being calculated, and unmanned plane directly receives the distance in such cases.It should be understood that
, the embodiment of the present disclosure is not construed as limiting unmanned plane and the acquisition modes in the distance between target level point.
By the above-mentioned means, when unmanned plane distance objective level point is closer, can directly according to default decrease speed into
The high flight of row drop, then when dropping to object height, then obtains the flying speed of unmanned plane, and according to the flying speed to nothing
Man-machine carry out Landing Control, to guarantee the landing safety of unmanned plane in such cases.
In the case where alternatively possible, if the distance between unmanned plane and target level point be greater than or equal to it is default away from
From then judging whether unmanned plane is greater than or equal to the first preset height with respect to the present level on ground, then when unmanned plane is opposite
When the present level on ground is greater than or equal to the first preset height, control unmanned plane is flown with present level, and when unmanned plane flies
When row to target level point, according still further to the control unmanned plane decline of default decrease speed.
Illustratively, the first preset height can be set according to actual conditions, etc., the embodiment of the present disclosure does not make this
It limits.Unmanned plane with respect to the present level on ground can be by the sensor being arranged on unmanned plane detect, etc.,
The embodiment of the present disclosure is also not construed as limiting this.
In the embodiments of the present disclosure, when unmanned plane distance objective level point farther out when, it is necessary first to control unmanned plane during flying
To target level point.In the process, in order to guarantee the safety flown, avoid unmanned plane in the mistake of flight to target level point
Barrier is collided in journey, can first judge whether unmanned plane is greater than the first preset height with respect to the present level on ground.If
Unmanned plane is greater than the first preset height with respect to the present level on ground, that is, illustrates that unmanned plane is higher with respect to the present level on ground,
It can guarantee flight safety, therefore can fly with respect to the present level on ground to target level point according to unmanned plane.
It, can when present level of the unmanned plane with respect to ground is less than the first preset height in the case where alternatively possible
The second preset height is risen to control unmanned plane, and controls unmanned plane and is flown with the second preset height, wherein the second default height
Degree is greater than or equal to the first preset height.
When unmanned plane is lower with respect to the present level on ground, the flight safety of unmanned plane not can guarantee, it therefore, can be with
First control unmanned plane rises to the second preset height through the above way, so that unmanned plane is higher with respect to the present level on ground,
Then control unmanned plane carries out the decline control of unmanned plane again after flying according to second preset height to target level point, thus
Guarantee the safety during unmanned plane during flying.
It should be understood that the second preset height can be and be set according to actual conditions, for example, the second preset height can
To be set as 100m, etc., the embodiment of the present disclosure is not construed as limiting this.
In step s 102, the flying speed for obtaining unmanned plane can be the gyroscope for first passing through and being arranged on unmanned plane and obtain
Then the current flight parameter of unmanned plane the processing such as is filtered according to the flight parameter, calculates and getting.Certainly,
The flying speed of unmanned plane can be obtained by other means, and the embodiment of the present disclosure is not construed as limiting this.
In a kind of possible mode, the speed for obtaining unmanned plane, which can be, to be obtained in unmanned plane rotor plane along head side
To the first component velocity, along the second component velocity of vertical heading in rotor plane and along the third perpendicular to rotor plane
Component velocity.Correspondingly, if step S102 can be the first component velocity less than the first pre-set velocity, the second component velocity less than second
Pre-set velocity and third component velocity are less than third pre-set velocity, it is determined that unmanned plane is in ground state.
It can be in advance referring to establishing three-dimensional system of coordinate, for example, can be with the rotor plane of unmanned plane during the disclosure is implemented
Using in rotor plane along unmanned plane heading as the X-axis of the three-dimensional system of coordinate, by rotor plane along vertical unmanned plane machine
Y-axis of the head direction as the three-dimensional system of coordinate, the i.e. plane of X-axis Yu the Y-axis composition of the three-dimensional system of coordinate can be unmanned plane
Rotor plane.Correspondingly, Z axis can be perpendicular to the rotor plane of unmanned plane.
It should be understood that for the unmanned plane that can not specify heading, for example, multi-rotor unmanned aerial vehicle, it can be preparatory
The heading of unmanned plane is defined, to establish three-dimensional system of coordinate through the above way.
After establishing three-dimensional system of coordinate in the manner described above, unmanned plane can be obtained respectively along X-axis, Y-axis and Z-direction
Component velocity, for unmanned plane ground connection judge, to more accurately judge whether unmanned plane has been in ground state.Than
Such as, unmanned plane is respectively the first component velocity, the second component velocity and third component velocity along the component velocity of X-axis, Y-axis and Z-direction, that
The first component velocity can be judged less than the first pre-set velocity, the second component velocity whether less than the second pre-set velocity, third respectively
Whether component velocity is less than third pre-set velocity.
Wherein, the first pre-set velocity, the second pre-set velocity and third pre-set velocity, which can be, is set according to actual conditions,
The embodiment of the present disclosure is not construed as limiting this.In a kind of possible mode, the first pre-set velocity and the second pre-set velocity can be with
It is set as 0.2m/S, third pre-set velocity can be set as 0.2m/S.
In a kind of possible mode, in step s 102, the throttle amount of unmanned plane can also be first determined, then when nobody
When the throttle amount of machine is less than default throttle amount, the flying speed of unmanned plane is obtained.
After determining that height of the unmanned plane with respect to ground is object height, unmanned plane may be influenced due to wind direction, wind speed etc.,
At a time or in certain time period flying speed is within the scope of pre-set velocity, in such cases, if obtaining unmanned plane
Flying speed carry out ground connection judgement, still there may be ground connection judgment bias.Therefore, it is grounded to further increase unmanned plane
The accuracy of judgement, guarantee unmanned plane landing safety, the embodiment of the present disclosure can also obtain unmanned plane flying speed it
Before, it first determines the throttle amount of unmanned plane, then when the throttle amount of unmanned plane is less than default throttle amount, then obtains flying for unmanned plane
Scanning frequency degree.
Unmanned plane decline during, the throttle amount of unmanned plane constantly reduces, when the throttle amount of unmanned plane be reduced to it is pre-
If when throttle amount, unmanned plane can then stop declining, in such cases, it can determine that unmanned plane is in ground state, so as to
Open the Landing Control to unmanned plane.Also, the output signal of unmanned plane throttle amount is pwm signal, which will not be due to outer
The influence of boundary's environment and generate deviation.It therefore, can be in conjunction with the throttle amount and flying speed of unmanned plane in the embodiment of the present disclosure
Ground connection judgement is carried out, to further increase the accuracy of UAV Landing control, guarantees the landing safety of unmanned plane.
Illustratively, presetting throttle amount can be what throttle amount when being in floating state according to unmanned plane determined.In one kind
In possible mode, determines that the process of default throttle amount can be and first determines that unmanned plane is in the hovering throttle amount of floating state,
Then can using the hovering throttle amount multiplied by the throttle amount obtained after preset ratio coefficient as default throttle amount.In such situation
Under, the setting for proportionality coefficient, the embodiment of the present disclosure is not construed as limiting this.For example, the proportionality coefficient can be preset
Numberical range selects different proportionality coefficients then according to the actual conditions of ground connection judgement every time.Alternatively, considering unmanned plane
When in the decline stage, throttle amount will not be less than the 60% of hovering throttle amount, and when unmanned plane is in the ground connection stage, throttle amount
Less than the 60% of hovering throttle amount, therefore aforementioned proportion coefficient can also be set as to a fixed value, for example, by the proportionality coefficient
It is set as 60%, etc..
Alternatively, default throttle amount can also be the type according to unmanned plane and determination, in such cases, can deposit in advance
The type of unmanned plane and the corresponding relationship of default throttle amount are stored up, then according to the type of unmanned plane and the corresponding relationship, is determined
Default throttle amount of unmanned plane, etc., the embodiment of the present disclosure are not construed as limiting for presetting the specific setting process of throttle amount.
It is illustrated below by unmanned plane ground connection judgment method of another embodiment to the disclosure.Referring to Fig. 2, the nothing
Man-machine unmanned plane ground connection judgment method may comprise steps of:
Step S201 receives unmanned plane landing instruction.
Illustratively, landing instruction can be earth station and be sent to unmanned plane, is also possible to unmanned plane and detects that oneself dies
When barrier automatic trigger generate, etc., the embodiment of the present disclosure is not construed as limiting this.
Step S202, judges whether the distance between unmanned plane and target level point are less than pre-determined distance, if it is, into
Enter step S203, otherwise, enters step S204.
Step S203, according to the control unmanned plane decline of the first decrease speed.
Step S204, judges whether unmanned plane is greater than or equal to the first preset height with respect to the present level on ground, if
It is then to enter step S205, otherwise, enters step S206.
Step S205, control unmanned plane is flown with current terrain clearance to target level point, and enters step S203.
Step S206, control unmanned plane rise to the second preset height.
Step S207, control unmanned plane is flown with the second preset height to target level point, and enters step S203.
Step S208, judges whether unmanned plane drops to object height, if it is, entering step S209, otherwise, enters
Step S203.
Step S209 controls unmanned plane decline according to the second decrease speed, and determines the throttle amount of unmanned plane.
Step S210, judges whether the throttle amount of unmanned plane is less than default throttle amount, if it is, S211 is entered step,
Otherwise, S209 is entered step.
Step S211 obtains the flying speed of unmanned plane.
Step S212, judges whether the flying speed of unmanned plane is within the scope of pre-set velocity, if it is, entering step
Otherwise S213 enters step S214.
Step S213 determines that unmanned plane is in ground state.
Step S214 determines that unmanned plane is not in ground state.
The specific implementation process of above steps is being described above, and which is not described herein again.
By the above-mentioned means, the ground connection that unmanned plane can be carried out by the flying speed and throttle amount of unmanned plane judges,
The deviation controlled when drone flying height judgement inaccuracy for UAV Landing is avoided, to improve UAV Landing control
Accuracy, guarantee unmanned plane landing safety.
Based on the same inventive concept, referring to Fig. 3, the embodiment of the present disclosure also provides a kind of unmanned plane ground connection judgment means 300,
The unmanned aerial vehicle (UAV) control device 300 can become some or all of unmanned plane in such a way that software, hardware or both combine, can
To include:
Decline control module 301, for according to the control unmanned plane decline of default decrease speed；
Speed acquiring module 302, for obtaining the flight of the unmanned plane when the unmanned plane drops to object height
Speed；
State determining module 303, for determining institute when the flying speed of the unmanned plane is within the scope of pre-set velocity
It states unmanned plane and is in ground state.
Optionally, the speed acquiring module 301 is used for:
It obtains in the unmanned plane rotor plane in the first component velocity of heading, the rotor plane along vertical machine
Head direction the second component velocity and along perpendicular to the rotor plane third component velocity；
The determining module is used for first component velocity when the unmanned plane less than the first pre-set velocity, described second
Component velocity determines that the unmanned plane is in and connects less than the second pre-set velocity and when the third component velocity is less than third pre-set velocity
Ground state.
Optionally, the speed acquiring module 301 is used for:
Determine the throttle amount of the unmanned plane；
When the throttle amount of the unmanned plane is less than default throttle amount, the flying speed of the unmanned plane is obtained.
Optionally, described device 300 further include:
Throttle amount determining module, for determining that the unmanned plane is in the hovering throttle amount of floating state；
Computing module, for using the hovering throttle amount multiplied by the throttle amount obtained after preset ratio coefficient as described pre-
If throttle amount.
Optionally, the decline control module 301 includes:
Judging submodule, for judge the distance between the unmanned plane and the target level point whether be less than it is default away from
From；
Control submodule, for being less than the pre-determined distance when the distance between the unmanned plane and the target level point
When, according to default decrease speed, controls the unmanned plane and drop to object height.
Optionally, described device 300 further include:
Judgment module, for being greater than or equal to described preset when the distance between the unmanned plane and the target level point
Apart from when, judge whether the unmanned plane is greater than or equal to the first preset height with respect to the present level on ground；
First control module, for being preset when the unmanned plane is greater than or equal to described first with respect to the present level on ground
When height, controls the unmanned plane and flown with the present level；
Second control module is used for when unmanned plane during flying to the target level point, according to the default decrease speed
It controls the unmanned plane and drops to object height.
Optionally, described device 300 further include:
Third control module, for being less than first preset height with respect to the present level on ground when the unmanned plane
When, it controls the unmanned plane and rises to the second preset height, and control the unmanned plane and flown with second preset height,
In, second preset height is greater than or equal to first preset height.
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, can be in conjunction with unmanned plane with respect to the height on ground and the flying speed of unmanned plane by any of the above-described control device
The Landing Control for carrying out unmanned plane avoids the deviation controlled when drone flying height judgement inaccuracy for UAV Landing,
To improve the accuracy of UAV Landing control, guarantee the landing safety of unmanned plane.
Based on the same inventive concept, the embodiment of the present 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 connects
The step of ground judgment method.
In a kind of possible mode, which may be provided as a unmanned plane, and block diagram can be such as Fig. 4 institute
Show.Referring to Fig. 4, which may include: processor 401, memory 402.The electronic equipment 400 can also include
Multimedia component 403, one or more of input/output (I/O) interface 404 and communication component 405.
Wherein, processor 401 is used to control the integrated operation of the electronic equipment 400, to complete above-mentioned unmanned plane ground connection
The all or part of the steps of judgment 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 default speed of default throttle amount, the first pre-set velocity, the second pre-set velocity, third
Degree etc..
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
Keyboard, mouse, button etc..These buttons can be virtual push button or entity button.Communication component 405 is used for the electronic equipment
400 are communicated with other equipment.
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 grounded judgment 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 be grounded judgment 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)
1. a kind of unmanned plane is grounded judgment method, which is characterized in that the described method includes:
According to pre-set velocity control unmanned plane decline；
When the unmanned plane drops to object height, the flying speed of the unmanned plane is obtained；
If the flying speed of the unmanned plane is within the scope of pre-set velocity, it is determined that the unmanned plane is in ground state.
2. the method according to claim 1, wherein the speed for obtaining the unmanned plane, comprising:
It obtains in the unmanned plane rotor plane in the first component velocity of heading, the rotor plane along vertical head side
To the second component velocity and along perpendicular to the rotor plane third component velocity；
If the flying speed of the unmanned plane is located within the scope of pre-set velocity, it is determined that the unmanned plane is in ground connection shape
State, comprising:
If first component velocity of the unmanned plane is default less than second less than the first pre-set velocity, second component velocity
Speed and the third component velocity are less than third pre-set velocity, it is determined that the unmanned plane is in ground state.
3. the method according to claim 1, wherein the flying speed for obtaining the unmanned plane, comprising:
Determine the throttle amount of the unmanned plane；
When the throttle amount of the unmanned plane is less than default throttle amount, the flying speed of the unmanned plane is obtained.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
Determine that the unmanned plane is in the hovering throttle amount of floating state；
Using the hovering throttle amount multiplied by the throttle amount obtained after preset ratio coefficient as the default throttle amount.
5. method according to claim 1 to 4, which is characterized in that described to control unmanned plane according to default decrease speed
Decline, comprising:
Judge whether the distance between the unmanned plane and target level point are less than pre-determined distance；
If the distance between the unmanned plane and the target level point are less than the pre-determined distance, according to default lower reduction of speed
Degree controls the unmanned plane decline.
6. method according to claim 1 to 4, which is characterized in that described to control unmanned plane according to default decrease speed
Decline, further includes:
If the distance between the unmanned plane and the target level point be greater than or equal to the pre-determined distance, judgement described in
Whether unmanned plane is greater than or equal to the first preset height with respect to the present level on ground；
When the unmanned plane is greater than or equal to first preset height with respect to the present level on ground, the unmanned plane is controlled
With present level flight；
When the unmanned plane during flying to the target level point, controlled under the unmanned plane according to the default decrease speed
Drop.
7. according to the method described in claim 6, it is characterized in that, the method also includes:
When the unmanned plane is less than first preset height with respect to the present level on ground, controls the unmanned plane and rise to
Second preset height, and control the unmanned plane and flown with second preset height, wherein second preset height is greater than
Or it is equal to first preset height.
8. a kind of unmanned plane is grounded judgment means, which is characterized in that described device includes:
Control module, for according to the control unmanned plane decline of default decrease speed；
Module is obtained, for obtaining the flying speed of the unmanned plane when the unmanned plane drops to object height；
Determining module, for determining at the unmanned plane when the flying speed of the unmanned plane is within the scope of pre-set velocity
In ground state.
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 1-7 the method is realized when row.
10. a kind of unmanned plane characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize described in any one of claim 1-7
The step of method.
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