CN111324135A - Unmanned aerial vehicle control method and device, electronic equipment and computer readable medium - Google Patents
Unmanned aerial vehicle control method and device, electronic equipment and computer readable medium Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, electronic equipment and a computer readable medium, wherein the unmanned aerial vehicle control method comprises the following steps: receiving an instruction for switching the unmanned aerial vehicle from a manual flight mode to an automatic flight mode; adjusting the real-time flying speed of the unmanned aerial vehicle to be within a preset flying speed threshold; determining a route of the unmanned aerial vehicle; and the unmanned aerial vehicle automatically flies with the air route according to the adjusted real-time flying speed. The unmanned aerial vehicle control method, the unmanned aerial vehicle control device, the electronic equipment and the computer readable medium can solve the problem of poor stability caused by sudden change of the attitude angle and the expected sudden change of the speed when the manual mode of the unmanned aerial vehicle is switched to the automatic mode, and improve the flexibility of the air route.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, electronic equipment and a computer readable medium.
Background
Along with the development of unmanned aerial vehicle technique and the gradual maturity of control system, more and more unmanned aerial vehicle is used for fields such as commodity circulation, security protection, plant protection, patrolling and examining. During the process of executing the autonomous waypoint task, the unmanned aerial vehicle needs to be switched between an automatic mode and a manual mode under certain special conditions. For example, in an emergency situation and in the process of autonomous return, if an obstacle exists in a temporary route of autonomous return, the unmanned aerial vehicle without the obstacle avoidance function needs to be switched to a manual mode, and after the unmanned aerial vehicle is manually controlled to bypass the obstacle, the unmanned aerial vehicle is switched to an automatic mode to continue the route flight.
Since the control of the automatic mode generally requires three waypoints: at present, when an unmanned aerial vehicle performs mode switching, the prior art generally adopts the following method: when the automatic mode is switched to the manual mode, recording the current waypoint ID; and when the manual flight is finished, switching the manual mode to the automatic mode, re-reading the three corresponding waypoints in the waypoint file according to the previously recorded waypoint ID, and continuing the automatic mode flight. However, the prior art has the following disadvantages:
(1) because there may be a speed margin in the manual mode, at the moment when the manual mode is switched to the automatic mode, a sudden speed change easily occurs, resulting in a large attitude angle.
(2) After the automatic mode is switched again, the original waypoint is still adopted, the route track is not changed, and the risk of colliding with the obstacle still exists.
(3) If the expected speed plan is related to the position of the airplane in the air route, after the manual mode is switched to the automatic mode, the expected speed is larger because the position of the unmanned aerial vehicle is not at the initial position of the air route, so that a larger attitude angle is caused, and certain potential safety hazards are caused.
Disclosure of Invention
In view of this, the present application provides an unmanned aerial vehicle control method, an apparatus, an electronic device, and a computer readable medium, which can improve the problem of poor stability caused by abrupt change of attitude angle and abrupt change of speed expectation when the manual mode of the unmanned aerial vehicle is switched to the automatic mode, and improve the flexibility of the flight path.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to a first aspect of an embodiment of the present application, a method for controlling an unmanned aerial vehicle is provided, where the method includes: receiving an instruction for switching the unmanned aerial vehicle from a manual flight mode to an automatic flight mode; adjusting the real-time flying speed of the unmanned aerial vehicle to be within a preset flying speed threshold; determining a route of the unmanned aerial vehicle; and the unmanned aerial vehicle automatically flies with the air route according to the adjusted real-time flying speed.
In an exemplary embodiment of the present application, adjusting the real-time airspeed of the drone to a predetermined airspeed comprises: and carrying out deceleration processing on the unmanned aerial vehicle until the real-time flying speed meets a preset flying speed threshold.
In an exemplary embodiment of the present application, the decelerating the unmanned aerial vehicle includes: carrying out deceleration processing on the horizontal flying speed of the unmanned aerial vehicle; and carrying out deceleration processing on the vertical flying speed of the unmanned aerial vehicle.
In an exemplary embodiment of the present application, decelerating the horizontal flying speed of the drone includes: determining a horizontal speed expected change value through the horizontal flying speed and a horizontal speed preset threshold; and determining the horizontal flying speed of the unmanned aerial vehicle through the expected change value of the horizontal speed.
In an exemplary embodiment of the present application, decelerating the vertical flying speed of the drone includes: determining a vertical speed expected change value through the vertical flying speed and a vertical speed preset threshold; and determining the vertical flying speed of the unmanned aerial vehicle through the expected vertical speed change value.
In an exemplary embodiment of the present application, determining the route of the drone includes: and determining the route of the unmanned aerial vehicle through historical waypoint data.
In an exemplary embodiment of the present application, determining the route of the drone from historical waypoint data comprises: acquiring first waypoint data, second waypoint data and third waypoint data in historical waypoint data; and determining the route according to the current position of the unmanned aerial vehicle, the first waypoint data, the second waypoint data and the third waypoint data.
In an exemplary embodiment of the present application, determining the route from the current position of the drone and the first, second, and third waypoint data comprises: determining a first distance from the current position of the drone and the second waypoint data; determining a first vector from the first waypoint data and the second waypoint data; determining a route inclination angle according to the relation between the first vector and the vertical direction; and updating the first waypoint data through the first distance and the route inclination angle.
In an exemplary embodiment of the present application, updating the first waypoint data by the first distance, the course inclination angle, and the like includes: and updating the first waypoint data according to the relation between the first distance and the distance threshold.
In an exemplary embodiment of the present application, updating the first waypoint data by the first distance, the course inclination angle, and the like includes: and updating the first waypoint data according to the relation between the route inclination angle and the inclination angle threshold.
According to a second aspect of the embodiments of the present application, there is provided an unmanned aerial vehicle control apparatus, the apparatus including: the command module is used for receiving a command for switching the unmanned aerial vehicle from the manual flight mode to the automatic flight mode; the speed module is used for adjusting the real-time flying speed of the unmanned aerial vehicle to be within a preset flying speed threshold; a route module for determining a route of the drone; and the automatic flight module is used for the unmanned aerial vehicle to automatically fly with the air route according to the adjusted real-time flight speed.
According to a third aspect of embodiments of the present application, an electronic device is provided, which includes: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the drone control method of any of the above.
According to a fourth aspect of embodiments of the present application, a computer-readable medium is provided, on which a computer program is stored, wherein the program, when executed by a processor, implements the drone control method according to any one of the above.
According to the unmanned aerial vehicle control method, the unmanned aerial vehicle control device, the electronic equipment and the computer readable medium, the problem of poor stability caused by sudden change of the attitude angle and the sudden change of the speed expectation when the manual mode of the unmanned aerial vehicle is switched to the automatic mode can be solved, and the flexibility of the air route is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. The drawings described below are only some embodiments of the present application, and other drawings may be derived from those drawings by those skilled in the art without inventive effort.
Fig. 1 is a system block diagram illustrating a method and apparatus for controlling a drone, according to an example embodiment.
Fig. 2 is a flow chart illustrating a drone controlling method according to an example embodiment.
Fig. 3 is a flow chart illustrating a drone controlling method according to an example embodiment.
Fig. 4 is a flow chart illustrating a drone controlling method according to an example embodiment.
Fig. 5 is a flow chart illustrating a drone controlling method according to an example embodiment.
Fig. 6 is a block diagram illustrating a drone control device according to an example embodiment.
FIG. 7 is a block diagram illustrating an electronic device for unmanned aerial vehicle control in accordance with an exemplary embodiment.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
The drawings are merely schematic illustrations of the present invention, in which the same reference numerals denote the same or similar parts, and thus, a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and steps, nor do they necessarily have to be performed in the order described. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings.
Fig. 1 is a system block diagram illustrating a method and apparatus for controlling a drone, according to an example embodiment.
The server 105 may be a server providing various services, such as a background management server (for example only) providing support for a drone control system operated by a user with the terminal devices 101, 102, 103. The background management server may analyze and perform other processing on the received data such as the unmanned aerial vehicle control request, and feed back a processing result (for example, a specific speed adjustment value of the unmanned aerial vehicle, a waypoint coordinate — only an example) to the terminal device.
The server 105 may, for example, receive an instruction to switch the drone from the manual flight mode to the automatic flight mode; the server 105 may, for example, adjust the real-time airspeed of the drone to within a predetermined airspeed threshold; the server 105 may, for example, determine the route of the drone. The server 105 may, for example, cause the drone to automatically fly with the airline at the adjusted real-time flight speed.
The server 105 may be a server of one entity, and may also be composed of a plurality of servers, for example, a part of the server 105 may be, for example, used as an instruction receiving system of the drone in the present application, and is configured to obtain an instruction for a user to switch the drone from the manual flight mode to the automatic flight mode; and a portion of the server 105 may also be used, for example, as a drone control system in the present application, for adjusting the real-time flight speed of the drone to within a predetermined flight speed threshold; determining a route of the unmanned aerial vehicle; and the unmanned aerial vehicle automatically flies with the air route according to the adjusted real-time flying speed.
It should be noted that the drone control method provided by the embodiment of the present application may be executed by the server 105, and accordingly, the drone control device may be provided in the server 105. And the requesting end provided to the user for sending instructions is typically located in the terminal equipment 101, 102, 103.
Fig. 2 is a flow chart illustrating a drone controlling method according to an example embodiment. According to the unmanned aerial vehicle control method shown in fig. 2, the problem of poor stability caused by sudden change of the attitude angle and sudden change of the expected speed when the manual mode of the unmanned aerial vehicle is switched to the automatic mode can be solved, and the flexibility of the air route is improved.
Next, with reference to fig. 2, a method of controlling an unmanned aerial vehicle in an exemplary embodiment of the present application will be described.
In step S210, an instruction to switch the drone from the manual flight mode to the automatic flight mode is received. In which, in some special cases, a switching between automatic and manual modes is required. For example, in an emergency situation, in the autonomous return process of the logistics unmanned aerial vehicle, if an obstacle exists in a temporary route of the autonomous return, the unmanned aerial vehicle without the obstacle avoidance function needs to be switched to a manual mode first, and after the unmanned aerial vehicle is controlled manually to bypass the obstacle, the unmanned aerial vehicle is switched to an automatic mode to continue flying according to the route.
In step S220, the real-time flying speed of the drone is adjusted to within a predetermined flying speed threshold. Wherein, because probably still have the speed allowance under manual mode, when the moment of switching to automatic mode, when the speed under manual mode switches to the default speed under the automatic mode, the speed sudden change appears easily, makes unmanned aerial vehicle produce great attitude angle. Furthermore, in the case where the speed desire plan relates to the position of the drone in the airline, when switching from the manual mode to the automatic mode, the speed desire is greater since the drone position is not at the initial position of the airline, also causing the drone to produce a greater attitude angle.
According to an example embodiment, step S220 may include: and carrying out deceleration processing on the unmanned aerial vehicle until the real-time flying speed meets a preset flying speed threshold. Aiming at the problem of large attitude angle, the real-time speed of the unmanned aerial vehicle can be decelerated, so that the flying speed of the unmanned aerial vehicle is smaller than a threshold speed; a control algorithm that slopes the desired speed limit may also be added, for example, in the deceleration control logic.
According to an example embodiment, the decelerating the unmanned aerial vehicle may include: carrying out deceleration processing on the horizontal flying speed of the unmanned aerial vehicle; and carrying out deceleration processing on the vertical flying speed of the unmanned aerial vehicle. The real-time speed of the unmanned aerial vehicle is decomposed into a horizontal speed and a vertical speed, but the invention is not limited to this, and other decomposition methods can be adopted, or decomposition is not carried out.
According to an example embodiment, decelerating the horizontal flying speed of the drone comprises: determining a horizontal speed expected change value through the horizontal flying speed and a horizontal speed preset threshold; and determining the horizontal flying speed of the unmanned aerial vehicle through the expected change value of the horizontal speed. For example, when it is judged that the horizontal flying velocity is greater than the horizontal velocity by a predetermined threshold vhmIn time, the horizontal direction speed of the unmanned aerial vehicle is considered to be too high, and the expected speed change value is calculated
(i.e., acceleration):
where dt is the step of the time period,
for the desired value of the horizontal airspeed at time i,
the horizontal airspeed at time i-1. Judging again
Wherein, ahmWhen the above formula is satisfied, the speed expectation is considered to be larger, and in order to avoid causing a larger attitude angle, the speed expectation value can be adjusted:
According to an example embodiment, decelerating the vertical flying speed of the drone comprises: determining a vertical speed expected change value through the vertical flying speed and a vertical speed preset threshold; and determining the vertical flying speed of the unmanned aerial vehicle through the expected vertical speed change value. For example, when it is determined that the vertical flying speed is greater than the vertical flying speed threshold vzmIn time, the speed of the unmanned aerial vehicle in the vertical direction is considered to be too high, and the expected speed change value is calculated
(i.e., acceleration):
where dt is the time step.
For the desired value of the vertical airspeed at time i,
is the vertical airspeed at time i-1. Judging again
Wherein, azmFor the vertical speed expectation change value threshold, when the above formula is satisfied, the speed expectation is considered to be larger, and for avoiding causing a larger attitude angle, the speed expectation value can be adjusted:
In step S230, the route of the drone is determined. According to an example embodiment, step S230 may include: and determining the route of the unmanned aerial vehicle through historical waypoint data. In the automatic mode, the air route of the unmanned aerial vehicle is determined by the waypoint, and the unmanned aerial vehicle completes the flight task according to the air route planned by the waypoint. For example, when the drone switches from manual mode to automatic mode, the last waypoint data recorded before switching to manual mode may be acquired.
According to an example embodiment, determining the route of the drone from historical waypoint data may include: acquiring first waypoint data, second waypoint data and third waypoint data in historical waypoint data; and determining the route according to the current position of the unmanned aerial vehicle, the first waypoint data, the second waypoint data and the third waypoint data. The first waypoint data may be a previous waypoint, the second waypoint data may be a current waypoint, and the third waypoint data may be a next waypoint.
According to an example embodiment, determining the route from the current position of the drone and the first, second, and third waypoint data may include: determining a first distance from the current position of the drone and the second waypoint data; by the saidDetermining a first vector from the first waypoint data and the second waypoint data; determining a route inclination angle according to the relation between the first vector and the vertical direction; and updating the first waypoint data through the first distance and the route inclination angle. For example, there is a first waypoint A (x)1，y1，z1) A second waypoint B (x)2，y2，z2) A third waypoint C (x)3，y3，z3) With the current position P (x) of the unmanned planep，yp，zp). The first distance may be a horizontal distance between the current position P of the drone and the second waypoint B
The first vector may be a vector
According to an example embodiment, updating the first waypoint data by the first distance, course inclination angle may include: and updating the first waypoint data according to the relation between the first distance and the distance threshold. For example, when d ≦ dmWhen, let x1＝xp，y1＝yp，z1＝zpWherein d ismIs a distance threshold; when d > dmThen let x1＝xp，y1＝yp，z1＝z2. It should be understood that the technical solution of the present invention is not limited thereto, and the current position of the unmanned aerial vehicle may be directly assigned to the first waypoint data without performing the above condition judgment, so as to complete the update.
According to an example embodiment, updating the first waypoint data by the first distance, course inclination angle may include: and updating the first waypoint data according to the relation between the route inclination angle and the inclination angle threshold. For example, a vector may be calculated
And the vertical direction unitVector quantity
(0,0,1) angle α, when sin α is less than the tilt angle threshold, let x be1＝x2，y1＝y2，z1＝zp。
In step S240, the drone automatically flies with the airline according to the adjusted real-time flight speed.
According to the unmanned aerial vehicle control method, the problem of poor stability caused by sudden change of the attitude angle and the sudden change of the speed expectation when the manual mode of the unmanned aerial vehicle is switched to the automatic mode can be solved by adjusting the real-time flight speed and the air route of the unmanned aerial vehicle, and the flexibility of the air route is improved.
Fig. 3 is a flow chart illustrating a drone controlling method according to an example embodiment. Referring to fig. 3, the drone controlling method may include:
step S310, determining a first distance through the current position of the unmanned aerial vehicle and the second waypoint data. Wherein the first waypoint A (x) is known1，y1，z1) A second waypoint B (x)2，y2，z2) A third waypoint C (x)3，y3，z3) With the current position P (x) of the unmanned planep，yp，zp). The first distance may be a horizontal distance between the current position P of the drone and the second waypoint B
In step S320, a first vector is determined according to the first waypoint data and the second waypoint data. As previously mentioned, the first vector may be a vector
And step S330, determining the inclination angle of the air route according to the relation between the first vector and the vertical direction. For example, the tilt angle may be a vector
Unit vector of vertical direction
Angle α.
Step S340, updating the first waypoint data through the first distance and the route inclination angle. For example, when d ≦ dmWhen, let x1＝xp，y1＝yp，z1＝zpWherein d ismIs a distance threshold; when d > dmThen let x1＝xp，y1＝yp，z1＝z2For another example, let x be when sin α is less than the tilt angle threshold1＝x2，y1＝y2，z1＝zp。
Fig. 4 is a flow chart illustrating a drone controlling method according to an example embodiment. Referring to fig. 4, the drone controlling method may include:
in step S410, the horizontal velocity expectation and the current horizontal velocity expectation are initialized. Wherein the speed in the horizontal direction at the moment of switching is, the initial value of the horizontal speed
Current horizontal velocity expectation
Step S420, according to the horizontal velocity and the horizontal velocity threshold value vhmAcceleration threshold ahmAn expected change value of the horizontal velocity is determined. For example, vhmCan take values of 0.1 m/s-1.0 m/s and acceleration threshold ahmCan take a value of 0.1m/s2—5.0m/s2The present invention is not particularly limited in this regard. Wherein, if
Calculating the expected rate of change of speed:
If it is not
In step S430, a vertical direction velocity expectation and a current vertical horizontal velocity expectation are initialized. Wherein the velocity in the vertical direction at the moment of switching is
Initial value of vertical velocity
Current horizontal velocity expectation
Step S440, according to the vertical velocity and the vertical velocity threshold value vzmAcceleration threshold azmAn expected change in vertical velocity is determined. For example, vzmCan take values of 0.1 m/s-1.0 m/s and acceleration threshold azmCan take a value of 0.1m/s2—5.0m/s2The present invention is not particularly limited in this regard. Wherein, if
Calculating speedDesired rate of change:
If it is not
Wherein, ahmAnd azmNot necessarily constant, and may vary with changes in drone speed or time.
Step S450, i + +, repeating steps S410-S440 until
And ending the flow.
Fig. 5 is a flow chart illustrating a drone controlling method according to an example embodiment. Referring to fig. 5, the drone controlling method may include:
step S510, reading the waypoint file, and acquiring three waypoints before the automatic mode is switched to the manual mode. Wherein, three waypoints can be respectively expressed as: last waypoint A (x)1，y1，z1) Current waypoint B (x)2，y2，z2) Next waypoint C (x)3，y3，z3)。
Step S520, calculating the horizontal distance between the current position of the unmanned aerial vehicle and the current waypointAnd (5) separating. For example, the drone current position P (x)p，yp，zp) The horizontal distance d from the current waypoint B may be expressed as
Step S530, calculating the lane inclination angle. For example, a vector is derived from A, B coordinates
Further obtain the unit vector of the course and the vertical direction
Angle of (2)
Step S540, according to the horizontal distance threshold dmAnd resetting the last waypoint coordinate. Wherein d ismFor example, the value may be 0.5m to 2m, but the present invention is not limited thereto. If d is less than or equal to dmThen let x1＝xp，y1＝yp，z1＝zp(ii) a If d > dmThen let x1＝xp，y1＝yp，z1＝z2。
In step S550, it is determined whether the vertical lane is a vertical lane, for example, a lane direction vertical inclination angle determination criterion v ═ sin (α) is calculated, and the vertical direction determination threshold v is a vertical lanem(e.g., 0.1m/s to 0.5 m/s). If v is less than or equal to vmIf the original route is nearly vertical, let x1＝x2，y1＝y2，z1＝zp。
According to an example embodiment, one or more of steps S520, S530, S540, and S550 may be omitted, and the current position coordinates of the drone may be directly assigned to the last waypoint.
According to the unmanned aerial vehicle control method, the problems of poor stability caused by sudden change of attitude angle and sudden change of speed expectation when the manual mode of the unmanned aerial vehicle is switched to the automatic mode can be solved by carrying out speed limiting processing on the flight speed of the unmanned aerial vehicle, adjusting the expected speed value and updating the waypoint data, and the flexibility of the air route is improved. In conclusion, when the unmanned aerial vehicle control method is switched from the manual mode to the automatic mode, firstly, the speed is reduced to a control strategy that the speed is smaller than the threshold value, then slope amplitude limiting is carried out on the speed expectation, and after the mode is switched, the last waypoint is reset according to different judgment conditions such as the air route direction and the current position of the unmanned aerial vehicle, so that the safety and the stability of the unmanned aerial vehicle during the mode switching can be improved.
Fig. 6 is a block diagram illustrating a drone control device according to an example embodiment. Referring to fig. 6, the drone controlling device may include: a command module 610, a speed module 620, a course module 630, and an auto-flight module 640.
In the drone controlling device, the instruction module 610 is configured to receive an instruction to switch the drone from the manual flight mode to the automatic flight mode. In which, in some special cases, a switching between automatic and manual modes is required. For example, in an emergency situation, in the autonomous return process of the logistics unmanned aerial vehicle, if an obstacle exists in a temporary route of the autonomous return, the unmanned aerial vehicle without the obstacle avoidance function needs to be switched to a manual mode first, and after the unmanned aerial vehicle is controlled manually to bypass the obstacle, the unmanned aerial vehicle is switched to an automatic mode to continue flying according to the route.
The speed module 620 is configured to adjust the real-time airspeed of the drone to within a predetermined airspeed threshold. Wherein, because probably still have the speed allowance under manual mode, when the moment of switching to automatic mode, when the speed under manual mode switches to the default speed under the automatic mode, the speed sudden change appears easily, makes unmanned aerial vehicle produce great attitude angle. Furthermore, in the case where the speed desire plan relates to the position of the drone in the airline, when switching from the manual mode to the automatic mode, the speed desire is greater since the drone position is not at the initial position of the airline, also causing the drone to produce a greater attitude angle.
The route module 630 is used to determine a route for the drone. Wherein, when the unmanned aerial vehicle switches from manual mode to automatic mode, can reset its airline. For example, when the drone switches from the manual mode to the automatic mode, waypoint data last recorded before switching to the manual mode may be acquired, and the route of the drone may be confirmed according to the current position.
The automatic flight module 640 is configured to enable the unmanned aerial vehicle to automatically fly along the route according to the adjusted real-time flight speed.
According to the unmanned aerial vehicle controlling means that this application provided, through carrying out the speed limit to unmanned aerial vehicle airspeed and handling, adjust speed expectation to and update waypoint data, when can improving unmanned aerial vehicle manual mode and switching to automatic mode, the relatively poor problem of stability that attitude angle sudden change, speed expectation sudden change caused, and improve the airline flexibility. In conclusion, when the unmanned aerial vehicle control device is switched from the manual mode to the automatic mode, firstly, the speed is reduced to a control strategy that the speed is smaller than a threshold value, then slope amplitude limiting is carried out on the speed expectation, after the mode switching, the last waypoint is reset according to different judgment conditions such as the air route direction and the current position of the unmanned aerial vehicle, and the safety and the stability of the unmanned aerial vehicle during the mode switching can be improved.
FIG. 7 is a block diagram illustrating an electronic device for unmanned aerial vehicle control in accordance with an exemplary embodiment.
An electronic device 900 according to this embodiment of the present application is described below with reference to fig. 7. The electronic device 700 shown in fig. 7 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. For example, the central processing unit 701 may perform the steps as shown in one or more of fig. 2, 3, 4, 5.
In the RAM 703, various programs and data required for the operation of the system, such as waypoint data, horizontal speed threshold values, vertical speed threshold values, and the like, are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a touch screen, a keyboard, and the like; an output section 707 including a display such as a Liquid Crystal Display (LCD) and a speaker; a storage section 708 including a flash memory or the like; and a communication section 709 including such as a wireless network card, a high-speed network card, and the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a semiconductor memory, a magnetic disk, or the like, is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution of the embodiment of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computing device (which may be a personal computer, a server, a mobile terminal, or a smart device, etc.) to execute the method according to the embodiment of the present invention, such as the steps shown in one or more of fig. 2, fig. 3, fig. 4, and fig. 5.
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the details of construction, arrangement of drawings, or method of implementation, which have been set forth herein, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (13)
1. An unmanned aerial vehicle control method, comprising:
receiving an instruction for switching the unmanned aerial vehicle from a manual flight mode to an automatic flight mode;
adjusting the real-time flying speed of the unmanned aerial vehicle to be within a preset flying speed threshold;
determining a route of the unmanned aerial vehicle; and
and the unmanned aerial vehicle automatically flies with the air route according to the adjusted real-time flying speed.
2. The method of claim 1, wherein adjusting the real-time airspeed of the drone to a predetermined airspeed comprises:
and carrying out deceleration processing on the unmanned aerial vehicle until the real-time flying speed meets a preset flying speed threshold.
3. The method of claim 2, wherein decelerating the drone comprises:
carrying out deceleration processing on the horizontal flying speed of the unmanned aerial vehicle; and
and carrying out deceleration processing on the vertical flying speed of the unmanned aerial vehicle.
4. The method of claim 3, wherein decelerating the horizontal flying speed of the drone comprises:
determining a horizontal speed expected change value through the horizontal flying speed and a horizontal speed preset threshold; and
and determining the horizontal flying speed of the unmanned aerial vehicle through the expected change value of the horizontal speed.
5. The method of claim 3, wherein decelerating the vertical flight speed of the drone comprises:
determining a vertical speed expected change value through the vertical flying speed and a vertical speed preset threshold; and
and determining the vertical flying speed of the unmanned aerial vehicle through the expected vertical speed change value.
6. The method of claim 1, wherein determining the course of the drone comprises:
and determining the route of the unmanned aerial vehicle through historical waypoint data.
7. The method of claim 6, wherein determining the route of the drone through historical waypoint data comprises:
acquiring first waypoint data, second waypoint data and third waypoint data in historical waypoint data; and
determining the route according to the current position of the unmanned aerial vehicle, the first waypoint data, the second waypoint data and the third waypoint data.
8. The method of claim 7, wherein determining the route from the current location of the drone and the first, second, and third waypoint data comprises:
determining a first distance from the current position of the drone and the second waypoint data;
determining a first vector from the first waypoint data and the second waypoint data;
determining a route inclination angle according to the relation between the first vector and the vertical direction; and
and updating the first waypoint data through the first distance and the route inclination angle.
9. The method of claim 8, wherein updating the first waypoint data by the first distance, the course inclination angle, and the like comprises:
and updating the first waypoint data according to the relation between the first distance and the distance threshold.
10. The method of claim 8, wherein updating the first waypoint data by the first distance, the course inclination angle, and the like comprises:
and updating the first waypoint data according to the relation between the route inclination angle and the inclination angle threshold.
11. An unmanned aerial vehicle controlling means, its characterized in that includes:
the command module is used for receiving a command for switching the unmanned aerial vehicle from the manual flight mode to the automatic flight mode;
the speed module is used for adjusting the real-time flying speed of the unmanned aerial vehicle to be within a preset flying speed threshold;
a route module for determining a route of the drone; and
and the automatic flight module is used for the unmanned aerial vehicle to automatically fly with the air route according to the adjusted real-time flight speed.
12. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-10.
13. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-10.
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