CN112558635A - Unmanned aerial vehicle automatic driving method and system - Google Patents
Unmanned aerial vehicle automatic driving method and system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The utility model relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle automatic driving method, which comprises the following steps: detecting the distance of the sight line of the unmanned aerial vehicle; determining whether the distance reached by the line of sight is below a certain threshold distance; in the event that the distance reached by the line of sight is below the threshold distance: receiving information about other drones within the threshold distance of the drone; automatically controlling the driving of the drone based on the information. The present disclosure still relates to an unmanned aerial vehicle autopilot system, include: one or more drones, which perform the above method; a radio station that plays information related to visibility based on the location of the one or more drones.
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle autopilot.
Background
Unmanned Aerial Vehicles (UAVs) are a short form of powered, unmanned, reusable aircraft. Due to the characteristics of low cost, light weight, small volume, strong adaptability and flexibility, the device is more and more widely applied in various fields of military and national economy and is highly valued by various countries all over the world. The performance of the unmanned aerial vehicle flight control system has great influence on the flight control of the unmanned aerial vehicle.
Present unmanned aerial vehicle possesses various supplementary or automatic systems in order to improve efficiency and security. One typical system is a track maintenance assistance system. The system provides support for maintaining the track while driving, and a camera is used for identifying the marking line of the driving track. If the drone approaches the identified marking line and may leave the track, intervention is made by the auxiliary control system. Another typical assistance system is a drone autopilot assistance system. The system provides anti-shake camera shooting, the image is clearer, and all hardware and connectors in the machine are subjected to anti-vibration and reinforcement processing to meet the requirement of the moving working condition of the machine. Professional antidetonation structural design provides superstrong buffering and shock resistance protection to the machine, combines electron antidetonation and software antidetonation technique, effectively solves unmanned aerial vehicle's impact and vibrations problem. The video adopts a modified MJPEG + compression format, is high in definition and supports the recording speed of 30 FPS. The video file can be displayed in real time by connecting a DVD, a navigator and an independent display. In the driving process, the system is convenient to control, and can automatically switch required pictures according to the driving state (for example, when the vehicle turns right, the LCD display image only displays the picture recorded by the right camera). It is also possible to force the switching of the screen.
However, the above-mentioned auxiliary systems are still not sufficiently safe in the face of severe weather, and cannot provide more safe and effective assistance. With the progress of 4G, 5G, and the like, it is possible to provide more useful information to the drone assisted steering system, thereby improving the performance of the drone assisted steering system.
The present disclosure is directed to, but is not limited to, the above deficiencies of existing systems.
Disclosure of Invention
According to a first aspect of the present disclosure, there is provided an unmanned aerial vehicle autopilot method, including: detecting the distance of the sight line of the unmanned aerial vehicle; determining whether the distance reached by the line of sight is below a certain threshold distance; in the event that the distance reached by the line of sight is below the threshold distance: receiving information about other drones within the threshold distance of the drone; assisting or automatically controlling the driving of the drone based on the information.
According to a specific embodiment of the present disclosure, detecting the distance reached by the line of sight comprises at least one of: detecting visibility through an onboard sensor of the unmanned aerial vehicle; determining visibility by receiving information from a radio station by an on-board radio; receiving distance information of sight lines from other unmanned aerial vehicles around the unmanned aerial vehicle; when the unmanned aerial vehicle is determined to turn, detecting the distance of the sight line of the track to be turned; or determining the distance covered by the sight line based on the height of the track where the unmanned aerial vehicle is located.
According to a particular embodiment of the present disclosure, determining the distance to the line of sight based on the height of the track on which the drone is located comprises: determining that a distance at which the drone is in line of sight is reduced due to reduced visibility when the drone is in inclement weather, and wherein the received information about other drones includes information about drones in the same surrounding environment.
According to a particular embodiment of the present disclosure, the threshold distance is predetermined.
According to a particular embodiment of the present disclosure, the threshold distance is dynamically determined according to the current flying speed.
According to a particular embodiment of the present disclosure, the received information relating to other drones includes at least one of: flight speed, position, direction of travel, shared track of other unmanned aerial vehicles.
According to a particular embodiment of the present disclosure, the secondary control comprises displaying a map on an onboard display, the map comprising a dynamic display of the drone and the other drones.
According to a specific embodiment of the present disclosure, the auxiliary control comprises providing instructions to a driver of the drone, the instructions comprising acceleration, deceleration, lane change, landing.
According to a particular embodiment of the present disclosure, the instruction is issued by the control system.
According to a specific embodiment of the present disclosure, the automatically controlling comprises automatically controlling the drone to accelerate, decelerate, lane change, or land based on the information.
According to a second aspect of the present disclosure, there is provided an unmanned aerial vehicle autopilot system, comprising: one or more drones performing a method according to the first aspect of the present disclosure; a radio station that plays information related to visibility based on the location of the one or more drones.
The foregoing has outlined rather broadly the features and technical advantages of an example in accordance with the present disclosure in order that the detailed description that follows may be better understood. Additional features and advantages will be described hereinafter. The conception and specific examples disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. Such equivalent constructions do not depart from the scope of the appended claims.
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A further understanding of the nature and advantages of the present disclosure may be realized by reference to the following drawings. In the drawings, similar components or features may have the same reference numerals. Further, various components of the same type may be distinguished by following the reference label by a dash and a second label that distinguishes among the similar components. If only the first reference label is used in the specification, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label.
Fig. 1 is an illustrative flow diagram of a method of drone autopilot according to an embodiment of the invention;
fig. 2 is an illustrative schematic diagram of an unmanned aerial vehicle autopilot system according to an embodiment of the invention.
Detailed Description
Currently, the unmanned aerial vehicle industry is developing rapidly, but the accident rate is also increasing thereupon, especially in bad weather (e.g., proruption group fog, long-pending rain cloud, the produced smoke and dust of burning, etc.), unmanned aerial vehicle is receiving when turning to the sight and is sheltered from, and the time is still not safe enough. Traffic accidents due to the above-mentioned bad or sudden situations occur occasionally, and the existing onboard systems cannot effectively solve the above-mentioned problems. Therefore, the invention provides a favorable unmanned aerial vehicle automatic driving method and system, solves the problems and improves the flight safety.
Embodiments of the present disclosure are now described with reference to the drawings.
Referring now to fig. 1, an illustrative flow diagram of a drone autopilot method 100 is shown in accordance with an embodiment of the present invention. In one example, method 100 may be performed by an onboard assist or autopilot system. In another example, the method 100 may be performed by a mobile computing device, such as a smartphone. In yet another example, method 100 may be performed by a mobile computing device in conjunction with an onboard assistance or autopilot system. Those skilled in the art will appreciate that any suitable computing device may perform method 100.
At step 101, the method 100 includes detecting a distance reached by a line of sight of the drone. In an embodiment, detecting the distance of sight comprises detecting visibility by an onboard sensor of the drone. In another embodiment, detecting the distance to the line of sight includes determining visibility by receiving information from the radio station via an onboard radio.
In yet another embodiment, detecting the range of sight includes by receiving range of sight information from other drones around the drone. For example, a drone may receive line-of-sight and distance information from other drones within a certain distance (e.g., hundreds of meters) from the drone, which may be drones ahead, behind, and/or to the sides of the direction of travel of the drone. In this embodiment, the drone may also receive distance information from the drone for sight lines of other drones greater than the first distance and less than the second distance. For example, information from other drones traveling alongside the drone may not be received, as this information may be of no value (the present drone itself may also detect this information if it has the corresponding capabilities). Thus, the sight line and distance information of the unmanned aerial vehicle which is too close to the unmanned aerial vehicle can be ignored, and data traffic and bandwidth are saved. In this embodiment, this distance may also be determined based on safe driving distance.
In yet another embodiment, detecting the range of sight includes determining the range of sight based on the height of the track on which the drone is located. In this embodiment, when unmanned aerial vehicle is in adverse circumstances, information etc. in this environment are invisible to this unmanned aerial vehicle, and the sight of unmanned aerial vehicle reaches the distance and reduces because of receiving environmental factor interference promptly. As such, in one embodiment, information regarding drones in the surrounding co-environment may be received.
At step 102, the method 100 includes determining whether the distance reached by the line of sight is below some threshold distance. In one embodiment, the threshold distance is predetermined, such as hundreds of meters. In another embodiment, the threshold distance is dynamically determined based on the current airspeed. For example, where the flight speed is fast, the threshold distance may be large, thereby ensuring that the ground radio station is provided with the corresponding information with sufficient advance to assist in driving.
At step 103, the method 100 includes, in the event that the distance reached by the line of sight is below a threshold distance: information about other drones within the threshold distance of a drone is received, and driving of the drone is assisted or automatically controlled based on the information.
In an embodiment, the received information about other drones includes at least one of: flight speed, position, direction of travel, shared track of other unmanned aerial vehicles.
In an embodiment, the other drones share information about their flight speed, position, direction of travel, occupied track, etc. through LTE-direct. For example, the drone is within a neighborhood aware network formed by LTE direct with the other drones and exchanges information over the network. In an alternative embodiment, the drones exchange information over a cellular network. After the drone receives information from other drones, the information is processed by the onboard computer and displayed on an onboard map. In one embodiment, the drone continuously receives information shared by other drones and dynamically updates the onboard map based on this information.
In another embodiment, in establishing a wireless connection with other drones within a threshold distance, it may first be determined whether the other drones are in a track or location that does not affect the travel of the own drone, and if so, forgo establishing the wireless connection, thereby eliminating the need to receive information from the other drones in order to save data traffic and reduce energy consumption.
In an embodiment, the secondary control comprises displaying a map on the on-board display, the map comprising a dynamic display of the drone and the other drone.
In another embodiment, the auxiliary control includes issuing instructions to the drone control system, the instructions including acceleration, deceleration, lane change, landing. For example, in the case where the information from the leading drone indicates that the leading drone is decelerating, the auxiliary control may issue an instruction to the controller to decelerate at or above the deceleration of the leading drone to prevent a rear-end collision.
In an embodiment, instead of issuing instructions to the controller, the above instructions may be automatically executed by the drone, so that the driving of the drone is automatically controlled.
Referring next to fig. 2, a drone assisted or autopilot system 200 is shown. As can be seen in fig. 2, system 200 includes a plurality of drones and a radio station. The ellipses in fig. 2 indicate that there may be any number of drones in the system. In this embodiment, the first drone, the second drone, … …, the nth drone all perform the example method 100 illustrated in fig. 1. In addition, the radio station in fig. 2 broadcasts information to the drones about visibility based on the positions of the drones.
As used herein, the phrase "based on" should not be read as referring to a closed condition set. For example, an exemplary step described as "based on condition a" may be based on both condition a and condition B without departing from the scope of the present disclosure. In other words, as used herein, the phrase "based on" should be interpreted in the same manner as the phrase "based at least in part on".
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. The terms "example" or "exemplary" throughout this disclosure indicate an example or instance and do not imply or require any preference for the mentioned example. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned aerial vehicle autopilot method, comprising:
detecting the distance of the sight line of the unmanned aerial vehicle;
determining whether the distance reached by the line of sight is below a certain threshold distance;
in the event that the distance reached by the line of sight is below the threshold distance:
receiving information about other drones within the threshold distance of the drone;
assisting or automatically controlling the driving of the drone based on the information.
2. The method of claim 1, wherein detecting the distance reached by the line of sight comprises at least one of:
detecting visibility through an onboard sensor of the unmanned aerial vehicle;
determining visibility by receiving information from a radio station by an on-board radio;
receiving distance information of sight lines from other unmanned aerial vehicles around the unmanned aerial vehicle;
when the unmanned aerial vehicle is determined to turn, detecting the distance of the sight line of the track to be turned; or
Determining a distance to a line of sight based on a height of a track on which the drone is located.
3. The method of claim 2, wherein determining a distance to a line of sight based on a height of a track on which the drone is located comprises: determining that a distance covered by a line of sight of the drone is reduced due to reduced visibility when the drone is in a hostile meteorological environment, and wherein the received information relating to other drones includes information relating to drones of tracks in the same environment.
4. The method of claim 1, wherein the threshold distance is predetermined.
5. The method of claim 1, wherein the threshold distance is dynamically determined based on a current airspeed.
6. The method of claim 1, wherein the received information related to other drones includes at least one of: flight speed, position, direction of travel, shared track of other unmanned aerial vehicles.
7. The method of claim 1, wherein the secondary control comprises displaying a map on an on-board display, the map comprising a dynamic display of the drone and the other drones.
8. The method of claim 1, wherein the secondary control comprises issuing instructions to a control program of the drone, the instructions comprising acceleration, deceleration, lane change, landing.
9. The method of claim 1, wherein the automatically controlling comprises automatically controlling the drone to accelerate, decelerate, change lanes, or land based on the information.
10. An unmanned aerial vehicle autopilot system comprising:
one or more drones performing the method of any one of claims 1-9;
a radio station that plays information related to visibility based on the location of the one or more drones.
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| CN202011448195.8A CN112558635A (en) | 2020-12-09 | 2020-12-09 | Unmanned aerial vehicle automatic driving method and system |
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| CN202011448195.8A CN112558635A (en) | 2020-12-09 | 2020-12-09 | Unmanned aerial vehicle automatic driving method and system |
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| CN108556848A (en) * | 2018-04-28 | 2018-09-21 | 李俊宏 | Vehicle assists or automatic Pilot method and system |
| CN108583579A (en) * | 2018-04-28 | 2018-09-28 | 李俊宏 | Vehicle assists or automatic Pilot method and system |
| CN111522357A (en) * | 2020-04-21 | 2020-08-11 | 广智微芯(扬州)有限公司 | Control method and system for unmanned aerial vehicle flight |
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2020
- 2020-12-09 CN CN202011448195.8A patent/CN112558635A/en active Pending
Patent Citations (6)
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| CN102582826A (en) * | 2011-01-06 | 2012-07-18 | 佛山市安尔康姆航拍科技有限公司 | Driving method and system of four-rotor-wing unmanned flight vehicle |
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| CN108556848A (en) * | 2018-04-28 | 2018-09-21 | 李俊宏 | Vehicle assists or automatic Pilot method and system |
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