CN112764430B - Unmanned aerial vehicle grounding judgment method and device, medium, electronic equipment and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle grounding judgment method and device, medium, electronic equipment and unmanned aerial vehicle Download PDFInfo
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Abstract
The utility model relates to an unmanned aerial vehicle ground connection judging method, device, medium, electronic equipment and unmanned aerial vehicle, the method includes: determining a current vertical distance between the unmanned aerial vehicle and an unmanned aerial vehicle landing point positioning platform, wherein the unmanned aerial vehicle landing point positioning platform is used for the unmanned aerial vehicle to identify a landing position and bear the unmanned aerial vehicle, the current vertical distance comprises a first current vertical distance and/or a second current vertical distance, the first current vertical distance is determined according to the current flight height of the unmanned aerial vehicle and the platform height of the unmanned aerial vehicle landing point positioning platform, and the second current vertical distance is determined according to current image information collected by the unmanned aerial vehicle and facing the unmanned aerial vehicle landing point positioning platform; determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance; and carrying out grounding judgment on the unmanned aerial vehicle according to the target to ground distance. The target ground distance is determined according to the current vertical distance between the unmanned aerial vehicle and the unmanned aerial vehicle landing point positioning platform, the problem that the ground height is inaccurate due to the external environment is avoided, and the accuracy of ground connection judgment is improved.
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle technologies, and in particular, to an unmanned aerial vehicle grounding determination method, apparatus, medium, electronic device, and unmanned aerial vehicle.
Background
Unmanned aerial vehicles refer to unmanned aircraft that are operated by radio remote control devices and self-contained program control devices. Unmanned aerial vehicle's development is very fast in recent years, because unmanned aerial vehicle has that the cost is relatively lower, advantages such as no casualties risk, mobility are good, convenient to use, unmanned aerial vehicle has very wide application prospect in fields such as aerial photography, geological survey, high tension transmission line tour, logistics distribution. Use logistics distribution scene as an example, can carry unmanned aerial vehicle with the article mount that the user bought on, carry out article delivery through unmanned aerial vehicle, use manpower sparingly, improve delivery efficiency to can realize contactless delivery.
The ground connection of unmanned aerial vehicle judges that unmanned aerial vehicle's ground connection is the very important link in the unmanned aerial vehicle landing process, under the general condition, can carry out landing control to unmanned aerial vehicle after judging unmanned aerial vehicle ground connection, for example the control screw stops rotatory, consequently ground connection judges that direct relation is to the action of stopping the oar, and wrong ground connection judges that probably leads to wrong action of stopping the oar. For example, if ground connection is misjudged in the high altitude, when meetting great upward resistance, like updraft, foreign matter striking, can lead to the air to shut down the oar, cause unmanned aerial vehicle's crash, if unmanned aerial vehicle has ground connection and misjudgment not ground connection, the phenomenon that the unmanned aerial vehicle turns on one's side even can appear not shutting down the oar after falling to the ground, brings the potential safety hazard to pedestrian and vehicle on every side, consequently, the accuracy that unmanned aerial vehicle ground connection judged is crucial.
Disclosure of Invention
The utility model aims at providing an unmanned aerial vehicle ground connection judgement method, device, medium, electronic equipment and unmanned aerial vehicle to improve unmanned aerial vehicle ground connection judgement's accuracy, improve unmanned aerial vehicle's degree of safety.
In order to achieve the above object, in a first aspect, the present disclosure provides a method for determining grounding of an unmanned aerial vehicle, the method including:
determining a current vertical distance between an unmanned aerial vehicle and an unmanned aerial vehicle landing point positioning platform, wherein the unmanned aerial vehicle landing point positioning platform is used for the unmanned aerial vehicle to identify a landing position and bear the unmanned aerial vehicle, the current vertical distance comprises a first current vertical distance and/or a second current vertical distance, the first current vertical distance is determined according to a current flight height of the unmanned aerial vehicle and a platform height of the unmanned aerial vehicle landing point positioning platform, and the second current vertical distance is determined according to current image information, collected by the unmanned aerial vehicle, facing the unmanned aerial vehicle landing point positioning platform;
determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance;
and carrying out grounding judgment on the unmanned aerial vehicle according to the target to ground distance.
Optionally, the method further comprises:
determining whether the unmanned aerial vehicle enters a final landing stage;
the ground connection is judged to the unmanned aerial vehicle according to the target ground distance, and the ground connection judgment comprises the following steps:
and under the condition that the unmanned aerial vehicle is determined to enter the final landing stage, carrying out grounding judgment on the unmanned aerial vehicle according to the target grounding distance.
Optionally, the determining whether the drone enters a final landing phase includes:
acquiring a horizontal distance between the unmanned aerial vehicle and a preset position of the unmanned aerial vehicle landing point positioning platform;
and under the conditions that the horizontal distance is smaller than a first preset distance threshold value and the current vertical distance is smaller than a second preset distance threshold value, determining that the unmanned aerial vehicle enters the final landing stage.
Optionally, the current vertical distance includes the first current vertical distance and the second current vertical distance;
the method further comprises the following steps:
acquiring a current space distance between the unmanned aerial vehicle and an object below the unmanned aerial vehicle, wherein the current space distance is detected by the unmanned aerial vehicle;
the determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance comprises:
and determining the target ground distance according to the first current vertical distance, the second current vertical distance and the current space distance.
Optionally, the determining the target ground distance according to the first current vertical distance, the second current vertical distance and the current spatial distance includes:
determining whether at least two distances exist in the first current vertical distance, the second current vertical distance and the current space distance, so that the absolute value of the difference between every two distances in the at least two distances is smaller than a first preset difference threshold;
and if so, determining the target ground distance according to the at least two distances, wherein the target ground distance is a weighted value of the at least two distances, or the target ground distance is any one of the at least two distances.
Optionally, the determining the target ground distance according to the first current vertical distance, the second current vertical distance and the current spatial distance includes:
determining a target current vertical distance according to the first current vertical distance and the second current vertical distance, wherein the target current vertical distance is a weighted value of the first current vertical distance and the second current vertical distance under the condition that a first absolute value of a difference value between the first current vertical distance and the second current vertical distance is smaller than a second preset difference threshold value, and the target current vertical distance is the first current vertical distance under the condition that the first absolute value is larger than or equal to the second preset difference threshold value;
and determining the target ground distance according to the target current vertical distance and the current space distance, wherein the target ground distance is a weighted value of the target current vertical distance and the current space distance under the condition that a second absolute value of a difference value between the target current vertical distance and the current space distance is smaller than a third preset difference threshold, and the target ground distance is the target current vertical distance under the condition that the second absolute value is larger than or equal to the third preset difference threshold.
Optionally, the method further comprises:
acquiring vertical upward vertical acceleration of the unmanned aerial vehicle;
the ground connection is judged to the unmanned aerial vehicle according to the target ground distance, and the ground connection judgment comprises the following steps:
and determining that the unmanned aerial vehicle is grounded under the condition that the target-to-ground distance is smaller than a third preset distance threshold value and the vertical acceleration is larger than a preset acceleration threshold value.
In a second aspect, the present disclosure provides an unmanned aerial vehicle grounding determination device, the device includes:
a vertical distance determination module configured to determine a current vertical distance between an unmanned aerial vehicle and an unmanned aerial vehicle landing location positioning platform, wherein the unmanned aerial vehicle landing location positioning platform is used for the unmanned aerial vehicle to identify a landing position and carry the unmanned aerial vehicle, the current vertical distance includes a first current vertical distance determined according to a current flying height of the unmanned aerial vehicle and a platform height of the unmanned aerial vehicle landing location positioning platform and/or a second current vertical distance determined according to current image information collected by the unmanned aerial vehicle toward the unmanned aerial vehicle landing location positioning platform;
a ground distance determination module configured to determine a target ground distance of the drone according to the current vertical distance;
a ground determination module configured to perform a ground determination on the drone according to the target-to-ground distance.
Optionally, the apparatus further comprises:
a phase determination module configured to determine whether the drone enters a final landing phase;
the grounding determination module is configured to: and under the condition that the unmanned aerial vehicle is determined to enter the final landing stage, carrying out grounding judgment on the unmanned aerial vehicle according to the target grounding distance.
Optionally, the stage determining module includes:
a horizontal distance acquisition sub-module configured to acquire a horizontal distance between the unmanned aerial vehicle and a preset position of the unmanned aerial vehicle landing location positioning platform;
a stage judgment submodule configured to determine that the unmanned aerial vehicle enters the final landing stage when the horizontal distance is smaller than a first preset distance threshold and the current vertical distance is smaller than a second preset distance threshold.
Optionally, the current vertical distance includes the first current vertical distance and the second current vertical distance;
the device further comprises:
a spatial distance acquisition module configured to acquire a current spatial distance between the drone and an object below the drone detected by the drone;
the ground distance determination module comprises:
a ground distance determination submodule configured to determine the target ground distance from the first current vertical distance, the second current vertical distance, and the current spatial distance.
Optionally, the ground distance determination submodule includes:
a first determining submodule configured to determine whether there are at least two of the first current vertical distance, the second current vertical distance, and the current spatial distance such that an absolute value of a difference between each two of the at least two distances is less than a first preset difference threshold;
a second determining submodule configured to determine, if any, the target ground distance according to the at least two distances, wherein the target ground distance is a weighted value of the at least two distances, or the target ground distance is any one of the at least two distances.
Optionally, the ground distance determination submodule includes:
a third determining submodule configured to determine a target current vertical distance according to the first current vertical distance and the second current vertical distance, wherein the target current vertical distance is a weighted value of the first current vertical distance and the second current vertical distance in a case that a first absolute value of a difference between the first current vertical distance and the second current vertical distance is smaller than a second preset difference threshold, and the target current vertical distance is the first current vertical distance in a case that the first absolute value is greater than or equal to the second preset difference threshold;
a fourth determining submodule configured to determine the target ground distance according to the target current vertical distance and the current spatial distance, wherein the target ground distance is a weighted value of the target current vertical distance and the current spatial distance in a case where a second absolute value of a difference between the target current vertical distance and the current spatial distance is smaller than a third preset difference threshold, and the target ground distance is the target current vertical distance in a case where the second absolute value is greater than or equal to the third preset difference threshold.
Optionally, the apparatus further comprises:
an acceleration acquisition module configured to acquire a vertical acceleration of the drone vertically upwards;
the grounding determination module is configured to: and determining that the unmanned aerial vehicle is grounded under the condition that the target-to-ground distance is smaller than a third preset distance threshold value and the vertical acceleration is larger than a preset acceleration threshold value.
In a third aspect, the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
In a fourth aspect, the present disclosure provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
In a fifth aspect, the present disclosure provides an unmanned aerial vehicle, comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
Through the technical scheme, at first confirm the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle placement location platform, this unmanned aerial vehicle placement location platform can be used to unmanned aerial vehicle discernment descending position and bear unmanned aerial vehicle, this current vertical distance can include first current vertical distance and/or the current vertical distance of second, this first current vertical distance can be according to the current flight height of unmanned aerial vehicle and the platform height of unmanned aerial vehicle placement location platform confirms, this current vertical distance of second can be according to the current image information of orientation unmanned aerial vehicle placement location platform that unmanned aerial vehicle gathered confirms. Unmanned aerial vehicle need descend on the landing point location platform, can confirm unmanned aerial vehicle's target ground distance according to this current vertical distance to ground distance carries out ground connection to unmanned aerial vehicle according to the target ground distance and judges. So, confirm unmanned aerial vehicle's target to the ground distance according to the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle landing point locating platform, do not receive the influence of external environment such as ground texture material, also do not receive the influence of whether there is the barrier below the unmanned aerial vehicle, avoid the high inaccurate problem to the ground that external environment probably leads to, can improve the accuracy that unmanned aerial vehicle ground connection judged, improve unmanned aerial vehicle's degree of safety.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart illustrating a method for determining the grounding of an unmanned aerial vehicle according to an exemplary embodiment.
FIG. 2 is a flow chart illustrating a method of determining a target-to-ground distance based on a first current vertical distance, a second current vertical distance, and a current spatial distance in accordance with an exemplary embodiment.
FIG. 3 is a flow chart illustrating a method of determining a target-to-ground distance based on a first current vertical distance, a second current vertical distance, and a current spatial distance in accordance with another exemplary embodiment.
Fig. 4 is a block diagram illustrating a ground fault determination device for a drone according to an example embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
At present, in the related art, an ultrasonic range finder provided on an unmanned aerial vehicle is generally used or a TOF (Time of flight) ranging method is used to measure a distance between the unmanned aerial vehicle and an object below the unmanned aerial vehicle, and the distance is considered as a ground distance of the unmanned aerial vehicle for ground fault determination. However, the distance measured by the ultrasonic range finder or the distance obtained by the TOF ranging method depends on whether there is an obstacle below the unmanned aerial vehicle and the ground material or texture condition, and these external conditions all affect the accuracy of the ground height of the unmanned aerial vehicle, and further affect the accuracy of the grounding judgment. For example, when the ground conditions are different, such as level ground, grassland, water surface, etc., the data obtained by the ultrasonic distance meter and the TOF distance measuring method have great difference, and if there is an obstacle below the unmanned aerial vehicle, the data obtained by the ultrasonic distance meter and the TOF distance measuring method is not the ground distance of the unmanned aerial vehicle, but is the distance between the unmanned aerial vehicle and the obstacle, if the distance is considered as the ground distance of the unmanned aerial vehicle for ground connection judgment, misjudgment of ground connection easily occurs, so that abnormal propeller stopping is caused, and the safety of the unmanned aerial vehicle is affected.
In view of this, the present disclosure provides an unmanned aerial vehicle grounding determination method, apparatus, medium, electronic device, and unmanned aerial vehicle, so as to improve accuracy of unmanned aerial vehicle grounding determination and improve safety of unmanned aerial vehicle.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a method for determining the ground fault of a drone according to an exemplary embodiment, where the method may be applied to an electronic device with processing capability, such as a controller or a flight control system in a drone, and as shown in fig. 1, the method may include S101 to S103.
In S101, the current vertical distance between the unmanned aerial vehicle and the unmanned aerial vehicle landing point positioning platform is determined.
Wherein, unmanned aerial vehicle landing point locating platform is used for unmanned aerial vehicle discernment descending position and bears unmanned aerial vehicle, and unmanned aerial vehicle for example can be for being used for carrying out the delivery unmanned aerial vehicle of delivery task, and unmanned aerial vehicle in this disclosure needs to descend on unmanned aerial vehicle landing point locating platform, and unmanned aerial vehicle landing point locating platform can set up on ground, also can set up anywhere such as roof.
When the unmanned aerial vehicle carries out the flight task, the unmanned aerial vehicle flies according to the planned air route and lands at a preset landing position, a pattern recognition code, such as a two-dimensional code, can be arranged on the unmanned aerial vehicle landing point positioning platform, and the unmanned aerial vehicle can judge whether the unmanned aerial vehicle landing point positioning platform is a position which needs to land by itself through recognizing the pattern recognition code.
For example, the current vertical distance between the drone and the drone landing location platform may include a first current vertical distance and/or a second current vertical distance.
Wherein, first current vertical distance can be according to unmanned aerial vehicle's current flying height and unmanned aerial vehicle landing point locating platform's platform height and confirm. The current flying height of the unmanned aerial vehicle can be obtained in Real time, and can be determined according to RTK (Real-time kinematic), that is, the current altitude of the unmanned aerial vehicle, the unmanned aerial vehicle landing location positioning platform is preset, the platform height of the unmanned aerial vehicle landing location positioning platform is known, and the difference between the current flying height of the unmanned aerial vehicle and the platform height of the unmanned aerial vehicle landing location positioning platform can be used as the first current vertical distance.
The second current vertical distance can be determined according to current image information of the unmanned aerial vehicle, collected by the unmanned aerial vehicle, and facing the unmanned aerial vehicle landing point positioning platform. The unmanned aerial vehicle can be provided with the camera on, the camera can gather image on every side in real time, the camera of setting in the unmanned aerial vehicle below can gather the current image information towards unmanned aerial vehicle landing point locating platform, can solve out the vertical distance between unmanned aerial vehicle and the landing point locating platform according to this current image information to as the current vertical distance of second. For example, the second current vertical distance may be determined by a monocular distance measurement algorithm based on camera calibration parameters, or by calculating depth information based on a binocular distance measurement algorithm to determine the second current vertical distance.
In S102, the target-to-ground distance of the unmanned aerial vehicle is determined according to the current vertical distance.
In S103, the grounding judgment is carried out on the unmanned aerial vehicle according to the target grounding distance.
Unmanned aerial vehicle need descend on unmanned aerial vehicle landing position locating platform, unmanned aerial vehicle lands on this platform promptly unmanned aerial vehicle ground connection, not as directly regarding as the ground distance with the distance between unmanned aerial vehicle that ultrasonic range finder or adoption TOF range finding method measured and the object below in the correlation technique, according to the current vertical distance between unmanned aerial vehicle and the landing position locating platform in this disclosure, confirm unmanned aerial vehicle's target ground distance, do not receive the influence of external environment such as ground texture material, also do not receive the influence of whether there is the barrier below the unmanned aerial vehicle, avoid the inaccurate problem of ground altitude that external environment probably leads to, can improve the accuracy of the target of determining to the ground distance.
In an alternative embodiment, the current vertical distance may be used as the target-to-ground distance of the drone. According to the target to ground distance, can carry out ground connection to unmanned aerial vehicle and judge to confirm whether ground connection of unmanned aerial vehicle, and as the basis of carrying out landing control to unmanned aerial vehicle, if judge unmanned aerial vehicle ground connection, steerable screw is stopped oar.
Through the technical scheme, at first confirm the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle placement location platform, this unmanned aerial vehicle placement location platform can be used to unmanned aerial vehicle discernment descending position and bear unmanned aerial vehicle, this current vertical distance can include first current vertical distance and/or the current vertical distance of second, this first current vertical distance can be according to the current flight height of unmanned aerial vehicle and the platform height of unmanned aerial vehicle placement location platform confirms, this current vertical distance of second can be according to the current image information of orientation unmanned aerial vehicle placement location platform that unmanned aerial vehicle gathered confirms. Unmanned aerial vehicle need descend on the landing point location platform, can confirm unmanned aerial vehicle's target ground distance according to this current vertical distance to ground distance carries out ground connection to unmanned aerial vehicle according to the target ground distance and judges. So, confirm unmanned aerial vehicle's target to the ground distance according to the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle landing point locating platform, do not receive the influence of external environment such as ground texture material, also do not receive the influence of whether there is the barrier below the unmanned aerial vehicle, avoid the high inaccurate problem to the ground that external environment probably leads to, can improve the accuracy that unmanned aerial vehicle ground connection judged, improve unmanned aerial vehicle's degree of safety.
In order to further improve the accuracy of the ground fault determination of the unmanned aerial vehicle and avoid the problem of high-altitude misdetermination of the ground fault, the ground fault determination method of the unmanned aerial vehicle provided by the disclosure may further include:
determining whether the unmanned aerial vehicle enters a final landing stage;
correspondingly, according to the target ground distance in S103, ground fault determination may be performed on the unmanned aerial vehicle, and may include:
and under the condition that the unmanned aerial vehicle enters the final landing stage, carrying out grounding judgment on the unmanned aerial vehicle according to the target ground distance.
The unmanned aerial vehicle executing the flight task comprises a plurality of stages, such as a takeoff stage, a flight path flight stage and a landing stage, wherein the landing stage can be divided into an initial landing stage, a position and course adjusting stage and a final landing stage. In the initial landing stage, the unmanned aerial vehicle lands at a high speed (such as 3 m/s), when the unmanned aerial vehicle lands to a certain height, the unmanned aerial vehicle enters a position and course adjusting stage, the unmanned aerial vehicle keeps the flying height to adjust the position and the course in the stage, the position and the course are ensured to be aligned, after the position and the course are adjusted, the unmanned aerial vehicle enters a final landing stage and lands at a low speed (such as 0.5 m/s) until the unmanned aerial vehicle lands on the ground.
Considering that the possibility of grounding of the unmanned aerial vehicle is very small in the initial landing stage and the position and course adjusting stage in the takeoff stage, the flight path flight stage and the landing stage, the ground connection judgment of the unmanned aerial vehicle is carried out according to the target ground distance under the condition that the unmanned aerial vehicle enters the final landing stage, so that the condition of avoiding misjudgment of the high-altitude grounding can be ensured, the high-altitude stalling of the unmanned aerial vehicle is avoided, and the safety of the unmanned aerial vehicle is improved.
It should be noted that, for the execution sequence of the step of determining whether the drone enters the final landing phase, the present disclosure is not particularly limited, and whether the drone enters the final landing phase may be determined in real time.
Alternatively, an exemplary embodiment of determining whether the drone enters the final stage of descent may be: acquiring a horizontal distance between an unmanned aerial vehicle and a preset position of an unmanned aerial vehicle landing point positioning platform; and determining that the unmanned aerial vehicle enters a final landing stage under the conditions that the horizontal distance is smaller than a first preset distance threshold value and the current vertical distance is smaller than a second preset distance threshold value.
Wherein, unmanned aerial vehicle landing point locating platform's preset position for example can be the central point position of platform, and this disclosure does not do the restriction to this position. If the horizontal distance between unmanned aerial vehicle and this preset position is less than first preset distance threshold value, can characterize that unmanned aerial vehicle is nearer with the horizontal distance between the preset position, unmanned aerial vehicle has been close and is prepared to descend on this landing location locating platform, if the current vertical distance between unmanned aerial vehicle and the landing location locating platform is less than the second preset distance threshold value, can characterize that unmanned aerial vehicle is about to land, consequently under the condition that this horizontal distance is less than first preset distance threshold value, current vertical distance is less than the second preset distance threshold value, can confirm that unmanned aerial vehicle gets into final stage of descending. The first predetermined distance threshold and the second predetermined distance threshold may be calibrated in advance.
In an optional implementation manner, the current vertical distance between the unmanned aerial vehicle and the unmanned aerial vehicle landing point positioning platform may include one of the first current vertical distance and the second current vertical distance described above, taking the first current vertical distance as an example, when determining the target distance to the ground according to the current vertical distance, the first current vertical distance may be used as the target distance to the ground.
The method for judging the grounding of the unmanned aerial vehicle provided by the disclosure can also comprise the following steps: the current space distance between the unmanned aerial vehicle and the object below the unmanned aerial vehicle is obtained.
The unmanned aerial vehicle can detect the current space distance between the unmanned aerial vehicle and the object below in real time, for example, the current space distance is detected by an ultrasonic distance meter or a TOF (time of flight) distance measuring method, the object below the unmanned aerial vehicle can be any object, for example, the object can be a barrier, or other unmanned aerial vehicles flying in parallel, and the object can also be a landing point positioning platform.
In a case where the current vertical distance includes one of the first current vertical distance and the second current vertical distance, taking the first current vertical distance as an example, the target-to-ground distance may be determined according to the first current vertical distance and the current spatial distance, for example, an average value of the first current vertical distance and the current spatial distance is taken as the target-to-ground distance.
Under the condition that the current vertical distance includes a first current vertical distance and a second current vertical distance, determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance in S102 may include: and determining the ground distance of the target according to the first current vertical distance, the second current vertical distance and the current space distance.
Fig. 2 is a flowchart illustrating a method for determining a target distance to ground according to a first current vertical distance, a second current vertical distance, and a current spatial distance, which may include S201 and S202, as shown in fig. 2, according to an exemplary embodiment.
In S201, it is determined whether at least two distances exist among the first current vertical distance, the second current vertical distance, and the current spatial distance, such that an absolute value of a difference between every two distances of the at least two distances is smaller than a first preset difference threshold.
In S202, a target-to-ground distance is determined from at least two distances, if any. The target ground distance is a weighted value of at least two distances, or the target ground distance is any one of the at least two distances.
In the case that the target-to-ground distance is a weighted value of at least two distances, the respective weight of each of the at least two distances may be preset, and the disclosure is not limited thereto.
For example, the absolute value of the difference between every two of the three distances, i.e., the first current vertical distance, the second current vertical distance, and the current spatial distance, is smaller than the first preset difference threshold, it may be characterized that the three distances are all close, all three distances are valid values, and the weighted values of the three distances may be determined as the target ground distance, or any one of the three distances may be used as the target ground distance, for example, the first current vertical distance may be used as the target ground distance.
For example, if the absolute value of the difference between two of the three distances, for example, the first current vertical distance, the second current vertical distance and the current spatial distance, is smaller than the first preset difference threshold, for example, the absolute value of the difference between the first current vertical distance and the second current vertical distance is smaller than the first preset difference threshold, and may be shielded by an obstacle, etc., the absolute value of the difference between the current spatial distance detected by the drone and the first current vertical distance is greater than or equal to the first preset difference threshold, and the absolute value of the difference between the current spatial distance detected by the drone and the second current vertical distance is also greater than or equal to the first preset difference threshold, it may be characterized that the current spatial distance may fail due to being influenced by an external environment, and at this time, the weighted value of the first current vertical distance and the second current vertical distance may be used as the target-to-ground distance, or any one of the two distances may be used as the target-to-ground distance, for example, the first current vertical distance may be taken as the target ground distance.
If the absolute value of the difference between every two distances in the three distances, namely the first current vertical distance, the second current vertical distance and the current space distance, is greater than or equal to the first preset difference threshold value, the fact that the difference between the three distances is large can be represented, the credibility of the three distances is low, and the three distances can be used as invalid distance information and are not used for grounding judgment.
Through the scheme, at least two distances with high reliability can be determined according to the absolute value of the difference value between every two distances in the first current vertical distance, the second current vertical distance and the current space distance, the target ground distance is determined according to the at least two distances, and the accuracy of the target ground distance is improved.
Fig. 3 is a flow chart illustrating a method for determining a target distance to ground based on a first current vertical distance, a second current vertical distance, and a current spatial distance, according to another exemplary embodiment, which may include S301 and S302, as shown in fig. 3.
In S301, the target current vertical distance is determined according to the first current vertical distance and the second current vertical distance.
And under the condition that the first absolute value of the difference value between the first current vertical distance and the second current vertical distance is smaller than a second preset difference value threshold, the target current vertical distance is the weighted value of the first current vertical distance and the second current vertical distance. If the first absolute value is smaller than the second preset difference threshold, it can be characterized that the first current vertical distance and the second current vertical distance are closer, the reliability of the two distances is higher, the weighted values of the two distances can be used as the target current vertical distance, the respective weights of the two distances are not limited, for example, the mean value of the two distances can be used as the target current vertical distance.
And under the condition that the first absolute value is greater than or equal to the second preset difference threshold value, the target current vertical distance is the first current vertical distance. If the first absolute value is larger than or equal to the second preset difference threshold value, the difference between the first current vertical distance and the second current vertical distance can be represented to be larger, the current flying height of the unmanned aerial vehicle can be obtained according to information such as RTK (real-time kinematic) and the like, higher confidence coefficient is provided, and the platform height of the unmanned aerial vehicle landing point positioning platform is known, so that the first current vertical distance determined according to the current flying height of the unmanned aerial vehicle and the platform height of the landing point positioning platform under the common condition has higher confidence coefficient, and the first current vertical distance can be used as the current vertical distance of the target.
In S302, the target-to-ground distance is determined according to the current vertical distance and the current spatial distance of the target.
And under the condition that a second absolute value of a difference value between the current vertical distance and the current space distance of the target is smaller than a third preset difference threshold value, the target ground distance is a weighted value of the current vertical distance and the current space distance of the target. If the second absolute value is smaller than a third preset difference threshold, it can be characterized that the current vertical distance and the current spatial distance of the target are relatively close, the confidence degrees of the two distances are relatively high, the weighted values of the two distances can be used as the target ground distance, the respective weights of the two distances are not limited, and for example, the average value of the two distances can be used as the target ground distance.
And under the condition that the second absolute value is greater than or equal to a third preset difference threshold, the target ground distance is the target current vertical distance. If this second absolute value is greater than or equal to third preset difference threshold, can represent that the current vertical distance of target and current space distance difference are great, because the current space distance that unmanned aerial vehicle detected receives external environment's influence easily, for example receives the influence of barrier easily, consequently compares in current space distance, and the current vertical distance's of target credibility between unmanned aerial vehicle and the landing point location platform is higher, consequently can regard the current vertical distance of target as target to ground distance.
Through the scheme, the current vertical distance of the target can be determined according to the first current vertical distance and the second current vertical distance, the target ground distance of the unmanned aerial vehicle can be determined according to the current vertical distance and the current space distance of the target, the target ground distance of the unmanned aerial vehicle can be determined according to the current vertical distance between the unmanned aerial vehicle and the unmanned aerial vehicle landing point positioning platform, the accuracy of the ground distance of the unmanned aerial vehicle can be improved, and the accuracy of ground judgment of the unmanned aerial vehicle is improved.
The method for judging the grounding of the unmanned aerial vehicle provided by the disclosure can also comprise the following steps:
acquiring vertical upward vertical acceleration of the unmanned aerial vehicle;
according to the target to ground distance in S103, ground connection judgment is carried out on the unmanned aerial vehicle, and the method can include:
and determining that the unmanned aerial vehicle is grounded under the condition that the target-to-ground distance is smaller than a third preset distance threshold and the vertical acceleration is larger than a preset acceleration threshold.
Wherein, the vertical ascending acceleration accessible sensor of unmanned aerial vehicle is gathered in real time, can acquire unmanned aerial vehicle's vertical acceleration in real time, to the execution order of the step of acquireing the vertical ascending vertical acceleration of unmanned aerial vehicle, this disclosure does not do the restriction. If the target to ground distance of unmanned aerial vehicle is less than the third and predetermines distance threshold value, and vertical acceleration is greater than predetermineeing the acceleration threshold value, can characterize that unmanned aerial vehicle is close to the landing location locating platform, can confirm unmanned aerial vehicle ground connection, under the circumstances of confirming unmanned aerial vehicle ground connection, can carry out landing control, for example control screw oar.
It should be noted that each threshold related to the present disclosure may be calibrated in advance, and the value of each threshold is not limited.
Based on the same inventive concept, the present disclosure also provides an apparatus for determining ground fault of an unmanned aerial vehicle, and fig. 4 is a block diagram of an apparatus for determining ground fault of an unmanned aerial vehicle according to an exemplary embodiment, as shown in fig. 4, the apparatus 400 may include:
a vertical distance determination module 401 configured to determine a current vertical distance between an unmanned aerial vehicle and an unmanned aerial vehicle landing location positioning platform, wherein the unmanned aerial vehicle landing location positioning platform is used for the unmanned aerial vehicle to identify a landing position and carry the unmanned aerial vehicle, the current vertical distance includes a first current vertical distance determined according to a current flying height of the unmanned aerial vehicle and a platform height of the unmanned aerial vehicle landing location positioning platform and/or a second current vertical distance determined according to current image information collected by the unmanned aerial vehicle and facing the unmanned aerial vehicle landing location positioning platform;
a ground distance determination module 402 configured to determine a target ground distance of the drone according to the current vertical distance;
a ground contact determination module 403 configured to perform ground contact determination on the drone according to the target-to-ground distance.
Adopt above-mentioned device, at first confirm the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle placement location platform, this unmanned aerial vehicle placement location platform can be used to unmanned aerial vehicle discernment descending position and bear unmanned aerial vehicle, this current vertical distance can include first current vertical distance and/or the current vertical distance of second, this first current vertical distance can be according to the current flying height of unmanned aerial vehicle and the platform height of unmanned aerial vehicle placement location platform confirms, this current vertical distance of second can be according to the current image information of orientation unmanned aerial vehicle placement location platform that unmanned aerial vehicle gathered confirms. Unmanned aerial vehicle need descend on the landing point location platform, can confirm unmanned aerial vehicle's target ground distance according to this current vertical distance to ground distance carries out ground connection to unmanned aerial vehicle according to the target ground distance and judges. So, confirm unmanned aerial vehicle's target to the ground distance according to the current vertical distance between unmanned aerial vehicle and the unmanned aerial vehicle landing point locating platform, do not receive the influence of external environment such as ground texture material, also do not receive the influence of whether there is the barrier below the unmanned aerial vehicle, avoid the high inaccurate problem to the ground that external environment probably leads to, can improve the accuracy that unmanned aerial vehicle ground connection judged, improve unmanned aerial vehicle's degree of safety.
Optionally, the apparatus 400 further comprises:
a phase determination module configured to determine whether the drone enters a final landing phase;
the grounding determination module 403 is configured to: and under the condition that the unmanned aerial vehicle is determined to enter the final landing stage, carrying out grounding judgment on the unmanned aerial vehicle according to the target grounding distance.
Optionally, the stage determining module includes:
a horizontal distance acquisition sub-module configured to acquire a horizontal distance between the unmanned aerial vehicle and a preset position of the unmanned aerial vehicle landing location positioning platform;
a stage judgment submodule configured to determine that the unmanned aerial vehicle enters the final landing stage when the horizontal distance is smaller than a first preset distance threshold and the current vertical distance is smaller than a second preset distance threshold.
Optionally, the current vertical distance includes the first current vertical distance and the second current vertical distance;
the device further comprises:
a spatial distance acquisition module configured to acquire a current spatial distance between the drone and an object below the drone detected by the drone;
the ground distance determining module 402 includes:
a ground distance determination submodule configured to determine the target ground distance from the first current vertical distance, the second current vertical distance, and the current spatial distance.
Optionally, the ground distance determination submodule includes:
a first determining submodule configured to determine whether there are at least two of the first current vertical distance, the second current vertical distance, and the current spatial distance such that an absolute value of a difference between each two of the at least two distances is less than a first preset difference threshold;
a second determining submodule configured to determine, if any, the target ground distance according to the at least two distances, wherein the target ground distance is a weighted value of the at least two distances, or the target ground distance is any one of the at least two distances.
Optionally, the ground distance determination submodule includes:
a third determining submodule configured to determine a target current vertical distance according to the first current vertical distance and the second current vertical distance, wherein the target current vertical distance is a weighted value of the first current vertical distance and the second current vertical distance in a case that a first absolute value of a difference between the first current vertical distance and the second current vertical distance is smaller than a second preset difference threshold, and the target current vertical distance is the first current vertical distance in a case that the first absolute value is greater than or equal to the second preset difference threshold;
a fourth determining submodule configured to determine the target ground distance according to the target current vertical distance and the current spatial distance, wherein the target ground distance is a weighted value of the target current vertical distance and the current spatial distance in a case where a second absolute value of a difference between the target current vertical distance and the current spatial distance is smaller than a third preset difference threshold, and the target ground distance is the target current vertical distance in a case where the second absolute value is greater than or equal to the third preset difference threshold.
Optionally, the apparatus further comprises:
an acceleration acquisition module configured to acquire a vertical acceleration of the drone vertically upwards;
the grounding determination module 403 is configured to: and determining that the unmanned aerial vehicle is grounded under the condition that the target-to-ground distance is smaller than a third preset distance threshold value and the vertical acceleration is larger than a preset acceleration threshold value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides an unmanned aerial vehicle, including: a memory having a computer program stored thereon; and the processor is used for executing the computer program in the memory so as to realize the steps of the unmanned aerial vehicle grounding judgment method.
Fig. 5 is a block diagram illustrating an electronic device 1900 according to an example embodiment. For example, the electronic device 1900 may be provided as a controller. Referring to fig. 5, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the drone grounding determination method described above.
Additionally, electronic device 1900 may also include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1900. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932TM，Mac OS XTM，UnixTM，LinuxTMAnd so on.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described drone touchdown determination method is also provided. For example, the computer readable storage medium may be the memory 1932 described above that includes program instructions executable by the processor 1922 of the electronic device 1900 to perform the drone touchdown determination method described above.
In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described drone grounding determination method when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. An unmanned aerial vehicle grounding judgment method is characterized by comprising the following steps:
determining a current vertical distance between an unmanned aerial vehicle and an unmanned aerial vehicle landing point positioning platform, wherein the unmanned aerial vehicle landing point positioning platform is used for the unmanned aerial vehicle to identify a landing position and bear the unmanned aerial vehicle, the current vertical distance comprises a first current vertical distance and a second current vertical distance, the first current vertical distance is determined according to a current flight height of the unmanned aerial vehicle and a platform height of the unmanned aerial vehicle landing point positioning platform, and the second current vertical distance is determined according to current image information, collected by the unmanned aerial vehicle, facing the unmanned aerial vehicle landing point positioning platform;
determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance;
according to the target ground distance, performing ground judgment on the unmanned aerial vehicle;
the method further comprises the following steps:
acquiring a current space distance between the unmanned aerial vehicle and an object below the unmanned aerial vehicle, wherein the current space distance is detected by the unmanned aerial vehicle;
the determining the target-to-ground distance of the unmanned aerial vehicle according to the current vertical distance comprises:
determining the target ground distance according to the first current vertical distance, the second current vertical distance and the current space distance;
determining the target ground distance according to the first current vertical distance, the second current vertical distance and the current spatial distance includes:
determining a target current vertical distance according to the first current vertical distance and the second current vertical distance, wherein the target current vertical distance is a weighted value of the first current vertical distance and the second current vertical distance under the condition that a first absolute value of a difference value between the first current vertical distance and the second current vertical distance is smaller than a second preset difference threshold value, and the target current vertical distance is the first current vertical distance under the condition that the first absolute value is larger than or equal to the second preset difference threshold value;
and determining the target ground distance according to the target current vertical distance and the current space distance, wherein the target ground distance is a weighted value of the target current vertical distance and the current space distance under the condition that a second absolute value of a difference value between the target current vertical distance and the current space distance is smaller than a third preset difference threshold, and the target ground distance is the target current vertical distance under the condition that the second absolute value is larger than or equal to the third preset difference threshold.
2. The method of claim 1, further comprising:
determining whether the unmanned aerial vehicle enters a final landing stage;
the ground connection is judged to the unmanned aerial vehicle according to the target ground distance, and the ground connection judgment comprises the following steps:
and under the condition that the unmanned aerial vehicle is determined to enter the final landing stage, carrying out grounding judgment on the unmanned aerial vehicle according to the target grounding distance.
3. The method of claim 2, wherein said determining whether the drone is entering a final stage of descent comprises:
acquiring a horizontal distance between the unmanned aerial vehicle and a preset position of the unmanned aerial vehicle landing point positioning platform;
and under the conditions that the horizontal distance is smaller than a first preset distance threshold value and the current vertical distance is smaller than a second preset distance threshold value, determining that the unmanned aerial vehicle enters the final landing stage.
4. The method of claim 1, wherein determining the target-to-ground distance from the first current vertical distance, the second current vertical distance, and the current spatial distance comprises:
determining whether at least two distances exist in the first current vertical distance, the second current vertical distance and the current space distance, so that the absolute value of the difference between every two distances in the at least two distances is smaller than a first preset difference threshold;
and if so, determining the target ground distance according to the at least two distances, wherein the target ground distance is a weighted value of the at least two distances, or the target ground distance is any one of the at least two distances.
5. The method of claim 1, further comprising:
acquiring vertical upward vertical acceleration of the unmanned aerial vehicle;
the ground connection is judged to the unmanned aerial vehicle according to the target ground distance, and the ground connection judgment comprises the following steps:
and determining that the unmanned aerial vehicle is grounded under the condition that the target-to-ground distance is smaller than a third preset distance threshold value and the vertical acceleration is larger than a preset acceleration threshold value.
6. An unmanned aerial vehicle earthing decision-making device, its characterized in that, the device includes:
a vertical distance determination module configured to determine a current vertical distance between an unmanned aerial vehicle and an unmanned aerial vehicle landing location positioning platform, wherein the unmanned aerial vehicle landing location positioning platform is used for the unmanned aerial vehicle to identify a landing position and carry the unmanned aerial vehicle, the current vertical distance includes a first current vertical distance determined according to a current flying height of the unmanned aerial vehicle and a platform height of the unmanned aerial vehicle landing location positioning platform, and a second current vertical distance determined according to current image information collected by the unmanned aerial vehicle toward the unmanned aerial vehicle landing location positioning platform;
a ground distance determination module configured to determine a target ground distance of the drone according to the current vertical distance;
a ground determination module configured to perform a ground determination on the drone according to the target-to-ground distance;
the device further comprises:
a spatial distance acquisition module configured to acquire a current spatial distance between the drone and an object below the drone detected by the drone;
the ground distance determination module comprises:
a ground distance determination submodule configured to determine the target ground distance from the first current vertical distance, the second current vertical distance, and the current spatial distance;
the ground distance determination submodule comprises:
a third determining submodule configured to determine a target current vertical distance according to the first current vertical distance and the second current vertical distance, wherein the target current vertical distance is a weighted value of the first current vertical distance and the second current vertical distance in a case that a first absolute value of a difference between the first current vertical distance and the second current vertical distance is smaller than a second preset difference threshold, and the target current vertical distance is the first current vertical distance in a case that the first absolute value is greater than or equal to the second preset difference threshold;
a fourth determining submodule configured to determine the target ground distance according to the target current vertical distance and the current spatial distance, wherein the target ground distance is a weighted value of the target current vertical distance and the current spatial distance in a case where a second absolute value of a difference between the target current vertical distance and the current spatial distance is smaller than a third preset difference threshold, and the target ground distance is the target current vertical distance in a case where the second absolute value is greater than or equal to the third preset difference threshold.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
8. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
9. An unmanned aerial vehicle, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
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