CN112823324A - Flight method and flight system of unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Flight method and flight system of unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
A flight method, a flight system, an unmanned aerial vehicle and a storage medium of the unmanned aerial vehicle are provided, wherein the flight method comprises the following steps: determining the position information of a platform where the unmanned aerial vehicle is currently moving (S101); and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle is currently moving so that the unmanned aerial vehicle follows the moving platform in the taking off process (S102).
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a flight method, a flight system, an unmanned aerial vehicle and a storage medium of the unmanned aerial vehicle.
Background
At present, the navigation and positioning of the consumer-grade unmanned aerial vehicle mainly considers the absolute motion of the unmanned aerial vehicle under a world coordinate system, and does not consider the motion condition of the unmanned aerial vehicle relative to a platform where the unmanned aerial vehicle is located. In this case, the drone is not actively reminded of being on a moving platform.
When the unmanned aerial vehicle takes off from a moving platform, if the moving platform is not considered, the problem that the unmanned aerial vehicle collides or fails to take off is caused, and the flight experience of a user is poor and the unmanned aerial vehicle has certain dangers.
Disclosure of Invention
Based on this, the application provides a flight method, flight system, unmanned aerial vehicle and storage medium of unmanned aerial vehicle.
In a first aspect, the present application provides a flight method for an unmanned aerial vehicle, including:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
In a second aspect, the present application provides a flight system adapted for a drone and a mobile platform, the system comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
In a third aspect, the present application provides a drone, the drone comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to implement a method of flying a drone as described above.
The embodiment of the application provides a flight method, a flight system, an unmanned aerial vehicle and a storage medium of the unmanned aerial vehicle, and the method comprises the steps of determining the position information of a platform where the unmanned aerial vehicle is currently moving; and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process. Because according to the position information of the platform that the unmanned aerial vehicle is currently located to remove, control the unmanned aerial vehicle take off and make the unmanned aerial vehicle follow the platform that removes at the in-process of taking off, through this kind of mode, can make unmanned aerial vehicle take off and initiatively follow the platform that removes, can initiatively protect unmanned aerial vehicle, avoid unmanned aerial vehicle take off in-process to take place the striking or take off the problem such as failure, improve user's flight experience.
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 application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an embodiment of a method for flying an unmanned aerial vehicle according to the present application;
fig. 2 is a schematic flow chart of another embodiment of the method for flying a drone of the present application;
fig. 3 is a schematic flow chart diagram of a further embodiment of a method of flying a drone according to the present application;
fig. 4 is a schematic flow chart diagram of a further embodiment of a method of flying a drone according to the present application;
fig. 5 is a schematic flow chart diagram of a further embodiment of a method of flying a drone according to the present application;
fig. 6 is a schematic flow chart diagram of a further embodiment of a method of flying a drone according to the present application;
FIG. 7 is a schematic structural diagram of an embodiment of the present invention in a flight system;
fig. 8 is a schematic structural diagram of an embodiment of the drone of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
At present, the consumer-grade unmanned aerial vehicle does not consider the motion situation of the consumer-grade unmanned aerial vehicle relative to a platform. When the unmanned aerial vehicle takes off on the moving platform, if the moving platform is not considered, the problem that the unmanned aerial vehicle collides or fails to take off is caused, and the flight experience of the user is poor and certain dangers are generated.
The method comprises the steps of determining position information of a platform where the unmanned aerial vehicle is currently moving; and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process. Because according to the position information of the platform that the unmanned aerial vehicle is currently located to remove, control the unmanned aerial vehicle take off and make the unmanned aerial vehicle follow the platform that removes at the in-process of taking off, through this kind of mode, can make unmanned aerial vehicle take off and initiatively follow the platform that removes, can initiatively protect unmanned aerial vehicle, avoid unmanned aerial vehicle take off in-process to take place the striking or take off the problem such as failure, improve user's flight experience.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for flying a drone of the present application, the method including:
step S101: and determining the position information of the platform where the unmanned aerial vehicle is currently located to move.
Step S102: and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
In this embodiment, the moving platform may be a cruise ship, a vehicle, or the like. The mode of determining the position information of the platform where the unmanned aerial vehicle is currently moving is various, for example, the mode is determined by a navigation positioning system of the unmanned aerial vehicle; or by a navigational positioning system of the moving platform, etc. And controlling the unmanned aerial vehicle to take off can be controlling the unmanned aerial vehicle to take off according to a control instruction. Specifically, the issuing of the control instruction may be issued under the condition that the user triggers one-key takeoff on the unmanned aerial vehicle or takes off through a remote controller striking a lever.
The unmanned aerial vehicle is positioned on a moving platform before takeoff, and because the moving platform moves and the position changes, if the unmanned aerial vehicle takes off according to the normal mode without considering the position change of the moving platform, the unmanned aerial vehicle is easy to have the problems of collision or take-off failure and the like, the position information of the platform where the unmanned aerial vehicle is currently moving is determined, and accordingly controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process, that is, the unmanned aerial vehicle not only flies upwards during takeoff, but also flies towards the moving platform in a direction of movement, so that the unmanned aerial vehicle follows the moving platform during takeoff, through the mode, the unmanned aerial vehicle can actively follow the moving platform when taking off, the unmanned aerial vehicle can be actively protected, the problems of collision or failure taking off and the like in the taking-off process of the unmanned aerial vehicle are avoided, and the flight experience of a user is improved.
Referring to fig. 2, in an embodiment, in step S102, controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in a taking off process, specifically, the controlling may include: and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
In this embodiment, the initial target speed of the unmanned aerial vehicle may be a target speed that the unmanned aerial vehicle needs to reach from a stationary state of a relatively moving platform; it is further possible that the drone reaches the target speed that needs to be reached in the shortest time from a stationary state of the relatively moving platform. The initial target speed of the drone may be pre-set. The requirement of the initial target speed of the unmanned aerial vehicle can enable the unmanned aerial vehicle to follow the moving platform as fast as possible, so that the collision in the take-off process can be avoided.
Referring to fig. 3, in an embodiment, in order to enable the target speed of the drone to quickly follow a moving platform, the current speed of the moving platform is set as the initial target speed of the drone, that is, before controlling the drone to take off to enable the drone to follow the moving platform in the taking off process according to the position information of the platform where the drone is currently moving and the initial target speed of the drone in step S102, the method may further include: step S103 and step S104.
Step S103: obtaining a current speed of the moving platform.
Step S104: setting a current speed of the mobile platform as an initial target speed of the drone.
In this embodiment, the current speed of the moving platform may be obtained by a device capable of detecting the motion state of the object on the moving platform, or by a device capable of detecting the motion state of the object on the unmanned aerial vehicle.
Before the step S103 of obtaining the current speed of the moving platform, the method may further include: step S105.
Step S105: estimating a current speed of the moving platform before takeoff of the drone.
The method comprises the steps of estimating the current speed of the moving platform before the unmanned aerial vehicle takes off, and rapidly acquiring the current speed of the moving platform when the unmanned aerial vehicle takes off so as to rapidly set the initial target speed of the unmanned aerial vehicle.
Referring to fig. 4, in an embodiment, in step S102, controlling the unmanned aerial vehicle to take off to enable the unmanned aerial vehicle to follow the moving platform in a taking off process according to the position information of the platform on which the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle may further include: substep S1021, substep S1022, and substep S1023.
Substep S1021: and controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle.
Substep S1022: and in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform.
Substep S1023: and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
In the takeoff process, the unmanned aerial vehicle is acquired in real time relative to the current speed of the moving platform, then the unmanned aerial vehicle is relative to the current speed of the moving platform, the target speed of the unmanned aerial vehicle is updated, the unmanned aerial vehicle is made to follow in the takeoff process of the moving platform, and by means of the mode, the unmanned aerial vehicle can follow the moving platform as fast as possible in the takeoff process, and the takeoff process safety of the unmanned aerial vehicle is guaranteed.
If it is not determined that the platform where the unmanned aerial vehicle is currently located is a moving platform or a stationary platform when the unmanned aerial vehicle takes off, before determining the position information of the platform where the unmanned aerial vehicle is currently located in step S101, the method may further include: and step S106.
Step S106: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
In one embodiment, the drone autonomously identifies whether the current platform is the moving platform before takeoff. That is, the step S106 of determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform may include: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object. The device capable of detecting the motion state of the object and configured on the unmanned aerial vehicle comprises but is not limited to: global positioning system GPS receivers, vision sensors, inertial measurement units, radar sensors, and the like. These devices are also basically the indispensable configuration of unmanned aerial vehicle, and this embodiment utilizes the current these devices of unmanned aerial vehicle to discern whether present place platform is the platform that moves, can not increase extra hardware cost.
These devices may be used alone or in combination. In order to ensure the accuracy of identification and reduce the identification error, generally, more than two devices may be used for identification, that is, the step S106 of determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform by the device capable of detecting the motion state of the object configured on the unmanned aerial vehicle may include: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
Taking a GPS receiver, a visual sensor, and an inertial measurement unit as an example, there may be two implementation manners, which may complement each other in practical application to improve the recognition rate of the mobile platform.
In a first implementation manner, combining the GPS receiver and the visual sensor, the step S106 of determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform through two or more devices configured on the unmanned aerial vehicle may include: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a Global Positioning System (GPS) receiver and front and back vision sensors of the unmanned aerial vehicle.
Referring to fig. 5, the step S106 of determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform through the GPS receiver and the front and back vision sensors of the unmanned aerial vehicle may include: substep S106a1 and substep S106a 2.
Sub-step S106a 1: the GPS receiver acquires the absolute speed of the unmanned aerial vehicle, and the front and rear vision sensors acquire the relative speed of the unmanned aerial vehicle relative to the platform.
Sub-step S106a 2: and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
Objects exist in front of and behind the platform, and under the condition that front and back vision sensors on the unmanned aerial vehicle can position by taking the objects existing in front of and behind the platform as reference objects, the speed detected by front and back binocular vision sensors on the unmanned aerial vehicle is the relative speed of the unmanned aerial vehicle relative to the platform; theoretically, if the relative speed of the drone with respect to the platform is zero, it indicates that there is no relative movement of the drone with respect to the platform, i.e. the drone is stationary on the platform. The speed that the GPS receiver provided on unmanned aerial vehicle is unmanned aerial vehicle's absolute velocity, theoretically, if unmanned aerial vehicle's absolute velocity is greater than zero, explains that unmanned aerial vehicle is moving, if unmanned aerial vehicle's absolute velocity equals zero, explains that unmanned aerial vehicle is static.
The unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is used for carrying out consistency detection through the absolute speed provided by the GPS receiver on the unmanned aerial vehicle and the movement speed detected by the front and rear binocular vision sensors on the unmanned aerial vehicle, if the absolute speed and the movement speed are inconsistent, in theory, the relative speed of the unmanned aerial vehicle detected by the front and rear binocular vision sensors is zero, and the absolute speed of the unmanned aerial vehicle provided by the GPS receiver is greater than zero, so that the unmanned aerial vehicle is relative to the platform, but the platform is moved, namely the platform is moved.
Suppose that the GPS receiver detects an absolute velocity of the drone of
The relative speed of the unmanned aerial vehicle detected by the front and back vision sensors relative to the platform is
On a moving platform, it can be considered that there is no relative motion of the drone with respect to the object on the moving platform, when:
wherein v isthre_min_mormAnd when the front and rear vision sensors judge that the unmanned aerial vehicle does not have a second speed threshold value of relative motion relative to the platform, and the second speed threshold value is determined according to the positioning accuracy of the binocular sensor. v. ofthre_max_mormA first velocity threshold for the GPS receiver to assume movement of the drone at detection, the first velocity threshold being determined by the GPS receiver's measurement noise and the velocity of the moving platform that can be detected. The selection of the two parameters of the first speed threshold and the second speed threshold can be determined through testing, so that the detection rate is ensured, and the false detection rate is reduced.
In a second implementation manner, the combination of the GPS receiver and the inertial measurement unit IMU, and the step S106 of determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform through two or more devices configured on the unmanned aerial vehicle may include: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
Referring to fig. 6, the determining, in step S106, whether the platform where the drone is currently located is the moving platform through the GPS receiver and the inertial measurement unit IMU of the drone may include: substep S106b1 and substep S106b 2.
Sub-step S106b 1: and acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU.
Sub-step S106b 2: and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
An inertial measurement unit is a device that measures the absolute angular velocity and absolute acceleration of an object. Typically, an IMU contains three single axis accelerometers and three single axis gyroscopes, with the accelerometers detecting acceleration signals and the gyroscopes detecting angular velocity signals. In a normal scene, the unmanned aerial vehicle is placed statically, the gyroscope and the accelerometer in the IMU have no obvious fluctuation, and the model length is relatively small; for a moving platform that runs smoothly, the constraint is also satisfied, i.e. the modal lengths of absolute acceleration and absolute angular velocity are both small, and the modal length threshold for which there is no relative motion of the drone with respect to the platform can be relaxed in view of the vibration of the moving platform.
If the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle, indicating that the unmanned aerial vehicle moves absolutely; the modular length of the absolute acceleration and the absolute angular velocity of the unmanned aerial vehicle is smaller than the modular length threshold value when the unmanned aerial vehicle does not have relative motion relative to the platform, which indicates that the unmanned aerial vehicle is static relative to the platform, so that the platform can be determined to be mobile, namely the platform is a mobile platform.
In an embodiment, the user may be prompted to enter a takeoff mode following the moving platform when it is determined that the platform is the moving platform, i.e. the method further comprises: and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
Further, the method further comprises: estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired; when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
When the current speed of the moving platform cannot be acquired, the unmanned aerial vehicle may be far away from the moving platform and fly far away from the moving platform; it is also possible that the moving platform is slowly stopping moving. When the current speed of the moving platform cannot be acquired, the attenuation degree of the current speed of the moving platform can be estimated for insurance; when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of the flight system of the present application, the system is adapted to an unmanned aerial vehicle and a mobile platform, it should be noted that the system of the present embodiment can implement the steps in the above method, and for a detailed description of related contents, refer to the above method section, which is not described in detail herein.
The system 100 includes: a memory 1 and a processor 2; the memory 1 and the processor 2 are connected by a bus.
The processor 2 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The memory 1 is used for storing a computer program; the processor 2 is configured to execute the computer program and, when executing the computer program, implement the following steps:
determining the position information of the platform where the unmanned aerial vehicle is currently moving; and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
Wherein the processor, when executing the computer program, implements the steps of: and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: obtaining a current speed of the moving platform; setting a current speed of the mobile platform as an initial target speed of the drone.
Wherein the processor, when executing the computer program, implements the steps of: estimating a current speed of the moving platform before takeoff of the drone.
Wherein the processor, when executing the computer program, implements the steps of: controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle; in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform; and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a Global Positioning System (GPS) receiver and front and back vision sensors of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the relative speed of the unmanned aerial vehicle relative to the platform through the front and rear vision sensors; and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU; and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired; when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application, it should be noted that the unmanned aerial vehicle of the present application can implement the steps in the above method, and for a detailed description of related contents, please refer to the above method section, which is not described in detail herein.
The drone 200 comprises: a memory 10 and a processor 20; the memory 10 and the processor 20 are connected by a bus.
The processor 20 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 10 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk, among others.
The memory 10 is used for storing a computer program; the processor 20 is configured to execute the computer program and, when executing the computer program, implement the following steps:
determining the position information of the platform where the unmanned aerial vehicle is currently moving; and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
Wherein the processor, when executing the computer program, implements the steps of: and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: obtaining a current speed of the moving platform; setting a current speed of the mobile platform as an initial target speed of the drone.
Wherein the processor, when executing the computer program, implements the steps of: estimating a current speed of the moving platform before takeoff of the drone.
Wherein the processor, when executing the computer program, implements the steps of: controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle; in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform; and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a global positioning unmanned aerial vehicle GPS receiver and front and back vision sensors of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the relative speed of the unmanned aerial vehicle relative to the platform through the front and rear vision sensors; and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
Wherein the processor, when executing the computer program, implements the steps of: acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU; and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
Wherein the processor, when executing the computer program, implements the steps of: estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired; when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to implement a method of flying a drone as defined in any one of the above. For a detailed description of relevant matters, reference is made to the above-mentioned method section, which is not described herein in any more detail.
The computer readable storage medium may be an internal storage unit of the above system or the drone, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device of the system or drone, such as a plug-in hard drive, smart memory card, secure digital card, flash memory card, etc. provided.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (43)
1. A method of flying an unmanned aerial vehicle, comprising:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
2. The method of claim 1, wherein the controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle is currently moving so that the unmanned aerial vehicle follows the moving platform during taking off comprises:
and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
3. The method of claim 2, wherein the controlling the unmanned aerial vehicle to take off to enable the unmanned aerial vehicle to follow the moving platform in the taking off process according to the position information of the platform on which the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle comprises:
obtaining a current speed of the moving platform;
setting a current speed of the mobile platform as an initial target speed of the drone.
4. The method of claim 3, wherein prior to obtaining the current velocity of the moving platform, comprising:
estimating a current speed of the moving platform before takeoff of the drone.
5. The method of claim 2, wherein the controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle makes the unmanned aerial vehicle follow the moving platform during taking off further comprises:
controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle;
in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform;
and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
6. The method of claim 1, wherein prior to determining the location information of the platform on which the drone is currently moving, comprising:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
7. The method of claim 6, wherein determining whether the platform on which the drone is currently located is the moving platform comprises:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object.
8. The method of claim 7, wherein determining whether the platform on which the drone is currently located is the moving platform by a device configured on the drone capable of detecting the motion state of the object comprises:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
9. The method of claim 8, wherein said determining, by two or more of said devices configured on said drone, whether said platform on which said drone is currently located is said moving platform comprises:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a Global Positioning System (GPS) receiver and front and back vision sensors of the unmanned aerial vehicle.
10. The method of claim 9, wherein determining whether the platform on which the drone is currently located is the moving platform via a Global Positioning System (GPS) receiver and a fore-aft vision sensor of the drone comprises:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the relative speed of the unmanned aerial vehicle relative to the platform through the front and rear vision sensors;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
11. The method of claim 8, wherein said determining, by two or more of said devices configured on said drone, whether said platform on which said drone is currently located is said moving platform comprises:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
12. The method of claim 11, wherein said determining, by the GPS receiver and inertial measurement unit IMU of the drone, whether the platform on which the drone is currently located is the moving platform comprises:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
13. The method of claim 6, further comprising:
and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
14. The method of claim 13, further comprising:
estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired;
when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
15. A flight system adapted for use with a drone and a mobile platform, the system comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
16. The system of claim 15, wherein the processor, when executing the computer program, performs the steps of:
and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
17. The system of claim 16, wherein the processor, when executing the computer program, performs the steps of:
obtaining a current speed of the moving platform;
setting a current speed of the mobile platform as an initial target speed of the drone.
18. The system of claim 17, wherein the processor, when executing the computer program, performs the steps of:
estimating a current speed of the moving platform before takeoff of the drone.
19. The system of claim 16, wherein the processor, when executing the computer program, performs the steps of:
controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle;
in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform;
and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
20. The system of claim 15, wherein the processor, when executing the computer program, performs the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
21. The system of claim 20, wherein the processor, when executing the computer program, performs the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object.
22. The system of claim 21, wherein the processor, when executing the computer program, performs the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
23. The system of claim 22, wherein the processor, when executing the computer program, performs the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a Global Positioning System (GPS) receiver and front and back vision sensors of the unmanned aerial vehicle.
24. The system of claim 23, wherein the processor, when executing the computer program, performs the steps of:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the relative speed of the unmanned aerial vehicle relative to the platform through the front and rear vision sensors;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
25. The system of claim 22, wherein the processor, when executing the computer program, performs the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
26. The system of claim 25, wherein the processor, when executing the computer program, performs the steps of:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
27. The system of claim 20, wherein the processor, when executing the computer program, performs the steps of:
and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
28. The system of claim 27, wherein the processor, when executing the computer program, performs the steps of:
estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired;
when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
29. A drone, characterized in that it comprises: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
determining the position information of the platform where the unmanned aerial vehicle is currently moving;
and controlling the unmanned aerial vehicle to take off according to the position information of the platform on which the unmanned aerial vehicle currently moves, so that the unmanned aerial vehicle follows the moving platform in the taking off process.
30. A drone according to claim 29, wherein the processor, when executing the computer program, implements the steps of:
and controlling the unmanned aerial vehicle to take off so that the unmanned aerial vehicle follows the moving platform in the taking off process according to the position information of the platform where the unmanned aerial vehicle is currently moving and the initial target speed of the unmanned aerial vehicle.
31. A drone according to claim 30, wherein the processor, when executing the computer program, implements the steps of:
obtaining a current speed of the moving platform;
setting a current speed of the mobile platform as an initial target speed of the drone.
32. A drone according to claim 31, wherein the processor, when executing the computer program, implements the steps of:
estimating a current speed of the moving platform before takeoff of the drone.
33. A drone according to claim 30, wherein the processor, when executing the computer program, implements the steps of:
controlling the unmanned aerial vehicle to take off according to the position information of the platform where the unmanned aerial vehicle currently moves and the initial target speed of the unmanned aerial vehicle;
in the take-off process, acquiring the current speed of the unmanned aerial vehicle relative to the moving platform;
and updating the target speed of the unmanned aerial vehicle according to the current speed of the unmanned aerial vehicle relative to the moving platform, so that the unmanned aerial vehicle follows the moving platform in the take-off process.
34. A drone according to claim 29, wherein the processor, when executing the computer program, implements the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform.
35. A drone according to claim 34, wherein the processor, when executing the computer program, implements the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a device which is arranged on the unmanned aerial vehicle and can detect the motion state of the object.
36. A drone according to claim 35, wherein the processor, when executing the computer program, implements the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through more than two devices configured on the unmanned aerial vehicle.
37. A drone according to claim 36, wherein the processor, when executing the computer program, implements the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a global positioning unmanned aerial vehicle GPS receiver and front and back vision sensors of the unmanned aerial vehicle.
38. A drone according to claim 37, wherein the processor, when executing the computer program, implements the steps of:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the relative speed of the unmanned aerial vehicle relative to the platform through the front and rear vision sensors;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the relative speed of the unmanned aerial vehicle relative to the platform is less than a second speed threshold value of the unmanned aerial vehicle relative to the platform without relative motion, determining that the platform where the unmanned aerial vehicle is located is the moving platform.
39. A drone according to claim 36, wherein the processor, when executing the computer program, implements the steps of:
and determining whether the platform where the unmanned aerial vehicle is currently located is the moving platform or not through a GPS receiver and an Inertial Measurement Unit (IMU) of the unmanned aerial vehicle.
40. A drone according to claim 39, wherein the processor, when executing the computer program, implements the steps of:
acquiring the absolute speed of the unmanned aerial vehicle through the GPS receiver, and acquiring the absolute acceleration and the absolute angular speed modular length of the unmanned aerial vehicle through the IMU;
and if the absolute speed of the unmanned aerial vehicle is greater than a first speed threshold value of the unmanned aerial vehicle with motion, and the modular length of the absolute acceleration and the absolute angular speed of the unmanned aerial vehicle is less than a modular length threshold value of the unmanned aerial vehicle without relative motion relative to the platform, determining that the platform where the unmanned aerial vehicle is currently located is the moving platform.
41. A drone according to claim 34, wherein the processor, when executing the computer program, implements the steps of:
and if the current platform where the unmanned aerial vehicle is located is determined to be the moving platform, sending prompt information to prompt a user that the unmanned aerial vehicle is about to enter a take-off mode following the moving platform.
42. A drone according to claim 41, wherein the processor, when executing the computer program, implements the steps of:
estimating the attenuation degree of the current speed of the moving platform when the current speed of the moving platform cannot be acquired;
when the current speed of the moving platform is estimated to decay to a threshold value, a prompt message is sent to prompt the user that the unmanned aerial vehicle is about to exit a takeoff mode following the moving platform.
43. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to implement a method of flight of a drone according to any one of claims 1 to 14.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/085994 WO2021212343A1 (en) | 2020-04-21 | 2020-04-21 | Unmanned aerial vehicle flight method, flight system, unmanned aerial vehicle, and storage medium |
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| CN112823324A true CN112823324A (en) | 2021-05-18 |
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