CN114089777A - Control method and device for throwing unmanned aerial vehicle - Google Patents
Control method and device for throwing unmanned aerial vehicle Download PDFInfo
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 6
- 210000000707 wrist Anatomy 0.000 claims description 6
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- 239000004973 liquid crystal related substance Substances 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
A control method of a throwing flying unmanned aerial vehicle relates to the field of unmanned aerial vehicle control. The method comprises the following steps: acquiring position control information of the unmanned aerial vehicle in a preparation state, identifying whether the unmanned aerial vehicle maintains position control action of a first time period and triggering a pre-throwing flying mode based on the position control information; based on the pre-throwing mode, whether the unmanned aerial vehicle starts throwing and flying actions within a second time period is identified; and controlling the unmanned aerial vehicle to fly to a preset track based on the position control information in the flying state. According to the invention, a new position control information node is preset, and the judgment of the node and the continuous first time period are used as triggering conditions, so that the throwing process is more controllable, the phenomenon that the unmanned aerial vehicle is mistakenly touched to a throwing mode in the using process is avoided, and the control energy consumption of the flying control system is saved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to a control method and device for a throwing unmanned aerial vehicle.
Background
At present, the take-off mode of the fixed-wing unmanned aerial vehicle is mainly that a pilot manually controls the take-off of the unmanned aerial vehicle, and part of the fixed-wing unmanned aerial vehicle also needs an undercarriage or an ejection device to assist the accumulated airspeed of the unmanned aerial vehicle. This approach requires strong manipulation capabilities and experience of the drone manipulator. Especially under the environment of weather anomaly, because the people only can observe through the naked eye to the judgement that external environment influences unmanned aerial vehicle flight condition, if control hand operation mistake also probably harm unmanned aerial vehicle and even cause the injury to ground personnel. In the aspect of the auxiliary device that flies, no matter undercarriage or jettison gear, all have strict requirement to unmanned aerial vehicle's structural strength. If intensity is not enough, cause the harm to unmanned aerial vehicle very easily. And the landing gear needs a relatively long running track, which has special requirements on the takeoff field. The ejection rack needs heavy ejection equipment, and the portability is relatively poor. In summary, the take-off mode of the existing fixed-wing unmanned aerial vehicle has great requirements on the equipment in the personnel environment field.
In the prior art, a related throwing device is provided in the unmanned aerial vehicle takeoff field in the above unfavorable situation for assisting unmanned aerial vehicle takeoff, but in the actual hand throwing process of the unmanned aerial vehicle, a flight control system has no program for setting and judging whether the thrown unmanned aerial vehicle is correctly triggered, and the phenomenon that the throwing program is started by unintended hand throwing often exists.
Disclosure of Invention
The present invention is directed to overcome at least one of the above-mentioned drawbacks (i.e., disadvantages) of the prior art, and provides a method and an apparatus for controlling a throwing unmanned aerial vehicle, which are used to solve the problem that a throwing procedure is started without an intentional hand throwing.
The invention adopts the technical scheme that a control method of a throwing unmanned aerial vehicle comprises the following steps:
collecting position control information of the unmanned aerial vehicle in a preparation state,
identifying whether the unmanned aerial vehicle maintains the position control action of a first time period and triggers a pre-throwing flying mode based on the position control information;
based on the pre-throwing mode, whether the unmanned aerial vehicle starts throwing and flying actions within a second time period is identified;
and controlling the unmanned aerial vehicle to fly to a preset track based on the position control information in the flying state.
According to the method, a new position control information node is preset, and the judgment of the node and the continuous first time period are used as triggering conditions, so that the throwing process is more controllable, the phenomenon that the unmanned aerial vehicle is mistakenly triggered to throw the flying mode in the using process is avoided, and the control energy consumption of the flying control system is saved; especially when unmanned aerial vehicle brake valve lever has the gesture control function, operating personnel may exist before taking off, think the brake valve lever mistake as unmanned aerial vehicle, if only one position accuse information node is as the judgement this moment, the condition that the system misjudged can appear, and the increase of first time quantum parameter is then avoided the phenomenon that relevant gesture control is confused and is triggered by mistake.
Preferably, the position control information includes at least one of: speed, acceleration, static form of unmanned aerial vehicle. The scheme relates to the selection of nodes, and the position control form combined by one or more parameters of the speed, the acceleration and the static form sensed by the unmanned aerial vehicle is used as the trigger parameter of the pre-throwing flying mode of the unmanned aerial vehicle, wherein the change of the speed and the acceleration of the unmanned aerial vehicle or the action of the unmanned aerial vehicle on a certain static form is used as a trigger node; because the unmanned aerial vehicle is usually held by hands to assist take-off, the related static state is a relative static state, and the relative static state can be not only aimed at the movement of a human body, but also aimed at a certain parameter object.
Preferably, the first and second liquid crystal materials are,
based on the position control information, identifying the position control action of the unmanned aerial vehicle comprises the following steps:
and confirming whether the unmanned aerial vehicle is the same as the preset static form information. In the scheme, the static form information is preferably selected according to the commonly used human body holding situation.
Preferably, the preset rest configuration comprises:
when the unmanned aerial vehicle flies by hand, the wrist action form of the current unmanned aerial vehicle is automatically identified, and when the wrist action form is the same as the preset static form information and lasts for a first time period, a pre-flying mode is triggered. In this scheme, to throwing the trigger of flying the mode in advance, what adopt in this scheme is based on keeping presetting static form information of the first time quantum, not only have corresponding static form information, also have and maintain this form for a period, stipulate the trigger of flying the mode in advance, make operating personnel have sufficient attention to operate taking off of unmanned aerial vehicle, and isolated unmanned aerial vehicle's fault operation, this point is under unmanned aerial vehicle carries gesture control handle's the situation, it is especially important, to the differentiation of gesture in order to avoid unnecessary fault operation.
Preferably, the preset rest configuration comprises one or more of a front end up grip, a front end down grip, a horizontal grip and a side grip.
Preferably, the first time period is 1-10 s.
Preferably, the second time period is 5-15 s.
Specifically, the preset static state is that the front end is downward, the first time period is 2s, and the second time period is 10 s.
Preferably, the first and second liquid crystal materials are,
control unmanned aerial vehicle predetermines the orbit flight and includes:
establishing a simulation coordinate system of the unmanned aerial vehicle in an actual scene, and predicting an attitude angle when the unmanned aerial vehicle stops rotating based on information of horizontal vertical acceleration and self-rotating three-axis angular velocity of the unmanned aerial vehicle in the simulation coordinate system;
after the attitude angle is stabilized, predicting an expected position when the calculation speed is 0;
drawing a fastest curve track for repairing based on the space difference between the expected position and the real-time position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly according to a preset track;
and after the unmanned aerial vehicle reaches the expected position, the unmanned aerial vehicle is kept hovering, and a next control action is waited.
Preferably, the first and second liquid crystal materials are,
the method further comprises the following steps:
based on the position control information, if the unmanned aerial vehicle is identified to have no further throwing action in the first time period, exiting the pre-throwing mode; waiting for the next re-trigger.
Besides the control method of the throwing unmanned aerial vehicle, another technical scheme can also be as follows: a control device of a throwing unmanned aerial vehicle, which adopts the control method of the throwing unmanned aerial vehicle,
the sensing device is used for acquiring position control information of the unmanned aerial vehicle in a preparation state;
the front control system is connected with the sensing device and used for identifying whether the unmanned aerial vehicle maintains the position control action of the first time period and triggering a pre-throwing flying mode based on the position control information;
the judging system is connected with the front control system and used for identifying whether the unmanned aerial vehicle starts a throwing action in a second time period or not based on the pre-throwing mode;
and the flight control system is connected with the judgment system and used for sending a control instruction to control the unmanned aerial vehicle to fly to a preset track based on the position control information in the throwing state.
Preferably, the sensing device comprises an attitude and attitude resolving module for acquiring attitude information of the unmanned aerial vehicle, and the front control system, the judgment system and the flight control system judge, analyze and feedback-control the flight of the unmanned aerial vehicle through the sensed attitude information.
Preferably, the sensor device is provided with an RE radio frequency module, and the sensing device is in communication connection with the front control system, the judgment system and the flight control system through the RE radio frequency module and is used for transmitting sensing data of the unmanned aerial vehicle.
Preferably, the sensing device further comprises a barometer and a dual-mode GPS module.
Preferably, the flight control system is provided with a control handle.
Further, the control handle includes body sensing control module, body sensing control module is equipped with the integrated navigation unit for obtain self accurate position appearance information, body sensing control system is according to the position appearance information is resolved and is encoded out corresponding unmanned aerial vehicle control data, through the flight control system on the unmanned aerial vehicle is sent to RE radio frequency module.
Furthermore, the control handle includes a voice control unit, the voice control unit is used for acquiring external voice information, matching the acquired voice information, analyzing and encoding a corresponding voice control instruction, and sending the flight control system of the unmanned aerial vehicle through the RE radio frequency to control the voice instruction.
Furthermore, the front control system is provided with a prompting unit corresponding to the pre-throwing mode, and the prompting unit is used for sending out environment prompting factors according to the pre-throwing mode result identified by the judgment system.
Further, the environment prompting factors comprise acousto-optic prompts, including a buzzer arranged on the unmanned aerial vehicle or the control handle.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, by further adding a pre-throwing mode before throwing, throwing control is further separated from other flight control modes, so that operators are less prone to confusing the throwing mode and avoiding false triggering of the throwing mode, and a more intelligent unmanned aerial vehicle control scheme can be realized by combining the existing unmanned aerial vehicle throwing control scheme.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a flow chart of the pre-throwing of the present invention.
Fig. 3 is a flow chart of the present invention in a throwing state. Detailed Description
Detailed Description
The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For the purpose of better illustrating the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
As shown in fig. 1, a method for controlling a flying drone, the method includes:
s100: collecting position control information of the unmanned aerial vehicle in a preparation state,
s200: identifying whether the unmanned aerial vehicle maintains the position control action of a first time period and triggers a pre-throwing flying mode based on the position control information;
s310: based on the pre-throwing mode, whether the unmanned aerial vehicle starts throwing and flying actions within a second time period is identified;
s320: and controlling the unmanned aerial vehicle to fly to a preset track based on the position control information in the flying state.
According to the method, a new position control information node is preset, and the judgment of the node and the continuous first time period are used as triggering conditions, so that the throwing process is more controllable, the phenomenon that the unmanned aerial vehicle is mistakenly triggered to throw the flying mode in the using process is avoided, and the control energy consumption of the flying control system is saved; especially when unmanned aerial vehicle brake valve lever has the gesture control function, operating personnel may exist before taking off, think the brake valve lever mistake as unmanned aerial vehicle, if only one position accuse information node is as the judgement this moment, the condition that the system misjudged can appear, and the increase of first time quantum parameter is then avoided the phenomenon that relevant gesture control is confused and is triggered by mistake.
Preferably, the bit control information includes at least one of: speed, acceleration, static form of unmanned aerial vehicle. The scheme relates to the selection of nodes, and the position control form combined with one or more parameters of the speed, the acceleration and the static form sensed by the unmanned aerial vehicle is used as the trigger parameter of the pre-throwing flying mode of the unmanned aerial vehicle, wherein the change of the speed and the acceleration of the unmanned aerial vehicle or the change of the static form of the unmanned aerial vehicle as a trigger node; because the unmanned aerial vehicle is usually held by hands to assist take-off, the related static state is a relative static state, and the relative static state can be not only aimed at the movement of a human body, but also aimed at a certain parameter object.
As shown in fig. 2, it is preferable that,
s210: based on the position control information, identifying the position control action of the unmanned aerial vehicle comprises the following steps:
and confirming whether the unmanned aerial vehicle is the same as the preset static form information. In the scheme, the static form information is preferably selected according to the commonly used human body holding situation.
Preferably, the preset rest configuration comprises:
s210: when the unmanned aerial vehicle flies for handheld throwing, the wrist action form of the current unmanned aerial vehicle is automatically identified, and when the wrist action form is the same as the preset static form information and lasts for a first time period, a pre-throwing flying mode is triggered. In this scheme, to throwing the triggering of flying the mode in advance, what adopt in this scheme is based on the static form information of predetermineeing that has maintained the first time quantum, not only have corresponding static form information, also maintain this form for a period, stipulate the triggering of flying the mode in advance, make operating personnel have sufficient attention to operate unmanned aerial vehicle's taking off, and isolated unmanned aerial vehicle's fault operation, this point but unmanned aerial vehicle carries under the condition of gesture control handle, it is especially important, to the differentiation of gesture in order to avoid unnecessary fault operation.
Preferably, the preset rest configuration comprises one or more of a front end up grip, a front end down grip, a horizontal grip and a side grip.
Preferably, the first time period is 1-10 s.
Preferably, the second time period is 5-15 s.
Specifically, the preset static state is that the front end is vertically downward, the first time period is 2s, and the second time period is 10 s.
As shown in fig. 3, preferably, the controlling the unmanned aerial vehicle to fly according to the preset trajectory includes:
s321: establishing a simulation coordinate system of the unmanned aerial vehicle in an actual scene, and predicting an attitude angle when the unmanned aerial vehicle stops rotating based on information of horizontal vertical acceleration and self-rotating three-axis angular velocity of the unmanned aerial vehicle in the simulation coordinate system;
s322: after the attitude angle is stabilized, predicting an expected position when the calculation speed is 0;
s323: drawing a fastest curve track for repairing based on the space difference between the expected position and the real-time position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly according to a preset track;
s324: and after the unmanned aerial vehicle reaches the expected position, the unmanned aerial vehicle is kept hovering, and a next control action is waited.
Preferably, the first and second liquid crystal materials are,
the method further comprises the following steps:
based on the position control information, if the unmanned aerial vehicle is identified to have no further throwing action in the first time period, exiting the pre-throwing mode; waiting for the next re-trigger.
Besides the control method of the throwing unmanned aerial vehicle, another technical scheme can also be as follows: a control device of a throwing unmanned aerial vehicle, which adopts the control method of the throwing unmanned aerial vehicle,
the sensing device is used for acquiring position control information of the unmanned aerial vehicle in a preparation state;
the front control system is connected with the sensing device and used for identifying whether the unmanned aerial vehicle maintains the position control action of the first time period and triggering a pre-throwing flying mode based on the position control information;
the judging system is connected with the front control system and used for identifying whether the unmanned aerial vehicle starts a throwing action in a second time period or not based on the pre-throwing mode;
and the flight control system is connected with the judgment system and used for sending a control instruction to control the unmanned aerial vehicle to fly to a preset track based on the position control information in the throwing state.
Preferably, the sensing device comprises an attitude and attitude resolving module for acquiring attitude information of the unmanned aerial vehicle, and the front control system, the judgment system and the flight control system judge, analyze and feedback-control the flight of the unmanned aerial vehicle through the sensed attitude information.
Preferably, the sensor device is provided with an RE radio frequency module, and the sensing device is in communication connection with the front control system, the judgment system and the flight control system through the RE radio frequency module and is used for transmitting sensing data of the unmanned aerial vehicle.
Preferably, the sensing device further comprises a barometer and a dual-mode GPS module.
Preferably, the flight control system is provided with a control handle.
Further, the control handle includes body sensing control module, body sensing control module is equipped with the integrated navigation unit for obtain self accurate position appearance information, body sensing control system is according to the position appearance information is resolved and is encoded out corresponding unmanned aerial vehicle control data, through the flight control system on the unmanned aerial vehicle is sent to RE radio frequency module.
Furthermore, the control handle includes a voice control unit, the voice control unit is used for acquiring external voice information, matching the acquired voice information, analyzing and encoding a corresponding voice control instruction, and sending the flight control system of the unmanned aerial vehicle through the RE radio frequency to control the voice instruction.
Furthermore, the front control system is provided with a prompting unit corresponding to the pre-throwing mode, and the prompting unit is used for sending out environment prompting factors according to the pre-throwing mode result identified by the judgment system.
Further, the environment prompting factors comprise acousto-optic prompts, including a buzzer arranged on the unmanned aerial vehicle or the control handle.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, by further adding a pre-throwing mode before throwing, throwing control is further separated from other flight control modes, so that operators are less prone to confusing the throwing mode and avoiding false triggering of the throwing mode, and a more intelligent unmanned aerial vehicle control scheme can be realized by combining the existing unmanned aerial vehicle throwing control scheme.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.
Claims (10)
1. A method for controlling a flying unmanned aerial vehicle, the method comprising:
collecting position control information of the unmanned aerial vehicle in a preparation state,
identifying whether the unmanned aerial vehicle maintains the position control action of a first time period and triggering a pre-throwing mode based on the position control information;
based on the pre-throwing mode, whether the unmanned aerial vehicle starts throwing and flying actions within a second time period is identified;
and controlling the unmanned aerial vehicle to fly to a preset track based on the position control information in the flying state.
2. The method of claim 1, wherein the position control information comprises at least one of: speed, acceleration, static form of unmanned aerial vehicle.
3. The control method of a flying drone according to claim 2,
based on the position control information, identifying the position control action of the unmanned aerial vehicle comprises the following steps:
and confirming whether the unmanned aerial vehicle is the same as the preset static form information.
4. The method of claim 2, wherein the predetermined static configuration comprises:
when the unmanned aerial vehicle flies for handheld throwing, the wrist action form of the current unmanned aerial vehicle is automatically identified, and when the wrist action form is the same as the preset static form information and lasts for a first time period, a pre-throwing flying mode is triggered.
5. The method of claim 4, wherein the predetermined static configuration comprises one or more of a front-end-up grip, a front-end-down grip, a horizontal grip, and a lateral grip.
6. The control method of the flying unmanned aerial vehicle as claimed in claim 1, wherein the first time period is 1-10 s.
7. The control method of the flying drone of claim 1, wherein the second time period is 5-15 s.
8. A method for controlling a flying drone according to claim 1,
control unmanned aerial vehicle predetermines the orbit flight and includes:
establishing a simulation coordinate system of the unmanned aerial vehicle in an actual scene, and predicting an attitude angle when the unmanned aerial vehicle stops rotating based on information of horizontal vertical acceleration and self-rotating three-axis angular velocity of the unmanned aerial vehicle in the simulation coordinate system;
after the attitude angle is stabilized, predicting an expected position when the calculation speed is 0;
drawing a fastest curve track for repairing based on the space difference between the expected position and the real-time position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly according to a preset track;
and after the unmanned aerial vehicle reaches the expected position, the unmanned aerial vehicle is kept hovering, and a next control action is waited.
9. The flying drone control method according to claim 1,
the method further comprises the following steps:
based on the position control information, if the unmanned aerial vehicle is identified to have no further throwing action in the first time period, exiting the pre-throwing mode; waiting for the next re-trigger.
10. A control device of a flying drone, using a control method of a flying drone according to any one of claims 1 to 9,
the sensing device is used for acquiring position control information of the unmanned aerial vehicle in a preparation state;
the front control system is connected with the sensing device and used for identifying whether the unmanned aerial vehicle maintains the position control action of the first time period or not and triggering a pre-throwing flying mode based on the position control information;
the judging system is connected with the front control system and used for identifying whether the unmanned aerial vehicle starts a throwing action in a second time period or not based on the pre-throwing mode;
and the flight control system is connected with the judging system and used for sending a control instruction to control the unmanned aerial vehicle to fly to a preset track based on the position control information in the throwing flight state.
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