CN114253284A - Unmanned aerial vehicle automatic control method, device, equipment and storage medium - Google Patents
Unmanned aerial vehicle automatic control method, device, equipment and storage medium Download PDFInfo
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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
Abstract
The invention discloses an automatic control method, a device, equipment and a storage medium for an unmanned aerial vehicle, wherein the method comprises the steps of receiving real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers carry out article and puts in the top certain distance of destination, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, and accurate control unmanned aerial vehicle carries out article at the destination and puts in, realizes unmanned aerial vehicle level and smooth flight, has reduced the time that unmanned aerial vehicle control consumes, can accomplish the operation task high-efficiently, has promoted unmanned aerial vehicle controlled speed and efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an automatic unmanned aerial vehicle control method, device, equipment and storage medium.
Background
In recent years, with the increasing maturity of unmanned aerial vehicle technology, the application of unmanned aerial vehicles in the military field is gradually expanded to civil use from early, the functions of unmanned aerial vehicles are more and more perfect, the application field is more and more extensive, and the operation scene is also more and more complicated.
With the development of logistics and distribution business, more and more distribution modes are provided, such as robot distribution and unmanned vehicle distribution, and an unmanned aerial vehicle is used as a new working tool in the distribution business; under different operation scenes, the unmanned aerial vehicle usually operates according to different flight trajectories when executing operation tasks; at present, the unmanned aerial vehicle flight control method is simple, the unmanned aerial vehicle flies and controls according to remote sensing equipment through manual work, or flies according to the flight track that sets for in advance, and the flight track that its reality produced is unsmooth, leads to unmanned aerial vehicle to fly not smoothly when the operation easily, consumes a large amount of time at the in-process of controlling the flight to its orbit often is not the optimal flight track, can lead to unmanned aerial vehicle can not accomplish the operation task high-efficiently.
Disclosure of Invention
The invention mainly aims to provide an automatic control method, device, equipment and storage medium for an unmanned aerial vehicle, and aims to solve the technical problems that in the prior art, the automatic control of the unmanned aerial vehicle is limited to manual control or flight in a preset track, the flight track is not smooth, so that the unmanned aerial vehicle consumes a large amount of time to control, and the operation task cannot be effectively completed.
In a first aspect, the present invention provides an automatic control method for an unmanned aerial vehicle, including the following steps:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to hover at a certain distance above the destination for article placement.
Optionally, the receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination according to the real-time image data includes:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle;
performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image;
carrying out binarization processing on the destination region image to obtain a processed binarization image;
and matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result.
Optionally, the matching the binarized image with a preset destination image, and determining whether the unmanned aerial vehicle reaches the destination according to a matching result, includes:
matching the binary image with a preset destination image and generating a matching result;
when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination;
and when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
Optionally, when the drone does not reach the destination, adjusting a rotor flight attitude of the drone, and controlling the drone to fly to the destination according to the adjusted rotor flight attitude, including:
when the unmanned aerial vehicle does not reach the destination, acquiring a current roll angle, a current pitch angle and a current yaw angle of a rotor of the unmanned aerial vehicle;
obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance;
and adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
Optionally, the obtaining a relative spatial distance between the current position and the destination, and determining an estimated flight trajectory according to the relative spatial distance includes:
acquiring the relative spatial distance between the current position and the destination, and acquiring the flight speed and the preset flight time of the unmanned aerial vehicle;
and determining an estimated flight track according to the relative space distance, the flight speed and the preset flight time.
Optionally, the adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight trajectory, the current roll angle, the current pitch angle, and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude comprises:
determining a roll angle adjustment value, a pitch angle adjustment value and a yaw angle adjustment value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle;
adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value;
and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted flight attitude of the rotor wing.
Optionally, the controlling the drone to hover at a distance above the destination for an item launch when the drone reaches the destination includes:
when the unmanned aerial vehicle reaches the destination, acquiring a preset hovering position;
and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
In a second aspect, to achieve the above object, the present invention further provides an automatic control device for an unmanned aerial vehicle, including:
the data receiving module is used for receiving real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
the adjusting module is used for adjusting the rotor flight attitude of the unmanned aerial vehicle when the unmanned aerial vehicle does not reach the destination, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
and the launching module is used for controlling the unmanned aerial vehicle to hover above the destination for a certain distance to launch the article when the unmanned aerial vehicle reaches the destination.
In order to achieve the above object, the present invention further provides an automatic control device for an unmanned aerial vehicle, including: a memory, a processor, and a drone automatic control program stored on the memory and executable on the processor, the drone automatic control program configured to implement the steps of the drone automatic control method as described above.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium, where an automatic drone control program is stored, and the automatic drone control program, when executed by a processor, implements the steps of the automatic drone control method described above.
The unmanned aerial vehicle automatic control method provided by the invention comprises the steps of receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers carry out article and puts in the top certain distance of destination, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, and accurate control unmanned aerial vehicle carries out article at the destination and puts in, realizes unmanned aerial vehicle level and smooth flight, has reduced the time that unmanned aerial vehicle control consumes, can accomplish the operation task high-efficiently, has promoted unmanned aerial vehicle controlled speed and efficiency.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic flow chart of a second embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention;
fig. 4 is a schematic flow chart of a third embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention;
fig. 5 is a schematic flow chart of a fourth embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention;
fig. 6 is a schematic flow chart of a fifth embodiment of the automatic unmanned aerial vehicle control method according to the present invention;
fig. 7 is a schematic flow chart of a sixth embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention;
fig. 8 is a functional block diagram of the automatic control device for an unmanned aerial vehicle according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: the method comprises the steps that real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle are received, and whether the unmanned aerial vehicle reaches a destination or not is determined according to the real-time image data; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers the top certain distance at destination carries out article and puts in, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, accurate control unmanned aerial vehicle carries out article at the destination and puts in, realize unmanned aerial vehicle smooth flight, the time that unmanned aerial vehicle control consumes has been reduced, can accomplish the operation task high-efficiently, unmanned aerial vehicle control's speed and efficiency have been promoted, manual control or preset the orbit flight among the prior art has been solved, its flight orbit unsmooth leads to unmanned aerial vehicle control to consume a large amount of time, can't effectively accomplish the technical problem of operation task.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a drone automation program.
The device calls an automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and executes the following operations:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to hover at a certain distance above the destination for article placement.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle;
performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image;
carrying out binarization processing on the destination region image to obtain a processed binarization image;
and matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
matching the binary image with a preset destination image and generating a matching result;
when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination;
and when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
when the unmanned aerial vehicle does not reach the destination, acquiring a current roll angle, a current pitch angle and a current yaw angle of a rotor of the unmanned aerial vehicle;
obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance;
and adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
acquiring the relative spatial distance between the current position and the destination, and acquiring the flight speed and the preset flight time of the unmanned aerial vehicle;
and determining an estimated flight track according to the relative space distance, the flight speed and the preset flight time.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
determining a roll angle adjustment value, a pitch angle adjustment value and a yaw angle adjustment value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle;
adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value;
and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted flight attitude of the rotor wing.
The device calls the automatic control program of the unmanned aerial vehicle stored in the memory 1005 through the processor 1001, and also executes the following operations:
when the unmanned aerial vehicle reaches the destination, acquiring a preset hovering position;
and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
According to the scheme, the unmanned aerial vehicle can be determined whether to reach the destination or not according to the real-time image data by receiving the real-time image data sent by the high-precision camera mounted on the unmanned aerial vehicle; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers carry out article and puts in the top certain distance of destination, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, and accurate control unmanned aerial vehicle carries out article at the destination and puts in, realizes unmanned aerial vehicle level and smooth flight, has reduced the time that unmanned aerial vehicle control consumes, can accomplish the operation task high-efficiently, has promoted unmanned aerial vehicle controlled speed and efficiency.
Based on the hardware structure, the embodiment of the unmanned aerial vehicle automatic control method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the automatic control method for the unmanned aerial vehicle according to the present invention.
In a first embodiment, the method for automatically controlling the unmanned aerial vehicle comprises the following steps:
and S10, receiving real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination according to the real-time image data.
It should be noted that the real-time image data is a corresponding image of the aircraft in the current environment, which is captured by a high-precision camera on the unmanned aerial vehicle, and the real-time image data is analyzed to determine whether the unmanned aerial vehicle has flown to a position corresponding to the destination.
And S20, when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
It can be understood that unmanned aerial vehicle does not arrive when the destination, can adjust the rotor adjustment parameter that can decide different flight gestures such as the rotational speed that unmanned aerial vehicle's rotor corresponds and angle can be controlled through the rotor flight gesture after the adjustment unmanned aerial vehicle flies to the destination.
And step S30, controlling the unmanned aerial vehicle to hover a certain distance above the destination for article placement when the unmanned aerial vehicle reaches the destination.
It should be understood that when the drone reaches the destination, the drone may be controlled to hover to a preset position corresponding to the destination, i.e., the drone is controlled to be relatively stationary at a distance above the destination, so as to perform precise placement of an item.
Further, the step S30 specifically includes the following steps:
when the unmanned aerial vehicle reaches the destination, acquiring a preset hovering position;
and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
It can be understood that, when the unmanned aerial vehicle reaches the destination, a preset hovering position is obtained, and the unmanned aerial vehicle can be controlled to hover, that is, the unmanned aerial vehicle is controlled to hover at the preset hovering position, so as to launch the target object, that is, the launching mechanism of the unmanned aerial vehicle is opened to release the target object.
According to the scheme, the unmanned aerial vehicle can be determined whether to reach the destination or not according to the real-time image data by receiving the real-time image data sent by the high-precision camera mounted on the unmanned aerial vehicle; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers carry out article and puts in the top certain distance of destination, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, and accurate control unmanned aerial vehicle carries out article at the destination and puts in, realizes unmanned aerial vehicle level and smooth flight, has reduced the time that unmanned aerial vehicle control consumes, can accomplish the operation task high-efficiently, has promoted unmanned aerial vehicle controlled speed and efficiency.
Further, fig. 3 is a schematic flow chart of a second embodiment of the unmanned aerial vehicle automatic control method of the present invention, and as shown in fig. 3, the second embodiment of the unmanned aerial vehicle automatic control method of the present invention is proposed based on the first embodiment, and in this embodiment, the step S10 specifically includes the following steps:
and S11, receiving real-time image data sent by the high-precision camera mounted on the unmanned aerial vehicle.
It should be noted that the real-time image data is a corresponding image of the aircraft in the current environment, which is obtained by real-time shooting through a high-precision camera on the unmanned aerial vehicle.
Step S12, performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image.
It can be understood that, by performing semantic segmentation on the real-time image data, a corresponding region image containing a destination and a background region not containing the destination can be obtained, and by removing the background region in the real-time image data, an image corresponding to the destination, that is, a destination region image, can be obtained.
Step S13, a binarization process is performed on the destination area image, and a processed binarized image is obtained.
It should be understood that, by performing binarization processing on the destination region image, a processed binarized image reflecting the overall characteristics and the local characteristics of the destination region image can be obtained.
And step S14, matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to the matching result.
It can be understood that the preset destination image is an environment image of a preset destination position, the binary image and the preset destination image are subjected to environment matching to generate a corresponding matching result, and whether the unmanned aerial vehicle reaches the destination can be judged according to the matching result.
According to the scheme, the real-time image data sent by the high-precision camera mounted on the unmanned aerial vehicle is received; performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image; carrying out binarization processing on the destination region image to obtain a processed binarization image; matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result; whether the unmanned aerial vehicle reaches the destination or not can be rapidly determined according to the image matching result, the accuracy and the comprehensiveness of automatic control of the unmanned aerial vehicle are guaranteed, and the speed and the efficiency of control of the unmanned aerial vehicle are improved.
Further, fig. 4 is a schematic flow chart of a third embodiment of the unmanned aerial vehicle automatic control method of the present invention, and as shown in fig. 4, the third embodiment of the unmanned aerial vehicle automatic control method of the present invention is proposed based on the second embodiment, and in this embodiment, the step S14 specifically includes the following steps:
and step S141, matching the binary image with a preset destination image, and generating a matching result.
It should be noted that, the binarized image and the preset destination image are matched, generally, the preset destination image may be further binarized to obtain a corresponding binarized destination image, and the binarized image and the binarized destination image are further matched to obtain matching results corresponding to different matching rates.
And S142, when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination.
It can be understood that when the matching result is that the matching rate of the binarized image and the preset destination image is smaller than a preset matching threshold, it may be determined that the matching fails, and at this time, it may be determined that the unmanned aerial vehicle does not reach the destination.
And S143, when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
It should be understood that, when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold, it may be determined that the matching is successful, and at this time, it may be determined that the unmanned aerial vehicle has not reached the destination.
According to the scheme, the binary image is matched with the preset destination image, and a matching result is generated; when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination; when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, the unmanned aerial vehicle is judged to reach the destination, whether the unmanned aerial vehicle reaches the destination or not can be judged, the accuracy and the comprehensiveness of automatic control of the unmanned aerial vehicle are guaranteed, and the speed and the efficiency of control of the unmanned aerial vehicle are improved.
Further, fig. 5 is a schematic flow chart of a fourth embodiment of the unmanned aerial vehicle automatic control method of the present invention, and as shown in fig. 5, the fourth embodiment of the unmanned aerial vehicle automatic control method of the present invention is proposed based on the first embodiment, and in this embodiment, the step S20 specifically includes the following steps:
and step S21, when the unmanned aerial vehicle does not reach the destination, acquiring the current roll angle, the current pitch angle and the current yaw angle of the rotor of the unmanned aerial vehicle.
It should be noted that unmanned aerial vehicle does not arrive when the destination, can acquire current roll angle, current pitch angle and current yaw angle of unmanned aerial vehicle's rotor when unmanned aerial vehicle's rotor is single, can acquire unmanned aerial vehicle current moment's rotor roll angle, pitch angle and yaw angle.
And step S22, obtaining the relative space distance between the current position and the destination, and determining the estimated flight path according to the relative space distance.
It is understood that the current position of the drone corresponds to the destination by a spatial distance, i.e. a lateral spatial distance and a longitudinal spatial distance of the current position to the position corresponding to the destination, from which relative spatial distance a pre-estimated predicted flight trajectory is determined.
And S23, adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
It should be understood that, according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle, the flight state analysis is performed, the rotor flight attitude of the unmanned aerial vehicle can be adjusted according to the analysis result, and then the unmanned aerial vehicle is controlled to fly to the destination according to the adjusted rotor flight attitude.
According to the scheme, when the unmanned aerial vehicle does not reach the destination, the current roll angle, the current pitch angle and the current yaw angle of the rotor of the unmanned aerial vehicle are obtained; obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance; according to the pre-estimated flight track, the current roll angle, the current pitch angle and the current yaw angle are adjusted the rotor flight attitude of the unmanned aerial vehicle is controlled according to the adjusted rotor flight attitude the unmanned aerial vehicle flies to the destination, the flight track of the unmanned aerial vehicle can be rapidly determined, so that the unmanned aerial vehicle is accurately controlled to throw articles at the destination, and the speed and the efficiency of automatic control of the unmanned aerial vehicle are improved.
Further, fig. 6 is a schematic flow chart of a fifth embodiment of the unmanned aerial vehicle automatic control method of the present invention, and as shown in fig. 6, the fifth embodiment of the unmanned aerial vehicle automatic control method of the present invention is proposed based on the fourth embodiment, in this embodiment, the step S22 specifically includes the following steps:
and S221, acquiring the relative spatial distance between the current position and the destination, and acquiring the flight speed and the preset flight time of the unmanned aerial vehicle.
It should be noted that the flight speed of the unmanned aerial vehicle is the real-time flight speed of the unmanned aerial vehicle during flying, and the preset flight time is the specified flight time of the preset aircraft flying to the destination.
Step S222, determining an estimated flight trajectory according to the relative space distance, the flight speed and the preset flight time.
It is understood that the flight trajectory of the drone may be estimated by the relative spatial distance, the flight speed, and the preset flight time, that is, the flight trajectory formed by the drone flying at the flight speed to the relative spatial distance to reach the destination within the preset flight time.
According to the scheme, the flying speed and the preset flying time of the unmanned aerial vehicle are obtained by obtaining the relative spatial distance between the current position and the destination; according to the relative space distance, the flying speed and the preset flying time, the estimated flying track is determined, the flying track of the unmanned aerial vehicle can be rapidly determined, so that the unmanned aerial vehicle is accurately controlled to throw articles at the destination, and the automatic control speed and efficiency of the unmanned aerial vehicle are improved.
Further, fig. 7 is a schematic flow chart of a sixth embodiment of the unmanned aerial vehicle automatic control method of the present invention, and as shown in fig. 7, the sixth embodiment of the unmanned aerial vehicle automatic control method of the present invention is proposed based on the fourth embodiment, and in this embodiment, the step S23 specifically includes the following steps:
and S231, determining a roll angle adjustment value, a pitch angle adjustment value and a yaw angle adjustment value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle.
It should be noted that, according to the estimated flight trajectory, a target roll angle, a target pitch angle and a target yaw angle at different positions in the flight trajectory to be flown can be determined, and by calculating a difference between the target roll angle and the current roll angle, a roll angle adjustment value can be determined; the pitch angle adjustment value may be determined by calculating a difference between the target pitch angle and the current pitch angle, and the yaw angle adjustment value may be determined by calculating a difference between the target yaw angle and the current yaw angle.
And step S232, adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value.
It should be appreciated that the rotor attitude of the drone may be adjusted in three ways by the roll angle adjustment value, the pitch angle adjustment value, and the yaw angle adjustment value.
And step S233, controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor wing flight attitude.
It can be understood that the unmanned aerial vehicle can be controlled to fly to the destination according to the estimated flight path in the corresponding flight attitude through the adjusted rotor flight attitude.
According to the scheme, a roll angle adjusting value, a pitch angle adjusting value and a yaw angle adjusting value are determined according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle; adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value; according to rotor flight attitude control after the adjustment unmanned aerial vehicle flies to the destination can confirm unmanned aerial vehicle's flight orbit fast to accurate control unmanned aerial vehicle carries out article at the destination and puts in, has improved unmanned aerial vehicle automatic control's speed and efficiency.
Correspondingly, the invention further provides an automatic control device of the unmanned aerial vehicle.
Referring to fig. 8, fig. 8 is a functional block diagram of the automatic control device of the unmanned aerial vehicle according to the first embodiment of the present invention.
In a first embodiment of the automatic control device for an unmanned aerial vehicle according to the present invention, the automatic control device for an unmanned aerial vehicle includes:
the data receiving module 10 is configured to receive real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle, and determine whether the unmanned aerial vehicle reaches a destination according to the real-time image data.
And the adjusting module 20 is used for adjusting the rotor flight attitude of the unmanned aerial vehicle when the unmanned aerial vehicle does not reach the destination, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
A launching module 30, configured to control the drone to hover a certain distance above the destination for launching the item when the drone reaches the destination.
The data receiving module 10 is further configured to receive real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle; performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image; carrying out binarization processing on the destination region image to obtain a processed binarization image; and matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result.
The data receiving module 10 is further configured to match the binarized image with a preset destination image, and generate a matching result; when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination; and when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
The adjusting module 20 is further configured to obtain a current roll angle, a current pitch angle, and a current yaw angle of a rotor of the unmanned aerial vehicle when the unmanned aerial vehicle does not reach the destination; obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance; and adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
The adjusting module 20 is further configured to obtain a relative spatial distance between the current position and the destination, and obtain a flight speed and a preset flight time of the unmanned aerial vehicle; and determining an estimated flight track according to the relative space distance, the flight speed and the preset flight time.
The adjusting module 20 is further configured to determine a roll angle adjusting value, a pitch angle adjusting value and a yaw angle adjusting value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle; adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value; and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted flight attitude of the rotor wing.
The adjusting module 20 is further configured to obtain a preset hovering position when the unmanned aerial vehicle reaches the destination; and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
The steps implemented by each functional module of the automatic control device of the unmanned aerial vehicle can refer to each embodiment of the automatic control method of the unmanned aerial vehicle, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where an automatic control program of an unmanned aerial vehicle is stored on the storage medium, and when executed by a processor, the automatic control program of the unmanned aerial vehicle implements the following operations:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to hover at a certain distance above the destination for article placement.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle;
performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image;
carrying out binarization processing on the destination region image to obtain a processed binarization image;
and matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
matching the binary image with a preset destination image and generating a matching result;
when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination;
and when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
when the unmanned aerial vehicle does not reach the destination, acquiring a current roll angle, a current pitch angle and a current yaw angle of a rotor of the unmanned aerial vehicle;
obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance;
and adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
acquiring the relative spatial distance between the current position and the destination, and acquiring the flight speed and the preset flight time of the unmanned aerial vehicle;
and determining an estimated flight track according to the relative space distance, the flight speed and the preset flight time.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
determining a roll angle adjustment value, a pitch angle adjustment value and a yaw angle adjustment value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle;
adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value;
and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted flight attitude of the rotor wing.
Further, the automatic unmanned aerial vehicle control program when executed by the processor further realizes the following operations:
when the unmanned aerial vehicle reaches the destination, acquiring a preset hovering position;
and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
According to the scheme, the unmanned aerial vehicle can be determined whether to reach the destination or not according to the real-time image data by receiving the real-time image data sent by the high-precision camera mounted on the unmanned aerial vehicle; when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude; unmanned aerial vehicle reachs during the destination, control unmanned aerial vehicle hovers carry out article and puts in the top certain distance of destination, can not need artifical real-time remote control, can realize unmanned aerial vehicle self-adaptation flight, and accurate control unmanned aerial vehicle carries out article at the destination and puts in, realizes unmanned aerial vehicle level and smooth flight, has reduced the time that unmanned aerial vehicle control consumes, can accomplish the operation task high-efficiently, has promoted unmanned aerial vehicle controlled speed and efficiency.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic control method for an unmanned aerial vehicle is characterized by comprising the following steps:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle, and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
when the unmanned aerial vehicle does not reach the destination, adjusting the rotor flight attitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to hover at a certain distance above the destination for article placement.
2. The method for automatically controlling the unmanned aerial vehicle according to claim 1, wherein the receiving real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle and determining whether the unmanned aerial vehicle reaches a destination according to the real-time image data comprises:
receiving real-time image data sent by a high-precision camera mounted on an unmanned aerial vehicle;
performing semantic segmentation on the real-time image data to obtain a destination area and a background area, and eliminating the background area in the real-time image data to generate a destination area image;
carrying out binarization processing on the destination region image to obtain a processed binarization image;
and matching the binary image with a preset destination image, and judging whether the unmanned aerial vehicle reaches the destination according to a matching result.
3. The automatic unmanned aerial vehicle control method of claim 2, wherein the matching the binarized image with a preset destination image and determining whether the unmanned aerial vehicle reaches the destination according to the matching result comprises:
matching the binary image with a preset destination image and generating a matching result;
when the matching result is that the matching rate of the binary image and the preset destination image is smaller than a preset matching threshold value, judging that the unmanned aerial vehicle does not reach the destination;
and when the matching result is that the matching rate of the binarized image and the preset destination image is not less than the preset matching threshold value, judging that the unmanned aerial vehicle reaches the destination.
4. The method of claim 1, wherein the adjusting the rotor attitude of the drone when the drone is not at the destination and controlling the drone to fly to the destination according to the adjusted rotor attitude comprises:
when the unmanned aerial vehicle does not reach the destination, acquiring a current roll angle, a current pitch angle and a current yaw angle of a rotor of the unmanned aerial vehicle;
obtaining the relative spatial distance between the current position and the destination, and determining the estimated flight track according to the relative spatial distance;
and adjusting the rotor flight attitude of the unmanned aerial vehicle according to the estimated flight track, the current roll angle, the current pitch angle and the current yaw angle, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude.
5. The method of claim 4, wherein the obtaining a relative spatial distance between the current location and the destination and determining a predicted flight trajectory according to the relative spatial distance comprises:
acquiring the relative spatial distance between the current position and the destination, and acquiring the flight speed and the preset flight time of the unmanned aerial vehicle;
and determining an estimated flight track according to the relative space distance, the flight speed and the preset flight time.
6. The method of claim 4, wherein the adjusting the rotor attitude of the drone based on the estimated flight trajectory, the current roll angle, the current pitch angle, and the current yaw angle, and controlling the drone to fly to the destination based on the adjusted rotor attitude comprises:
determining a roll angle adjustment value, a pitch angle adjustment value and a yaw angle adjustment value according to the estimated flight trajectory, the current roll angle, the current pitch angle and the current yaw angle;
adjusting the rotor flight attitude of the unmanned aerial vehicle according to the roll angle adjustment value, the pitch angle adjustment value and the yaw angle adjustment value;
and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted flight attitude of the rotor wing.
7. The method of claim 1, wherein the controlling the drone to hover a distance above the destination for placement of an item when the drone reaches the destination comprises:
when the unmanned aerial vehicle reaches the destination, acquiring a preset hovering position;
and controlling the unmanned aerial vehicle to keep in the preset hovering posture at the hovering position, and starting a throwing mechanism of the unmanned aerial vehicle to throw in the target object.
8. The utility model provides an unmanned aerial vehicle automatic control device which characterized in that, unmanned aerial vehicle automatic control device includes:
the data receiving module is used for receiving real-time image data sent by a high-precision camera mounted on the unmanned aerial vehicle and determining whether the unmanned aerial vehicle reaches a destination or not according to the real-time image data;
the adjusting module is used for adjusting the rotor flight attitude of the unmanned aerial vehicle when the unmanned aerial vehicle does not reach the destination, and controlling the unmanned aerial vehicle to fly to the destination according to the adjusted rotor flight attitude;
and the launching module is used for controlling the unmanned aerial vehicle to hover above the destination for a certain distance to launch the article when the unmanned aerial vehicle reaches the destination.
9. An unmanned aerial vehicle automatic control apparatus, characterized in that, unmanned aerial vehicle automatic control apparatus includes: memory, a processor and a drone automatic control program stored on the memory and executable on the processor, the drone automatic control program configured to implement the steps of the drone automatic control method of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a drone automatic control program that, when executed by a processor, implements the steps of the drone automatic control method according to any one of claims 1 to 7.
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