CN114265429A - Unmanned aerial vehicle control method and device, unmanned aerial vehicle and medium - Google Patents
Unmanned aerial vehicle control method and device, unmanned aerial vehicle and medium Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle and a medium, which are used for solving the problem of low penetrating detection performance of the existing remote wall. The unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit and the controller, and the detection unit can determine the pose information between the antenna array surface on the unmanned aerial vehicle and the target plane, so that the subsequent controller can determine the adjustment parameters according to the pose information determined by the detection unit and adjust the pose of the unmanned aerial vehicle according to the adjustment parameters, the antenna array surface of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can be used for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and device, an unmanned aerial vehicle and a medium.
Background
The through-wall radar technology is a technology for detecting a target behind a wall, which is rapidly developed in recent years, and can realize the functions of detecting, imaging, positioning, tracking, identifying and the like of the target behind the wall, so that the through-wall radar technology has wide application in urban street fighting, anti-terrorism security, disasters and hostage rescue. The traditional through-wall radar technology is based on detection by wall-attached equipment, and the short-distance detection is very dangerous in practical application, so that research on the long-distance through-wall radar technology needs to be carried out.
At present, can adopt and carry on the radar to unmanned aerial vehicle on realize that long distance is from the wall and pierce through the detection. In the detection process, the unmanned aerial vehicle can detect in a mode of hovering over a certain fixed point and also can detect in a mode of moving along a linear track parallel to a wall. No matter which kind of mode is adopted to unmanned aerial vehicle to survey, all can have unmanned aerial vehicle and can't guarantee the flight precision, cause the performance decline that the long distance wall pierces through the detection. For example, unmanned aerial vehicle can't stably hover at certain fixed point, unmanned aerial vehicle can't guarantee the precision of hovering promptly, lead to the condition of shake around the radar that unmanned aerial vehicle carried can appear, cause the detection performance decline of radar can't detect the target even, perhaps unmanned aerial vehicle can't be according to predetermined straight line track motion when the motion, increase the follow-up degree of difficulty of handling to the signal of wearing wall radar feedback, thereby lead to the performance degradation that the long distance wall pierces through the detection etc..
Therefore, how to improve the performance of remote wall penetration detection is a problem to be solved by the invention.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle and a medium, which are used for solving the problem of low performance of the existing remote wall penetration detection.
An embodiment of the present invention provides an unmanned aerial vehicle, including: a detection unit and a controller;
the detection unit is used for acquiring point cloud data of the environment where the unmanned aerial vehicle is located; determining pose information between an antenna array surface and a target plane according to the point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the controller is used for determining an adjustment parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjustment parameter.
The embodiment of the invention provides an unmanned aerial vehicle control method, which comprises the following steps:
acquiring point cloud data of an environment where the unmanned aerial vehicle is located;
determining pose information between an antenna array surface and a target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and determining an adjusting parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameter.
The embodiment of the invention provides an unmanned aerial vehicle control device, which comprises the following steps:
the acquisition module is used for acquiring point cloud data of the environment where the unmanned aerial vehicle is located;
the determining module is used for determining pose information between the antenna array surface and the target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the adjusting module is used for determining adjusting parameters according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameters.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the unmanned aerial vehicle control method are implemented.
The unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit and the controller, and the detection unit can determine the pose information between the antenna array surface on the unmanned aerial vehicle and the target plane, so that the subsequent controller can determine the adjustment parameters according to the pose information determined by the detection unit and adjust the pose of the unmanned aerial vehicle according to the adjustment parameters, the antenna array surface of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can be used for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
Drawings
In order to more clearly illustrate the technical solutions in 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 only 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 structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a connection structure between a controller and an antenna according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a control process of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle control device according to an embodiment of the present invention.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings, wherein like reference numerals refer to like elements throughout. 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.
As will be appreciated by one skilled in the art, embodiments of the present application may be embodied as a system, apparatus, device, method, or computer program product. Thus, the present application may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
In this document, it is to be understood that any number of elements in the figures are provided by way of illustration and not limitation, and any nomenclature is used for differentiation only and not in any limiting sense.
In order to improve the performance of remote wall penetration detection, the embodiment of the invention provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle and a medium.
Example 1:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention, where the structure includes: a detection unit 11 and a controller 12;
the detection unit 11 is configured to acquire point cloud data of an environment where the unmanned aerial vehicle is located; determining pose information between an antenna array surface and a target plane according to the point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the controller 12 is configured to determine an adjustment parameter according to the pose information and adjust the pose of the unmanned aerial vehicle according to the adjustment parameter.
In the embodiment of the invention, remote wall penetration detection can be carried out by an unmanned aerial vehicle. The drone comprises at least a detection unit 11 and a controller 12. The detection unit 11 may be configured to detect pose information between an antenna array of the unmanned aerial vehicle and a target plane, such as vision and lidar, and the controller 12 is configured to determine an adjustment parameter according to the pose information determined by the detection unit 11, so as to adjust the pose of the unmanned aerial vehicle according to the adjustment parameter.
Wherein, the antenna array face of this unmanned aerial vehicle is according to radar transmitting antenna and the radar receiving antenna of this unmanned aerial vehicle confirm.
In practical application process, when long distance wall pierces through and surveys when needs carry out, operating personnel can open unmanned aerial vehicle and with the supporting ground satellite's of this unmanned aerial vehicle power, then through this ground satellite, control this unmanned aerial vehicle's flight, for example, control the position information isoparametric of unmanned aerial vehicle's flying height, flight direction, flying distance, flight mode, flight terminal point. Specifically, operating personnel can be through operating this ground satellite station, and the ground satellite station receives the operation back, according to the operation that receives, generates control signaling and sends to unmanned aerial vehicle. And after the unmanned aerial vehicle receives the control signaling, controlling the flight of the unmanned aerial vehicle according to the control signaling.
For example, the detection unit 11 and the controller 12 are powered by the main POWER supply OF the unmanned aerial vehicle, and the controller 12 may POWER the radar transmitting antenna and the radar receiving antenna by using a POWER OF cable.
In one example, the drone includes a data communication unit therein. The unmanned aerial vehicle can receive the control signaling sent by the ground station through the data communication unit.
Unmanned aerial vehicle is being switched on the back, unmanned aerial vehicle's detecting element 11 alright with the environmental information (like barrier information, unmanned aerial vehicle's coordinate information etc.) and the environmental image of gathering unmanned aerial vehicle place environment in real time, surveys and target reconstruction to the visual target before detecting element 11 promptly, acquires the barrier information (including the positional information of barrier, shape etc.) of unmanned aerial vehicle all directions in real time. And the controller 12 of the unmanned aerial vehicle can control the data communication unit of the unmanned aerial vehicle to send the acquired environmental information and environmental image to the ground station. After receiving the environmental information and the environmental image, the ground station can be controlled to display on a display screen, so that an operator can accurately control the unmanned aerial vehicle according to the displayed environmental information and the displayed environmental image, and the accuracy of controlling the unmanned aerial vehicle is improved.
In an example, if the control signaling carries the position information of the flight destination, after the unmanned aerial vehicle receives the position information of the flight destination carried in the control signaling, the controller 12 of the unmanned aerial vehicle may automatically plan the flight route of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle currently located and the position information of the flight destination. And according to the environment information and the environment image acquired by the unmanned aerial vehicle on the flight route, determining the obstacle information on the flight route, thereby realizing automatic obstacle avoidance of the unmanned aerial vehicle according to the obstacle information.
After the unmanned aerial vehicle flies to the flight terminal, the unmanned aerial vehicle can hover at the flight terminal and perform the penetration detection of the remote wall, and can also perform the linear track motion along a certain direction parallel to the wall at the flight terminal and perform the penetration detection of the remote wall according to the control of an operator. In the process of penetrating and detecting the remote wall, the detection unit 11 of the unmanned aerial vehicle transmits and collects signals through a radar transmitting antenna on the unmanned aerial vehicle, and receives point cloud data collected from the environment where the unmanned aerial vehicle is located through a radar receiving antenna on the unmanned aerial vehicle. The detection unit 11 performs corresponding processing according to the point cloud data, and can acquire pose information between an antenna array surface of the unmanned aerial vehicle and a target plane. The target plane may be a plane where a wall is located at the flight end point, or may be the ground. The controller 12 of the unmanned aerial vehicle can determine the position and the posture of the current antenna array surface of the unmanned aerial vehicle relative to the target plane according to the posture information determined by the detection unit 11, so that the posture of the unmanned aerial vehicle is automatically adjusted according to the posture information, the antenna array surface of the unmanned aerial vehicle is always kept in a fixed posture with the target plane, the flying stability of the unmanned aerial vehicle is improved, and further the unmanned aerial vehicle is favorable for performing remote wall penetration detection, and the performance of the remote wall penetration detection is improved.
In a possible embodiment, after the point cloud data is acquired, the detection unit 11 of the unmanned aerial vehicle may determine each point cloud normal according to the acquired point cloud data. And then determining a target plane according to the normal of each point cloud. And determining the normal angle according to the target plane. And determining the pose information between the antenna array surface and the target plane according to the normal angle.
In one example, the detection unit 11 may determine the target plane by clustering the normals of each point cloud. Each candidate plane is determined, for example, by clustering each point cloud normal. And determining a target plane according to the number of point cloud normals contained in each candidate plane.
When the unmanned aerial vehicle determines the target plane according to the number of point cloud normals contained in each candidate plane, the candidate plane containing the most point cloud normals can be determined as the target plane.
In an example, the performance of considering that the long distance wall pierces through the detection easily receives the influence of detection unit 11's among the unmanned aerial vehicle stability, therefore, the last antenna of unmanned aerial vehicle (including radar transmitting antenna and radar receiving antenna) can be connected with controller 12 through support and shock attenuation ball, thereby realize the rigid connection of unmanned aerial vehicle and antenna, guarantee that follow-up antenna is difficult for taking place to rock the circumstances such as in unmanned aerial vehicle flight process, improve the precision of launching radar signal and receiving echo signal, and then reduce the requirement to detection unit 11 performance, avoid because this condition reduces the performance that the long distance wall pierces through the detection.
Wherein, this support can be simple and easy support to can reduce unmanned aerial vehicle's weight through this simple and easy support.
In the embodiment of the present invention, the number of the radar transmitting antennas on the unmanned aerial vehicle may be the same as the number of the radar receiving antennas, for example, the number of the radar transmitting antennas is 1, and the number of the radar receiving antennas is 1, so that the distance between the unmanned aerial vehicle and the target can be measured, and the position information of the target can be determined, and the number of the radar transmitting antennas on the unmanned aerial vehicle may also be less than the number of the radar receiving antennas on the unmanned aerial vehicle, for example, the number of the radar transmitting antennas is 1, and the number of the radar receiving antennas is 2, so that not only the weight of the detection unit 11 can be reduced as much as possible, the load of the detection unit 11 on the unmanned aerial vehicle is reduced, the cruising ability of the unmanned aerial vehicle is improved, and the multidimensional position information of each target (such as an obstacle, a wall, a person, and the like) can be obtained as much as possible.
The radar transmitting antenna comprises a coupling excitation-based light small ultra-wideband antenna, a radio frequency power amplifier and other modules, and power amplification and outward radiation of radar signals are achieved. The radar receiving antenna comprises a plurality of light and small ultra-wideband antennas based on coupling excitation and a low-noise amplifier module, so that reception and amplification of echoes are realized, and the noise coefficient of the whole system can reach a lower level.
It should be noted that the detection unit 11 of the unmanned aerial vehicle can be directly mounted on the unmanned aerial vehicle platform, and can also be mounted on the pan-tilt of the unmanned aerial vehicle. For example, the detection unit 11, the controller 12, the radar transmitting antenna, and the radar receiving antenna of the drone are all mounted on the drone platform.
After the controller 12 of the unmanned aerial vehicle acquires the attitude information determined by the detection unit 11, the controller can determine the adjustment parameter according to the attitude information and adjust the attitude of the unmanned aerial vehicle according to the adjustment parameter, so that the antenna array surface of the unmanned aerial vehicle always keeps a fixed attitude with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle is favorable for performing remote wall penetration detection, and the performance of the remote wall penetration detection is improved.
In a possible implementation manner, the adjustment parameter may be determined by a preset algorithm and the obtained pose information, the adjustment parameter may be determined by a model and the obtained pose information, and the adjustment parameter corresponding to the currently determined pose information may be determined by a corresponding relationship between a preset pose and the adjustment parameter.
If it is desired that the antenna array plane of the drone and the target plane maintain different poses, for example, the antenna array plane of the drone is parallel to and 5 meters away from the target plane, the antenna array plane of the drone is parallel to and 7 meters away from the target plane, the antenna array plane of the drone is perpendicular to and 5 meters away from the target plane, and the antenna array plane of the drone is perpendicular to and 7 meters away from the target plane, the determined adjustment parameters are different when the adjustment parameters are determined according to the same pose information. Therefore, in the embodiment of the present invention, the adjustment parameter may be determined according to the pose value of the target and the pose information. The target pose value represents the pose which is expected to be kept between the antenna array surface of the unmanned aerial vehicle and the target plane.
For example, for different pose values, adjustment parameters corresponding to different pose information for the pose value are set, and when the adjustment parameters need to be determined, the correspondence between the pose information and the adjustment parameters for the target pose value is determined, and then the adjustment parameters corresponding to the pose information determined by the current detection unit 11 are determined according to the correspondence between the pose information and the adjustment parameters.
For another example, an algorithm corresponding to the target pose value is configured in advance for different pose values, when an adjustment parameter needs to be determined, the algorithm corresponding to the target pose value is determined, and then the adjustment parameter is determined according to the algorithm and pose information determined by the current detection unit 11.
Unmanned aerial vehicle pierces through the in-process of surveying at the long distance from the wall, can detect the environment on wall both sides and survey, acquires wall both sides environmental information and environmental image promptly. For example, unmanned aerial vehicle carries out the wall detection to the personnel inside a certain building, can realize surveying the personnel of the building structure inside the building and containing through this unmanned aerial vehicle, also can realize surveying the environment outside the building. Unmanned aerial vehicle can all send the environmental information and the environment image of the wall both sides environment that acquires to the ground satellite station to make things convenient for operating personnel can in time connect the environmental aspect on wall both sides, also can only send the wall another side, the environmental information and the environment image of the environment on one side that unmanned aerial vehicle is not promptly to the ground satellite station, in order to make things convenient for operating personnel can accurately understand the environmental aspect on wall another side.
Wherein, unmanned aerial vehicle can send the environmental information and the environmental image of another limit environment of wall to the ground station according to predetermined cycle, also can send the environmental information and the environmental image of another limit environment of wall to the ground station at predetermined time point, can also be when receiving the collection instruction that the ground station sent and send the environmental information and the environmental image of another limit environment of wall to the ground station. Certainly, can also be that unmanned aerial vehicle sends the environmental information and the environment image of another limit environment of wall to the ground station when detecting the target (for example, people, animal etc.) that waits that exists in another limit environment of wall, can significantly reduce the number of times that unmanned aerial vehicle and ground station carry out the interaction like this, reduce unmanned aerial vehicle's consumption. The objects to be detected are all objects present in the environment on the other side of the wall, which the operator wishes to detect.
After the drone completes the remote wall penetration detection task or completes the flight of the predetermined flight path, the next remote wall penetration detection task may be landed or continued.
Because the unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit 11 and the controller 12, the detection unit 11 can determine the pose information between the antenna array plane on the unmanned aerial vehicle and the target plane, and the subsequent controller 12 is favorable for determining the adjustment parameters according to the pose information determined by the detection unit 11 and adjusting the pose of the unmanned aerial vehicle according to the adjustment parameters, so that the antenna array plane of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flight stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle is further favorable for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
Example 2:
in order to describe the unmanned aerial vehicle provided by the embodiment of the present invention in detail, a description is given below by using a specific embodiment. Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. This unmanned aerial vehicle includes these five structures of unmanned aerial vehicle platform, controller 12, detecting element 11, radar transmitting antenna and radar receiving antenna.
Wherein, unmanned aerial vehicle platform mainly used carries on structures such as controller 12, detecting element 11, radar transmitting antenna and radar receiving antenna. Fig. 3 is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention. In fig. 3, a controller 12, a radar transmitting antenna, and a radar receiving antenna are mounted on the drone platform.
The detection unit 11 is mainly used for detecting and reconstructing a visual target in front of the detection unit 11, acquiring barrier information of the unmanned aerial vehicle in each direction in real time, and determining pose information of an antenna array of the unmanned aerial vehicle.
The radar transmitting antenna is used for realizing power amplification and outward radiation of radar signals.
The radar receiving antenna is used for receiving and amplifying the echo, and the noise coefficient of the whole system can reach a lower level.
The controller 12 is mainly used for controlling the flight of the unmanned aerial vehicle, controlling the timing sequence of the radar signal, generating and modulating the radar signal, receiving and demodulating the echo signal, and determining the adjustment parameters of the pose of the unmanned aerial vehicle.
Fig. 4 is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 4, the unmanned aerial vehicle further includes a data communication unit and a power supply, where the data communication unit mainly implements receiving a control signaling sent by the ground station, and sending environmental information and an environmental image to the ground station. The power supply is mainly used for supplying power to the detection unit 11 and the controller 12. The controller 12 may be divided into a signal processing subunit and a flight control subunit according to the functions implemented by the controller 12. The signal processing subunit is mainly used for sequential control of radar signals, the transmitter generates and modulates transmitting signals (such as radar signals), the receiver receives and demodulates signals (such as echo signals) received by the radar receiving antenna, and the flight control subunit determines the adjusting parameters of the pose of the unmanned aerial vehicle, and is used for controlling the flight of the unmanned aerial vehicle and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameters determined by the signal processing subunit.
In fig. 4, the antenna on the unmanned aerial vehicle can be connected with controller 12 through simple and easy support and shock attenuation ball to realize the rigid connection of unmanned aerial vehicle and antenna, guarantee that follow-up antenna is difficult for taking place to rock the circumstances such as in the unmanned aerial vehicle flight process, also reduce the requirement to the 11 performance of detecting element, avoid because this condition reduces the performance that the remote wall pierces through the detection. Fig. 5 is a schematic diagram of a connection structure between the controller 12 and the antenna according to an embodiment of the present invention. In fig. 5, two brackets for connection with the antenna of the drone and a damping ball are shown.
The user can control the flight of the unmanned aerial vehicle through the ground station and obtain the detection result of the unmanned aerial vehicle.
Example 3:
an embodiment of the present invention further provides a method for controlling an unmanned aerial vehicle, and fig. 6 is a schematic diagram of a process for controlling an unmanned aerial vehicle provided in an embodiment of the present invention, where the process includes:
s601: and acquiring point cloud data of the environment where the unmanned aerial vehicle is located.
S602: determining pose information between an antenna array surface and a target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone.
S603: and determining an adjusting parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameter.
It should be noted that, the principle for solving the technical problem of the unmanned aerial vehicle control method provided by the embodiment of the present invention may be referred to the description in the above embodiments 1-2, and repeated details are not described herein.
Further, the determining pose information between the antenna array surface and the target plane according to the acquired point cloud data includes:
determining each point cloud normal according to the point cloud data;
determining a target plane according to the normal of each point cloud;
determining a normal angle according to the target plane;
and determining the pose information according to the normal angle.
Further, the determining a target plane according to the normal of each point cloud includes:
clustering the normal lines of each point cloud, and determining each candidate plane;
and determining a target plane according to the number of point cloud normals contained in each candidate plane.
Further, the determining an adjustment parameter according to the pose information includes:
and determining the adjustment parameters according to the target pose value and the pose information.
Further, the number of radar transmitting antennas on the drone is less than the number of radar receiving antennas on the drone.
Further, an antenna on the unmanned aerial vehicle is connected with the controller through a support and a damping ball; wherein the antenna comprises the radar transmitting antenna and the radar receiving antenna.
Further, the method further comprises:
receiving a control signaling sent by a ground station;
and controlling the unmanned aerial vehicle to fly according to the control signaling.
Further, the method further comprises:
collecting environment information and generating an environment image;
and sending the environment information and the environment image to the ground station.
The unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit and the controller, and the detection unit can determine the pose information between the antenna array surface on the unmanned aerial vehicle and the target plane, so that the subsequent controller can determine the adjustment parameters according to the pose information determined by the detection unit and adjust the pose of the unmanned aerial vehicle according to the adjustment parameters, the antenna array surface of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can be used for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
Example 4:
an embodiment of the present invention further provides an unmanned aerial vehicle control device, and fig. 7 is a schematic structural diagram of the unmanned aerial vehicle control device provided in the embodiment of the present invention, where the device includes:
the acquisition module 71 is configured to acquire point cloud data of an environment where the unmanned aerial vehicle is located;
the determining module 72 is configured to determine pose information between the antenna array surface and the target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the adjusting module 73 is configured to determine an adjusting parameter according to the pose information and adjust the pose of the unmanned aerial vehicle according to the adjusting parameter.
It should be noted that, the principle of the unmanned aerial vehicle control device provided in the embodiment of the present invention for solving the technical problem can be referred to the description in the above embodiments 1 to 3, and repeated details are not repeated.
The unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit and the controller, and the detection unit can determine the pose information between the antenna array surface on the unmanned aerial vehicle and the target plane, so that the subsequent controller can determine the adjustment parameters according to the pose information determined by the detection unit and adjust the pose of the unmanned aerial vehicle according to the adjustment parameters, the antenna array surface of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can be used for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
Example 5:
on the basis of the foregoing embodiments, the present invention further provides a computer-readable storage medium, in which a computer program executable by a processor is stored, and when the program runs on the processor, the processor is caused to execute the following steps:
acquiring point cloud data of an environment where the unmanned aerial vehicle is located;
determining pose information between an antenna array surface and a target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and determining an adjusting parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameter.
Since the principle of the problem solving by the computer-readable storage medium is similar to the drone control method in the above-described embodiment, specific implementation may refer to implementation of the drone control method.
The unmanned aerial vehicle provided by the embodiment of the invention comprises the detection unit and the controller, and the detection unit can determine the pose information between the antenna array surface on the unmanned aerial vehicle and the target plane, so that the subsequent controller can determine the adjustment parameters according to the pose information determined by the detection unit and adjust the pose of the unmanned aerial vehicle according to the adjustment parameters, the antenna array surface of the unmanned aerial vehicle can always keep a fixed pose with the target plane, the flying stability of the unmanned aerial vehicle is improved, the unmanned aerial vehicle can be used for performing remote wall penetration detection, and the performance of remote wall penetration detection is improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A drone, characterized in that it comprises: a detection unit and a controller;
the detection unit is used for acquiring point cloud data of the environment where the unmanned aerial vehicle is located; determining pose information between an antenna array surface and a target plane according to the point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the controller is used for determining an adjustment parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjustment parameter.
2. Unmanned aerial vehicle according to claim 1, wherein the detection unit is configured to determine each point cloud normal from the point cloud data; determining a target plane according to the normal of each point cloud; determining a normal angle according to the target plane; and determining the pose information according to the normal angle.
3. An unmanned aerial vehicle according to claim 2, wherein the detection unit is specifically configured to cluster the normals of each point cloud to determine each candidate plane; and determining a target plane according to the number of point cloud normals contained in each candidate plane.
4. The drone of claim 1, wherein the controller is specifically configured to determine the adjustment parameters based on a target pose value and the pose information.
5. The drone of claim 1, wherein an antenna on the drone is connected to the controller through a mount and a shock absorbing ball; wherein the antenna comprises the radar transmitting antenna and the radar receiving antenna.
6. The drone of claim 1, further comprising: a data communication unit;
the data communication unit is used for receiving a control signaling sent by the ground station;
and the controller is used for controlling the unmanned aerial vehicle to fly according to the control signaling.
7. The unmanned aerial vehicle of claim 6, wherein the detection unit is configured to collect environmental information and generate an environmental image;
the controller is further used for controlling the data communication unit to send the environment information and the environment image to the ground station;
the data communication unit is further configured to send the environment information and the environment image.
8. A method of drone control, the method comprising:
acquiring point cloud data of an environment where the unmanned aerial vehicle is located;
determining pose information between an antenna array surface and a target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and determining an adjusting parameter according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameter.
9. An unmanned aerial vehicle control device, characterized in that the method device:
the acquisition module is used for acquiring point cloud data of the environment where the unmanned aerial vehicle is located;
the determining module is used for determining pose information between the antenna array surface and the target plane according to the acquired point cloud data; wherein the antenna array is determined by a radar transmitting antenna and a radar receiving antenna on the drone;
and the adjusting module is used for determining adjusting parameters according to the pose information and adjusting the pose of the unmanned aerial vehicle according to the adjusting parameters.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the drone controlling method according to claim 8.
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