CN114578855B - Unmanned aerial vehicle standby landing method and system - Google Patents
Unmanned aerial vehicle standby landing method and system Download PDFInfo
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- CN114578855B CN114578855B CN202210206572.XA CN202210206572A CN114578855B CN 114578855 B CN114578855 B CN 114578855B CN 202210206572 A CN202210206572 A CN 202210206572A CN 114578855 B CN114578855 B CN 114578855B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The application relates to a method and a system for standby landing of an unmanned aerial vehicle, which belong to the technical field of unmanned aerial vehicles, and the method comprises the following steps: acquiring the current position and the preset landing position of the unmanned aerial vehicle; acquiring a return distance based on the current position and a preset landing position; acquiring the residual electric quantity of the unmanned aerial vehicle; acquiring the movable distance of the unmanned aerial vehicle based on the residual electric quantity; judging whether the return distance is greater than the movable distance or not, and obtaining a first judgment result; if the first judgment result is yes, acquiring a standby descending position; acquiring a standby landing distance based on the current position and the standby landing position; judging whether the standby landing distance is greater than the movable distance or not, and obtaining a second judgment result; if the second judgment result is negative, acquiring a corresponding standby landing position as a final landing position; acquiring a standby descending instruction; and controlling the unmanned aerial vehicle to land to a final landing position based on the landing preparation instruction. This application has the effect that improves the convenience of looking for unmanned aerial vehicle.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for standby landing of an unmanned aerial vehicle.
Background
Nowadays, unmanned aerial vehicle technology is becoming mature, and is applied to many fields, for example, aerial photography, mapping, news reports and the like by using unmanned aerial vehicles. After the unmanned aerial vehicle executes the task, the unmanned aerial vehicle can fly to a preset landing point by itself and finally land in a recovery cabin for recovery.
However, in the process of returning the existing unmanned aerial vehicle, the unmanned aerial vehicle usually returns to a predetermined landing position according to a predetermined route, so that the unmanned aerial vehicle is recovered. However, if the flight distance of the drone is long or the drone encounters weather such as headwind, the drone may not return to the predetermined landing position due to insufficient power. And when the electric quantity is not enough, unmanned aerial vehicle's protection mechanism can make it force to descend, and at this in-process, unmanned aerial vehicle's the position of forcing to descend is random, consequently can lead to later stage unmanned aerial vehicle's searching comparatively troublesome.
Disclosure of Invention
In order to improve the convenience of finding the unmanned aerial vehicle, the application provides a method and a system for standby landing of the unmanned aerial vehicle.
In a first aspect, the application provides a method for standby landing of an unmanned aerial vehicle, which adopts the following technical scheme:
an unmanned aerial vehicle standby landing method comprises the following steps:
acquiring the current position and the preset landing position of the unmanned aerial vehicle;
acquiring a return distance based on the current position and the preset landing position;
acquiring the residual electric quantity of the unmanned aerial vehicle;
acquiring a movable distance of the unmanned aerial vehicle based on the residual electric quantity;
judging whether the return distance is greater than the movable distance or not, and obtaining a first judgment result;
if the first judgment result is yes, acquiring a standby descending position;
acquiring a standby landing distance based on the current position and the standby landing position;
judging whether the standby descending distance is greater than the movable distance or not, and obtaining a second judgment result;
if the second judgment result is negative, acquiring the corresponding standby landing position as a final landing position;
acquiring a standby descending instruction;
and controlling the unmanned aerial vehicle to land to the final landing position based on the standby landing instruction.
Through adopting above-mentioned technical scheme, obtain the distance of returning a journey according to unmanned aerial vehicle's current position and predetermined descending position to obtain unmanned aerial vehicle's movable distance according to the surplus electric quantity, then judge whether the distance of returning a journey is greater than movable distance, and obtain first judgement result, can judge whether unmanned aerial vehicle can return a journey smoothly. And when the first judgment result is yes, acquiring a standby descending position, acquiring a standby descending distance according to the standby descending position and the current position, judging whether the standby descending distance is greater than the movable distance, acquiring a second judgment result, and judging whether the unmanned aerial vehicle can be transferred to the standby descending position. If the second judgment result is negative, the final landing position is obtained at the moment, and then a standby landing instruction is obtained to control the unmanned aerial vehicle to land to the final landing position. Thereby can retrieve unmanned aerial vehicle to a certain extent, reduce unmanned aerial vehicle and take place the possibility that descends at random, and then reduce the difficulty of looking for unmanned aerial vehicle.
Preferably, if the second determination result is negative, the step of obtaining the corresponding standby landing position as the final landing position includes:
when the standby descending distance is smaller than or equal to the movable distance, acquiring the corresponding standby descending position as an optional position;
obtaining a recovery distance based on the selectable position and the predetermined landing position;
judging the sizes of all the retrieval distances and obtaining a third judgment result;
acquiring the minimum recovery distance based on the third judgment as a nearest distance;
and acquiring the corresponding optional position as the final landing position based on the closest distance.
By adopting the technical scheme, the retrieval distance is obtained according to the selectable position and the preset landing position, the size of all the retrieval distances is judged, a third judgment result is obtained, the minimum retrieval distance is obtained according to the third judgment result and is used as the closest distance, and finally the corresponding selectable position is obtained according to the closest distance and is used as the final landing position. And then can select the optional position nearest apart from predetermined landing position, the unmanned aerial vehicle owner can remove the shortest distance and retrieve unmanned aerial vehicle, and it is comparatively convenient to retrieve the mode to improve unmanned aerial vehicle's efficiency of retrieving.
Preferably, before the controlling the drone to land to the final landing position based on the standby landing command, the method further includes:
acquiring a search command;
searching a recovery cabin located at the final landing position based on the search command, and obtaining feedback information;
judging whether the recovery compartment is located at the final landing position based on the feedback information;
if not, acquiring a transfer instruction;
controlling the unmanned aerial vehicle to move to other optional positions based on the transfer instruction;
if yes, the next step is carried out.
By adopting the technical scheme, the recovery cabin at the final landing position is searched according to the search command, and the feedback information is obtained. And judging whether the recovery cabin is positioned at the final landing position according to the feedback information, and judging whether the unmanned plane can land smoothly. If not, the unmanned aerial vehicle is controlled to be transferred to other optional positions according to the transfer instruction, and therefore the safety of unmanned aerial vehicle landing can be guaranteed as far as possible. If, then unmanned aerial vehicle can normally descend to final landing position, and then guarantee the security that unmanned aerial vehicle descends as far as possible.
Preferably, the obtaining the branch instruction further comprises:
acquiring a search instruction;
acquiring the searching time of the unmanned aerial vehicle for searching the recovery cabin based on the searching instruction;
judging whether the searching time is greater than a time threshold value;
if not, controlling the unmanned aerial vehicle to search the recovery cabin based on the search instruction;
if yes, the next step is carried out.
Through adopting above-mentioned technical scheme, control unmanned aerial vehicle according to searching the instruction and search to retrieving the cabin to obtain search time based on searching the instruction, judge whether search time is greater than the time threshold value afterwards, if do not, just continue to control unmanned aerial vehicle and search and retrieve the cabin, if yes, just acquire the transfer instruction. Thereby can search for the recovery cabin as far as possible, reduce because the search is insufficient and cause the possibility that the judgement mistake takes place, and then improve the accuracy that unmanned aerial vehicle descended.
Preferably, the controlling the drone to move to the other selectable positions based on the transfer instruction includes the following steps:
obtaining a transfer distance based on the final landing position and the selectable position;
acquiring the current electric quantity of the unmanned aerial vehicle;
acquiring a transferable distance of the unmanned aerial vehicle based on the current electric quantity;
judging whether the transferable distance is greater than the transfer distance;
if yes, acquiring the corresponding optional position as a transfer position;
controlling the transfer of the drone to the transfer location based on the transfer instruction.
Through adopting above-mentioned technical scheme, obtain transferable distance according to the current electric quantity that obtains, then judge whether transferable distance is greater than the transfer distance, can judge whether unmanned aerial vehicle current electric quantity can shift. If yes, the corresponding optional position is obtained to serve as a transfer position, and finally the unmanned aerial vehicle is controlled to be transferred to the transfer position based on the transfer instruction. When can not detect the recovery cabin, unmanned aerial vehicle can shift to other positions and retrieve, can further improve the security that unmanned aerial vehicle retrieved the in-process.
Preferably, the method further comprises the following steps:
when the transferable distance is smaller than the transfer distance, acquiring image information;
judging whether the final landing position has a pedestrian or not based on the image information;
if not, a landing instruction is obtained;
controlling the unmanned aerial vehicle to land to the final landing position based on the landing instruction;
if yes, acquiring a floating instruction;
and controlling the unmanned aerial vehicle to suspend in the air based on the floating instruction.
Through adopting above-mentioned technical scheme, judge whether there is the pedestrian in final landing position according to image information, can judge whether the pedestrian can cause harm to unmanned aerial vehicle when unmanned aerial vehicle descends, if do not have the pedestrian, then descend according to descending instruction control unmanned aerial vehicle, otherwise, then suspend in the air according to floating instruction control unmanned aerial vehicle to can reduce unmanned aerial vehicle descending after by the possibility that the artificial damaged condition takes place, can improve the security of unmanned aerial vehicle descending in-process.
Preferably, after controlling the unmanned aerial vehicle to suspend in the air based on the floating instruction, the method further includes:
acquiring the distance between the unmanned aerial vehicle and the ground as a floating distance;
judging whether the floating distance is smaller than a preset distance;
if yes, acquiring an umbrella opening instruction;
and controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
Through adopting above-mentioned technical scheme, judge whether the superficial distance is less than preset the distance, if then open the parachute according to parachute-opening instruction control parachute, can reduce unmanned aerial vehicle because the electric quantity exhausts the possibility that causes the crash condition to take place.
Preferably, the method further comprises the following steps:
when the floating distance is larger than the preset distance, judging whether the current electric quantity is smaller than an electric quantity threshold value;
if yes, acquiring the parachute opening instruction and the stalling instruction;
controlling a propeller of the unmanned aerial vehicle to stop rotating based on the stalling instruction;
and controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
Through adopting above-mentioned technical scheme, when current electric quantity was less than the electric quantity threshold value, acquireed parachute opening instruction and stall instruction, can control the screw stall to control the parachute and open, can reduce because the electric quantity is not enough to cause unmanned aerial vehicle unable normal descending and lead to the possibility that the crash condition takes place, thereby improve the security that unmanned aerial vehicle descended.
The second aspect, this application provides an unmanned aerial vehicle system of falling reserve adopts following technical scheme:
an unmanned aerial vehicle system of preparing for landing, comprising:
the first position acquisition module is used for acquiring the current position and the preset landing position of the unmanned aerial vehicle;
the first distance acquisition module is used for acquiring a return distance based on the current position and the preset landing position;
the electric quantity acquisition module is used for acquiring the residual electric quantity of the unmanned aerial vehicle;
the second distance acquisition module is used for acquiring the movable distance of the unmanned aerial vehicle based on the residual electric quantity;
the first judgment module is used for judging whether the return distance is greater than the movable distance or not and obtaining a first judgment result;
the second position acquisition module is used for acquiring a standby descending position when the first judgment result is yes;
a third distance obtaining module, configured to obtain a standby landing distance based on the current position and the standby landing position;
the second judgment module is used for judging whether the standby landing distance is greater than the movable distance or not and obtaining a second judgment result;
a third position obtaining module, configured to obtain the corresponding standby landing position as a final landing position when the second determination result is negative;
the command acquisition module is used for acquiring a standby descending command;
and the control module is used for controlling the unmanned aerial vehicle to land to the final landing position based on the standby landing instruction.
Through adopting above-mentioned technical scheme, after first position acquisition module acquireed unmanned aerial vehicle's current position and predetermined landing position, send the first distance acquisition module that links to each other with it, first distance acquisition module acquires the distance of returning a journey according to current position and predetermined landing position to return a journey the distance and send the first judgement module that links to each other with it.
The electric quantity acquisition module acquires the residual electric quantity of the unmanned aerial vehicle and sends the residual electric quantity to the second distance acquisition module connected with the electric quantity acquisition module, and the second distance acquisition module acquires the movable distance of the unmanned aerial vehicle according to the residual electric quantity and sends the movable distance to the first judgment module and the second judgment module connected with the movable distance.
The first judging module judges whether the return distance is larger than the movable distance or not, a first judging result is obtained, the first judging result is sent to the second position obtaining module connected with the first judging module, when the first judging result is yes, the second position obtaining module obtains the standby landing position and sends the standby landing position to the third distance obtaining module connected with the second position obtaining module, and the third distance obtaining module obtains the standby landing distance according to the received current position and the standby landing position and sends the standby landing distance to the second judging module connected with the third position obtaining module.
And the second judgment module judges whether the standby descending distance is greater than the movable distance or not, generates a second judgment result and sends the second judgment result to a third position acquisition module connected with the second judgment module. And when the second judgment result is negative, the third position acquisition module acquires a corresponding standby landing position as a landing position, the final instruction acquisition module acquires a standby landing instruction and sends the standby landing instruction to the control module connected with the third position acquisition module, and the control module controls the unmanned aerial vehicle to land to the final landing position according to the standby landing instruction. Thereby can retrieve unmanned aerial vehicle to a certain extent, can reduce the possibility that unmanned aerial vehicle takes place to descend at random, and then reduce the difficulty of looking for unmanned aerial vehicle.
In summary, the present application includes at least one of the following beneficial technical effects:
1. and judging whether the return distance is greater than the movable distance or not, and obtaining a first judgment result to judge whether the unmanned aerial vehicle can smoothly return. And when the first judgment result is yes, acquiring a standby descending position, acquiring a standby descending distance according to the standby descending position and the current position, judging whether the standby descending distance is greater than the movable distance, acquiring a second judgment result, and judging whether the unmanned aerial vehicle can be transferred to the standby descending position. If the second judgment result is negative, the final landing position is obtained at the moment, and then a standby landing instruction is obtained to control the unmanned aerial vehicle to land to the final landing position. Thereby can retrieve unmanned aerial vehicle to a certain extent, can reduce the possibility that unmanned aerial vehicle takes place to descend at random, and then reduce the difficulty of looking for unmanned aerial vehicle.
2. Whether the recovery cabin is located the final landing position or not is judged according to the feedback information, whether the unmanned aerial vehicle can land smoothly or not can be judged, if not, the unmanned aerial vehicle is controlled to transfer to other optional positions according to the transfer instruction, and therefore the safety of landing of the unmanned aerial vehicle can be guaranteed as far as possible. If, then unmanned aerial vehicle can normally descend to final landing position, and then guarantee the security that unmanned aerial vehicle descends as far as possible.
Drawings
Fig. 1 is an overall flowchart schematic diagram of a method for standby landing of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a detailed flowchart of steps S9 from step S21 to step S25 according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating steps S31 through S36 before step S11 according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating steps S41 through S45 before step S34 according to an embodiment of the present application;
FIG. 5 is a detailed flowchart of steps S51 through S56 and S35 according to an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating steps S61 through S66 according to an embodiment of the present application;
FIG. 7 is a schematic flowchart of the embodiment of the present application after step S66, namely, step S71 to step S74;
FIG. 8 is a schematic flowchart of steps S81-S84 according to an embodiment of the present application;
fig. 9 is a block diagram of an overall structure of an unmanned aerial vehicle standby landing system provided in the embodiment of the present application.
Description of reference numerals:
1. a first position acquisition module; 2. a first distance acquisition module; 3. an electric quantity obtaining module; 4. a second distance acquisition module; 5. a first judgment module; 6. a second position acquisition module; 7. a third distance acquisition module; 8. a second judgment module; 9. a third position acquisition module; 10. an instruction acquisition module; 11. and a control module.
Detailed Description
The present application is described in further detail below with reference to figures 1-9.
The embodiment of the application discloses a method for standby landing of an unmanned aerial vehicle.
Referring to fig. 1, the unmanned aerial vehicle standby landing method includes:
s1, acquiring the current position and the preset landing position of the unmanned aerial vehicle
S2, acquiring a return distance based on the current position and a preset landing position;
s3, acquiring the residual electric quantity of the unmanned aerial vehicle;
s4, acquiring the movable distance of the unmanned aerial vehicle based on the residual electric quantity;
s5, judging whether the return distance is larger than the movable distance or not, and obtaining a first judgment result;
s6, if the first judgment result is yes, acquiring a standby descending position;
s7, acquiring a standby landing distance based on the current position and the standby landing position;
s8, judging whether the standby descending distance is larger than the movable distance or not, and obtaining a second judgment result;
s9, if the second judgment result is negative, acquiring a corresponding standby landing position as a final landing position;
s10, acquiring a standby descending instruction;
s11, controlling the unmanned aerial vehicle to land to a final landing position based on the standby landing instruction.
Specifically, before the unmanned aerial vehicle needs to land after performing the return flight, the current position and the preset landing position of the unmanned aerial vehicle are acquired, the current position acquisition mode can be obtained by positioning through a position sensor fixed on the unmanned aerial vehicle, and the preset landing position is a pre-stored position. And then, acquiring the return distance according to the current position and the preset landing position of the unmanned aerial vehicle, wherein the acquisition mode can be obtained by calculation of a GPS navigation system.
Then acquire unmanned aerial vehicle's surplus electric quantity, the acquisition mode can be obtained through the electric quantity measuring device who sets firmly on unmanned aerial vehicle, then acquire unmanned aerial vehicle's portable distance according to the surplus electric quantity, the acquisition mode can be through calculating the acquisition, for example, acquire the consumption speed of unmanned aerial vehicle electric quantity, this consumption speed can be a fixed value through experimental acquisition, then divide consumption speed according to the surplus electric quantity and acquire the consumption time, acquire unmanned aerial vehicle's moving speed this moment, moving speed can be a predetermined fixed value, unmanned aerial vehicle cruises with the fixed value in the process of returning, then multiply consumption time with moving speed, the value of acquireing is portable distance, just that is the distance that surplus electric quantity is enough to support unmanned aerial vehicle to move.
And then judging whether the return distance is larger than the movable distance or not, and obtaining a first judgment result, namely judging whether the unmanned aerial vehicle can return to a preset landing position before the residual electric quantity is exhausted or not. If the first interpretation result is negative, the return distance is proved to be smaller than or equal to the movable distance, and the unmanned aerial vehicle can normally return. And if the first judgment result is yes, the unmanned aerial vehicle is proved to be incapable of normally returning, and the standby landing position is obtained at the moment. The standby landing position is a preset standby landing position, and the standby landing position is pre-stored information.
And then, acquiring the standby landing distance according to the current position and the standby landing position, wherein the acquisition mode can be calculated and acquired according to a GPS navigation system. And then judging whether the standby landing distance is greater than the movable distance or not, and obtaining a second judgment result, namely judging whether the residual electric quantity is enough to support the unmanned aerial vehicle to move to the standby landing position or not.
If the second judgment result is yes, the fact that the residual electric quantity of the unmanned aerial vehicle is insufficient for return flight is proved, and the unmanned aerial vehicle can land nearby. And if the second judgment result is negative, the existence of the position which can enable the unmanned aerial vehicle to smoothly return to the air is proved to exist in the standby landing position, and the corresponding standby landing position is obtained to serve as the final landing position, so that the unmanned aerial vehicle can land conveniently.
Finally, acquire and prepare for the instruction of descending, prepare for the instruction of descending can be the automatic generation after acquiring final landing position, then descend to final landing position with control unmanned aerial vehicle based on preparing for the instruction of descending, can be according to the rotational speed reduction of preparing for the screw of descending instruction control unmanned aerial vehicle promptly, and then control unmanned aerial vehicle's height reduces gradually to final landing position.
Therefore, the unmanned aerial vehicle can be recovered to a certain extent through the method, the possibility that the unmanned aerial vehicle randomly lands can be reduced, the difficulty of finding the unmanned aerial vehicle is further reduced, and the efficiency of finding the unmanned aerial vehicle by an owner of the unmanned aerial vehicle is improved.
Referring to fig. 2, there may be a plurality of landing positions meeting the condition, and therefore, in another embodiment, if the second determination result is no, the step S9 of obtaining the corresponding landing position as the final landing position includes the following steps:
s21, acquiring a corresponding standby descending position as an optional position;
s22, acquiring a retrieval distance based on the selectable position and a preset landing position;
s23, judging the sizes of all the retrieval distances and obtaining a third judgment result;
s24, acquiring the minimum recovery distance based on the third judgment as the minimum distance;
and S25, acquiring a corresponding optional position based on the nearest distance to serve as a final landing position.
Specifically, when the standby lowering distance is less than or equal to the movable distance, the corresponding standby lowering positions, that is, all the positions that meet the conditions are acquired and taken as the selectable positions. And then acquiring the retrieval position according to the selectable position and the preset landing position, wherein the acquisition mode can be obtained by calculation of a GPS positioning system, and then judging the size of all the retrieval distances and acquiring a third judgment result.
The third determination result may be information obtained by comparing all the search distances and then sorting all the search distances from large to small or from small to large. And then obtaining the minimum retrieval distance as the closest distance according to the local third judgment result. And finally, acquiring a corresponding optional position based on the closest distance to serve as a final landing position. Each retrieval distance corresponds to a corresponding optional position, so that after the minimum retrieval distance is determined, the corresponding optional position can be obtained, and the final landing position can be obtained.
By the method, the optional position closest to the preset landing position can be selected, the owner of the unmanned aerial vehicle can move the shortest distance to retrieve the unmanned aerial vehicle, the retrieving mode is convenient, the retrieving efficiency of the unmanned aerial vehicle can be improved, and the possibility that the unmanned aerial vehicle is damaged by other people is reduced.
Referring to fig. 3, further, in the return flight recovery process of the drone, the recovery cabin is used to store the drone, so in another embodiment, step S11 further includes the following steps before controlling the drone to land to the final landing position based on the landing preparation command:
s31, acquiring a search command;
s32, searching a recovery cabin located at the final landing position based on the search command, and obtaining feedback information;
s33, judging whether the recovery cabin is located at the final landing position or not based on the feedback information;
s34, if not, acquiring a transfer instruction;
s35, controlling the unmanned aerial vehicle to move to other optional positions based on the transfer instruction;
and S36, if yes, carrying out the next step.
When unmanned aerial vehicle moved to the top of final landing position, unmanned aerial vehicle acquireed the search command this moment, and the search command can be generated by unmanned aerial vehicle's control system, then moves at final landing position based on search command control unmanned aerial vehicle, retrieves the position of cabin through the induction system response on the unmanned aerial vehicle simultaneously, also can be through wireless or bluetooth mode of connecting and retrieve the cabin and establish and be connected to obtain feedback information.
Wherein, feedback information is after unmanned aerial vehicle searches for a period of time, whether the unmanned aerial vehicle that acquires is connected with retrieving the cabin, perhaps whether unmanned aerial vehicle senses the information in retrieving the cabin. After obtaining feedback information, whether judge according to feedback information and retrieve the cabin and be located final landing position, judge promptly whether establish between unmanned aerial vehicle and the recovery cabin and be connected or whether unmanned aerial vehicle senses the recovery cabin to judge whether unmanned aerial vehicle can go back the cabin smoothly.
If the feedback information is to establish a connection relationship or sense the recovery compartment, the recovery compartment is proved to be located at the final landing position, otherwise, the recovery compartment is proved not to be located at the landing position. Wherein, retrieve the cabin and not can be that the cabin is just like being separated by other people in the landing position, also can be because retrieving cabin or unmanned aerial vehicle break down, lead to retrieving cabin and unmanned aerial vehicle and can't establish the connection, or unmanned aerial vehicle can't respond to and retrieve the cabin.
If, retrieve the cabin promptly and be located the landing position, carry out next step this moment, step S12 promptly is based on promptly and is equipped with the landing instruction with control unmanned aerial vehicle landing to final landing position, and unmanned aerial vehicle can normally land to retrieve in the cabin this moment and retrieve.
If not, namely the recovery cabin is not located at the final landing position, the transfer instruction is obtained at the moment, and the transfer instruction can be generated by the control system of the unmanned aerial vehicle. And the transfer instruction comprises selectable positions, and then the unmanned aerial vehicle is controlled to be transferred to other selectable positions according to the transfer instruction. Thereby can guarantee as far as that unmanned aerial vehicle can descend fixed position, when conveniently looking for, can further improve the descending security of unmanned aerial vehicle.
Referring to fig. 4, further, during the process of searching for the recovery bay, sometimes the unmanned aerial vehicle cannot be immediately searched for signal interference, and therefore, in another embodiment, step S34 includes the following steps before acquiring the transfer instruction:
s41, acquiring a search instruction;
s42, acquiring the searching time of the unmanned aerial vehicle for searching the recovery cabin based on the searching instruction;
s43, judging whether the searching time is greater than a time threshold value;
s44, if not, controlling the unmanned aerial vehicle to search the recovery cabin based on the search instruction;
and S45, if yes, carrying out the next step.
Specifically, after the unmanned aerial vehicle reaches the final landing position, a search instruction is obtained, and the search instruction may also be generated by the control system, where the search instruction includes a search time and a search range. And then acquiring the searching time and the searching range of the unmanned aerial vehicle for searching the recovery cabin according to the unmanned aerial vehicle searching command.
And then judging whether the searching time is greater than a time threshold value, namely judging whether the time for searching the recovery cabin by the unmanned aerial vehicle is enough. If so, prove that the time that unmanned aerial vehicle searches for the recovery cabin is long enough, can carry on next step this moment, that is step S34 promptly obtains the transfer instruction, makes things convenient for unmanned aerial vehicle to carry out the transfer.
Otherwise, if not, the search time of the unmanned aerial vehicle is proved to be insufficient, the unmanned aerial vehicle needs to continue searching, and the unmanned aerial vehicle is controlled to search the recovery cabin based on the search instruction. According to searching command control unmanned aerial vehicle and removing promptly to searching the all ring edge borders of final landing position according to searching the scope, going on according to the length of time of search time simultaneously, can improving the unmanned aerial vehicle and search the accuracy of retrieving the cabin as far as possible, reduce the possibility that the mistake report condition takes place, thereby improve the accuracy of judging.
Referring to fig. 5, since a certain amount of power is consumed during the transfer of the drone to the final landing position, it is necessary to determine whether the transfer distance of the drone is sufficient during the transfer of the drone, and therefore, in another embodiment, the step S35 of controlling the drone to move to another optional position based on the transfer instruction includes the following steps:
s51, acquiring a transfer distance based on the final landing position and the optional position;
s52, acquiring the current electric quantity of the unmanned aerial vehicle;
s53, acquiring a transferable distance of the unmanned aerial vehicle based on the current electric quantity;
s54, judging whether the transferable distance is greater than the transfer distance;
s55, if yes, acquiring a corresponding optional position as a transfer position;
and S56, controlling the unmanned aerial vehicle to transfer to a transfer position based on the transfer instruction.
Particularly, transfer distance is obtained according to the final landing position and the optional position, the obtaining mode can be obtained through calculation according to a GPS system, then the current electric quantity of the unmanned aerial vehicle is obtained through an electric quantity measuring device, the transferable distance of the unmanned aerial vehicle is obtained according to the current electric quantity, and the obtaining mode is the same as the mode of obtaining the movable distance.
And then judging whether the transferable distance is greater than the transfer distance, namely judging whether the current electric quantity of the unmanned aerial vehicle is enough for the unmanned aerial vehicle to transfer again. If so, it is proved that the transfer can be performed again, and the corresponding optional position is acquired as the transfer position, that is, the optional position with the transferable distance greater than the transfer distance is acquired. And then controlling the unmanned aerial vehicle to transfer to the transfer position according to the transfer instruction, wherein the transfer instruction comprises an optional position, so that the unmanned aerial vehicle can move according to the positioning of the transfer position.
Therefore, when the recovery cabin cannot be detected, the unmanned aerial vehicle can be transferred to other positions to be recovered, and the safety of the unmanned aerial vehicle in the recovery process can be further improved.
Referring to fig. 6, in another embodiment, when the current power of the drone is not enough for transfer, that is, when the transferable distance is less than the transfer distance, the method further includes the following steps:
s61, acquiring image information;
s62, judging whether a pedestrian exists at the final landing position based on the image information;
s63, if not, acquiring a landing instruction;
s64, controlling the unmanned aerial vehicle to land to a final landing position based on the landing instruction;
s65, if yes, acquiring a floating instruction;
and S66, controlling the unmanned aerial vehicle to suspend in the air based on the floating instruction.
Particularly, unmanned aerial vehicle need descend nearby this moment, but in order to reduce unmanned aerial vehicle to be taken away or the possibility that the damage condition takes place by other people after descending, need judge the environment of descending. The image information is acquired at the moment, the acquisition mode can be acquired by shooting through a camera carried by the unmanned aerial vehicle, then whether a pedestrian exists at the final landing position is judged according to the image information, the judgment mode can be that the image information is matched with a prestored pedestrian image through an image algorithm, whether the pedestrian matched with the pedestrian in the pedestrian image exists in the image information is judged, if so, the matching is proved to be successful, at the moment, the pedestrian is proved to be at the final landing position, and otherwise, the pedestrian does not exist.
When judging that final landing position does not have the pedestrian, prove that the environment of final landing position is comparatively safe this moment, acquire the landing instruction this moment, reduce based on the rotational speed of landing instruction control screw to make unmanned aerial vehicle's height reduce, and finally descend to final landing position.
When judging that there is the pedestrian in final landing position, prove that the environment of final landing position is not very safe this moment, acquire the instruction of floating this moment, the rotational speed based on floating instruction control screw is unchangeable, and closes the screw stall that control unmanned aerial vehicle carried out the back-and-forth movement, makes unmanned aerial vehicle suspend in the sky of final landing position, and when judging there is not the pedestrian, unmanned aerial vehicle receives the instruction of descending and descends. Thereby can reduce unmanned aerial vehicle and descend the possibility that the later artificial damage condition takes place, can improve the security of unmanned aerial vehicle descending in-process.
Referring to fig. 7, if the flying time of the drone is too long, which results in the drone falling due to insufficient power, in order to protect the drone, in another embodiment, the step S66 further includes the following steps after controlling the drone to suspend in the air based on the flying command:
s71, acquiring the distance between the unmanned aerial vehicle and the ground as a floating distance;
s72, judging whether the floating distance is smaller than a preset distance;
s73, if yes, acquiring an umbrella opening instruction;
and S74, controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
Particularly, acquire the distance between unmanned aerial vehicle and the bottom surface, as the floating distance, the acquisition mode of distance can be measured through distance sensor and is acquireed. Then judge whether the superficial distance is less than preset distance, judge whether unmanned aerial vehicle's superficial height is low excessively promptly, if yes, just prove that unmanned aerial vehicle's very big probability is that the electric quantity is not enough to lead to the altitude to descend, acquire the parachute opening instruction this moment, open according to the parachute on the parachute opening instruction control unmanned aerial vehicle to can cushion unmanned aerial vehicle, reduce the direct possibility that falls and take place the damage condition emergence of unmanned aerial vehicle, and then can protect unmanned aerial vehicle, improve the descending security of unmanned aerial vehicle.
Referring to fig. 8, further, if the battery is sufficiently floated, but the remaining battery is not enough to make the drone land safely, therefore, in another embodiment, in order to ensure the safety of landing of the drone as much as possible, when the floating distance is greater than the preset distance, the method further includes the following steps:
s81, judging whether the current electric quantity is smaller than an electric quantity threshold value;
s82, if yes, acquiring an umbrella opening instruction and a stalling instruction;
s83, controlling the propeller of the unmanned aerial vehicle to stop rotating based on the stalling instruction;
and S84, controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
At this moment, judge whether current electric quantity is less than the electric quantity threshold value, current electric quantity here means that unmanned aerial vehicle floats after a period, current electric quantity, electric quantity threshold value are according to unmanned aerial vehicle's the maximum height that floats after, the predetermined maximum electric quantity that can descend safely.
If, current electric quantity is less than the electric quantity threshold value promptly, just proves that unmanned aerial vehicle can not safely descend, acquires parachute opening instruction and stall instruction this moment, at first stall instruction control unmanned aerial vehicle's screw stall, and then makes unmanned aerial vehicle descend, then parachute opening on the parachute opening instruction control unmanned aerial vehicle is opened, can cushion unmanned aerial vehicle's landing speed. Simultaneously the screw stall can reduce because the screw continues to rotate, makes unmanned aerial vehicle continue to float the sky and leads to the parachute to cover the possibility that the screw condition takes place, and then can guarantee the normal use of parachute as far as possible to can further improve the descending security of unmanned aerial vehicle.
The implementation principle of the unmanned aerial vehicle standby landing method in the embodiment of the application is as follows: the method comprises the steps of obtaining a return distance according to the current position and the preset landing position of the unmanned aerial vehicle, obtaining the movable distance of the unmanned aerial vehicle according to the residual electric quantity, judging whether the return distance is larger than the movable distance or not, obtaining a first judgment result, and judging whether the unmanned aerial vehicle can smoothly return. And when the first judgment result is yes, acquiring a standby descending position, acquiring a standby descending distance according to the standby descending position and the current position, judging whether the standby descending distance is greater than the movable distance, acquiring a second judgment result, and judging whether the unmanned aerial vehicle can be transferred to the standby descending position. If the second judgment result is negative, the final landing position is obtained at the moment, and then a standby landing instruction is obtained to control the unmanned aerial vehicle to land to the final landing position. Thereby can retrieve unmanned aerial vehicle to a certain extent, can reduce the possibility that unmanned aerial vehicle takes place to descend at random, and then reduce the difficulty of looking for unmanned aerial vehicle.
The embodiment of the application further discloses an unmanned aerial vehicle standby landing system, which can achieve the same technical effect as the unmanned aerial vehicle standby landing method.
Referring to fig. 9, the unmanned aerial vehicle standby landing system includes:
the first position acquisition module 1 is used for acquiring the current position and the preset landing position of the unmanned aerial vehicle;
the first distance acquisition module 2 is used for acquiring a return distance based on the current position and a preset landing position;
the electric quantity obtaining module 3 is used for obtaining the residual electric quantity of the unmanned aerial vehicle;
the second distance acquisition module 4 is used for acquiring the movable distance of the unmanned aerial vehicle based on the residual electric quantity;
the first judgment module 5 is used for judging whether the return distance is greater than the movable distance or not and obtaining a first judgment result;
the second position acquisition module 6 is used for acquiring the standby descending position when the first judgment result is yes;
a third distance obtaining module 7, configured to obtain a standby landing distance based on the current position and the standby landing position;
the second judgment module 8 is used for judging whether the standby landing distance is greater than the movable distance or not and obtaining a second judgment result;
a third position obtaining module 9, configured to obtain a corresponding standby landing position as a final landing position when the second determination result is negative;
the command acquisition module 10 is used for acquiring a standby descending command;
and the control module 11 is used for controlling the unmanned aerial vehicle to land to a final landing position based on the standby landing instruction.
Specifically, after acquiring the current position and the predetermined landing position of the unmanned aerial vehicle, the first position acquisition module 1 sends the current position and the predetermined landing position of the unmanned aerial vehicle to the first distance acquisition module 2 connected with the first position acquisition module, and the first distance acquisition module 2 acquires the return distance according to the current position and the predetermined landing position, and sends the return distance to the first judgment module 5 connected with the first distance acquisition module.
The electric quantity acquisition module 3 acquires the residual electric quantity of the unmanned aerial vehicle and sends the residual electric quantity to the second distance acquisition module 4 connected with the electric quantity acquisition module, and the second distance acquisition module 4 acquires the movable distance of the unmanned aerial vehicle according to the residual electric quantity and sends the movable distance to the first judgment module 5 and the second judgment module 8 connected with the movable distance.
The first judging module 5 judges whether the return distance is greater than the movable distance or not, obtains a first judging result, and sends the first judging result to the second position obtaining module 6 connected with the first judging module, when the first judging result is yes, the second position obtaining module 6 obtains the standby landing position and sends the standby landing position to the third distance obtaining module 7 connected with the second position, and the third distance obtaining module 7 obtains the standby landing distance according to the received current position and the standby landing position, and sends the standby landing distance to the second judging module 8 connected with the third position.
The second judgment module 8 judges whether the standby distance is greater than the movable distance, generates a second judgment result and sends the second judgment result to the third position acquisition module 9 connected with the second judgment module. However, if the second determination result is negative, the third position obtaining module 9 obtains the corresponding standby position as the landing position.
And finally, the command acquisition module 10 acquires a standby landing command according to the final landing position and sends the standby landing command to the control module 11 connected with the command acquisition module, and the control module 11 controls the unmanned aerial vehicle to land to the final landing position according to the standby landing command. Thereby can retrieve unmanned aerial vehicle to a certain extent, can reduce the possibility that unmanned aerial vehicle takes place to descend at random, and then reduce the difficulty of looking for unmanned aerial vehicle.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. An unmanned aerial vehicle standby landing method is characterized by comprising the following steps:
acquiring the current position and the preset landing position of the unmanned aerial vehicle;
acquiring a return distance based on the current position and the preset landing position;
acquiring the residual electric quantity of the unmanned aerial vehicle;
acquiring a movable distance of the unmanned aerial vehicle based on the residual electric quantity;
judging whether the return distance is greater than the movable distance or not, and obtaining a first judgment result;
if the first judgment result is yes, acquiring a standby descending position;
acquiring a standby landing distance based on the current position and the standby landing position;
judging whether the standby landing distance is larger than the movable distance or not, and obtaining a second judgment result;
if the second judgment result is negative, acquiring the corresponding standby landing position as a final landing position;
acquiring a standby descending instruction;
controlling the unmanned aerial vehicle to land to the final landing position based on the standby landing instruction;
if the second judgment result is negative, acquiring the corresponding standby landing position as a final landing position comprises the following steps:
when the standby descending distance is smaller than or equal to the movable distance, acquiring the corresponding standby descending position as an optional position;
obtaining a recovery distance based on the selectable position and the predetermined landing position;
judging the size of all the retrieval distances and obtaining a third judgment result;
acquiring the minimum retrieval distance as a closest distance based on the third judgment result;
and acquiring the corresponding optional position as the final landing position based on the closest distance.
2. The method of claim 1, wherein the controlling the drone to land to the final landing location based on the landing preparation command further comprises:
acquiring a search command;
searching a recovery cabin positioned at the final landing position based on the searching command, and obtaining feedback information;
judging whether the recovery cabin is located at the final landing position based on the feedback information;
if not, acquiring a transfer instruction;
controlling the unmanned aerial vehicle to move to other optional positions based on the transfer instruction;
if yes, the next step is carried out.
3. The drone landing method of claim 2, wherein obtaining the transfer instruction further comprises, prior to:
acquiring a search instruction;
acquiring the searching time of the unmanned aerial vehicle for searching the recovery cabin based on the searching instruction;
judging whether the searching time is greater than a time threshold value;
if not, controlling the unmanned aerial vehicle to search the recovery cabin based on the search instruction;
if yes, the next step is carried out.
4. The method of claim 2, wherein the step of controlling the drone to move to the other of the selectable positions based on the transfer instruction comprises the steps of:
obtaining a transfer distance based on the final landing position and the selectable position;
acquiring the current electric quantity of the unmanned aerial vehicle;
acquiring a transferable distance of the unmanned aerial vehicle based on the current electric quantity;
judging whether the transferable distance is greater than the transfer distance;
if yes, acquiring the corresponding optional position as a transfer position;
controlling transfer of the drone to the transfer location based on the transfer instruction.
5. The unmanned aerial vehicle preparation landing method according to claim 4, further comprising:
when the transferable distance is smaller than the transfer distance, acquiring image information;
judging whether the final landing position has a pedestrian or not based on the image information;
if not, a landing instruction is obtained;
controlling the unmanned aerial vehicle to land to the final landing position based on the landing instruction;
if yes, acquiring a floating instruction;
and controlling the unmanned aerial vehicle to suspend in the air based on the floating instruction.
6. The method of preparing for landing by a drone of claim 5, wherein the controlling the drone to suspend in the air based on the floating instruction further comprises:
acquiring the distance between the unmanned aerial vehicle and the ground as a floating distance;
judging whether the floating distance is smaller than a preset distance;
if yes, acquiring an umbrella opening instruction;
and controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
7. The unmanned aerial vehicle preparation landing method according to claim 6, further comprising:
when the floating distance is larger than the preset distance, judging whether the current electric quantity is smaller than an electric quantity threshold value;
if yes, acquiring the parachute opening instruction and the stalling instruction;
controlling a propeller of the unmanned aerial vehicle to stop rotating based on the stalling instruction;
and controlling the parachute on the unmanned aerial vehicle to be opened based on the parachute opening instruction.
8. An unmanned aerial vehicle system of being equipped for landing, its characterized in that includes:
the first position acquisition module (1) is used for acquiring the current position and the preset landing position of the unmanned aerial vehicle;
a first distance acquisition module (2) for acquiring a return distance based on the current position and the predetermined landing position;
the electric quantity obtaining module (3) is used for obtaining the residual electric quantity of the unmanned aerial vehicle;
a second distance acquisition module (4) for acquiring a movable distance of the unmanned aerial vehicle based on the remaining capacity;
the first judging module (5) is used for judging whether the return distance is greater than the movable distance or not and obtaining a first judging result;
the second position acquisition module (6) is used for acquiring a standby descending position when the first judgment result is yes;
a third distance obtaining module (7) for obtaining a standby landing distance based on the current position and the standby landing position;
the second judging module (8) is used for judging whether the standby descending distance is greater than the movable distance or not and obtaining a second judging result;
a third position obtaining module (9) for obtaining the corresponding standby landing position as a final landing position when the second judgment result is negative;
the command acquisition module (10) is used for acquiring a standby descending command;
the control module (11) is used for controlling the unmanned aerial vehicle to land to the final landing position based on the standby landing instruction;
if the second judgment result is negative, acquiring the corresponding standby landing position as a final landing position comprises the following steps:
when the standby descending distance is smaller than or equal to the movable distance, acquiring the corresponding standby descending position as an optional position;
obtaining a recovery distance based on the selectable position and the predetermined landing position;
judging the size of all the retrieval distances and obtaining a third judgment result;
acquiring the minimum retrieval distance as a closest distance based on the third judgment result;
and acquiring the corresponding optional position as the final landing position based on the closest distance.
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