CN117677913A - Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium - Google Patents
Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
A control method of an unmanned aerial vehicle, and a storage medium, the unmanned aerial vehicle including a distance detection device for detecting objects around the unmanned aerial vehicle, the distance detection device including a transmitting device that transmits a detection signal, the method comprising: determining a movement state of the unmanned aerial vehicle (S101); determining a target power of the transmitting device according to the motion state (S102); controlling the transmitting means to transmit a detection signal according to the determined target power (S103); and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device (S104).
Description
The application relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
At present, unmanned vehicles can be provided with distance detection device, and distance detection device includes emitter, and emitter can send the detection signal in order to detect the barrier in unmanned vehicles surrounding environment, and unmanned vehicles can avoid the barrier of detecting in the flight in-process. Currently, the transmit power of the transmitting device remains unchanged after the setting is completed. If the transmitting power is set too low, the detecting distance is too short, and when the unmanned aerial vehicle executes high-speed operation, the safety of the unmanned aerial vehicle cannot be ensured because the remote obstacle cannot be detected. If the transmitting power is set too high, the power consumption of the distance detection device is increased, the endurance of the unmanned aerial vehicle can be reduced, in addition, the performance of the distance detection device is reduced due to overheating, the temperature of the whole unmanned aerial vehicle is further increased, and the safety of the unmanned aerial vehicle is threatened.
Disclosure of Invention
Based on this, the application provides a unmanned vehicles's control method, unmanned vehicles and storage medium to according to unmanned vehicles's motion state adjustment distance detection device's emitter's power, can guarantee the unmanned vehicles's under different motion states to the detection requirement of distance detection device in order to guarantee the detection effect like this, can avoid the excessive consumption of distance detection device again.
In a first aspect, the present application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle comprising a distance detection device for detecting objects around the unmanned aerial vehicle, the distance detection device comprising a transmitting device for transmitting detection signals, the method comprising:
determining a motion state of the unmanned aerial vehicle;
determining a target power of the transmitting device according to the motion state;
controlling the transmitting device to transmit a detection signal according to the determined target power;
and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
In a second aspect, the present application provides an unmanned aerial vehicle comprising a distance detection device for detecting objects around the unmanned aerial vehicle, the distance detection device comprising a transmitting device for transmitting detection signals, the unmanned aerial vehicle further comprising: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
determining a motion state of the unmanned aerial vehicle;
determining a target power of the transmitting device according to the motion state;
controlling the transmitting device to transmit a detection signal according to the determined target power;
and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling an unmanned aerial vehicle as described above.
According to the unmanned aerial vehicle distance detection device, the unmanned aerial vehicle distance detection device is used for detecting objects around the unmanned aerial vehicle, the distance detection device comprises a transmitting device for transmitting detection signals, target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the unmanned aerial vehicle in different motion states can be guaranteed to detect requirements of the distance detection device so as to guarantee detection effects, the unmanned aerial vehicle can conduct motion control in advance according to the distance information of detected obstacles and avoid the obstacles, therefore flight safety of the unmanned aerial vehicle can be guaranteed, in addition, the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the target power cannot always be in a high position, target power is reduced, excessive consumption of the distance detection device is avoided, continuous voyage of the unmanned aerial vehicle is avoided due to excessive consumption of the distance detection device, performance reduction caused by the fact that the unmanned aerial vehicle temperature rise is caused by overheating of the distance detection device is avoided, and safety threat is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method of controlling an unmanned aerial vehicle of the present application;
FIG. 2 is a schematic diagram of an embodiment of a control method of an unmanned aerial vehicle according to the present application for determining a target power based on a motion state;
FIG. 3 is a schematic diagram of an embodiment of a method of controlling an unmanned aerial vehicle of the present application for determining a target power based on a speed of flight;
FIG. 4 is a schematic diagram of a change in a motor state on a time axis corresponding to a motion state of an unmanned aerial vehicle according to an embodiment of a control method of the unmanned aerial vehicle of the present application;
fig. 5 is a schematic structural view of an embodiment of the unmanned aerial vehicle of the present application.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
Currently, unmanned aerial vehicles may be configured with a distance detection device that includes a transmitting device that may send a detection signal to detect an obstacle in the surrounding environment of the unmanned aerial vehicle, with the transmitting power of the transmitting device remaining unchanged after setting. If the emission power is set too low, the target detection is too close, and the safety of the unmanned aerial vehicle cannot be ensured when the unmanned aerial vehicle performs high-speed operation. If the transmitting power is set too high, the power consumption of the distance detection device is increased, the endurance of the unmanned aerial vehicle can be reduced, in addition, the performance of the distance detection device can be reduced due to overheating, even the temperature rise of the whole unmanned aerial vehicle can be influenced, and the safety of the unmanned aerial vehicle is threatened.
According to the unmanned aerial vehicle distance detection device, the object around the unmanned aerial vehicle is detected, the distance detection device comprises a transmitting device for transmitting detection signals, target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the unmanned aerial vehicle in different motion states can be guaranteed to detect requirements of the distance detection device so as to guarantee detection effects, the unmanned aerial vehicle can conduct motion control in advance according to the distance information of the detected obstacle, the obstacle is avoided, therefore flight safety of the unmanned aerial vehicle can be guaranteed, in addition, the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the target power cannot be always in a high position, power consumption of the target power is reduced, accordingly excessive consumption of the distance detection device is avoided, continuous voyage of the unmanned aerial vehicle is avoided due to excessive consumption of the distance detection device, performance reduction caused by overheat of the distance detection device is avoided, and safety threat caused by whole temperature rise of the unmanned aerial vehicle due to overheat of the distance detection device is avoided.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a control method of an unmanned aerial vehicle according to the present application, where the unmanned aerial vehicle includes a distance detection device, the distance detection device is configured to detect objects around the unmanned aerial vehicle, the distance detection device includes a transmitting device that transmits a detection signal, the distance detection device detects the objects around the unmanned aerial vehicle according to a received echo signal of the detection signal, and further, the distance detection device determines distance information between the objects around the unmanned aerial vehicle and the distance detection device according to the received echo signal of the detection signal. And the unmanned aerial vehicle performs motion control according to the distance information acquired by the distance detection device.
Wherein the distance detection means includes, but is not limited to: radar apparatus, ultrasonic apparatus, time of Flight (TOF) distance sensor, infrared distance sensor. The detection signal includes a radar wave signal, an acoustic wave signal, or an optical signal. The radar device may be a different type of radar device, for example, a radar (microwave radar, millimeter wave radar, and laser radar) that emits radar waves in different frequency bands, or a radar (mechanical scanning radar, phased array radar) in different antenna scanning modes.
The method comprises the following steps: step S101, step S102, step S103, and step S104.
Step S101: a state of motion of the unmanned aerial vehicle is determined.
Step S102: and determining the target power of the transmitting device according to the motion state.
Step S103: and controlling the transmitting device to transmit the detection signal according to the determined target power.
Step S104: and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
The movement states of the unmanned aerial vehicle include a stationary state (the unmanned aerial vehicle is in a start-up state and is not taking off, for example, stationary on the ground in the start-up state) and a non-stationary state, which may include a take-off state, a cruising state (a flight state after the take-off stage is completed and a predetermined course is entered), and a landing state.
There are many ways to determine the target power of the transmitting device based on the motion state. For example, a correspondence relationship between the motion state of the unmanned aerial vehicle and the target power of the transmitting device may be established in advance: what the target power of the launching device is in the stationary state, what the target power of the launching device is in the take-off state, what the target power of the launching device is in the cruise state, and what the target power of the launching device is in the landing state. Typically, the target power in the quiescent state is less than the target power in the non-quiescent state. And determining the target power of the transmitting device according to the corresponding relation and the motion state of the unmanned aerial vehicle.
In addition to taking into account the movement state of the unmanned aerial vehicle, other factors relating to the transmitting device may be taken into account in determining the target power of the transmitting device, for example: the country or region promulgates the plumbing codes or regulations of the transmitting device, the performance parameters of the transmitting device itself, and so forth.
The target power of the transmitting device is determined according to the motion state, so that the target power of the transmitting device is not fixed and unchanged, the target power can be increased or reduced according to the requirements of the motion state, so that the detection requirements of the unmanned aerial vehicle in different motion states on the distance detecting device are ensured to ensure the detection effect.
The distance information acquired by the distance detection device is the distance information between the objects around the unmanned aerial vehicle detected by the distance detection device and the transmitting device of the distance detection device. Motion control of unmanned aerial vehicles based on distance information includes, but is not limited to: controlling the speed of unmanned aerial vehicle flight, controlling the direction of unmanned aerial vehicle flight, avoiding obstacles detected on the course in advance, etc. Motion control of unmanned aerial vehicles may include, but is not limited to: when the object is not on the preset route, the unmanned aerial vehicle can be controlled to keep the original flying speed for continuing flying; when an object is on a preset flight line, if the current object is far away from the unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to keep the original flight speed for continuing to fly, when the distance between the object and the distance detection device reaches a first preset distance threshold value, the unmanned aerial vehicle can be controlled to reduce the flight speed for continuing to fly, when the distance between the object and the distance detection device reaches a second preset distance threshold value, the unmanned aerial vehicle can be controlled to continue to reduce the flight speed, the flight direction is changed in the flight process to bypass the obstacle, and after the obstacle is bypassed, the unmanned aerial vehicle is returned to the preset flight line again and continues to fly at a faster flight speed.
According to the unmanned aerial vehicle distance detection device, the unmanned aerial vehicle distance detection device is used for detecting objects around the unmanned aerial vehicle, the distance detection device comprises a transmitting device for transmitting detection signals, target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the unmanned aerial vehicle in different motion states can be guaranteed to detect requirements of the distance detection device so as to guarantee detection effects, the unmanned aerial vehicle can conduct motion control in advance according to the distance information of detected obstacles and avoid the obstacles, therefore flight safety of the unmanned aerial vehicle can be guaranteed, in addition, the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, the target power cannot always be in a high position, target power is reduced, excessive consumption of the distance detection device is avoided, continuous voyage of the unmanned aerial vehicle is avoided due to excessive consumption of the distance detection device, performance reduction caused by the fact that the unmanned aerial vehicle temperature rise is caused by overheating of the distance detection device is avoided, and safety threat is avoided.
In an embodiment, step S102, the determining the target power of the transmitting device according to the motion state may include: and if the motion state is a static state, determining that the target power of the transmitting device is the first power.
In a stationary state of the unmanned aerial vehicle (corresponding to a state in which the motor is stationary), the transmission power of the transmitting device may be set to the first power. Since the unmanned aerial vehicle does not have the ability to collide with its surrounding objects in the stationary state, the first power may be the power of the transmitting device in the silent state, as shown in fig. 2.
In an embodiment, step S102, the determining the target power of the transmitting device according to the motion state may further include: and if the motion state is the cruising state, acquiring the motion parameter of the unmanned aerial vehicle, and determining the target power of the transmitting device according to the motion parameter.
Cruise conditions may refer to flight conditions of an unmanned aerial vehicle after entering a predetermined course during a take-off phase. And when the motion state is a cruising state, acquiring a motion parameter of the unmanned aerial vehicle, and determining the target power of the transmitting device according to the motion parameter. The motion parameters of the unmanned aerial vehicle are not fixed and can be changed in the flight process, so that when the motion parameters of the unmanned aerial vehicle are changed, the target power is also changed in time, namely, the target power of the transmitting device can be adjusted along with the change of the motion parameters of the unmanned aerial vehicle.
Wherein the motion parameter comprises a velocity or an acceleration. As shown in fig. 2, when the motion parameter includes a speed or an acceleration, the target power (expressed as an adjustable power, corresponding to a stable state of the motor) of the transmitting device may be adjusted in real time according to the speed or the acceleration of the unmanned aerial vehicle.
Wherein the motion parameter is positively correlated with the determined target power. I.e. the larger the motion parameter, the larger the target power, the smaller the motion parameter, and the smaller the target power. Taking the motion parameters including speed as an example: the greater the speed, the greater the target power of the transmitting device, enabling the detection of objects that are farther away; the greater the speed is, the greater the braking distance of the unmanned aerial vehicle is, the target power of the transmitting device is improved, the distance detecting device can detect objects farther, and when the obstacle on the route is detected, the unmanned aerial vehicle can brake in advance (i.e. decelerate in advance) and bypass the obstacle, so that the flight safety of the unmanned aerial vehicle is ensured; the smaller the speed is, the smaller the target power of the transmitting device is, and the closer objects can be detected; the speed is smaller, the braking distance of the unmanned aerial vehicle is smaller, the target power of the transmitting device is reduced, the distance detecting device detects a relatively close object, when an obstacle on the air route is detected, the unmanned aerial vehicle can still brake in advance (namely decelerate in advance) and bypass the obstacle, the flight safety of the unmanned aerial vehicle is guaranteed, meanwhile, the target power of the transmitting device is reduced, the power consumption of the distance detecting device can be reduced, the continuous voyage of the unmanned aerial vehicle is prevented from being reduced due to the excessive consumption of the distance detecting device, performance reduction caused by long-time overheat of the distance detecting device is avoided, and safety threat caused by the temperature rise of the whole machine of the unmanned aerial vehicle due to overheat of the distance detecting device is avoided.
The target power may also be determined in a more accurate manner, for example: and establishing a functional relation between the speed and the target power, and determining the target power through the functional relation and the speed.
Taking a distance detection device as a radar device as an example, it is assumed that under the condition that the acceleration is unchanged, the braking distance of the unmanned aerial vehicle is in direct proportion to the square of the flying speed:
in the above formula, s is a braking distance, v is a flying speed, and a is an acceleration.
As known from the radar equation, the transmit power is proportional to the fourth power of the distance to the detection target:
wherein, the transmitting antennaThe transmission power of the line is P t The gain of the transmitting antenna is G t The propagation distance is R, the equivalent reflection area (RCS, radar Cross-Section) of the target is sigma, and the minimum detectable signal is S min The effective area of the receiving antenna is A e 。
By combining the relation between the braking distance and the speed and the relation between the transmitting power and the detecting target distance obtained by the radar equation, the transmitting power P of the following radar can be obtained adj Functional relation with the speed of flight F (v):
P adj ＝F(v)
wherein v is τ Representing the speed of flight, P b The representation represents the base transmit power. Transmitting power P of radar adj As shown in fig. 3, the horizontal axis represents speed (denoted by v) and the vertical axis represents radar transmission power (denoted by P) adj Indicated), P on the vertical axis b The representation represents the base transmit power, i.e. the transmit power of the radar when the unmanned aerial vehicle is in a takeoff state, from which it can be seen that the transmit power of the radar increases stepwise with increasing speed.
In an embodiment, step S102, the determining the target power of the transmitting device according to the motion state may include: and if the motion state is a take-off or landing state, determining that the target power of the transmitting device is the second power.
When the unmanned aerial vehicle is in a take-off state or a landing state, the possibility that the unmanned aerial vehicle collides with an obstacle in the take-off process or the landing process is prevented, so that the transmitting device is started to transmit the detection signal with a certain transmitting power, but the speed of the unmanned aerial vehicle is relatively low in the take-off process or the landing process, and therefore, a second power meeting the requirements of low-speed flight and short-distance obstacle detection can be set. The second power may be used as the base power of the transmitting device. Thus, the second power is greater than the first power, as shown in FIG. 2.
In an embodiment, the method may further include: and if the motion state is the cruising state, acquiring the speed direction of the unmanned aerial vehicle, and adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction.
When the movement state of the unmanned aerial vehicle is the cruising state, attention is paid to whether an obstacle exists in the speed direction at this time, so that the speed direction of the unmanned aerial vehicle is acquired, and the signal direction of the detection signal transmitted by the transmitting device is adjusted to the speed direction. The signal direction of the detection signal is adjusted to the speed direction of the unmanned aerial vehicle, so that the distance detection device can rapidly detect whether an obstacle exists in the speed direction, and the unmanned aerial vehicle can avoid the obstacle when the obstacle exists, and the requirement of safe flight can be met.
In an embodiment, the adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction may include: acquiring the posture of the transmitting device; and adjusting the signal orientation of the detection signal transmitted by the transmitting device to the speed direction according to the gesture of the transmitting device.
The detection signal is transmitted from the transmitting device of the detection device, so that the signal orientation of the detection signal is related to the posture of the transmitting device, the posture of the transmitting device is acquired first, and then the signal orientation of the detection signal is adjusted to the speed direction according to the posture of the transmitting device.
In an embodiment, the unmanned aerial vehicle includes a fuselage and an attitude sensor for sensing the attitude of the fuselage, the distance detecting device is mounted on the fuselage or mounted on the fuselage through a carrier, and the acquiring the attitude of the transmitting device may include: acquiring the gesture acquired by the gesture sensor; acquiring the relative position between the machine body and the distance detection device; and determining the posture of the transmitting device according to the posture and the relative position.
The attitude sensor is a high performance three-dimensional motion attitude measurement system based on Micro-Electro-Mechanical System technology (MEMS). The three-dimensional attitude and azimuth data after temperature compensation are obtained through an embedded low-power ARM processor. And outputting zero drift three-dimensional attitude azimuth data expressed by quaternion and Euler angles in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology. The distance detection device is arranged on the unmanned aerial vehicle body, the gesture sensor can sense the gesture of the unmanned aerial vehicle body, and the gesture of the body can be combined with the relative position between the body and the distance detection device to determine the gesture of the transmitting device of the distance detection device.
The signal orientation of the probe signal can be adjusted in two ways: one is electronic and the other is mechanical, as described in detail below.
In an embodiment, the transmitting device is a phased array radar antenna, and adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction according to the posture of the transmitting device may include: and adjusting the signal orientation of the detection signal to the speed direction according to the gesture of the phased array radar antenna.
The phased array radar antenna is independently controlled by the wave control and the phase shifter in phase and amplitude, and can obtain an accurate and predictable radiation pattern and beam pointing. During operation of the phased array radar, power is distributed to each phased array radar antenna through a feeder line network according to the gestures of the phased array radar antennas, energy is radiated out through a large number of independent phased array radar antennas, power synthesis is carried out in space, and a required signal orientation is formed, namely the signal orientation is the speed direction.
In an embodiment, the unmanned aerial vehicle includes an attitude adjustment mechanism that carries and adjusts the attitude of the launching device, and the adjusting the signal orientation of the detection signal to the speed direction according to the attitude of the launching device may include: and controlling a posture adjusting mechanism according to the posture of the transmitting device to adjust the posture of the transmitting device so as to adjust the signal direction of the detection signal to the speed direction.
In this embodiment, the attitude of the transmitting device is adjusted by controlling the attitude adjusting mechanism, so that the signal orientation of the detection signal is adjusted to the speed direction. The present embodiment is suitable for adjusting the signal orientation of the mechanical wave signal.
In an embodiment, the unmanned aerial vehicle includes a rotor and a motor for driving the rotor, and the determining the motion state of the unmanned aerial vehicle in step S101 may include: and acquiring the rotating speed of the motor, and determining the motion state of the unmanned aerial vehicle according to the rotating speed of the motor.
The movement states of the unmanned aerial vehicle include a stationary state (the unmanned aerial vehicle is in a start-up state and is not taking off, for example, stationary on the ground in the start-up state) and a non-stationary state, and the non-stationary state includes a take-off state, a cruising state and a landing state. The four motion states are as follows: the motor state can be correspondingly expressed as three states of motor standstill (corresponding to the standstill state), motor cranking (corresponding to the takeoff state and the landing state) and motor reaching stable rotating speed (namely, motor stability and corresponding to the cruise state). The changes in the above three motor states on the time axis are shown in fig. 4. Thus, the movement state of the unmanned aerial vehicle can be determined from the rotational speed of the motor.
In an embodiment, the unmanned aerial vehicle comprises a positioning device, the method further comprising: acquiring the position acquired by the positioning device, and determining the country or region in which the unmanned aerial vehicle is located according to the position; acquiring a transmitting device management rule corresponding to a country or a region according to the determined country or region; and determining the target power of the transmitting device according to the transmitting device management rules and the determined motion state.
In order to enhance the management of the transmitted signals, some countries or regions issue corresponding transmitting device management regulations to regulate the use of transmitting devices, in particular the management regulations about radar devices, so as to avoid signal interference between the transmitted signals in different frequency bands.
For example: defining a frequency band range of a transmission signal of the transmitting device, defining an area range in which the transmitting device is allowed to transmit a signal, defining an area range in which the transmitting device is not allowed to transmit a signal, and so on. If the frequency range of the transmitting signal is limited, determining the target power of the transmitting device according to the frequency range and the motion state of the transmitting signal; if the area range allowing the transmitting device to transmit signals or the area range not allowing the transmitting device to transmit signals is limited, whether the current area is in the area range allowing the transmitting signals or not can be determined according to the acquired position of the positioning device, if the current area is in the area range allowing the transmitting signals, the target power of the transmitting device is determined according to the determined motion state, and if the unmanned aerial vehicle does not take off in the area range not allowing the transmitting signals, the unmanned aerial vehicle is controlled not to take off; if the unmanned aerial vehicle approaches to the area range where the signal is not allowed to be transmitted in the flight process, a prompt message can be sent out, hovers, waits for further indication of a user, or automatically reschedules a route, and avoids the area range where the signal is not allowed to be transmitted; or automatically returning; etc.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle of the present application, where the unmanned aerial vehicle 500 includes a distance detection device 503, where the distance detection device 503 is configured to detect objects around the unmanned aerial vehicle, the distance detection device 503 includes a transmitting device that transmits a detection signal, the distance detection device detects the objects around the unmanned aerial vehicle according to a received echo signal of the detection signal, and further, the distance detection device determines distance information between the objects around the unmanned aerial vehicle and the distance detection device according to the received echo signal of the detection signal. The unmanned aerial vehicle 500 further includes: memory 5011 and processor 502; the distance detecting device 503 and the memory 501 are connected to the processor 502 via buses, respectively. The processor 502 may be a micro control unit, a central processing unit or a digital signal processor, etc. The memory 501 may be a Flash chip, a read only memory, a magnetic disk, an optical disk, a U disk, a removable hard disk, or the like. The unmanned aerial vehicle of the embodiment can execute the steps in the control method of the unmanned aerial vehicle, and the detailed description of the related content is referred to the related content of the control method of the unmanned aerial vehicle, which is not repeated here.
The memory is used for storing a computer program; the processor is configured to execute the computer program and when executing the computer program, implement the steps of:
determining a motion state of the unmanned aerial vehicle; determining a target power of the transmitting device according to the motion state; controlling the transmitting device to transmit a detection signal according to the determined target power; and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
Wherein the processor, when executing the computer program, performs the steps of: and if the motion state is a static state, determining that the target power of the transmitting device is the first power.
Wherein the processor, when executing the computer program, performs the steps of: and if the motion state is the cruising state, acquiring the motion parameter of the unmanned aerial vehicle, and determining the target power of the transmitting device according to the motion parameter.
Wherein the motion parameter comprises a velocity or an acceleration.
Wherein the motion parameter is positively correlated with the determined target power.
Wherein the processor, when executing the computer program, performs the steps of: and if the motion state is a take-off or landing state, determining that the target power of the transmitting device is the second power.
Wherein the processor, when executing the computer program, performs the steps of: and if the motion state is the cruising state, acquiring the speed direction of the unmanned aerial vehicle, and adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction.
Wherein the unmanned aerial vehicle comprises a rotor and a motor driving the rotor, the processor, when executing the computer program, performing the steps of: and acquiring the rotating speed of the motor, and determining the motion state of the unmanned aerial vehicle according to the rotating speed of the motor.
Wherein the unmanned aerial vehicle comprises a positioning device, and the processor, when executing the computer program, performs the steps of: acquiring the position acquired by the positioning device, and determining the country or region in which the unmanned aerial vehicle is located according to the position; acquiring a transmitting device management rule corresponding to a country or a region according to the determined country or region; and determining the target power of the transmitting device according to the transmitting device management rules and the determined motion state.
Wherein the distance detection device comprises a radar device, an ultrasonic device or a TOF distance sensor.
Wherein the processor, when executing the computer program, performs the steps of: acquiring the posture of the transmitting device; and adjusting the signal orientation of the detection signal transmitted by the transmitting device to the speed direction according to the gesture of the transmitting device.
The unmanned aerial vehicle comprises a body and an attitude sensor for sensing the attitude of the body, the distance detection device is arranged on the body or arranged on the body through a bearing piece, and the processor realizes the following steps when executing the computer program: acquiring the gesture acquired by the gesture sensor; acquiring the relative position between the machine body and the distance detection device; and determining the posture of the transmitting device according to the posture and the relative position.
Wherein the transmitting device is a phased array radar antenna, and the processor, when executing the computer program, implements the steps of: and adjusting the signal orientation of the detection signal to the speed direction according to the gesture of the phased array radar antenna.
The unmanned aerial vehicle comprises a posture adjusting mechanism for bearing and adjusting the posture of the launching device, and the processor realizes the following steps when executing the computer program: and controlling a posture adjusting mechanism according to the posture of the transmitting device to adjust the posture of the transmitting device so as to adjust the signal direction of the detection signal to the speed direction.
The present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling an unmanned aerial vehicle as defined in any one of the above. For detailed descriptions of related contents, please refer to the related content section, and detailed descriptions thereof are omitted.
The computer readable storage medium may be an internal storage unit of the unmanned aerial vehicle, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, etc.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (29)
- A control method of an unmanned aerial vehicle, the unmanned aerial vehicle comprising a distance detection device for detecting objects around the unmanned aerial vehicle, the distance detection device comprising a transmitting device that transmits a detection signal, characterized in that the method comprises:determining a motion state of the unmanned aerial vehicle;determining a target power of the transmitting device according to the motion state;controlling the transmitting device to transmit a detection signal according to the determined target power;and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
- The method of claim 1, wherein the step of determining the position of the substrate comprises,the determining the target power of the transmitting device according to the motion state comprises the following steps:and if the motion state is a static state, determining that the target power of the transmitting device is the first power.
- The method according to claim 1 or 2, wherein said determining a target power of the transmitting device from the motion state comprises:and if the motion state is the cruising state, acquiring the motion parameter of the unmanned aerial vehicle, and determining the target power of the transmitting device according to the motion parameter.
- A method according to claim 3, wherein the movement parameter comprises velocity or acceleration.
- The method according to claim 3 or 4, characterized in that the motion parameter is positively correlated with the determined target power.
- The method according to any one of claims 1 to 5, wherein,the determining the target power of the transmitting device according to the motion state comprises the following steps:and if the motion state is a take-off or landing state, determining that the target power of the transmitting device is the second power.
- The method according to any one of claims 1-6, further comprising:and if the motion state is the cruising state, acquiring the speed direction of the unmanned aerial vehicle, and adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction.
- The method of any one of claims 1-7, wherein the unmanned aerial vehicle comprises a rotor and a motor driving the rotor,the determining the motion state of the unmanned aerial vehicle comprises:and acquiring the rotating speed of the motor, and determining the motion state of the unmanned aerial vehicle according to the rotating speed of the motor.
- The method of any one of claims 1-8, wherein the unmanned aerial vehicle comprises a positioning device, the method further comprising:acquiring the position acquired by the positioning device, and determining the country or region in which the unmanned aerial vehicle is located according to the position;acquiring a transmitting device management rule corresponding to a country or a region according to the determined country or region;and determining the target power of the transmitting device according to the transmitting device management rules and the determined motion state.
- The method according to any one of claims 1-9, wherein the distance detection device comprises a radar device, an ultrasound device or a TOF distance sensor.
- The method of claim 7, wherein adjusting the signal orientation of the probe signal transmitted by the transmitting device to the speed direction comprises:acquiring the posture of the transmitting device;and adjusting the signal orientation of the detection signal transmitted by the transmitting device to the speed direction according to the gesture of the transmitting device.
- The method of claim 11, wherein the unmanned aerial vehicle comprises a fuselage and an attitude sensor for sensing the attitude of the fuselage, the distance detection device is mounted on the fuselage or on the fuselage via a carrier,the acquiring the posture of the transmitting device comprises the following steps:acquiring the gesture acquired by the gesture sensor;acquiring the relative position between the machine body and the distance detection device;and determining the posture of the transmitting device according to the posture and the relative position.
- The method according to claim 11 or 12, wherein the transmitting device is a phased array radar antenna, and the adjusting the signal orientation of the probe signal transmitted by the transmitting device to the speed direction according to the posture of the transmitting device includes:and adjusting the signal orientation of the detection signal to the speed direction according to the gesture of the phased array radar antenna.
- A method according to claim 11 or 12, wherein the unmanned aerial vehicle comprises a attitude adjustment mechanism carrying and adjusting the attitude of the launcher, the adjusting the signal orientation of the detection signal to the speed direction according to the attitude of the launcher comprising:and controlling a posture adjusting mechanism according to the posture of the transmitting device to adjust the posture of the transmitting device so as to adjust the signal direction of the detection signal to the speed direction.
- An unmanned aerial vehicle comprising a distance detection device for detecting objects surrounding the unmanned aerial vehicle, the distance detection device comprising a transmitting device for transmitting detection signals, characterized in that the unmanned aerial vehicle further comprises: a memory and a processor;the memory is used for storing a computer program;the processor is configured to execute the computer program and when executing the computer program, implement the steps of:determining a motion state of the unmanned aerial vehicle;determining a target power of the transmitting device according to the motion state;controlling the transmitting device to transmit a detection signal according to the determined target power;and controlling the movement of the unmanned aerial vehicle according to the distance information acquired by the distance detection device.
- The unmanned aerial vehicle of claim 15, wherein the processor, when executing the computer program, performs the steps of:and if the motion state is a static state, determining that the target power of the transmitting device is the first power.
- Unmanned aerial vehicle according to claim 15 or 16, wherein the processor, when executing the computer program, implements the steps of:and if the motion state is the cruising state, acquiring the motion parameter of the unmanned aerial vehicle, and determining the target power of the transmitting device according to the motion parameter.
- The unmanned aerial vehicle of claim 17, wherein the kinetic parameter comprises a speed or an acceleration.
- The unmanned aerial vehicle of claim 17 or 18, wherein the motion parameter is positively correlated with the determined target power.
- The unmanned aerial vehicle of any of claims 15-19, wherein the processor, when executing the computer program, performs the steps of:and if the motion state is a take-off or landing state, determining that the target power of the transmitting device is the second power.
- The unmanned aerial vehicle of any of claims 15-20, wherein the processor, when executing the computer program, performs the steps of:and if the motion state is the cruising state, acquiring the speed direction of the unmanned aerial vehicle, and adjusting the signal direction of the detection signal transmitted by the transmitting device to the speed direction.
- The unmanned aerial vehicle of any of claims 15-21, wherein the unmanned aerial vehicle comprises a rotor and a motor that drives the rotor,the processor, when executing the computer program, implements the steps of:and acquiring the rotating speed of the motor, and determining the motion state of the unmanned aerial vehicle according to the rotating speed of the motor.
- The unmanned aerial vehicle of any of claims 15-22, wherein the unmanned aerial vehicle comprises a positioning device, the processor, when executing the computer program, performs the steps of:acquiring the position acquired by the positioning device, and determining the country or region in which the unmanned aerial vehicle is located according to the position;acquiring a transmitting device management rule corresponding to a country or a region according to the determined country or region;and determining the target power of the transmitting device according to the transmitting device management rules and the determined motion state.
- An unmanned aerial vehicle according to any of claims 15 to 23, wherein the distance detection means comprises radar means, ultrasonic means or a TOF distance sensor.
- The unmanned aerial vehicle of claim 21, wherein the processor, when executing the computer program, performs the steps of:acquiring the posture of the transmitting device;and adjusting the signal orientation of the detection signal transmitted by the transmitting device to the speed direction according to the gesture of the transmitting device.
- The unmanned aerial vehicle of claim 25, wherein the unmanned aerial vehicle comprises a fuselage and an attitude sensor for sensing the attitude of the fuselage, the distance detection device is mounted on the fuselage or on the fuselage via a carrier,the processor, when executing the computer program, implements the steps of:acquiring the gesture acquired by the gesture sensor;acquiring the relative position between the machine body and the distance detection device;and determining the posture of the transmitting device according to the posture and the relative position.
- The unmanned aerial vehicle of claim 25 or 26, wherein the transmitting means is a phased array radar antenna, and the processor, when executing the computer program, performs the steps of:and adjusting the signal orientation of the detection signal to the speed direction according to the gesture of the phased array radar antenna.
- The unmanned aerial vehicle of claim 25 or 26, wherein the unmanned aerial vehicle comprises an attitude adjustment mechanism that carries and adjusts the attitude of the launch device, the processor, when executing the computer program, performing the steps of:and controlling a posture adjusting mechanism according to the posture of the transmitting device to adjust the posture of the transmitting device so as to adjust the signal direction of the detection signal to the speed direction.
- A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the method of controlling an unmanned aerial vehicle according to any one of claims 1-14.
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| PCT/CN2021/130654 WO2023082253A1 (en) | 2021-11-15 | 2021-11-15 | Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium |
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