WO2018133064A1 - 可移动装置的控制方法、控制系统、和可移动装置 - Google Patents

可移动装置的控制方法、控制系统、和可移动装置 Download PDF

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Publication number
WO2018133064A1
WO2018133064A1 PCT/CN2017/072050 CN2017072050W WO2018133064A1 WO 2018133064 A1 WO2018133064 A1 WO 2018133064A1 CN 2017072050 W CN2017072050 W CN 2017072050W WO 2018133064 A1 WO2018133064 A1 WO 2018133064A1
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WO
WIPO (PCT)
Prior art keywords
movable device
reverse
motion
instructions
command
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PCT/CN2017/072050
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English (en)
French (fr)
Inventor
方文钊
滕翔
郑德恩
孟祥沾
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780000058.8A priority Critical patent/CN107077153A/zh
Priority to PCT/CN2017/072050 priority patent/WO2018133064A1/zh
Publication of WO2018133064A1 publication Critical patent/WO2018133064A1/zh
Priority to US16/515,969 priority patent/US11334064B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing

Definitions

  • the present invention relates to a control method, a control system, and a movable device of a movable device.
  • the invention further relates to a computer readable storage medium.
  • GPS Global Positioning System
  • One aspect of the present invention provides a control method of a mobile device, including: in a normal mode, Controlling movement of the movable device according to a plurality of instructions; and controlling, in the reverse return mode, movement of the movable device according to a plurality of inverse instructions, the execution order of the plurality of inverse instructions and the plurality of instructions The execution order is reversed, wherein the plurality of inverse instructions are respectively generated according to each of the plurality of instructions, and the operation indicated by each of the reverse instructions is opposite to the operation indicated by the corresponding instruction Operation.
  • Another aspect of the present invention provides a control system for a movable device, comprising: a normal mode module, in a normal mode, controlling movement of the movable device according to a plurality of instructions; and a reverse return mode module In the return mode, the movement of the movable device is controlled according to a plurality of reverse instructions, the execution order of the plurality of reverse instructions being opposite to the execution order of the plurality of instructions, wherein the plurality of inverse instructions is The operations indicated by each of the reverse instructions and the operations indicated by the respective instructions are reversed, respectively, generated from each of the plurality of instructions.
  • Another aspect of the present invention provides a control system for a mobile device, the system including a processor and a memory, wherein: the processor controls, in a normal mode, motion of the movable device according to a plurality of instructions And controlling, in the reverse return mode, the motion of the movable device according to the plurality of inverse instructions, the execution order of the plurality of reverse instructions being opposite to the execution order of the plurality of instructions;
  • the memory stores the plurality of inverse instructions, wherein the plurality of inverse instructions are respectively generated according to each of the plurality of instructions, the operation indicated by each of the reverse instructions and the operation indicated by the corresponding instruction It is the opposite operation.
  • a mobile device comprising any of the systems described above, the movable device further comprising any one or more of the following: a GPS receiver, receiving a GPS signal; and a remote control signal receiver Receiving a remote control signal; a wind direction-wind speed measurement system for measuring wind direction and wind speed in real time; a direction sensor for measuring moving direction information of the movable device in real time; a height sensor for measuring height information of the movable device in real time; an obstacle sensor, An obstacle in the vicinity of the movable device is detected in real time; and/or an image sensor acquires an image of the surrounding environment.
  • a GPS receiver receiving a GPS signal
  • a remote control signal receiver Receiving a remote control signal
  • a wind direction-wind speed measurement system for measuring wind direction and wind speed in real time
  • a direction sensor for measuring moving direction information of the movable device in real time
  • a height sensor for measuring height information of the movable device in real time
  • an obstacle sensor An obstacle in the vicinity of the movable device is detected in real
  • Another aspect of the present invention provides a non-volatile storage medium having stored thereon executable instructions for performing the method as described above.
  • FIG. 1 is a schematic diagram showing an application scenario according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing the structure of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 3 is a schematic illustration of the flight path of the UAV in normal mode and reverse return mode
  • Figure 4 is a schematic illustration of the principle of adjusting the motion of an unmanned aerial vehicle based on wind direction and wind speed in accordance with an embodiment of the present invention
  • Figure 5 is a schematic illustration of the obstacle avoidance process of the UAV during reverse return.
  • Fig. 6 is a block diagram showing the structure of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Embodiments of the present invention are described below with an unmanned aerial vehicle as an example of a movable device. However, it will be understood by those skilled in the art that the present invention is not limited thereto, but can be applied to various other movable devices such as a robot, a driverless car, and the like.
  • FIG. 1 schematically shows an application scenario according to an embodiment of the present invention.
  • the operator controls the unmanned aerial vehicle 200 using the remote control device 100.
  • the remote control device 100 may be a dedicated or universal remote controller, or may be a mobile terminal such as a mobile phone, a tablet computer, or the like, on which a remote control application runs.
  • the operator controls the UAV 200 through physical or virtual control components on the remote control device 100, such as joysticks, scroll wheels, directional balls, buttons, buttons, and the like.
  • the UAV 200 flies from position A to position B.
  • the flight from position A to position B may be performed under the control of the remote controller 100, or may be the remote controller 100.
  • the coordinates of the ground are transmitted to the unmanned aerial vehicle 200, and the unmanned aerial vehicle 200 automatically flies to the position B under the guidance of the GPS signal.
  • Location B can be a destination or a point that passes through the flight.
  • the unmanned aerial vehicle 200 determines the return flight back to position A.
  • the return flight may be triggered by a predetermined event, which may include any of the following: the remote control signal of the UAV 200 is lost, the GPS signal of the UAV 200 is lost or abnormal, and the UAV 200 receives the return flight.
  • the command, or the unmanned aerial vehicle 200, is insufficiently powered.
  • the UAV 200 assumes a reverse return mode upon returning to flight.
  • the motion of the UAV 200 can be controlled in accordance with a plurality of commands, each of which can include, for example, the direction of motion and the speed of motion of the UAV 200.
  • the reverse return mode the motion of the UAV 200 is controlled in accordance with the inverse of the plurality of commands.
  • Each of the plurality of reverse instructions is generated according to each of the plurality of instructions, and the operation indicated by each of the reverse instructions is an operation opposite to the operation indicated by the corresponding instruction.
  • the execution order of the plurality of inverse instructions is opposite to the execution order of the plurality of instructions.
  • FIG. 2 is a block diagram showing the structure of an unmanned aerial vehicle 200 according to an embodiment of the present invention.
  • the unmanned aerial vehicle 200 includes a control system 210 and a power system 220.
  • Control system 210 controls the output of power system 220 to control the motion of unmanned aerial vehicle 200.
  • Control system 210 can include a processor 211 and a memory 212.
  • the processor 211 controls the motion of the UAV 200 in accordance with a plurality of commands.
  • the processor 211 executes a corresponding reverse command in the reverse order of execution of the plurality of instructions to control the motion of the UAV 200, thereby implementing reverse return.
  • Memory 212 can be used to store instructions and/or reverse instructions. The reverse command may be generated locally at the UAV 200 or may be received from the remote control 100 along with the corresponding command.
  • FIG. 3 schematically shows the flight path of the UAV 200 in the normal mode and the reverse return mode.
  • each command may include a direction of motion and a speed of motion, for example, instruction 1 ⁇ forward, 3 m/sec ⁇ ; instruction 2 ⁇ right, 3.5 m/sec ⁇ ; instruction 3 ⁇ right front 45 °, 2.5 m / s ⁇ , and so on.
  • the flight path of the UAV 200 can be as shown in FIG. Specifically, under the control of the command 1, the UAV 200 flies from position C to position D. Under the control of Command 2, no one The aircraft 200 flies from position D to position E. Under the control of command 3, UAV 200 flies from position E to position F.
  • corresponding reverse command 1', reverse command 2', and reverse command 3' are generated based on command 1, command 2, and command 3, respectively.
  • the inverse command comprises a direction of motion opposite to the corresponding command and the same speed of motion, for example, a reverse command 1 ' ⁇ backward, 3 m/sec ⁇ ; an instruction 2' ⁇ left, 3.5 m/sec ⁇ ; Command 3' ⁇ 45° left rear, 2.5 m/s ⁇ .
  • the reverse command 3', the reverse command 2', and the reverse command 1' are executed in the reverse order of the execution of the instruction 1, the instruction 2, and the instruction 3, and the unmanned aerial vehicle 200 is controlled to fly back from the position F to the position C.
  • the UAV 200 flies from the position F to the position E.
  • the UAV 200 flies from position E to position D.
  • the UAV 200 flies from position D to position C.
  • the present invention does not require that the reverse return route of the UAV 200 strictly conforms to the flight path in the corresponding normal mode, but only needs to be substantially identical. As long as the UAV 200 is able to return to the vicinity of the departure point or within the operator's line of sight, the operator can successfully recycle the UAV 200. Alternatively, as long as the UAV 200 is capable of receiving a remote control signal, the operator can remotely control the UAV 200 to return.
  • the movement time of the UAV 200 can be monitored for each reverse command. Since the speed of the reverse command is the same as the corresponding command, if the UAV 200 is flying under the control of the reverse command for the same time under the control of the corresponding command, it can be retracted to the position where the execution of the corresponding command is started. For example, the UAV 200, under the control of the command 3, flies from the position E to the right front for 4 seconds to the position F at a speed of 2.5 m/sec, then the UAV 200 is in the reverse command 3 during the reverse return flight. Under the control of 'F, from the position F at a speed of 2.5 m / s to the left rear also flight for 4 seconds, return to position E.
  • the movement distance of the UAV 200 when each reverse command is executed may also be monitored. For example, under the control of command 3, UAV 200 flies 10 meters from position E to position F, then during reverse return, unmanned aerial vehicle 200 is controlled from reverse position 3' from position F to left. It also flies 10 meters behind and returns to position E.
  • Embodiments of the present invention implement inversion of the flight state of the UAV 200 by executing a reverse command, and are not limited to any particular form of command.
  • the processor 211 controls the unmanned aerial vehicle 200 to enter the reverse return mode.
  • the predetermined event may include any one of the following: the remote of the UAV 200 The control signal is lost, the GPS signal of the UAV 200 is lost or abnormal, the UAV 200 receives the return flight command, or the UAV 200 is underpowered.
  • the UAV 200 may also include a GPS receiver 230 for receiving GPS signals.
  • the processor 211 can control the UAV 200 to enter the reverse return mode.
  • the UAV 200 is automatically flying under the guidance of the GPS signal, if the GPS signal is lost, the UAV 200 cannot continue to fly along the correct route, and at this time, the reverse return mode is entered, and the UAV 200 can be controlled to be safe.
  • GPS signal anomalies may, for example, include anomalous hopping of GPS signals, which may be due to normal GPS signals being overwhelmed by high power spoofed GPS signals. At this time, the UAV 200 may become the object of being hijacked. In this case, entering the reverse return mode can avoid the interference of the deceived GPS signal and achieve safe return.
  • the unmanned aerial vehicle 200 may further include a remote control signal receiver 240 for receiving a remote control signal of the remote controller 100.
  • a remote control signal receiver 240 for receiving a remote control signal of the remote controller 100.
  • the processor 211 may also control the UAV 200 to enter the reverse return mode upon receiving the return flight command.
  • the UAV 200 is within the receiving range of the remote control signal, but outside of the operator's line of sight, the operator cannot accurately control the movement of the UAV 200.
  • the operator can issue a return flight command through the remote controller 100, and the processor 211 controls the unmanned aerial vehicle 200 to enter the reverse return mode upon receiving the return flight command.
  • the UAV 200 is within the operator's line of sight within the range of the remote control signal, but the operator wants the UAV 200 to automatically return to the aircraft.
  • the return command can also be issued by the remote controller 100.
  • the 211 controls the unmanned aerial vehicle 200 to enter the reverse return mode upon receiving the return flight command.
  • the return flight instruction is not necessarily received from the remote controller 100.
  • the UAV 200 may also locally generate a return flight command when the predetermined condition is satisfied. For example, it may be preset that the UAV 200 generates a home return command locally when it detects that the environment is not conducive to flight, for example, detecting that the ambient wind speed is greater than 10 meters/second for 15 seconds.
  • the reverse anti-airing mode when the power of the unmanned aerial vehicle 200 is insufficient, for example, the electric quantity is lower than a preset threshold, the reverse anti-airing mode can also be entered.
  • the processor 211 may control the UAV 200 to exit the reverse return mode.
  • the processor 211 can control the unmanned aerial vehicle 200 to exit the reverse return mode.
  • the unmanned aerial vehicle 200 may further include a wind direction-wind speed measurement system 250 for real-time measurement of wind direction and wind speed, in accordance with an embodiment of the present invention.
  • a wind direction-wind speed measurement system 250 for real-time measurement of wind direction and wind speed, in accordance with an embodiment of the present invention.
  • the processor 211 can adjust the motion of the UAV 200 based on the wind direction and wind speed measured in real time when the reverse command is executed and the wind direction and wind speed measured when the corresponding command was previously executed.
  • FIG. 4 schematically illustrates the principle of adjusting the motion of the UAV 200 in accordance with wind direction and wind speed, in accordance with an embodiment of the present invention.
  • the flight speed of the UAV 200 when performing the reverse command may be adjusted such that the superimposed result with the wind speed is substantially equal in magnitude and opposite in direction to the speed at which the corresponding command is executed.
  • the vector sum of the measured wind speeds can be calculated as the right side of the wind direction C ⁇ D direction, and the wind speed is 5 m/s, then the UAV 200 can fly from the position D to the position C. Correct the direction of motion and the speed of motion indicated by the inverse command 1' ⁇ forward, 3 m/s ⁇ , superimposing a speed of 5 m/s to the left of the C ⁇ D direction to offset the effect of the wind.
  • the UAV 200 may also include a direction sensor 260, such as a compass.
  • the direction sensor 260 can detect the change in the direction of movement of the unmanned aerial vehicle 200 in real time.
  • the change in the direction of motion of the UAV 200 when performing the reverse command should be reversed from the change in the direction of motion when the corresponding command is executed.
  • the movement of the UAV 200 during the reverse returning process can be adjusted in real time to correct its moving direction.
  • the UAV 200 may also include a direction sensor 260, such as a compass.
  • the direction sensor 260 can detect the direction of motion of the unmanned aerial vehicle 200 in real time, such as the direction of motion. Or the direction of movement changes. In general, the direction of motion or direction of motion of the UAV 200 when performing a reverse command should be reversed from the change in direction of motion when the corresponding command is executed.
  • the processor 211 can adjust the motion of the UAV 200 during the reverse returning process in real time, thereby correcting its moving direction.
  • the UAV 200 may also include a height sensor 270, such as an altimeter.
  • the height sensor 270 can detect height information, such as altitude or altitude, of the UAV 200 in real time.
  • the height of the UAV 200 when executing the reverse command should be the same as the height at which the corresponding command is executed, and the height change should be reversed.
  • the processor 211 can adjust the motion of the UAV 200 during the reverse return flight in real time to correct its flight altitude.
  • the unmanned aerial vehicle 200 may also include an obstacle sensor 280, such as an infrared sensor, radar, or camera.
  • an obstacle sensor 280 detects an obstacle
  • the processor 211 can control the unmanned aerial vehicle 200 to hover and wait for the obstacle to disappear, and continue to fly after the obstacle disappears.
  • the processor 211 calculates an obstacle avoidance route and controls the unmanned obstacle according to the obstacle avoidance route.
  • the aircraft 200 bypasses the obstacle and calculates the route deviation caused by the obstacle avoidance route after bypassing the obstacle, and corrects the deviation in subsequent movements.
  • FIG. 5 schematically illustrates an obstacle avoidance process of the UAV 200 during reverse return.
  • the UAV 200 flies from position C to position F.
  • the UAV 200 flies from position F to position C.
  • the unmanned aerial vehicle 200 encounters an obstacle.
  • the processor 211 calculates and controls the UAV 200 to bypass the obstacle via the obstacle avoidance route G ⁇ H. This obstacle avoidance process causes a route deviation of the UAV 200.
  • the processor 211 calculates the route deviation of G ⁇ H and corrects it by the route I ⁇ J in the subsequent flight.
  • the UAV 200 may also include an image sensor 290, such as a camera.
  • the image sensor 290 can acquire an initial image around the departure point and the departure point.
  • the processor 211 can judge whether the UAV 200 returns to the departure point by comparing the image acquired by the image sensor 290 in real time with the initial image. For example, when the UAV 200 takes off, the image sensor 290 can be on or off the ground. The texture of the 360° scene is photographed.
  • the processor 211 can achieve an accurate landing by comparing the takeoff point with nearby images.
  • FIG. 6 is a block diagram showing the structure of an unmanned aerial vehicle 600 according to an embodiment of the present invention.
  • the unmanned aerial vehicle 600 includes a control system 610 and a power system 620.
  • Control system 610 controls the output of power system 620 to control the motion of unmanned aerial vehicle 600.
  • the unmanned aerial vehicle 600 may further include a GPS receiver 630 for receiving GPS signals, a remote control signal receiver 640 for receiving remote control signals, and a wind direction-wind speed measurement system for measuring wind direction and wind speed in real time. 650.
  • a direction sensor 660 for detecting the direction of motion information of the UAV 600 in real time
  • a height sensor 670 for detecting the height information of the UAV 600 in real time
  • An obstacle sensor 680 of the obstacle, and/or an image sensor 690 for acquiring an image of the surrounding environment.
  • the control system 610 receives or senses signals based on the GPS receiver 630, the remote control signal receiver 640, the wind direction-wind speed measurement system 650, the direction sensor 660, the altitude sensor 670, the obstacle sensor 680, and the image sensor 690, for the unmanned aerial vehicle. 600 for control.
  • GPS receiver 630, remote control signal receiver 640, wind direction-wind speed measurement system 650, direction sensor 660, height sensor 670, obstacle sensor 680, and image sensor 690 and GPS receiver 230, remote control signal receiver described with reference to FIG. 240, wind direction-wind speed measurement system 250, direction sensor 260, height sensor 270, obstacle sensor 280, and image sensor 290 are the same or similar, and a detailed description thereof is omitted herein.
  • control system 610 includes a normal mode module 611 that controls the motion of the UAV 600 in accordance with a plurality of commands.
  • the control system 610 further includes a reverse return mode module 612.
  • the reverse return mode the motion of the unmanned aerial vehicle 600 is controlled according to a plurality of reverse commands, the execution order of the plurality of reverse instructions and the plurality of instructions The order of execution is reversed.
  • the plurality of inverse instructions are respectively generated according to each of the plurality of instructions, and the operation indicated by each of the reverse instructions is opposite to the operation indicated by the corresponding instruction.
  • the instructions comprise a direction of motion and a speed of motion, the inverse instructions comprising a direction of motion opposite the respective command and the same speed of motion.
  • the movement time or the moving distance of the UAV 600 when each reverse command is executed is the same as the movement time or the moving distance of the UAV 600 when the corresponding instruction is executed.
  • the plurality of instructions may be recorded locally to the UAV 600.
  • the reverse command may be generated locally at the UAV 600 or received externally.
  • the control system 610 may further include a mode switching module 613 that controls the UAV 600 to enter the reverse return mode when a predetermined event occurs.
  • the predetermined event comprises any one of: a remote control signal of the UAV 600 is lost, a Global Positioning System GPS signal of the UAV 600 is missing or abnormal, the unmanned The aircraft 600 receives the return flight command, or the underpower of the UAV 600 is insufficient.
  • the mode switching module 613 controls the UAV 600 to exit the reverse return mode and according to the GPS signal. The motion of the UAV 600 is controlled.
  • the mode switching module 613 controls the unmanned aerial vehicle 600 to exit the reverse return mode, and according to the remote control The signal controls the motion of the UAV 600.
  • control system 610 may further include a motion adjustment module 614 that adjusts the motion of the unmanned aerial vehicle 600 based on the wind direction-wind speed measurement system 650 measuring wind direction and wind speed in real time.
  • the motion adjustment module 614 adjusts the motion of the UAV 600 based on the wind direction and wind speed measured in real time when the reverse command is executed and the wind direction and wind speed measured when the corresponding command was previously executed.
  • the motion adjustment module 614 calculates a wind speed vector sum based on the wind direction and wind speed measured in real time by the wind direction-wind speed measurement system 650 and the wind direction and wind speed measured when the corresponding command was previously executed, and according to the wind speed vector The direction of motion and the speed of motion indicated by the reverse command are corrected.
  • a wind speed vector sum based on the wind direction and wind speed measured in real time by the wind direction-wind speed measurement system 650 and the wind direction and wind speed measured when the corresponding command was previously executed, and according to the wind speed vector The direction of motion and the speed of motion indicated by the reverse command are corrected.
  • the motion adjustment module 614 can also adjust the motion of the UAV 600 according to the motion direction information of the UAV 600, such as the motion direction or the motion direction change, detected by the direction sensor 660 in real time.
  • the motion adjustment module 614 changes the direction of motion or the direction of motion of the unmanned aerial vehicle 600 measured in real time upon execution of the reverse command with the direction or motion of the unmanned aerial vehicle 600 measured when the corresponding command was previously executed. The change in direction is compared to adjust the motion of the UAV 600.
  • the motion adjustment module 614 can also adjust the motion of the unmanned aerial vehicle 600 based on the altitude information of the unmanned aerial vehicle 600 detected by the altitude sensor 670 in real time, such as altitude or altitude. For example, in the reverse return mode, the motion adjustment module 614 will measure in real time while performing the reverse command. The height or altitude change of the unmanned aerial vehicle 600 is compared to the height or altitude change of the unmanned aerial vehicle 600 measured when the corresponding command was previously executed to adjust the motion of the unmanned aerial vehicle 600.
  • the control system 610 may further include an obstacle avoidance module 615 that, when the obstacle sensor 680 detects an obstacle in the reverse return mode, controls the unmanned aerial vehicle 600 to hover and wait for the obstacle to disappear.
  • the obstacle avoidance module 615 calculates an obstacle avoidance route, and controls the unmanned aerial vehicle 600 to bypass the obstacle according to the obstacle avoidance route, and bypasses After the obstacle, the route deviation caused by the obstacle avoidance route is calculated, and the deviation is corrected in the subsequent motion.
  • the obstacle avoidance and correction operations refer to the foregoing description in conjunction with FIG. 5, and details are not described herein again.
  • control system 610 may further include a comparison module 616 that determines whether the UAV 600 returns to the departure point by comparing the image acquired by the image sensor 690 in real time with the image of the departure point and the departure point of the UAV 600. Achieve accurate landing of the unmanned aerial vehicle 600.
  • each module can be implemented as a program module.
  • the division of such a module is not limited to the embodiments herein, and various modifications can be made by those skilled in the art without departing from the gist of the invention.
  • a non-volatile storage medium includes machine readable instructions that, when executed by a processor, cause a processor to perform the method as described above.
  • the automatic return of the unmanned aerial vehicle can be realized without relying on the remote control signal and the GPS signal.
  • Very accurate return can be achieved in an open environment and in a calm wind. Even if there is a wind in the environment, or an obstacle is encountered during the return flight, the corresponding means provided in the embodiment of the present invention can be better circumvented, so that the UAV can return to the vicinity of the takeoff point with a high probability.
  • the operator can remotely land the UAV accurately at the target location.
  • automatic and accurate landing of the UAV can be achieved by comparing the images of the surrounding environment.
  • the above described methods, systems and/or modules in accordance with various embodiments of the present invention may be implemented by a computing enabled electronic device executing software comprising computer instructions.
  • the system can include storage devices to implement the various storages described above.
  • the computing capable electronic device can include a general purpose processor, a digital signal processor, a dedicated processor, a reconfigurable processor, etc., but is not limited thereto. Executing such instructions causes the electronic device to be configured to perform the operations described above in accordance with the present invention.
  • Each of the above systems and/or modules may be implemented in one electronic device or in different electronic devices.
  • These software can Stored in a computer readable storage medium.
  • the computer readable storage medium stores one or more programs (software modules), the one or more programs including instructions that, when executed by one or more processors in an electronic device, cause the electronic device to execute The method of the invention.
  • the software can be stored in the form of volatile memory or non-volatile storage (such as a storage device such as a ROM), whether erasable or rewritable, or stored in the form of a memory (eg, RAM, memory).
  • volatile memory or non-volatile storage such as a storage device such as a ROM
  • a memory eg, RAM, memory
  • the chip, device or integrated circuit is either stored on an optically readable medium or a magnetically readable medium (eg, CD, DVD, magnetic or magnetic tape, etc.).
  • the storage device and the storage medium are embodiments of a machine-readable storage device adapted to store one or more programs, the program or programs comprising instructions that, when executed, implement the present invention An embodiment.
  • the embodiment provides a program and a machine readable storage device storing such a program, the program comprising code for implementing the apparatus or method of any of the claims of the present invention.
  • these programs can be routed via any medium, such as a communication signal carried via a wired connection or a wireless connection, and various embodiments suitably include such programs.
  • Methods, apparatus, units, and/or modules in accordance with various embodiments of the present invention may also use, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), system on a chip, systems on a substrate, systems on a package,
  • An application specific integrated circuit (ASIC) may be implemented in hardware or firmware, such as in any other reasonable manner for integrating or encapsulating the circuit, or in a suitable combination of three implementations of software, hardware, and firmware.
  • the system can include a storage device to implement the storage described above. When implemented in these manners, the software, hardware, and/or firmware used is programmed or designed to perform the respective methods, steps, and/or functions described above in accordance with the present invention.
  • One skilled in the art can appropriately implement one or more of these systems and modules, or some or more of them, according to actual needs, using different implementations described above. These implementations all fall within the scope of the present invention.

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Abstract

一种可移动装置（200）的控制系统（210），所述控制系统（210）包括处理器（211）和存储器（212）。所述处理器（211）在正常模式下，根据多个指令控制所述可移动装置（200）的运动，在倒行返航模式下，根据所述多个逆指令控制所述可移动装置（200）的运动。所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的。所述存储器（212）存储所述多个逆指令。所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。

Description

可移动装置的控制方法、控制系统、和可移动装置
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者专利披露。
技术领域
本发明涉及可移动装置的控制方法、控制系统、和可移动装置。本发明还涉及一种计算机可读存储介质。
背景技术
由于全球定位系统(GPS)信号准确、免费，精度也达到无人机需要的程度，因此目前市面上的无人机大多依赖GPS导航系统进行路线规划飞行和返航。但是，在无人机飞行过程中或者返航过程中一旦GPS信号发生异常，就会使无人机失去指引，此时，需要一种替代方案来继续指引无人机飞行，避免炸机或者丢失。当前的替代方案被称作姿态模式，即操作员通过目视的方式直接操作无人机飞行，但是在超视距状态下，这种方式也失去了意义。
特别地，在超视距返航途中，由于返航有时是由于遥控信号中断或者电量低而被迫返航，此时如果没有GPS信号引导，发生事故的概率将特别大。而目前并没有一种行之有效的替代方案。
另外，目前有一种通过GPS欺骗进行劫机的黑客行为。大致原理是向受害无人机发射大功率GPS信号淹没正确的GPS信号，然后通过干扰遥控信号触发返航。由于此时的GPS信息是黑客精心设计的错误信息，受害无人机会返航至黑客预先设计的着落地点，从而达到劫机的目的。
发明内容
本发明的一个方面提供了一种可移动装置的控制方法，包括：在正常模式下， 根据多个指令控制所述可移动装置的运动；以及在倒行返航模式下，根据多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的，其中，所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
本发明的另一个方面提供了一种可移动装置的控制系统，包括：正常模式模块，在正常模式下，根据多个指令控制所述可移动装置的运动；以及倒行返航模式模块，在倒行返航模式下，根据多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的，其中，所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
本发明的另一个方面提供了一种可移动装置的控制系统，所述系统包括处理器和存储器，其中：所述处理器：在正常模式下，根据多个指令控制所述可移动装置的运动；以及在倒行返航模式下，根据所述多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的；以及所述存储器存储所述多个逆指令，其中，所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
本发明的另一个方面提供了一种可移动装置，包括如上所述的任意系统，所述可移动装置还包括以下中的任意一个或多个：GPS接收器，接收GPS信号；遥控信号接收器，接收遥控信号；风向-风速测量系统，实时测量风向和风速；方向传感器，实时测量所述可移动装置的运动方向信息；高度传感器，实时测量所述可移动装置的高度信息；障碍物传感器，实时检测所述可移动装置附近的障碍物；以及/或者图像传感器，获取周围环境的图像。
本发明的另一个方面提供了一种非易失性存储介质，其上存储有可执行指令，所述指令用于执行如上所述的方法。
附图说明
为了更完整地理解本发明及其优势，现在将参考结合附图的以下描述，其中：
图1示意性示出了根据本发明实施例的一种应用场景；
图2示意性示出了根据本发明实施例的无人飞行器的结构框图；
图3示意性示出了无人飞行器在正常模式下和倒行返航模式下的飞行路线；
图4示意性示出了根据本发明实施例的根据风向和风速调整无人飞行器的运动的原理；
图5示意性示出了无人飞行器在倒行返航过程中的避障过程；以及
图6示意性示出了根据本发明实施例的无人飞行器的结构框图。
具体实施方式
根据结合附图对本发明示例性实施例的以下详细描述，本发明的其它方面、优势和突出特征对于本领域技术人员将变得显而易见。
在本发明中，术语“包括”和“含有”及其派生词意为包括而非限制；术语“或”是包含性的，意为和/或。
在本说明书中，下述用于描述本发明原理的各种实施例只是说明，不应该以任何方式解释为限制发明的范围。参照附图的下述描述用于帮助全面理解由权利要求及其等同物限定的本发明的示例性实施例。下述描述包括多种具体细节来帮助理解，但这些细节应认为仅仅是示例性的。因此，本领域普通技术人员应认识到，在不背离本发明的范围和精神的情况下，可以对本文中描述的实施例进行多种改变和修改。此外，为了清楚和简洁起见，省略了公知功能和结构的描述。此外，贯穿附图，相同附图标记用于相同或相似的功能和操作。
以下以无人飞行器作为可移动装置的示例来描述本发明的实施例。但是，本领域技术人员可以理解，本发明不限于此，而是可以应用于多种其他可移动装置，例如机器人、或无人驾驶汽车等。
图1示意性示出了根据本发明实施例的一种应用场景。如图1所示，操作员使用遥控设备100对无人飞行器200进行控制。
根据本发明的实施例，遥控设备100可以是专用或通用遥控器，或者可以是例如手机、平板电脑等移动终端，其上运行有遥控应用程序。操作员通过遥控设备100上的实体或虚拟控制组件，例如摇杆、滚轮、方向球、按钮、按键等，对无人飞行器200进行控制。
如图1所示，在正常模式下，无人飞行器200从位置A飞行到位置B。从位置A到位置B的飞行可以是在遥控器100的操纵下进行的，也可以是遥控器100将目 的地的坐标发送到无人飞行器200，无人飞行器200在GPS信号的指引下，自动飞行到位置B。位置B可以是目的地，也可以是飞行途中经过的一点。
在位置B，无人飞行器200决定返航飞回位置A附近。该返航可以是由预定事件触发的，所述预定事件可以包括以下中的任意一项：无人飞行器200的遥控信号丢失、无人飞行器200的GPS信号丢失或异常、无人飞行器200接收到返航指令、或无人飞行器200的动力不足。
根据本发明的实施例，在返航时，无人飞行器200采取倒行返航模式。在正常模式下，可以根据多个指令来控制无人飞行器200的运动，每个指令例如可以包括无人飞行器200的运动方向和运动速度。在倒行返航模式下，根据所述多个指令的逆指令来控制无人飞行器200的运动。所述多个逆指令中的每个指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的。这样，相当于对无人飞行器200的运动进行“反演”，从而可以控制无人飞行器200返航。
图2示意性示出了根据本发明实施例的无人飞行器200的结构框图。
如图2所示，无人飞行器200包括控制系统210和动力系统220。控制系统210控制动力系统220的输出，从而控制无人飞行器200的运动。控制系统210可以包括处理器211和存储器212。在正常模式下，处理器211根据多个指令控制无人飞行器200的运动。在倒行返航模式下，处理器211以与执行所述多个指令相反的顺序执行相应逆指令以控制无人飞行器200的运动，从而实现倒行返航。存储器212可以用来存储指令和/或逆指令。逆指令可以是在无人飞行器200本地生成的，也可以是与相应指令一起从遥控器100接收的。
图3示意性示出了无人飞行器200在正常模式下和倒行返航模式下的飞行路线。
如上所述，在正常模式下，处理器211根据多个指令控制无人飞行器200的运动。根据本发明的实施例，每个指令可以包括运动方向和运动速度，例如，指令1{向前，3米/秒}；指令2{向右，3.5米/秒}；指令3{右前方45°，2.5米/秒}，等等。在这三个指令的控制下，无人飞行器200的飞行路线可以如图3所示。具体地，在指令1的控制下，无人飞行器200从位置C飞行到位置D。在指令2的控制下，无人 飞行器200从位置D飞行到位置E。在指令3的控制下，无人飞行器200从位置E飞行到位置F。
在倒行返航模式下，根据指令1、指令2和指令3，分别生成相应的逆指令1’、逆指令2’和逆指令3’。根据本发明的实施例，逆指令包括与相应指令相反的运动方向以及相同的运动速度，例如，逆指令1’{向后，3米/秒}；指令2’{向左，3.5米/秒}；指令3’{左后方45°，2.5米/秒}。然后，以与执行指令1、指令2和指令3相反的顺序，执行逆指令3’、逆指令2’，逆指令1’，控制无人飞行器200从位置F飞回到位置C。具体地，在逆指令3’的控制下，无人飞行器200从位置F飞行到位置E。在逆指令2’的控制下，无人飞行器200从位置E飞行到位置D。在逆指令1’的控制下，无人飞行器200从位置D飞行到位置C。
需要注意的是，本发明并不要求无人飞行器200的倒行返航路线与相应正常模式下的飞行路线严格吻合，而只需要二者大体一致即可。只要无人飞行器200能够回到出发点附近或操作员的视距之内，操作员就能顺利回收无人飞行器200。或者，只要无人飞行器200能够接收到遥控信号，操作员就可以遥控无人飞行器200返航。
在倒行返航的过程中，可以对执行每条逆指令时无人飞行器200的运动时间进行监控。由于逆指令的速度与相应指令相同，所以，如果无人飞行器200在逆指令的控制下与在相应指令的控制下飞行相同的时间，那么就可以回退至开始执行该相应指令的位置。例如，无人飞行器200在指令3的控制下，从位置E以2.5米/秒的速度向右前方飞行了4秒到位置F，那么在倒行返航过程中，无人飞行器200在逆指令3’的控制下，从位置F以2.5米/秒的速度向左后方也飞行4秒，返回位置E。
或者，在倒行返航的过程中，也可以对执行每条逆指令时无人飞行器200的运动距离进行监控。例如，无人飞行器200在指令3的控制下，从位置E飞行了10米到位置F，那么在倒行返航过程中，无人飞行器200在逆指令3’的控制下，从位置F向左后方也飞行10米，返回位置E。
需要注意的是，上面的指令形式仅是示例性的，其意在帮助理解本发明，而并非限制本发明的保护范围。本发明的实施例通过执行逆指令来实现无人飞行器200的飞行状态的反演，而并不局限于任何具体的指令形式。
根据本发明的实施例，当出现预定事件时，处理器211控制无人飞行器200进入倒行返航模式。所述预定事件可以包括以下中的任意一项：无人飞行器200的遥 控信号丢失、无人飞行器200的GPS信号丢失或异常、无人飞行器200接收到返航指令、或无人飞行器200的动力不足。
具体地，如图2所示，无人飞行器200还可以包括用于接收GPS信号的GPS接收器230。当GPS信号丢失或异常时，处理器211可以控制无人飞行器200进入倒行返航模式。特别地，当无人飞行器200正在GPS信号的引导下自动飞行时，如果GPS信号丢失，则无人飞行器200无法继续沿正确路线飞行，此时进入倒行返航模式，可以控制无人飞行器200安全返航。GPS信号异常例如可以包括GPS信号的异常跳变，其可能是由于正常GPS信号被大功率的欺骗GPS信号淹没。此时，无人飞行器200可能成为被劫持的对象。在这种情况下，进入倒行返航模式，可以避免受到欺骗GPS信号的干扰，实现安全返航。
根据本发明的实施例，无人飞行器200还可以包括用于接收遥控器100的遥控信号的遥控信号接收器240。当无人飞行器200飞出遥控信号的接收范围之外时，或者遥控信号被障碍物屏蔽从而无法到达无人飞行器200时，无人飞行器200处于失控状态，此时，处理器211可以控制无人飞行器200进入倒行返航模式，使其在没有遥控信号的情况下安全返航。
根据本发明的实施例，处理器211也可以在收到返航指令时控制无人飞行器200进入倒行返航模式。例如，无人飞行器200在遥控信号的接收范围之内，但在操作员的视距之外，操作员无法准确控制无人飞行器200的运动。此时，操作员可以通过遥控器100发出返航指令，处理器211在收到返航指令时控制无人飞行器200进入倒行返航模式。或者，无人飞行器200在遥控信号的接收范围之内，也在操作员的视距之内，但操作员希望无人飞行器200自动返航，此时，也可以通过遥控器100发出返航指令，处理器211在收到返航指令时控制无人飞行器200进入倒行返航模式。需要注意的是，返航指令不一定是从遥控器100接收的。根据本发明的实施例，无人飞行器200也可以在预定条件被满足时，本地生成返航指令。例如，可以预先设定在无人飞行器200在检测到环境不利于飞行，例如检测到环境风速持续15秒大于10米/秒时，本地生成返航指令。
根据本发明的实施例，当无人飞行器200的动力不足，例如电量低于预先设定的阈值时，也可以进入倒行反航模式。
根据本发明的实施例，当GPS接收器230在GPS信号丢失之后，又重新接收到GPS信号时，处理器211可以控制无人飞行器200退出倒行返航模式。根据本发明的实施例，当遥控信号接收器240在遥控信号丢失后，又重新接收到遥控信号时，处理器211可以控制无人飞行器200退出倒行返航模式。
如图2所示，根据本发明的实施例，无人飞行器200还可以包括风向-风速测量系统250，对风向和风速进行实时测量。在无人飞行器200的飞行过程中，有时会受到风的影响。在倒行返航模式下，处理器211可以根据在执行逆指令时实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整无人飞行器200的运动。
图4示意性示出了根据本发明实施例的根据风向和风速调整无人飞行器200的运动的原理。
如图4所示，在无人飞行器200在指令1{向前，3米/秒}的控制下从位置C飞行到位置D的途中，如果测量到风向为C→D方向的正右方，风速为3米/秒，而在无人飞行器200在逆指令1’{向前，3米/秒}的控制下从位置D飞行到位置C的途中，如果测量到风向为C→D方向的正右方，风速为2米/秒，则可以相应调整无人飞行器200从位置D飞行到位置C的运动，以抵消风造成的影响。
例如，可以调整无人飞行器200在执行逆指令时的飞行速度，使其与风速的叠加结果与执行相应指令时的速度基本上大小相等，方向相反。例如，可以根据风向，计算两次测量的风速的矢量和是风向为C→D方向的正右方，风速5米/秒，则在无人飞行器200从位置D飞行到位置C的途中，可以对逆指令1’{向前，3米/秒}指示的运动方向和运动速度进行修正，叠加一个C→D方向的正左方5米/秒的速度，以抵消风造成的影响。
根据本发明的实施例，无人飞行器200还可以包括方向传感器260，例如指南针。方向传感器260可以实时检测无人飞行器200的运动方向变化。一般地，无人飞行器200在执行逆指令时的运动方向变化应当与执行相应指令时的运动方向变化相反。通过实时检测无人飞行器200的运动方向变化，可以对无人飞行器200在倒行返航过程中的运动进行实时调整，从而校正其运动方向。
根据本发明的实施例，无人飞行器200还可以包括方向传感器260，例如指南针。方向传感器260可以实时检测无人飞行器200的运动方向信息，例如运动方向 或运动方向变化。一般地，无人飞行器200在执行逆指令时的运动方向或运动方向变化应当与执行相应指令时的运动方向变化相反。通过实时检测无人飞行器200的运动方向或运动方向变化，处理器211可以对无人飞行器200在倒行返航过程中的运动进行实时调整，从而校正其运动方向。
根据本发明的实施例，无人飞行器200还可以包括高度传感器270，例如高度仪。高度传感器270可以实时检测无人飞行器200的高度信息，例如高度或高度变化。一般地，无人飞行器200在执行逆指令时的高度应当与执行相应指令时的高度相同，高度变化则应相反。通过实时检测无人飞行器200的高度或高度变化，处理器211可以对无人飞行器200在倒行返航过程中的运动进行实时调整，从而校正其飞行高度。
根据本发明的实施例，无人飞行器200还可以包括障碍物传感器280，例如红外传感器、雷达、或摄像头等。当障碍物传感器280检测到障碍物时，处理器211可以控制无人飞行器200悬停等待障碍物消失，待障碍物消失后再继续飞行。根据本发明的实施例，当无人飞行器200在倒行返航模式下遇到障碍物且障碍物在预定时间段内不消失时，处理器211会计算避障路线，根据避障路线控制无人飞行器200绕过障碍物，并在绕过障碍物后计算避障路线造成的路线偏差，在后续运动中纠正该偏差。
图5示意性示出了无人飞行器200在倒行返航过程中的避障过程。
如图5所示，在正常模式下，无人飞行器200从位置C飞到位置F。在倒行返航模式下，无人飞行器200从位置F向位置C飞行。在从位置D飞往位置C途中的位置G，无人飞行器200遇到障碍物。处理器211计算并控制无人飞行器200经由避障路线G→H绕过障碍物。该避障过程造成了无人飞行器200的路线偏差。处理器211计算G→H这一段路线偏差，并在后续飞行中通过路线I→J对其进行纠正。
根据本发明的实施例，无人飞行器200还可以包括图像传感器290，例如摄像头。在无人飞行器200出发时，图像传感器290可以获取出发点及所述出发点周围的初始图像。当无人飞行器200返回出发点附近时，处理器211可以通过比较图像传感器290实时获取的图像和所述初始图像，判断所述无人飞行器200是否回到出发点。例如，在无人飞行器200起飞时，图像传感器290可以对起飞地面或者周围 360°景物的纹理拍照。在无人飞行器200返航到起飞点附近时，处理器211可以通过比对起飞点以及附近的图像达到精准降落。
图6示意性示出了根据本发明实施例的无人飞行器600的结构框图。
如图6所示，无人飞行器600包括控制系统610和动力系统620。控制系统610控制动力系统620的输出，从而控制无人飞行器600的运动。
根据本发明的实施例，无人飞行器600还可以包括用于接收GPS信号的GPS接收器630、用于接收遥控信号的遥控信号接收器640、用于实时测量风向和风速的风向-风速测量系统650、用于实时检测所述无人飞行器600的运动方向信息的方向传感器660、用于实时检测所述无人飞行器600的高度信息的高度传感器670、用于实时检测所述无人飞行器600附近的障碍物的障碍物传感器680、以及/或者用于获取周围环境的图像的图像传感器690。控制系统610根据GPS接收器630、遥控信号接收器640、风向-风速测量系统650、方向传感器660、高度传感器670、障碍物传感器680、和图像传感器690接收或感测的信号，对无人飞行器600进行控制。
GPS接收器630、遥控信号接收器640、风向-风速测量系统650、方向传感器660、高度传感器670、障碍物传感器680、和图像传感器690与参考图2描述的GPS接收器230、遥控信号接收器240、风向-风速测量系统250、方向传感器260、高度传感器270、障碍物传感器280、和图像传感器290相同或类似，此处省略对其的详细描述。
根据本发明的实施例，控制系统610包括正常模式模块611，在正常模式下，根据多个指令控制所述无人飞行器600的运动。控制系统610还包括倒行返航模式模块612，在倒行返航模式下，根据多个逆指令控制所述无人飞行器600的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的。所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
根据本发明的实施例，所述指令包括运动方向和运动速度，所述逆指令包括与相应指令相反的运动方向以及相同的运动速度。执行每条逆指令时所述无人飞行器600的运动时间或运动距离与执行相应指令时所述无人飞行器600的运动时间或运动距离相同。所述多个指令可以被记录在所述无人飞行器600本地。所述逆指令可以是在所述无人飞行器600本地生成的，或者是从外部接收的。
关于指令、逆指令、及其相关的操作，可参见前文结合图3的描述，在此不再赘述。
根据本发明的实施例，控制系统610还可以包括模式切换模块613，当出现预定事件时，控制所述无人飞行器600进入所述倒行返航模式。根据本发明的实施例，所述预定事件包括以下中的任意一项：所述无人飞行器600的遥控信号丢失、所述无人飞行器600的全球定位系统GPS信号丢失或异常、所述无人飞行器600接收到返航指令、或所述无人飞行器600的动力不足。根据本发明的实施例，当在GPS信号丢失之后，GPS接收器630重新接收到GPS信号时，所述模式切换模块613控制所述无人飞行器600退出所述倒行返航模式，并根据GPS信号控制所述无人飞行器600的运动。根据本发明的实施例，当在遥控信号丢失之后，遥控信号接收器640重新接收到遥控信号时，所述模式切换模块613控制所述无人飞行器600退出所述倒行返航模式，并根据遥控信号控制所述无人飞行器600的运动。
根据本发明的实施例，控制系统610还可以包括运动调整模块614，根据风向-风速测量系统650实时测量风向和风速，对无人飞行器600的运动进行调整。例如，在倒行返航模式下，运动调整模块614根据在执行逆指令时实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述无人飞行器600的运动。根据本发明的实施例，运动调整模块614根据风向-风速测量系统650实时测量的风向和风速以及先前执行相应指令时测量的风向和风速计算风速矢量和，并根据所述风速矢量和对所述逆指令指示的运动方向和运动速度进行修正。针对风向和风速运动调整可参见上文结合图4的描述，在此不再赘述。
根据本发明的实施例，运动调整模块614还可以根据方向传感器660实时检测的无人飞行器600的运动方向信息，例如运动方向或运动方向变化，对无人飞行器600的运动进行调整。例如，在倒行返航模式下，运动调整模块614将在执行逆指令时实时测量的无人飞行器600的运动方向或运动方向变化与先前执行相应指令时测量的无人飞行器600的运动方向或运动方向变化作比较，来调整无人飞行器600的运动。
根据本发明的实施例，运动调整模块614还可以根据高度传感器670实时检测的无人飞行器600的高度信息，例如高度或高度变化，对无人飞行器600的运动进行调整。例如，在倒行返航模式下，运动调整模块614将在执行逆指令时实时测量 的无人飞行器600的高度或高度变化与先前执行相应指令时测量的无人飞行器600的高度或高度变化作比较，来调整所述无人飞行器600的运动。
根据本发明的实施例，控制系统610还可以包括避障模块615，当在倒行返航模式下，障碍物传感器680检测到障碍物时，控制无人飞行器600悬停等待障碍物消失。当在倒行返航模式下遇到障碍物且障碍物在预定时间段内不消失时，避障模块615计算避障路线，根据避障路线控制无人飞行器600绕过障碍物，并在绕过障碍物后计算避障路线造成的路线偏差，在后续运动中纠正该偏差。关于避障和纠正操作，可参见前文结合图5的描述，在此不再赘述。
根据本发明的实施例，控制系统610还可以包括比较模块616，通过比较图像传感器690实时获取的图像和无人飞行器600的出发点及出发点周围的图像，判断无人飞行器600是否回到出发点，以实现无人飞行器600的精准降落。
上述控制系统610及其中的模块可以通过计算机软件来实现，此时，其中的各个模块可以实现为程序模块。但是应当注意，这种模块的划分并不限于文中的实施例，而是在不脱离本发明的主旨的前提下，包括本领域技术人员能够想到的各种变形。
根据本发明的实施例，一种非易失性存储介质，包括机器可读指令，所述指令在被处理器执行时，使得处理器执行如上所述的方法。
根据本发明的实施例，可以在不依赖遥控信号和GPS信号的情况下，实现无人飞行器的自动返航。在空旷环境和静风的条件下，可以实现非常准确的返航。即使环境中有风的影响，或者在返航途中遇到障碍物，根据本发明实施例中提供的相应手段，也可以较好地对其进行规避，使得无人飞行器能够大概率返回起飞点附近。当无人飞行器回到起飞点附近之后，操作员可以遥控无人飞行器准确降落在目标地点。或者，通过对比周围环境的图像，也可以实现无人飞行器的自动精准降落。
根据本发明各实施例的上述方法、系统和/或模块可以通过有计算能力的电子设备执行包含计算机指令的软件来实现。该系统可以包括存储设备，以实现上文所描述的各种存储。所述有计算能力的电子设备可以包含通用处理器、数字信号处理器、专用处理器、可重新配置处理器等能够执行计算机指令的装置，但不限于此。执行这样的指令使得电子设备被配置为执行根据本发明的上述各项操作。上述各系统和/或模块可以在一个电子设备中实现，也可以在不同电子设备中实现。这些软件可以 存储在计算机可读存储介质中。计算机可读存储介质存储一个或多个程序(软件模块)，所述一个或多个程序包括指令，当电子设备中的一个或多个处理器执行所述指令时，所述指令使得电子设备执行本发明的方法。
这些软件可以存储为易失性存储器或非易失性存储装置的形式(比如类似ROM等存储设备)，不论是可擦除的还是可重写的，或者存储为存储器的形式(例如RAM、存储器芯片、设备或集成电路)，或者被存储在光可读介质或磁可读介质上(比如，CD、DVD、磁盘或磁带等等)。应该意识到，存储设备和存储介质是适于存储一个或多个程序的机器可读存储装置的实施例，所述一个程序或多个程序包括指令，当所述指令被执行时，实现本发明的实施例。实施例提供程序和存储这种程序的机器可读存储装置，所述程序包括用于实现本发明的任何一项权利要求所述的装置或方法的代码。此外，可以经由任何介质(比如，经由有线连接或无线连接携带的通信信号)来电传递这些程序，多个实施例适当地包括这些程序。
根据本发明各实施例的方法、装置、单元和/或模块还可以使用例如现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)、片上系统、基板上的系统、封装上的系统、专用集成电路(ASIC)或可以以用于对电路进行集成或封装的任何其他的合理方式等硬件或固件来实现，或以软件、硬件以及固件三种实现方式的适当组合来实现。该系统可以包括存储设备，以实现上文所描述的存储。在以这些方式实现时，所使用的软件、硬件和/或固件被编程或设计为执行根据本发明的相应上述方法、步骤和/或功能。本领域技术人员可以根据实际需要来适当地将这些系统和模块中的一个或多个，或其中的一部分或多个部分使用不同的上述实现方式来实现。这些实现方式均落入本发明的保护范围。
尽管已经参照本发明的特定示例性实施例示出并描述了本发明，但是本领域技术人员应该理解，在不背离所附权利要求及其等同物限定的本发明的精神和范围的情况下，可以对本发明进行形式和细节上的多种改变。因此，本发明的范围不应该限于上述实施例，而是应该不仅由所附权利要求来进行确定，还由所附权利要求的等同物来进行限定。

Claims (48)

  1. 一种可移动装置的控制方法，包括：
    在正常模式下，根据多个指令控制所述可移动装置的运动；以及
    在倒行返航模式下，根据多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的，
    其中，所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
  2. 根据权利要求1所述的方法，其中：
    所述指令包括运动方向和运动速度；以及
    所述逆指令包括与相应指令相反的运动方向以及相同的运动速度。
  3. 根据权利要求2所述的方法，其中：
    执行每条逆指令时所述可移动装置的运动时间或运动距离与执行相应指令时所述可移动装置的运动时间或运动距离相同。
  4. 根据权利要求1所述的方法，其中：
    所述多个指令被记录在所述可移动装置本地；并且/或者
    所述逆指令是在所述可移动装置本地生成的，或者是从外部接收的。
  5. 根据权利要求4所述的方法，还包括当出现预定事件时，控制所述可移动装置进入所述倒行返航模式。
  6. 根据权利要求5所述的方法，其中，所述预定事件包括以下中的任意一项：所述可移动装置的遥控信号丢失、所述可移动装置的全球定位系统GPS信号丢失或异常、所述可移动装置接收到返航指令、或所述可移动装置的动力不足。
  7. 根据权利要求6所述的方法，其中，当在遥控信号丢失之后，重新接收到遥控信号时，退出所述倒行返航模式，并根据遥控信号控制所述可移动装置的运动。
  8. 根据权利要求6所述的方法，其中，
    当在GPS信号丢失之后，重新接收到GPS信号时，退出所述倒行返航模式，并根据GPS信号控制所述可移动装置的运动。
  9. 根据权利要求1所述的方法，还包括：
    在所述倒行返航模式下，根据在执行逆指令时实时测量的风向和风速以及先前 执行相应指令时测量的风向和风速来调整所述可移动装置的运动。
  10. 根据权利要求9所述的方法，其中，根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述可移动装置的运动包括：
    根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速计算风速矢量和；以及
    根据所述风速矢量和对所述逆指令指示的运动方向和运动速度进行修正。
  11. 根据权利要求1所述的方法，还包括：
    在所述倒行返航模式下，将在执行逆指令时实时测量的所述可移动装置的运动方向或运动方向变化与先前执行相应指令时测量的所述可移动装置的运动方向或运动方向变化作比较，来调整所述可移动装置的运动。
  12. 根据权利要求1所述的方法，还包括：
    在所述倒行返航模式下，将在执行逆指令时实时测量的所述可移动装置的高度或高度变化与先前执行相应指令时测量的所述可移动装置的高度或高度变化作比较，来调整所述可移动装置的运动。
  13. 根据权利要求1所述的方法，还包括：
    当在倒行返航模式下遇到障碍物时，控制所述可移动装置悬停等待障碍物消失；以及
    当在倒行返航模式下遇到障碍物且障碍物在预定时间段内不消失时，计算避障路线，根据避障路线控制所述可移动装置绕过障碍物，并在绕过障碍物后计算避障路线造成的路线偏差，在后续运动中纠正该偏差。
  14. 根据权利要求1所述的方法，还包括：
    在所述可移动装置出发时，获取出发点及所述出发点周围的初始图像；以及
    通过比较所述可移动装置实时获取的图像和所述初始图像，判断所述可移动装置是否回到出发点。
  15. 根据权利要求1所述的方法，其中，所述可移动装置是以下中的任一种：无人飞行器、机器人、或无人驾驶汽车。
  16. 一种可移动装置的控制系统，包括：
    正常模式模块，在正常模式下，根据多个指令控制所述可移动装置的运动；以及
    倒行返航模式模块，在倒行返航模式下，根据多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的，
    其中，所述多个逆指令是分别根据所述多个指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
  17. 根据权利要求16所述的系统，其中：
    所述指令包括运动方向和运动速度；以及
    所述逆指令包括与相应指令相反的运动方向以及相同的运动速度。
  18. 根据权利要求17所述的系统，其中：
    执行每条逆指令时所述可移动装置的运动时间或运动距离与执行相应指令时所述可移动装置的运动时间或运动距离相同。
  19. 根据权利要求16所述的系统，其中：
    所述多个指令被记录在所述可移动装置本地；并且/或者
    所述逆指令是在所述可移动装置本地生成的，或者是从外部接收的。
  20. 根据权利要求19所述的系统，其中，还包括模式切换模块，当出现预定事件时，控制所述可移动装置进入所述倒行返航模式。
  21. 根据权利要求20所述的系统，其中，所述预定事件包括以下中的任意一项：所述可移动装置的遥控信号丢失、所述可移动装置的全球定位系统GPS信号丢失或异常、所述可移动装置接收到返航指令、或所述可移动装置的动力不足。
  22. 根据权利要求21所述的系统，其中：
    当在遥控信号丢失之后，重新接收到遥控信号时，所述模式切换模块控制所述可移动装置退出所述倒行返航模式，并根据遥控信号控制所述可移动装置的运动。
  23. 根据权利要求21所述的系统，其中，当在GPS信号丢失之后，重新接收到GPS信号时，所述模式切换模块控制所述可移动装置退出所述倒行返航模式，并根据GPS信号控制所述可移动装置的运动。
  24. 根据权利要求16所述的系统，还包括：
    运动调整模块，在所述倒行返航模式下，根据在执行逆指令时实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述可移动装置的运动。
  25. 根据权利要求24所述的系统，其中，根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述可移动装置的运动包括：
    根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速计算风速矢量和；以及
    根据所述风速矢量和对所述逆指令指示的运动方向和运动速度进行修正。
  26. 根据权利要求16所述的系统，还包括：
    运动调整模块，在所述倒行返航模式下，将在执行逆指令时实时测量的所述可移动装置的运动方向或运动方向变化与先前执行相应指令时测量的所述可移动装置的运动方向或运动方向变化作比较，来调整所述可移动装置的运动。
  27. 根据权利要求16所述的系统，还包括：
    运动调整模块，在所述倒行返航模式下，将在执行逆指令时实时测量的所述可移动装置的高度或高度变化与先前执行相应指令时测量的所述可移动装置的高度或高度变化作比较，来调整所述可移动装置的运动。
  28. 根据权利要求16所述的系统，还包括避障模块，用于：
    当在倒行返航模式下遇到障碍物时，控制所述可移动装置悬停等待障碍物消失；以及
    当在倒行返航模式下遇到障碍物且障碍物在预定时间段内不消失时，计算避障路线，根据避障路线控制所述可移动装置绕过障碍物，并在绕过障碍物后计算避障路线造成的路线偏差，在后续运动中纠正该偏差。
  29. 根据权利要求16所述的系统，还包括：
    比较模块，通过比较所述可移动装置实时获取的图像和所述可移动装置的出发点及出发点周围的图像，判断所述可移动装置是否回到出发点。
  30. 根据权利要求16所述的系统，其中，所述可移动装置是以下中的任一种：无人飞行器、机器人、或无人驾驶汽车。
  31. 一种可移动装置的控制系统，所述系统包括处理器和存储器，其中：
    所述处理器：
    在正常模式下，根据多个指令控制所述可移动装置的运动；
    以及
    在倒行返航模式下，根据所述多个逆指令控制所述可移动装置的运动，所述多个逆指令的执行顺序与所述多个指令的执行顺序是相反的；以及
    所述存储器存储所述多个逆指令，其中，所述多个逆指令是分别根据所述多个 指令中的每个指令生成的，每个所述逆指令所指示的操作与相应指令所指示的操作是相反的操作。
  32. 根据权利要求31所述的系统，其中：
    所述指令包括运动方向和运动速度；以及
    所述逆指令包括与相应指令相反的运动方向以及相同的运动速度。
  33. 根据权利要求32所述的系统，其中：
    执行每条逆指令时所述可移动装置的运动时间或运动距离与执行相应指令时所述可移动装置的运动时间或运动距离相同。
  34. 根据权利要求31所述的系统，其中：
    所述处理器和所述存储器安装在所述可移动装置上；并且/或者
    所述逆指令是由所述处理器生成的，或者是从外部接收的。
  35. 根据权利要求34所述的系统，其中，当出现预定事件时，所述处理器控制所述可移动装置进入所述倒行返航模式。
  36. 根据权利要求35所述的系统，其中，所述预定事件包括以下中的任意一项：所述可移动装置的遥控信号丢失、所述可移动装置的全球定位系统GPS信号丢失或异常、所述可移动装置接收到返航指令、或所述可移动装置的动力不足。
  37. 根据权利要求36所述的系统，其中，当在遥控信号丢失之后，重新接收到遥控信号时，所述处理器控制所述可移动装置退出所述倒行返航模式，并根据遥控信号控制所述可移动装置的运动。
  38. 根据权利要求36所述的系统，其中，当在GPS信号丢失之后，所重新接收到GPS信号时，所述处理器控制所述可移动装置退出所述倒行返航模式，并根据GPS信号控制所述可移动装置的运动。
  39. 根据权利要求31所述的系统，其中，在所述倒行返航模式下，所述处理器根据在执行逆指令时实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述可移动装置的运动。
  40. 根据权利要求39所述的系统，其中，根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速来调整所述可移动装置的运动包括：
    计根据实时测量的风向和风速以及先前执行相应指令时测量的风向和风速计算风速矢量和；以及
    根据所述风速矢量和对所述逆指令指示的运动方向和运动速度进行修正。
  41. 根据权利要求31所述的系统，
    其中，在所述倒行返航模式下，所述处理器将在执行逆指令时实时测量的所述可移动装置的运动方向或运动方向变化与先前执行相应指令时测量的所述可移动装置的运动方向或运动方向变化作比较，来调整所述可移动装置的运动。
  42. 根据权利要求31所述的系统，
    其中，在所述倒行返航模式下，所述处理器将在执行逆指令时实时测量的所述可移动装置的高度或高度变化与先前执行相应指令时测量的所述可移动装置的高度或高度变化作比较，来调整所述可移动装置的运动。
  43. 根据权利要求31所述的系统，其中：
    当在倒行返航模式下遇到障碍物时，所述处理器控制所述可移动装置悬停等待障碍物消失；以及
    当在倒行返航模式下遇到障碍物且障碍物在预定时间段内不消失时，所述处理器计算避障路线，根据避障路线控制所述可移动装置绕过障碍物，并在绕过障碍物后计算避障路线造成的路线偏差，在后续运动中纠正该偏差。
  44. 根据权利要求31所述的系统，
    其中，所述处理器通过比较所述可移动装置实时获取的图像和所述可移动装置的出发点及所述出发点周围的图像，判断所述可移动装置是否回到出发点。
  45. 根据权利要求31所述的系统，其中，所述可移动装置是以下中的任一种：无人飞行器、机器人、或无人驾驶汽车。
  46. 一种可移动装置，包括根据权利要求16～29中任一项或根据权利要求31～45中任一项所述的系统，所述可移动装置还包括以下中的任意一个或多个：
    GPS接收器，接收GPS信号；
    遥控信号接收器，接收遥控信号；
    风向-风速测量系统，实时测量风向和风速；
    方向传感器，实时测量所述可移动装置的运动方向信息；
    高度传感器，实时测量所述可移动装置的高度信息；
    障碍物传感器，实时检测所述可移动装置附近的障碍物；以及/或者
    图像传感器，获取周围环境的图像。
  47. 根据权利要求46所述的可移动装置，其中：
    所述运动方向信息包括运动方向或运动方向的变化；以及/或者
    所述高度信息包括高度或高度变化。
  48. 一种非易失性存储介质，其上存储有可执行指令，所述指令用于执行根据权利要求1～15中任一项所述的方法。
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