WO2018187936A1 - Unmanned aerial vehicle and obstacle avoidance control method therefor - Google Patents

Abstract

An unmanned aerial vehicle (100) and an obstacle avoidance control method therefor. The unmanned aerial vehicle (100) comprises an airframe (101); a power system (102) mounted on the airframe (101) and used for providing the flight power; a flight controller (103) communicationally connected to the power system (102) and used for controlling the unmanned aerial vehicle (100) to fly; an adjusting device (104) mounted on the airframe (101); and a detection device (105) mounted in the adjusting device (104) and used for detecting obstacles around the unmanned aerial vehicle (100). The adjusting device (104) is used for: obtaining the current motion information of the unmanned aerial vehicle (100), the motion information being the flight direction of the unmanned aerial vehicle (100); determining the detection direction of the detection device (105) according to the flight direction; and rotating the detection device (105) according to the detection direction. The unmanned aerial vehicle (100) and the obstacle avoidance control method therefor can reduce the weight and power consumption of a flight system and ensure the duration of flight of the unmanned aerial vehicle (100) at the same time of realizing a multi-direction obstacle avoidance function.

Description

Obstacle-free control method for unmanned aerial vehicle and unmanned aerial vehicle Technical field

The invention relates to the field of drones, in particular to an obstacle avoidance control method for an unmanned aerial vehicle and an unmanned aerial vehicle.

Background technique

Radar has the advantage of high distance accuracy and is used in the field of unmanned obstacle avoidance, providing more reliable flight for drones. In the course of flight, especially during automatic flight, the safety of the drone must be guaranteed. It is necessary to perceive obstacles in all directions. At present, obstacle avoidance systems of various types of UAVs often use binocular vision, time of flight (TOF) obstacle avoidance, and ultrasonic obstacle avoidance. Such obstacle avoidance systems are usually installed on aircraft. The fixed position can only achieve obstacle avoidance in a single direction.

In order to realize the multi-directional obstacle avoidance function, the prior art realizes the perception of the space environment by installing six sensors around the top and bottom of the drone.

But the six sensors increase the weight of the flight system and bring a lot of power to the system, which reduces the life of the aircraft.

Summary of the invention

The embodiment of the invention provides an obstacle avoidance control method for an unmanned aerial vehicle and an unmanned aerial vehicle, which can reduce the weight and power consumption of the flight system, and ensure the endurance time of the aircraft while realizing the multi-directional obstacle avoidance function.

An aspect of an embodiment of the present invention provides an unmanned aerial vehicle, the unmanned aerial vehicle comprising:

body;

a power system mounted to the fuselage for providing flight power;

a flight controller, in communication with the power system, for controlling the flight of the unmanned aerial vehicle;

An adjustment device mounted to the fuselage;

a detecting device mounted on the adjusting device for detecting an obstacle around the unmanned aerial vehicle;

The adjustment device is used to:

Obtaining current motion information of the unmanned aerial vehicle, the motion information including: a flight direction of the unmanned aerial vehicle;

Determining a detection direction of the detecting device according to the flight direction;

Rotating the detecting device according to the detecting direction.

Another aspect of the present invention provides an obstacle avoidance control method for an unmanned aerial vehicle, the unmanned aerial vehicle including a fuselage, an adjusting device disposed on the fuselage, and a probe disposed on the adjusting device a device for detecting an obstacle around the UAV, the method comprising:

Obtaining current motion information of the unmanned aerial vehicle, the motion information including: a flight direction of the unmanned aerial vehicle;

Determining a detection direction of the detecting device according to the flight direction;

Rotating the detecting device according to the detecting direction.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

The unmanned aerial vehicle provided by the embodiment of the invention can acquire the current motion information of the unmanned aerial vehicle, determine the detection direction of the detecting device according to the flight direction of the unmanned aerial vehicle, and rotate the detecting device, so that the detecting direction of the detecting device after the rotating and the determined The detection direction is the same. In the embodiment of the invention, the detection direction of the detecting device can be adjusted, and the sensing of the space environment can be realized by only one sensor, which reduces the weight and power consumption of the flying system, and ensures the obstacle avoidance function of the multi-directional while ensuring the aircraft. Life time.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings which are used in the description of the embodiments will be briefly described. It is obvious that the drawings in the following description are only some embodiments of the present invention.

1 is a schematic view showing an embodiment of an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a schematic view showing the flight direction of an unmanned aerial vehicle in the embodiment of the present invention;

Figure 3 is a plan view of an unmanned aerial vehicle in accordance with an embodiment of the present invention;

Figure 4 is a cross-sectional view of an unmanned aerial vehicle in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of an application scenario of a prior art unmanned aerial vehicle; FIG.

6 is a schematic diagram of another application scenario of a prior art unmanned aerial vehicle;

7 is a schematic diagram of a scenario of another embodiment of an unmanned aerial vehicle according to an embodiment of the present invention;

8 is a schematic diagram of a scenario of another embodiment of an unmanned aerial vehicle according to an embodiment of the present invention;

9 is a schematic view of another embodiment of an unmanned aerial vehicle according to an embodiment of the present invention;

10 is a flow chart of an obstacle avoidance control method for an unmanned aerial vehicle according to an embodiment of the present invention;

11 is another flow chart of an obstacle avoidance control method for an unmanned aerial vehicle according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The embodiment of the invention provides an obstacle avoidance control method for an unmanned aerial vehicle and an unmanned aerial vehicle, which is used for reducing the weight and power consumption of the flight system, and ensuring the endurance time of the aircraft while realizing the multi-directional obstacle avoidance function.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

The following describes an unmanned aerial vehicle in the embodiment of the present invention. Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. The UAV 100 includes a fuselage 101, a power system 102, a flight controller 103, an adjustment device 104, and a detection device 105.

Wherein, the power system 102 is mounted on the fuselage 101 for providing flight power to the unmanned aerial vehicle 100;

The flight controller 103 is in communication with the power system 102 for controlling the flight of the unmanned aerial vehicle 100;

The adjusting device 104 is mounted on the body 101; the detecting device 105 is mounted on the adjusting device 104;

The detecting device 105 is configured to detect an obstacle around the unmanned aerial vehicle 100;

The adjustment device 104 is used to:

Obtaining current motion information of the unmanned aerial vehicle, wherein the current motion information includes: a flight direction of the unmanned aerial vehicle 100;

Determining a detection direction of the detecting device 105 according to the flight direction;

The detecting device 105 is rotated in accordance with the detecting direction.

In the embodiment of the present invention, the unmanned aerial vehicle 100 first generates flight power through the power system 103 during flight, and then controls the direction, speed, and altitude of the flight by the flight controller 103. The attitude angle or the like, and in the process, the adjusting device 104 acquires the motion information of the unmanned aerial vehicle 100 in real time, and the motion information may specifically include the flight direction of the unmanned aerial vehicle 100, and then the adjusting device 104 determines according to the acquired flight direction. The detection direction of the device 105 is detected and the detection device 105 is rotated according to the detection direction.

The unmanned aerial vehicle 100 provided by the embodiment of the present invention can acquire the current motion information of the unmanned aerial vehicle, determine the detection direction of the detecting device 105 according to the flight direction of the unmanned aerial vehicle 100, and rotate the detecting device 105 so that the detecting device 105 detects the rotation. The direction coincides with the determined detection direction. In the embodiment of the present invention, the detection direction of the detecting device 105 can be adjusted, and the sensing of the space environment can be realized by only one sensor, thereby reducing the weight and power consumption of the flying system, and ensuring the multi-directional obstacle avoiding function while ensuring the aircraft. Life time.

It should be understood that, in another embodiment corresponding to FIG. 1 above, in another embodiment of the unmanned aerial vehicle provided by the present invention, the flight direction acquired by the unmanned aerial vehicle 100 is synthesized by the horizontal speed and the vertical speed, as shown in FIG. 2 . In the embodiment of the present invention, the adjusting device 104 can be specifically configured to: determine the detecting direction of the detecting device 105 according to the horizontal speed and the vertical speed.

Specifically, when the magnitude of the horizontal speed is 0 and the magnitude of the vertical speed is greater than 0, the adjusting device 104 may determine that the detecting direction of the detecting device 105 is consistent with the direction of the vertical speed;

When the magnitude of the horizontal velocity is greater than a preset threshold, the adjustment device 104 may determine that the detection direction of the detection device 105 coincides with the direction of the horizontal velocity.

It should be understood that the direction of the horizontal velocity is perpendicular to the direction of the vertical velocity, the horizontal velocity refers to the velocity in the horizontal direction, and the vertical velocity refers to the velocity in the direction perpendicular to the horizontal plane. Specifically, in the embodiment of the present invention, the direction of the horizontal speed may include one of the following: the front of the body 101, the rear of the body 101, the left side of the body 101, and the right side of the body 101; and the vertical speed The direction includes the following: the front of the body 101 and the rear of the body 101.

In other embodiments, the horizontal speed may also be the speed in any direction with the horizontal reference plane of the UAV, which is further the speed parallel to the front of the fuselage on the same horizontal reference plane and the direction Vertical speed synthesis. That is, the direction of the horizontal speed after the synthesis may further include one of the following: the oblique front of the body 101, or the oblique rear of the body 101.

For ease of understanding, please refer to FIG. 3 and FIG. 4, wherein FIG. 3 is a top view of the UAV 100, and FIG. 3 is a side view of the UAV 100. It should be understood that FIGS. 3 and 4 only show the UAV. The adjustment device 104 of 100 and the detection device 105, other components included in the UAV 100, are not shown.

Specifically, in the embodiment of the present invention, when the adjusting device 104 rotates the detecting device 105 according to the detecting direction, it is specifically used to:

Determining the detection direction as the front of the body 101, rotating the detecting device 105 such that the detecting direction of the detecting device 105 faces the front of the body 101;

Determining that the detecting direction is the rear of the body 101, and rotating the detecting device 105 so that the detecting direction of the detecting device 105 faces the rear of the body 101;

Determining that the detecting direction is the left side of the body 101, and rotating the detecting device 105 so that the detecting direction of the detecting device 105 faces the left side of the body 101;

Determining that the detecting direction is the right side of the body 101, and rotating the detecting device 105 so that the detecting direction of the detecting device 105 faces the right side of the body 101;

Determining the detection direction as the upper side of the body 101, rotating the detecting device 105 such that the detecting direction of the detecting device 105 is directed above the body 101;

The detection direction is determined to be below the fuselage 101, and the detecting device 105 is rotated such that the detecting direction of the detecting device 105 faces the lower side of the body 101.

In the embodiment of the present invention, the adjusting device 101 can adjust the detecting direction of the detecting device 105 in various manners, thereby improving the flexibility of the solution.

It should be understood that, in the prior art, the attitude of the UAV during the flight is constantly adjusted, and the detection direction of the detection device in the prior art changes according to the posture change of the airframe. For details, refer to FIG. 5 . And Figure 6. In FIG. 5, when the pitch angle of the fuselage 201 of the UAV is negative, the detection direction of the detecting device 202 may deviate downward from the horizontal direction, and at this time, the detecting device 202 will use the ground as its detected obstacle, thereby The obstacle avoidance function of the unmanned aerial vehicle is started, for example, the unmanned aerial vehicle is controlled to stop flying forward, and the obstacle avoidance function of the unmanned aerial vehicle is mistakenly activated. In Fig. 6, the unmanned aerial vehicle is in the brake control process, the pitch angle of the fuselage 301 is positive, and the detection direction of the detecting device 302 is offset from the horizontal direction. At this time, there may be an obstacle 303 in front of the unmanned aerial vehicle. The flight continues to fly forward, causing the UAV to crash into the obstacle 303.

According to FIG. 5 and FIG. 6 , in the prior art, the detecting direction of the detecting device is affected by the pitch angle of the unmanned aerial vehicle. When the pitch angle of the unmanned aerial vehicle is not zero, the detecting direction of the detecting device may deviate from the horizontal direction, and The detection direction of the detection device changes as the pitch angle of the UAV changes. The detection device can not accurately detect the obstacles in front of the UAV, which reduces the safety of the UAV during flight, especially in low air.

In the other embodiment of the unmanned aerial vehicle provided by the embodiment of the present invention, the current motion information of the unmanned aerial vehicle 100 acquired by the adjusting device 104 may further include: the posture of the unmanned aerial vehicle 100. Angular information

The adjusting device 104 is further configured to give the attitude angle compensation of the detecting device 105 in the detecting direction according to the attitude angle information of the unmanned aerial vehicle 100, so that the detecting device 105 can stably detect in the detecting direction thereof.

Optionally, in the embodiment of the present invention, the adjusting device 104 is specifically configured to:

Determining an attitude angle size that the detecting device 105 needs to compensate in the detecting direction according to the attitude angle information of the unmanned aerial vehicle 100;

The rotation of the detecting device 105 is controlled in the detecting direction such that the rotation angle of the detecting device 105 is equal to the magnitude of the attitude angle required to be compensated.

It should be understood that the adjusting device 104 may specifically determine the magnitude of the attitude angle to be compensated according to the attitude angle information of the airframe 101 in the unmanned aerial vehicle 100, and may also determine the attitude angle to be compensated according to the attitude angle information of the detecting device 105 in the unmanned aerial vehicle 100. size. The attitude angle information of the airframe 101 or the detecting device 105 may specifically include at least one of the following: a pitch angle, a roll angle, and a yaw angle.

The specific compensation scheme is described below by taking the elevation angle as an example:

As shown in FIG. 7, the flight direction of the UAV 100 is synthesized by a horizontal speed and a vertical speed, wherein the direction of the horizontal speed is the front of the fuselage, and the magnitude of the horizontal speed is greater than a preset threshold, then at this time, the adjusting device 104 determines that the detecting direction of the detecting device 105 is the front of the body 101, and rotates the detecting device 105 such that the detecting direction of the detecting device 105 is the front of the body 101, but since the body 101 generates a pitch angle at this time, as indicated by arrow 1 As shown, the detecting device 105 will change according to the change of the posture of the body 101, that is, also generate an equal pitch angle of the body 101. As indicated by the arrow 1, the detecting direction of the detecting device 105 will deviate from the body. The front of 101 is as indicated by arrow 2.

In the embodiment of the present invention, the adjusting device 104 can control the rotation of the detecting device 105 according to the pitch angle information of the body 101 or the detecting device 105. As shown in FIG. 7, the detecting device 105 can be rotated in a direction as indicated by the arrow 3 to rotate. The result of the latter is as shown in FIG. 8. The detection direction of the detecting device 105 indicated by the arrow 2 faces the front of the body 101, so that the detecting device 105 can stably detect in front of the body 101. The posture of the random body 101 does not change.

It is assumed that the pitch angle is positive in the upward direction with respect to the horizontal plane direction, and is negative in the downward direction with respect to the horizontal plane direction. 6 or FIG. 7, when the pitch angle of the body 101 or the pitch angle of the detecting device 105 is positive, the detecting device 105 can be rotated in the opposite direction of the pitch angle, that is, the magnitude of the turning angle is equal to the amount of compensation required. The angle of the attitude angle. Similarly, when the pitch angle of the fuselage 101 or the pitch angle of the detecting device 105 is negative, the detecting device 105 can be rotated in the direction opposite to the pitch angle, that is, the magnitude of the turning angle is equal to the magnitude of the attitude angle to be compensated; The magnitude of the attitude angle to be compensated may be equal to the magnitude of the pitch angle of the body 101 or the pitch angle of the detecting device 105, so that the detecting device 105 can stably detect in the detecting direction.

It should be understood that, in addition to the pitch angle, the adjustment device 104 can also compensate for other attitude angles, which is not limited herein.

In the embodiment of the present invention, the adjusting device 104 of the UAV 100 can compensate the detecting device 105 according to the acquired posture angle information, so that the detecting device 105 can stably detect in the detecting direction without following the posture of the UAV 100. The change is varied so that the obstacle in front of the UAV 100 can be accurately detected, thereby improving the safety of the UAV 100 when flying.

Based on the multiple embodiments corresponding to FIG. 1 above, the adjusting device can obtain the current motion information of the UAV in a plurality of manners. The following describes the UAV in the embodiment of the present invention by using two of them as an example.

First, the adjustment device directly detects and acquires.

Please refer to FIG. 9. FIG. 9 is another schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 9, on the basis of the embodiment shown in FIG. 1, the adjustment device 104 in the UAV 100 further includes an Inertial Measurement Unit (IMU) 1041.

In the embodiment of the present invention, the adjusting device 104 is specifically configured to: detect, by the inertial measuring device 1041, current motion information of the unmanned aerial vehicle 100, that is, the adjusting device directly acquires current motion information of the unmanned aerial vehicle 100.

Optionally, in the embodiment of the present invention, the adjusting device 104 may include at least one motor 1042;

The adjusting device 104 can specifically rotate the detecting device 105 by the motor 1042 according to the detecting direction determined by the flying direction of the unmanned aerial vehicle. For the specific rotation manner, refer to the above embodiment, and details are not described herein again.

The embodiment of the invention provides a specific manner for the adjustment device to acquire motion information, and improves the achievability of the solution.

Second, the adjustment device is obtained indirectly.

In the embodiment of the present invention, the flight controller 103 in the UAV 100 is communicatively coupled to the adjustment device 104. The unmanned flight controller 103 is also used to detect the current motion information of the UAV 100.

The adjustment device 104 is further configured to acquire current motion information of the UAV 100 from the flight controller 103, that is, the current motion information acquired by the adjustment device 104 is acquired from the unmanned flight controller 103.

The embodiment of the invention provides another specific manner for the adjusting device to obtain the motion information, and the flexibility of the solution is improved.

Optionally, in the unmanned aerial vehicle 100 corresponding to the foregoing multiple embodiments, the detecting device 105 may specifically include at least one of the following: a radar, a binocular data detecting device, an ultrasonic detecting device, and a time-of-flight detecting device.

Optionally, in the unmanned aerial vehicle 100 corresponding to the foregoing multiple embodiments, the flight controller 103 may include an inertial measurement unit and a gyroscope, and the current motion information acquired by the adjustment device 104 from the flight controller 103 may be The flight controller 103 is acquired by the inertial measurement unit and/or the gyroscope.

Optionally, in the unmanned aerial vehicle 100 corresponding to the foregoing multiple embodiments, the UAV 100 may further include: a sensing system, a communication system, and a photographing device. The communication system may specifically include a receiver, and the receiver is configured to receive the ground. The wireless signal transmitted by the antenna of the station indicates the electromagnetic wave generated during the communication between the receiver and the antenna; the power system may include: a motor, a propeller and an electronic governor.

Optionally, in the unmanned aerial vehicle 100 corresponding to the foregoing multiple embodiments, the adjusting device 104 may include at least one of the following: a pan/tilt head, a steering gear.

The unmanned aerial vehicle in the embodiment of the present invention is described above. The following is an introduction to the obstacle avoidance control method of the unmanned aerial vehicle in the embodiment of the present invention. Referring to FIG. 10, the obstacle avoidance control method of the unmanned aerial vehicle in the embodiment of the present invention is described. One embodiment includes:

1001. Obtain current motion information of the unmanned aerial vehicle;

In an embodiment of the present invention, an unmanned aerial vehicle includes a body, an adjusting device disposed on the body, and a detecting device disposed on the adjusting device, wherein the detecting device is configured to detect the surrounding of the unmanned aerial vehicle Obstacle. In addition, the airframe of the unmanned aerial vehicle is also equipped with a power system and a flight controller. The flight controller is in communication with the power system, the power system is used to provide flight power, and the flight control is used to control the flight of the unmanned aerial vehicle. .

When the UAV is flying, it first generates power through the power system, and then controls its flight direction, speed, altitude, attitude angle, etc. through the flight controller, and in the process, the UAV acquires its current motion information. In the embodiment of the invention, the motion information includes a flight direction of the unmanned aerial vehicle.

1002. Determine a detection direction of the detecting device according to a flight direction of the unmanned aerial vehicle;

After the unmanned aerial vehicle acquires the current motion information, the unmanned flight controller can determine the detection direction of the detecting device according to the flight direction in the motion information.

1003. Rotate the detecting device according to the detecting direction.

After determining the detecting direction of the detecting device, the adjusting device can rotate the detecting device according to the detecting direction, so that the detecting direction of the rotating detecting device is consistent with the detecting direction determined in the above step 1002.

In the embodiment of the present invention, the unmanned aerial vehicle can acquire the current motion information of the unmanned aerial vehicle, determine the detection direction of the detecting device according to the flight direction of the unmanned aerial vehicle, and rotate the detecting device, so that the detecting direction of the detecting device after the rotating and the determining The direction of detection is the same. In the embodiment of the present invention, the detection direction of the detecting device 105 can be adjusted, and the sensing of the space environment can be realized by only one sensor, thereby reducing the weight and power consumption of the flying system, and ensuring the multi-directional obstacle avoiding function while ensuring the aircraft. Life time.

In the prior art, the attitude of the UAV during the flight is constantly adjusted, and the detection direction of the detection device in the prior art changes according to the posture change of the airframe, as shown in FIG. 5 and FIG. 6 above. The scene shown may cause the UAV's barrier function to be activated incorrectly, or the detection device cannot accurately detect obstacles in front of the UAV, thereby reducing the safety of the UAV during flight.

Based on the above problem, an embodiment of the present invention provides an obstacle avoidance control method for an unmanned aerial vehicle. Referring to FIG. 11, another embodiment of the obstacle avoidance control method for an unmanned aerial vehicle according to an embodiment of the present invention includes:

1101. Obtain current motion information of the unmanned aerial vehicle;

In an embodiment of the present invention, an unmanned aerial vehicle includes a body, an adjusting device disposed on the body, and a detecting device disposed on the adjusting device, wherein the detecting device is configured to detect the surrounding of the unmanned aerial vehicle Obstacle. In addition, the airframe of the unmanned aerial vehicle is also equipped with a power system and a flight controller. The flight controller is in communication with the power system, the power system is used to provide flight power, and the flight control is used to control the flight of the unmanned aerial vehicle. .

When the UAV is flying, it first generates power through the power system, and then controls its flight direction, speed, altitude, attitude angle, etc. through the flight controller, and in the process, the UAV acquires its current motion information.

In the embodiment of the present invention, the motion information includes flight direction and attitude angle information of the unmanned aerial vehicle.

It should be understood that the direction of flight of the UAV may be synthesized by the horizontal and vertical speeds of the UAV, i.e., the operational information may include the horizontal and vertical velocities that synthesize the flight direction.

It should be understood that, in the embodiment of the present invention, the UAV can detect its current motion information through the inertial measurement device in the adjustment device, and can also detect its current motion information through the inertia strategy device in the flight controller, and can also The current motion information is obtained by other means, which is not limited herein.

It should be understood that, in the embodiment of the present invention, the adjusting device may be a pan/tilt head, or a steering gear, and may be other devices having an adjusting function, which is not limited herein.

It should also be understood that, in the embodiment of the present invention, the detecting device may be a radar, may be a binocular vision detecting device, may be an ultrasonic detecting device, may be a time-of-flight ranging detecting device, or may be other devices capable of detecting an obstacle. The details are not limited herein.

1102. Determine a detection direction of the detecting device according to a flight direction of the unmanned aerial vehicle;

After the unmanned aerial vehicle acquires the current motion information, the unmanned flight controller can determine the detection direction of the detecting device according to the flight direction in the motion information.

In the embodiment of the present invention, the adjusting device can determine the detecting direction of the detecting device in the following manner:

The detection direction of the detecting device is determined according to the horizontal speed and the vertical speed of the unmanned aerial vehicle.

Specifically, when the magnitude of the horizontal velocity is 0 and the magnitude of the vertical velocity is greater than 0, it is determined that the detection direction of the detecting device is consistent with the direction of the vertical velocity;

When the horizontal speed is greater than the preset threshold, it is determined that the detecting direction of the detecting device is consistent with the direction of the horizontal speed.

It should be understood that the direction of the horizontal velocity is perpendicular to the direction of the vertical velocity, the horizontal velocity refers to the velocity in the horizontal direction, and the vertical velocity refers to the velocity in the direction perpendicular to the horizontal plane. Specifically, in this In the embodiment of the invention, the direction of the vertical speed may include the following: the front of the fuselage, the rear of the fuselage, the left side of the fuselage, and the right side of the fuselage; and the direction of the vertical speed includes the following: The front of the body, the rear of the fuselage.

In other embodiments, the horizontal speed may also be the speed in any direction with the horizontal reference plane of the UAV, which is further the speed parallel to the front of the fuselage on the same horizontal reference plane and the direction Vertical speed synthesis. That is, the direction of the horizontal speed after the synthesis may further include one of the following: the oblique front of the fuselage, or the oblique rear of the fuselage.

It should also be understood that, in the embodiment of the present invention, the unmanned aerial vehicle may determine the detection direction by the flight controller, and the detection direction may be determined by the adjustment device, which is not limited herein.

1103. Rotate the detecting device according to the detecting direction;

After the UAV determines the detection direction, the adjustment device can rotate the detection device according to the detection direction, so that the detection direction of the rotated detection device is consistent with the detection direction determined in the above step 1002.

In the embodiment of the present invention, the adjusting device may include at least one motor, and the unmanned aerial vehicle may specifically rotate the detecting device by the motor in the adjusting device.

Specifically, if the determined detection direction is the front of the fuselage, the UAV can rotate the detecting device by the motor in the adjusting device, so that the detecting direction of the detecting device faces the front of the fuselage;

If the determined detection direction is the rear of the fuselage, the UAV can rotate the detecting device by the motor in the adjusting device, so that the detecting direction of the detecting device faces the rear of the fuselage;

If the determined detection direction is the left side of the fuselage, the UAV can rotate the detecting device by the motor in the adjusting device, so that the detecting direction of the detecting device faces the left side of the fuselage;

If the determined detection direction is the right side of the fuselage, the UAV can rotate the detection device by the motor in the adjustment device such that the detection direction of the detection device faces the right side of the fuselage;

If the determined detection direction is above the fuselage, the UAV can rotate the detecting device by the motor in the adjusting device, so that the detecting direction of the detecting device faces the upper side of the fuselage;

If the determined detection direction is below the fuselage, the UAV can rotate the detection device by means of the motor in the adjustment device such that the detection direction of the detection device is directed below the fuselage.

The UAV can also rotate the detecting device by other means, which is not limited herein.

1104. Perform attitude angle compensation on the detecting device according to the attitude angle information of the unmanned aerial vehicle.

After the unmanned aerial vehicle obtains the current motion information, it can be adjusted according to the motion information. The attitude angle information compensates the attitude of the detecting device so that the detecting device can stably detect in the detecting direction.

Specifically, the adjusting device may first determine the magnitude of the attitude angle to be compensated according to the attitude angle information of the unmanned aerial vehicle, and then control the rotation of the detecting device, and the angle of the rotating angle is equal to the magnitude of the attitude angle to be compensated.

It should be understood that the attitude angle information of the unmanned aerial vehicle may specifically be the attitude angle information of the detecting device, or may be the attitude angle information of the airframe, and the posture angle information of the detecting device or the air body may specifically include: an attitude angle, and a roll Angle or yaw angle.

It should be understood that the adjusting device determines the magnitude of the attitude angle that needs to be compensated according to the attitude angle information of the unmanned aerial vehicle. Specifically, it may be determined that the posture angle required to be compensated is equal to the attitude angle of the airframe or the detecting device, and may also be determined by other means. The magnitude of the compensated attitude angle is not limited herein.

It should also be understood that, for different attitude angle information, the manner in which the adjusting device compensates the attitude angle of the detecting device may be various. The following is an example in which the attitude angle information is the pitch angle, and two compensation schemes are introduced:

If the obtained attitude angle information is the elevation angle of the fuselage or the detecting device, and the pitch angle is positive, the adjusting device can control the negative rotation of the detecting device, and the angle of the rotation is equal to the attitude angle to be compensated, and the specific process can be See the description of FIG. 6 and FIG. 7 above, and details are not described herein again.

If the obtained attitude angle information is the elevation angle of the airframe or the detecting device, and the pitch angle is negative, the adjusting device can control the forward rotation of the detecting device, and the angle of the rotation is equal to the magnitude of the attitude angle to be compensated, and the specific principle and The compensation schemes corresponding to FIG. 6 and FIG. 7 are similar, and are not described herein again.

It should be understood that the foregoing compensation mode is only an example. In an actual application, the adjustment device may perform posture angle compensation on the detection device by other means, which is not limited herein.

It should be understood that step 1104 is performed after step 1101, but is not limited to 1102 or 1103, that is, step 1104 may be before step 1102 or 1103, or may be after step 1102 or 1103, and the embodiment of the present invention is not limited.

In the embodiment of the present invention, the unmanned aerial vehicle can acquire the current motion information of the unmanned aerial vehicle, determine the detection direction of the detecting device according to the flight direction of the unmanned aerial vehicle, and rotate the detecting device, so that the detecting direction of the detecting device after the rotating and the determining The direction of detection is the same. In the embodiment of the present invention, the detection direction of the detecting device 105 can be adjusted, and the sensing of the space environment can be realized by only one sensor. The weight and power consumption of the flight system are reduced, and the multi-directional obstacle avoidance function is realized while ensuring the life time of the aircraft.

In the embodiment of the present invention, the adjusting device in the UAV can compensate the attitude of the detecting device according to the acquired attitude angle information, so that the detecting direction of the detecting device can be stably detected in the detecting direction, and does not follow the unmanned aerial vehicle. The posture changes and changes, so that the obstacles in front of the UAV can be accurately detected, thereby improving the safety of the UAV during flight.

The embodiment of the present invention provides a plurality of ways of acquiring motion information and a manner of compensating for the attitude angle, thereby improving the flexibility of the solution.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present invention, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essential or the part contributing to the prior art or the entire technical solution. The portion or portion may be embodied in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the various aspects of the present invention. All or part of the steps of the method described in the examples. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (English full name: Read-Only Memory, English abbreviation: ROM), a random access memory (English full name: Random Access Memory, English abbreviation: RAM), magnetic A variety of media that can store program code, such as a disc or a disc.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims (27)

1. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:

   body;

   a power system mounted to the fuselage for providing flight power;

   a flight controller, in communication with the power system, for controlling the flight of the unmanned aerial vehicle;

   An adjustment device mounted to the fuselage;

   a detecting device mounted on the adjusting device for detecting an obstacle around the unmanned aerial vehicle;

   The adjustment device is used to:

   Obtaining current motion information of the unmanned aerial vehicle, the motion information including: a flight direction of the unmanned aerial vehicle;

   Determining a detection direction of the detecting device according to the flight direction;

   Rotating the detecting device according to the detecting direction.
2. The UAV according to claim 1, wherein the flight direction is synthesized by a horizontal speed and a vertical speed, and the adjusting device is specifically configured to:

   A detection direction of the detecting device is determined according to the horizontal speed and the vertical speed.
3. The UAV according to claim 2, wherein the adjusting device is specifically configured to:

   When the magnitude of the horizontal velocity is 0, and the magnitude of the vertical velocity is greater than 0, determining that the detecting direction of the detecting device is consistent with the direction of the vertical velocity;

   When the magnitude of the horizontal speed is greater than a preset threshold, determining that the detecting direction of the detecting device is consistent with the direction of the horizontal speed.
4. The unmanned aerial vehicle according to any one of claims 1 to 3, wherein the motion information further comprises: attitude angle information of the unmanned aerial vehicle;

   The adjustment device is also used to:

   The attitude angle compensation is performed on the detecting device according to the attitude angle information of the unmanned aerial vehicle, so that the detecting device stably detects in the detecting direction.
5. The UAV according to any one of claims 1 to 3, wherein the adjusting device comprises: an inertial measuring device;

   Obtaining, by the adjusting device, the current motion information of the UAV through the inertia The measuring device directly acquires the current motion information of the UAV.
6. An unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that

   The flight controller is communicatively coupled to the adjustment device, and the flight controller is further configured to detect current motion information of the unmanned aerial vehicle;

   The adjusting device acquires the current motion information of the UAV by acquiring the current motion information from the flight controller through the adjusting device.
7. The UAV according to any one of claims 1 to 3, wherein the adjusting device comprises at least one motor;

   When the adjusting device rotates the detecting device according to the detecting direction, it is specifically used for:

   The adjusting device rotates the detecting device according to the detecting direction by the motor.
8. The UAV according to claim 2 or 3, wherein the direction of the horizontal speed comprises one of: a front of the fuselage, a rear of the fuselage, and a left side of the fuselage, The right side of the fuselage; the direction of the vertical speed includes one of: above the fuselage, below the fuselage.
9. The UAV according to claim 8, wherein the horizontal speed is greater than the predetermined threshold, and the horizontal speed is in front of the fuselage;

   The adjusting device is specifically used for:

   Determining that the detecting direction is the front of the fuselage;

   The detecting device is rotated such that the detecting direction of the detecting device faces the front of the body.
10. The unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that the detecting device comprises at least one of the following: a radar, a binocular vision detecting device, an ultrasonic detecting device, and a time-of-flight ranging detecting device.
11. The UAV according to any one of claims 1 to 3, characterized in that the adjusting means comprises at least one of the following: a pan/tilt head, a steering gear.
12. The UAV according to claim 4, wherein the adjusting device is specifically configured to: determine an attitude angle size to be compensated according to the posture angle information of the UAV;

    The rotation of the detecting device is controlled such that the rotation angle of the detecting device is equal to the magnitude of the posture angle to be compensated.
13. The UAV according to claim 12, wherein said attitude angle information Including at least one of the following: pitch angle, roll angle, yaw angle.
14. The UAV according to claim 13, wherein the current pitch angle of the UAV is negative, and the adjusting device controls the detecting device to rotate when used to:

    Controlling the detecting device to rotate in a forward direction, and the rotation angle of the forward rotation is equal to the magnitude of the attitude angle to be compensated;

    or,

    The current pitch angle of the unmanned aerial vehicle is positive, and the adjusting device is specifically used to: when the detecting device rotates in the detecting direction:

    The detecting device is controlled to rotate in a negative direction, and the rotation angle of the negative rotation is equal to the magnitude of the posture angle to be compensated.
15. An obstacle avoidance control method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a fuselage, an adjusting device disposed on the fuselage, and a detecting device disposed on the adjusting device, wherein the detecting device is used for detecting a device An obstacle around the UAV, characterized in that the method comprises:

    Obtaining current motion information of the unmanned aerial vehicle, the motion information including: a flight direction of the unmanned aerial vehicle;

    Determining a detection direction of the detecting device according to the flight direction;

    Rotating the detecting device according to the detecting direction.
16. The method according to claim 15, wherein the direction of flight is synthesized by a horizontal speed and a vertical speed, and determining the detecting direction of the detecting device according to the flying direction comprises:

    A detection direction of the detecting device is determined according to the horizontal speed and the vertical speed.
17. The method according to claim 16, wherein the determining the detection direction of the detecting device according to the horizontal speed and the vertical speed comprises:

    When the magnitude of the horizontal velocity is 0, and the magnitude of the vertical velocity is greater than 0, determining that the detecting direction of the detecting device is consistent with the direction of the vertical velocity;

    When the magnitude of the horizontal speed is greater than a preset threshold, determining that the detecting direction of the detecting device is consistent with the direction of the horizontal speed.
18. The method according to any one of claims 15 to 17, wherein the motion information further comprises: attitude angle information of the unmanned aerial vehicle;

    The method further includes:

    The attitude angle compensation is performed on the detecting device according to the attitude angle information of the unmanned aerial vehicle, so that the detecting device stably detects in the detecting direction.
19. The method according to any one of claims 15 to 17, wherein the unmanned aerial vehicle further comprises: an inertial measurement device;

    The acquiring the current motion information of the UAV includes: detecting, by the inertial measurement device, the current motion information of the UAV.
20. The method according to any one of claims 15 to 17, wherein the adjustment device comprises at least one motor;

    The rotating the detecting device according to the detecting direction comprises:

    The detecting device is rotated by the motor in accordance with the detection direction.
21. A method according to claim 16 or 17, wherein

    The direction of the vertical speed includes one of: a front of the fuselage, a rear of the fuselage, a left side of the fuselage, and a right side of the fuselage; the direction of the horizontal speed includes the following One type: above the fuselage, below the fuselage.
22. The method according to claim 21, wherein the magnitude of the horizontal velocity is greater than the predetermined threshold, and the direction of the horizontal velocity is the front of the fuselage;

    The rotating the detecting device according to the detecting direction comprises:

    The detecting device is rotated such that the detecting direction of the detecting device faces the front of the body.
23. The method according to any one of claims 15 to 17, wherein the detecting device comprises at least one of the following: a radar, a binocular vision detecting device, an ultrasonic detecting device, and a time-of-flight ranging detecting device.
24. The method according to any one of claims 15 to 17, wherein the adjusting means comprises at least one of the following: a pan/tilt head, a steering gear.
25. The method according to claim 18, wherein said performing attitude angle compensation on said detecting device according to said attitude angle information of said unmanned aerial vehicle comprises:

    Determining an attitude angle size to be compensated according to the attitude angle information of the airframe;

    The rotation of the detecting device is controlled such that the rotation angle of the detecting device is equal to the magnitude of the posture angle to be compensated.
26. The method of claim 25 wherein said attitude angle information comprises At least one of the following: pitch angle, roll angle, yaw angle.
27. The method of claim 26, wherein the current pitch angle of the UAV is negative, and the controlling the rotation of the detecting device comprises:

    Controlling the detecting device to rotate in a forward direction, and the rotation angle of the forward rotation is equal to the magnitude of the attitude angle to be compensated;

    or,

    The current pitch angle of the UAV is positive, and controlling the rotation of the detecting device in the detecting direction includes:

    The detecting device is controlled to rotate in a negative direction, and the rotation angle of the negative rotation is equal to the magnitude of the posture angle to be compensated.

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