WO2018191869A1 - 无人飞行器的控制方法、飞行控制器及无人飞行器 - Google Patents

无人飞行器的控制方法、飞行控制器及无人飞行器 Download PDF

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Publication number
WO2018191869A1
WO2018191869A1 PCT/CN2017/080967 CN2017080967W WO2018191869A1 WO 2018191869 A1 WO2018191869 A1 WO 2018191869A1 CN 2017080967 W CN2017080967 W CN 2017080967W WO 2018191869 A1 WO2018191869 A1 WO 2018191869A1
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WO
WIPO (PCT)
Prior art keywords
flight
unmanned aerial
aerial vehicle
uav
current
Prior art date
Application number
PCT/CN2017/080967
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English (en)
French (fr)
Inventor
宋亮
蒋宁
王浩飞
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.)
Filing date
Publication date
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 PCT/CN2017/080967 priority Critical patent/WO2018191869A1/zh
Priority to CN201780004916.6A priority patent/CN108700888A/zh
Publication of WO2018191869A1 publication Critical patent/WO2018191869A1/zh
Priority to US16/654,769 priority patent/US20200050219A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, a flight controller and an unmanned aerial vehicle.
  • the UAV is equipped with a detection sensor to detect obstacles to achieve obstacle avoidance.
  • the detection sensor is usually fixed only in front of the UAV, and the range of detection angle is limited.
  • the UAV is not facing in front, there is When flying at a certain offset angle, the obstacle cannot be detected because the route range in the flight direction exceeds the effective detection range of the detection sensor, resulting in malfunction of the obstacle avoidance function.
  • Embodiments of the present invention provide a control method, a flight controller, and an unmanned aerial vehicle.
  • the unmanned aerial vehicle is equipped with a detecting sensor, and the control method includes the following steps:
  • the flight controller of the embodiment of the present invention is configured to control an unmanned aerial vehicle, wherein the unmanned aerial vehicle is equipped with a detection sensor, and the flight controller includes:
  • a flight direction acquiring unit configured to acquire a current flight direction of the unmanned aerial vehicle in real time
  • a detection direction acquiring unit configured to acquire a current detection direction of the detection sensor in real time
  • An angle calculation module configured to calculate an angular difference between the current flight direction and the current detection direction
  • a sensor adjustment module configured to adjust the current detection direction according to the angle difference control such that the adjusted detection direction of the detection sensor is consistent with the current flight direction.
  • the unmanned aerial vehicle is equipped with a detecting sensor, and the unmanned aerial vehicle further includes:
  • An inertial measurement unit for detecting a current flight direction of the unmanned aerial vehicle
  • a flight controller coupled to the inertial measurement unit and the first electronic governor, the flight controller comprising:
  • a flight direction acquiring unit configured to acquire a current flight direction of the unmanned aerial vehicle in real time
  • a detection direction acquisition unit configured to acquire a current detection of the detection sensor in real time direction
  • An angle calculation module configured to calculate an angular difference between the current flight direction and the current detection direction
  • a sensor adjustment module configured to control the first electronic governor to adjust the current detection direction according to the angular difference such that an adjusted detection direction of the detection sensor is consistent with the current flight direction.
  • the flight controller of the embodiment of the present invention is mounted on an unmanned aerial vehicle, and the unmanned aerial vehicle is equipped with a detection sensor, and the flight controller is configured to execute the following instructions:
  • the control method, the flight controller and the unmanned aerial vehicle of the unmanned aerial vehicle according to the embodiment of the present invention can be rotated in various directions by using the detecting sensor, and the adjusted detecting direction of the detecting sensor is always consistent with the current flying direction, so that the unmanned aerial vehicle is in flight
  • the detection range of the detection sensor always covers the range of the route in the current flight direction of the UAV, so that obstacles in the flight direction of the UAV can be effectively detected, and collision accidents can be avoided to cause flight accidents.
  • FIG. 1 is a schematic flow chart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic block diagram of a flight controller according to an embodiment of the present invention.
  • FIG. 3 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 5 is a schematic block diagram of a flight controller according to an embodiment of the present invention.
  • FIG. 6 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 7 is a schematic flow chart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 8 is a schematic flow chart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 9 is a schematic block diagram of a flight controller according to an embodiment of the present invention.
  • FIG. 10 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 11 is a flow chart showing a method of controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 12 is a block diagram of a flight controller according to an embodiment of the present invention.
  • Figure 13 is a block diagram showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 14 is a flow chart showing a method of controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 15 is a block diagram showing a flight controller of an embodiment of the present invention.
  • 16 is a schematic block diagram of a flight controller according to an embodiment of the present invention.
  • 17 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 18 is a plan view showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 19 is a plan view showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 20 is a plan view showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 21 is a plan view showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
  • the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a method for controlling an unmanned aerial vehicle 100 includes a detecting sensor 20 mounted on the unmanned aerial vehicle 100.
  • the control method of the unmanned aerial vehicle 100 includes the following steps:
  • S15 Adjust the current detection direction according to the angle difference control so that the detection direction of the detection sensor 20 is adjusted. Consistent with the current flight direction.
  • the control method of the UAV 100 of the embodiment of the present invention can be realized by the flight controller 10 of the embodiment of the present invention.
  • the flight controller 10 of the embodiment of the present invention is used to control the unmanned aerial vehicle 100.
  • the unmanned aerial vehicle 100 is equipped with a detecting sensor 20, and the flight controller 10 includes a flight direction acquiring unit 12 and a detecting direction acquiring unit 13.
  • the flight direction acquisition unit 12 is configured to acquire the current flight direction of the UAV 100 in real time.
  • the detection direction acquisition unit 13 is configured to acquire the current detection direction of the detection sensor 20 in real time.
  • the angle calculation module 14 is configured to calculate an angular difference between the current flight direction and the current detection direction.
  • the sensor adjustment module 15 is configured to adjust the current detection direction according to the angle difference control such that the adjusted detection direction of the detection sensor 20 coincides with the current flight direction.
  • step S12 can be implemented by the flight direction acquisition unit 12
  • step S13 can be implemented by the detection direction acquisition unit 13
  • step S14 can be implemented by the angle calculation module 14
  • step S15 can be implemented by the sensor adjustment module 15.
  • the flight controller 10 according to the embodiment of the present invention can also be applied to the unmanned aerial vehicle 100 according to the embodiment of the present invention. That is, the unmanned aerial vehicle 100 of the embodiment of the present invention includes the flight controller 10 of the embodiment of the present invention.
  • the UAV 100 of the embodiment of the present invention further includes a detecting sensor 20, an inertial measuring unit 30, and a first electronic governor 40.
  • the inertial measurement unit 30 is used to detect the current flight direction of the UAV 100.
  • the flight controller 10 is coupled to the inertial measurement unit 30 and the first electronic governor 40, such as by wired or wireless communication.
  • the control method of the unmanned aerial vehicle 100, the flight controller 10, and the unmanned aerial vehicle 100 according to the embodiment of the present invention can be rotated in various directions by the detecting sensor 20, and the adjusted detecting direction of the detecting sensor 20 is always consistent with the current flying direction, so that no During the flight of the human aircraft 100, the detection range of the detecting sensor 20 always covers the range of the route in the current flight direction of the unmanned aerial vehicle 100, so that the obstacle in the flight direction of the unmanned aerial vehicle 100 can be effectively detected, and the collision obstacle is prevented from causing the flight. accident.
  • steps S12, S13, S14, and S15 are performed continuously and cyclically.
  • the flight direction acquiring unit 12 acquires the current flight direction of the unmanned aerial vehicle 100 in real time
  • the detecting direction acquiring unit 13 acquires the current detecting direction of the detecting sensor 20 in real time
  • the angle calculating module 14 calculates the angle between the current flying direction and the current detecting direction.
  • the sensor adjustment module 15 adjusts the current detection direction according to the angle difference control such that the adjusted detection direction of the detection sensor 20 coincides with the current flight direction and transmits the adjusted detection direction to the detection direction acquisition unit 13, after the adjustment of the last round of the loop
  • the detection direction is the current detection direction of the next cycle
  • the angle calculation module 14 calculates the angular difference between the current flight direction and the current detection direction again, and so on.
  • control method further includes the steps of:
  • the flight controller 10 further includes an initialization module 11 for initializing the current detection direction.
  • step S11 can be implemented by the initialization module 11.
  • the current detection direction is initialized, which makes it more accurate to adjust the current detection direction later, reducing errors, and In one step, the detection direction is adjusted to be consistent with the current flight direction, so that obstacles in the flight direction of the UAV 100 can be effectively detected to avoid flight accidents caused by collision obstacles.
  • the flight controller 10 in the UAV 100 further includes an initialization module 11 for initializing the current detection direction.
  • the detecting sensor 20 is an obstacle detecting sensor 20 for detecting obstacle information
  • the obstacle information includes whether there is an obstacle in the flying environment of the unmanned aerial vehicle 100, and the control is performed.
  • the method also includes the steps of:
  • S17 Adjust the current flight direction according to the obstacle information control to make the UAV 100 fly in the target direction.
  • the flight controller 10 further includes an information acquisition module 16 and a flight adjustment module 17 .
  • the information acquisition module 16 is configured to acquire obstacle information.
  • the flight adjustment module 17 is configured to adjust the current flight direction based on the obstacle information to cause the UAV 100 to fly in the target direction.
  • step S16 can be implemented by the information acquisition module 16.
  • step S17 can be implemented by the flight adjustment module 17.
  • the UAV 100 further includes a second electronic governor 50 for controlling the second electronic governor 50 to adjust the current flight direction based on the obstacle information so that The unmanned aerial vehicle 100 flies in accordance with the target direction. That is to say, step S17 can be implemented by the flight adjustment module 17 controlling the second electronic governor 50.
  • the detecting sensor 20 acquires the obstacle information in real time, and causes the unmanned aerial vehicle 100 to adjust the current flight direction in time to avoid the obstacle, ensure the safety of the unmanned aerial vehicle 100, and avoid a collision accident caused by the collision obstacle.
  • steps S16 and S17 are performed throughout and cyclically. That is to say, the detecting sensor 20 always detects the obstacle information in real time, and the flight adjusting module 17 controls the second electronic governor 50 to adjust the current flying direction in real time according to the obstacle information to cause the unmanned aerial vehicle 100 to fly in accordance with the target flying direction.
  • the target direction is that the UAV 100 can avoid the direction in which the obstacle is flying.
  • the UAV 100 further includes a power assembly 60 for driving the UAV 100 to fly, and step S17 includes the sub-steps:
  • S172 Calculate, according to the obstacle information, that the power component 60 can avoid the target rotational speed of the obstacle;
  • S178 Adjust the rotation speed of the power assembly 60 according to the rotation speed adjustment signal to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the flight adjustment module 17 includes a rotational speed calculation unit 172, a rotational speed acquisition unit 174, a rotational speed output unit 176, and a control unit 178.
  • the rotational speed calculation unit 172 is configured to calculate, based on the obstacle information, the target rotational speed at which the power component 60 can avoid the obstacle.
  • the rotational speed acquisition unit 174 is configured to acquire the real-time rotational speed of the power assembly 60.
  • the rotational speed output unit 176 is configured to output a rotational speed adjustment signal according to the real-time rotational speed and the target rotational speed.
  • the control unit 178 is configured to control the rotational speed of the power assembly 60 according to the rotational speed adjustment signal to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • step S172 can be implemented by the rotational speed calculation unit 172.
  • Step S174 can be obtained by the rotational speed Unit 174 is implemented.
  • Step S176 can be implemented by the rotational speed output unit 176.
  • Step S178 can be implemented by the control unit 178.
  • the unmanned aerial vehicle 100 further includes a power assembly 60 for driving the unmanned aerial vehicle 100 to fly, and the control unit 178 for controlling the second electronic speed control according to the rotational speed adjustment signal.
  • the 50 adjusts the rotational speed of the power assembly 60 to adjust the current flight direction to cause the UAV 100 to fly in the target direction. That is to say, step S178 is implemented by the control unit 178 controlling the second electronic governor 50 to adjust the power assembly 60.
  • the rotational speed of the power assembly 60 is adjusted in real time according to the obstacle information to avoid obstacles, and the obstacle avoidance speed is fast, so that the flight process of the unmanned aerial vehicle 100 is made safer.
  • steps S172, S174, S176, and S178 are performed throughout and cyclically. It can be understood that during the adjustment of the flight direction of the UAV 100, there is a process of real-time feedback and adjustment of the rotational speed of the power assembly 60. That is to say, the rotational speed calculation unit 172 calculates that the power component 60 can avoid the target rotational speed of the obstacle according to the obstacle information, and the rotational speed obtaining unit 174 acquires the real-time rotational speed of the power component 60 in real time, and the rotational speed output unit 176 outputs the real-time rotational speed and the target rotational speed.
  • the speed adjustment signal controls the second electronic governor 50 to adjust the rotational speed of the power assembly 60 according to the rotational speed adjustment signal to adjust the current flight direction to cause the unmanned aerial vehicle 100 to fly according to the target direction, and then adjust the adjusted real-time rotational speed.
  • the rotational speed calculation unit 172 outputs a new target rotational speed based on the real-time rotational speed and the target rotational speed to form a cyclic process.
  • step S178 includes the sub-steps:
  • S1784 Adjust the rotational speed of the power assembly 60 according to the manual adjustment command to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • control unit 178 includes a receiving sub-unit 1782 and a control sub-unit 1784.
  • the receiving subunit 1782 is configured to receive a manual adjustment instruction issued by the user to the remote control device 200 for the rotation speed adjustment signal.
  • the control subunit 1784 is configured to control the rotational speed of the power assembly 60 according to the manual adjustment command to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • step S1782 can be implemented by the receiving subunit 1782
  • step S1784 can be implemented by the control subunit 1784.
  • the UAV 100 is controlled by a remote control device 200, and the flight controller 10 in the UAV 100 includes a receiving subunit 1782 and a control subunit 1784.
  • the receiving subunit 1782 is configured to receive a manual adjustment instruction issued by the user to the remote control device 200 for the rotation speed adjustment signal.
  • the control subunit 1784 is configured to control the rotational speed of the power assembly 60 according to the manual adjustment command to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the user can control the obstacle avoidance process of the unmanned aerial vehicle 100 through the remote control device 200, and when the user finds an obstacle, adjust the flight direction of the unmanned aerial vehicle 100 in time to avoid the obstacle.
  • the rotational speed output unit 176 transmits the rotational speed adjustment signal to the remote control device 200.
  • the remote control device 200 receives the rotational speed adjustment signal
  • the user manually issues a manual remote control command to the remote control device 200
  • the remote control device 200 sends the manual remote control command to the receiving device.
  • control unit 178 receives according to receiving subunit 1782
  • the manual remote command controls the second electronic governor 50 to adjust the rotational speed of the power assembly 60 to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the unmanned aerial vehicle 100 further includes a flight controller 10 that controls its flight, and step S178 is automatically performed by the flight controller 10.
  • control unit 178 automatically controls the rotational speed of the power assembly 60 based on the rotational speed adjustment signal to control adjustment of the current flight direction to cause the UAV 100 to fly in the target direction.
  • control unit 178 automatically controls the second electronic governor 50 to adjust the rotational speed of the power assembly 60 based on the rotational speed adjustment signal to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the UAV 100 further includes an actuator 70 for driving the detection sensor 20, and the actuator 70 is electrically connected to the first electronic governor 40, The first electronic governor 40 adjusts the current detection direction by adjusting the rotational speed of the actuator 70.
  • the detection sensor 20 is driven by a separate actuator 70 to facilitate adjustment of the current detection direction of the detection sensor 20 to coincide with the current flight direction of the UAV 100.
  • the UAV 100 further includes a body 80.
  • the actuator 70 includes a stator 72 and a rotor 74.
  • the stator 72 is fixedly coupled to the body 80, and the detecting sensor 20 is mounted on the rotor 74. .
  • the detecting sensor 20 is mounted on the rotor 74, and the rotation of the rotor 74 causes the detecting sensor 20 to rotate, so that the current detecting direction of the detecting sensor 20 coincides with the current flying direction of the UAV 100.
  • the UAV 100 further includes a bracket 90 that is fixedly coupled to the rotor 74 and the detection sensor 20 is mounted to the bracket 90.
  • the detecting sensor 20 is coupled to the rotor 74 via the bracket 90, and the detecting sensor 20 is carried on the bracket 90 to make the mounting of the detecting sensor 20 more stable.
  • the bracket 90 can be a hollow bracket 90. In this way, the weight of the bracket 90 is reduced, and the load weight of the UAV 100 is reduced.
  • the UAV 100 further includes a bracket 90 that is fixedly coupled to the body 80.
  • the actuator 70 includes a stator 72 and a rotor 74.
  • the stator 72 is fixedly coupled to the bracket 90 for detection.
  • the sensor 20 is mounted on the rotor 74.
  • the actuator 70 is coupled to the body 80 by a bracket 90 that is mounted to the bracket 90 such that the mounting of the actuator 70 is more robust.
  • the detection sensor 20 includes any one or more of a binocular vision sensor, an ultrasound sensor, or an infrared sensor.
  • the UAV 100 can be equipped with any of a binocular vision sensor, an ultrasonic sensor, and an infrared sensor. It can also be equipped with a binocular vision sensor and an ultrasonic sensor at the same time; or with both an ultrasonic sensor and an infrared sensor; or a binocular vision sensor and an infrared sensor. It can also be equipped with binocular vision sensors, ultrasonic sensors and infrared sensors.
  • a flight controller 10 is mounted on an unmanned aerial vehicle 100.
  • the aircraft 100 is equipped with a detection sensor 20 for executing the following commands:
  • the current detection direction is adjusted according to the angle difference control such that the adjusted detection direction of the detection sensor 20 coincides with the current flight direction.
  • the flight controller 10 of the embodiment of the present invention can be rotated in various directions by using the detecting sensor 20, and the adjusted detecting direction of the detecting sensor 20 is always consistent with the current flying direction, so that the detecting range of the detecting sensor 20 is detected during the flight of the unmanned aerial vehicle 100.
  • the range of the route in the current flight direction of the UAV 100 is always covered, so that obstacles in the flight direction of the UAV 100 can be effectively detected, and collision accidents are prevented from causing flight accidents.
  • the flight controller 10 acquires the current flight direction of the UAV 100 and the current detection direction of the detection sensor 20 in real time, and then calculates the angular difference between the current flight direction and the current detection direction; and then adjusts the current detection direction according to the angular difference control. So that the adjusted detection direction of the detecting sensor 20 is consistent with the current flight direction, the adjusted detection direction of the last cycle is the current detection direction of the next cycle, and the flight controller 10 calculates the current flight direction and the current detection direction again. The angle is poor, so cycle back and forth.
  • the flight controller 10 is further configured to execute the following instructions:
  • the current detection direction is initialized, which makes the subsequent adjustment of the current detection direction more accurate, reduces the error, and further ensures that the adjusted detection direction is consistent with the current flight direction, thereby effectively detecting obstacles in the flight direction of the UAV 100, and avoiding Collision obstacles lead to flight accidents.
  • the detecting sensor 20 mounted on the unmanned aerial vehicle is an obstacle detecting sensor 20 for detecting obstacle information, and the obstacle information includes whether there is an obstacle in the flying environment of the unmanned aerial vehicle 100.
  • the flight controller 10 is also used to execute the following commands:
  • the current flight direction is adjusted in accordance with the obstacle information control to cause the UAV 100 to fly in the target direction.
  • the detecting sensor 20 acquires the obstacle information in real time, and causes the unmanned aerial vehicle 100 to adjust the current flight direction in time to avoid the obstacle, ensure the safety of the unmanned aerial vehicle 100, and avoid a collision accident caused by the collision obstacle.
  • the detecting sensor 20 always detects the obstacle information in real time
  • the UAV further includes a second electronic governor 50
  • the flight controller 10 continuously controls the second in real time according to the obstacle information.
  • the speed of the electronic governor 50 is adjusted to adjust the current flight direction to cause the UAV 100 to fly in accordance with the target flight direction. It can be understood that the target direction is that the UAV 100 can avoid the direction in which the obstacle is flying.
  • the UAV 100 further includes a power assembly 60 for driving the UAV 100 to fly, and the flight controller 10 is specifically configured to execute the following instructions:
  • the power component 60 is capable of avoiding the target rotational speed of the obstacle
  • the rotational speed of the power assembly 60 is controlled in accordance with the rotational speed adjustment signal to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the rotational speed of the power assembly 60 is adjusted in real time according to the obstacle information to avoid obstacles, and the obstacle avoidance speed is fast, so that the flight process of the unmanned aerial vehicle 100 is made safer.
  • the flight controller 10 calculates that the power component 60 can avoid the target rotational speed of the obstacle according to the obstacle information, and acquires the real-time rotational speed of the power component 60 in real time, and then outputs the rotational speed adjustment signal according to the real-time rotational speed and the target rotational speed, and then according to The rotation speed adjustment signal controls the second electronic governor 50 to adjust the rotation speed of the power assembly 60 to adjust the current flight direction to cause the UAV 100 to fly according to the target direction, and then output a new one according to the adjusted real-time speed and target speed in the previous cycle.
  • the target speed forms a cyclic process.
  • the UAV 100 is controlled by a remote control device 200, which is also specifically configured to execute the following instructions:
  • the rotational speed of the power assembly 60 is adjusted in accordance with manual adjustment commands to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the user can control the obstacle avoidance process of the unmanned aerial vehicle 100 through the remote control device 200, and when the user finds an obstacle, adjust the flight direction of the unmanned aerial vehicle 100 in time to avoid the obstacle.
  • the flight controller 10 transmits a rotation speed adjustment signal to the remote control device 200.
  • the remote control device 200 receives the rotation speed adjustment signal, the user manually issues a manual remote control command to the remote control device 200, and the remote control device 200 sends the manual remote control command to the flight.
  • Controller 10, flight controller 10 controls the rotational speed of power assembly 60 based on the received manual remote command to adjust the current flight direction to cause UAV 100 to fly in the target direction.
  • the UAV 100 of the embodiment of the present invention can be applied to, but not limited to, power, communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, security and anti-terrorism, and the like. task.
  • an unmanned aerial vehicle 100 includes the flight controller 10, the detection sensor 20, the inertial measurement unit 30, and the first electronic governor 40 according to any of the above embodiments.
  • the inertial measurement unit 30 is used to detect the current flight direction of the UAV 100.
  • the flight controller 10 is coupled to the inertial measurement unit 30 and the first electronic governor 40.
  • the unmanned aerial vehicle 100 can be rotated in various directions by the detecting sensor 20, and the adjusted detecting direction of the detecting sensor 20 is always consistent with the current flying direction, so that the detecting range of the detecting sensor 20 during the flight of the unmanned aerial vehicle 100 is detected.
  • the range of the route in the current flight direction of the UAV 100 is always covered, so that obstacles in the flight direction of the UAV 100 can be effectively detected, and collision accidents are prevented from causing flight accidents.
  • the UAV 100 further includes a second electronic governor 50 that controls the second electronic governor 50 to adjust the current flight direction based on the obstacle information to make the unmanned person The aircraft 100 flies in accordance with the target direction.
  • the UAV further includes a power assembly 60 for driving the UAV 100 to fly.
  • the flight controller 10 controls the second electronic governor 50 to adjust the rotational speed of the power assembly 60 according to the rotational speed adjustment signal to adjust the current flight direction to cause the unmanned aerial vehicle 100 to fly in the target direction. Row.
  • the UAV 100 is controlled by the remote control device 200.
  • the flight controller 10 automatically controls the second electronic governor 50 to adjust the rotational speed of the power assembly 60 based on the rotational speed adjustment signal to adjust the current flight direction to cause the UAV 100 to fly in the target direction.
  • the UAV 100 further includes an actuator 70 for driving the detection sensor 20, and the actuator 70 is electrically connected to the first electronic governor 40, The first electronic governor 40 adjusts the current detection direction by adjusting the rotational speed of the actuator 70.
  • the detection sensor 20 is driven by a separate actuator 70 to facilitate adjustment of the current detection direction of the detection sensor 20 to coincide with the current flight direction of the UAV 100.
  • the UAV 100 further includes a body 80.
  • the actuator 70 includes a stator 72 and a rotor 74.
  • the stator 72 is fixedly coupled to the body 80, and the detecting sensor 20 is mounted on the rotor 74. .
  • the detecting sensor 20 is mounted on the rotor 74, and the rotation of the rotor 74 causes the detecting sensor 20 to rotate, so that the current detecting direction of the detecting sensor 20 coincides with the current flying direction of the UAV 100.
  • the UAV 100 further includes a bracket 90 that is fixedly coupled to the rotor 74 and the detection sensor 20 is mounted to the bracket 90.
  • the detecting sensor 20 is coupled to the rotor 74 via the bracket 90, and the detecting sensor 20 is carried on the bracket 90 to make the mounting of the detecting sensor 20 more stable.
  • the bracket 90 can be a hollow bracket 90. In this way, the weight of the bracket 90 is reduced, and the load weight of the UAV 100 is reduced.
  • the UAV 100 further includes a bracket 90 that is fixedly coupled to the body 80.
  • the actuator 70 includes a stator 72 and a rotor 74.
  • the stator 72 is fixedly coupled to the bracket 90 for detection.
  • the sensor 20 is mounted on the rotor 74.
  • the actuator 70 is coupled to the body 80 by a bracket 90 that is mounted to the bracket 90 such that the mounting of the actuator 70 is more robust.
  • the detection sensor 20 includes any one or more of a binocular vision sensor, an ultrasound sensor, or an infrared sensor.
  • the detection sensor 20 can be a binocular vision sensor, an ultrasound sensor, or an infrared sensor.
  • the detection sensor 20 can be a combination of a visual sensor and an ultrasonic sensor, or a combination of an ultrasonic sensor and an infrared sensor, or a combination of a binocular vision sensor and an infrared sensor.
  • the detection sensor 20 can be a combination of a binocular vision sensor, an ultrasound sensor, and an infrared sensor.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” can be clearly indicated Or implicitly including at least one feature.
  • a plurality means at least two, for example two, three, unless specifically defined otherwise.

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Abstract

一种无人飞行器(100)的控制方法、飞行控制器(10)及无人飞行器(100)。无人飞行器(100)的控制方法包括以下步骤：实时获取无人飞行器(100)的当前飞行方向(S12)；实时获取检测传感器(20)的当前检测方向(S13)；计算当前飞行方向与当前检测方向的角度差(S14)；根据角度差控制调整当前检测方向以使得检测传感器(20)的调整后检测方向与当前飞行方向一致(S15)。检测传感器(20)可朝各个方向旋转，检测传感器(20)的调整后检测方向始终与当前飞行方向一致，检测传感器(20)的检测范围始终涵盖无人飞行器(100)当前飞行方向上的路线范围，有效的检测到无人飞行器(100)飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。

Description

无人飞行器的控制方法、飞行控制器及无人飞行器 技术领域
本发明涉及无人飞行器技术领域，特别涉及一种无人飞行器的控制方法、飞行控制器及无人飞行器。
背景技术
无人飞行器搭载了检测传感器来检测障碍物以实现避障功能，然而，检测传感器通常只固定设置在无人飞行器的正前方，检测的角度范围有限，当无人飞行器不是朝向正前方而是有一定偏移角度飞行时，会因为飞行方向上的路线范围超过检测传感器的有效检测范围而无法检测到障碍物，导致避障功能失灵。
发明内容
本发明的实施方式提供一种控制方法、飞行控制器及无人飞行器。
本发明实施方式的无人飞行器的控制方法，所述无人飞行器上搭载有检测传感器，所述控制方法包括以下步骤：
实时获取所述无人飞行器的当前飞行方向；
实时获取所述检测传感器的当前检测方向；
计算所述当前飞行方向与所述当前检测方向的角度差；及
根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
本发明实施方式的飞行控制器，用于控制无人飞行器，所述无人飞行器上搭载有检测传感器，所述飞行控制器包括：
飞行方向获取单元，所述飞行方向获取单元用于实时获取所述无人飞行器的当前飞行方向；
检测方向获取单元，所述检测方向获取单元用于实时获取所述检测传感器的当前检测方向；
角度计算模块，所述角度计算模块用于计算所述当前飞行方向与所述当前检测方向的角度差；及
传感器调整模块，所述传感器调整模块用于根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
本发明实施方式的无人飞行器，所述无人飞行器上搭载有检测传感器，所述无人飞行器还包括：
惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的当前飞行方向；
第一电子调速器；
与所述惯性测量单元及所述第一电子调速器连接的飞行控制器，所述飞行控制器包括：
飞行方向获取单元，所述飞行方向获取单元用于实时获取所述无人飞行器的当前飞行方向；
检测方向获取单元，所述检测方向获取单元用于实时获取所述检测传感器的当前检测 方向；
角度计算模块，所述角度计算模块用于计算所述当前飞行方向与所述当前检测方向的角度差；及
传感器调整模块，所述传感器调整模块用于根据所述角度差控制所述第一电子调速器调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
本发明实施方式的飞行控制器，装载于无人飞行器上，所述无人飞行器上搭载有检测传感器，所述飞行控制器用于执行以下指令：
实时获取所述无人飞行器的当前飞行方向；
实时获取所述检测传感器的当前检测方向；
计算所述当前飞行方向与所述当前检测方向的角度差；及
根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
本发明实施方式的无人飞行器的控制方法、飞行控制器及无人飞行器，利用检测传感器可朝各个方向旋转，检测传感器的调整后检测方向始终与当前飞行方向一致，使得无人飞行器飞行过程中，检测传感器的检测范围始终涵盖无人飞行器当前飞行方向上的路线范围，从而可以有效的检测到无人飞行器飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图2是本发明一实施方式的飞行控制器的模块示意图；
图3是本发明一实施方式的无人飞行器的模块示意图；
图4是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图5是本发明一实施方式的飞行控制器的模块示意图；
图6是本发明一实施方式的无人飞行器的模块示意图；
图7是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图8是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图9是本发明一实施方式的飞行控制器的模块示意图；
图10是本发明一实施方式的无人飞行器的模块示意图；
图11是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图12是本发明一实施方式的飞行控制器的模块示意图；
图13是本发明一实施方式的无人飞行器的模块示意图；
图14是本发明一实施方式的无人飞行器的控制方法的流程示意图；
图15是本发明一实施方式的飞行控制器的模块示意图；
图16是本发明一实施方式的飞行控制器的模块示意图；
图17是本发明一实施方式的无人飞行器的模块示意图；
图18是本发明一实施方式的无人飞行器的平面示意图；
图19是本发明一实施方式的无人飞行器的平面示意图；
图20是本发明一实施方式的无人飞行器的平面示意图；
图21是本发明一实施方式的无人飞行器的平面示意图。
主要元件符号说明：
无人飞行器100，飞行控制器10，飞行方向获取单元12，检测方向获取单元13，角度计算模块14，传感器调整模块15，初始化模块11，信息获取模块16，飞行调整模块17，转速计算单元172，转速获取单元174，转速输出单元176，控制单元178，接收子单元1782，控制子单元1784，检测传感器20，惯性测量单元30，第一电子调速器40，第二电子调速器50，动力组件60，致动器70，定子72，转子74，机身80，支架90，遥控设备200。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1及图3，本发明实施方式的无人飞行器100的控制方法，无人飞行器100上搭载有检测传感器20，无人飞行器100的控制方法包括以下步骤：
S12：实时获取无人飞行器100的当前飞行方向；
S13：实时获取检测传感器20的当前检测方向；
S14：计算当前飞行方向与当前检测方向的角度差；及
S15：根据角度差控制调整当前检测方向以使得检测传感器20的调整后检测方向 与当前飞行方向一致。
本发明实施方式的无人飞行器100的控制方法可以由本发明实施方式的飞行控制器10实现。
请结合图2，本发明实施方式的飞行控制器10，用于控制无人飞行器100，无人飞行器100上搭载有检测传感器20，飞行控制器10包括飞行方向获取单元12、检测方向获取单元13、角度计算模块14和传感器调整模块15。飞行方向获取单元12用于实时获取无人飞行器100的当前飞行方向。检测方向获取单元13用于实时获取检测传感器20的当前检测方向。角度计算模块14用于计算当前飞行方向与当前检测方向的角度差。传感器调整模块15用于根据角度差控制调整当前检测方向以使得检测传感器20的调整后检测方向与当前飞行方向一致。
也即是说，步骤S12可以由飞行方向获取单元12实现，步骤S13可以由检测方向获取单元13实现，步骤S14可以由角度计算模块14实现，步骤S15可以由传感器调整模块15实现。
本发明实施方式的飞行控制器10，也可以应用于本发明实施方式的无人飞行器100。也即是说，本发明实施方式的无人飞行器100包括本发明实施方式的飞行控制器10。请参阅图3，本发明实施方式的无人飞行器100还包括检测传感器20、惯性测量单元30和第一电子调速器40。惯性测量单元30用于检测无人飞行器100的当前飞行方向。飞行控制器10与惯性测量单元30及第一电子调速器40连接，如通过有线或无线方式通信连接。
本发明实施方式的无人飞行器100的控制方法、飞行控制器10及无人飞行器100，利用检测传感器20可朝各个方向旋转，检测传感器20的调整后检测方向始终与当前飞行方向一致，使得无人飞行器100飞行过程中，检测传感器20的检测范围始终涵盖无人飞行器100当前飞行方向上的路线范围，从而可以有效的检测到无人飞行器100飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
具体地，无人飞行器100飞行过程中，步骤S12、S13、S14及S15贯穿始终并循环执行。可以理解，调整检测传感器20的检测方向的过程中，存在一个检测方向实时反馈和调整的过程。也即是说，飞行方向获取单元12实时获取无人飞行器100的当前飞行方向；检测方向获取单元13实时获取检测传感器20的当前检测方向；角度计算模块14计算当前飞行方向与当前检测方向的角度差；传感器调整模块15根据角度差控制调整当前检测方向以使得检测传感器20的调整后检测方向与当前飞行方向一致并将调整后检测方向传输至检测方向获取单元13，上一轮循环的调整后检测方向即为下一轮循环的当前检测方向，角度计算模块14再次计算当前飞行方向与当前检测方向的角度差，如此循环往复。
请参阅图4，在某些实施方式中，控制方法还包括步骤：
S11：初始化当前检测方向。
请参阅图5，在某些实施方式中，飞行控制器10还包括初始化模块11，初始化模块11用于初始化当前检测方向。
也即是说，步骤S11可以由初始化模块11实现。
当前检测方向被初始化，可使后续调整当前检测方向时更加准确，减少误差，进 一步保证调整后检测方向与当前飞行方向一致，进而可以有效的检测到无人飞行器100飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
请参阅图6，在某些实施方式中，无人飞行器100中的飞行控制器10还包括初始化模块11，初始化模块11用于初始化当前检测方向。
请参阅图7及图8，在某些实施方式中，检测传感器20为用于检测障碍物信息的障碍物检测传感器20，障碍物信息包括无人飞行器100的飞行环境中是否存在障碍物，控制方法还包括步骤：
S16：获取障碍物信息；及
S17：根据障碍物信息控制调整当前飞行方向以使无人飞行器100按照目标方向飞行。
请参阅图9，在某些实施方式中，飞行控制器10还包括信息获取模块16及飞行调整模块17。信息获取模块16用于获取障碍物信息。飞行调整模块17用于根据障碍物信息调整当前飞行方向以使无人飞行器100按照目标方向飞行。
也即是说，步骤S16可以由信息获取模块16实现。步骤S17可以由飞行调整模块17实现。
请参阅图10，在某些实施方式中，无人飞行器100还包括第二电子调速器50，飞行调整模块17用于根据障碍物信息控制第二电子调速器50调整当前飞行方向以使无人飞行器100按照目标方向飞行。也即是说，步骤S17可以由飞行调整模块17控制第二电子调速器50实现。
如此，检测传感器20实时获取障碍物信息，并使无人飞行器100及时调整当前飞行方向以避开障碍物，保障无人飞行器100的安全，避免碰撞障碍物导致飞行事故。
具体地，无人飞行器100飞行过程中，步骤S16和步骤S17贯穿始终并循环执行。也即是说，检测传感器20一直在实时检测障碍物信息，飞行调整模块17根据障碍物信息实时控制第二电子调速器50调整当前飞行方向以使无人飞行器100按照目标飞行方向飞行。可以理解，目标方向为无人飞行器100能够避开障碍物飞行的方向。
请参阅图11及图13，在某些实施方式中，无人飞行器100还包括动力组件60，动力组件60用于驱动无人飞行器100飞行，步骤S17包括子步骤：
S172：根据障碍物信息计算动力组件60能够避开障碍物的目标转速；
S174：获取动力组件60的实时转速；
S176：根据实时转速及目标转速输出转速调整信号；及
S178：根据转速调整信号控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
请参阅图12，在某些实施方式中，飞行调整模块17包括转速计算单元172、转速获取单元174、转速输出单元176和控制单元178。转速计算单元172用于根据障碍物信息计算动力组件60能够避开障碍物的目标转速。转速获取单元174用于获取动力组件60的实时转速。转速输出单元176用于根据实时转速及目标转速输出转速调整信号。控制单元178用于根据转速调整信号控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
也即是说，步骤S172可以由转速计算单元172实现。步骤S174可以由转速获取 单元174实现。步骤S176可以由转速输出单元176实现。步骤S178可以由控制单元178实现。
请再次参阅图13，在某些实施方式中，无人飞行器100还包括动力组件60，动力组件60用于驱动无人飞行器100飞行，控制单元178用于根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。也即是说，步骤S178由控制单元178控制第二电子调速器50调整动力组件60实现。
如此，根据障碍物信息实时调整动力组件60的转速以避开障碍物，避障速度快，使无人飞行器100的飞行过程更加安全。
具体地，在无人飞行器100飞行过程中，步骤S172、S174、S176及S178贯穿始终且循环进行。可以理解，无人飞行器100的调整飞行方向过程中，存在动力组件60转速实时反馈和调整的过程。也即是说，转速计算单元172根据障碍物信息计算动力组件60能够避开障碍物的目标转速，转速获取单元174实时获取动力组件60的实时转速，转速输出单元176根据实时转速及目标转速输出转速调整信号，控制单元178根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行，然后再将调整后的实时转速反馈给转速计算单元172，转速计算单元172再根据实时转速和目标转速输出新的目标转速，形成一个循环的过程。
请参阅图14及图16，在某些实施方式中，无人飞行器100由遥控设备200控制，步骤S178包括子步骤：
S1782：接收用户针对转速调整信号而对遥控设备200下达的手动调控指令；及
S1784：根据手动调控指令控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
请参阅图15及图16，在某些实施方式中，控制单元178包括接收子单元1782和控制子单元1784。接收子单元1782用于接收用户针对转速调整信号而对遥控设备200下达的手动调控指令。控制子单元1784用于根据手动调控指令控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
也即是说，步骤S1782可以由接收子单元1782实现，步骤S1784可以由控制子单元1784实现。
请参阅图16及图17，在某些实施方式中，无人飞行器100由遥控设备200控制，无人飞行器100中的飞行控制器10包括接收子单元1782和控制子单元1784。接收子单元1782用于接收用户针对转速调整信号而对遥控设备200下达的手动调控指令。控制子单元1784用于根据手动调控指令控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
如此，用户可通过遥控设备200调控无人飞行器100的避障过程，当用户发现障碍物时，及时调整无人飞行器100的飞行方向以避开障碍物。
具体地，转速输出单元176将转速调整信号传输至遥控设备200，当遥控设备200接收到转速调整信号时，用户手动对遥控设备200下达手动遥控指令，遥控设备200再将手动遥控指令发送至接收子单元1782，控制单元178根据接收子单元1782接收到 的手动遥控指令控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
在某些实施方式的控制方法中，无人飞行器100还包括控制其飞行的飞行控制器10，步骤S178是由飞行控制器10自动执行的。
在某些实施方式的飞行控制器10中，控制单元178自动根据转速调整信号控制调整动力组件60的转速以控制调整当前飞行方向以使无人飞行器100按照目标方向飞行。
在某些实施方式的无人飞行器100中，控制单元178自动根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
如此，无需用户操作，使得无人飞行器100的避障过程自动化，有利于提升用户体验。
请参阅图18，在某些实施方式中，无人飞行器100还包括致动器70，致动器70用于驱动检测传感器20，致动器70与第一电子调速器40电性连接，第一电子调速器40通过调整致动器70的转速调整当前检测方向。
如此，检测传感器20由独立的致动器70驱动，便于调整检测传感器20的当前检测方向与无人飞行器100的当前飞行方向一致。
请参阅图19，在某些实施方式中，无人飞行器100还包括机身80，致动器70包括定子72和转子74，定子72与机身80固定连接，检测传感器20安装在转子74上。
如此，检测传感器20搭载在转子74上，通过转子74转动带动检测传感器20转动，使检测传感器20的当前检测方向与无人飞行器100的当前飞行方向一致。
请参阅图20，在某些实施方式中，无人飞行器100还包括支架90，支架90与转子74固定连接，检测传感器20安装在支架90上。
如此，检测传感器20通过支架90与转子74连接，检测传感器20承载在支架90上，使检测传感器20的安装更加稳固。
具体地，支架90可以为中空的支架90。如此，减轻支架90的重量，降低无人飞行器100的负载重量。
请参阅图21，在某些实施方式中，无人飞行器100还包括支架90，支架90与机身80固定连接，致动器70包括定子72和转子74，定子72与支架90固定连接，检测传感器20安装在转子74上。
如此，致动器70与机身80通过支架90连接，致动器70安装在支架90上，使得致动器70的安装更加稳固。
在某些实施方式中，检测传感器20包括双目视觉传感器、超声传感器或红外传感器中的任意一种或多种组合。
可以理解，本发明实施方式的无人飞行器100，可搭载仅双目视觉传感器、搭载超声传感器和红外传感器中的任意一种。也可以同时搭载双目视觉传感器和超声传感器；或者同时搭载超声传感器和红外传感器；或者同时搭载双目视觉传感器和红外传感器。还可以同时搭载双目视觉传感器、超声传感器和红外传感器。
请参阅图3，本发明实施方式的飞行控制器10，装载于无人飞行器100上，无人 飞行器100上搭载有检测传感器20，飞行控制器10用于执行以下指令：
实时获取无人飞行器100的当前飞行方向；
实时获取检测传感器20的当前检测方向；
计算当前飞行方向与当前检测方向的角度差；及
根据角度差控制调整当前检测方向以使得检测传感器20的调整后检测方向与当前飞行方向一致。
本发明实施方式的飞行控制器10，利用检测传感器20可朝各个方向旋转，检测传感器20的调整后检测方向始终与当前飞行方向一致，使得无人飞行器100飞行过程中，检测传感器20的检测范围始终涵盖无人飞行器100当前飞行方向上的路线范围，从而可以有效的检测到无人飞行器100飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
具体地，无人飞行器100飞行过程中，调整检测传感器20的检测方向时，存在一个检测方向实时反馈和调整的过程。也即是说，飞行控制器10实时获取无人飞行器100的当前飞行方向和检测传感器20的当前检测方向，然后计算当前飞行方向与当前检测方向的角度差；再根据角度差控制调整当前检测方向以使得检测传感器20的调整后检测方向与当前飞行方向一致，上一轮循环的调整后检测方向即为下一轮循环的当前检测方向，飞行控制器10再次计算当前飞行方向与当前检测方向的角度差，如此循环往复。
请参阅图6，在某些实施方式中，飞行控制器10还用于执行以下指令：
初始化当前检测方向。
当前检测方向被初始化，可使后续调整当前检测方向时更加准确，减少误差，进一步保证调整后检测方向与当前飞行方向一致，进而可以有效的检测到无人飞行器100飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
请参阅图10，在某些实施方式中，无人飞行器上搭载的检测传感器20为用于检测障碍物信息的障碍物检测传感器20，障碍物信息包括无人飞行器100的飞行环境中是否存在障碍物，飞行控制器10还用于执行以下指令：
获取障碍物信息；及
根据障碍物信息控制调整当前飞行方向以使无人飞行器100按照目标方向飞行。
如此，检测传感器20实时获取障碍物信息，并使无人飞行器100及时调整当前飞行方向以避开障碍物，保障无人飞行器100的安全，避免碰撞障碍物导致飞行事故。
具体地，无人飞行器100飞行过程中，检测传感器20一直在实时检测障碍物信息，无人飞行器还包括第二电子调速器50，飞行控制器10不停地根据障碍物信息实时控制第二电子调速器50的转速以调整当前飞行方向以使无人飞行器100按照目标飞行方向飞行。可以理解，目标方向为无人飞行器100能够避开障碍物飞行的方向。
请参阅图13，在某些实施方式中，无人飞行器100还包括动力组件60，动力组件60用于驱动无人飞行器100飞行，飞行控制器10具体还用于执行以下指令：
根据障碍物信息计算动力组件60能够避开障碍物的目标转速；
获取动力组件60的实时转速；
根据实时转速及目标转速输出转速调整信号；及
根据转速调整信号控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
如此，根据障碍物信息实时调整动力组件60的转速以避开障碍物，避障速度快，使无人飞行器100的飞行过程更加安全。
具体地，无人飞行器100的调整飞行方向过程中，存在动力组件60转速实时反馈和调整的循环过程。也即是说，飞行控制器10根据障碍物信息计算动力组件60能够避开障碍物的目标转速，并实时获取动力组件60的实时转速，然后根据实时转速及目标转速输出转速调整信号，再根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行，再根据上一循环过程调整后的实时转速和目标转速输出新的目标转速，形成一个循环的过程。
请参阅图17，在某些实施方式中，无人飞行器100由遥控设备200控制，飞行控制器10还具体用于执行以下指令：
接收用户针对转速调整信号而对遥控设备200下达的手动调控指令；及
根据手动调控指令控制调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
如此，用户可通过遥控设备200调控无人飞行器100的避障过程，当用户发现障碍物时，及时调整无人飞行器100的飞行方向以避开障碍物。
具体地，飞行控制器10将转速调整信号传输至遥控设备200，当遥控设备200接收到转速调整信号时，用户手动对遥控设备200下达手动遥控指令，遥控设备200再将手动遥控指令发送至飞行控制器10，飞行控制器10根据接收到的手动遥控指令控制动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
本发明实施方式的无人飞行器100，可应用于但不限于电力、通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域执行各项任务。
请参阅图3，本发明实施方式的无人飞行器100，包括上述任一实施方式所述的飞行控制器10及检测传感器20、惯性测量单元30和第一电子调速器40。惯性测量单元30用于检测无人飞行器100的当前飞行方向。飞行控制器10与惯性测量单元30及第一电子调速器40连接。
本发明实施方式的无人飞行器100，利用检测传感器20可朝各个方向旋转，检测传感器20的调整后检测方向始终与当前飞行方向一致，使得无人飞行器100飞行过程中，检测传感器20的检测范围始终涵盖无人飞行器100当前飞行方向上的路线范围，从而可以有效的检测到无人飞行器100飞行方向上的障碍物，避免碰撞障碍物导致飞行事故。
请参阅图10，在某些实施方式中，无人飞行器100还包括第二电子调速器50，飞行控制器10根据障碍物信息控制第二电子调速器50调整当前飞行方向以使无人飞行器100按照目标方向飞行。
请参阅图13，在某些实施方式中，无人飞行器还包括动力组件60，动力组件60用于驱动无人飞行器100飞行。飞行控制器10根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞 行。
请参阅图17，在某些实施方式中，无人飞行器100由遥控设备200控制。
在某些实施方式的无人飞行器100中，飞行控制器10自动根据转速调整信号控制第二电子调速器50调整动力组件60的转速以调整当前飞行方向以使无人飞行器100按照目标方向飞行。
请参阅图18，在某些实施方式中，无人飞行器100还包括致动器70，致动器70用于驱动检测传感器20，致动器70与第一电子调速器40电性连接，第一电子调速器40通过调整致动器70的转速调整当前检测方向。
如此，检测传感器20由独立的致动器70驱动，便于调整检测传感器20的当前检测方向与无人飞行器100的当前飞行方向一致。
请参阅图19，在某些实施方式中，无人飞行器100还包括机身80，致动器70包括定子72和转子74，定子72与机身80固定连接，检测传感器20安装在转子74上。
如此，检测传感器20搭载在转子74上，通过转子74转动带动检测传感器20转动，使检测传感器20的当前检测方向与无人飞行器100的当前飞行方向一致。
请参阅图20，在某些实施方式中，无人飞行器100还包括支架90，支架90与转子74固定连接，检测传感器20安装在支架90上。
如此，检测传感器20通过支架90与转子74连接，检测传感器20承载在支架90上，使检测传感器20的安装更加稳固。
具体地，支架90可以为中空的支架90。如此，减轻支架90的重量，降低无人飞行器100的负载重量。
请参阅图21，在某些实施方式中，无人飞行器100还包括支架90，支架90与机身80固定连接，致动器70包括定子72和转子74，定子72与支架90固定连接，检测传感器20安装在转子74上。
如此，致动器70与机身80通过支架90连接，致动器70安装在支架90上，使得致动器70的安装更加稳固。
在某些实施方式中，检测传感器20包括双目视觉传感器、超声传感器或红外传感器中的任意一种或多种组合。在一个例子中，检测传感器20可为双目视觉传感器、超声传感器、或红外传感器。在另一例子中，检测传感器20可为视觉传感器与超声传感器的组合、或者超声传感器与红外传感器的组合、或者双目视觉传感器与红外传感器的组合。在又一个例子中，检测传感器20可为双目视觉传感器、超声传感器及红外传感器三者的组合。
在本说明书的描述中，参考术语“某些实施方式”、“一实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示 或者隐含地包括至少一个特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (28)

  1. 一种无人飞行器的控制方法，所述无人飞行器上搭载有检测传感器，其特征在于，所述控制方法包括以下步骤：
    实时获取所述无人飞行器的当前飞行方向；
    实时获取所述检测传感器的当前检测方向；
    计算所述当前飞行方向与所述当前检测方向的角度差；及
    根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
  2. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括步骤：
    初始化所述当前检测方向。
  3. 根据权利要求1所述的控制方法，其特征在于，所述检测传感器为用于检测障碍物信息的障碍物检测传感器，所述障碍物信息包括所述无人飞行器的飞行环境中是否存在障碍物，所述控制方法还包括步骤：
    获取所述障碍物信息；及
    根据所述障碍物信息控制调整所述当前飞行方向以使所述无人飞行器按照目标方向飞行。
  4. 根据权利要求3所述的控制方法，所述无人飞行器还包括动力组件，所述动力组件用于驱动所述无人飞行器飞行，其特征在于，所述根据所述障碍物信息调整所述当前飞行方向以使所述无人飞行器按照目标方向飞行的步骤包括：
    根据所述障碍物信息计算所述动力组件能够避开障碍物的目标转速；
    获取所述动力组件的实时转速；
    根据所述实时转速及所述目标转速输出转速调整信号；及
    根据所述转速调整信号控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  5. 根据权利要求4所述的控制方法，其特征在于，所述无人飞行器由遥控设备控制，所述根据所述转速调整信号调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行的步骤包括：
    接收用户针对所述转速调整信号而对所述遥控设备下达的手动调控指令；及
    根据所述手动调控指令控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  6. 根据权利要求4所述的控制方法，其特征在于，所述无人飞行器还包括控制其飞行的飞行控制器，所述根据所述转速调整信号调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行的步骤是由所述飞行控制器自动执行的。
  7. 一种飞行控制器，用于控制无人飞行器，所述无人飞行器上搭载有检测传感器，其特征在于，所述飞行控制器包括：
    飞行方向获取单元，所述飞行方向获取单元用于实时获取所述无人飞行器的当前飞行方向；
    检测方向获取单元，所述检测方向获取单元用于实时获取所述检测传感器的当前检测方向；
    角度计算模块，所述角度计算模块用于计算所述当前飞行方向与所述当前检测方向的角度差；及
    传感器调整模块，所述传感器调整模块用于根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
  8. 根据权利要求7所述的飞行控制器，其特征在于，所述飞行控制器还包括初始化模块，所述初始化模块用于初始化所述当前检测方向。
  9. 根据权利要求7所述的飞行控制器，其特征在于，所述检测传感器为用于检测障碍物信息的障碍物检测传感器，所述障碍物信息包括所述无人飞行器的飞行环境中是否存在障碍物，所述飞行控制器还包括：
    信息获取模块，所述信息获取单元用于获取所述障碍物信息；及
    飞行调整模块，所述飞行调整模块用于根据所述障碍物信息控制调整所述当前飞行方向以使所述无人飞行器按照目标方向飞行。
  10. 根据权利要求9所述的飞行控制器，所述无人飞行器还包括动力组件，所述动力组件用于驱动所述无人飞行器飞行，其特征在于，所述飞行调整模块包括：
    转速计算单元，所述转速计算单元用于根据所述障碍物信息计算所述动力组件能够避开障碍物的目标转速；
    转速获取单元，所述转速获取单元用于获取所述动力组件的实时转速；
    转速输出单元，所述转速输出单元用于根据所述实时转速及所述目标转速输出转速调整信号；及
    控制单元，所述控制单元用于根据所述转速调整信号控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  11. 根据权利要求10所述的飞行控制器，其特征在于，所述无人飞行器由遥控设备控制，所述控制单元包括：
    接收子单元，所述接收子单元用于接收用户针对所述转速调整信号而对所述遥控设备下达的手动调控指令；
    控制子单元，所述控制子单元用于根据所述手动调控指令控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  12. 根据权利要求10所述的飞行控制器，其特征在于，所述控制单元自动根据所述转速调整信号控制调整所述动力组件的转速以控制调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  13. 一种无人飞行器，其特征在于，所述无人飞行器上搭载有检测传感器，所述无人飞行器还包括：
    惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的当前飞行方向；
    第一电子调速器；
    与所述惯性测量单元及所述第一电子调速器连接的飞行控制器，所述飞行控制器包括：
    飞行方向获取单元，所述飞行方向获取单元用于实时获取所述无人飞行器的当前飞行方向；
    检测方向获取单元，所述检测方向获取单元用于实时获取所述检测传感器的当前检测方向；
    角度计算模块，所述角度计算模块用于计算所述当前飞行方向与所述当前检测方向的角度差；及
    传感器调整模块，所述传感器调整模块用于根据所述角度差控制所述第一电子调速器调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
  14. 根据权利要求13所述的无人飞行器，其特征在于，所述飞行控制器还包括初始化模块，所述初始化模块用于初始化所述当前检测方向。
  15. 根据权利要求13所述的无人飞行器，其特征在于，所述无人飞行器还包括第二电子调速器，所述检测传感器为用于检测障碍物信息的障碍物检测传感器，所述障碍物信息包括所述无人飞行器的飞行环境中是否存在障碍物，所述飞行控制器还包括：
    信息获取模块，所述信息获取单元用于获取所述障碍物信息；及
    飞行调整模块，所述飞行调整模块用于根据所述障碍物信息控制所述第二电子调速器调整所述当前飞行方向以使所述无人飞行器按照目标方向飞行。
  16. 根据权利要求15所述的无人飞行器，其特征在于，所述无人飞行器还包括动力组件，所述动力组件用于驱动所述无人飞行器飞行，所述飞行调整模块包括：
    转速计算单元，所述转速计算单元用于根据所述障碍物信息计算所述动力组件能够避开障碍物的目标转速；
    转速获取单元，所述转速获取单元用于获取所述动力组件的实时转速；
    转速输出单元，所述转速输出单元用于根据所述实时转速及所述目标转速输出转速调整信号；及
    控制单元，所述控制单元用于根据所述转速调整信号控制所述第二电子调速器调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  17. 根据权利要求16所述的无人飞行器，其特征在于，所述无人飞行器由遥控设备控制，所述控制单元包括：
    接收子单元，所述接收子单元用于接收用户针对所述转速调整信号而对所述遥控设备下达的手动调控指令；
    控制子单元，所述控制子单元用于根据所述手动调控指令控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  18. 根据权利要求16所述的无人飞行器，其特征在于，所述控制单元自动根据所述转速调整信号控制所述第二电子调速器调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  19. 根据权利要求13所述的无人飞行器，其特征在于，所述无人飞行器还包括致动器，所述致动器用于驱动所述检测传感器，所述致动器与所述第一电子调速器电性连接，所述第一电子调速器通过调整所述致动器的转速调整所述当前检测方向。
  20. 根据权利要求19所述的无人飞行器，其特征在于，所述无人飞行器还包括机身，所述致动器包括定子和转子，所述定子与所述机身固定连接，所述检测传感器安装在所述转子上。
  21. 根据权利要求20所述的无人飞行器，其特征在于，所述无人飞行器还包括支架，所述支架与所述转子固定连接，所述检测传感器安装在所述支架上。
  22. 根据权利要求20所述的无人飞行器，其特征在于，所述无人飞行器还包括支架，所述支架与所述机身固定连接，所述致动器包括定子和转子，所述定子与所述支架固定连接，所述检测传感器安装在所述转子上。
  23. 根据权利要求13所述的无人飞行器，其特征在于，所述检测传感器包括双目视觉传感器、超声传感器或红外传感器中的任意一种或多种组合。
  24. 一种飞行控制器，装载于无人飞行器上，所述无人飞行器上搭载有检测传感器，其特征在于，所述飞行控制器用于执行以下指令：
    实时获取所述无人飞行器的当前飞行方向；
    实时获取所述检测传感器的当前检测方向；
    计算所述当前飞行方向与所述当前检测方向的角度差；及
    根据所述角度差控制调整所述当前检测方向以使得所述检测传感器的调整后检测方向与所述当前飞行方向一致。
  25. 根据权利要求24所述的飞行控制器，其特征在于，所述飞行控制器还用于执行以下指令：
    初始化所述当前检测方向。
  26. 根据权利要求24所述的飞行控制器，所述无人飞行器上搭载的所述检测传感器为用于检测障碍物信息的障碍物检测传感器，所述障碍物信息包括所述无人飞行器的飞行环境中是否存在障碍物，其特征在于，所述飞行控制器还用于执行以下指令：
    获取所述障碍物信息；及
    根据所述障碍物信息控制调整所述当前飞行方向以使所述无人飞行器按照目标方向飞行。
  27. 根据权利要求26所述的飞行控制器，所述无人飞行器还包括动力组件，所述动力组件用于驱动所述无人飞行器飞行，其特征在于，所述飞行控制器具体还用于执行以下指令：
    根据所述障碍物信息计算所述动力组件能够避开障碍物的目标转速；
    获取所述动力组件的实时转速；
    根据所述实时转速及所述目标转速输出转速调整信号；及
    根据所述转速调整信号控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
  28. 根据权利要求27所述的飞行控制器，所述无人飞行器由遥控设备控制，其特征在于，所述飞行控制器还具体用于执行以下指令：
    接收用户针对所述转速调整信号而对所述遥控设备下达的手动调控指令；及
    根据所述手动调控指令控制调整所述动力组件的转速以调整所述当前飞行方向以使所述无人飞行器按照所述目标方向飞行。
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