WO2018196641A1

WO2018196641A1 - Aerial vehicle

Info

Publication number: WO2018196641A1
Application number: PCT/CN2018/083146
Authority: WO
Inventors: 陈少华; 高扬; 彭安斋; 王勇; 李文哲; 伍科宇
Original assignee: 菜鸟智能物流控股有限公司
Priority date: 2017-04-24
Filing date: 2018-04-16
Publication date: 2018-11-01
Also published as: CN108733068A

Abstract

An aerial vehicle, comprising: a satellite signal receiver, an altitude sensor, and a controller. The satellite signal receiver is used for receiving a satellite signal to generate positioning data of the aerial vehicle, the positioning data comprising first altitude data. The altitude sensor is used for generating second altitude data of the aerial vehicle on the basis of the environment where the aerial vehicle is located. The controller controls the operation of the aerial vehicle according to the positioning data, and no longer controls the aerial vehicle according to the positioning data in the case where the first altitude data and the second altitude data comply with a specified relationship. The aerial vehicle can itself achieve the determination of a fault of the satellite signal receiver.

Description

Aircraft

The present application claims the priority of the Japanese Patent Application Serial No. JP-A----------

Technical field

The present application relates to the field of aviation technology, and in particular to an aircraft.

Background technique

With the development of society, the aircraft has been widely used. Compared to manned aircraft, unmanned aerial vehicles in aircraft, such as drones, are relatively inexpensive to manufacture and pose no danger to the operator. Aircraft can be used in many fields, such as: aerial photography, agriculture, plant protection, self-timer, express delivery, disaster relief, observation of wildlife, surveillance of infectious diseases, mapping, news reports, power inspection, disaster relief, film and television shooting and so on.

For example, some small aircraft used for aerial photography, users can use the controller to control the aircraft to fly in the air, as well as shooting. The user can also control the aircraft to fly to each location to land. The use of the aircraft is basically within the user's line of sight, and the user can control the entire flight process of the aircraft through the controller.

In order to expand the field of use of aircraft, aircraft that can navigate by themselves have been developed. These aircrafts are often equipped with satellite signal receivers. Before the aircraft takes off, or during the flight, an instruction can be sent to the aircraft through the console to indicate the coordinates of the target position at which the aircraft flies. When the aircraft is flying in the air, it can receive the satellite signal through the satellite signal receiver to realize its own positional positioning, and then control the flight to the target position according to the target position and its own flight direction.

However, in some cases, the satellite signal receiver may malfunction, at which time the aircraft is flight controlled based on the wrong satellite signal. The risk of impinging obstacles, falling or losing the aircraft.

Summary of the invention

It is an object of embodiments of the present application to provide an aircraft. The aircraft may determine for itself whether an abnormality has occurred in the satellite signal receiver.

To achieve the above objective, an embodiment of the present application provides an aircraft, including: a satellite signal receiver, a height sensor, and a controller; the satellite signal receiver is configured to receive a satellite signal, and generate positioning data of the aircraft, The positioning data includes first height data; the height sensor is configured to generate second height data of the aircraft; the controller controls the aircraft to operate according to the positioning data, and at the first height data and In the case where the second height data conforms to the specified relationship, the aircraft is no longer controlled in accordance with the positioning data.

An embodiment of the present application further provides an aircraft, including: a satellite signal receiver, an ultrasonic sensor, a light influenza detector, and a controller; the satellite signal receiver is configured to receive a satellite signal; and the ultrasonic sensor is configured to output an indication a sensing signal of a distance between the aircraft and the surface; the light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the controller for controlling flight of the aircraft; at the satellite signal In case the receiver is abnormal, the aircraft is controlled to reduce the height, and in the case that the sensing signal output by the ultrasonic sensor reaches a threshold, the aircraft is controlled according to the horizontal speed output by the light flu detector.

An embodiment of the present application further provides an aircraft, including: a height sensor, a light flu detector, a depth sensor, and a controller; the height sensor is configured to output height data of the aircraft relative to a surface; a light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the depth sensor for outputting a depth information map below the aircraft; the controller for outputting according to the height sensor Height data and a horizontal velocity of the light flu detector output controlling the aircraft flight; determining a target landing zone of the aircraft based on a depth map of the depth sensor output; controlling the aircraft to land at the target landing region.

It can be seen from the technical solutions provided by the foregoing embodiments of the present application that determining whether the satellite signal receiver has failed by determining whether the first height data and the second height data meet the specified relationship. By implementing the embodiment of the present application, the fault detection of the satellite signal receiver by the aircraft itself can be realized. In this way, it can be found that the satellite signal receiver has failed, and corresponding countermeasures can be taken. To a certain extent, the aircraft may be prevented from being lost due to navigation of the satellite signal receiver according to the malfunctioning satellite.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a few embodiments described in the present application, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic diagram of an aircraft provided by an embodiment of the present application;

2 is a schematic diagram of an aircraft provided by an embodiment of the present application;

3 is a schematic diagram of internal control of an aircraft provided by an embodiment of the present application;

4 is a schematic diagram of an aircraft provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of an aircraft provided by an embodiment of the present application.

detailed description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. The embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope should be within the scope of the present application.

Please refer to Figure 1. An embodiment of the present application provides an aircraft. The aircraft may include: a satellite signal receiver, a height sensor, and a controller.

In the present embodiment, the above-described aircraft refers to a device that can fly in the atmosphere or outside the atmosphere. Specifically, the aircraft described above may include a flightable device. For example, a helicopter that uses a propeller, a jet that flies by a jet, and the like. Unmanned flight equipment may also be included. For example, drones, unmanned airships, etc. Among them, the above-mentioned drones can be divided into: fixed-wing unmanned aerial vehicles, rotary-wing unmanned aerial vehicles, wing-wing unmanned aerial vehicles, flapping wing unmanned aerial vehicles, etc. according to the configuration of the flight platform. It can also be divided into: civil drones and military drones according to the purpose. Among them, the civil drone can be a model aircraft, a drone for delivering express, or a drone for aerial photography.

The satellite signal receiver is configured to receive a satellite signal to generate positioning data of the aircraft, the positioning data including first height data.

In the present embodiment, the satellite signal receiver is used to receive satellite signals transmitted by the satellite system. The corresponding satellite navigation systems include, but are not limited to: the Global Positioning System in the United States, the Global Navigation Satellite System in Russia, the Galileo Satellite Navigation System in Europe, and the Beidou satellite navigation system in China. Of course, the specific circuit arrangement or signal processing algorithm of the satellite signal receiver may be different for different satellite systems, and will not be described in detail herein.

In the present embodiment, the satellite signal receiver can output a three-dimensional coordinate, which can be used as the positioning data. The three-dimensional coordinates may include longitude, dimension, and height. On the earth, specify a three-digit coordinate that can locate a position in space. The first height data may be a height in the three-dimensional coordinates. Specifically, the height may be the height of the position of the aircraft relative to the ground surface below, or may be the altitude of the position of the aircraft.

The height sensor is configured to generate second height data of the aircraft.

In this embodiment, the height sensor may generate second altitude data of the aircraft based on the environment in which the aircraft is located. The environment in which the aircraft is located may specifically include: an air pressure at a position where the aircraft is located, other reference objects within a preset range of the position, and an environmental acceleration such as a gravitational acceleration at the location.

In the present embodiment, the height sensor can calculate the height of the aircraft according to the environment in which the aircraft is located. Specifically, for example, the height sensor may include a barometric altimeter, an ultrasonic sensor, an inertial navigation system, and the like. Specifically, the barometric altimeter can obtain the height of the aircraft according to the correspondence between the air pressure and the altitude. The ultrasonic sensor can measure the height of the aircraft by using the principle that the ultrasonic wave encounters the reflection of the object. The inertial navigation system may output the position coordinates of the aircraft by internally calculating the speed, acceleration, flight attitude, and the like of the aircraft, and the height in the position coordinates may be used as the second height data. Specifically, for example, the strapdown inertial navigation system. In this embodiment, the second height data may be the height of the position of the aircraft relative to the ground surface below, the altitude of the position of the aircraft, or the relative height of the current position of the aircraft compared to the takeoff position.

The controller controls the operation of the aircraft according to the positioning data, and in the case that the first height data and the second height data conform to a specified relationship, the aircraft is no longer controlled according to the positioning data.

In the present embodiment, the controller itself may be a large-scale integrated circuit having a logic operation function. The controller can receive the data output by the satellite signal receiver and the height sensor as described above, and control the flight process of the aircraft according to the output data of the foregoing two. Specifically, the controller can control the flight attitude, speed, altitude, and the like of the aircraft.

In this embodiment, the controller may control the operation of the aircraft according to the positioning data. It can be understood that the controller can fuse the positioning data output by the satellite signal receiver with the data information of the other sensor output indicating the flight state of the aircraft to obtain better control information of the aircraft. The controller can control the flight of the aircraft based on the preferred control information. Specifically, for example, the controller may also obtain a better control information by filtering the positioning data output by the satellite signal receiver, the positioning data output by the inertial navigation system, and the altitude data output by the height sensor. The controller controls the flight of the aircraft based on the control information. The controller can also obtain the control information by filtering the positioning data of the satellite signal receiver, the data output by the magnetometer, and the data output by the gyroscope. The filtering process includes but is not limited to: Kalman filtering, particle filtering, complementary filtering, and the like.

In the present embodiment, the specified relationship may include a number of constraints for determining whether the satellite signal receiver has failed. Specifying the relationship may include providing a height threshold, and when the difference between the first height data and the second height data is greater than or less than the height threshold, the first height data and the second height data are considered to conform to the specified relationship. Specifically, for example, the height threshold is 30, the first height data is 1230 meters, and the second height data is 1100 meters. At this time, the difference between the first height data and the second height data is 130, and the difference 130 is greater than the height threshold. 30. The first height data and the second height data are considered to be in a specified relationship. For another example, the height threshold is -30, the first height data is 420 meters, and the second height data is 500 meters. At this time, the difference between the first height data and the second height data is -80, and the difference -80 is less than the height. Threshold -30, the first height data and the second height data are considered to be in a specified relationship. The designating the relationship may further include: the first height data at which the satellite signal receiver output occurs is substantially hopped compared to the second height data output by the height sensor. For example, the previous first height data is 2 meters larger than the second height data, and the next first height data is 50 meters smaller than the second height data. It can also be considered that the first height data and the second height data conform to the specified relationship.

In the present embodiment, when the first height data and the second height data conform to the specified relationship, the aircraft may determine by itself that the satellite signal receiver has failed. If the controller continues to control the flight data from the receiver output, the aircraft will have difficulty reaching the actual target position.

In this embodiment, if the first height data and the second height data meet the specified relationship, the controller no longer controls the aircraft according to the positioning data. After the controller finds that the first height data and the second height data meet the specified relationship, it is considered that the satellite signal receiver has failed, and the positioning data output by the receiver can be stopped to control the flight of the aircraft. In this way, the controller can be prevented from controlling the flight of the aircraft according to the wrong positioning data, and the aircraft is lost. Further, the controller may control the aircraft to land when the satellite signal receiver is considered to be faulty, or the controller may control the aircraft to fly according to the positioning data output by the other positioning components. Specifically, for example, the aircraft inertial navigation system obtains better control information through Kalman filtering according to an inertial navigation system, a height sensor, a light flu detector, etc., and the controller controls the aircraft flight according to the control information.

In the embodiment of the present application, it is determined whether the satellite signal receiver has failed by determining whether the first height data and the second height data meet the specified relationship. By implementing the embodiment of the present application, the fault detection of the satellite signal receiver by the aircraft itself can be realized. In this way, it can be found that the satellite signal receiver has failed, and corresponding countermeasures can be taken. To a certain extent, the aircraft may be prevented from being lost due to navigation of the satellite signal receiver according to the malfunctioning satellite.

Please refer to Figure 2 and Figure 3. In a specific scenario example, a satellite signal receiver, a strapdown inertial navigation system, a barometric altimeter, a light flu detector, an ultrasonic sensor, a depth sensor, and a controller are installed in the aircraft.

In this scenario example, the aircraft can be applied to the field of delivery. After the cargo is placed for the aircraft and the target location is set, the controller controls the aircraft to fly to the target location according to the aircraft's own control program. During the flight, the controller can continuously receive the positioning data provided by the satellite signal receiver to determine the current flight status and further control the aircraft's flight attitude, flight altitude and flight speed.

In this scenario example, the strapdown inertial navigation system and barometric altimeter can also measure the current altitude of the output aircraft during flight. According to the altitude data output by the strapdown inertial navigation system and the barometric altimeter, the optimal estimation can be performed, and an optimal value is output to the controller. This optimal value can be used to more accurately represent the current height of the aircraft. Specifically, for example, a Kalman filter algorithm can be used to optimally estimate the output of the strapdown inertial navigation system and the barometric altimeter.

In this scenario example, the controller may compare the altitude data in the positioning data provided by the satellite signal receiver with the optimal value. When the altitude data and the optimal value meet the specified relationship, the satellite signal receiver is considered to be abnormal. Specifically, for example, the controller compares the height data in the positioning data with the optimal value, and then compares the difference with a preset height threshold. The difference is greater than the height threshold, and the height data is considered to be in a specified relationship with the optimal value, that is, the satellite signal receiver is considered to be abnormal.

In this scenario example, after the controller assumes that the satellite signal receiver has an abnormality, the control activates the ultrasonic sensor and the positioning data that is no longer output by the receiver controls the flight of the aircraft. The controller can fuse the output data of the magnetometer, the gyroscope and the like according to the height data outputted by at least one of the strapdown inertial navigation system and the barometric altimeter to obtain control information, and control the aircraft to reduce the flying height. Inertial Navigation System Preferably, the controller controls the aircraft to tend to reduce the height evenly.

In this scenario example, when the ultrasonic sensor senses the feedback signal, it usually enters the working range of the ultrasonic sensor, which also indicates that it has entered the working range of the light flu detector. At this point, the controller can control the start-up flu detector and control the aircraft based on the horizontal speed of the light flu detector output. Specifically, for example, the controller can control the horizontal speed of the aircraft to go to zero, thus realizing the aircraft to hover in a position in the space, preventing the aircraft from continuing to drift in the horizontal direction, and causing an impact. Furthermore, after entering the working range of the ultrasonic sensor, the controller can use the height data output by the ultrasonic sensor as a reference for controlling the flying height of the aircraft. The output data of the ultrasonic sensor, the light flu detector, the magnetometer, the barometric altimeter, the inertial navigation system, the gyroscope, etc. are subjected to Kalman filtering to obtain relatively optimal control information.

In this scenario example, after the controller controls the aircraft to hover over a position in space, the depth sensor is used to find the target landing area below the aircraft. The controller can also intermittently control the aircraft to fly horizontally for a distance or a period of time, then control the aircraft to hover and find the target landing area during hovering. The controller can also control the aircraft to maintain a low-speed flight at a height that is relatively uniform in the horizontal direction, and to find the target landing area through the depth sensor during flight. After finding the target landing zone, the controller controls the aircraft to land.

In one embodiment, the height sensor may generate the second height data according to the air pressure of the environment in which the aircraft is located. In the present embodiment, the height sensor can be a barometric altimeter. The height of the earth's ground is different, and the air pressure will change. The height sensor can further calculate the height of the position according to the air pressure at the location.

In an embodiment, the specified relationship may include at least one of the following: a difference between the first height data and the second height data is greater than a first height threshold; or the first height data is The difference between the second height data is less than the second height threshold; or the absolute value of the difference between the first height data and the second height data is greater than the third height threshold.

In the present embodiment, a height threshold is provided as a reference for comparison. The height threshold may be derived in advance by experiments or the like and set as a first height threshold, a second height threshold, or a third height threshold in the specified relationship. The height threshold is used to determine whether there is a large deviation in the positioning data output by the satellite signal receiver to further determine whether the satellite signal receiver is faulty.

In this embodiment, the first height threshold may be a positive value, and the second height threshold may be a negative value. As such, when the difference between the first height data and the second height data is a non-negative value, the difference may be compared with the first height threshold. When the difference between the first height data and the second height data is a negative value, the difference may be compared with the second height threshold. Of course, only one height threshold, ie a third height threshold, may be provided, and the absolute value of the difference is compared to the third height threshold. Of course, only one of the first height threshold, the second height threshold, and the third height threshold may be set in the aircraft, and the determination is made accordingly.

In one embodiment, the specifying the relationship may include providing a data field based on the second height data, the first height data output by the satellite signal receiver being irregularly bouncing in the data domain.

In the present embodiment, the data field can be a range of values. Specifically, for example, the data field may be -30 to 30. The data field based on the second height data may conform to the agreed condition for the data field and the second height data. Specifically, for example, the second height data is a central value of the data domain; or the second height data is a starting value of the data domain; or the second height data is an end value of the data domain.

In the present embodiment, the first height data is irregularly beat in the data domain. It can be understood that the first height data output by the satellite signal receiver loses coherence. Specifically, for example, the first height data continuously output by the satellite signal receiver is 620 meters, 670 meters, 531 meters, 683 meters, 602 meters, and the like. The second height data may be 600 meters, and the data field may be 500 to 700 meters. The first height data output by the satellite signal receiver loses continuity and jumps in the data domain, and the first height data and the first The two height data conforms to the specified relationship. At this point, the satellite signal receiver can be considered to have failed.

Of course, in combination with the foregoing embodiments, the maximum value of the data domain may be the first height threshold, and the minimum value of the data domain may be the second height threshold.

In one embodiment, the aircraft may also include an ultrasonic sensor and a light flu detector.

The ultrasonic sensor is configured to output a sensing signal indicative of a distance between the aircraft and a surface.

In the present embodiment, the ultrasonic sensor can emit ultrasonic waves in one direction, and ultrasonic reflection can occur when the ultrasonic waves encounter an object. The ultrasonic sensor can calculate the distance between the aircraft and the object based on the received reflected sound waves. In this embodiment, the ultrasonic sensor may be disposed on a side of the aircraft facing the ground surface. The sensing signal output by the ultrasonic sensor can be used to represent the distance between the aircraft and the surface. Of course, the ultrasonic sensor is not limited to being disposed on the side of the aircraft facing the surface as long as it transmits ultrasonic waves and the functional unit that receives the ultrasonic waves is directed toward the lower side of the aircraft.

In this embodiment, the sensing signal can be an electrical signal. The sensing signal can be an analog signal, the distance is represented by the signal strength, and the sensing signal can also be a digital signal, and the number indicating the distance is directly output.

The light flu detector is configured to output a horizontal velocity of the aircraft based on the sensed image.

In the present embodiment, the light flu detector can output the horizontal speed of the aircraft based on the sensed image of the periphery of the aircraft. The horizontal speed can be a moving speed in a three-dimensional space compared to a horizontal plane. The light flu detector can sense the image and output a speed based on the motion relationship between successive images. This speed can be used as the horizontal speed of the aircraft.

The controller controls the aircraft to reduce the height if the aircraft is no longer controlled according to the positioning data, and if the sensing signal output by the ultrasonic sensor reaches a fourth height threshold, according to the The horizontal speed of the light flu detector output is controlled to control the aircraft.

In this embodiment, when the controller no longer controls the aircraft according to the positioning data, the controller may determine that the satellite signal receiver has failed. Specifically, for example, the satellite signal receiver does not output positioning data, or the positioning data output by the controller receiver determines that the satellite signal receiver has failed. Typically, the aircraft may be in a horizontal stall condition when the aircraft's satellite signal receiver fails. An aircraft in this state may be relatively easy to hit an object in the vicinity, or when the battery is nearly exhausted, it may be forced to descend, or the battery may be exhausted after the battery is exhausted.

In this embodiment, the manner in which the controller controls the aircraft to reduce the height may include: the controller controls the aircraft to stably reduce the height according to the altitude data output by the height sensor of the aircraft; or the controller directly controls the relative rotation speed of the propeller of the aircraft. lower the altitude.

In the present embodiment, the fourth height threshold is used to constrain whether the sensing signal reaches a specified state. Specifically, for example, the sensing signal is an analog signal, and the intensity is used to represent the distance, and the fourth height threshold may be a signal strength; or the sensing signal is a digital signal, and the fourth height threshold may be a value. .

In the present embodiment, when the sensing signal reaches the fourth height threshold, it may be indicated that the controller can control the flight of the aircraft according to the horizontal speed output by the light flu detector. When the light flu detector needs to be within a certain height range, the effective horizontal speed can be output. In this way, by setting the fourth height threshold to determine whether the aircraft has reached the working height range of the light flu detector, to some extent, the controller is prevented from controlling the flight of the aircraft according to the erroneous horizontal speed output by the light flu detector.

In the present embodiment, the ultrasonic sensor itself may also have a certain range of sensing distances. Within this range the ultrasonic sensor can output the height of the aircraft relative to the surface. The sensing distance of the ultrasonic sensor is close to the working height range of the light flu detector, so that the output of the ultrasonic sensor is used as a basis for determining the light flu detector, and has a high degree of use.

In the present embodiment, the controller controls the flight of the aircraft according to the horizontal speed output by the light flu detector, so that the horizontal speed output by the light flu detector can be used as the speed reference for controlling the aircraft. Based on this speed reference, the controller can control the propeller speed of the aircraft accordingly to adjust the flight attitude or the flight speed in the horizontal direction. Specifically, for example, to prevent the aircraft from being in a horizontal direction, causing an impact on the object, the controller can control the aircraft's horizontal speed to approach zero to achieve a position hovering in the air. Of course, the controller can also control the aircraft to maintain a speed according to the horizontal speed of the light flu detector output, tending to fly at a constant speed.

In one embodiment, the controller controls the horizontal speed of the aircraft to a specified speed based on the horizontal speed of the light flu detector output.

In the present embodiment, the specified speed may be 0 or a positive value other than 0. Preferably, the specified speed may be zero. The controller controls the horizontal speed of the aircraft to tend to zero, which can be understood as the horizontal speed of the aircraft is close to zero. Due to the influence of air flow and control accuracy, the horizontal speed of the aircraft may not be equal to 0, but the controller will target the horizontal speed equal to zero.

In one embodiment, in the case where the sensing signal output by the ultrasonic sensor reaches a fourth height threshold, the light flu detector starts to start working. In the present embodiment, the sensing signal reaches the fourth height threshold, which can be used as a starting condition of the light flu detector. When the starting condition is not reached, the light flu detector can not start working, thus saving energy of the aircraft.

In one embodiment, the aircraft may further include a depth sensor; the depth sensor is configured to output a depth information map below the aircraft; the controller may further be configured according to the height sensor output The second height data controls the aircraft to maintain a height, the aircraft is controlled to maintain a horizontal speed according to the horizontal speed output by the light flu detector, and the target landing area of the aircraft is determined according to the depth information map; The aircraft is landed in the target landing area.

In this embodiment, the depth sensor is configured to output a depth information map below the aircraft, and the controller may analyze whether there is an area suitable for landing according to the depth information map. By analyzing the data in the depth map, you can get the basic terrain below the aircraft. Specifically, for example, a continuous area having a depth close to the same depth in the depth information map may be considered to have one plane.

In this embodiment, the controller may control the aircraft to maintain a height according to the second height data output by the height sensor, and may control the aircraft to maintain according to the horizontal speed output by the light flu detector. At a horizontal speed. Maintained at a height, the depth information map of the depth sensor output can have a more uniform reference. This can make it easier to accurately reflect the actual terrain below the aircraft and reduce the inaccuracy of the data in the depth map caused by the altitude change of the aircraft itself. The aircraft is maintained at a horizontal speed so that the aircraft can continuously sense the output depth map for the terrain, so that the target landing area can be found quickly and accurately.

In the present embodiment, the target landing area of the aircraft is determined in the depth information map, and it may be analyzed in the depth information map whether there is a sufficiently large area suitable for the aircraft to land. When the aircraft landed on the ground, there will be contact areas in contact with the ground, and all of the contact areas integrally form a figure, the area of the target landing area is larger than the area of the figure, or the target landing area may contain the figure. In this way, the aircraft can land in the target landing area.

Please refer to Figure 4. An embodiment of the present application also provides an aircraft. The aircraft may include a satellite signal receiver, an ultrasonic sensor, a light flu detector, and a controller. The satellite signal receiver is configured to receive a satellite signal; the ultrasonic sensor is configured to output a sensing signal indicating a distance between the aircraft and a surface; the light influenza detector is configured to output the aircraft according to the sensed image a horizontal speed; the controller is configured to control flight of the aircraft; if the satellite signal receiver is abnormal, controlling the aircraft to reduce a height, and a sensing signal output by the ultrasonic sensor reaches a threshold In the case, the aircraft is controlled according to the horizontal speed of the light flu detector output.

In this embodiment, the controller is configured to control the flight of the aircraft, and the controller may control the aircraft to fly according to the positioning data generated by the satellite signal receiver based on the received satellite signal. It can also be: the controller acquires other types of data through other devices, and controls the flight of the aircraft according to other types of data acquired. For example, the controller can acquire environmental data through the Strapdown Inertial Navigation System and control aircraft flight based on environmental data. Among them, a preferred embodiment is that the controller controls the flight of the aircraft based on the positioning data generated by the satellite receiver. Of course, in specific implementation, the controller may also control the flight of the aircraft by other means than those enumerated above, depending on the specific situation. In this regard, the application is not limited.

The aircraft provided by the embodiment determines whether to enter the working range of the light flu detector by the ultrasonic sensor, and after entering the working range of the light flu detector, controls the aircraft according to the horizontal speed output by the light flu detector. The aircraft typically controls its flight direction and speed based on the positioning data output by the satellite signal receiver in conjunction with the output of other sensors. In the event of a satellite signal receiver failure, the controller may lose the data reference to the aircraft's own control. That is, the controller does not know the current horizontal speed of the aircraft, so that the aircraft is in a state of horizontal drift. In this state, the aircraft is not able to position itself very well. During the drift process, it is very likely to hit objects such as buildings. Therefore, the longer the aircraft is in a drift state, the greater the risk of an impact. In this embodiment, the controller further controls the flight of the aircraft according to the horizontal speed outputted by the light flu detector, thereby achieving a greater degree of avoiding the state in which the aircraft is in a stall drift, and reducing the risk of the aircraft hitting the object. After the controller obtains the horizontal speed of the aircraft, it can control the horizontal speed of the aircraft to 0, so as to avoid hitting the object, and also control the aircraft to move in one direction at a certain speed to find the location of the landing.

In the present embodiment, in the case where the satellite signal receiver is abnormal, controlling the aircraft to reduce the height may refer to controlling the aircraft to reduce the height under the condition that the satellite signal receiver is abnormal. In the specific implementation, when the satellite signal receiver is abnormal, the aircraft can be controlled to reduce the height. It is also possible to control the aircraft to reduce the altitude within a preset time range after the satellite signal receiver is found to be abnormal. It is also possible to control the aircraft to lower the altitude after a specified time interval when the satellite signal receiver is found to be abnormal. The foregoing preset time range may be determined according to a specific situation. For example, it can be determined according to the data processing performance of the functional devices in the aircraft, the data transmission speed between the functional devices, and the like. Specifically, for example, the aircraft may be controlled to decrease in height within 1 minute after the satellite signal receiver is abnormal.

In one embodiment, the satellite signal receiver anomaly includes: no satellite signal is received; or no positioning data is output; or the output positioning data is incorrect.

In the present embodiment, the satellite signal is not received, the satellite may be faulty, and no relevant signal is sent; or the signal sent by the satellite receives interference, and the satellite signal receiver of the aircraft is not received.

In the present embodiment, there is no data positioning data, and after the satellite signal receiver receives the satellite signal, the satellite signal decoding process fails, resulting in no output positioning data; or the satellite signal receiver itself is damaged and cannot be normal. jobs.

In the present embodiment, the output positioning data is incorrect, and the satellite signal receiver may be faulty, and the receiving satellite signal may be intermittent; or the satellite signal received by the satellite signal receiver may be interfered with, for example, weather, etc., resulting in output. The positioning data has an error.

In one embodiment, the aircraft further includes a height sensor; the height sensor is configured to generate altitude data of the aircraft based on an environment in which the aircraft is located; the controller controls the aircraft to reduce height during the process According to the height data output by the height sensor, the height of the aircraft is lowered at a constant speed.

In the present embodiment, a height sensor can be mounted on the aircraft for measuring the height of the aircraft. Specifically, for example, the height sensor may be a barometric altimeter, an inertial navigation system, or the like. The height sensor can measure the height of the aircraft according to the environment in which the aircraft is located, so that in the case of an abnormality of the satellite signal receiver, the controller can control the flight of the aircraft according to the altitude data output by the height sensor. It will be appreciated that the ultrasonic sensor of the aircraft can also be used as the height sensor.

In this embodiment, the controller receives the height data output by the height sensor, and can know the height of the current aircraft. In the process of controlling the aircraft to reduce the altitude, the speed of the altitude data can be combined, and the controller aircraft tends to fall at a constant speed, so that the flight state of the aircraft is relatively stable.

In one embodiment, the controller controls the aircraft to maintain the current altitude if the sensed signal output by the ultrasonic sensor reaches the threshold. In the present embodiment, the controller can control the aircraft to reduce the height until the sensing signal of the ultrasonic sensor reaches the threshold. At this time, the controller can know the current horizontal speed of the aircraft according to the light flu detector, and then can control the flight attitude of the aircraft, and the propeller speed, etc., to control the horizontal speed of the aircraft. During this process, the aircraft is maintained at a height that prevents the aircraft from landing hard when it is not ready to land, avoiding the risk of damage to the aircraft.

In one embodiment, the sensing signal output threshold of the ultrasonic sensor output includes at least one of: an intensity of the sensing signal output by the ultrasonic sensor reaches a threshold; or, the sensing signal represents The distance reaches the threshold.

In this embodiment, the ultrasonic sensor can output a voltage or current signal, and the strength of the signal can indicate the distance of the distance. The threshold can be correspondingly set to an intensity value of a voltage or current.

In the present embodiment, the ultrasonic sensor can directly output the distance value. For example, the ultrasonic sensor outputs a value indicating the distance based on the sensed voltage or current signal strength after being converted into a distance. Correspondingly, the threshold can be a value that identifies the distance.

Please refer to Figure 5. An embodiment of the present application further provides an aircraft, including: a height sensor, a light flu detector, a depth sensor, and a controller; the height sensor is configured to output height data of the aircraft relative to a surface; a light flu detector for outputting a horizontal velocity of the aircraft based on the sensed image; the depth sensor for outputting a depth information map below the aircraft; the controller for outputting according to the height sensor Height data and a horizontal velocity of the light flu detector output controlling the aircraft flight; determining a target landing zone of the aircraft based on a depth map of the depth sensor output; controlling the aircraft to land at the target landing region.

In the present embodiment, the controller controls the flight of the aircraft based on the height data output by the height sensor and the horizontal speed output by the light flu detector. The controller may include: the controller controls the aircraft to maintain a height, that is, the height data output by the height sensor is maintained at a value, and the controller controls the horizontal speed of the aircraft to 0, that is, the horizontal speed of the output of the light flu detector At 0. At this time, the aircraft can be in a state of maintaining a position in the space, so that the depth sensor can accurately sense the depth information map under the aircraft, so as to accurately find the target landing area suitable for the aircraft to land. The method may further include: the controller controls the aircraft to maintain a height according to the height data output by the height sensor, and controls the aircraft to fly horizontally for a distance or a period of time according to the horizontal speed of the light flu detector output, and hangs Stop for a period of time for the depth sensor to generate a depth map below the aircraft and analyze if there is a suitable target landing area. The method may further include: the controller controls the aircraft area to maintain a height according to the height data output by the height sensor, and controls the aircraft to fly at a constant horizontal speed according to the horizontal speed outputted by the light flu detector, The depth sensor can continuously generate a depth map and further analyze whether there is a suitable target landing area.

In the present embodiment, the height sensor may be a barometric altimeter, an ultrasonic sensor, or an inertial navigation system. Of course, the height sensor is not limited to the above list, and it can also be other components or systems that can output the height of the aircraft.

In this embodiment, the controller can combine the height data of the height sensor and the horizontal speed of the light flu detector by filtering processing to obtain better control information. The controller controls the flight of the aircraft based on the control information. The filtering processing algorithms include, but are not limited to, Kalman filtering, particle filtering, complementary filtering, and the like.

In the present embodiment, the target landing area may have a flat area large enough for the ground to be used for landing of the aircraft. The height of the target landing area in the depth map tends to be the same. In this way, the controller can analyze in the depth information map whether there is a depth that tends to be the same, and the area formed is enough for the area where the aircraft is landing. The controller can determine the found area that meets the above requirements as the target landing area. The depth of a region in the depth map tends to be the same, which indicates that there is a relatively flat ground on the part of the surface.

In one embodiment, the area of the target landing area is not less than the area in which the bottom surface of the aircraft forms a pattern. In the present embodiment, the area of the target landing area is greater than or equal to the area in which the bottom surface of the aircraft forms a pattern. In this way, it can be achieved that the target landing area can be large enough to be suitable for landing the aircraft. If the area of the target landing area is smaller than the area of the figure formed by the bottom surface of the aircraft, there may be protrusions or depressions on the surface outside the target landing area, so that when the aircraft is landing, it may be affected by the protrusion or depression, and it is difficult to land smoothly. . Specifically, for example, during landing, it has already collided with the bulge before contacting the target landing area, which may cause the aircraft to roll over; or, when landing to the ground, the part of the aircraft is in the depression, causing the aircraft to tilt or roll over.

In one embodiment, the graphics formed by the target landing zone may be capable of encompassing a graphic formed by the side of the aircraft facing the ground.

In the present embodiment, the physical contour of the aircraft has a side facing the ground. For example, when the aircraft landed on the ground, the side where the part in contact with the ground is located. The side of the aircraft facing the ground itself can form a figure with a certain area. The shape and size of this graphic can be used as the minimum value of the target landing area. That is, the target landing area can include the graphic formed by the aircraft inside. At this time, the target landing area can be better suited for aircraft landing. Specifically, for example, the graphic may be a graphic formed by orthographic projection of the aircraft on the ground when the aircraft is landing on the ground.

The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. Furthermore, various embodiments are disclosed in the specification, and those skilled in the art can understand that the above embodiments can be combined according to the general knowledge in the field. These combinations are also within the scope of the embodiments disclosed herein.

While the present invention has been described by the embodiments of the present invention, it will be understood by those skilled in the art

Claims

An aircraft characterized by comprising: a satellite signal receiver, a height sensor, and a controller;

The satellite signal receiver is configured to receive a satellite signal, and generate positioning data of the aircraft, where the positioning data includes first height data;

The height sensor is configured to generate second height data of the aircraft;

The controller controls the operation of the aircraft according to the positioning data, and in the case that the first height data and the second height data conform to a specified relationship, the aircraft is no longer controlled according to the positioning data.
The aircraft of claim 1 wherein said height sensor is operative to generate said second height data of said aircraft based on an environment in which said aircraft is located.
The aircraft according to claim 2, wherein said height sensor generates said second height data according to a magnetic field of an environment in which said aircraft is located; or said height sensor is based on an environment in which said aircraft is located The air pressure generates the second height data.
The aircraft according to claim 1, wherein the specified relationship comprises at least one of: a difference between the first height data and the second height data is greater than a first height threshold; or The difference between the first height data and the second height data is less than the second height threshold; or the absolute value of the difference between the first height data and the second height data is greater than the first Height threshold.
The aircraft of claim 1 wherein said specified relationship comprises providing a data field based on said second height data, said first height data output by said satellite signal receiver being in said data field Irregular beating.
The aircraft of claim 1 wherein said aircraft further comprises an ultrasonic sensor and a light flu detector;

The ultrasonic sensor is configured to output a sensing signal indicating a distance between the aircraft and a surface;

The light flu detector is configured to output a horizontal speed of the aircraft according to the sensed image;

The controller controls the aircraft to reduce the height if the aircraft is no longer controlled according to the positioning data, and if the sensing signal output by the ultrasonic sensor reaches a third height threshold, according to the The horizontal speed of the light flu detector output is controlled to control the aircraft.
The aircraft of claim 6 wherein said controller controls said aircraft's horizontal speed to a specified speed based on a horizontal speed output by said light flu detector.
The aircraft according to claim 6, wherein the light flu detector starts to start operation if the sensing signal output by the ultrasonic sensor reaches a third height threshold.
The aircraft of claim 6 wherein said aircraft further comprises a depth sensor;

The depth sensor is configured to output a depth information map below the aircraft;

The controller controls the aircraft to maintain a height according to the second height data output by the height sensor, and controls the aircraft to maintain a horizontal speed according to the horizontal speed output by the light flu detector, according to the A depth map determines a target landing area of the aircraft; controlling the aircraft to land in the target landing area.
An aircraft characterized by comprising: a satellite signal receiver, an ultrasonic sensor, a light influenza detector and a controller;

The satellite signal receiver is configured to receive a satellite signal;

The ultrasonic sensor is configured to output a sensing signal indicating a distance between the aircraft and a surface;

The light flu detector is configured to output a horizontal speed of the aircraft according to the sensed image;

The controller is configured to control the flight of the aircraft; in case the satellite signal receiver is abnormal, the aircraft is controlled to reduce the height, and in a case that the sensing signal output by the ultrasonic sensor reaches a threshold, according to the The horizontal speed of the light flu detector output is controlled to control the aircraft.
The aircraft according to claim 10, wherein said satellite signal receiver anomaly comprises: no satellite signal is received; or no positioning data is output; or the output positioning data is incorrect.
The aircraft of claim 10 wherein said aircraft further comprises a height sensor;

The height sensor is configured to generate height data of the aircraft based on an environment in which the aircraft is located;

During the controller controlling the aircraft to reduce the height, the height of the aircraft is uniformly decreased according to the height data output by the height sensor.
The aircraft according to claim 12, wherein said height sensor generates said height data according to a magnetic field of an environment in which said aircraft is located; or said height sensor is based on an environment in which said aircraft is located Air pressure, the height data is generated.
The aircraft of claim 10 wherein said controller controls said aircraft to maintain a current altitude in the event that said sensed signal output by said ultrasonic sensor reaches said threshold.
The aircraft according to claim 10, wherein the sensing signal output threshold of the ultrasonic sensor outputs at least one of the following: an intensity of the sensing signal output by the ultrasonic sensor reaches a threshold; or The distance represented by the sensing signal reaches a threshold.
The aircraft of claim 10 wherein said controller controls said aircraft's horizontal speed to a specified speed based on a horizontal speed output by said light flu detector.
The aircraft according to claim 10, wherein said optical flu detector starts to start operation if said sensing signal output by said ultrasonic sensor reaches said threshold.
An aircraft characterized by comprising: a height sensor, a light flu detector, a depth sensor and a controller;

The height sensor is configured to output height data of the aircraft relative to a surface;

The light flu detector is configured to output a horizontal speed of the aircraft according to the sensed image;

The depth sensor is configured to output a depth information map below the aircraft;

The controller is configured to control the aircraft flight according to height data output by the height sensor and a horizontal speed output by the light flu detector; determine the aircraft according to a depth information map output by the depth sensor a target landing area; controlling the aircraft to land in the target landing area.
The aircraft according to claim 18, wherein in determining the target landing area based on the depth map, the aircraft is controlled to fly horizontally at a constant speed according to a horizontal speed output by the light flu detector.
The aircraft according to claim 18, wherein in the process of determining a target landing area according to the depth map, the controller controls the aircraft to fly horizontally or horizontally for a period of time according to the optical flu detector Thereafter, the aircraft is controlled to hovers over.
The aircraft according to claim 19 or 20, wherein in the process of determining the target landing area according to the depth map, the controller controls the aircraft to tend to be based on the height data output by the height sensor Maintain at a height.
The aircraft of claim 18 wherein the height of said target landing zone in said depth information map tends to be the same.
The aircraft according to claim 22, wherein the area of the target landing area is not less than the bottom area of the aircraft forming pattern.
The aircraft of claim 23 wherein said target landing area forms a graphic that encompasses a pattern formed by a side of said aircraft facing the ground.