WO2019127478A1 - 无人机的控制方法、飞行控制器及无人机 - Google Patents

无人机的控制方法、飞行控制器及无人机 Download PDF

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Publication number
WO2019127478A1
WO2019127478A1 PCT/CN2017/120185 CN2017120185W WO2019127478A1 WO 2019127478 A1 WO2019127478 A1 WO 2019127478A1 CN 2017120185 W CN2017120185 W CN 2017120185W WO 2019127478 A1 WO2019127478 A1 WO 2019127478A1
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WO
WIPO (PCT)
Prior art keywords
drone
flight
mode
zone
speed control
Prior art date
Application number
PCT/CN2017/120185
Other languages
English (en)
French (fr)
Inventor
耿畅
林灿龙
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 CN202210260866.0A priority Critical patent/CN114637310A/zh
Priority to PCT/CN2017/120185 priority patent/WO2019127478A1/zh
Priority to CN201780027294.9A priority patent/CN109074089B/zh
Publication of WO2019127478A1 publication Critical patent/WO2019127478A1/zh
Priority to US16/915,300 priority patent/US20200324901A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • 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]
    • B64U2201/104—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] using satellite radio beacon positioning systems, e.g. GPS
    • 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

Definitions

  • the embodiment of the invention relates to the field of drones, and in particular to a control method for a drone, a flight controller and a drone.
  • the drone can be applied in many fields, such as crop plant protection, surveying, power inspection, disaster relief and the like.
  • Embodiments of the present invention provide a control method for a drone, a flight controller, and a drone to reduce the probability of the drone entering the flight limited zone.
  • a first aspect of the embodiments of the present invention provides a method for controlling a drone, including:
  • the current flight mode of the drone is a non-speed control mode, switching the non-speed control mode to a speed control mode to cause the drone to fly in the speed control mode;
  • a second aspect of the embodiments of the present invention provides a flight controller, including: a memory and a processor;
  • the memory is for storing program code
  • the processor calls the program code to perform the following operations when the program code is executed:
  • the current flight mode of the drone is a non-speed control mode, switching the non-speed control mode to a speed control mode to cause the drone to fly in the speed control mode;
  • a third aspect of the embodiments of the present invention provides a drone, including:
  • a power system mounted to the fuselage for providing flight power
  • flight controller of the second aspect wherein the flight controller is in communication with the power system for controlling the flight of the drone.
  • the control method, the flight controller and the drone of the drone provided by the embodiment obtain the position information of the drone and the position information of the flight limited area, according to the position information of the drone and the position information of the flight limited area.
  • the current non-speed control mode of the drone is switched to the speed control mode, so that the drone can fly in the speed control mode, effectively controlling the speed of the drone.
  • the probability of the drone entering the flight limited zone is reduced.
  • FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a communication system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an application scenario of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an application scenario of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an application scenario of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an application scenario of a method for controlling a drone according to another embodiment of the present invention.
  • FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention.
  • FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Obtain location information of the drone and location information of the flight limited zone.
  • the execution body of the method of the embodiment may be a flight control device, and the flight control device may be a control device for performing flight control on the drone, and specifically, may be a flight controller of the drone.
  • the drone 20 can perform wireless communication with its corresponding ground end device 21, and the ground end device 21 can be specifically a device such as a remote controller or a smart terminal.
  • the drone 20 includes a flight controller 22 and a communication system 23, which may specifically include a receiver for receiving wireless signals transmitted by the antenna 24 of the ground end device 21.
  • the drone 20 can also be provided with a positioning device such as a Global Positioning System (GPS) positioning device through which the flight controller 22 can acquire the position information of the drone 20.
  • a positioning device such as a Global Positioning System (GPS) positioning device through which the flight controller 22 can acquire the position information of the drone 20.
  • GPS Global Positioning System
  • some areas or areas may restrict drone flight, that is, restrict the drone from flying to the flight limited area, and the drone 20 may also pre-store the location information of the limited flight zone, and the flight controller 22 may obtain pre-storage. Position information of the flight limited zone in the drone 20.
  • Step S102 When determining that the UAV enters a buffer zone of the flight limited zone according to the location information of the UAV and the location information of the flight limited zone, the current flight mode of the UAV is obtained.
  • the flight controller 22 can determine the buffer zone of the flight limited zone according to the location information of the drone 20 and the location information of the flight limited zone. Further, the flight controller 22 can determine the location information of the drone 20 according to the location information of the drone 20 Whether the drone 20 enters the buffer zone of the flight limited zone.
  • the flight controller 22 determines that the drone 20 has entered the buffer zone of the flight limited zone, the current flight mode of the drone 20 is acquired.
  • the flight mode of the drone includes the following: a first mode for controlling the angular velocity of the drone, such as a manual mode; a second mode for controlling the posture of the drone, such as a gesture mode a third mode for controlling the speed of the drone.
  • the third mode may be a position mode in which the user manually controls the speed of the drone, or may be an autonomous flight mode of the drone.
  • the method further includes controlling the drone to hover when it is determined that the drone enters a buffer zone of the flight limited zone. For example, when the flight controller 22 determines that the drone 20 has entered the buffer zone of the flight limited zone, the drone 20 can also be controlled to hover.
  • the drone when it is determined that the drone enters the flight limited area according to the location information of the drone, the drone is controlled to descend. For example, when the flight controller 22 determines that the drone 20 has entered the flight limited zone according to the position information of the drone 20, the drone 20 can be controlled to descend directly to prevent the drone from staying in the flight limited zone for a long time.
  • Step S103 If the current flight mode of the drone is a non-speed control mode, switch the non-speed control mode to a speed control mode to enable the drone to fly in the speed control mode.
  • the flight controller 22 After the flight controller 22 acquires the current flight mode of the drone 20, it is further determined whether the current flight mode of the drone 20 is a non-speed control mode, and if the current flight mode of the drone 20 is a non-speed control mode, The non-speed control mode is switched to the speed control mode to cause the drone 20 to fly in the speed control mode.
  • the non-speed control mode includes at least one of: a first mode for controlling an angular velocity of the drone; a second mode for controlling a posture of the drone.
  • the speed control mode includes a third mode for controlling the speed of the drone.
  • the flight controller 22 can switch the current manual mode of the drone 20 to A position mode for controlling the speed of the drone.
  • the current flight mode of the drone 20 is the second mode, such as the attitude mode, when the drone 20 enters the buffer zone of the flight limited zone, the flight controller 22 can switch the current attitude mode of the drone 20 to be used for A position mode that controls the speed of the drone. Thereby, the drone 20 is allowed to fly in the position mode after entering the buffer zone of the flight limited zone.
  • the method further includes: acquiring a control instruction for controlling the drone; if a component of the control vector indicated by the control instruction The control instruction is not executed if a component directed to the flight limited area is included.
  • the current flight mode of the drone 20 is a first mode, such as a manual mode.
  • the flight controller 22 can switch the current manual mode of the drone 20 to be used for A position mode that controls the speed of the drone.
  • the remote controller when the user operates the rocker or the button of the ground end device 21 such as the remote controller, the remote controller generates a control command, which may specifically be a control lever amount for controlling the speed of the drone 20, and the remote controller will The amount of lever is sent to the drone 20, which receives the amount of the lever through the communication system 23 of the drone 20.
  • V denotes a speed vector for controlling the speed of the drone 20 indicated by the amount of the lever.
  • the velocity vector V can be decomposed into two components that are perpendicular to each other, such as component v1 and component v2. As shown in FIG. 3, the component v1 points to the fly-limited region, that is, the velocity vector V includes the component v1 pointing to the fly-limited region, if The edge of the flight limited zone is perpendicular to the ground, and the component v1 can be a horizontal component. If the flight controller 22 controls the speed of the drone 20 in accordance with the speed vector V, it will cause the drone 20 to enter the flight limited area.
  • the flight controller 22 detects the ground end device 21 When the speed vector V indicated by the transmitted control command includes a component directed to the fly-limited area, the control command is not executed, that is, the control command is not responded, thereby preventing the drone 20 from entering the fly-limited area.
  • the method further includes: acquiring a control instruction for controlling the drone; if a component of the control vector indicated by the control instruction And including a component directed to the restricted flight zone, removing a component of the component of the control vector that points to the limited fly zone; and controlling the drone to fly according to a control instruction after removing a component directed to the restricted fly zone.
  • V denotes a speed vector for controlling the speed of the drone 20 indicated by the amount of the lever.
  • the velocity vector V can be decomposed into two components that are perpendicular to each other, such as component v1 and component v2.
  • component v1 points to the fly-limited zone.
  • flight controller 22 can remove component v1 in velocity vector V, retaining The other component is the component v2.
  • the velocity vector V is not limited to being decomposed into a component v1 and a component v2, and may be decomposed into a plurality of components, and the component v1 is only one component of the plurality of components, and other components of the plurality of components other than the component v1 may be synthesized.
  • the flight controller when the flight controller detects that the component v1 in the velocity vector V includes the pointing fly-by zone, the component v1 in the velocity vector V can be removed, and other components than the component v1, such as the component v2, are retained, and The drone flight is controlled according to the component after the component v1 is removed, for example, the drone flight is controlled according to the component v2. As shown in FIG. 4, when the flight controller controls the drone flight according to the component v2, the drone 20 It will fly along the boundary of the restricted area without entering the restricted area.
  • the speed vector indicated by the amount of the joystick sent by the ground end device 21 to the drone 20 can also deviate from the fly-limited area. As shown in FIG. 5, the component v1 of the speed vector V deviates from the fly-limited area.
  • the flight controller 22 can execute the amount of control lever. When the flight controller 22 controls the drone 20 to fly according to the speed vector V as shown in FIG. 5, the drone 20 will be away from the flight limited area.
  • Step S104 Control the speed of the drone according to the location information of the flight limited zone.
  • the flight controller 22 can also control the speed of the drone 20 according to the position information of the flight limited zone. For example, when the flight controller 22 determines the buffer zone of the flight limited zone according to the position information of the flight limited zone, and determines the drone. When 20 has entered the buffer zone, the speed of the drone 20 can be controlled to cause the drone 20 to decelerate or to control the drone 20 to hover.
  • the unmanned person when the drone enters the buffer zone of the flight limited zone, the unmanned person will be unmanned.
  • the current non-speed control mode is switched to the speed control mode, so that the drone can fly in the speed control mode, effectively controlling the speed of the drone, and avoiding the drone flying at a higher speed in the non-speed control mode.
  • the probability of the drone entering the restricted area is reduced.
  • Embodiments of the present invention provide a method for controlling a drone.
  • FIG. 6 is a flowchart of a method for controlling a drone according to another embodiment of the present invention. As shown in FIG. 6, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S601 Obtain location information of the drone and location information of the flight limited zone.
  • step S601 The specific principle and implementation manner of step S601 are the same as those in step S101, and details are not described herein again.
  • Step S602 When determining that the UAV enters a buffer zone of the flight limited zone according to the location information of the UAV and the location information of the flight limited zone, the current flight mode of the UAV is obtained.
  • step S602 The specific principles and implementation manners of step S602 are the same as those in step S102, and are not described here.
  • Step S603 if the current flight mode of the drone is the first mode for controlling the angular velocity of the drone, switching the first mode to the first mode for controlling the posture of the drone Two modes.
  • the flight controller 22 can also switch the current first mode of the drone 20, such as the manual mode, to the second mode, such as the attitude mode. So that the drone 20 is flying in the attitude mode.
  • Step S604 controlling the drone to descend.
  • the flight controller 22 can control the drone 20 to descend.
  • the drone 20 is prevented from entering the flight limited area. That is to say, when the drone flies into the buffer, it drops directly. As long as the buffer is wide enough, the unmanned machine will drop in the buffer zone of the flight-limited zone.
  • Step S605 controlling the speed of the drone according to the location information of the flight limited zone.
  • step S605 The specific principle and implementation manner of the step S605 are the same as those of the step S104, and details are not described herein again.
  • the current first mode of the drone such as the manual mode
  • the second mode such as the attitude mode
  • the drone is controlled to descend. Therefore, the drone flies directly into the buffer zone, and as long as the buffer is wide enough, the unmanned space drops in the buffer zone of the flight-limited zone, thereby greatly reducing the probability of the UAV invading the flight-limited zone.
  • Embodiments of the present invention provide a method for controlling a drone.
  • the method in this embodiment may further include: adjusting a buffer of the limited flight area according to a current flight mode of the drone.
  • the drone is flying faster in the manual mode or the attitude mode, and the flight controller 22 may switch the manual mode or the attitude mode of the drone to the position mode, and the drone 20 may still fly out.
  • the buffer enters the flight limited area.
  • the embodiment may further adjust the size of the buffer of the flight limited area according to the current flight mode of the drone.
  • Adjusting the buffer zone of the flight limited zone according to the current flight mode of the drone including: according to a maximum speed of the drone in the current flight mode, and the drone is
  • the braking time in the speed control mode determines a minimum value of a buffer size of the limited fly zone.
  • the current flight mode of the drone is manual mode.
  • the maximum speed of the drone in the manual mode is 20m/s
  • the maximum acceleration of the brake is 10m/s 2
  • the braking time of the drone in the position mode is 2s.
  • the minimum width of the buffer zone of the fly-limited zone is determined to be 40 m. That is to say, if the current flight mode of the drone is manual mode, the width of the buffer zone of the flight limited zone should not be less than 40m, otherwise it will enter the flight limited zone.
  • the method further includes: determining, according to a minimum value of the buffer size of the limited area and a preset buffer size, a buffer of the limited area .
  • a preset buffer size may also be added to the base.
  • the minimum width of the buffer is 40m
  • the reserved buffer width is, for example, 20 meters, based on 40m
  • the buffer width is 60 meters.
  • the drone can also send prompt information to its corresponding ground end equipment during flight, including the following possible situations:
  • a possible situation is: when the drone flies out of the buffer zone of the flight limited zone in the speed control mode, sending a prompt message to the ground end device corresponding to the drone to prompt the user The drone has flown out of the buffer zone of the flight-limited zone.
  • the drone 20 flies into the buffer of the flight limited zone in the manual mode.
  • the flight controller 22 switches the manual mode of the drone 20 to the position mode, so that the drone 20 is in the buffer in the position mode. flight.
  • the flight controller 22 can transmit a prompt message to the ground end device 21 through the communication system 23 to prompt the user of the drone 20
  • the user can fly out of the buffer.
  • the user can switch the position mode of the drone 20 back to the manual mode according to the prompt information, or can switch the position mode of the drone 20 back to the manual mode without being in the manual mode.
  • the position mode is maintained when the machine 20 flies out of the buffer or after flying out of the buffer. If the user needs to switch the position mode of the drone 20 back to the manual mode, the user can manually switch the mode switch back to the position mode and then enter the manual mode again. Because the manual mode of the drone is dangerous, the operation is difficult, and it is not suitable for the drone to actively switch in.
  • Another possible situation is: when the drone flies out of the buffer zone of the flight limited zone in the speed control mode, sending a prompt message to the ground end device corresponding to the drone to prompt the user The speed control mode is switched back to the non-speed control mode.
  • the drone 20 flies into the buffer of the flight limited zone in the manual mode.
  • the flight controller 22 switches the manual mode of the drone 20 to the position mode, so that the drone 20 is in the buffer in the position mode. flight.
  • the flight controller 22 can send a prompt message to the ground end device 21 through the communication system 23, and the prompt information can prompt the user to The location mode is switched back to the manual mode.
  • the prompt information may also prompt the user to perform a specific handover method and step.
  • Another possible situation is: when the drone enters the buffer zone of the flight limited zone, sending a prompt message to the ground end device corresponding to the drone to prompt the user to enter the drone The buffer zone of the restricted flight zone.
  • the flight controller 22 determines that the drone 20 enters the buffer zone of the flight limited zone based on the position information of the drone 20 and the position information of the flight limited zone, the flight controller 22 can communicate to the ground end device via the communication system 23. 21 sends a prompt message, which is used to prompt the user that the drone enters the buffer zone of the flight limited zone.
  • the flight controller 22 can continuously send the prompt information to the ground end device 21, and when the drone flies out of the buffer, the flight controller 22 can stop sending the prompt information to the ground end device 21. This allows the user to determine that the drone has flown out of the buffer.
  • the drone may not send prompt information to its corresponding ground end device, specifically, when the drone flies out of the buffer zone of the flight limited area in the speed control mode, The drone is controlled to continue flying in the speed control mode.
  • the flight controller 22 can control the drone to continue flying in the position mode without the ground end device 21 Send a message.
  • the buffer of the fly-limited area is adjusted according to the current flight mode of the drone, so that the size of the buffer can be dynamically adjusted according to the current flight mode of the drone, ensuring that the buffer is wide enough to further reduce the The probability of man-machine invasion of the restricted zone.
  • the prompt information is sent to the ground end device, and the prompt information may prompt the user to switch the speed control mode of the drone back to the non-speed control mode, or may instruct the user to fly the drone.
  • the buffer is out, it is up to the user to decide whether to switch the speed control mode of the drone back to the non-speed control mode. Because the manual mode of the drone is dangerous, the operation is difficult, and it is not suitable for the drone to actively switch in. By manually switching the position mode of the drone back to the manual mode, the safety of the drone can be improved. Reduce the difficulty of active switching of drones.
  • FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention.
  • the flight controller 80 includes a memory 81 and a processor 82.
  • the memory 81 is configured to store program code; the processor 82 calls the program code, when the program code is executed, for performing the following operations: acquiring location information of the drone and location information of the flight limited area; Position information of the man machine and location information of the flight limited area, determining that the drone enters the buffer zone of the flight limited zone, acquiring the current flight mode of the drone; if the current flight of the drone The mode is a non-speed control mode, and the non-speed control mode is switched to a speed control mode to enable the drone to fly in the speed control mode; and the drone is controlled according to the position information of the flight limited zone speed.
  • the non-speed control mode includes at least one of: a first mode for controlling an angular velocity of the drone; a second mode for controlling a posture of the drone.
  • the speed control mode includes a third mode for controlling the speed of the drone.
  • the method is further configured to: acquire a control instruction for controlling the drone; and if the control instruction indicates a component of the control vector The control instruction is not executed if a component directed to the flight limited area is included.
  • the method is further configured to: acquire a control instruction for controlling the drone; and if the control instruction indicates a component of the control vector And including a component directed to the restricted flight zone, removing a component of the component of the control vector that points to the limited fly zone; and controlling the drone to fly according to a control instruction after removing a component directed to the restricted fly zone.
  • the processor 82 is further configured to: when determining that the drone enters a buffer of the flight limited zone, control the drone to hover.
  • the processor 82 is further configured to: if the current flight mode of the drone is the first mode for controlling the angular velocity of the drone, switch the first mode to be used for controlling the The second mode of the attitude of the drone.
  • the processor 82 is further configured to: control the drone to drop.
  • the processor 82 is further configured to: adjust a buffer of the flight limited area according to a current flight mode of the drone.
  • the processor 82 is specifically configured to: according to the maximum speed of the drone in the current flight mode. And a braking time of the drone in the speed control mode to determine a minimum value of a buffer size of the fly-limited area.
  • the method is further configured to: determine, according to a minimum value of a buffer size of the limited fly zone, and a preset buffer size. The buffer zone of the flight zone.
  • the processor 82 is further configured to: when determining that the drone enters the limited flight zone according to the location information of the drone, control the drone to descend.
  • the processor 82 is further configured to: when the UAV flies out of the buffer of the flight limited area in the speed control mode, to the UAV through the communication system of the UAV The corresponding ground end device sends a prompt message to prompt the user that the drone has flew out of the buffer zone of the flight limited area.
  • the processor 82 is further configured to: when the UAV flies out of the buffer of the flight limited area in the speed control mode, to the UAV through the communication system of the UAV The corresponding ground end device sends a prompt message to prompt the user to switch the speed control mode back to the non-speed control mode.
  • the processor 82 is further configured to send a prompt to the ground end device corresponding to the drone through the communication system of the drone when the drone enters a buffer zone of the flight limited zone Information to prompt the user that the drone enters the buffer zone of the flight limited zone.
  • the processor 82 is further configured to: when the UAV flies out of the buffer of the flight limited area in the speed control mode, control the UAV to continue to fly in the speed control mode. .
  • the unmanned person when the drone enters the buffer zone of the flight limited zone, the unmanned person will be unmanned.
  • the current non-speed control mode is switched to the speed control mode, so that the drone can fly in the speed control mode, effectively controlling the speed of the drone, and avoiding the drone flying at a higher speed in the non-speed control mode.
  • the probability of the drone entering the restricted area is reduced.
  • FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention.
  • the drone 100 includes: a fuselage, a power system, and a flight controller 118, and the power system includes at least one of the following: a motor 107.
  • a propeller 106 and an electronic governor 117, the power system is mounted to the airframe for providing flight power; and the flight controller 118 is communicatively coupled to the power system for controlling the drone to fly.
  • flight controller 118 The specific principles and implementation manners of the flight controller 118 are similar to the flight controllers described in the foregoing embodiments, and are not described herein again.
  • the drone 100 further includes: a sensing system 108, a communication system 110, a supporting device 102, and a photographing device 104.
  • the supporting device 102 may specifically be a pan/tilt
  • the communication system 110 may specifically include receiving
  • the receiver is configured to receive a wireless signal transmitted by the antenna 114 of the ground station 112, and 116 represents an electromagnetic wave generated during communication between the receiver and the antenna 114.
  • the unmanned person when the drone enters the buffer zone of the flight limited zone, the unmanned person will be unmanned.
  • the current non-speed control mode is switched to the speed control mode, so that the drone can fly in the speed control mode, effectively controlling the speed of the drone, and avoiding the drone flying at a higher speed in the non-speed control mode.
  • the probability of the drone entering the restricted area is reduced.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

本发明实施例提供一种无人机的控制方法、飞行控制器及无人机，该方法包括：获取无人机的位置信息和限飞区的位置信息；当根据无人机的位置信息和限飞区的位置信息，确定无人机进入限飞区的缓冲区时，获取无人机当前的飞行模式；如果无人机当前的飞行模式为非速度控制模式，则将非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行；根据限飞区的位置信息控制无人机的速度。本发明实施例通过将无人机当前的非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行，有效的控制无人机的速度，避免无人机在非速度控制模式下以较大的速度飞行时进入限飞区，从而降低了无人机进入限飞区的概率。

Description

无人机的控制方法、飞行控制器及无人机 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人机的控制方法、飞行控制器及无人机。
背景技术
现有技术中无人机可以被应用在诸多领域，例如农作物植保、测绘、电力巡检、救灾等领域。
但是某些地区或区域可能会限制无人机飞行，即限制无人机飞到限飞区，因此现有技术中需要一种能够有效控制无人机避免无人机飞进限飞区的方法。
发明内容
本发明实施例提供一种无人机的控制方法、飞行控制器及无人机，以降低无人机进入限飞区的概率。
本发明实施例的第一方面是提供一种无人机的控制方法，包括：
获取无人机的位置信息和限飞区的位置信息；
当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式；
如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行；
根据所述限飞区的位置信息控制所述无人机的速度。
本发明实施例的第二方面是提供一种飞行控制器，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
获取无人机的位置信息和限飞区的位置信息；
当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式；
如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行；
根据所述限飞区的位置信息控制所述无人机的速度。
本发明实施例的第三方面是提供一种无人机，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
以及第二方面所述的飞行控制器，所述飞行控制器与所述动力系统通讯连接，用于控制所述无人机飞行。
本实施例提供的无人机的控制方法、飞行控制器及无人机，通过获取无人机的位置信息和限飞区的位置信息，根据无人机的位置信息和限飞区的位置信息，确定无人机进入限飞区的缓冲区时，将无人机当前的非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行，有效的控制无人机的速度，避免无人机在非速度控制模式下以较大的速度飞行时进入限飞区，从而降低了无人机进入限飞区的概率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人机的控制方法的流程图；
图2为本发明实施例提供的通信系统的示意图；
图3为本发明实施例提供的无人机的控制方法的应用场景的示意图；
图4为本发明另一实施例提供的无人机的控制方法的应用场景的示意图；
图5为本发明另一实施例提供的无人机的控制方法的应用场景的示意图；
图6为本发明另一实施例提供的无人机的控制方法的流程图；
图7为本发明另一实施例提供的无人机的控制方法的应用场景的示意图；
图8为本发明实施例提供的飞行控制器的结构图；
图9为本发明实施例提供的无人机的结构图。
附图标记：
20-无人机      21-地面端设备    22-飞行控制器
23-通信系统     24-天线        80-飞行控制器
81-存储器      82-处理器        100-无人机
107-电机       106-螺旋桨      117-电子调速器
118-飞行控制器   108-传感系统    110-通信系统
102-支撑设备     104-拍摄设备    112-地面站
114-天线         116-电磁波
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种无人机的控制方法。图1为本发明实施例提供的无人机的控制方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、获取无人机的位置信息和限飞区的位置信息。
本实施例方法的执行主体可以是飞行控制设备，该飞行控制设备可以是对无人机进行飞行控制的控制设备，具体地，可以是无人机的飞行控制器。
如图2所示，无人机20可以和其对应的地面端设备21进行无线通信，地面端设备21具体可以是遥控器、智能终端等设备。无人机20包括飞行控制器22和通信系统23，通信系统23具体可以包括接收机，接收机用于接收地面端设备21的天线24发送的无线信号。
无人机20还可设置有定位设备例如全球定位系统(Global Positioning System，简称GPS)定位设备，飞行控制器22可通过该GPS定位设备获取无人机20的位置信息。另外，某些地区或区域可能会限制无人机飞行，即限制无人机飞到限飞区，无人机20还可预先存储有限飞区的位置信息，飞行控制器22可获取到预先存储在无人机20中的限飞区的位置信息。
步骤S102、当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式。
具体的，飞行控制器22可根据无人机20的位置信息和限飞区的位置信息确定出该限飞区的缓冲区，进一步地，飞行控制器22可根据无人机20的位置信息确定无人机20是否进入该限飞区的缓冲区。
当飞行控制器22确定出无人机20进入该限飞区的缓冲区时，获取无人机20当前的飞行模式。
可选的，无人机的飞行模式包括如下几种：用于控制所述无人机的角速度的第一模式例如手动模式；用于控制所述无人机的姿态的第二模式例如姿态模式；用于控制所述无人机的速度的第三模式，可选的，第三模式可以是用户手动控制无人机速度的位置模式，也可以是无人机的自主飞行模式。
另外，所述方法还包括：当确定所述无人机进入所述限飞区的缓冲区时，控制所述无人机悬停。例如，当飞行控制器22确定出无人机20进入该限飞区的缓冲区时，还可控制无人机20悬停。
在其他实施例中，当根据所述无人机的位置信息，确定所述无人机进入所述限飞区时，控制所述无人机下降。例如，当飞行控制器22根据无人机20的位置信息，确定无人机20已进入限飞区时，可控制无人机20直接下降，避免无人机在限飞区内长时间停留。
步骤S103、如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行。
当飞行控制器22获取到无人机20当前的飞行模式后，进一步判断无人机20当前的飞行模式是否为非速度控制模式，如果无人机20当前的飞行模式是非速度控制模式，则将该非速度控制模式切换为速度控制模式，以使无人机20在速度控制模式下飞行。
可选的，所述非速度控制模式包括如下至少一种：用于控制所述无人机的角速度的第一模式；用于控制所述无人机的姿态的第二模式。可选的，所述速度控制模式包括用于控制所述无人机的速度的第三模式。
例如，如果无人机20当前的飞行模式是第一模式例如手动模式，则当无人机20进入限飞区的缓冲区时，飞行控制器22可将无人机20当前的手动模式切换为用于控制无人机的速度的位置模式。如果无人机20当前的飞行模式是第二模式例如姿态模式，则当无人机20进入限飞区的缓冲区时，飞行控制器22可将无人机20当前的姿态模式切换为用于控制无人机的速度的位置模式。从而使无人机20在进入限飞区的缓冲区后按照位置模式进行飞行。
在本实施例中，所述将所述非速度控制模式切换为速度控制模式之后，还包括：获取用于控制所述无人机的控制指令；若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则不执行所述控制指令。
例如，无人机20当前的飞行模式是第一模式例如手动模式，当无人机20进入限飞区的缓冲区时，飞行控制器22可将无人机20当前的手动 模式切换为用于控制无人机的速度的位置模式。此时，用户对地面端设备21例如遥控器的摇杆或按键进行操作时，遥控器生成控制指令，该控制指令具体可以是用于控制无人机20速度的控制杆量，遥控器将该控制杆量发送给无人机20，飞行控制器22通过无人机20的通信系统23接收该控制杆量。如图3所示，V表示该控制杆量指示的用于控制无人机20速度的速度矢量。速度矢量V可分解为相互垂直的两个分量例如分量v1和分量v2，如图3所示，分量v1指向限飞区，也就是说，速度矢量V中包括指向限飞区的分量v1，如果限飞区的边缘是垂直于地面的，则分量v1可以是水平分量。如果飞行控制器22按照速度矢量V控制无人机20的速度，将导致无人机20进入限飞区，为了避免无人机20进入限飞区，当飞行控制器22检测到地面端设备21发送的控制指令指示的速度矢量V中包括指向限飞区的分量时，则不执行该控制指令即不响应该控制指令，从而避免无人机20进入限飞区。
在其他实施例中，所述将所述非速度控制模式切换为速度控制模式之后，还包括：获取用于控制所述无人机的控制指令；若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则去除所述控制矢量的分量中指向所述限飞区的分量；根据去除指向所述限飞区的分量后的控制指令控制所述无人机飞行。
如图3所示，V表示该控制杆量指示的用于控制无人机20速度的速度矢量。速度矢量V可分解为相互垂直的两个分量例如分量v1和分量v2，如图3所示，分量v1指向限飞区，此时，飞行控制器22可以去除速度矢量V中的分量v1，保留其他分量即分量v2。另外，速度矢量V不限于分解为分量v1和分量v2，还可以分解为多个分量，分量v1只是该多个分量中的一个分量，该多个分量中除了分量v1之外的其他分量可合成为分量v2。
在本实施例中，当飞行控制器检测出速度矢量V中包括指向限飞区的分量v1时，可去除速度矢量V中的分量v1，保留除分量v1之外的其他分量例如分量v2，并按照去除分量v1之后的分量来控制无人机飞行，例如按照分量v2来控制无人机飞行，如图4所示，当飞行控制器按照分量v2来控制无人机飞行时，无人机20将沿着限飞区的边界飞行，而不会进 入限飞区。
在其他实施例中，地面端设备21向无人机20发送的控制杆量指示的速度矢量还可以背离限飞区，如图5所示，速度矢量V的分量v1背离限飞区，此时，飞行控制器22可以执行该控制杆量，当飞行控制器22根据如图5所示的速度矢量V控制无人机20飞行时，无人机20将远离限飞区。
另外，如图3、图4、图5只是示意性说明，本实施例并不限定速度矢量V的大小和方向。
步骤S104、根据所述限飞区的位置信息控制所述无人机的速度。
飞行控制器22还可根据限飞区的位置信息控制无人机20的速度，例如，当飞行控制器22根据限飞区的位置信息确定出限飞区的缓冲区，并确定出无人机20已进入缓冲区时，可控制无人机20的速度，使无人机20减速行驶，或者控制无人机20悬停。
本实施例通过获取无人机的位置信息和限飞区的位置信息，根据无人机的位置信息和限飞区的位置信息，确定无人机进入限飞区的缓冲区时，将无人机当前的非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行，有效的控制无人机的速度，避免无人机在非速度控制模式下以较大的速度飞行时进入限飞区，从而降低了无人机进入限飞区的概率。
本发明实施例提供一种无人机的控制方法。图6为本发明另一实施例提供的无人机的控制方法的流程图。如图6所示，在图1所示实施例的基础上，本实施例中的方法，可以包括：
步骤S601、获取无人机的位置信息和限飞区的位置信息。
步骤S601的具体原理和实现方式均与步骤S101一致，此处不再赘述。
步骤S602、当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式。
步骤S602的具体原理和实现方式均与步骤S102一致，此处不再赘 述。
步骤S603、如果所述无人机当前的飞行模式为用于控制所述无人机的角速度的第一模式，则将所述第一模式切换为用于控制所述无人机的姿态的第二模式。
在本实施例中，如果无人机20当前的飞行模式是第一模式例如手动模式，飞行控制器22还可以将无人机20当前的第一模式例如手动模式切换为第二模式例如姿态模式，以使无人机20在姿态模式下飞行。
步骤S604、控制所述无人机下降。
具体的，当飞行控制器22将无人机20当前的第一模式例如手动模式切换为第二模式例如姿态模式之后，飞行控制器22可控制无人机20下降。从而避免无人机20进入限飞区。也就是说，无人机飞入缓冲区就直接下降，只要缓冲区足够宽，则无人机会在限飞区的缓冲区就下降。
步骤S605、根据所述限飞区的位置信息控制所述无人机的速度。
步骤S605的具体原理和实现方式均与步骤S104一致，此处不再赘述。
本实施例通过在无人机进入所述限飞区的缓冲区时，将无人机当前的第一模式例如手动模式切换为第二模式例如姿态模式，在姿态模式下，控制无人机下降，使得无人机飞入缓冲区就直接下降，只要缓冲区足够宽，则无人机会在限飞区的缓冲区就下降，从而大大降低了无人机入侵限飞区的概率。
本发明实施例提供一种无人机的控制方法。在上述实施例的基础上，本实施例中的方法，可以还包括：根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区。
通常情况下，无人机在手动模式或姿态模式下的飞行速度较快，导致飞行控制器22将无人机的手动模式或姿态模式切换到位置模式之后，无人机20依然有可能飞出缓冲区进入限飞区。为了解决该问题，本实施例还可以根据无人机当前的飞行模式，调整所述限飞区的缓冲区的大小。
所述根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区，包括：根据所述无人机在所述当前的飞行模式下的最大速度，以及所述无人 机在所述速度控制模式下的刹车时间，确定所述限飞区的缓冲区大小的最小值。
例如，无人机当前的飞行模式是手动模式，无人机在手动模式下的最大速度为20m/s，刹车最大加速度为10m/s 2，无人机在位置模式下的刹车时间为2s，根据无人机在手动模式下的最大速度20m/s和该刹车时间2s可确定出限飞区的缓冲区的最小宽度为40m。也就是说，如果无人机当前的飞行模式是手动模式，则限飞区的缓冲区的宽度不得小于40m，否则将进入限飞区。
所述确定所述限飞区的缓冲区大小的最小值之后，还包括：根据所述限飞区的缓冲区大小的最小值和预设的缓冲区大小，确定所述限飞区的缓冲区。
为了降低无人机进入限飞区的概率，当确定出限飞区的缓冲区大小的最小值时，还可以在该基础上加上预设缓冲区大小。例如，缓冲区的最小宽度为40m，在40m的基础上加上预留的缓冲区宽度例如20米，此时缓冲区宽度为60米。
此外，无人机在飞行过程中还可以向其对应的地面端设备发送提示信息，具体包括如下几种可能的情况：
一种可能的情况是：当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机已飞出所述限飞区的缓冲区。
例如无人机20以手动模式飞入限飞区的缓冲区，进入缓冲区后，飞行控制器22将无人机20的手动模式切换为位置模式，使得无人机20在缓冲区以位置模式飞行。当无人机20在位置模式下从限飞区的缓冲区飞出时如图7所示，飞行控制器22可通过通信系统23向地面端设备21发送提示信息，以提示用户无人机20当前已飞出缓冲区，此时，用户可以根据该提示信息将无人机20的位置模式切换回到手动模式，也可以不将无人机20的位置模式切换回到手动模式即在无人机20飞出缓冲区时或飞出缓冲区后依然保持位置模式。如果用户需要将无人机20的位置模式切换回到手动模式，则用户可以手动将模式开关切回到位置模式，之后再次进入手动模式。因为无人机的手动模式比较危险，操作难度较大，不适宜 进行无人机主动切换进入。
另一种可能的情况是：当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，向所述无人机对应的地面端设备发送提示信息，以提示用户将所述速度控制模式切换回到所述非速度控制模式。
例如无人机20以手动模式飞入限飞区的缓冲区，进入缓冲区后，飞行控制器22将无人机20的手动模式切换为位置模式，使得无人机20在缓冲区以位置模式飞行。当无人机20在位置模式下从限飞区的缓冲区飞出时如图7所示，飞行控制器22可通过通信系统23向地面端设备21发送提示信息，该提示信息可提示用户将位置模式切换回到手动模式，在其他实施例中，该提示信息还可以提示用户具体切换的方法和步骤。
再一种可能的情况是：当所述无人机进入所述限飞区的缓冲区时，向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机进入所述限飞区的缓冲区。
例如，飞行控制器22根据无人机20的位置信息和限飞区的位置信息，确定出无人机20进入限飞区的缓冲区时，飞行控制器22可通过通信系统23向地面端设备21发送提示信息，该提示信息用于提示用户无人机进入了限飞区的缓冲区。当无人机位于缓冲区内时，飞行控制器22可持续向地面端设备21发送提示信息，当无人机飞出缓冲区时，飞行控制器22可停止向地面端设备21发送提示信息，从而使得用户确定该无人机飞出了缓冲区。
在其他实施例中，无人机还可以不向其对应的地面端设备发送提示信息，具体的，当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，控制所述无人机在所述速度控制模式下继续飞行。
例如图7所示，当无人机20在位置模式下从限飞区的缓冲区飞出时，飞行控制器22可控制无人机在该位置模式下继续飞行，而不向地面端设备21发送提示信息。
本实施例通过根据无人机当前的飞行模式，调整限飞区的缓冲区，使得缓冲区的大小可以随着无人机当前的飞行模式而动态调整，保证缓冲区足够宽，进一步降低了无人机入侵限飞区的概率。另外，当无人机从缓冲区飞出时向地面端设备发送提示信息，该提示信息可提示用户将无人机的 速度控制模式切换回到非速度控制模式，也可以指示用户无人机飞出了缓冲区，由用户自行决定是否将无人机的速度控制模式切换回到非速度控制模式。因为无人机的手动模式比较危险，操作难度较大，不适宜进行无人机主动切换进入，通过用户将无人机的位置模式手动切换回到手动模式，可提高无人机的安全性，降低无人机主动切换的难度。
本发明实施例提供一种飞行控制器。图8为本发明实施例提供的飞行控制器的结构图，如图8所示，飞行控制器80包括：存储器81和处理器82。存储器81用于存储程序代码；处理器82调用所述程序代码，当程序代码被执行时，用于执行以下操作：获取无人机的位置信息和限飞区的位置信息；当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式；如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行；根据所述限飞区的位置信息控制所述无人机的速度。
可选的，所述非速度控制模式包括如下至少一种：用于控制所述无人机的角速度的第一模式；用于控制所述无人机的姿态的第二模式。
可选的，所述速度控制模式包括用于控制所述无人机的速度的第三模式。
可选的，处理器82将所述非速度控制模式切换为速度控制模式之后，还用于：获取用于控制所述无人机的控制指令；若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则不执行所述控制指令。
可选的，处理器82将所述非速度控制模式切换为速度控制模式之后，还用于：获取用于控制所述无人机的控制指令；若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则去除所述控制矢量的分量中指向所述限飞区的分量；根据去除指向所述限飞区的分量后的控制指令控制所述无人机飞行。
可选的，处理器82还用于：当确定所述无人机进入所述限飞区的缓冲区时，控制所述无人机悬停。
可选的，处理器82还用于：如果所述无人机当前的飞行模式为用于 控制所述无人机的角速度的第一模式，则将所述第一模式切换为用于控制所述无人机的姿态的第二模式。
可选的，处理器82将所述第一模式切换为用于控制所述无人机的姿态的第二模式之后，还用于：控制所述无人机下降。
可选的，处理器82还用于：根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区。
可选的，处理器82根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区时，具体用于：根据所述无人机在所述当前的飞行模式下的最大速度，以及所述无人机在所述速度控制模式下的刹车时间，确定所述限飞区的缓冲区大小的最小值。
可选的，处理器82确定所述限飞区的缓冲区大小的最小值之后，还用于：根据所述限飞区的缓冲区大小的最小值和预设的缓冲区大小，确定所述限飞区的缓冲区。
可选的，处理器82还用于：当根据所述无人机的位置信息，确定所述无人机进入所述限飞区时，控制所述无人机下降。
可选的，处理器82还用于：当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机已飞出所述限飞区的缓冲区。
可选的，处理器82还用于：当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户将所述速度控制模式切换回到所述非速度控制模式。
可选的，处理器82还用于：当所述无人机进入所述限飞区的缓冲区时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机进入所述限飞区的缓冲区。
可选的，处理器82还用于：当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，控制所述无人机在所述速度控制模式下继续飞行。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图1或图 6所示实施例类似，此处不再赘述。
本实施例通过获取无人机的位置信息和限飞区的位置信息，根据无人机的位置信息和限飞区的位置信息，确定无人机进入限飞区的缓冲区时，将无人机当前的非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行，有效的控制无人机的速度，避免无人机在非速度控制模式下以较大的速度飞行时进入限飞区，从而降低了无人机进入限飞区的概率。
本发明实施例提供一种无人机。图9为本发明实施例提供的无人机的结构图，如图9所示，无人机100包括：机身、动力系统和飞行控制器118，所述动力系统包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力系统安装在所述机身，用于提供飞行动力；飞行控制器118与所述动力系统通讯连接，用于控制所述无人机飞行。
其中，飞行控制器118的具体原理和实现方式均与上述实施例所述的飞行控制器类似，此处不再赘述。
另外，如图9所示，无人机100还包括：传感系统108、通信系统110、支撑设备102、拍摄设备104，其中，支撑设备102具体可以是云台，通信系统110具体可以包括接收机，接收机用于接收地面站112的天线114发送的无线信号，116表示接收机和天线114通信过程中产生的电磁波。
本实施例通过获取无人机的位置信息和限飞区的位置信息，根据无人机的位置信息和限飞区的位置信息，确定无人机进入限飞区的缓冲区时，将无人机当前的非速度控制模式切换为速度控制模式，以使无人机在速度控制模式下飞行，有效的控制无人机的速度，避免无人机在非速度控制模式下以较大的速度飞行时进入限飞区，从而降低了无人机进入限飞区的概率。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实 现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (33)

  1. 一种无人机的控制方法，其特征在于，包括：
    获取无人机的位置信息和限飞区的位置信息；
    当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式；
    如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行；
    根据所述限飞区的位置信息控制所述无人机的速度。
  2. 根据权利要求1所述的方法，其特征在于，所述非速度控制模式包括如下至少一种：
    用于控制所述无人机的角速度的第一模式；
    用于控制所述无人机的姿态的第二模式。
  3. 根据权利要求1所述的方法，其特征在于，所述速度控制模式包括用于控制所述无人机的速度的第三模式。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述将所述非速度控制模式切换为速度控制模式之后，还包括：
    获取用于控制所述无人机的控制指令；
    若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则不执行所述控制指令。
  5. 根据权利要求1-3任一项所述的方法，其特征在于，所述将所述非速度控制模式切换为速度控制模式之后，还包括：
    获取用于控制所述无人机的控制指令；
    若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则去除所述控制矢量的分量中指向所述限飞区的分量；
    根据去除指向所述限飞区的分量后的控制指令控制所述无人机飞行。
  6. 根据权利要求4或5所述的方法，其特征在于，所述方法还包括：
    当确定所述无人机进入所述限飞区的缓冲区时，控制所述无人机悬停。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    如果所述无人机当前的飞行模式为用于控制所述无人机的角速度的 第一模式，则将所述第一模式切换为用于控制所述无人机的姿态的第二模式。
  8. 根据权利要求7所述的方法，其特征在于，所述将所述第一模式切换为用于控制所述无人机的姿态的第二模式之后，还包括：
    控制所述无人机下降。
  9. 根据权利要求1所述的方法，其特征在于，还包括：
    根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区，包括：
    根据所述无人机在所述当前的飞行模式下的最大速度，以及所述无人机在所述速度控制模式下的刹车时间，确定所述限飞区的缓冲区大小的最小值。
  11. 根据权利要求10所述的方法，其特征在于，所述确定所述限飞区的缓冲区大小的最小值之后，还包括：
    根据所述限飞区的缓冲区大小的最小值和预设的缓冲区大小，确定所述限飞区的缓冲区。
  12. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当根据所述无人机的位置信息，确定所述无人机进入所述限飞区时，控制所述无人机下降。
  13. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机已飞出所述限飞区的缓冲区。
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，向所述无人机对应的地面端设备发送提示信息，以提示用户将所述速度控制模式切换回到所述非速度控制模式。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当所述无人机进入所述限飞区的缓冲区时，向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机进入所述限飞区的缓冲区。
  16. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，控制所述无人机在所述速度控制模式下继续飞行。
  17. 一种飞行控制器，其特征在于，包括：存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取无人机的位置信息和限飞区的位置信息；
    当根据所述无人机的位置信息和限飞区的位置信息，确定所述无人机进入所述限飞区的缓冲区时，获取所述无人机当前的飞行模式；
    如果所述无人机当前的飞行模式为非速度控制模式，则将所述非速度控制模式切换为速度控制模式，以使所述无人机在速度控制模式下飞行；
    根据所述限飞区的位置信息控制所述无人机的速度。
  18. 根据权利要求17所述的飞行控制器，其特征在于，所述非速度控制模式包括如下至少一种：
    用于控制所述无人机的角速度的第一模式；
    用于控制所述无人机的姿态的第二模式。
  19. 根据权利要求17所述的飞行控制器，其特征在于，所述速度控制模式包括用于控制所述无人机的速度的第三模式。
  20. 根据权利要求17-19任一项所述的飞行控制器，其特征在于，所述处理器将所述非速度控制模式切换为速度控制模式之后，还用于：
    获取用于控制所述无人机的控制指令；
    若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则不执行所述控制指令。
  21. 根据权利要求17-19任一项所述的飞行控制器，其特征在于，所述处理器将所述非速度控制模式切换为速度控制模式之后，还用于：
    获取用于控制所述无人机的控制指令；
    若所述控制指令指示的控制矢量的分量中包括指向所述限飞区的分量，则去除所述控制矢量的分量中指向所述限飞区的分量；
    根据去除指向所述限飞区的分量后的控制指令控制所述无人机飞行。
  22. 根据权利要求20或21所述的飞行控制器，其特征在于，所述处理器还用于：
    当确定所述无人机进入所述限飞区的缓冲区时，控制所述无人机悬停。
  23. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    如果所述无人机当前的飞行模式为用于控制所述无人机的角速度的第一模式，则将所述第一模式切换为用于控制所述无人机的姿态的第二模式。
  24. 根据权利要求23所述的飞行控制器，其特征在于，所述处理器将所述第一模式切换为用于控制所述无人机的姿态的第二模式之后，还用于：
    控制所述无人机下降。
  25. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区。
  26. 根据权利要求25所述的飞行控制器，其特征在于，所述处理器根据所述无人机当前的飞行模式，调整所述限飞区的缓冲区时，具体用于：
    根据所述无人机在所述当前的飞行模式下的最大速度，以及所述无人机在所述速度控制模式下的刹车时间，确定所述限飞区的缓冲区大小的最小值。
  27. 根据权利要求26所述的飞行控制器，其特征在于，所述处理器确定所述限飞区的缓冲区大小的最小值之后，还用于：
    根据所述限飞区的缓冲区大小的最小值和预设的缓冲区大小，确定所述限飞区的缓冲区。
  28. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    当根据所述无人机的位置信息，确定所述无人机进入所述限飞区时，控制所述无人机下降。
  29. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器 还用于：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机已飞出所述限飞区的缓冲区。
  30. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户将所述速度控制模式切换回到所述非速度控制模式。
  31. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    当所述无人机进入所述限飞区的缓冲区时，通过所述无人机的通信系统向所述无人机对应的地面端设备发送提示信息，以提示用户所述无人机进入所述限飞区的缓冲区。
  32. 根据权利要求17所述的飞行控制器，其特征在于，所述处理器还用于：
    当所述无人机在速度控制模式下从所述限飞区的缓冲区飞出时，控制所述无人机在所述速度控制模式下继续飞行。
  33. 一种无人机，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    以及如权利要求17-32任一项所述的飞行控制器，所述飞行控制器与所述动力系统通讯连接，用于控制所述无人机飞行。
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