WO2020211814A1 - 环绕飞行的控制方法、装置、终端及存储介质 - Google Patents

环绕飞行的控制方法、装置、终端及存储介质 Download PDF

Info

Publication number
WO2020211814A1
WO2020211814A1 PCT/CN2020/085084 CN2020085084W WO2020211814A1 WO 2020211814 A1 WO2020211814 A1 WO 2020211814A1 CN 2020085084 W CN2020085084 W CN 2020085084W WO 2020211814 A1 WO2020211814 A1 WO 2020211814A1
Authority
WO
WIPO (PCT)
Prior art keywords
plane
surrounding
orbiting
interest
point
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2020/085084
Other languages
English (en)
French (fr)
Inventor
钟自鸣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2020211814A1 publication Critical patent/WO2020211814A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, and in particular to a control method, device, terminal and storage medium for flying around.
  • UAV products are mostly used for aerial photography, while consumer-level UAV products use programs to intelligently and autonomously realize some flight and aerial actions that originally required rich aerial manipulation experience and fine control, thereby better opening up the consumer level.
  • the market for drone products are mostly used for aerial photography, while consumer-level UAV products use programs to intelligently and autonomously realize some flight and aerial actions that originally required rich aerial manipulation experience and fine control, thereby better opening up the consumer level.
  • the market for drone products are mostly used for aerial photography, while consumer-level UAV products use programs to intelligently and autonomously realize some flight and aerial actions that originally required rich aerial manipulation experience and fine control, thereby better opening up the consumer level.
  • the market for drone products are mostly used for aerial photography, while consumer-level UAV products use programs to intelligently and autonomously realize some flight and aerial actions that originally required rich aerial manipulation experience and fine control, thereby better opening up the consumer level.
  • Existing drones have the function of intelligent flight around points of interest.
  • the realizing scenes of around points of interest are limited to flying in a plane or a relatively simple trajectory set in a three-dimensional space, such as a polyline segment or a circle in a horizontal plane. .
  • UAVs such as aerial photography, security inspections, etc.
  • UAVs have certain requirements for the flight trajectory in three-dimensional space. Therefore, the points of interest of existing UAVs surround The flight function cannot be better applied in the above-mentioned actual scenarios, which affects the user experience of the drone.
  • the embodiments of the present invention provide a control method, device, terminal, and storage medium for flying around to solve the problem that the existing flying around points of interest of drones cannot be better applied to complex trajectories in three-dimensional space.
  • an embodiment of the present invention provides a method for controlling a circle flight, including:
  • the surrounding parameters include a surrounding radius, a surrounding direction and a surrounding speed
  • next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane
  • the UAV is controlled to change orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the point of interest to be surrounded is determined by position information and height information of the point of interest.
  • the location of the point of interest includes geographic coordinates of the point of interest.
  • the determining the next surrounding plane includes:
  • the next surrounding plane is determined.
  • the preset angle is determined by a preset plane rotation direction, plane rotation speed, and plane rotation duration.
  • controlling the UAV to change orbit from the initial orbiting plane to the next orbiting plane for orbiting flight includes:
  • the drone is controlled to change orbit from the current orbiting plane to the next orbiting plane based on the first sub-speed and the second sub-speed to perform a orbit flight.
  • an embodiment of the present invention also provides a control device for circumnavigation flight, which includes:
  • An initial information determining module configured to determine points of interest to be surrounded and surrounding parameters, wherein the surrounding parameters include a surrounding radius, a surrounding direction, and a surrounding speed;
  • a first plane determining module configured to determine an initial surrounding plane according to the surrounding parameters and the point of interest, wherein the initial surrounding plane is a plane centered on the point of interest;
  • a second plane determining module configured to determine a next surrounding plane, wherein the next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane;
  • the orbiting flight control module is used to control the UAV to change orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the point of interest to be surrounded is determined by position information and height information of the point of interest.
  • the location of the point of interest includes geographic coordinates of the point of interest.
  • the second plane determination module is specifically configured to:
  • the next surrounding plane is determined.
  • the preset angle is determined by a preset plane rotation direction, plane rotation speed, and plane rotation duration.
  • orbiting flight control module is specifically used for:
  • the drone is controlled to change orbit from the current orbiting plane to the next orbiting plane based on the first sub-speed and the second sub-speed to perform a orbit flight.
  • an embodiment of the present invention also provides a drone, including:
  • An arm connected to the fuselage
  • the power plant is arranged on the arm;
  • One or more controllers, the one or more controllers are provided on the body;
  • a storage device is provided in the body, and the storage device is used to store one or more programs
  • the one or more programs are executed by the one or more controllers, so that the one or more controllers implement the method for controlling the orbiting flight provided by the embodiment of the present invention.
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a controller, the method for controlling the orbiting flight as described in any of the embodiments of the present invention is implemented. .
  • the embodiments of the present invention provide a method, a device, a terminal, and a storage medium for controlling orbiting flight.
  • the method includes: determining a point of interest to be orbited and an orbiting parameter, wherein the orbiting parameter includes an orbiting radius, an orbiting direction, and an orbiting speed;
  • the surrounding parameters and the points of interest determine an initial surrounding plane, wherein the initial surrounding plane is a plane centered on the point of interest; and a next surrounding plane is determined, wherein the next surrounding plane is defined by the
  • the point of interest is a plane centered and at a preset angle to the initial orbiting plane; the drone is controlled to change orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the above-mentioned technical solution can make the drone circle around the point of interest selected by the user in a three-dimensional space, thereby providing a more complex flight trajectory for special inspection scenes such as bridge inspection inspection and security inspection. It also provides a new lens to capture the field of view for intelligent aerial photography of drones, thereby effectively improving the functional practicability of drones flying around points of interest.
  • FIG. 1a is a schematic flowchart of a method for controlling orbiting flight according to Embodiment 1 of the present invention
  • FIG. 1b is a block diagram of an example structure of a consumer drone for flying aerial photography according to Embodiment 1 of the present invention
  • FIG. 2a is a schematic flowchart of a method for controlling a circumnavigation flight according to Embodiment 2 of the present invention
  • Figure 2b shows an example display diagram of controlling the current rotation around the plane in the embodiment of the present invention
  • FIG. 3 is a structural block diagram of a control device for orbiting flight according to the third embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • Figure 1a is a schematic flow chart of a method for controlling a circle flight according to the first embodiment of the present invention.
  • the method can be applied to the situation of controlling a drone to circle a point of interest.
  • the method can be implemented by the circle flight in the embodiment of the present invention. It can be executed by the control device, which can be implemented by software and/or hardware, and can be specifically integrated in the drone.
  • the method provided in the embodiments of the present invention specifically relates to a consumer-grade drone product for smart aerial photography.
  • the consumer-grade drone product is a drone used for flying aerial photography, and the drone can be integrated with
  • the functional program allows the drone to fly autonomously through the integrated functional program, so the execution subject of the method provided in this embodiment can be the drone.
  • Fig. 1b is a block diagram of an example structure of a consumer-grade drone for flying aerial photography according to the first embodiment of the present invention.
  • the external structure of the consumer-grade drone specifically includes: 11. Rotors 12 located at the top four corners of the fuselage 11 and a pan-tilt lens 13 located at the side of the fuselage.
  • the pan-tilt lens 12 can be used to capture image information and the capture angle of the lens can be adjusted through the pan-tilt.
  • the end of the fuselage with the pan-tilt lens can be recorded as the nose, and the end of the nose can be regarded as the front end of the drone. The corresponding end is used as the rear end of the drone. If the nose direction is the positive direction, the left and right ends of the nose can be used as the left and right sides of the drone.
  • the method for controlling a circumnavigation flight provided by the first embodiment includes the following operations:
  • the point of interest can be specifically understood as the surround center required for the drone to fly around in advance set by the user;
  • the surround parameter can be specifically understood as used to determine the surrounding plane required for the drone to fly around.
  • the surrounding parameters may specifically include: surrounding radius, surrounding direction, and surrounding speed.
  • the unmanned aerial vehicle as the main body of execution of this embodiment can obtain information such as the point of interest setting information pre-selected or input by the user and the surround parameters required to form the surround plane.
  • the user pre-set points of interest can be obtained, and then parameter information such as the surrounding radius, the surrounding direction, and the surrounding speed in the surrounding parameters can be obtained for the subsequent initial surrounding plane determination, wherein the surrounding direction may be It is clockwise or counterclockwise, and the orbiting speed may specifically refer to the speed value of the UAV in the tangential direction when the drone is flying around.
  • the initial orbiting plane may specifically be a plane centered on the point of interest, and the drone performs a three-dimensional orbiting flight, which may be equivalent to changing the orbit of the drone from one orbiting plane to another.
  • this embodiment can record the circle plane that the UAV relies on before the orbit change as the initial circle plane, and the circle plane that the UAV depends on after the orbit change as the next Surround the plane.
  • the point of interest to be surrounded may be specifically determined according to the location information and height information set by the user, and the location information of the point of interest may specifically include the geographic coordinates of the point of interest, and the geographic coordinates may be specifically understood as global geographic coordinates.
  • an initial surrounding plane can be determined.
  • the surrounding center of the initial surrounding plane is the point of interest, and the surrounding radius of the initial surrounding plane is equal to the surrounding radius in the surrounding parameters.
  • the surrounding direction on the initial surrounding plane is the surrounding direction in the surrounding parameter.
  • the initial circle plane can be defaulted to the horizontal plane containing the determined point of interest, or the circle parameters can also include plane parameters required to form the initial circle plane, such as setting a For the initial normal vector, a surrounding plane containing interest points is determined according to the normal vector as the initial surrounding plane. What needs to know is that the initial orbital plane will change as the drone continues to fly around. For example, when the drone completes an orbital change flight, the orbital plane after the orbital change can be used as the new initial orbital plane. Control the UAV to perform a new round of orbit-changing orbiting flight based on the initial orbital plane of the information.
  • next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane.
  • this step considers determining the new next surrounding plane on the basis of the initial surrounding plane, and controlling the drone from the current initial The orbiting plane changes to the new next orbiting plane to continue the orbiting flight.
  • next surrounding plane in this step is also a plane centered on the above determined interest point.
  • determination of the next surrounding plane in this step is related to the preset angle and the initial surrounding plane.
  • the preset angle Specifically, it can be understood as the plane angle formed by the next surrounding plane to be determined and the initial surrounding plane. In this step, the preset preset angle can be directly obtained, or the preset angle can be determined according to some preset parameter values.
  • the preset parameter values may include the rotation direction, the rotation speed, and the duration of one rotation when the initial orbiting plane is rotated, which can be based on the above preset Parameter, calculate the rotation angle of the initial circle plane to reach the next circle plane, the rotation angle can be used as the preset angle.
  • S104 Control the UAV to change orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the drone can be controlled to change its orbit to the next surrounding plane to continue the surrounding flight.
  • the speed vector applied to the drone can be controlled and adjusted to keep the combined speed direction of the drone always in the tangent direction of the surrounding plane, so as to realize the drone's orbit changing and surrounding flight along the rotating plane.
  • a speed vector whose vector direction is parallel to the normal rotation direction, and there is also a speed vector perpendicular to the rotation direction.
  • this embodiment can perform the operations of S103 and S104 in a loop before receiving the drone's orbiting end instruction, or before the drone has completed the 360-degree omnidirectional flight traversal , And before the operations of S103 and S104 are cyclically performed, the next surrounding plane determined in this operation can be used as the new initial surrounding plane, and then the above operations can be performed cyclically.
  • the first embodiment of the present invention provides a method for controlling the flight around. Firstly, the points of interest to be circulated and the surrounding parameters are determined, where the surrounding parameters include the surrounding radius, the surrounding direction and the surrounding speed; then the initial parameters are determined according to the surrounding parameters and the points of interest. A surrounding plane, where the initial surrounding plane is a plane centered on the point of interest; then the next surrounding plane is determined, where the next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane; and finally The drone is controlled to change its orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the above-mentioned technical solution can make the drone circle around the point of interest selected by the user in a three-dimensional space, thereby providing a more complex flight trajectory for special inspection scenes such as bridge inspection inspection and security inspection. It also provides a new lens to capture the field of view for intelligent aerial photography of drones, thereby effectively improving the functional practicability of drones flying around points of interest.
  • Fig. 2a is a schematic flow chart of a method for controlling orbiting flight according to the second embodiment of the present invention. This embodiment is optimized based on the above-mentioned embodiment.
  • the next orbiting plane is further determined, which is embodied as : Determining the first normal vector of the initial surrounding plane of the point of interest; determining the second normal vector of the next surrounding plane of the point of interest according to the first normal vector and a preset angle; According to the second normal vector, the next surrounding plane is determined.
  • the drone will be controlled to change its orbit from the initial orbiting plane to the next orbiting plane for orbiting flight, which is further embodied as: obtaining the rotation of the initial orbiting plane to the next orbiting plane To provide the drone with a first sub-speed parallel to the direction of rotation, and a second sub-speed perpendicular to the direction of rotation; control the drone based on the first sub-speed and second The sub-speed changes from the current orbiting plane to the next orbiting plane for orbiting flight.
  • the method for controlling a circumnavigation flight provided by the second embodiment of the present invention specifically includes the following operations:
  • the point of interest to be surrounded may be a location point pre-selected by the user, and the location point includes location information and height information, wherein the location information may be represented by geographic coordinates.
  • the surrounding parameters may include a surrounding radius, a surrounding direction, and a surrounding speed.
  • the specific information of the surrounding parameters may be specifically set by the user based on the application scenario of the surrounding flight.
  • the initial orbiting plane can be specifically understood as the current orbiting plane where the drone is currently flying around. When the drone is parked on the ground, or is hovering somewhere in the air. When the state starts flying, the initial orbiting plane can be defaulted to the horizontal plane with the point of interest as the center of the circle, and the UAV can first orbit on the initial orbiting plane; in addition, it can also be determined directly by the surround parameters and points of interest An initial surrounding plane of a non-horizontal plane centered around the point of interest.
  • this circle plane is called the next circle plane.
  • S203 to S205 The steps to determine the next surrounding plane are given.
  • the normal line of the initial surrounding plane can be determined, and the normal line is equivalent to a vector perpendicular to the initial surrounding plane, which is recorded as the first normal vector.
  • the first normal vector can be determined by determining the plane information of the initial surrounding plane, where the plane information may be composed of the spatial coordinate information of at least three identification points in the initial surrounding plane, and each of the The spatial coordinate information is expressed based on the global coordinate system.
  • the spatial angle information of the normal of the initial surrounding plane in the global coordinate system can be determined, and it can be known that the spatial angle information specifically includes: The first angle value from the normal of the initial surrounding plane to the XOY plane in the global coordinate system, the second angle value to the XOZ plane, and the third angle value to the YOZ plane.
  • the determined spatial angle information can be used as the specific representation information of the first normal vector.
  • the spatial angle information obtained after rotation may also include: the first angle value of the XOY plane relative to the global coordinate system after the first normal vector is rotated by a preset angle, the second angle value to the XOZ plane, and The third angle value of the YOZ plane.
  • the preset angle may be determined by a preset plane rotation direction, plane rotation speed, and plane rotation duration.
  • the conversion process when the UAV's orbiting plane is converted from the initial orbiting plane to the next Huo orbiting plane, the conversion process can be regarded as a process of controlling the dynamic rotation of the initial orbiting plane to form a new orbiting plane.
  • the preset angle can be understood as the angle value required to control the initial rotation around the plane.
  • the preset angle in this embodiment may be determined according to a certain attribute parameter preset by the user for the rotation of the surrounding plane.
  • the user presets some attribute parameters required to rotate the orbiting plane, and these attribute parameters may include: the plane rotation direction when rotating the orbiting plane, the plane rotation speed, and the plane rotation duration, wherein the plane rotation direction It can be used to define the rotation direction of the surrounding plane, such as setting the surrounding plane to rotate clockwise or counterclockwise; the plane rotation speed can be specifically understood as the rotation speed when the surrounding plane rotates in the plane rotation direction.
  • the set The rotation speed is often less than the orbiting flight speed of the drone; the plane rotation duration can be specifically understood as the duration of one rotation of the orbiting plane.
  • this embodiment can predetermine the included angle value of the two planes when the initial orbiting plane rotates to the next orbiting plane, and use the included angle value as the preset angle in this embodiment.
  • the plane perpendicular to the second normal vector can be determined as the next surrounding plane.
  • FIG. 2b shows an example display diagram of controlling the rotation of the initial orbiting plane to form the next rotating plane in an embodiment of the present invention.
  • the first plane 21 is equivalent to the initial orbiting plane in this embodiment.
  • the first normal 22 is equivalent to the normal vector of the first plane 21.
  • the method based on this embodiment can control the first normal 22 to rotate a preset angle from the initial position to the position of the second normal 23. This process is equivalent to The first plane 21 is driven to rotate, and the second plane 24 corresponding to the second normal 23 is formed as the next surrounding plane.
  • the second plane 24 can also be regarded as a new initial surrounding
  • the second normal line 23 can be controlled to rotate the preset angle again to the position of the third normal line 25, thereby forming the third plane 27 corresponding to the third normal line 25 as the new next surrounding plane.
  • the third normal line 25 can be controlled to rotate a preset angle to the fourth normal line 26 to form a corresponding fourth plane 28.
  • the drone can be controlled to fly from the initial surrounding plane to the next surrounding plane according to the following S206 to S208.
  • the rotation direction when the initial orbiting plane is rotated to the next orbiting plane can be obtained, and the rotation direction can be determined when the second normal vector of the next orbiting plane is determined by the preset angle and the first normal vector of the initial orbiting plane. .
  • the speed vector for the UAV to change orbit during the process of rotating from the current circle plane to the next circle plane can be determined.
  • the speed vector can be the first speed parallel to the rotation direction.
  • Vector, and the second speed vector parallel to the direction of rotation, and on the premise that the UAV’s orbiting speed is known the multi-component speed values on the first speed vector and the second speed vector can be determined.
  • the drone provides a first sub-speed corresponding to the first speed vector, and a second sub-speed corresponding to the second speed vector.
  • the first point provided in this step is The speed and second minute speed are also adjusted in real time.
  • the flight speed and flight direction of the UAV can be controlled in real time based on the first and second sub-speeds provided above, so as to realize the UAV from the current orbital plane to the next orbital plane for orbital flight.
  • the circumnavigation flight of the drone can be applied to different application scenarios.
  • the drone can continue the circumnavigation flight without receiving the end instruction of the circumnavigation flight.
  • the orbiting end condition may be set as receiving a user-triggered orbiting end instruction or completing a 360-degree omnidirectional orbiting traverse. Therefore, if the end of the orbiting flight instruction is not received, it can be considered that the drone does not meet the end of the orbiting flight conditions.
  • the determined next orbiting plane can be used as the new initial orbiting plane and return to continue to execute S203; otherwise, It is believed that the UAV meets the conditions for the end of the orbiting flight, which can end the orbiting flight after the UAV completes the current orbit-changing orbiting flight.
  • the second embodiment of the present invention provides a method for controlling the orbiting flight, which embodies the determination process of the next orbiting plane, and also embodies the control process for the UAV to change orbit and fly around.
  • the next orbiting plane can be determined according to the second normal vector of the next orbiting plane, and the diversification of the UAV's orbiting trajectory in three-dimensional space can be realized by rotating and changing to the next orbiting plane for orbiting flight
  • the UAV realizes the omnidirectional 360-degree spherical three-dimensional surround, and also provides a new lens capture field of view for the UAV to perform intelligent aerial photography, thereby effectively improving the function of the UAV to fly around points of interest. Sex.
  • FIG. 3 is a structural block diagram of a control device for orbiting flight provided by the third embodiment of the present invention.
  • the device is suitable for controlling the drone to fly around points of interest. This method can be implemented by the orbiting flight in the embodiment of the present invention. It can be executed by the control device, which can be implemented by software and/or hardware, and can be specifically integrated in the drone.
  • the device includes: an initial information determining module 31, a first plane determining module 32, a second plane determining module 33, and an orbiting flight control module 34.
  • the initial information determining module 31 is used to determine the points of interest to be surrounded and the surrounding parameters, where the surrounding parameters include a surrounding radius, a surrounding direction, and a surrounding speed;
  • the first plane determining module 32 is configured to determine an initial surrounding plane according to the surrounding parameters and the point of interest, wherein the initial surrounding plane is a plane centered on the point of interest;
  • the second plane determining module 33 is configured to determine a next surrounding plane, where the next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane;
  • the orbiting flight control module 34 is used to control the UAV to change orbit from the initial orbiting plane to the next orbiting plane to perform orbiting flight.
  • the point of interest to be surrounded is determined by position information and height information of the point of interest.
  • the location of the point of interest includes geographic coordinates of the point of interest.
  • the second plane determining module 33 is specifically used for:
  • the next surrounding plane is determined.
  • the preset angle is determined by a preset plane rotation direction, plane rotation speed, and plane rotation duration.
  • surrounding flight control module 34 is specifically used for:
  • the drone is controlled to change orbit from the current orbiting plane to the next orbiting plane based on the first sub-speed and the second sub-speed to perform a orbit flight.
  • FIG. 4 is a schematic diagram of the hardware structure of an unmanned aerial vehicle according to the fourth embodiment of the present invention.
  • the drone shown in FIG. 4 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the present invention.
  • the drone provided by the fourth embodiment of the present invention includes: a fuselage, an arm connected to the fuselage, a power device provided on the arm, a controller 41 and a storage device 42 provided on the fuselage .
  • the number of arms can be 2, 3, 4, 6, 8, etc.
  • the arm can be detachably connected to the body, fixedly connected or integrally formed.
  • the power device usually includes a motor provided on the arm and a propeller connected to the output shaft of the motor.
  • the motor drives the propeller to rotate at a high speed to provide the power or lift of the drone.
  • one controller 41 is taken as an example.
  • the controller 41 and the storage device 42 in the drone can be connected by a bus or other means, as shown in Figure 4 Take the bus connection as an example.
  • the storage device 42 in the drone is used as a computer-readable storage medium and can be used to store one or more programs.
  • the programs can be software programs, computer-executable programs, and modules, as in the first or second embodiment of the present invention.
  • Program instructions/modules corresponding to the provided orbital flight control method include: an initial information determination module 31, a first plane determination module 32, and a second plane determination module Module 33, surround flight control module 34).
  • the controller 41 executes various functional applications and data processing of the drone by running the software programs, instructions, and modules stored in the storage device 42, that is, realizes the control method of flying around in the above method embodiment.
  • the storage device 42 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the device, and the like.
  • the storage device 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the storage device 42 may further include a memory remotely provided with respect to the controller 41, and these remote memories may be connected to the device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program when one or more programs included in the aforementioned drone are executed by the one or more controllers 41, the program performs the following operations:
  • the surrounding parameters include a surrounding radius, a surrounding direction, and a surrounding speed; according to the surrounding parameters and the points of interest, determine an initial surrounding plane, wherein the initial surrounding plane is A plane centered on the point of interest; determining a next surrounding plane, wherein the next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane; controlling the The drone changes its orbit from the initial orbiting plane to the next orbiting plane for orbiting flight.
  • the embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored.
  • the control method for orbiting flight as provided in all the invention embodiments of this application is realized: determining the point of interest to be orbited And surrounding parameters, wherein the surrounding parameters include a surrounding radius, a surrounding direction, and a surrounding speed; an initial surrounding plane is determined according to the surrounding parameters and the point of interest, wherein the initial surrounding plane is based on the point of interest The center plane; determine the next surrounding plane, where the next surrounding plane is a plane centered on the point of interest and at a preset angle to the initial surrounding plane; controlling the drone by the The initial orbiting plane changes to the next orbiting plane for orbiting flight.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
  • the computer program code used to perform the operations of the present invention can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user’s computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider for example, using an Internet service provider to pass Internet connection.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了一种环绕飞行的控制方法、装置、终端及存储介质，该方法包括：确定待环绕的兴趣点和环绕参数；根据所述环绕参数和所述兴趣点，确定初始环绕平面；确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。利用该方法，能够使无人机在三维空间中绕用户选定的兴趣点进行立体环绕，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更复杂的飞行轨迹，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。

Description

环绕飞行的控制方法、装置、终端及存储介质
本申请要求于2019年4月17日提交中国专利局、申请号为201910310381.6、申请名称为“环绕飞行的控制方法、装置、终端及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机技术领域，尤其涉及环绕飞行的控制方法、装置、终端及存储介质。
背景技术
目前，无人机产品多用于航拍，而消费级的无人机产品则将一些原来需要丰富航拍操纵经验及精细操控的飞行航拍动作通过程序来智能化自主实现，由此更好打开了消费级无人机产品的市场。
现有无人机具备兴趣点环绕的智能飞行功能，目前，兴趣点环绕的实现场景仅限于平面内飞行或是三维空间内设定好的相对较简单轨迹，如折线段或者水平平面内的圆。
然而，无人机作为高空间机动性的飞行平台，其兴趣点环绕的应用场景如航拍、安防巡检等对三维空间的飞行轨迹均有一定要求，因此，现有无人机的兴趣点环绕飞行功能无法更好的应用在上述实际场景中，影响了无人机的用户体验。
发明内容
本发明实施例提供一种环绕飞行的控制方法、装置、终端及存储介质，以解决无人机现有兴趣点环绕飞行无法更好应用到三维空间复杂轨迹中的问题。
第一方面，本发明实施例提供了一种环绕飞行的控制方法，包括：
确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；
根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；
确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；
控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
进一步的，所述待环绕的兴趣点由所述兴趣点的位置信息和高度信息确定。
进一步的，所述兴趣点的位置包括所述兴趣点的地理坐标。
进一步的，所述确定下一环绕平面，包括：
确定过所述兴趣点的所述初始环绕平面的第一法向量；
根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；
根据所述第二法向量，确定所述下一环绕平面。
进一步的，所述预设角度通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
进一步的，所述控制所述无人机由所述初始环绕平面变轨至所述下一环绕平面进行环绕飞行，包括：
获取所述初始环绕平面转动到所述下一环绕平面的转动方向；
向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；
控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
第二方面，本发明实施例还提供了一种环绕飞行的控制装置，该装置包括：
初始信息确定模块，用于确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；
第一平面确定模块，用于根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；
第二平面确定模块，用于确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；
环绕飞行控制模块，用于控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
进一步的，所述待环绕的兴趣点由所述兴趣点的位置信息和高度信息确定。
进一步的，所述兴趣点的位置包括所述兴趣点的地理坐标。
进一步的，所述第二平面确定模块，具体用于：
确定过所述兴趣点的所述初始环绕平面的第一法向量；
根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；
根据所述第二法向量，确定所述下一环绕平面。
进一步的，所述预设角度通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
进一步的，所述环绕飞行控制模块，具体用于：
获取所述初始环绕平面转动到所述下一环绕平面的转动方向；
向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；
控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
第三方面，本发明实施例还提供了一种无人机，包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂；
一个或多个控制器，所述一个或多个控制器设于所述机身；以及
存储装置，设于所述机身，所述存储装置用于存储一个或多个程序；
所述一个或多个程序被所述一个或多个控制器执行，使得所述一个或多个控制器实现本发明实施例提供的环绕飞行的控制方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被控制器执行时实现如本发明实施例中任一所述的环绕飞行的控制方法。
本发明实施例提供了环绕飞行的控制方法、装置、终端及存储介质，该方法包括：确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。上述技术方案，能够使无人机在三维空间中绕用户选定的兴趣点进行立体环绕，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更复杂的飞行轨迹，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1a为本发明实施例一提供的一种环绕飞行的控制方法的流程示意图；
图1b为本发明实施例一提供的一种用于飞行航拍的消费级无人机的示例结构框图；
图2a为本发明实施例二提供的一种环绕飞行的控制方法的流程示意图；
图2b给出了本发明实施例中控制当前环绕平面转动的示例展示图；
图3为本发明实施例三提供的一种环绕飞行的控制装置的结构框图；
图4为本发明实施例四提供的一种无人机的硬件结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
实施例一
图1a为本发明实施例一提供的一种环绕飞行的控制方法的流程示意图，该方法可适用于控制无人机进行兴趣点环绕飞行的情况，该方法可以由本发明实施例中的环绕飞行的控制装置来执行，该装置可采用软件和/或硬件的方式实现，具体可集成在无人机中。
需要说明的是，本发明实施例所提供方法具体涉及了智能航拍的消费级无人机产品，该消费级无人机产品为用于飞行航拍的无人机，该无人机中可以集成有功能程序，以使无人机通过集成的功能程序进行自主飞行，由此本实施例所提供方法的执行主体可以为无人机。
同时，图1b为本发明实施例一提供的一种用于飞行航拍的消费级无人机的示例结构框图，如图1b所示，该消费级无人机的外形结构具体包括了：机身11、位于机身11顶端四角的旋翼12以及位于机身侧端的云台镜头13，云台镜头12可用于捕获图像信息且可通过云台调整镜头的捕获视角。
需要说明的是，对于具备上述外形结构的消费级无人机，可将机身上设置有云台镜头的一端记为机头，并将机头这端作为无人机的前端，机头的对应端作为无人机的后端，若以机头方向为正方向，则可将机头的左右端分别作为无人机的左侧和右侧。
如图1a所示，本实施例一提供的一种环绕飞行的控制方法，包括如下操作：
S101、确定待环绕的兴趣点和环绕参数。
在本实施例中，所述兴趣点具体可理解为用户预先设定的无人机环绕飞行所需的环绕中心；所述环绕参数具体可理解为用于确定无人机环绕飞行所需环绕平面的参数信息，所述环绕参数具体可以包括：环绕半径、环绕方向和环绕速度等。
可以知道的是，作为本实施例执行主体的无人机可获取用户预先选择或输入的兴趣点设定信息以及形成环绕平面所需的环绕参数等信息。具体地，本步骤可以获取用户预先设定的兴趣点，然后获取环绕参数中的环绕半径、环绕方向以及环绕速度等参数信息，以用于后续初始环绕平面的确定，其中，所述环绕方向可以是顺时针环绕或逆时针环绕，所述环绕速度具体可指无人机环绕飞 行时在切线方向的速度值。
S102、根据所述环绕参数和所述兴趣点，确定初始环绕平面。
在本实施例中，所述初始环绕平面具体可为以所述兴趣点为中心的平面，无人机进行立体环绕飞行，具体可相当于无人机由一个环绕平面变轨至另一个环绕平面继续进行环绕飞行，对于无人机的一次变轨环绕飞行，本实施例可将无人机变轨前所依赖的环绕平面记为初始环绕平面，将变轨后所依赖的环绕平面记为下一环绕平面。
具体地，所述待环绕的兴趣点具体可根据用户设定的位置信息和高度信息确定，且兴趣点的位置信息具体可包括兴趣点的地理坐标，所述地理坐标具体可理解为全球地理坐标系中的经纬度值。本步骤基于确定的兴趣点以及环绕参数，可以确定出一个初始环绕平面，该初始环绕平面的环绕中心为该兴趣点，且该初始环绕平面的环绕半径等于环绕参数中的环绕半径，无人机在该初始环绕平面上的环绕方向为环绕参数中的环绕方向。
在最初启动无人机进行环绕飞行时，可将初始环绕平面默认为包含所确定兴趣点的水平面，或者，所述环绕参数中也可以包括形成初始环绕平面所需的平面参数，如设定一个初始的法向量，以根据该法向量确定一个包含兴趣点的环绕平面作为初始环绕平面。需要知道的是，初始环绕平面随着无人机不断的环绕飞行将随之改变，如在无人机完成一次变轨飞行时，可将变轨后的环绕平面作为新的初始环绕平面，以控制无人机基于信息初始环绕平面进行新一轮的变轨环绕飞行。
S103、确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面。
在本实施例中，为了实现无人机所依赖环绕平面以及飞行轨迹的复杂化，本步骤考虑在初始环绕平面的基础上确定新的下一环绕平面，并可控制无人机由当前的初始环绕平面变轨至新的下一环绕平面继续环绕飞行。
具体地，本步骤所述下一环绕平面同样为以上述确定的兴趣点为中心的平面，同时，本步骤中下一环绕平面的确定与预设角度及初始环绕平面有关，所述预设角度具体可理解为待确定的下一环绕平面与初始环绕平面形成的平面夹角，本步骤可直接获取预先设定的预设角度，或者根据一些预设参数值确定出预设角度。
示例性地，根据一些预设参数值确定预设角度时，其预设参数值可以包括对初始环绕平面进行旋转时的旋转方向、旋转速度以及一次旋转的持续时间，由此可以根据上述预设参数，计算出初始环绕平面旋转到达下一环绕平面的旋转角度，该旋转角度可作为预设角度。
S104、控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
本实施例确定出下一环绕平面后，可以控制无人机变轨至下一环绕平面继续进行环绕飞行。
具体地，本实施例可以通过控制调整施加在无人机上的速度矢量来保持无人机的合速度方向始终为环绕平面的切线方向，从而实现无人机沿转动环绕平面的变轨环绕飞行，其中，在无人机变轨环绕飞行过程中，存在一个矢量方向与法线转动方向平行的速度矢量，还存在一个与转动方向垂直的速度矢量，上述两矢量方向上可以存在多组速度值，用于控制无人机在切线方向上保存给定的环绕速度匀速飞行。
基于上述S101至S104的操作，相当于控制无人机完成了一次变轨环绕飞行，可以理解的是，在无人机实际飞行过程中，无人机的环绕飞行可适用于不同的应用场景，一般地，在未接收到环绕飞行的结束指令时，无人机可以持续进行环绕飞行。
为实现无人机持续环绕飞行，本实施例可以在未接收到无人机的环绕飞行结束指令，或者，无人机未完成360度全向的环绕飞行遍历前，循环执行S103和S104的操作，而在循环执行S103和S104的操作前，可以将本次操作中确定的下一环绕平面作为新的初始环绕平面，然后循环执行上述操作。
本发明实施例一提供的一种环绕飞行的控制方法，首先确定待环绕的兴趣点和环绕参数，其中，环绕参数包括环绕半径、环绕方向和环绕速度；然后根据环绕参数和兴趣点，确定初始环绕平面，其中，初始环绕平面为以兴趣点为中心的平面；之后确定下一环绕平面，其中，下一环绕平面为以兴趣点为中心，并与初始环绕平面呈预设角度的平面；最终控制无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。上述技术方案，能够使无人机在三维空间中绕用户选定的兴趣点进行立体环绕，由此为桥梁环绕检查巡检及安防巡检等特殊巡检场景提供了更复杂的飞行轨迹，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。
实施例二
图2a为本发明实施例二提供的一种环绕飞行的控制方法的流程示意图，本实施例以上述实施例为基础进行优化，在本实施例中，进一步将确定下一环绕平面，具体化为：确定过所述兴趣点的所述初始环绕平面的第一法向量；根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；根据所述第二法向量，确定所述下一环绕平面。
此外，本实施例将控制所述无人机由所述初始环绕平面变轨至所述下一环绕平面进行环绕飞行，进一步具体化为：获取所述初始环绕平面转动到所述下一环绕平面的转动方向；向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
如图2a所示，本发明实施例二提供的一种环绕飞行的控制方法，具体包括如下操作：
S201、确定待环绕的兴趣点和环绕参数。
示例性地，所述待环绕的兴趣点可以是用户预先选定的位置点，且该位置点包括了位置信息和高度信息，其中所述位置信息可以通过地理坐标表示。所述环绕参数可以包括环绕半径、环绕方向以及环绕速度，该环绕参数的具体信息可以是用户基于环绕飞行的应用场景具体设定的。
S202、根据所述环绕参数和所述兴趣点，确定初始环绕平面。
在本实施例中，所述初始环绕平面具体可理解为无人机当前正在环绕飞行的当前环绕平面，当无人机由停置于地面的待启动状态，或者停滞于空中某处的悬停状态启动飞行时，可将初始环绕平面默认为以兴趣点为环绕中心的水平面面，无人机可首先在该初始环绕平面上进行环绕飞行；此外，也可直接通过环绕参数和兴趣点，确定一个以兴趣点为环绕中心的非水平平面的初始环绕平面。
可以理解的是，控制无人机进行变轨环绕飞行时，需要确定无人机待变轨的环绕平面，本实施例将该环绕平面称为下一环绕平面，本实施例下述S203至S205给出了下一环绕平面的确定步骤。
S203、确定过所述兴趣点的所述初始环绕平面的第一法向量。
可以理解的是，确定初始环绕平面后，就可以确定该初始环绕平面的法线，所述法线相当于与初始环绕平面垂直的向量，记为第一法向量。具体地，本步骤可以通过确定初始环绕平面的平面信息，来确定第一法向量，其中，所述平面信息可由处于初始环绕平面内的至少三个标识点的空间坐标信息构成，且各所述空间坐标信息均基于全局坐标系表示。
在本实施例中，基于至少三个标识点的空间坐标信息，可以确定初始环绕平面的法线在全局坐标系中的空间角度信息，且可以知道的是，所述空间角度信息，具体包括：初始环绕平面的法线到全局坐标系中XOY平面的第一角度值，到XOZ平面的第二角度值，以及到YOZ平面的第三角度值。本步骤可将上述确定的空间角度信息作为第一法向量的具体表示信息。
S204、根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量。
在本实施例中，确定出表示第一法向量的空间角度信息后，再结合表示初始环绕平面与下一环绕平面的平面夹角的预设角度，可以确定出第一法向量沿预设角度旋转后形成的空间角度信息，上述旋转后的空间角度信息就可以看作过兴趣点的下一环绕平面的第二法向量。可以理解的是，旋转后获得的空间角度信息同样可以包括：第一法向量旋转预设角度后分别相对全局坐标系中XOY平面的第一角度值，到XOZ平面的第二角度值，以及到YOZ平面的第三角度值。
进一步地，本实施例中，所述预设角度可通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
在本实施例中，当无人机的环绕平面由初始环绕平面转换至下一胡奥绕平面时，该转换过程可看作是一个控制初始环绕平面动态旋转形成新环绕平面的过程，由此，预设角度可理解为控制初始环绕平面旋转时所需旋转的角度值。 可选的，本实施例中的预设角度可以根据用户预先针对环绕平面的旋转设定的一定属性参数来确定。
示例性地，用户预先设定一些旋转环绕平面所需属性参数，这些属性参数可以包括：对环绕平面进行旋转时的平面旋转方向、平面旋转速度以及平面旋转持续时间，其中，所述平面旋转方向可用于限定环绕平面的旋转方向，如设定环绕平面以顺时针或逆时针旋转；所述平面旋转速度具体可理解为环绕平面以平面旋转方向转动时的转动速度，一般地，所设定的旋转速度往往小于无人机的环绕飞行速度；所述平面旋转持续时间具体可理解为对环绕平面进行一次转动的持续时间。基于这些属性参数，本实施例可以预先确定出初始环绕平面转动至下一环绕平面时两平面的夹角值，并将该夹角值作为本实施例中的预设角度。
S205、根据所述第二法向量，确定所述下一环绕平面。
在本实施例中，确定第二法向量后，可将与该第二法向量垂直的平面确定为下一环绕平面。
示例性地，图2b给出了本发明实施例中控制初始环绕平面转动形成下一旋转平面的示例展示图，如图2b所示，可认为第一平面21相当于本实施例中的初始环绕平面，第一法线22相当于第一平面21的法向量，基于本实施例的方法可以控制第一法线22由初始所在位置转动预设角度到第二法线23所在位置，该过程相当于带动第一平面21转动，并形成第二法线23对应的第二平面24作为下一环绕平面，同理，形成第二平面24后，也可将第二平面24看作新的初始环绕平面，由此可控制第二法线23再次转动预设角度到第三法线25所在位置，从而形成第三法线25对应的第三平面27作为新的下一环绕平面，进一步的，也可控制第三法线25转动预设角度到第四法线26，从而形成对应的第四平面28。
可以理解的是，本实施例确定下一环绕平面后，就可以根据下述S206至S208控制无人机由初始环绕平面飞行至下一环绕平面。
S206、获取所述初始环绕平面转动到所述下一环绕平面的转动方向。
本步骤可以获取到初始环绕平面转动至下一环绕平面时的转动方向，所述转动方向可以在通过预设角度及初始环绕平面的第一法向量确定下一环绕平面的第二法向量时确定。
S207、向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度。
本步骤可以根据获取的转动方向，确定无人机在当前环绕平面转动至下一环绕平面过程中进行变轨飞行的速度矢量，具体地，所述速度矢量可以是与转动方向平行的第一速度矢量，以及与转动方向平行的第二速度矢量，且在已知无人机环绕速度的前提下，可确定出第一速度矢量和第二速度矢量上的多组分速度值，本步骤可以向无人机提供第一速度矢量对应的第一分速度，第二速度矢量对应的第二分速度。
可以理解的是，由于转动方向随初始环绕平面到下一环绕平面的转动而不断变化，相当于变轨飞行中无人机的速度矢量也不断发生变化，由此本步骤所提供的第一分速度和第二分速度也在实时调整。
S208、控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
本步骤可以基于上述提供的第一分速度和第二分速度实时控制无人机的飞行速度和飞行方向，从而实现无人机由当前环绕平面变轨至下一环绕平面进行环绕飞行。
可以理解的是，无人机的环绕飞行可适用于不同的应用场景中，一般地，在未接收到环绕飞行的结束指令时，无人机可以持续进行环绕飞行。本实施例可以设定所述环绕飞行结束条件为接收到用户触发的环绕飞行结束指令或者是环绕飞行完成了360度全向环绕飞行遍历。因此，如果未接收到环绕飞行结束指令，可认为无人机不满足环绕飞行结束条件，此时，可将确定的下一环绕平面作为新的初始环绕平面，并返回继续执行S203；否则，可认为无人机满足环绕飞行结束条件，由此可在无人机完成当前的变轨环绕飞行后结束环绕飞行。
本发明实施例二提供的一种环绕飞行的控制方法，具体化了下一环绕平面的确定过程，还具体化了无人机变轨环绕飞行的控制过程。利用该方法，能够根据下一环绕平面的第二法向量，确定出下一环绕平面，并通过转动变轨至下一环绕平面进行环绕飞行来实现无人机在三维空间中环绕轨迹的多样化和复杂化，进而实现了无人机全向360度球形的立体环绕，同时也为无人机进行智能航拍提供了新的镜头捕获视野，从而有效提升了无人机兴趣点环绕飞行的功能实用性。
实施例三
图3为本发明实施例三提供的一种环绕飞行的控制装置的结构框图，该装置可适用于控制无人机进行兴趣点环绕飞行的情况，该方法可以由本发明实施例中的环绕飞行的控制装置来执行，该装置可采用软件和/或硬件的方式实现，具体可集成在无人机中。如图3所示，该装置包括：初始信息确定模块31、第一平面确定模块32、第二平面确定模块33、环绕飞行控制模块34。
其中，初始信息确定模块31，用于确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；
第一平面确定模块32，用于根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；
第二平面确定模块33，用于确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；
环绕飞行控制模块34，用于控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
进一步的，所述待环绕的兴趣点由所述兴趣点的位置信息和高度信息确定。
进一步的，所述兴趣点的位置包括所述兴趣点的地理坐标。
进一步的，第二平面确定模块33，具体用于：
确定过所述兴趣点的所述初始环绕平面的第一法向量；
根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；
根据所述第二法向量，确定所述下一环绕平面。
进一步的，所述预设角度通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
进一步的，环绕飞行控制模块34，具体用于：
获取所述初始环绕平面转动到所述下一环绕平面的转动方向；
向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；
控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
实施例四
图4为本发明实施例四提供的一种无人机的硬件结构示意图。图4显示的无人机仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。如图4所示，本发明实施例四提供的无人机，包括：机身，与机身相连的机臂，设于机臂的动力装置，设于机身的控制器41和存储装置42。其中，机臂的数量可以为2,3,4,6,8等。机臂可以与机身可拆卸连接，固定连接或一体成型。动力装置通常包括设于机臂的电机和与电机的输出轴相连的螺旋桨，电机带动螺旋桨高速旋转以提供所述无人机飞行的动力或升力。该无人机中的控制器可以是一个或多个，图4中以一个控制器41为例，所述无人机中的控制器41和存储装置42可以通过总线或其他方式连接，图4中以通过总线连接为例。
该无人机中的存储装置42作为一种计算机可读存储介质，可用于存储一个或多个程序，所述程序可以是软件程序、计算机可执行程序以及模块，如本发明实施例一或二所提供环绕飞行的控制方法对应的程序指令/模块(例如，附图3所示的环绕飞行的控制装置中的模块，包括：初始信息确定模块31、第一平面确定模块32、第二平面确定模块33、环绕飞行控制模块34)。控制器41通过运行存储在存储装置42中的软件程序、指令以及模块，从而执行无人机的各种功能应用以及数据处理，即实现上述方法实施例中环绕飞行的控制方法。
存储装置42可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据设备的使用 所创建的数据等。此外，存储装置42可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储装置42可进一步包括相对于控制器41远程设置的存储器，这些远程存储器可以通过网络连接至设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
并且，当上述无人机所包括一个或者多个程序被所述一个或者多个控制器41执行时，程序进行如下操作：
确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
本发明实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被控制器执行时实现如本申请所有发明实施例提供的环绕飞行的控制方法：确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括—— 但不限于——无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (14)

  1. 一种环绕飞行的控制方法，其特征在于，包括：
    确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；
    根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；
    确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；
    控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
  2. 根据权利要求1所述的方法，其特征在于，所述待环绕的兴趣点由所述兴趣点的位置信息和高度信息确定。
  3. 根据权利要求2所述的方法，其特征在于，所述兴趣点的位置包括所述兴趣点的地理坐标。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于，所述确定下一环绕平面，包括：
    确定过所述兴趣点的所述初始环绕平面的第一法向量；
    根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；
    根据所述第二法向量，确定所述下一环绕平面。
  5. 根据权利要求4所述的方法，其特征在于，所述预设角度通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
  6. 根据权利要求1-3中任一项所述的方法，其特征在于，所述控制所述无人机由所述初始环绕平面变轨至所述下一环绕平面进行环绕飞行，包括：
    获取所述初始环绕平面转动到所述下一环绕平面的转动方向；
    向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；
    控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
  7. 一种环绕飞行的控制装置，其特征在于，包括：
    初始信息确定模块，用于确定待环绕的兴趣点和环绕参数，其中，所述环绕参数包括环绕半径、环绕方向和环绕速度；
    第一平面确定模块，用于根据所述环绕参数和所述兴趣点，确定初始环绕平面，其中，所述初始环绕平面为以所述兴趣点为中心的平面；
    第二平面确定模块，用于确定下一环绕平面，其中，所述下一环绕平面为以所述兴趣点为中心，并与所述初始环绕平面呈预设角度的平面；
    环绕飞行控制模块，用于控制所述无人机由所述初始环绕平面变轨至下一环绕平面进行环绕飞行。
  8. 根据权利要求7所述的装置，其特征在于，所述待环绕的兴趣点由所述兴趣点的位置信息和高度信息确定。
  9. 根据权利要求8所述的装置，其特征在于，所述兴趣点的位置包括所述兴趣点的地理坐标。
  10. 根据权利要求7-9中任一项所述的装置，其特征在于，所述第二平面确定模块，具体用于：
    确定过所述兴趣点的所述初始环绕平面的第一法向量；
    根据所述第一法向量及预设角度，确定过所述兴趣点的所述下一环绕平面的第二法向量；
    根据所述第二法向量，确定所述下一环绕平面。
  11. 根据权利要求10所述的装置，其特征在于，所述预设角度通过预设的平面旋转方向、平面旋转速度以及平面旋转持续时间确定。
  12. 根据权利要求7-9中任一项所述的装置，其特征在于，所述环绕飞行控制模块，具体用于：
    获取所述初始环绕平面转动到所述下一环绕平面的转动方向；
    向所述无人机提供与所述转动方向平行的第一分速度，以及与所述转动方向垂直的第二分速度；
    控制无人机基于所述第一分速度和第二分速度由所述当前环绕平面变轨至所述下一环绕平面进行环绕飞行。
  13. 一种无人机，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂；
    一个或多个控制器，所述一个或多个控制器设于所述机身；以及
    存储装置，设于所述机身，所述存储装置用于存储一个或多个程序；
    所述一个或多个程序被所述一个或多个控制器执行，使得所述一个或多个控制器实现如权利要求1-6中任一项所述的环绕飞行的控制方法。
  14. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被控制器执行时实现如权利要求1-6中任一项所述的环绕飞行的控制方法。
PCT/CN2020/085084 2019-04-17 2020-04-16 环绕飞行的控制方法、装置、终端及存储介质 Ceased WO2020211814A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910310381.6A CN109960281A (zh) 2019-04-17 2019-04-17 环绕飞行的控制方法、装置、终端及存储介质
CN201910310381.6 2019-04-17

Publications (1)

Publication Number Publication Date
WO2020211814A1 true WO2020211814A1 (zh) 2020-10-22

Family

ID=67026338

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/085084 Ceased WO2020211814A1 (zh) 2019-04-17 2020-04-16 环绕飞行的控制方法、装置、终端及存储介质

Country Status (2)

Country Link
CN (1) CN109960281A (zh)
WO (1) WO2020211814A1 (zh)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109960281A (zh) * 2019-04-17 2019-07-02 深圳市道通智能航空技术有限公司 环绕飞行的控制方法、装置、终端及存储介质
CN111435255B (zh) * 2019-10-23 2023-08-18 珠海全志科技股份有限公司 一种无人机制动控制方法、装置以及无人机
CN111982123B (zh) * 2020-08-26 2023-10-31 云南电网有限责任公司迪庆供电局 无人机巡检航线规划方法及装置
CN112684810B (zh) * 2020-12-18 2022-12-13 彩虹无人机科技有限公司 一种固定翼无人机环绕飞行的导航方法
CN113467521B (zh) * 2021-09-01 2022-01-04 北京远度互联科技有限公司 一种无人机航线检查图的生成方法、装置及电子设备
CN113805607B (zh) * 2021-09-17 2024-06-28 深圳市道通智能航空技术股份有限公司 一种无人机拍摄方法、装置、无人机及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2853974A1 (en) * 2013-09-26 2015-04-01 Airbus Defence and Space GmbH Method for autonomous controlling of a remote controlled aerial vehicle and corresponding system
CN106227224A (zh) * 2016-07-28 2016-12-14 零度智控（北京）智能科技有限公司 飞行控制方法、装置及无人机
CN106657779A (zh) * 2016-12-13 2017-05-10 重庆零度智控智能科技有限公司 环绕拍摄方法、装置及无人机
CN108351653A (zh) * 2015-12-09 2018-07-31 深圳市大疆创新科技有限公司 用于uav飞行控制的系统和方法
CN109960281A (zh) * 2019-04-17 2019-07-02 深圳市道通智能航空技术有限公司 环绕飞行的控制方法、装置、终端及存储介质

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101772977B1 (ko) * 2010-10-07 2017-08-31 삼성전자주식회사 이동 로봇 및 그 지도 작성 방법
CN104977938A (zh) * 2015-07-06 2015-10-14 杨珊珊 一种定维度飞行的多旋翼飞行器及飞行控制方法
US20170078653A1 (en) * 2015-09-15 2017-03-16 Qualcomm Incorporated Systems and methods for producing a surround view
CN107995408A (zh) * 2016-10-26 2018-05-04 贵州火星探索科技有限公司 一种360°全景拍摄系统及方法
WO2018098678A1 (zh) * 2016-11-30 2018-06-07 深圳市大疆创新科技有限公司 飞行器的控制方法、装置和设备以及飞行器
CN106767706B (zh) * 2016-12-09 2019-05-14 中山大学 一种无人机勘查交通事故现场的航拍图像采集方法及系统
CN108469837A (zh) * 2018-04-20 2018-08-31 广州亿航智能技术有限公司 无人机环绕角度飞行控制方法、设备及存储介质
CN109445454A (zh) * 2018-09-18 2019-03-08 山东理工大学 用于桥梁检测的无人机绕梁巡航检测方法
CN109582037A (zh) * 2018-12-28 2019-04-05 北京京东尚科信息技术有限公司 一种无人机的控制方法及装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2853974A1 (en) * 2013-09-26 2015-04-01 Airbus Defence and Space GmbH Method for autonomous controlling of a remote controlled aerial vehicle and corresponding system
CN108351653A (zh) * 2015-12-09 2018-07-31 深圳市大疆创新科技有限公司 用于uav飞行控制的系统和方法
CN106227224A (zh) * 2016-07-28 2016-12-14 零度智控（北京）智能科技有限公司 飞行控制方法、装置及无人机
CN106657779A (zh) * 2016-12-13 2017-05-10 重庆零度智控智能科技有限公司 环绕拍摄方法、装置及无人机
CN109960281A (zh) * 2019-04-17 2019-07-02 深圳市道通智能航空技术有限公司 环绕飞行的控制方法、装置、终端及存储介质

Also Published As

Publication number Publication date
CN109960281A (zh) 2019-07-02

Similar Documents

Publication Publication Date Title
WO2020211814A1 (zh) 环绕飞行的控制方法、装置、终端及存储介质
US12169415B2 (en) Method, apparatus, terminal, and storage medium for elevation surrounding flight control
US10210905B2 (en) Remote controlled object macro and autopilot system
US10659530B2 (en) Apparatus and method for network based operation of an unmanned aerial vehicle
US10416667B2 (en) System and method for utilization of multiple-camera network to capture static and/or motion scenes
US10901437B2 (en) Unmanned aerial vehicle including an omnidirectional depth sensing and obstacle avoidance aerial system and method of operating same
US11125561B2 (en) Steering assist
US11927953B2 (en) Customizable waypoint missions
CN105045279A (zh) 一种利用无人飞行器航拍自动生成全景照片的系统及方法
WO2017181512A1 (zh) 无人机的飞行控制方法和装置
CN110291483A (zh) 一种无人机控制方法、设备、无人机、系统及存储介质
CN108496132B (zh) 控制终端和无人机及其控制方法
CN112435454A (zh) 一种无人机系统、无人机控制方法、装置、设备和介质
CN111942188B (zh) 一种无人机空中充电系统、充电方法、装置、设备和介质
CN110291481A (zh) 一种信息提示方法及控制终端
CN110945452A (zh) 云台和无人机控制方法、云台及无人机
CN108702447A (zh) 一种视频处理方法、设备、无人机及系统
CN111712687B (zh) 航测方法、飞行器及存储介质
EP3738300B1 (en) Back-facing patch culling with displacement
CN115167511A (zh) 飞行器路径规划方法、系统、设备和存储介质
WO2023041014A1 (zh) 一种图像获取方法、装置、飞行器和存储介质
US11620913B2 (en) Movable object application framework
CN113741492B (zh) 六旋翼无人机悬停抗风控制方法及装置
WO2023082257A1 (zh) 无人机的控制方法、控制装置、无人机及存储介质
CN111226181B (zh) 一种可移动平台的控制方法、设备及可移动平台

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20791408

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20791408

Country of ref document: EP

Kind code of ref document: A1