WO2020258066A1 - Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations - Google Patents

Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations Download PDF

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Publication number
WO2020258066A1
WO2020258066A1 PCT/CN2019/092914 CN2019092914W WO2020258066A1 WO 2020258066 A1 WO2020258066 A1 WO 2020258066A1 CN 2019092914 W CN2019092914 W CN 2019092914W WO 2020258066 A1 WO2020258066 A1 WO 2020258066A1
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WIPO (PCT)
Prior art keywords
drone
route
waypoint
circle
current position
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PCT/CN2019/092914
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English (en)
Chinese (zh)
Inventor
钱明新
林灿龙
李罗川
Original Assignee
深圳市大疆创新科技有限公司
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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 CN201980012528.1A priority Critical patent/CN111742277B/zh
Priority to PCT/CN2019/092914 priority patent/WO2020258066A1/fr
Publication of WO2020258066A1 publication Critical patent/WO2020258066A1/fr

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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
    • G05D1/12—Target-seeking control

Definitions

  • the embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular to a control method, equipment, unmanned aerial vehicle and storage medium of an unmanned aerial vehicle.
  • Vertical take-off and landing UAV is a new type of aircraft that has developed rapidly in recent years. It also has the vertical take-off and landing of rotary-wing aircraft and the ability to hover in the air and fly at low speeds, and the ability of fixed-wing aircraft to fly at high speed with lower energy consumption. It has strong industry application value.
  • the vertical take-off and landing drone can fly according to the pre-planned route by the user. For example, the vertical take-off and landing drone can receive multiple waypoint information sent by the ground control terminal, and automatically fly from the current position to the first waypoint, and Start flying along the pre-planned route from this first waypoint.
  • the embodiment of the present invention provides a control method, equipment, unmanned aerial vehicle and storage medium of an unmanned aerial vehicle, so that the unmanned aerial vehicle smoothly enters the first waypoint of a preset route with a small deviation and improves the unmanned aerial vehicle The tracking effect of the preset route in the initial stage of the preset route.
  • the first aspect of the embodiments of the present invention is to provide a control method of a drone, including:
  • the target route from the current position of the drone to the first waypoint , Wherein the direction when the drone enters the first waypoint along the target route is the same as the drone flies from the first waypoint to the second waypoint along the preset route
  • the directions of all waypoints are the same;
  • the drone is controlled to fly to the first waypoint.
  • the second aspect of the embodiments of the present invention is to provide a drone control device, including: a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the target route from the current position of the drone to the first waypoint , Wherein the direction when the drone enters the first waypoint along the target route is the same as the drone flies from the first waypoint to the second waypoint along the preset route
  • the directions of all waypoints are the same;
  • the drone is controlled to fly to the first waypoint.
  • the third aspect of the embodiments of the present invention is to provide a drone, including:
  • the power system is installed on the fuselage to provide flight power
  • the fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the control method, equipment, drone, and storage medium of the drone provided in this embodiment are based on the current location information of the drone and the location information of the first waypoint and the second waypoint in the preset route. , Determine the target route of the UAV from the current position to the first waypoint, because the target route refers to the position information of the first waypoint and the second waypoint in the preset route, and there is no
  • the direction when the human machine enters the first waypoint is the same as the direction that the drone flies from the first waypoint to the second waypoint.
  • FIG. 1 is a flowchart of a method for controlling a drone provided by an embodiment of the present invention
  • Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of a control method of a drone provided by another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • Figure 5 is a schematic diagram of multiple alternative routes provided by an embodiment of the present invention.
  • Figure 6 is a top view of an alternative route provided by an embodiment of the present invention.
  • Figure 7 is a side view of an alternative route provided by an embodiment of the present invention.
  • Figure 8 is a top view of another alternative route provided by an embodiment of the present invention.
  • Figure 9 is a side view of another alternative route provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of another multiple alternative routes provided by an embodiment of the present invention.
  • FIG. 11 is a flowchart of a control method of a drone provided by another embodiment of the present invention.
  • FIG. 12 is a schematic diagram of the horizontal range and height change of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of the horizontal range and height change of another drone provided by an embodiment of the present invention.
  • Fig. 14 is a structural diagram of a UAV control device provided by an embodiment of the present invention.
  • 51 the first ending circle; 52: the second ending circle; 11: the first waypoint;
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • Fig. 1 is a flowchart of a method for controlling a drone provided by an embodiment of the present invention. As shown in Figure 1, the method in this embodiment may include:
  • Step S101 Determine from the current position of the drone to the first waypoint according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route The target route, wherein the direction when the drone enters the first waypoint along the target route is the same as the drone flies from the first waypoint to the destination along the preset route The direction of the second waypoint is the same.
  • the execution subject of the method in this embodiment may be the control device of the drone, and the control device may be the flight controller of the drone, or other devices, components or equipment for controlling the flight of the drone.
  • the direction when the drone enters the first waypoint along the target route is the same as the direction the drone flies from the first waypoint to the second waypoint along the preset route.
  • the arc of the target route entering the first waypoint has the same curvature as the arc of the drone flying from the first waypoint to the second waypoint along the preset route.
  • the direction when the drone enters the first waypoint along the target route is the same as the direction the drone flies from the first waypoint to the second waypoint along the preset route.
  • the direction in which the target route enters the first waypoint is the same as the direction in which the first waypoint points to the second waypoint.
  • the UAV 20 needs to perform the flight mission of the preset route shown by the dotted line. Before executing the flight mission, the UAV 20 needs to fly from the current position to the first one of the preset route.
  • Waypoint 21 the UAV 20 may pre-store relevant information of each waypoint among the multiple waypoints included in the preset route, and the relevant information of each waypoint may specifically include the altitude information and location of the waypoint. Information, the speed information of the drone at the waypoint, etc.
  • the control device of the drone 20 when the drone 20 needs to fly from the current position to the first waypoint 21 of the preset route, the control device of the drone 20 first needs to determine from the current position to the first waypoint 21 The target route at point 21 is further controlled to control the drone 20 to fly from the current position to the first waypoint 21 of the preset route according to the target route.
  • the control device of the UAV 20 can determine from the current position to the position information of the first waypoint 21 and the second waypoint 22 of the preset route according to the current position information of the UAV 20 The target route of the first waypoint 21.
  • the control device of the drone 20 can determine the route segment between the first waypoint 21 and the second waypoint 22 according to the position information of the first waypoint 21 and the second waypoint 22, and further , Determine the reverse extension line 23 of the route segment, the length of the reverse extension line 23 can be determined by the control device, and the specific length value is not limited here. Further, the control device can determine a curve or straight line that smoothly transitions from the current position to the reverse extension line 23, and the curve or straight line and the reverse extension line 23 can constitute a target from the current position to the first waypoint 21 route. Since the target route includes the reverse extension line 23, the direction when the drone enters the first waypoint along the target route can be made to be the same as that of the drone flying along the preset route from the first waypoint to the second waypoint. The direction is the same.
  • Step S102 Control the drone to fly to the first waypoint according to the target route.
  • the control device can control the drone 20 to fly from the current position to the reverse extension line 23 according to the curve shown by the arrow, and further, control the drone according to the reverse extension line 23.
  • the man-machine 20 flies to the first waypoint 21.
  • the flying height of the drone 20 on the reverse extension line 23 may be the height corresponding to the first waypoint 21, and the flying speed of the drone 20 on the reverse extension line 23 may be the first waypoint.
  • the flying direction of the drone 20 on the reverse extension line 23 is the direction of the route segment between the first waypoint 21 and the second waypoint 22.
  • control device of the drone may also be a control terminal corresponding to the drone.
  • the control terminal may specifically be a ground control terminal.
  • the ground control terminal may be, for example, a mobile phone, a tablet computer, a laptop, etc. .
  • the control method, equipment, drone, and storage medium of the drone provided in this embodiment are based on the current location information of the drone and the location information of the first waypoint and the second waypoint in the preset route. , Determine the target route of the UAV from the current position to the first waypoint, because the target route refers to the position information of the first waypoint and the second waypoint in the preset route, and there is no
  • the direction when the human machine enters the first waypoint is the same as the direction that the drone flies from the first waypoint to the second waypoint.
  • the embodiment of the present invention provides a control method of a drone.
  • Fig. 3 is a flowchart of a control method for a drone provided by another embodiment of the present invention.
  • the target route from the current position of the man-machine to the first waypoint includes: according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route, Determine multiple alternative routes from the current position of the drone to the first waypoint; determine the target route from the multiple alternative routes.
  • the control device of the UAV 20 determines from the current position information of the UAV 20 and the position information of the first waypoint 21 and the second waypoint 22 of the preset route.
  • the control device can determine from the current position to the first waypoint based on the current position information of the drone 20 and the position information of the first waypoint 21 and the second waypoint 22 of the preset route. Multiple alternative routes for each waypoint 21, and further, the target route is determined from the multiple alternative routes.
  • the method of the embodiment of the present invention can be applied to a vertical take-off and landing UAV.
  • the vertical take-off and landing UAV includes a rotor power system and a fixed wing power system, which can be freely switched between the two modes of the rotor and the fixed wing.
  • the rotor power system provides the power of the UAV
  • the fixed-wing power system provides the power of the UAV.
  • Step S301 Determine a first starting circle and a second starting circle that are tangent to the speed direction of the drone at the current position according to the current position information of the drone.
  • point B represents the current location of the drone
  • the arrow represents the speed direction of the drone at the current location.
  • the current location information that is, the location information of point B and the speed direction
  • the two circles that are tangent to the speed direction of the drone at the current position are denoted as the first starting circle 41 and the second starting circle 42 respectively.
  • This embodiment does not limit the radii of the first starting circle 41 and the second starting circle 42, and the radius may be specifically set by the user through the control terminal.
  • the starting circle on the left side of the speed direction can be marked as the first starting circle 41, and the starting circle on the right side of the speed direction
  • the starting circle is marked as the second starting circle 42.
  • the starting circle on the left side of the speed direction may be recorded as the second starting circle 42, and the starting circle on the right side of the speed direction may be recorded as the first starting circle 41.
  • first starting circle 41 rotates counterclockwise and the second starting circle 42 rotates clockwise as an example for schematic illustration.
  • first starting circle 41 can also rotate clockwise
  • second starting circle 42 can rotate counterclockwise.
  • Step S302 Determine a first ending circle and a second ending circle according to the route segment between the first waypoint and the second waypoint in the preset route, the first ending circle and the second ending circle The ending circles are respectively tangent to the reverse extension line of the route segment.
  • the route segment between the first waypoint 21 and the second waypoint 22 can be determined.
  • the reverse extension line 23 of the route segment can be determined, and further, two circles tangent to the reverse extension line 23 can be determined, and these two circles are marked as the first end circle 51 and the second end circle 52 respectively.
  • the length of the reverse extension line 23 and the radius of the first end circle 51 and the second end circle 52 can be set by the user through the control terminal.
  • the end circle on the left side of the reverse extension line 23 is recorded as the first end circle 51, and the end circle on the right side of the reverse extension line 23 is recorded as the second end circle 52.
  • the ending circle on the left side of the reverse extension line 23 may be recorded as the second ending circle 52, and the ending circle on the right side of the reverse extension line 23 may be recorded as the first ending circle 51.
  • first end circle 51 rotates counterclockwise and the second end circle 52 rotates clockwise as an example for schematic illustration.
  • first end circle 51 can also rotate clockwise
  • second end circle 52 can rotate counterclockwise.
  • Step S303 According to the first starting circle or the second starting circle, and the first ending circle or the second ending circle, determine from the current position of the drone to the first Multiple alternative routes for waypoints.
  • a number of points from the current position B of the drone to the first waypoint 21 are determined Alternative routes.
  • multiple alternative routes can be generated by tangent connection between the start circle and the end circle.
  • WP 1 represents the first waypoint
  • WP 2 represents the second waypoint 22
  • the left starting circle corresponds to the first starting circle 41 in this embodiment
  • the right starting circle corresponds to the second starting circle 42 in this embodiment
  • the left ending circle corresponds to the first ending circle 51 in this embodiment
  • the right ending circle corresponds to the second ending circle 52 in this embodiment.
  • the horizontal range marking the tangent line between the two circles is infinite.
  • each of the multiple alternative routes includes a first route segment, a second route segment, and a third route segment that are sequentially connected;
  • the first route segment may be projected on a first circle
  • the third route segment may be projected on a second circle, the second route segment is respectively tangent to the first circle and the second circle, and the first circle is the first starting circle or the A second starting circle, the second circle being the first ending circle or the second ending circle.
  • an alternative route generated by connecting the left start circle and the right end circle through a tangent is taken as an example for schematic illustration.
  • Figure 6 shows a plan view of the alternative route
  • Figure 7 shows the alternative route.
  • the alternative route includes multiple route segments, as shown in Figures 6 and 7, the alternative route includes route segments numbered 2-5, that is, the alternative route is from the current position B to the first waypoint WP 1 route.
  • the route segment numbered 1 is the route for the drone to fly along the target direction to the current position B after rising from the starting point, such as the Home point, to the preset height.
  • the route segment numbered 2 is recorded as the first route segment
  • the route segment numbered 3 is recorded as the second route segment
  • the route segment numbered 4 is recorded as the third route segment.
  • the first route segment that is, the route segment numbered 2 can be projected on the left starting circle, which is the first starting circle 41
  • the third route segment, that is the route segment numbered 4 can be projected on the right end circle, which is the second ending circle 52.
  • the second route segment, the route segment numbered 3, is tangent to the left start circle and the right end circle.
  • the first route segment can be projected on the right start circle
  • the third route segment can be projected on the left end circle.
  • the second route segment is respectively tangent to the right start circle and the left end circle.
  • the first route segment can be projected on the left start circle
  • the third route segment can be projected on the left end circle.
  • the second route segment is tangent to the left start circle and the left end circle respectively.
  • the first route segment can be projected on the right start circle
  • the third route segment can be projected on the right end circle.
  • the second route segment is tangent to the right start circle and right end circle respectively.
  • the circle projected on the first route segment is recorded as the first circle
  • the circle projected on the third route segment is recorded as the second circle.
  • the first circle can be the first starting circle or the first circle.
  • the second circle may be the first ending circle or the second ending circle.
  • the user can also set a climbing circle between the start circle and the end circle.
  • the position and radius of the climb circle can also be set by the user through the control terminal.
  • the climb circle can be set In a preset area with no obstacles.
  • the climb circle can also rotate counterclockwise or clockwise.
  • the Multiple alternative routes from the current position to the first waypoint including: according to the first starting circle or the second starting circle, the climb circle, and the first ending circle or the The second end circle determines multiple alternative routes from the current position of the drone to the first waypoint.
  • the start circle and the climb circle are connected by a tangent line and the climb circle and the end circle are connected by a tangent line to generate multiple alternative routes.
  • two start circles rotate counterclockwise or rotate clockwise
  • the climb circle and the two end circles connected by tangents can generate 8 alternative routes, as shown in Figure 10, where 11 represents the first waypoint and 12 represents the second waypoint.
  • the horizontal range marking the tangent line between the two circles is infinite.
  • the second route segment includes a first sub-route, a second sub-route, and a third sub-route; wherein the first sub-route is connected to the first route segment, and the third sub-route is connected to the The third route segment is connected; the second sub route can be projected on a climb circle, the first sub route is tangent to the first circle and the climb circle, and the third sub route is connected to the climb circle.
  • the second circle is tangent to the climbing circle.
  • the climb circle is set by the user through the user interface of the control terminal.
  • the alternative route generated by the way that the left starting circle, the counterclockwise rotating climb circle and the right end circle are connected by a tangent line is used as an example to illustrate schematically, that is, taking the eight alternative routes shown in FIG. 10 Take one as an example for schematic illustration, and other alternative routes are similar.
  • Fig. 8 shows a top view of the alternative route
  • Fig. 9 shows a side view of the alternative route.
  • the alternative route includes multiple route segments, as shown in Figures 8 and 9, the alternative route includes route segments numbered 2-7, that is, the alternative route is from the current position B to the first waypoint WP 1 route.
  • the route segment numbered 1 is the route for the drone to fly along the target direction to the current position B after rising from the starting point, such as the Home point, to the preset height.
  • the route segment numbered 2 is recorded as the first route segment
  • the route segment composed of numbers 3, 4, and 5 is recorded as the second route segment
  • the route segment numbered 6 is recorded as the third route segment.
  • the first route segment, the route segment numbered 2 can be projected on the left starting circle, that is, the first starting circle 41
  • the route segment numbered 6 can be projected on the right end circle, that is the second ending circle 52 .
  • record the route segment numbered 4 as the second sub-route of the second route segment
  • the route numbered 5 The segment is recorded as the third sub-route of the second route segment.
  • the route segment numbered 3 is the first sub-route connected with the route segment numbered 2 that is the first route segment
  • the route segment numbered 5 is the third sub-route
  • the route segment numbered 6 is the third route segment connection.
  • the route segment numbered 4, that is, the second sub-route can be projected on the climb circle
  • the route segment numbered 3 is tangent to the left starting circle and the counterclockwise rotation climbing circle
  • the route segment numbered 5 is connected to the right end circle. Tangent to the climbing circle rotating counterclockwise.
  • each of the alternative routes further includes: a fourth route segment, and the fourth route segment is respectively connected to the third route segment and the first waypoint.
  • the alternative route further includes a fourth route segment, and the fourth route segment may be a route segment numbered 5.
  • the fourth route segment is respectively connected with the third route segment, the route segment numbered 4 and the first waypoint WP 1 .
  • the stage when the drone flies along the route segment numbered 1 is recorded as the forward transition stage, and the stage when the drone flies along the route segment numbered 2 is recorded as the start In the arc phase, the phase where the drone flies along the route segment numbered 3 is recorded as the end circle tangent phase, and the phase where the drone flies along the route segment numbered 4 is recorded as the end arc phase.
  • the stage in which the drone flies along the route segment numbered 5 is recorded as the pre-planning stage for the preset route.
  • the alternative route further includes a fourth route segment, and the fourth route segment may be a route segment numbered 7.
  • the fourth route segment is respectively connected to the third route segment, the route segment numbered 6 and the first waypoint WP 1 .
  • the stage where the drone flies along the route segment numbered 1 is recorded as the forward transition stage, and the stage where the drone flies along the route segment numbered 2 as the start In the arc phase, the phase where the drone flies along the route segment numbered 3 is recorded as the climb circle tangent phase, and the phase where the drone flies along the route segment numbered 4 is recorded as the arc of climb phase.
  • the stage when the drone flies along the route segment numbered 5 is recorded as the end circle tangent stage, and the stage when the drone flies along the route segment numbered 6 is recorded as the end arc stage, and the drone travels along the The flight stage of the route segment numbered 7 is recorded as the pre-route preparation stage.
  • the fourth route segment may be particularly mentioned above the first waypoint WP reverse route segment between the extended line 21 and the second waypoints WP.
  • the fourth route segment satisfies at least one of the following conditions: the height of the fourth route segment is the same as the height of the first waypoint; the drone is on the fourth route segment The flight speed is the same as the preset speed of the first waypoint; the direction of the fourth route segment is consistent with the direction of the route segment between the first waypoint and the second waypoint.
  • the fourth route segment may satisfy at least one of the following conditions: the height of the fourth route segment is the same as the height of the first waypoint WP 1 ; The flight speed of the man-machine on the fourth route segment is the same as the preset speed of the first waypoint WP 1 ; the direction of the fourth route segment is between the first waypoint WP 1 and the second waypoint WP 2 The directions of the route segments are the same.
  • the flying speed of the drone on the first route segment, the second route segment, and the third route segment is a preset speed of the first waypoint.
  • the drone when the drone flies on the first route segment, the second route segment, and the third route segment of the alternative route, the drone can Use the preset speed of the first waypoint WP 1 to fly, that is to say, starting from the current position of the drone at point B, the drone can follow the preset speed of the first waypoint WP 1 The size of the speed to fly.
  • the first starting circle and the second starting circle that are tangent to the speed direction of the drone at the current position are determined, and according to the preset route For the route segment between the first waypoint and the second waypoint, the first ending circle and the second ending circle are determined, and based on the first starting circle or the second starting circle, and the first The ending circle or the second ending circle determines multiple alternative routes from the current position of the drone to the first waypoint, thereby realizing the diversity of alternative routes.
  • a climbing circle in a preset area with no obstacles it can effectively prevent the drone from touching obstacles during the climbing process, thereby improving the flight safety of the drone.
  • the height of the fourth route segment is the same as the height of the first waypoint; the flying speed of the drone on the fourth route segment is The preset speed of the first waypoint is the same; the direction of the fourth route segment is consistent with the direction of the route segment between the first waypoint and the second waypoint.
  • the man-machine smoothly enters the first waypoint with a small deviation, which improves the tracking effect of the UAV in the initial stage of the preset route.
  • the embodiment of the present invention provides a control method of a drone.
  • Fig. 11 is a flow chart of a control method of a drone provided by another embodiment of the present invention. As shown in FIG. 11, on the basis of the foregoing embodiment, the altitude of the drone gradually increases on at least one of the first route segment, the second route segment, and the third route segment. .
  • Fig. 12 is a schematic diagram of the horizontal range and height changes of the UAV when the UAV is flying along the alternative route shown in Fig. 6 or Fig. 7.
  • the altitude of the drone gradually increases on the first route segment, the route segment numbered 2, the second route segment, the route segment numbered 3, and the third route segment, the route segment numbered 4. increase.
  • the UAV repeated circling and climbing along the right end circle on the route segment numbered 4.
  • the height of the drone may only gradually increase in the first route segment, the second route segment, or the third route segment, or the height of the drone is in the first route segment, the second route segment, or the third route segment. It gradually increases on any two of the route segment and the third route segment.
  • Fig. 13 is a schematic diagram of the horizontal range and altitude changes of the UAV when the UAV flies along the alternative route shown in Fig. 8 or Fig. 9.
  • the altitude of the drone is in the first route segment, the route segment numbered 2, the first sub-route of the second route segment, the route segment numbered 3, and the second route segment.
  • the second sub-route is gradually increasing on the route segment numbered 4.
  • the UAV repeated circling and climbing along the climb circle on the route segment numbered 4.
  • the target route is determined from the four alternative routes shown in FIG. 5.
  • the target route is determined from the eight alternative routes shown in FIG. 10.
  • the determining the target route from the multiple alternative routes includes:
  • Step S1101. In the process of determining that the drone flies from the current position to the first waypoint along each of the multiple alternative routes, the drone The horizontal voyage.
  • the alternative route shown in FIG. 6 or FIG. 7 is one of the four alternative routes shown in FIG. 5.
  • the alternative route along the UAV illustrated in FIG. 6 or FIG. 7 flying height UAVs up from a current position of the point B to the height of the first height of a waypoint WP 1.
  • the entire process UAV climb up from the current height position of the point B to the first waypoint WP during the initial height of a circular arc in the stage, and a terminating stage Tangent circular arc terminating stages.
  • the UAV can repeatedly circling and climb during the ending arc stage, and the horizontal range S of the UAV during the entire climbing process is equal to the sum of the horizontal range of these three stages.
  • the horizontal range of the drone during the entire climb process can be calculated when the drone is flying along the other alternative routes among the 4 alternative routes as shown in Figure 5, and then the drone's horizontal range can be obtained.
  • the horizontal range of the UAV during the flight from the current position to the first waypoint for each alternative route.
  • the alternative route shown in FIG. 8 or FIG. 9 is one of the eight alternative routes shown in FIG. 10.
  • UAV height raised from the current height position of the point B to the height of the first waypoint WP 1 is.
  • the entire climbing process of the drone that is, the process of rising from the height of point B at the current position to the height of the first waypoint WP 1 is completed in the initial arc phase, the climb circle tangent phase, and the climb arc phase. It is possible to repeat the circling climb during the arc of climb.
  • the horizontal range S of the UAV during the entire climb is equal to the sum of the horizontal range of these three stages.
  • the horizontal range of the drone during the entire climb process can be calculated when the drone is flying along the other alternative routes among the 8 alternative routes as shown in Figure 10, and then the drone's horizontal range can be obtained.
  • the horizontal range of the UAV during the flight from the current position to the first waypoint for each alternative route.
  • Step S1102 Determine the candidate route with the shortest horizontal range among the multiple candidate routes as the target route.
  • the alternative route with the shortest horizontal range among the four alternative routes shown in FIG. 5 is determined as the target route.
  • the alternative route with the shortest horizontal range among the eight alternative routes shown in FIG. 10 is determined as the target route.
  • the control device will control the drone to follow the route numbered 2-5 The segments fly to the first waypoint in sequence.
  • the control device will control the drone to follow the sequence of route segments numbered 2-7 Fly to the first waypoint.
  • the The horizontal range of the drone includes: determining that the drone is flying along the alternative route according to the height of the drone at the current position and the height of the first waypoint.
  • the number of laps that the drone needs to hover and climb on the second route segment and/or the third route segment; according to the drone's needs in the second route segment and/or the third route segment The number of circling and climbing laps on the segment to determine the level of the drone during the process of rising from the height of the current position to the height of the first waypoint along the alternative route voyage.
  • the altitude of point B at the current position of the drone is recorded as the initial altitude h 0
  • the altitude of the first waypoint WP 1 is recorded as the target altitude h tgt .
  • the tangent point between the route segment numbered 5 and the right end circle is marked as point D, that is, the altitude of the drone at point D reaches the height of the first waypoint WP 1 .
  • the horizontal range S of the drone during the entire climb is the horizontal range from point B to point D.
  • the horizontal range S of the drone during the entire climb is the horizontal range from point B to point D plus a 2 ⁇ R, where, R represents the radius of the right end circle.
  • the horizontal range S of the drone during the entire climb is the horizontal range from point B to point D plus two 2 ⁇ R.
  • the horizontal range S of the drone during the entire climb process increases by 2 ⁇ R. Therefore, when calculating the horizontal range S of the UAV during the entire climb process, it is necessary to calculate the number of cycles that the UAV repeats hovering and climbing on the right end circle, and according to the UAV repeating hovering and climbing on the right end circle The number of laps to determine the drone's horizontal range S during the process of rising from the height of the current position to the height of the first waypoint along the alternative route shown in Figure 6 or Figure 7, and then Obtain the horizontal range of the drone during the flight from the current position to the first waypoint along each alternative route.
  • the drone when the drone is flying from the current position to the height of the first waypoint along the alternate route shown in Figure 8 or Figure 9, the drone can repeat the circling climb on the climb circle according to the drone.
  • the drone can also hover repeatedly on the climb circle and the end circle. At this time, the drone can be determined according to the number of cycles the drone has repeatedly hovered and climbed on the climb circle and the end circle. The horizontal range S during the entire climb process, and then obtain the horizontal range of the UAV during the process of flying from the current position to the first waypoint along each alternative route.
  • the unmanned The number of laps that the aircraft needs to hover and climb on the second route segment and/or the third route segment includes: according to the altitude of the drone at the current position and the altitude of the first waypoint
  • the drone needs to hover and climb on the second route segment and/or the third route segment, and the hover climb
  • the trajectory inclination of is less than or equal to the preset climb trajectory inclination threshold.
  • the trajectory inclination of the drone hovering and climbing is determined according to the height difference between the height of the drone at the current position and the height of the first waypoint, and the horizontal range.
  • the trajectory inclination ⁇ of the circling and climbing of the UAV can be calculated every additional circle.
  • the increase is stopped until the calculated trajectory inclination angle ⁇ of the UAV hovering climb is less than or equal to the preset climb trajectory inclination angle threshold.
  • the preset climb trajectory inclination angle threshold is recorded as ⁇ max , and the preset climb trajectory inclination threshold ⁇ max may specifically be the maximum allowable climb trajectory inclination angle set by the user, that is, satisfy the condition When, stop increasing.
  • the number of times the UAV repeatedly circulates and climbs on the right termination circle is the final number of laps that the drone needs to circulate and climb on the right termination circle.
  • the unmanned The horizontal voyage of the aircraft by determining that the drone is flying from the current position to the first waypoint along each of the multiple alternative routes, the unmanned The horizontal voyage of the aircraft, the candidate route with the shortest horizontal voyage among the multiple alternative routes is determined as the target route, so that the UAV can maximize the flight from the current position to the first waypoint To save energy.
  • the embodiment of the present invention provides a control method of a drone.
  • the method further includes: controlling the drone to fly from the starting point to a preset height and then fly along the target direction to the current position.
  • point A represents the starting point of the drone, such as the Home point.
  • the control device controls the drone to rise from point A to the preset height arrival point C, further, fly from point C to the current position point B along the target direction, that is, the forward transition stage numbered 1 as shown in FIG.
  • the drone is a vertical take-off and landing drone, and controlling the drone to rise from a starting point to a preset height includes: controlling the drone to rise from the starting point to a preset height in a rotor mode Preset height. For example, after the drone starts to take off from point A, the control device controls the drone to rise from point A to a preset height in a rotor mode.
  • the target direction is a direction indicated by a remote control instruction sent by a control terminal, or a direction when the drone rises to the preset height.
  • the user can send a remote control instruction to the drone through the control terminal, and the remote control instruction can adjust the direction of the drone.
  • the target direction may specifically be the direction indicated by the remote control instruction of the control terminal when the drone reaches the preset height.
  • the target direction may be the direction of the drone when the drone reaches the preset height.
  • the flight mode of the drone is changed from the rotor mode to the fixed-wing mode.
  • the drone when the drone rises from the point A to the preset height h in the rotor mode, it hoveres at the point C, and further, flies from the point C to the current position point B along the target direction as described above.
  • the flight mode of the drone changes from rotor mode to fixed-wing mode, that is to say, when the flying mode of the drone at the current position point B is fixed-wing mode .
  • the method further includes: when the rotor lift of the drone is less than a preset lift, and When the airspeed of the drone is greater than the first airspeed threshold, the drone is switched from the rotor mode to the fixed wing mode.
  • the drone can be Switch from rotor mode to fixed wing mode.
  • the method further includes: when the airspeed of the drone is greater than a second airspeed When the threshold is reached, the drone is switched from the rotor mode to the fixed wing mode.
  • the drone in the process of flying from point C to point B at the current position, when the airspeed of the drone is greater than the second airspeed threshold, the drone can be switched from the rotor mode to the fixed wing mode.
  • the second airspeed threshold is greater than the first airspeed threshold.
  • the drone is controlled to fly to the current position along the target direction after rising from the starting point to a preset height, and when the drone flies along the target direction to the current position
  • the flight mode of the drone is changed from the rotor mode to the fixed-wing mode, which further saves the energy of the drone.
  • an application scenario in which the climb circle is not required to determine the multiple alternative routes is taken as an example to schematically illustrate the process of determining the target route.
  • the position coordinates of the first waypoint in the preset route relative to the UAV Home point are (-500m, 550m), and the height of the first waypoint relative to the ground is 200 meters.
  • the position coordinates of the second waypoint in the preset route relative to the UAV Home point are (-500m, 650m), and the height of the second waypoint relative to the ground is 200 meters.
  • the maximum allowable climb trajectory inclination angle ⁇ max set by the user through the control terminal is 5 degrees.
  • the radius of the starting circle and the ending circle are both 100 meters, and the length of the reverse extension of the route segment between the first waypoint 21 and the second waypoint 22 is 50 meters.
  • the preset altitude for the drone to take off from the Home point is 60 meters.
  • the UAV When the UAV needs to perform the flight mission of the preset route as shown by the dotted line shown in Figure 2, the UAV will automatically take off and lift off the ground in rotor mode from the Home point.
  • the rod can change the heading of the drone, for example, so that the heading of the drone is aligned with the target direction.
  • the target direction can be the direction from the first waypoint to the second waypoint.
  • the UAV When the UAV rises to a preset height of 60 meters, the UAV automatically triggers the flight route entry mission.
  • the UAV first enters the forward transition process.
  • the flight mode of the UAV switches from rotor mode to fixed wing mode, and the moment when the UAV switches from rotor mode to fixed wing mode
  • the height is 60m
  • the instantaneous position relative to the home point is (0m, 100m).
  • the speed direction of the drone is the target direction.
  • the instantaneous position is specifically the current position point B as described above.
  • two start points tangent to the speed direction are dynamically generated on the left and right sides of the speed direction.
  • Starting circle the coordinates of the center of the starting circle on the left are (-100m, 100m), and the coordinates of the center of the starting circle on the right are (100m, 100m); the opposite of the route segment between the first waypoint and the second waypoint
  • Two end circles are dynamically generated to both sides of the extension line, the center position coordinates of the left end circle are (-600m, 500m), and the center position coordinates of the right end circle are (-400m, 500m).
  • the drone's horizontal range is 1896m, and the number of cycles the drone needs to circle and climb on the left end circle is 1 circle ,
  • the trajectory inclination angle of the UAV hovering and climbing is 4.22°.
  • the drone's horizontal range is 1896m
  • the number of cycles the drone needs to hover and climb on the right end circle is 1 circle
  • the trajectory inclination angle of the UAV hovering and climbing is 4.22°.
  • the drone when the drone flies along an alternative route consisting of a right start circle and a left end circle, the drone's horizontal range is the shortest. Therefore, the right start circle and left end circle
  • the alternate route composed of circles serves as the target route of the UAV from the current position point B to the first waypoint.
  • the UAV flies to the first waypoint in sequence according to the starting arc phase, the ending circle tangent phase, the ending arc phase, and the preparation phase before entering the preset route corresponding to the target route.
  • FIG. 14 is a structural diagram of a UAV control device provided by an embodiment of the present invention.
  • the control device 140 includes: a memory 141 and a processor 142; the memory 141 is used to store program codes; the processor 142, The program code is called, and when the program code is executed, it is used to perform the following operations:
  • the control device 140 includes: a memory 141 and a processor 142; the memory 141 is used to store program codes; the processor 142, The program code is called, and when the program code is executed, it is used to perform the following operations:
  • According to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route determine from The target route from the current position of the drone to the first waypoint, wherein the direction when the drone enters the first waypoint along the target route is the same as the direction along the drone
  • the direction of the preset route from the first waypoint to the second waypoint is the same; according to the target route, the drone is controlled to fly to the first
  • the processor 142 determines from the current position of the drone to the first waypoint according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route.
  • the target route of a waypoint is specifically used to: determine from the unmanned aircraft according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route. Multiple alternative routes from the current position of the aircraft to the first waypoint; determining the target route from the multiple alternative routes.
  • the processor 142 determines from the current position of the drone to the current position of the drone according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route.
  • the multiple alternative routes of the first waypoint it is specifically used to determine the first starting circle and the first starting circle tangent to the speed direction of the drone at the current position according to the current position information of the drone
  • each of the multiple alternative routes includes a first route segment, a second route segment, and a third route segment that are sequentially connected; the first route segment may be projected on the first route segment.
  • Circle, the third route segment can be projected on a second circle, the second route segment is respectively tangent to the first circle and the second circle, and the first circle is the first starting circle or The second starting circle, the second circle is the first ending circle or the second ending circle.
  • the second route segment includes a first sub-route, a second sub-route, and a third sub-route; wherein the first sub-route is connected to the first route segment, and the third sub-route is connected to the The third route segment is connected; the second sub route can be projected on a climb circle, the first sub route is tangent to the first circle and the climb circle, and the third sub route is connected to the climb circle.
  • the second circle is tangent to the climbing circle.
  • the climb circle is set by the user through the user interface of the control terminal.
  • the processor 142 determines from the current position of the drone to the current position of the drone according to the first starting circle or the second starting circle, and the first ending circle or the second ending circle.
  • the multiple alternative routes of the first waypoint are specifically used to: according to the first starting circle or the second starting circle, the climb circle, and the first ending circle or the first Second, the termination circle is to determine multiple alternative routes from the current position of the drone to the first waypoint.
  • each of the candidate routes further includes: a fourth route segment, and the fourth route segment is respectively connected to the third route segment and the first waypoint.
  • the fourth route segment satisfies at least one of the following conditions: the height of the fourth route segment is the same as the height of the first waypoint; the drone is on the fourth route segment The flight speed is the same as the preset speed of the first waypoint; the direction of the fourth route segment is consistent with the direction of the route segment between the first waypoint and the second waypoint.
  • the flying speed of the drone on the first route segment, the second route segment, and the third route segment is a preset speed of the first waypoint.
  • the altitude of the drone gradually increases on at least one of the first route segment, the second route segment, and the third route segment.
  • the processor 142 determines the target route from the multiple alternative routes, it is specifically configured to: determine that the drone follows each of the multiple alternative routes. During the course of the route from the current position to the first waypoint, the horizontal range of the UAV; the candidate route with the shortest horizontal range among the multiple alternative routes is determined as the target route .
  • the processor 142 determines that while the drone is flying from the current position to the first waypoint along each of the multiple alternative routes, When the horizontal range of the drone is described, it is specifically used to: determine that the drone is along the alternative route according to the height of the drone at the current position and the height of the first waypoint When flying, the drone needs to hover and climb the number of laps on the second route segment and/or the third route segment; according to the drone's needs in the second route segment and/or the third route segment The number of circling and climbing laps on the third route segment determines the level of the drone during the flight from the current position to the first waypoint along the alternative route voyage.
  • the processor 142 determines that when the drone is flying along the alternative route according to the altitude of the drone at the current position and the altitude of the first waypoint, the When the man-machine needs to hover and climb the number of laps on the second route segment and/or the third route segment, it is specifically used to: according to the altitude of the drone at the current position and the first The altitude of the waypoint, determining the inclination of the trajectory at which the drone needs to hover and climb on the second route segment and/or the third route segment when the drone is flying along the alternative route, The trajectory inclination angle of the spiral climb is less than or equal to a preset climb trajectory inclination angle threshold.
  • the trajectory inclination of the drone hovering and climbing is based on the altitude difference between the altitude of the drone at the current position and the altitude of the first waypoint, and the altitude of the drone while climbing The horizontal voyage in the process is determined.
  • the processor 142 determines from the current position of the drone to the first waypoint according to the current position information of the drone and the position information of the first waypoint and the second waypoint in the preset route. Before the target route of a waypoint, it is also used to control the drone to fly along the target direction to the current position after ascending from the starting point to the preset height.
  • the target direction is a direction indicated by a remote control instruction sent by a control terminal, or a direction when the drone rises to the preset height.
  • the processor 142 controls the drone to rise from the starting point to the preset height, it is specifically configured to control the drone to rise from the starting point to the preset height in the rotor mode.
  • the flight mode of the drone is changed from the rotor mode to the fixed-wing mode.
  • the processor 142 is further configured to: when the rotor lift of the drone is less than a preset lift, and the When the airspeed of the man-machine is greater than the first airspeed threshold, the drone is switched from the rotor mode to the fixed wing mode.
  • the processor 142 is further configured to: when the airspeed of the drone is greater than a second airspeed threshold, The drone is switched from the rotor mode to the fixed wing mode.
  • the control method, equipment, drone, and storage medium of the drone provided in this embodiment are based on the current location information of the drone and the location information of the first waypoint and the second waypoint in the preset route. , Determine the target route of the UAV from the current position to the first waypoint, because the target route refers to the position information of the first waypoint and the second waypoint in the preset route, and there is no
  • the direction when the human machine enters the first waypoint is the same as the direction that the drone flies from the first waypoint to the second waypoint.
  • the embodiment of the present invention provides a drone.
  • the unmanned aerial vehicle includes a fuselage, a power system, and the above-mentioned control device, wherein the power system is installed on the fuselage to provide flight power.
  • the power system includes at least one of the following: a motor, a propeller, and an electronic governor.
  • the control device can execute the above-mentioned UAV control method, and the specific principle and implementation process of the method are as described above, and will not be repeated here.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the drone control method described in the foregoing embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • 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, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

La présente invention concerne un procédé et un dispositif de commande de véhicule aérien sans pilote, un véhicule aérien sans pilote et un support d'informations associé. Le procédé consiste : en fonction des informations de position actuelle d'un véhicule aérien sans pilote et des informations de position d'un premier point de cheminement et d'un second point de cheminement dans un trajet de vol prédéfini, à déterminer un trajet de vol cible à partir de la position actuelle du véhicule aérien sans pilote vers le premier point de cheminement, la direction du véhicule aérien sans pilote lors de l'entrée du premier point de cheminement le long du trajet de vol cible étant conforme à la direction du véhicule aérien sans pilote volant du premier point de cheminement au second point de cheminement le long du trajet de vol prédéfini (S101) ; et selon le trajet de vol cible, à commander le vol du véhicule aérien sans pilote vers le premier point de cheminement (S102). Le procédé peut permettre à un véhicule aérien sans pilote d'entrer doucement dans un premier point de cheminement d'un trajet de vol prédéfini avec un faible écart, ce qui permet d'améliorer l'effet de suivi du véhicule aérien sans pilote sur le trajet de vol prédéfini au niveau d'une phase initiale du trajet de vol prédéfini.
PCT/CN2019/092914 2019-06-26 2019-06-26 Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations WO2020258066A1 (fr)

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PCT/CN2019/092914 WO2020258066A1 (fr) 2019-06-26 2019-06-26 Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations

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CN112306077B (zh) * 2020-11-06 2022-11-08 广州极飞科技股份有限公司 飞行控制方法、装置、飞行器及存储介质
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