WO2021237462A1 - Procédé et appareil de limitation d'altitude pour un véhicule aérien sans pilote, véhicule aérien sans pilote, et support de stockage - Google Patents

Procédé et appareil de limitation d'altitude pour un véhicule aérien sans pilote, véhicule aérien sans pilote, et support de stockage Download PDF

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Publication number
WO2021237462A1
WO2021237462A1 PCT/CN2020/092370 CN2020092370W WO2021237462A1 WO 2021237462 A1 WO2021237462 A1 WO 2021237462A1 CN 2020092370 W CN2020092370 W CN 2020092370W WO 2021237462 A1 WO2021237462 A1 WO 2021237462A1
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WIPO (PCT)
Prior art keywords
height
unmanned aerial
aerial vehicle
waypoint
flight
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PCT/CN2020/092370
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English (en)
Chinese (zh)
Inventor
贾向华
闫光
王璐
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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 CN202080030741.8A priority Critical patent/CN113874804A/zh
Priority to PCT/CN2020/092370 priority patent/WO2021237462A1/fr
Publication of WO2021237462A1 publication Critical patent/WO2021237462A1/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
    • G05D1/04—Control of altitude or depth
    • 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

Definitions

  • This application relates to the field of electronic technology, and in particular to methods and devices for height limitation of unmanned aerial vehicles, unmanned aerial vehicles and storage media.
  • unmanned aerial vehicles can be applied to the field of plant protection, for example, unmanned aerial vehicles can perform fruit tree operations.
  • the flying height of the unmanned aerial vehicle is usually restricted.
  • the unmanned aerial vehicle can collect the height of the obstacle relative to the unmanned aerial vehicle in real time, and when the height is greater than the flying height limit, the unmanned aerial vehicle triggers the height restriction operation, such as suspending the current operation mission.
  • the flying height limit is a predetermined fixed value
  • the height of the UAV relative to the obstacle below the UAV collected by the UAV is relative to the ground. If the height of the fruit tree is usually higher, the height of the unmanned aerial vehicle relative to the ground will be greater than the height limit, which triggers the height limit operation and affects the efficiency of the task.
  • the embodiments of this application provide a method, device, unmanned aerial vehicle, and storage medium for height limitation of an unmanned aerial vehicle, which can dynamically determine the altitude limit of an unmanned aerial vehicle based on the height of multiple waypoints in the flight route data. To achieve the safe altitude requirements of the unmanned aerial vehicle when performing flight route tasks, and to avoid the flight route mission failure caused by triggering the height limit, thereby improving the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.
  • an embodiment of the present application provides a method for limiting the height of an unmanned aerial vehicle, and the method includes:
  • the flight route data including waypoint heights of multiple waypoints
  • the waypoint heights of the multiple waypoints determine the restricted flying height of the unmanned aerial vehicle when performing flight route tasks according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point .
  • an embodiment of the present application provides a height limiting device for an unmanned aerial vehicle, the device including:
  • the memory is used to store a computer program, the computer program including program instructions
  • the processor calls the program instructions to execute the following steps:
  • the flight route data including waypoint heights of multiple waypoints
  • the restricted flying height is determined when the unmanned aerial vehicle executes the flight route task according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point.
  • an embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:
  • the power system installed on the fuselage is used to provide flight power
  • the height-limiting device for unmanned aerial vehicles as described in the second aspect.
  • an embodiment of the present application provides a computer-readable storage medium that stores a computer program that, when executed, implements the height limitation method of the unmanned aerial vehicle described in the first aspect above .
  • the waypoint heights of multiple waypoints included in the flight route data are determined to determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data.
  • This can be achieved Dynamic determination of the restricted height. Since the restricted height is determined based on the waypoint heights of multiple waypoints contained in the flight route data, it can avoid the low flying height of the unmanned aerial vehicle when performing flight route tasks, resulting in the unmanned aerial vehicle's fuselage and operating objects. In the event of a collision, the safety altitude requirement of the unmanned aerial vehicle when performing flight route tasks is realized.
  • the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, and the restricted flying height is relative to the height of the restricted reference point, it can avoid the unmanned aerial vehicle flying to two
  • the flight route task fails when the height limit operation is triggered when the height limit operation is triggered between the operating objects or the low-lying ground under the unmanned aerial vehicle. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.
  • FIG. 1 is a schematic diagram of a scene of an unmanned aerial vehicle provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of another unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of another method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a height limiting device for an unmanned aerial vehicle provided by an embodiment of the present application
  • Fig. 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • Unmanned aerial vehicles can be called Unmanned Aerial Vehicles/Drones (UAV), which refers to unmanned aircraft operated by radio remote control equipment and self-provided program control devices, or completely or intermittently autonomous by onboard computers ⁇ Operation.
  • Unmanned aerial vehicles may include unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned para-wing aircraft, and the like.
  • the unmanned aerial vehicle may include sensors. Sensors can be used to collect sensor data, and sensor data can be used to determine the flight altitude of the unmanned aerial vehicle.
  • the sensor may include one or more of a global positioning system (Global Positioning System, GPS) positioning module, a real-time dynamic (Real-Time Kinematic, RTK) measuring instrument, an air pressure sensor, a laser sensor, and an ultrasonic sensor.
  • GPS Global Positioning System
  • RTK Real-Time Kinematic
  • FIG. 1 is a schematic diagram of exemplary flight route data provided by an embodiment of the present application.
  • the unmanned aerial vehicle can obtain flight route data, where the flight route data can at least include the waypoint heights of multiple waypoints.
  • the flight route task is a fruit tree operation task
  • the waypoint can be the position of the fruit tree
  • the height of the waypoint can be the height of the fruit tree.
  • the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints.
  • the fruit tree operation task may be watering or spraying pesticides on the fruit trees in the orchard by the unmanned aerial vehicle, or monitoring the fruit trees in the orchard, etc., which is not specifically limited by the embodiments of the present application.
  • the flight route tasks in the embodiments of the present application include, but are not limited to, fruit tree operations tasks, and may also be flight routes tasks where the flight height of the unmanned aerial vehicle changes greatly, such as power line patrol tasks.
  • the waypoint can be an electric pole or an electric tower
  • the height of the waypoint can be the height of an electric pole or an electric tower.
  • FIG. 2 is a schematic flowchart of a height limitation method for an unmanned aerial vehicle according to an embodiment of the present application.
  • the height limitation method for an unmanned aerial vehicle may include the following steps S201 and S202:
  • Step S201 Obtain flight route data, where the flight route data includes waypoint heights of multiple waypoints.
  • the flight route data may include waypoint information of multiple waypoints, and the waypoint information may include the two-dimensional coordinates (for example, longitude and latitude) of the waypoint, and the height of the waypoint.
  • the waypoint information may also include work task instructions for the waypoint (for example, work task instructions such as photographing, video recording, or spraying).
  • the waypoint height of the waypoint can be the relative height of the waypoint relative to the ground, or the altitude of the waypoint, which can be specifically set by the user.
  • the user may set the altitude of the waypoint as the altitude of the waypoint.
  • the unmanned aerial vehicle performs flight route missions on the plain based on the flight route data, the user can set the waypoint height to the relative height of the waypoint relative to the ground, or the altitude of the waypoint.
  • the altitude of the waypoint is preset and does not need to be set by the user. For example, the altitude of the waypoint of the waypoint is the altitude of the waypoint by default.
  • the user performs editing operations on historical tasks on the user interface of the control terminal, and when the control terminal detects the editing operation of the user, it obtains the editing information input by the user.
  • the control terminal generates flight route data of the unmanned aerial vehicle based on historical missions and edited information in accordance with preset rules and protocols, and sends the flight route data to the unmanned aerial vehicle.
  • the historical task may be acquired by the control terminal from the local storage of the ground control terminal, or acquired by the control terminal from an unmanned aerial vehicle, or downloaded by the control terminal through the Internet, which is not specifically limited by the embodiments of this application. .
  • the user performs the configuration operation of the flight route data of the unmanned aerial vehicle on the user interface of the control terminal, such as configuring multiple waypoints and waypoint information of each waypoint.
  • the control terminal detects the user’s configuration operation, it obtains each waypoint and its waypoint information entered by the user, and generates the flight route data of the unmanned aerial vehicle based on each waypoint and its waypoint information in accordance with the preset rules and protocols.
  • the flight route data is sent to the unmanned aerial vehicle.
  • the control terminal can obtain the pre-generated surveying and mapping results, generate flight route data of the unmanned aerial vehicle based on the surveying and mapping results, and send the flight route data to the unmanned aerial vehicle. For example, the control terminal can reconstruct, identify and plan the operation scene based on the 3D mapping application and surveying results, and generate flight route data of the unmanned aerial vehicle.
  • Step S202 Determine, according to the waypoint heights of the multiple waypoints, the restricted flying height of the unmanned aerial vehicle when executing the flight route task according to the flight route data, where the restricted flying height is the height relative to the restricted flying reference point.
  • the flight restriction reference point may include the take-off position point of the unmanned aerial vehicle, the power-on position point of the unmanned aerial vehicle, or the position point indicated by the user of the unmanned aerial vehicle.
  • the unmanned aerial vehicle can determine the waypoint with the highest waypoint height among the multiple waypoints based on the waypoint heights of multiple waypoints, and then determine the flying height limit based on the waypoint height of the waypoint with the highest waypoint height .
  • the way for the unmanned aerial vehicle to determine the flying height limit according to the waypoint height of the waypoint with the highest waypoint height may include the following multiple ways:
  • the unmanned aerial vehicle can determine the second relative height of the waypoint with the highest waypoint height relative to the flight-restricted reference point according to the waypoint height of the waypoint with the highest waypoint height and the height of the flight-restricted reference point, and then according to the second relative height
  • the altitude determines the restricted flying altitude
  • the unmanned aerial vehicle can directly determine the second relative altitude as the restricted flying altitude.
  • the unmanned aerial vehicle can obtain the first safe altitude margin, and then determine the sum of the first safe altitude margin and the second relative altitude as the restricted flight altitude.
  • the first safe altitude margin can be a preset altitude.
  • the first safe altitude margin can be set based on experience, or set at the factory of the unmanned aerial vehicle, or the user of the unmanned aerial vehicle based on flight
  • the scene setting corresponding to the route data is a fruit tree operation task, and the scene corresponding to the flight route data is the orchard operated by the fruit tree operation task.
  • the unmanned aerial vehicle may determine the first safety altitude margin according to the type of the work object. For example, the first safety height margin when the type of the work object is a fruit tree may be different from the first safety height margin when the type of the work object is an electrical tower.
  • the unmanned aerial vehicle can determine whether the waypoint height of the waypoint with the highest waypoint height is greater than or equal to the height of the flight restriction reference point, when the waypoint height of the waypoint with the largest waypoint height is greater than or equal to the height of the flight restriction reference point When the time, the UAV can determine the restricted flying height according to the waypoint height of the waypoint with the highest waypoint height. When the waypoint altitude of the waypoint with the highest waypoint altitude is less than the altitude of the flight restriction reference point, the unmanned aerial vehicle can determine the flight restriction altitude according to the altitude of the flight restriction reference point.
  • the unmanned aerial vehicle can compare the height of each waypoint included in the flight route data with the height of the flight-restricted reference point. When there is at least one waypoint whose waypoint height is greater than or equal to the limit, When flying at the altitude of the reference point, the unmanned aerial vehicle may determine the restricted flying altitude according to the waypoint altitude of the waypoint with the highest waypoint altitude. When the altitude of all the waypoints is less than the altitude of the restricted-flying reference point, the UAV can determine the restricted-flying altitude according to the altitude of the restricted-flying reference point.
  • the unmanned aerial vehicle can directly determine the altitude of the restricted-flying reference point as the restricted-flying altitude.
  • the unmanned aerial vehicle can obtain the second safe altitude margin, and then determine the sum of the second safe altitude margin and the altitude of the flight restriction reference point as the restricted flight altitude.
  • the second safe altitude margin can be a preset altitude.
  • the second safe altitude margin can be set based on experience, or set at the factory of the unmanned aerial vehicle, or the user of the unmanned aerial vehicle based on flight
  • the scene setting corresponding to the route data For example, the flight route task executed by the unmanned aerial vehicle according to the flight route data is a fruit tree operation task, and the scene corresponding to the flight route data is the orchard operated by the fruit tree operation task.
  • the unmanned aerial vehicle may determine the second safety altitude margin according to the type of the work object. For example, the second safety height margin when the type of the work object is a fruit tree may be different from the second safety height margin when the type of the work object is an electrical tower.
  • the unmanned aerial vehicle can determine whether the preset conditions are met. When the preset conditions are met, the altitude of multiple waypoints is used to determine the limit when the unmanned aerial vehicle performs flight route tasks based on flight route data. Fly height. When the preset conditions are not met, the unmanned aerial vehicle can determine the locally stored default restricted flying altitude as the restricted flying altitude of the unmanned aerial vehicle when performing flight route tasks based on the flight route data. In this embodiment, only when the unmanned aerial vehicle meets the preset conditions, can the unmanned aerial vehicle determine the altitude limit of the unmanned aerial vehicle when executing the flight route task according to the flight route data according to the waypoint heights of multiple waypoints, which can improve the flight route. Task efficiency.
  • satisfying the preset condition may include at least one of the following:
  • the distance between each waypoint included in the flight route data and the return point of the unmanned aerial vehicle is less than or equal to the preset distance threshold.
  • the distance between each waypoint included in the flight route data and the flight restriction reference point is less than or equal to the preset distance threshold.
  • the distance between the way point and the home point can be a straight line distance or a horizontal distance.
  • the distance between the waypoint and the flight-restricted reference point can be a straight line distance or a horizontal distance.
  • the preset distance threshold may be set based on experience, or set at the factory of the unmanned aerial vehicle, or set by the user of the unmanned aerial vehicle.
  • the unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type.
  • the UAV can obtain the aircraft type of the UAV before determining the altitude limit of the UAV during the flight route task based on the flight route data based on the waypoint heights of multiple waypoints.
  • the aircraft type of the unmanned aerial vehicle is the plant protection type
  • the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when the unmanned aerial vehicle performs flight route tasks based on the flight route data based on the waypoint heights of multiple waypoints.
  • the preset aircraft type may be a plant protection type.
  • the UAV can obtain the aircraft type of the UAV before determining the altitude limit of the UAV during the flight route task based on the flight route data based on the waypoint heights of multiple waypoints.
  • the aircraft type of the unmanned aerial vehicle is the power line patrol type
  • the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints.
  • the preset aircraft type may be the power line patrol type.
  • the operation object of the unmanned aerial vehicle during the execution of the flight route task is the object of the preset object type.
  • the unmanned aerial vehicle based on the flight route data is a fruit tree operation task
  • the unmanned aerial vehicle after the unmanned aerial vehicle flies to the area where the flight route task needs to be performed, it can identify whether the operation object in the area is a tree.
  • the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints.
  • the preset object type may be a tree type.
  • the unmanned aerial vehicle based on the flight route data is a power line patrol task
  • the unmanned aerial vehicle can identify whether the operating object in the area is a power pole or Power tower, when the work object in the area is a power pole or power tower, the unmanned aerial vehicle can determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks according to flight route data according to the waypoint heights of multiple waypoints.
  • the preset object type may be a power pole or a power tower.
  • the way for the unmanned aerial vehicle to identify whether the operating object in the area is an object of a preset object type can be: after the unmanned aerial vehicle flies over the area where the flight route task needs to be performed, it can use a camera or 3D flight time (Time of flight, TOF) and other sensors collect images under the UAV, and identify whether there are objects of preset object types in the images.
  • the UAV can determine the operating objects in the area It is an object of the preset object type.
  • the flight route data may include the type of the operation object, and the unmanned aerial vehicle may determine whether the type of the operation object is a preset object type.
  • the maximum flying altitude of the unmanned aerial vehicle is greater than or equal to the maximum waypoint altitude.
  • the maximum flying height of different unmanned aerial vehicles is different, for example, the maximum flying height of the first unmanned aerial vehicle is 10 meters (m), the maximum flying height of the second unmanned aerial vehicle is 500m, and so on.
  • the unmanned aerial vehicle can obtain the maximum flyable altitude of the unmanned aerial vehicle before determining the altitude limit of the unmanned aerial vehicle during flight route tasks based on the flight route data based on the waypoint heights of multiple waypoints.
  • the maximum flyable altitude of is greater than or equal to the maximum waypoint altitude, it indicates that the unmanned aerial vehicle can successfully execute the flight route mission to the waypoint when it flies to the waypoint with the highest waypoint altitude.
  • the altitude limit of the unmanned aerial vehicle can be determined based on the waypoint heights of multiple waypoints when performing flight route tasks based on flight route data.
  • the maximum flyable altitude of the UAV is less than the maximum waypoint altitude, it indicates that the UAV cannot successfully perform the flight route mission to the waypoint when it flies to the waypoint with the highest waypoint altitude, such as unmanned aircraft.
  • the maximum flying height of the aircraft is 10m, and the waypoint height of the waypoint with the highest waypoint height is 30m, so when the unmanned aerial vehicle flies to the waypoint with the highest waypoint height, it cannot operate in a space above 10m, and When flying away from the waypoint with the highest waypoint height, the fuselage is likely to collide with obstacles. Based on this, when the maximum flyable altitude of the unmanned aerial vehicle is less than the maximum waypoint altitude, the unmanned aerial vehicle can end the flight route task, such as controlling the unmanned aerial vehicle to land or return home.
  • the unmanned aerial vehicle can obtain the working mode of the unmanned aerial vehicle before determining the altitude limit of the unmanned aerial vehicle during the flight route task according to the flight route data based on the waypoint heights of multiple waypoints.
  • the working model of the unmanned aerial vehicle is In the preset working mode, the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints.
  • the unmanned aerial vehicle can determine the locally stored default flying height limit as the restricted flying height of the unmanned aerial vehicle when performing flight route tasks according to the flight route data.
  • the working mode of the unmanned aerial vehicle may include a first working mode and a second working mode.
  • the flying height limit of the unmanned aerial vehicle is preset, that is, it is stored locally.
  • the unmanned aerial vehicle can limit the height of the unmanned aerial vehicle based on the locally stored default restricted altitude.
  • the unmanned aerial vehicle's restricted flying height is determined based on the waypoint heights of multiple waypoints, and then the unmanned aerial vehicle can limit the unmanned aerial vehicle's height based on the determined restricted flying height .
  • the second working mode in the embodiments of the present application may be a preset working mode. If the user requires the UAV to determine the altitude limit of the UAV when performing flight route tasks according to flight route data according to the waypoint heights of multiple waypoints. , Then the user can adjust the working mode of the UAV to the preset working mode.
  • the way to adjust the working mode of the unmanned aerial vehicle to the preset working mode can be as follows: the user clicks the preset button of the unmanned aerial vehicle, and the unmanned aerial vehicle detects the user's operation of the preset button and adjusts the working mode of the unmanned aerial vehicle It is the default working mode.
  • the user sends a working mode adjustment instruction to the unmanned aerial vehicle through the control terminal, and the unmanned aerial vehicle adjusts the working mode of the unmanned aerial vehicle to the preset working mode in response to the working mode adjustment instruction.
  • the flight route data can include the mission type of the flight route mission.
  • the unmanned aerial vehicle After the unmanned aerial vehicle obtains the flight route data, it can determine whether the mission type of the flight route mission is a preset mission type.
  • the unmanned aerial vehicle can determine the altitude limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data according to the waypoint heights of multiple waypoints contained in the flight route data.
  • the unmanned aerial vehicle may determine the locally stored default flying altitude limit as the unmanned aerial vehicle's restricted flying altitude when performing the flight route mission according to the flight route data.
  • the preset task type may include fruit tree operation task, seedling operation task or power line inspection task.
  • the waypoint heights of multiple waypoints included in the flight route data are determined to determine the flying height limit of the unmanned aerial vehicle when performing flight route tasks based on the flight route data. This can be achieved Dynamic determination of the restricted height.
  • FIG. 3 is a schematic diagram of another exemplary flight route data provided by an embodiment of the present application.
  • the unmanned aerial vehicle Before the unmanned aerial vehicle executes the flight route task, the unmanned aerial vehicle can obtain flight route data, where the flight route data can at least include the waypoint heights of multiple waypoints.
  • the flight route task is a fruit tree operation task
  • the waypoint can be the position of the fruit tree
  • the height of the waypoint can be the height of the fruit tree.
  • the unmanned aerial vehicle determines the altitude limit of the unmanned aerial vehicle when executing the flight route task according to the flight route data according to the waypoint heights of multiple waypoints, it can execute the flight route task according to the flight route data.
  • the distance between the unmanned aerial vehicle and the obstacle below the unmanned aerial vehicle can be detected by the distance sensor.
  • the unmanned aerial vehicle can control the unmanned aerial vehicle to increase the flying height, so as to realize the safe altitude requirement of the unmanned aerial vehicle when performing flight route tasks.
  • the flying height of the unmanned aerial vehicle can be obtained in real time, and the first relative altitude of the unmanned aerial vehicle relative to the restricted-flying reference point can be determined according to the flying height and the height of the restricted-flying reference point.
  • the UAV's height limit operation is triggered. Since the embodiment of the present application compares the first relative altitude of the UAV relative to the flight restriction reference point with the flight restriction altitude, even if the UAV flies to the gap between two waypoints, or the UAV is under the depression, It will not trigger the height limit operation, thereby affecting the efficiency of the job task. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.
  • the distance sensor may include an optical distance sensor, an infrared distance sensor, a barometer, an ultrasonic distance sensor, or a photographing device.
  • the distance sensor may be arranged on the bottom of the unmanned aerial vehicle.
  • the flying height of the unmanned aerial vehicle may be the relative height of the unmanned aerial vehicle relative to the ground, or the altitude of the unmanned aerial vehicle.
  • the unmanned aerial vehicle performs a flight route mission in a mountainous region, which indicates that the flight altitude of the unmanned aerial vehicle has a large change
  • the user can set the unmanned aerial vehicle's flight altitude to the altitude of the unmanned aerial vehicle.
  • the unmanned aerial vehicle performs flight route missions on the plains, indicating that the altitude of the unmanned aerial vehicle has little change, the user can set the unmanned aerial vehicle's flight altitude to the relative altitude of the unmanned aerial vehicle to the ground, or the altitude of the unmanned aerial vehicle .
  • the flying height of the unmanned aerial vehicle is preset and does not need to be set by the user.
  • the flying height of the unmanned aerial vehicle defaults to the altitude of the unmanned aerial vehicle.
  • the flying altitude of the unmanned aerial vehicle may be the altitude; if the altitude of the restricted-flying reference point is the relative height of the restricted-flying reference point with respect to the ground, Then the flying height of the unmanned aerial vehicle can be the relative height of the unmanned aerial vehicle relative to the ground.
  • FIG. 4 is a schematic flowchart of another method for height limitation of an unmanned aerial vehicle according to an embodiment of the present application.
  • the method for height limitation of an unmanned aerial vehicle may include the following steps S401 to S405:
  • Step S401 Obtain flight route data, where the flight route data includes waypoint heights of multiple waypoints.
  • step S401 in the embodiment of the present application is the same as step S201 in the foregoing embodiment.
  • step S201 in the foregoing embodiment and details are not repeated in the embodiment of the present application.
  • Step S402 Determine, according to the waypoint heights of the multiple waypoints, the restricted flying height of the unmanned aerial vehicle when the processor executes the flight route task according to the flight route data, where the restricted flying height is the height relative to the restricted flying reference point.
  • step S402 in the embodiment of the present application is the same as step S202 in the foregoing embodiment.
  • step S202 in the foregoing embodiment and details are not repeated in the embodiment of the present application.
  • Step S403 Obtain the flying height of the unmanned aerial vehicle during the process of executing the flight route task according to the flight route data, where the flying height is measured according to the sensor data output by the sensor of the unmanned aerial vehicle.
  • the sensor in the embodiment of the present application may include one or more of a GPS positioning module, an RTK measuring instrument, an air pressure sensor, and a distance sensor.
  • Step S404 Determine the first relative altitude of the unmanned aerial vehicle relative to the flight restriction reference point according to the flight altitude and the altitude of the flight restriction reference point.
  • the unmanned aerial vehicle can subtract the flying altitude from the altitude of the restricted-flying reference point to obtain the first relative altitude.
  • the unmanned aerial vehicle can compare the flight altitude with the altitude of the restricted-flying reference point. When the flying altitude is greater than the altitude of the restricted-flying reference point, the unmanned aerial vehicle can subtract the flying altitude from the altitude of the restricted-flying reference point. Get the first relative height. When the flying height is less than or equal to the height of the restricted-flying reference point, the unmanned aerial vehicle may determine that the first relative height of the unmanned aerial vehicle relative to the restricted-flying reference point is zero.
  • Step S405 When the first relative altitude is greater than or equal to the restricted flying height, trigger the height restriction operation of the unmanned aerial vehicle.
  • the first relative altitude can be compared with the restricted flying altitude.
  • the unmanned aerial vehicle's height restriction operation will be triggered.
  • the height-limiting operation of the unmanned aerial vehicle may include at least one of the following: not responding to the height-up command of the unmanned aerial vehicle; sending height-limiting prompt information to the control terminal of the unmanned aerial vehicle so that the control terminal displays the height-limiting prompt information ; Control the unmanned aerial vehicle to return home; control the unmanned aerial vehicle to land.
  • the unmanned aerial vehicle may not respond to the altitude ascending instruction.
  • the altitude increase instruction can be sent by the control terminal to the UAV. For example, if the user wants the UAV to increase the flying altitude, the user can operate the control terminal. When the control terminal detects the user's operation, the altitude increase instruction can be generated, and Send the altitude increase command to the unmanned aerial vehicle.
  • the altitude increase instruction may also be generated by an unmanned aerial vehicle, for example, the unmanned aerial vehicle generates an altitude increase instruction when an altitude rise event is detected.
  • the unmanned aerial vehicle can determine that the altitude rise event is detected. Or when the UAV flies to a certain waypoint, the waypoint height of that waypoint is less than the waypoint height of the next waypoint, and the height of the waypoint of the next waypoint is between the height of the waypoint of that waypoint If the difference is greater than the preset altitude threshold, the UAV can determine that the altitude rise event has been detected.
  • the unmanned aerial vehicle can receive the altitude rise command sent by the control device, and determine the second relative altitude of the unmanned aerial vehicle according to the altitude rise instruction, the flight altitude, and the altitude of the flight restriction reference point.
  • the altitude is less than the restricted flight altitude
  • the altitude adjustment of the UAV will be performed in response to the altitude ascending command.
  • the second relative altitude is greater than or equal to the restricted flying altitude
  • the unmanned aerial vehicle may not respond to the altitude ascending command.
  • the way for the unmanned aerial vehicle to determine the second relative altitude of the unmanned aerial vehicle according to the altitude ascent command, the flight altitude and the altitude of the flight restriction reference point can be as follows:
  • the second relative altitude is obtained by subtracting the altitude of the restricted-flying reference point from the value obtained by adding the altitude to be adjusted and the flying altitude.
  • the unmanned aerial vehicle may adjust the restricted flying height to a locally stored default restricted flying height.
  • the unmanned aerial vehicle can also control the unmanned aerial vehicle to return home based on the adjusted restricted-flying altitude.
  • the unmanned aerial vehicle can automatically adjust the flying restriction height to the default restricted flying height when the flight route mission ends, so as to ensure the flight safety of the unmanned aerial vehicle.
  • the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, it can avoid the low flying height of the unmanned aerial vehicle when performing flight route tasks, resulting in the unmanned aerial vehicle
  • the restricted flying height is determined based on the waypoint heights of multiple waypoints included in the flight route data, and the restricted flying height is relative to the height of the restricted reference point, it can avoid the unmanned aerial vehicle flying to two
  • the flight route task fails when the height limit operation is triggered when the height limit operation is triggered between the operating objects or the low-lying ground under the unmanned aerial vehicle. Based on this, the embodiments of the present application can improve the operating efficiency of the unmanned aerial vehicle when performing flight route tasks.
  • FIG. 5 is a schematic structural diagram of a height limiting device for an unmanned aerial vehicle provided by an embodiment of the present application.
  • the height limiting device of the unmanned aerial vehicle described in the embodiment of the present application includes: a processor 501, a memory 502, a communication interface 503, and a sensor 504.
  • the aforementioned processor 501, memory 502, communication interface 503, and sensor 504 are connected by one or more communication buses.
  • the aforementioned processor 501 may be a CPU, and the processor may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the processor 501 is configured to support the unmanned aerial vehicle to perform the corresponding functions of the unmanned aerial vehicle in the method described in FIG. 2 or FIG. 4.
  • the aforementioned memory 502 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 501. A part of the memory 502 may also include a non-volatile random access memory.
  • the processor 501 is used to execute when the computer program is called:
  • the flight route data including waypoint heights of multiple waypoints
  • the restricted flying height when the unmanned aerial vehicle executes the flight route task according to the flight route data, wherein the restricted flying height is the height relative to the restricted flying reference point .
  • the flight restriction reference point includes a take-off position point of the unmanned aerial vehicle, a power-on position point of the unmanned aerial vehicle, or a position point indicated by a user of the unmanned aerial vehicle.
  • processor 501 is further configured to execute the following steps:
  • the flight altitude of the unmanned aerial vehicle is acquired, wherein the flight altitude is based on the transmission output from the sensor of the unmanned aerial vehicle. Measured by sensory data;
  • the processor 501 specifically executes the following steps when triggering the height limitation operation of the UAV:
  • the processor 501 specifically executes the following steps when triggering the height limitation operation of the UAV:
  • the processor 501 specifically executes when determining, according to the altitudes of the multiple waypoints, the altitude limit of the unmanned aerial vehicle when performing flight route tasks according to the flight route data Do as follows:
  • the restricted flying height is determined according to the waypoint height of the waypoint with the highest waypoint height.
  • the processor 501 determines the restricted-flying height according to the waypoint height of the waypoint with the highest waypoint height, it specifically executes the following steps:
  • the flying restriction height is determined according to the second relative height.
  • the processor 501 specifically executes the following steps when determining the flying restriction height according to the second relative height:
  • the sum of the first safety height margin and the second relative height is determined as the restricted flying height.
  • processor 501 is further configured to execute the following steps:
  • the processor 501 specifically executes the following steps when determining the flight restriction height according to the waypoint height of the waypoint with the highest waypoint height:
  • the processor 501 specifically executes the following steps when determining the flying restriction height according to the height of the flying restriction reference point:
  • the sum of the second safety altitude margin and the altitude of the flying restriction reference point is determined as the flying restriction altitude.
  • processor 501 is further configured to execute the following steps:
  • the processor 501 specifically executes the following steps when determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the UAV when executing the flight route task according to the flight route data:
  • the processor 501 is further configured to execute the following steps:
  • the locally stored default flight restriction altitude is determined as the flight restriction altitude of the unmanned aerial vehicle when the unmanned aerial vehicle executes the flight route task according to the flight route data.
  • the meeting the preset condition includes at least one of the following:
  • the distance between each of the multiple waypoints and the home point of the unmanned aerial vehicle or the reference point for flight restriction is less than or equal to a preset distance threshold
  • the unmanned aerial vehicle is an unmanned aerial vehicle of a preset aircraft type
  • the operation object of the unmanned aerial vehicle during the execution of the flight route task is an object of a preset object type.
  • processor 501 is further configured to execute the following steps:
  • the processor 501 specifically executes the following steps when determining, according to the waypoint heights of the multiple waypoints, the flying height limit of the UAV when executing the flight route task according to the flight route data:
  • the flight restriction of the unmanned aerial vehicle when the flight route task is executed according to the flight route data is determined according to the waypoint heights of the multiple waypoints high.
  • processor 501 is further configured to execute the following steps:
  • the restricted flying height is adjusted to a locally stored default restricted flying height.
  • the unmanned aerial system including the unmanned aerial vehicle will be described below in conjunction with FIG. 5.
  • a rotorcraft is taken as an example for description.
  • the unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a carrier 120, a display device, and a remote control device.
  • the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, and a frame 170.
  • the UAV 110 can wirelessly communicate with the remote control device 140 and the display device.
  • the frame 170 may include a fuselage and a tripod (also referred to as a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands.
  • One or more indicator lights may be installed on the frame 170, for example, an arm lamp installed on the arm.
  • the power system 150 may include an electronic speed governor (referred to as an ESC) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected to the electronic speed governor Between the 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the corresponding arms; the electronic governor 151 is used to receive the driving signal generated by the flight controller 160, and provide a driving current to the motor 152 according to the driving signal to control The speed of the motor 152.
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to realize movement of one or more degrees of freedom.
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brush motor.
  • the power system 150 corresponds to the power components in the above-mentioned embodiment.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the sensing data of the unmanned aerial vehicle.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an electronic compass, an IMU, a vision sensor (for example, a monocular camera or a dual/multi-camera camera, etc.), GPS, barometer, and visual inertial odometer.
  • the flight controller 161 is used to control the unmanned aerial vehicle 110.
  • the unmanned aerial vehicle 110 can be controlled to perform a display task according to the sensor data measured by the sensor system 162.
  • the carrier 120 can be used to carry a load 180.
  • the load 180 may be a photographing device (for example, a camera, a video camera, etc.).
  • the embodiment of the present application is not limited thereto.
  • the carrier may also be used to carry weapons or other loads. Carrying equipment.
  • the load 180 may also be a spray head.
  • the embodiment of the present application also provides an unmanned aerial vehicle, which may include a fuselage; a power system provided on the fuselage for providing flight power; and the unmanned aerial vehicle as shown in FIG. 5 of the embodiment of the present application.
  • the height limit device of the aircraft may include a fuselage; a power system provided on the fuselage for providing flight power; and the unmanned aerial vehicle as shown in FIG. 5 of the embodiment of the present application.
  • the unmanned aerial vehicle may further include a sensor installed on the fuselage for outputting sensor data.
  • the unmanned aerial vehicle may further include a communication device installed on the fuselage for information interaction with the control terminal of the unmanned aerial vehicle.
  • the embodiment of the present application also provides a readable storage medium, and the readable storage medium stores a computer program.
  • the computer program When the computer program is executed by a processor, it can be used to implement the implementation corresponding to FIG. 2 or FIG. 4 of the embodiment of the present application.
  • the height limitation method of unmanned aerial vehicle described in the example will not be repeated here.
  • the computer-readable storage medium may be the internal storage unit of the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device of the UAV, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card ( Flash Card) etc.
  • the computer-readable storage medium may also include both an internal storage unit of the UAV and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the UAV.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a readable storage medium. During execution, it may include the processes of the above-mentioned method embodiments.
  • the storage medium can be a magnetic disk, an optical disk, ROM or RAM, etc.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

Procédé et appareil de limitation d'altitude pour un véhicule aérien sans pilote, véhicule aérien sans pilote, et support de stockage. Le procédé comprend : l'acquisition de données de trajectoire de vol, les données de trajectoire de vol comprenant l'altitude de point de cheminement d'une pluralité de points de cheminement ; en fonction de l'altitude de point de cheminement de la pluralité de points de cheminement, la détermination de l'altitude de limitation de vol d'un véhicule aérien sans pilote lorsque le véhicule aérien sans pilote exécute une tâche de trajectoire de vol en fonction des données de trajectoire de vol, l'altitude de limitation de vol étant l'altitude par rapport à un point de référence de limitation de vol. Le procédé décrit peut déterminer de manière dynamique l'altitude de limitation de vol du véhicule aérien sans pilote en fonction de l'altitude de point de cheminement de la pluralité de points de cheminement dans les données de trajectoire de vol, peut mettre en œuvre des exigences d'altitude sûres lorsque le véhicule aérien sans pilote exécute une tâche de trajectoire de vol, et peut également empêcher une défaillance de tâche de trajectoire de vol provoquée en déclenchant une limitation d'altitude, ce qui augmente ainsi l'efficacité de fonctionnement du véhicule aérien sans pilote lors de l'exécution de la tâche de trajectoire de vol.
PCT/CN2020/092370 2020-05-26 2020-05-26 Procédé et appareil de limitation d'altitude pour un véhicule aérien sans pilote, véhicule aérien sans pilote, et support de stockage WO2021237462A1 (fr)

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CN202080030741.8A CN113874804A (zh) 2020-05-26 2020-05-26 无人飞行器的限高方法、装置、无人飞行器及存储介质
PCT/CN2020/092370 WO2021237462A1 (fr) 2020-05-26 2020-05-26 Procédé et appareil de limitation d'altitude pour un véhicule aérien sans pilote, véhicule aérien sans pilote, et support de stockage

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CN114661067A (zh) * 2022-05-06 2022-06-24 广东汇天航空航天科技有限公司 飞行控制方法、装置及电子设备
CN115440092A (zh) * 2022-11-03 2022-12-06 成都沃飞天驭科技有限公司 航行信息显示方法、装置、飞行器及存储介质

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