WO2024164693A1 - 无人机控制 - Google Patents

无人机控制 Download PDF

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Publication number
WO2024164693A1
WO2024164693A1 PCT/CN2023/138188 CN2023138188W WO2024164693A1 WO 2024164693 A1 WO2024164693 A1 WO 2024164693A1 CN 2023138188 W CN2023138188 W CN 2023138188W WO 2024164693 A1 WO2024164693 A1 WO 2024164693A1
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WIPO (PCT)
Prior art keywords
target
flight direction
doppler frequency
uav
drone
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Ceased
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PCT/CN2023/138188
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English (en)
French (fr)
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WO2024164693A9 (zh
Inventor
王晶阳
王培�
李�根
张一鸣
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Beijing Sankuai Online Technology Co Ltd
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Beijing Sankuai Online Technology Co Ltd
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Publication of WO2024164693A1 publication Critical patent/WO2024164693A1/zh
Publication of WO2024164693A9 publication Critical patent/WO2024164693A9/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/60—Intended control result
    • G05D1/654—Landing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

Definitions

  • the present disclosure relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to UAV control.
  • UAVs unmanned aerial vehicles
  • drones With the widespread use of drones, the application scenarios of drones are becoming more and more extensive. In drone delivery scenarios, drones need to land accurately at designated locations. At present, drones rely on GNSS (Global Navigation Satellite System) positioning to assist landing and land at designated locations.
  • GNSS Global Navigation Satellite System
  • the present disclosure provides a drone control, and the drone control process includes but is not limited to the following aspects.
  • the present disclosure provides a method for controlling an unmanned aerial vehicle, comprising: receiving an electromagnetic wave signal periodically emitted by a signal transmitting device through a signal receiving device; determining a Doppler frequency value of a current position of the unmanned aerial vehicle according to the electromagnetic wave signal; controlling the unmanned aerial vehicle to fly to a target position along a target flight path according to the Doppler frequency value of the current position, wherein the target flight path includes flight paths corresponding to a current flight direction of the unmanned aerial vehicle and a target flight direction, respectively, and the target flight direction and the current flight direction form an orthogonal relationship; determining a target landing position corresponding to the unmanned aerial vehicle according to a plurality of Doppler frequency values determined by the unmanned aerial vehicle in the target flight path, wherein the position below the target landing position is the position of the signal transmitting device or the signal receiving device; and controlling the unmanned aerial vehicle to land from the target landing position.
  • controlling the UAV to fly to the target position along the target flight path according to the Doppler frequency value of the current position includes: determining a first position and a second position according to the Doppler frequency value of the current position; controlling the UAV to fly from the first position to the second position according to the current flight direction; determining the target flight direction according to the current flight direction; and controlling the UAV to fly from the second position to the target position according to the target flight direction.
  • determining the first position and the second position based on the Doppler frequency value of the current position includes: determining the first position, when the current position is the first position, the difference between the Doppler frequency value of the current position and a frequency threshold is less than or equal to a difference threshold; determining the second position based on the first position, the current flight direction and the first flight distance.
  • determining the target flight direction according to the current flight direction includes: determining a first flight direction according to the current flight direction, wherein the first flight direction is any direction that is orthogonal to the current flight direction; controlling the UAV to fly from the second position for a reference time in the first flight direction; determining the target flight direction according to a plurality of first Doppler frequency values and the first flight direction, wherein the plurality of first Doppler frequency values are The rate value is determined during the flight of the reference duration.
  • determining the target flight direction based on multiple first Doppler frequency values and the first flight direction includes: when it is determined that the multiple first Doppler frequency values are all greater than or equal to the frequency threshold, taking the first flight direction as the target flight direction; or, when it is determined that the multiple first Doppler frequency values are all less than the frequency threshold, taking the second flight direction as the target flight direction, the second flight direction being opposite to the first flight direction.
  • controlling the UAV to fly from the second position to the target position according to the target flight direction includes: determining a third position in the target flight direction, the difference between the Doppler frequency value of the third position and the frequency threshold is less than or equal to the difference threshold; determining the target position according to the third position and the target flight direction; and controlling the UAV to fly from the third position to the target position according to the target flight direction.
  • the signal receiving device before the signal receiving device receives the electromagnetic wave signal periodically emitted by the signal transmitting device, it also includes: determining that the UAV flies at a constant speed to a landing area in a constant altitude mode, and the landing area includes the target flight path.
  • the signal receiving device is located on the UAV, and the received signal transmitting device is located below the target landing position; or, the signal transmitting device is located on the UAV, and the received signal receiving device is located below the target landing position.
  • determining the target landing position corresponding to the UAV according to multiple Doppler frequency values determined by the UAV in the target flight path includes: determining the target landing position by two-dimensional curve fitting based on the multiple Doppler frequency values and the positions corresponding to the multiple Doppler frequency values.
  • the present disclosure provides a drone control device, comprising:
  • a receiving module used for receiving the electromagnetic wave signal periodically emitted by the signal emitting device through the signal receiving device;
  • a first determination module is used to determine the Doppler frequency value of the current position of the drone according to the electromagnetic wave signal
  • a first control module is used to control the UAV to fly to a target position according to a Doppler frequency value of the current position, wherein the target flight path includes flight paths corresponding to the current flight direction and the target flight direction of the UAV, and the target flight direction is orthogonal to the current flight direction;
  • a second determination module is used to determine a target landing position corresponding to the UAV according to a plurality of Doppler frequency values determined by the UAV in the target flight path, wherein the position below the target landing position is where the signal transmitting device or the signal receiving device is located;
  • the second control module is used to control the UAV to land from the target landing position.
  • the first control module is used to: determine the first position and the second position according to the Doppler frequency value of the current position; control the UAV to fly from the first position to the second position according to the current flight direction; determine the target flight direction according to the current flight direction; control the UAV to fly from the second position to the target position according to the target flight direction.
  • the first control module is used to: determine the first position, when the current position is the first position, the difference between the Doppler frequency value of the current position and the frequency threshold is less than or equal to the difference threshold; determine the second position according to the first position, the current flight direction and the first flight distance.
  • the first control module is used to: determine a first flight direction according to the current flight direction, where the first flight direction is any direction that is orthogonal to the current flight direction; control the UAV to fly from the second position for a reference time in the first flight direction; and determine a first flight direction according to the multiple first Doppler frequency values and the first flight direction. direction, determining the target flight direction, wherein the plurality of first Doppler frequency values are determined during the flight process of the reference duration.
  • the first control module is used to: when it is determined that the multiple first Doppler frequency values are all greater than or equal to the frequency threshold, use the first flight direction as the target flight direction; or, when it is determined that the multiple first Doppler frequency values are all less than the frequency threshold, use the second flight direction as the target flight direction, the second flight direction being opposite to the first flight direction.
  • the first control module is used to: determine a third position in the target flight direction, the difference between the Doppler frequency value of the third position and the frequency threshold is less than or equal to the difference threshold; determine the target position according to the third position and the target flight direction; control the UAV to fly from the third position to the target position in the target flight direction.
  • the device further includes: a third determination module, configured to determine that the UAV flies at a constant speed to a landing area in a constant altitude mode, and the landing area includes the target flight path.
  • a third determination module configured to determine that the UAV flies at a constant speed to a landing area in a constant altitude mode, and the landing area includes the target flight path.
  • the signal receiving device is located on the UAV, and the received signal transmitting device is located below the target landing position; or, the signal transmitting device is located on the UAV, and the received signal receiving device is located below the target landing position.
  • the second determination module is used to determine the target landing position through two-dimensional curve fitting based on the multiple Doppler frequency values and the positions corresponding to the multiple Doppler frequency values.
  • the present disclosure provides a non-temporary computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of the present disclosure or any optional embodiment of the first aspect.
  • the present disclosure provides an electronic device, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure or any optional embodiment of the first aspect.
  • the present disclosure provides a computer program product, comprising a computer program, wherein the computer program can be executed by a programmable device, and when the computer program is executed by the programmable device, the steps of the method described in the first aspect or any optional embodiment of the first aspect are performed.
  • the electromagnetic wave signal periodically emitted by the signal transmitting device is received by the signal receiving device; the Doppler frequency value of the current position of the drone is determined according to the electromagnetic wave signal; the drone is controlled to fly to the target position according to the target flight path according to the Doppler frequency value of the current position, and the target flight path includes the flight path corresponding to the current flight direction of the drone and the flight path corresponding to the target flight direction that is orthogonal to the current flight direction; according to the multiple Doppler frequency values determined by the drone in the target flight path, the target landing position corresponding to the drone is determined, and the position below the target landing position is the position of the signal transmitting device or the signal receiving device; the drone is controlled to land from the target landing position.
  • the present disclosure can determine the Doppler frequency values of multiple positions of the drone during flight according to the electromagnetic wave signal transmitted between the drone and the landing point, determine the target landing position according to the multiple Doppler frequency values, and control the drone to land from the target landing position, thereby realizing the precise landing of the drone.
  • FIG1 is a flow chart of a method for controlling a drone according to an exemplary embodiment of the present disclosure
  • FIG2 is a schematic diagram of a drone landing system according to an exemplary embodiment of the present disclosure
  • FIG3 is a slant range heat map according to an exemplary embodiment of the present disclosure.
  • FIG4 is a Doppler phase thermogram according to an exemplary embodiment of the present disclosure.
  • FIG5 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure.
  • FIG6 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure.
  • FIG7 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure.
  • FIG8 is a schematic diagram of a UAV landing guidance process according to an exemplary embodiment of the present disclosure.
  • FIG9 is a block diagram of a drone control device according to an exemplary embodiment of the present disclosure.
  • FIG10 is a block diagram of another drone control device according to an exemplary embodiment of the present disclosure.
  • FIG11 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure.
  • Fig. 12 is a block diagram of another electronic device according to an exemplary embodiment of the present disclosure.
  • drones can rely on GNSS or visual systems for positioning during landing.
  • the positioning accuracy of GNSS is relatively low, and although the positioning accuracy of visual positioning is relatively high, it is easily affected by bad weather.
  • sensors are used to assist drones in precise positioning.
  • a guidance and positioning system based on a three-coordinate radar can accurately measure the three-dimensional position of a drone.
  • the price of a three-dimensional radar is relatively high, resulting in a relatively high overall cost of the drone, which is not suitable for distribution and other scenarios.
  • the three-dimensional radar requires complex error calibration and posture estimation after a period of use, which affects the operating efficiency of the drone.
  • the present invention provides a drone control method, device, storage medium and electronic device, which are used to solve the problems existing in the related technologies.
  • the Doppler frequency values of multiple positions of the drone during flight are determined, the target landing position is determined according to the multiple Doppler frequency values, and the drone is controlled to land from the target landing position, thereby realizing the precise landing of the drone.
  • FIG. 1 is a flow chart of a method for controlling a drone according to an exemplary embodiment of the present disclosure. As shown in FIG. 1 , the method may include:
  • S101 Receive, by a signal receiving device, an electromagnetic wave signal periodically emitted by a signal emitting device.
  • the electromagnetic wave signal can be a single-frequency sine wave, a stepped-frequency continuous wave, or a frequency-modulated continuous wave.
  • the present disclosure does not limit the specific type of the electromagnetic wave signal.
  • the signal receiving device can be located on the drone, and correspondingly, the receiving signal transmitting device is located below the target landing position.
  • the target landing position can refer to any position in the air, and the drone can fly to the target landing position.
  • the signal transmitting device can be placed in the center of the ground-end apron to radiate the electromagnetic wave signal into the air, and the signal receiving device can be located at the center of the drone.
  • the signal transmitting device and the signal receiving device can also interchange positions, that is, the signal transmitting device can be located on the drone, correspondingly The receiving signal receiving device is located below the target landing position.
  • the signal transmitting device is located at the center of the drone, and the signal receiving device is placed at the center of the ground end apron.
  • the drone can be directly controlled according to the control information.
  • the control information is used to control the drone to land from the target landing position.
  • the signal receiving device is placed at the center of the ground apron, then after the signal receiving device determines the relevant control information, the control information needs to be sent to the drone to control the drone.
  • the present disclosure is explained by taking the example of placing the signal transmitting device at the center of the ground apron and the signal receiving device being located at the center of the drone.
  • the signal transmitting device may be a single radiation source or a signal repeater.
  • the signal receiving device may be a radio frequency receiver.
  • the single radiation source may transmit electromagnetic wave signals
  • the radio frequency receiver may receive electromagnetic wave signals transmitted by the single radiation source.
  • the signal transmitting device is a signal repeater
  • the signal receiving device may be a radar module. Since the radar module utilizes echoes, the radar module may transmit electromagnetic wave signals. After receiving the electromagnetic wave signals, the signal repeater may repeat the electromagnetic wave signals, and the radar module may receive the electromagnetic wave signals repeated by the signal repeater.
  • the signal transmitting device can continuously transmit the electromagnetic wave signal.
  • the UAV determines that it needs to land, it can fly in a straight line close to the signal transmitting device at a constant speed in a fixed altitude mode close to the ground, and receive the electromagnetic wave signal emitted by the signal transmitting device through the signal receiving device.
  • the fixed altitude mode, constant speed and straight-line flight are only examples. Depending on actual needs, the UAV can also adopt other flight modes, variable speed or non-straight-line flight.
  • S102 Determine the Doppler frequency value of the current position of the UAV according to the electromagnetic wave signal.
  • the current position is the position of the drone when it receives the electromagnetic wave signal, and the current position is constantly changing during the flight of the drone. For example, if the drone receives the electromagnetic wave signal when it flies to position X, then position X is the current position; if the drone receives the electromagnetic wave signal when it flies from position X to position Y, then position Y is the current position.
  • the electromagnetic wave signal can be modulated and demodulated to obtain the Doppler phase value of the current position of the drone, and then the Doppler frequency value of the current position of the drone can be determined through short-time Fourier transform based on the Doppler phase value.
  • S103 Control the UAV to fly to the target location along the target flight path according to the Doppler frequency value of the current location.
  • the target flight path includes a flight path corresponding to the current flight direction of the UAV and a flight path corresponding to the target flight direction that is orthogonal to the current flight direction.
  • the target flight path includes the flight paths corresponding to the current flight direction and the target flight direction of the UAV, and the target flight direction is orthogonal to the current flight direction.
  • the drone can fly in a straight line at a uniform speed according to the current flight direction of the drone.
  • the drone is controlled to continue to fly the first preset flight distance.
  • the path formed by the drone continuing to fly the first preset flight distance is the flight path corresponding to the current flight direction of the drone.
  • the target flight direction is determined according to the current flight direction, and the drone continues to fly according to the target flight direction.
  • the drone continues to fly the second preset flight distance to reach the target position.
  • the path formed by the drone continuing to fly the second preset flight distance is the flight path corresponding to the target flight direction of the drone.
  • the preset frequency threshold can be 0 or a value close to 0, the preset difference threshold can be 0, the first preset flight distance and the second preset flight distance can be pre-set according to the flight altitude of the drone, and the first preset flight distance and the second preset flight distance can be the same or different, which is not limited in the present disclosure.
  • the preset is only an example of a way to obtain the frequency threshold, and the frequency threshold can also be obtained by other ways, so the preset frequency threshold can also be called the frequency threshold.
  • the preset difference threshold can also be called the difference threshold
  • the first preset flight distance can also be called the first flight distance
  • the second preset flight distance can also be called the second flight distance.
  • S104 Determine a target landing position corresponding to the UAV according to a plurality of Doppler frequency values determined by the UAV in the target flight path.
  • the target landing position is the position where the signal transmitting device or the signal receiving device is located.
  • each Doppler frequency value stored in the drone can be obtained, and based on multiple Doppler frequency values and the positions corresponding to the multiple Doppler frequency values, the target landing position can be determined by two-dimensional curve fitting.
  • multiple Doppler frequency values can be fitted by a two-dimensional curve fitting method. For example, a target landing position with a Doppler frequency value of 0 or a target landing position with a Doppler frequency value less than a reference threshold is determined, and the present disclosure does not limit the reference threshold.
  • the relative position relationship between the current target position of the UAV and the target landing position, as well as the target height of the UAV from the signal transmitting device can also be determined through two-dimensional curve fitting.
  • FIG2 is a schematic diagram of a drone landing system according to an exemplary embodiment of the present disclosure.
  • the drone landing system includes a signal transmitter and a drone.
  • the positive direction of the x-axis is horizontally eastward
  • the positive direction of the y-axis is horizontally northward
  • the positive direction of the z-axis is vertically upward.
  • H i.e., the target height mentioned above
  • the slant distance between the drone and the signal transmitter shown as a ground transponder in FIG2
  • the relative position of the drone and the signal transmitter can be calculated by the following formula (1):
  • R(t) represents the relative position of the UAV and the signal transmitter at time t
  • (x U (t), y U (t), H) is the position of the UAV at time t
  • the Doppler phase value observed by the drone at different times can be obtained as follows:
  • ⁇ dopp (t) is the Doppler phase value of the UAV at time t.
  • the Doppler frequency value can be derived from the Doppler phase value. From formula (2), it can be seen that when the UAV approaches (0, 0, H), the Doppler frequency value is positive, and when the UAV is far away from (0, 0, H), the Doppler frequency value is negative. When the UAV is located directly above the signal transmitter (0, 0, H), the Doppler frequency value is 0 when the UAV flies in any direction.
  • Figure 3 is a slant range thermogram according to an exemplary embodiment of the present disclosure
  • Figure 4 is a Doppler phase thermogram according to an exemplary embodiment of the present disclosure. As shown in Figures 3 and 4, the Doppler frequency value of the position (0, 0, H) directly above the signal transmitting device is 0.
  • the Doppler phase value ⁇ dopp (t) is proportional to the slant range R, and the proportional relationship can be represented by a hyperbola.
  • the present disclosure can fit the hyperbola model based on multiple Doppler frequency values to determine the target landing position and the target height.
  • S105 Control the UAV to land from the target landing position.
  • the drone after determining the target landing position, the drone can be controlled to fly from the target position to the target landing position based on the relative position relationship between the current target position of the drone and the target landing position, and the drone can be controlled to land from the target landing position based on the target altitude.
  • the electromagnetic wave signal periodically emitted by the signal transmitting device is received by the signal receiving device, wherein the preset landing area includes the target flight path.
  • the preset landing area can be a preset area centered on the ground apron, and the preset area can be rectangular or circular, which is not limited in the present disclosure.
  • the preset is only an example of a way to obtain the landing area, and the landing area can also be obtained by other ways of obtaining, so the preset landing area can also be called a landing area.
  • the Doppler frequency values of multiple positions of the drone during flight are determined according to the electromagnetic wave signals transmitted between the drone and the landing point, the target landing position is determined according to the multiple Doppler frequency values, and the drone is controlled to land from the target landing position, thereby achieving precise landing of the drone.
  • the drone does not require the participation of a communication link during the entire landing process, saving the cost of the drone.
  • the signal transmitting device is a signal repeater
  • the signal repeater can amplify the electromagnetic wave signal when forwarding the electromagnetic wave signal, thereby increasing the control range of the drone.
  • FIG5 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure. As shown in FIG5 , the implementation of step S103 may include:
  • S1032 Control the drone to fly from the first position to the second position according to the current flight direction.
  • S1034 Control the UAV to fly from the second position to the target position according to the target flight direction.
  • the Doppler frequency value of the current position can be compared with the preset frequency threshold. If the difference between the Doppler frequency value of the current position and the preset frequency threshold is less than or equal to the preset difference threshold, the current position is taken as the first position. In other words, the first position can be determined in the embodiment of the present application. When the current position is the first position, the difference between the Doppler frequency value of the current position and the frequency threshold is less than or equal to the difference threshold. After determining the first position, the second position is determined based on the first position, the current flight direction, and the first preset flight distance.
  • the first preset flight distance can be determined according to the current flying height of the drone through a preset distance association relationship, and the distance association relationship can include a correspondence between different heights and flight distances.
  • the drone After determining the first position, the drone can be controlled to continue to fly the first preset flight distance in the current flight direction to reach the second position.
  • the first flight direction can be determined according to the current flight direction, and the first flight direction is any direction that forms an orthogonal relationship with the current flight direction; the drone can be controlled to fly from the second position in the first flight direction for a preset time; the target flight direction can be determined according to multiple first Doppler frequency values and the first flight direction, wherein the multiple first Doppler frequency values are determined during the flight process of the preset time.
  • the embodiment of the present application can also control the drone to fly from the second position according to the first flight direction for a reference duration.
  • the reference duration obtained by preset is the above-mentioned preset duration, and the reference duration can also be obtained by other methods other than preset. Accordingly, multiple first Doppler frequency values are determined during the flight of the reference duration.
  • each determined Doppler frequency value may be stored.
  • the stored multiple first Doppler frequency values of the drone flying within the preset duration can be obtained, and the target flight direction can be determined according to the multiple first Doppler frequency values and the first flight direction.
  • the preset duration can be preset based on experience, for example, the preset duration can be 100ms.
  • the preset duration may also be a preset distance, for example, controlling the drone to fly a preset distance from the second position in the first flight direction, which is not limited in the present disclosure.
  • the first flight direction is used as the target flight direction; or, when it is determined that the multiple first Doppler frequency values are all less than the preset frequency threshold, the second flight direction is used as the target flight direction, and the second flight direction is opposite to the first flight direction.
  • one direction can be selected as the first flight direction from two directions that are orthogonal to the current flight direction according to the current flight direction of the drone.
  • the preset duration is obtained, and the drone is controlled to fly in the first flight direction for the preset duration.
  • the signal receiving device of the drone determines the Doppler frequency value according to the received electromagnetic wave signal. After the drone completes the flight for the preset duration, multiple first Doppler frequency values during the flight within the preset duration can be obtained.
  • the preset frequency threshold as 0 as an example, if the multiple first Doppler frequency values are all greater than or equal to 0, it means that the first flight direction points to the signal transmitting device, and the first flight direction can be used as the target flight direction, and the drone is controlled to continue to fly in the target flight direction until the drone reaches the target position. If it is determined that multiple first Doppler frequency values are all less than 0, it means that the UAV is flying in a direction away from the signal transmitting device. In this case, the second flight direction can be determined based on the first flight direction, and the second flight direction can be used as the target flight direction. The UAV is controlled to fly according to the target flight direction, starting from the current position until it flies to the target position.
  • the drone after the drone enters the preset landing area, it can first obtain a plurality of stored Doppler frequency values, and when it is determined that each of the Doppler frequency values is greater than or equal to the preset frequency threshold, the first position and the second position are determined according to the Doppler frequency value. For example, when it is determined that the plurality of Doppler frequency values obtained are greater than 0, it indicates that the drone is flying in a direction close to the signal transmitting device. In this case, the drone can be controlled to continue flying in the current flight direction. When it is determined that the plurality of Doppler frequency values obtained are less than 0, it indicates that the drone is flying in a direction away from the signal transmitting device. In this case, the drone can be controlled to fly in the opposite direction of the current flight direction. When it is determined that the drone is flying in a direction close to the signal transmitting device, the first position and the second position are determined according to the Doppler frequency value.
  • FIG6 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure. As shown in FIG6 , the implementation of step S103 may further include:
  • the difference between the Doppler frequency value at the third position and the preset frequency threshold is less than or equal to the preset difference threshold.
  • the Doppler frequency value of the current position can be compared with the preset frequency threshold. If the difference between the Doppler frequency value of the current position and the preset frequency threshold is less than or equal to the preset difference threshold, the current position is taken as the third position.
  • S1036 Determine the target position according to the third position and the target flight direction.
  • S1037 Control the UAV to fly from the third position to the target position according to the target flight direction.
  • the signal receiving device of the UAV receives the target signal.
  • the received electromagnetic wave signal determines the Doppler frequency value.
  • the position where the Doppler frequency value is 0 can be the third position.
  • the second preset distance also called the second preset flight distance, or the second flight distance
  • the drone can be controlled to continue flying the second preset distance from the third position in the target flight direction to reach the target position.
  • the determination method of the second preset distance can refer to the determination method of the first preset distance (also called the first preset flight distance, or the first flight distance), which will not be repeated here.
  • the second preset distance can be the same as the first preset distance, or it can be different from the first preset distance, and the present disclosure does not limit this.
  • FIG. 7 is a flow chart of another method for controlling a drone according to an exemplary embodiment of the present disclosure. As shown in FIG. 7 , the method takes the signal transmitting device as a signal repeater placed on a ground apron and the preset frequency threshold as 0 as an example. The method is applied to a drone and may include:
  • S702 Determine the Doppler frequency value of the current position of the UAV according to the electromagnetic wave signal.
  • step S703 determining whether the current flight direction of the UAV is correct according to the Doppler frequency of the current position, if the current flight direction is correct, executing step S704, if the current flight direction is incorrect, executing step S705.
  • S706 Determine a first flight direction according to the current flight direction, and start flying from the first target position for a preset time according to the first flight direction.
  • step S707 determining whether the Doppler frequency value within the preset time length is always negative, if the Doppler frequency value is always negative, executing step S708, if the Doppler frequency value is always positive, executing step S709.
  • S708 Determine a second flight direction (the opposite direction of the first flight direction) according to the first flight direction, and start flying from the current position according to the second flight direction.
  • FIG8 is a schematic diagram of a UAV landing guidance process according to an exemplary embodiment of the present disclosure.
  • the rectangular frame represents the preset landing area
  • O is the center of the ground apron (the location of the signal transmitter)
  • different circles represent different slant distances R.
  • the UAV When the determined multiple Doppler frequency values are all greater than or equal to 0, the UAV can be controlled to continue to fly in the current flight direction. When the determined multiple Doppler frequency values are all less than 0, the UAV can be controlled to fly in the opposite direction of the current flight direction. In FIG8, after the UAV enters the preset landing area from point A, since the current flight direction is close to the signal transmitter, the Doppler frequency value of the UAV during the flight is also positive.
  • the Doppler frequency value is determined to be 0, and the drone is controlled to continue to fly according to the current
  • the first preset distance is flown in the direction to arrive at point C.
  • the first flight direction is determined according to the current flight direction of the UAV. In FIG8 , the first flight direction may be the direction pointing to point D.
  • the UAV is controlled to fly from point B for a preset time (including the time spent flying the first preset distance as mentioned above) according to the first flight direction, and multiple first Doppler frequency values determined within the preset time are obtained. When it is determined that the multiple first Doppler frequency values are all less than 0, it indicates that the UAV is flying in a direction away from the signal transmitting device.
  • the second flight direction (the opposite direction of the first flight direction) can be determined, such as the direction pointing to E in FIG8 .
  • the UAV is controlled to fly from the current position (such as the position of the UAV when the second flight direction is determined) according to the second flight direction.
  • the Doppler frequency value is 0, it can be determined that the UAV has arrived at point E.
  • the drone is controlled to continue flying from point E for a second preset distance to point F.
  • Multiple Doppler frequency values stored in the drone from point A to point F are obtained, and based on the multiple Doppler frequency values, a two-dimensional curve fitting method is used to obtain the position O where the Doppler frequency value is 0, the relative position relationship between point F and point O where the drone is currently located (R FO′ , ⁇ FO′ ), and the target height of the drone from the signal transmitting device.
  • R FO′ is the distance between point F and point O
  • ⁇ FO′ is the angle between DF and OF.
  • the drone is controlled to fly from point F to point O, and the drone is controlled to land from point O according to the target height.
  • the drone can achieve autonomous landing only through the signal transmitting device and the signal receiving device.
  • the cost of the signal transmitting device and the signal receiving device is relatively low, which reduces the operating cost of the drone.
  • the drone end only receives signals and does not transmit signals, thereby avoiding crosstalk between multiple drones. Based on this, multiple drones can be landed at the same time, and since the ground end only transmits signals and does not receive signals, there will be no clutter, false alarm, multipath and other effects, and the drone can achieve autonomous landing according to the received electromagnetic wave signal without adding a communication link.
  • the transmission power of the signal transmitting device since the transmission power of the signal transmitting device only has a one-way attenuation, the maximum effective distance is farther, so that the drone can be better guided to land. Furthermore, since the slant distance change in the area directly above the signal transmitting device is relatively small, the change amplitude of the Doppler frequency value is also relatively small.
  • the drone disclosed in the present invention can obtain multiple Doppler frequency values during the flight in the orthogonal flight direction, and the target landing position determined by the two-dimensional fitting method is more accurate, thereby improving the accuracy of the drone landing.
  • FIG9 is a block diagram of a drone control device according to an exemplary embodiment of the present disclosure. As shown in FIG9 , the device may include:
  • the receiving module 901 is used to receive the electromagnetic wave signal periodically emitted by the signal emitting device through the signal receiving device;
  • a first determination module 902 is used to determine the Doppler frequency value of the current position of the drone according to the electromagnetic wave signal
  • the first control module 903 is used to control the UAV to fly to the target position according to the Doppler frequency value of the current position according to the target flight path, wherein the target flight path includes a flight path corresponding to the current flight direction of the UAV and a flight path corresponding to the target flight direction which is orthogonal to the current flight direction, or in other words, the target flight path includes flight paths corresponding to the current flight direction of the UAV and the target flight direction respectively, and the target flight direction is orthogonal to the current flight direction;
  • the second determination module 904 is used to determine the target landing position corresponding to the UAV according to the multiple Doppler frequency values determined by the UAV in the target flight path, and the position below the target landing position is the position of the signal transmitting device or the signal receiving device;
  • the second control module 905 is used to control the UAV to land from the target landing position.
  • the first control module 903 is used to: determine the first position and the second position according to the Doppler frequency value of the current position; control the drone to fly from the first position to the second position according to the current flight direction;
  • the current flight direction determines the target flight direction;
  • the UAV is controlled to fly from the second position to the target position according to the target flight direction.
  • the first control module 903 is used to: take the position where the difference between the Doppler frequency value of the current position and a preset frequency threshold (also called the frequency threshold) is less than or equal to the preset difference threshold (also called the difference threshold) as the first position, that is, to determine the first position, when the current position is the first position, the difference between the Doppler frequency value of the current position and the frequency threshold is less than or equal to the difference threshold; determine the second position based on the first position, the current flight direction and the first preset flight distance (also called the first flight distance).
  • a preset frequency threshold also called the frequency threshold
  • the difference threshold also called the difference threshold
  • the first control module 903 is used to: determine a first flight direction based on the current flight direction, the first flight direction being any direction that is orthogonal to the current flight direction; control the UAV to fly from the second position for a preset duration (also called a reference duration) in the first flight direction; determine the target flight direction based on multiple first Doppler frequency values and the first flight direction, wherein the multiple first Doppler frequency values are determined during the flight process of the preset duration.
  • a preset duration also called a reference duration
  • the first control module 903 is used to: when it is determined that the multiple first Doppler frequency values are all greater than or equal to the preset frequency threshold, use the first flight direction as the target flight direction; or, when it is determined that the multiple first Doppler frequency values are all less than the preset frequency threshold, use the second flight direction as the target flight direction, and the second flight direction is opposite to the first flight direction.
  • the first control module 903 is used to: determine a third position in the target flight direction, the difference between the Doppler frequency value of the third position and the preset frequency threshold is less than or equal to the preset difference threshold; determine the target position according to the third position and the target flight direction; control the UAV to fly from the third position to the target position according to the target flight direction.
  • Figure 10 is a block diagram of another UAV control device according to an exemplary embodiment of the present disclosure.
  • the device also includes: a third determination module 906, used to determine that the UAV flies at a constant speed to a preset landing area (also called a landing area) in a constant altitude mode, and the preset landing area includes the target flight path.
  • a third determination module 906 used to determine that the UAV flies at a constant speed to a preset landing area (also called a landing area) in a constant altitude mode, and the preset landing area includes the target flight path.
  • the signal receiving device is located on the UAV, and the received signal transmitting device is located below the target landing position; or, the signal transmitting device is located on the UAV, and the received signal receiving device is located below the target landing position.
  • the second determination module 904 is configured to determine the target landing position by two-dimensional curve fitting based on the multiple Doppler frequency values and the positions corresponding to the multiple Doppler frequency values.
  • the Doppler frequency values of multiple positions during the flight of the drone are determined, the target landing position is determined according to the multiple Doppler frequency values, and the drone is controlled to land from the target landing position, thereby achieving precise landing of the drone.
  • the drone does not require the participation of a communication link during the entire landing process, saving the cost of the drone.
  • the signal transmitting device is a signal repeater
  • the signal repeater can amplify the electromagnetic wave signal when forwarding the electromagnetic wave signal, thereby increasing the control range of the drone.
  • FIG11 is a block diagram of an electronic device 700 according to an exemplary embodiment of the present disclosure.
  • the electronic device 700 may include: a processor 701, a memory 702.
  • the electronic device 700 may also include one or more of a multimedia component 703, an input/output interface 704, and a communication component 705.
  • the processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned drone control method.
  • the memory 702 is used to store various types of data to support the operation of the electronic device 700. These data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data, such as contact data, messages sent and received, pictures, audio, video, etc.
  • the memory 702 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk.
  • the multimedia component 703 may include a screen and an audio component.
  • the screen may be, for example, a touch screen, and the audio component is used to output and/or input audio signals.
  • the audio component may include a microphone, which is used to receive external audio signals.
  • the received audio signal may be further stored in the memory 702 or sent through the communication component 705.
  • the audio component also includes at least one speaker for outputting audio signals.
  • the input/output interface 704 provides an interface between the processor 701 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons.
  • the communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.
  • the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned drone control method.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • controllers microcontrollers, microprocessors or other electronic components to execute the above-mentioned drone control method.
  • a non-transitory computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned drone control method are implemented.
  • the non-transitory computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned drone control method.
  • FIG12 is a block diagram of another electronic device 1900 according to an exemplary embodiment of the present disclosure.
  • the electronic device 1900 may be provided as a server.
  • the electronic device 1900 includes a processor 1922, which may be one or more, and a memory 1932 for storing a computer program executable by the processor 1922.
  • the computer program stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions.
  • the processor 1922 may be configured to execute the computer program to perform the above-mentioned drone control method.
  • the electronic device 1900 may further include a power supply component 1926 and a communication component 1950, wherein the power supply component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to implement communication, for example, wired or wireless communication, of the electronic device 1900.
  • the electronic device 1900 may further include an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system stored in the memory 1932.
  • a non-transitory computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned drone control method are implemented.
  • the non-transitory computer-readable storage medium may be the above-mentioned memory 1932 including program instructions, and the above-mentioned program instructions may be executed by a processor of the electronic device 1900.
  • the processor 1922 executes to complete the above-mentioned drone control method.
  • a computer program product includes a computer program that can be executed by a programmable device.
  • the computer program has a code portion for executing the above-mentioned drone control method when executed by the programmable device.

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Abstract

在无人机控制的过程中，通过信号接收装置接收信号发射装置周期性发射的电磁波信号（S101）；根据电磁波信号确定无人机当前所处位置的多普勒频率值（S102）；根据当前所处位置的多普勒频率值，控制无人机按照目标飞行路径飞行至目标位置（S103），目标飞行路径包括无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，目标飞行方向与当前飞行方向构成正交关系；根据无人机在目标飞行路径中确定的多个多普勒频率值，确定无人机对应的目标降落位置（S104），目标降落位置的下方为信号发射装置或者信号接收装置所处的位置；控制无人机从目标降落位置降落（S105）。

Description

无人机控制
本申请要求于2023年02月07日提交的申请号为202310141493.X、申请名称为“无人机控制方法、装置、存储介质及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及无人机技术领域，具体地，涉及一种无人机控制。
背景技术
随着无人机的广泛应用，无人机的应用场景也越来越广泛。在无人机配送场景中，无人机需要精准降落至指定地点。目前，无人机依靠GNSS(Global Navigation Satellite System，全球导航卫星系统)定位辅助降落，以降落至指定地点。
发明内容
本公开提供一种无人机控制，无人机控制的过程包括但不限于如下的几个方面。
第一方面，本公开提供一种无人机控制方法，包括：通过信号接收装置接收信号发射装置周期性发射的电磁波信号；根据所述电磁波信号确定无人机当前所处位置的多普勒频率值；根据所述当前所处位置的多普勒频率值，控制所述无人机按照目标飞行路径飞行至目标位置，所述目标飞行路径包括所述无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，所述目标飞行方向与所述当前飞行方向构成正交关系；根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，所述目标降落位置的下方为所述信号发射装置或者所述信号接收装置所处的位置；控制所述无人机从所述目标降落位置降落。
可选地，所述根据所述当前所处位置的多普勒频率值控制所述无人机按照目标飞行路径飞行至目标位置，包括：根据所述当前所处位置的多普勒频率值确定第一位置和第二位置；控制所述无人机按照所述当前飞行方向，从所述第一位置飞行至所述第二位置；根据所述当前飞行方向确定所述目标飞行方向；控制所述无人机按照所述目标飞行方向，从所述第二位置飞行至所述目标位置。
可选地，所述根据所述当前所处位置的多普勒频率值确定第一位置和第二位置，包括：确定所述第一位置，在所述当前所处位置为所述第一位置时，所述当前所处位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；根据所述第一位置、所述当前飞行方向以及第一飞行距离，确定所述第二位置。
可选地，所述根据所述当前飞行方向确定所述目标飞行方向，包括：根据所述当前飞行方向，确定第一飞行方向，所述第一飞行方向为与所述当前飞行方向构成正交关系的任一方向；控制所述无人机按照所述第一飞行方向，从所述第二位置飞行参考时长；根据多个第一多普勒频率值和所述第一飞行方向，确定所述目标飞行方向，其中，所述多个第一多普勒频 率值在所述参考时长的飞行过程中确定。
可选地，所述根据多个第一多普勒频率值和所述第一飞行方向，确定所述目标飞行方向，包括：在确定所述多个第一多普勒频率值均大于或等于所述频率阈值的情况下，将所述第一飞行方向作为所述目标飞行方向；或者，在确定所述多个第一多普勒频率值均小于所述频率阈值的情况下，将第二飞行方向作为所述目标飞行方向，所述第二飞行方向与所述第一飞行方向相反。
可选地，所述控制所述无人机按照所述目标飞行方向，从所述第二位置飞行至所述目标位置，包括：在所述目标飞行方向上确定第三位置，所述第三位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；根据所述第三位置和所述目标飞行方向，确定所述目标位置；控制所述无人机按照所述目标飞行方向，从所述第三位置飞行至所述目标位置。
可选地，在所述通过信号接收装置接收信号发射装置周期性发射的电磁波信号之前，还包括：确定所述无人机通过定高模式匀速飞行至降落区域，所述降落区域包括所述目标飞行路径。
可选地，所述信号接收装置位于所述无人机，所述接收信号发射装置位于所述目标降落位置的下方位置；或者，所述信号发射装置位于所述无人机，所述接收信号接收装置位于所述目标降落位置的下方位置。
可选地，所述根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，包括：基于所述多个多普勒频率值和所述多个多普勒频率值对应的位置，通过二维曲线拟合，确定所述目标降落位置。
第二方面，本公开提供一种无人机控制装置，包括：
接收模块，用于通过信号接收装置接收信号发射装置周期性发射的电磁波信号；
第一确定模块，用于根据所述电磁波信号确定无人机当前所处位置的多普勒频率值；
第一控制模块，用于根据所述当前所处位置的多普勒频率值，控制所述无人机按照目标飞行路径飞行至目标位置，所述目标飞行路径包括所述无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，所述目标飞行方向与所述当前飞行方向构成正交关系；
第二确定模块，用于根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，所述目标降落位置的下方为所述信号发射装置或者所述信号接收装置所处的位置；
第二控制模块，用于控制所述无人机从所述目标降落位置降落。
可选地，所述第一控制模块，用于：根据所述当前所处位置的多普勒频率值确定第一位置和第二位置；控制所述无人机按照所述当前飞行方向，从所述第一位置飞行至所述第二位置；根据所述当前飞行方向确定所述目标飞行方向；控制所述无人机按照所述目标飞行方向，从所述第二位置飞行至所述目标位置。
可选地，所述第一控制模块，用于：确定所述第一位置，在所述当前所处位置为所述第一位置时，所述当前所处位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；根据所述第一位置、所述当前飞行方向以及第一飞行距离，确定所述第二位置。
可选地，所述第一控制模块，用于：根据所述当前飞行方向，确定第一飞行方向，所述第一飞行方向为与所述当前飞行方向构成正交关系的任一方向；控制所述无人机按照所述第一飞行方向，从所述第二位置飞行参考时长；根据多个第一多普勒频率值和所述第一飞行方 向，确定所述目标飞行方向，其中，所述多个第一多普勒频率值在所述参考时长的飞行过程中确定。
可选地，所述第一控制模块，用于：在确定所述多个第一多普勒频率值均大于或等于所述频率阈值的情况下，将所述第一飞行方向作为所述目标飞行方向；或者，在确定所述多个第一多普勒频率值均小于所述频率阈值的情况下，将第二飞行方向作为所述目标飞行方向，所述第二飞行方向与所述第一飞行方向相反。
可选地，所述第一控制模块，用于：在所述目标飞行方向上确定第三位置，所述第三位置的多普勒频率值与所述频率阈值的差值小于或等于差值阈值；根据所述第三位置和所述目标飞行方向，确定所述目标位置；控制所述无人机按照所述目标飞行方向，从所述第三位置飞行至所述目标位置。
可选地，所述装置还包括：第三确定模块，用于确定所述无人机通过定高模式匀速飞行至降落区域，所述降落区域包括所述目标飞行路径。
可选地，所述信号接收装置位于所述无人机，所述接收信号发射装置位于所述目标降落位置的下方位置；或者，所述信号发射装置位于所述无人机，所述接收信号接收装置位于所述目标降落位置的下方位置。
可选地，所述第二确定模块，用于：基于所述多个多普勒频率值和所述多个多普勒频率值对应的位置，通过二维曲线拟合，确定所述目标降落位置。
第三方面，本公开提供一种非临时性计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现本公开第一方面或第一方面的任一种可选实施例所述方法的步骤。
第四方面，本公开提供一种电子设备，包括：存储器，其上存储有计算机程序；处理器，用于执行所述存储器中的所述计算机程序，以实现本公开第一方面或第一方面的任一种可选实施例所述方法的步骤。
第五方面，本公开提供一种计算机程序产品，所述计算机程序产品包括计算机程序，所述计算机程序能够由可编程的装置执行，当所述计算机程序由所述可编程的装置执行时，执行第一方面或第一方面的任一种可选实施例所述方法的步骤。
通过上述技术方案，通过信号接收装置接收信号发射装置周期性发射的电磁波信号；根据电磁波信号确定无人机当前所处位置的多普勒频率值；根据当前所处位置的多普勒频率值控制无人机按照目标飞行路径飞行至目标位置，目标飞行路径包括无人机的当前飞行方向对应的飞行路径和与当前飞行方向构成正交关系的目标飞行方向对应的飞行路径；根据无人机在目标飞行路径中确定的多个多普勒频率值，确定无人机对应的目标降落位置，目标降落位置的下方为信号发射装置或者信号接收装置所处的位置；控制无人机从目标降落位置降落。也就是说，本公开可以根据无人机与降落点之间传输的电磁波信号，确定无人机飞行过程中多个位置的多普勒频率值，根据多个多普勒频率值确定目标降落位置，并控制无人机从该目标降落位置降落，实现了无人机的精准降落。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
图1是根据本公开一示例性实施例示出的一种无人机控制方法的流程图；
图2是根据本公开一示例性实施例示出的一种无人机降落系统示意图；
图3是根据本公开一示例性实施例示出的一种斜距热力图；
图4是根据本公开一示例性实施例示出的一种多普勒相位热力图；
图5是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图；
图6是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图；
图7是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图；
图8是根据本公开一示例性实施例示出的一种无人机降落引导过程示意图；
图9是根据本公开一示例性实施例示出的一种无人机控制装置的框图；
图10是根据本公开一示例性实施例示出的另一种无人机控制装置的框图；
图11是根据本公开一示例性实施例示出的一种电子设备的框图；
图12是根据本公开一示例性实施例示出的另一种电子设备的框图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
需要说明的是，本公开中所有获取信号、信息或数据的动作都是在遵照所在地国家相应的数据保护法规政策的前提下，并获得由相应装置所有者给予授权的情况下进行的。
在下文中的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。
首先，对本公开的应用场景进行说明。目前，无人机在降落过程中可以依靠GNSS或者视觉系统进行定位，GNSS的定位精度比较低，而视觉定位虽然定位精度比较高，但是容易受到不良天气的影响。相关技术中，通过传感器辅助无人机进行精准定位，例如，基于三坐标雷达的引导定位系统能够准确测量无人机的三维位置，但是，三维雷达的价格比较高，导致无人机的整体成本比较高，不适用于配送等场景。并且，三维雷达在使用一段时间后需要进行复杂的误差校准和位姿估计，影响无人机的运行效率。
本公开提供一种无人机控制方法、装置、存储介质及电子设备，用于解决相关技术中存在的问题。根据无人机与降落点之间传输的电磁波信号，确定无人机飞行过程中多个位置的多普勒频率值，根据多个多普勒频率值确定目标降落位置，并控制无人机从该目标降落位置降落，实现了无人机的精准降落。
下面结合具体实施例对本公开进行说明。
图1是根据本公开一示例性实施例示出的一种无人机控制方法的流程图，如图1所示，该方法可以包括：
S101、通过信号接收装置接收信号发射装置周期性发射的电磁波信号。
其中，该电磁波信号可以是单频正弦波，也可以是步进频连续波，还可以是调频连续波，本公开对该电磁波信号的具体类型不作限定。该信号接收装置可以位于无人机，对应的，该接收信号发射装置位于目标降落位置的下方位置。目标降落位置可以是指空中的任意位置，无人机能够飞行至该目标降落位置。示例地，该信号发射装置可以放置在地面端停机坪的中心，用于向空中辐射该电磁波信号，该信号接收装置可以位于该无人机的中心。或者，该信号发射装置和该信号接收装置也可以互换位置，即该信号发射装置可以位于该无人机，对应 的，该接收信号接收装置位于该目标降落位置的下方位置。示例地，该信号发射装置位于该无人机的中心，该信号接收装置放置在地面端停机坪的中心。
若该信号接收装置位于无人机的中心，则在该信号接收装置确定相关的控制信息(比如根据接收的电磁波信号确定)后，直接按照控制信息对无人机进行控制即可。示例地，该控制信息用于控制无人机从目标降落位置降落。或者，若该信号接收装置放置在地面停机坪的中心，则在该信号接收装置确定相关的控制信息后，需要将该控制信息再发送至该无人机，对该无人机进行控制。本公开以该信号发射装置放置在地面端停机坪的中心，该信号接收装置位于该无人机的中心为例进行说明。
需要说明的是，该信号发射装置可以是单辐射源或者信号转发器，在该信号发射装置为单辐射源的情况下，该信号接收装置可以是射频接收机，该单辐射源可以发射电磁波信号，该射频接收机可以接收单辐射源发射的电磁波信号。或者，在该信号发射装置为信号转发器的情况下，该信号接收装置可以是雷达模块，由于雷达模块利用的是回波，因而该雷达模块可以发射电磁波信号，该信号转发器接收到该电磁波信号后，可以转发该电磁波信号，该雷达模块可以接收该信号转发器转发的电磁波信号。
在本步骤中，该信号发射装置可以持续发射该电磁波信号，该无人机在确定需要降落时，可以以接近地面的定高模式匀速向接近该信号发射装置的方向直线飞行，并通过该信号接收装置接收该信号发射装置发射的电磁波信号。此处的定高模式、均速和直线飞行仅为举例，根据实际需求的不同，无人机也可以采用其他飞行模式、变速或者非直线飞行的方式。
S102、根据该电磁波信号确定无人机当前所处位置的多普勒频率值。
需要说明的是，该当前所处位置为该无人机接收到电磁波信号时的位置，在该无人机飞行过程中，该当前所处位置也一直在变化。示例地，若该无人机飞行至位置X时接收到该电磁波信号，则位置X为该当前所处位置；若该无人机从位置X飞行至位置Y时，又接收到该电磁波信号，则位置Y为该当前所处位置。
在本步骤中，在该无人机的信号接收装置每次接收到该电磁波信号后，可以对该电磁波信号进行调制解调处理，得到该无人机当前所处位置的多普勒相位值，再根据该多普勒相位值，通过短时傅里叶变换确定该无人机当前所处位置的多普勒频率值。
S103、根据该当前所处位置的多普勒频率值，控制该无人机按照目标飞行路径飞行至目标位置。
其中，该目标飞行路径包括该无人机的当前飞行方向对应的飞行路径和与该当前飞行方向构成正交关系的目标飞行方向对应的飞行路径。也就是说，该目标飞行路径包括无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，目标飞行方向与当前飞行方向构成正交关系。
在本步骤中，可以按照该无人机的当前飞行方向匀速直线飞行，在确定该多普勒频率值与预设频率阈值的差值小于或等于预设差值阈值的情况下，控制该无人机再继续飞行第一预设飞行距离。其中，无人机继续飞行第一预设飞行距离所形成的路径，即为上述无人机的当前飞行方向对应的飞行路径。根据该当前飞行方向确定该目标飞行方向，并按照该目标飞行方向继续飞行，在确定该多普勒频率值与预设频率阈值的差值小于或等于预设差值阈值的情况下，再继续飞行第二预设飞行距离，到达该目标位置。无人机继续飞行第二预设飞行距离所形成的路径，即为上述无人机的目标飞行方向对应的飞行路径。
其中，该预设频率阈值可以是0，也可以是接近0的值，该预设差值阈值可以是0，该第一预设飞行距离和该第二预设飞行距离可以根据该无人机的飞行高度预先设置，该第一预设飞行距离与该第二预设飞行距离可以相同，也可以不同，本公开对此不作限定。另外，预设仅为频率阈值的一种示例的获得方式，频率阈值也可以通过其他的获得方式获得，因而预设频率阈值也可以称为频率阈值。相应地，预设差值阈值也可以称为差值阈值，第一预设飞行距离也可以称为第一飞行距离，第二预设飞行距离也可以称为第二飞行距离。
S104、根据该无人机在该目标飞行路径中确定的多个多普勒频率值，确定该无人机对应的目标降落位置。
其中，该目标降落位置的下方为该信号发射装置或者该信号接收装置所处的位置。
在一种可能的实现方式中，在该无人机到达该目标位置后，可以获取该无人机存储的每个多普勒频率值，基于多个多普勒频率值和多个多普勒频率值对应的位置，通过二维曲线拟合，确定该目标降落位置。示例地，可以通过二维曲线拟合方法，对多个多普勒频率值进行拟合。示例地，确定多普勒频率值为0的目标降落位置，或者，多普勒频率值小于参考阈值的目标降落位置，本公开不对该参考阈值进行限定。
并且，通过二维曲线拟合还可以确定该无人机当前所处的目标位置与该目标降落位置的相对位置关系，以及该无人机距离该信号发射装置的目标高度。
示例地，图2是根据本公开一示例性实施例示出的一种无人机降落系统示意图，如图2所示，该无人机降落系统包括信号发射装置和无人机，x轴正方向水平向东，y轴正方向水平向北，z轴正方向垂直向上，在无人机按照高度H(即上述的目标高度)飞行时，无人机与信号发射装置(在图2中示为地面转发器)之间的斜距为R。无人机与信号发射装置的相对位置可以通过以下的公式(1)计算得到：
其中，R(t)表示t时刻无人机与信号发射装置的相对位置，(xU(t),yU(t),H)为无人机在t时刻的位置，表示t时刻无人机在z＝H等高平面上的极轴长度(可以体现上述说明的目标位置与目标降落位置的相对位置关系)。若信号发射装置发射单频正弦电磁波，信号频率为fc，光速为c，则电磁波的波长λc＝c/fc，根据雷达探测原理，可以得到无人机在不同时刻观测到的多普勒相位值为以下的公式(2)：
其中，φdopp(t)为无人机在t时刻的多普勒相位值。
多普勒频率值可以由多普勒相位值求导得到，从公式(2)可以看出，当无人机接近(0，0，H)时，多普勒频率值为正，当无人机远离(0，0，H)时，多普勒频率值为负，当无人机位于信号发射装置的正上方(0，0，H)时，无人机向任何方向飞行时多普勒频率值均为0。
基于上述说明，以该高度H为120米为例，图3是根据本公开一示例性实施例示出的一种斜距热力图，图4是根据本公开一示例性实施例示出的一种多普勒相位热力图，如图3和图4所示，信号发射装置正上方所在的位置(0，0，H)的多普勒频率值为0。
根据公式(1)和公式(2)可以看出，多普勒相位值φdopp(t)与斜距R为正比关系，该正比关系可以通过双曲线表示，本公开可以基于多个多普勒频率值，对该双曲线模型进行拟合处理，确定该目标降落位置和该目标高度。
S105、控制该无人机从该目标降落位置降落。
在本步骤中，在确定该目标降落位置后，可以根据该无人机当前所处的目标位置与该目标降落位置的相对位置关系，控制该无人机从该目标位置飞行至该目标降落位置，并根据该目标高度控制该无人机从该目标降落位置降落。
在一种可能的实现方式中，在确定该无人机通过定高模式匀速飞行至预设降落区域后，通过该信号接收装置接收该信号发射装置周期性发射的电磁波信号，其中，该预设降落区域包括目标飞行路径。示例地，该预设降落区域可以是以该地面停机坪为中心的预设区域，该预设区域可以是矩形，也可以是圆形，本公开对此不作限定。当然，预设仅为降落区域的一种示例的获得方式，降落区域也可以通过其他的获得方式获得，因而预设降落区域也可以称为降落区域。
采用上述方法，根据无人机与降落点之间传输的电磁波信号，确定无人机飞行过程中多个位置的多普勒频率值，根据多个多普勒频率值确定目标降落位置，并控制无人机从该目标降落位置降落，实现了无人机的精准降落。并且，该无人机在整个降落过程中无需通信链路的参与，节约了无人机的成本。进一步地，在该信号发射装置为信号转发器的情况下，该信号转发器在转发电磁波信号时能够对电磁波信号进行放大，增加了无人机的控制范围。
图5是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图，如图5所示，步骤S103的实现方式可以包括：
S1031、根据该当前所处位置的多普勒频率值确定第一位置和第二位置。
S1032、控制该无人机按照该当前飞行方向，从该第一位置飞行至该第二位置。
S1033、根据该当前飞行方向确定该目标飞行方向。
S1034、控制该无人机按照该目标飞行方向，从该第二位置飞行至该目标位置。
示例地，在该无人机飞行过程中，该信号接收装置每次根据该电磁波信号确定该当前所处位置的多普勒频率值后，可以将该当前所处位置的多普勒频率值与该预设频率阈值进行对比，若该当前所处位置的多普勒频率值与该预设频率阈值的差值小于或等于预设差值阈值的位置，则将该当前所处位置作为该第一位置。或者说，本申请实施例中可以确定第一位置，在当前所处位置为第一位置时，当前所处位置的多普勒频率值与频率阈值的差值小于或等于差值阈值。在确定第一位置之后，根据该第一位置、该当前飞行方向以及第一预设飞行距离，确定该第二位置。
例如，若该当前所处位置的多普勒频率值为0，则将该当前所处位置作为该第一位置。该第一预设飞行距离可以根据该无人机当前飞行的高度，通过预先设置的距离关联关系确定，该距离关联关系可以包括不同的高度与飞行距离之间的对应关系。
在确定该第一位置后，可以控制该无人机继续按照该当前飞行方向飞行该第一预设飞行距离，到达该第二位置。之后，可以根据该当前飞行方向，确定第一飞行方向，该第一飞行方向为与该当前飞行方向构成正交关系的任一方向；控制该无人机按照该第一飞行方向，从该第二位置飞行预设时长；根据多个第一多普勒频率值和该第一飞行方向，确定该目标飞行方向，其中，多个第一多普勒频率值在预设时长的飞行过程中确定。
其中，本申请实施例也可以控制该无人机按照该第一飞行方向，从该第二位置飞行参考时长。通过预设得到的参考时长即为上述的预设时长，该参考时长也可以通过预设之外的其他方式得到。相应地，多个第一多普勒频率值在参考时长的飞行过程中确定。
示例地，在该无人机在该预设时长内飞行过程中，可以存储每次确定的多普勒频率值， 在飞行该预设时长后，可以获取存储的该无人机在该预设时长内飞行时的多个第一多普勒频率值，并据多个第一多普勒频率值和该第一飞行方向，确定该目标飞行方向。该预设时长可以根据经验预先设置，示例地，该预设时长可以是100ms。
需要说明的是，该预设时长也可以是预设距离，例如，控制该无人机按照该第一飞行方向，从该第二位置飞行预设距离，本公开对此不作限定。
在一种可能的实现方式中，在确定该多个第一多普勒频率值均大于或等于该预设频率阈值的情况下，将该第一飞行方向作为该目标飞行方向；或者，在确定该多个第一多普勒频率值均小于该预设频率阈值的情况下，将第二飞行方向作为该目标飞行方向，该第二飞行方向与该第一飞行方向相反。
示例地，在该无人机到达该第二位置后，可以根据该无人机的当前飞行方向，从与该当前飞行方向构成正交关系的两个方向中，任选一个方向作为该第一飞行方向。获取该预设时长，并控制该无人机按照该第一飞行方向飞行该预设时长。在该无人机按照该第一飞行方向飞行过程中，该无人机的信号接收装置根据接收到的电磁波信号确定该多普勒频率值，在该无人机完成该预设时长的飞行后，可以获取该预设时长内飞行时的多个第一多普勒频率值。以该预设频率阈值为0为例，若该多个第一多普勒频率值均大于或等于0，则表示该第一飞行方向指向该信号发射装置，可以将该第一飞行方向作为该目标飞行方向，并控制该无人机继续按照该目标飞行方向飞行，直至该无人机到达该目标位置。若确定多个第一多普勒频率值均小于0，则表示该无人机向远离该信号发射装置的方向飞行，在这种情况下，可以根据该第一飞行方向确定该第二飞行方向，将该第二飞行方向作为该目标飞行方向，并控制该无人机按照该目标飞行方向，从该当前位置开始飞行，直至飞行至该目标位置。
在一种可能的实现方式中，在该无人机进入该预设降落区域后，可以先获取存储的多个多普勒频率值，在确定每个该多普勒频率值均大于或等于该预设频率阈值的情况下，根据该多普勒频率值确定该第一位置和该第二位置。示例地，在确定获取的多个多普勒频率值均大于0的情况下，表示该无人机向接近该信号发射装置的方向飞行，在这种情况下，可以控制该无人机继续按照当前飞行方向飞行。在确定获取的多个多普勒频率值均小于0的情况下，表示该无人机向远离该信号发射装置的方向飞行，在这种情况下，可以控制该无人机按照当前飞行方向的反方向飞行。在确定该无人机向接近该信号发射装置的方向飞行的情况下，根据该多普勒频率值确定该第一位置和该第二位置。
图6是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图，如图6所示，步骤S103的实现方式还可以包括：
S1035、在该目标飞行方向上确定第三位置。
其中，该第三位置的多普勒频率值与该预设频率阈值的差值小于或等于该预设差值阈值。
示例地，在该无人机在该目标飞行方向上飞行过程中，每次确定该当前所处位置的多普勒频率值后，可以将该当前所处位置的多普勒频率值与该预设频率阈值进行对比，若该当前所处位置的多普勒频率值与该预设频率阈值的差值小于或等于该预设差值阈值，则将该当前所处位置作为该第三位置。
S1036、根据该第三位置和该目标飞行方向，确定该目标位置。
S1037、控制该无人机按照该目标飞行方向，从该第三位置飞行至该目标位置。
示例地，在该无人机按照该目标飞行方向飞行过程中，该无人机的信号接收装置根据接 收到的电磁波信号确定该多普勒频率值，以该预设频率阈值和该预设差值阈值均为0为例，若确定该多普勒频率值为0，则可以将该多普勒频率值为0的位置所为该第三位置。在确定该第三位置后，可以获取第二预设距离(也称为第二预设飞行距离，或者第二飞行距离)，并控制该无人机按照该目标飞行方向，从该第三位置继续飞行该第二预设距离，到达该目标位置。其中，该第二预设距离的确定方式可以参考该第一预设距离(也称为第一预设飞行距离，或者第一飞行距离)的确定方式，此处不再赘述，该第二预设距离可以与该第一预设距离相同，也可以与该第一预设距离不同，本公开对此不作限定。
图7是根据本公开一示例性实施例示出的另一种无人机控制方法的流程图，如图7所示，该方法以该信号发射装置为放置在地面停机坪的信号转发器、该预设频率阈值为0为例，该方法应用于无人机，可以包括：
S701、通过信号接收装置接收该地面转发器转发的电磁波信号。
S702、根据该电磁波信号确定该无人机当前所处位置的多普勒频率值。
S703、根据该当前所处位置的多普勒频率确定该无人机的当前飞行方向是否正确，若该当前飞行方向正确，则执行步骤S704，若该当前飞行方向不正确，则执行步骤S705。
S704、在确定该当前所处位置的多普勒频率值为0的情况下，继续按照该当前飞行方向飞行第一预设距离。
S705、按照该当前飞行方向的反方向飞行，执行步骤S704。
S706、根据该当前飞行方向确定第一飞行方向，并按照该第一飞行方向，从该第一目标位置开始飞行预设时长。
S707、确定该预设时长内的多普勒频率值是否恒为负，若多普勒频率值恒为负，则执行步骤S708，若多普勒频率值恒为正，则执行步骤S709。
S708、根据该第一飞行方向确定第二飞行方向(第一飞行方向的相反方向)，并从当前位置开始按照该第二飞行方向飞行。
S709、按照该第一飞行方向继续飞行，在确定多普勒频率值为0的情况下，继续飞行第二预设距离。
S710、获取无人机在该预设降落区域内确定的每个多普勒频率值，并根据多个多普勒频率值确定目标降落位置和无人机距离该信号转发器的目标高度。
S711、控制该无人机根据该目标高度从该目标降落位置降落。
示例地，图8是根据本公开一示例性实施例示出的一种无人机降落引导过程示意图，如图8所示，矩形框表示该预设降落区域，O为地面停机坪的中心(信号发射装置所在位置)，不同的圆周表示不同的斜距R，无人机以定高模式匀速从A点驶入该预设降落区域后，继续以当前高度和速度匀速飞行，并在飞行过程中通过信号接收模块接收地面停机坪中心的信号发射装置发射的电磁波信号，根据该电磁波信号确定该无人机当前所处位置的多普勒频率值，并存储该多普勒频率值。在确定的多个多普勒频率值均大于或等于0的情况下，可以控制该无人机继续按照当前飞行方向飞行，在确定的多个多普勒频率值均小于0的情况下，可以控制该无人机按照该当前飞行方向的反方向飞行。图8中该无人机从A点进入该预设降落区域后，由于当前飞行方向是接近该信号发射装置，因此，该无人机飞行过程中的多普勒频率值也为正。
在该无人机飞行到B点后，确定该多普勒频率值为0，控制该无人机继续按照当前飞行 方向飞行第一预设距离，到达C点。根据该无人机的当前飞行方向确定第一飞行方向，图8中该第一飞行方向可以是指向D点的方向，控制该无人机按照该第一飞行方向，从B点开始飞行预设时长(包括上文中飞行第一预设距离所花费的时长)，获取该预设时长内确定的多个第一多普勒频率值，在确定该多个第一多普勒频率值均小于0的情况下，表示该无人机向远离该信号发射装置的方向飞行，在这种情况下，可以确定该第二飞行方向(该第一飞行方向的反方向)，如图8中指向E的方向，控制该无人机按照该第二飞行方向，从当前位置(比如确定该第二飞行方向时无人机所处的位置)开始飞行，在确定多普勒频率值为0的情况下，可以确定该无人机到达E点。
控制该无人机从E点开始继续飞行第二预设距离，到达F点。获取该无人机存储的从A点到F点的多个多普勒频率值，根据多个多普勒频率值，通过二维曲线拟合方法，得到多普勒频率值为0的位置O、该无人机当前所处的F点与O点的相对位置关系(RFO′,θFO′)以及该无人机距离该信号发射装置的目标高度。其中，如图8所示，RFO′为F点与O点之间的距离，θFO′为DF与OF之间的角度。根据该相对位置关系，控制该无人机从F点飞行至O点，并根据该目标高度控制该无人机从O点降落。
通过上述方法，无人机仅通过信号发射装置和信号接收装置即可实现自主降落，该信号发射装置和该信号接收装置的成本比较低，降低了该无人机的运营成本，并且，在该无人机端放置信号接收装置，地面端放置该信号发射装置的情况下，该无人机端只接收信号，不发射信号，避免多架无人机之间的串扰，基于此，能够实现多架无人机同时降落，而地面端由于只发射信号，不接收信号，不会存在杂波、虚警以及多径等影响，并且，无人机可以根据接收到的电磁波信号实现自主降落，无需增加通信链路。同时，由于信号发射装置的发射功率只有单程衰减，最大作用距离更远，从而能够更好地引导无人机降落。进一步地，由于信号发射装置正上方区域的斜距变化比较小，导致多普勒频率值的变化幅度也比较小，本公开的无人机按照正交飞行方向飞行过程中可以获取多个多普勒频率值，通过二维拟合的方式确定的目标降落位置更加准确，从而提高了无人机降落的准确率。
图9是根据本公开一示例性实施例示出的一种无人机控制装置的框图，如图9所示，该装置可以包括：
接收模块901，用于通过信号接收装置接收信号发射装置周期性发射的电磁波信号；
第一确定模块902，用于根据该电磁波信号确定无人机当前所处位置的多普勒频率值；
第一控制模块903，用于根据该当前所处位置的多普勒频率值控制该无人机按照目标飞行路径飞行至目标位置，该目标飞行路径包括该无人机的当前飞行方向对应的飞行路径和与该当前飞行方向构成正交关系的目标飞行方向对应的飞行路径，或者说，所述目标飞行路径包括所述无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，所述目标飞行方向与所述当前飞行方向构成正交关系；
第二确定模块904，用于根据该无人机在该目标飞行路径中确定的多个多普勒频率值，确定该无人机对应的目标降落位置，该目标降落位置的下方为该信号发射装置或者该信号接收装置所处的位置；
第二控制模块905，用于控制该无人机从该目标降落位置降落。
可选地，该第一控制模块903，用于：根据该当前所处位置的多普勒频率值确定第一位置和第二位置；控制该无人机按照该当前飞行方向，从该第一位置飞行至该第二位置；根据该 当前飞行方向确定该目标飞行方向；控制该无人机按照该目标飞行方向，从该第二位置飞行至该目标位置。
可选地，该第一控制模块903，用于：将该当前所处位置的多普勒频率值与预设频率阈值(也称为频率阈值)的差值小于或等于预设差值阈值(也称为差值阈值)的位置，作为该第一位置，也就是说，确定所述第一位置，在所述当前所处位置为所述第一位置时，所述当前所处位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；根据该第一位置、该当前飞行方向以及第一预设飞行距离(也称为第一飞行距离)，确定该第二位置。
可选地，该第一控制模块903，用于：根据该当前飞行方向，确定第一飞行方向，该第一飞行方向为与该当前飞行方向构成正交关系的任一方向；控制该无人机按照该第一飞行方向，从该第二位置飞行预设时长(也称为参考时长)；根据多个第一多普勒频率值和该第一飞行方向，确定该目标飞行方向，其中，该多个第一多普勒频率值在该预设时长的飞行过程中确定。
可选地，该第一控制模块903，用于：在确定该多个第一多普勒频率值均大于或等于该预设频率阈值的情况下，将该第一飞行方向作为该目标飞行方向；或者，在确定该多个第一多普勒频率值均小于该预设频率阈值的情况下，将第二飞行方向作为该目标飞行方向，该第二飞行方向与该第一飞行方向相反。
可选地，该第一控制模块903，用于：在所述目标飞行方向上确定第三位置，所述第三位置的多普勒频率值与该预设频率阈值的差值小于或等于预设差值阈值；根据该第三位置和该目标飞行方向，确定该目标位置；控制该无人机按照该目标飞行方向，从该第三位置飞行至该目标位置。
可选地，图10是根据本公开一示例性实施例示出的另一种无人机控制装置的框图，如图10所示，该装置还包括：第三确定模块906，用于确定所述无人机通过定高模式匀速飞行至预设降落区域(也称为降落区域)，所述预设降落区域包括所述目标飞行路径。
可选地，该信号接收装置位于该无人机，该接收信号发射装置位于该目标降落位置的下方位置；或者，该信号发射装置位于该无人机，该接收信号接收装置位于该目标降落位置的下方位置。
可选地，该第二确定模块904，用于：基于该多个多普勒频率值和该多个多普勒频率值对应的位置，通过二维曲线拟合，确定该目标降落位置。
通过上述装置，根据无人机与降落点之间传输的电磁波信号，确定无人机飞行过程中多个位置的多普勒频率值，根据多个多普勒频率值确定目标降落位置，并控制无人机从该目标降落位置降落，实现了无人机的精准降落。并且，该无人机在整个降落过程中无需通信链路的参与，节约了无人机的成本。进一步地，在该信号发射装置为信号转发器的情况下，该信号转发器在转发电磁波信号时能够对电磁波信号进行放大，增加了无人机的控制范围。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图11是根据本公开一示例性实施例示出的一种电子设备700的框图。如图11所示，该电子设备700可以包括：处理器701，存储器702。该电子设备700还可以包括多媒体组件703，输入/输出接口704，以及通信组件705中的一者或多者。
其中，处理器701用于控制该电子设备700的整体操作，以完成上述的无人机控制方法中的全部或部分步骤。存储器702用于存储各种类型的数据以支持在该电子设备700的操作， 这些数据例如可以包括用于在该电子设备700上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器702可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。多媒体组件703可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器702或通过通信组件705发送。音频组件还包括至少一个扬声器，用于输出音频信号。输入/输出接口704为处理器701和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件705用于该电子设备700与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G、4G、NB-IOT、eMTC、或其他5G等等，或它们中的一种或几种的组合，在此不做限定。因此相应的该通信组件705可以包括：Wi-Fi模块，蓝牙模块，NFC模块等等。
在一示例性实施例中，电子设备700可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述的无人机控制方法。
在另一示例性实施例中，还提供了一种包括程序指令的非临时性计算机可读存储介质，该程序指令被处理器执行时实现上述的无人机控制方法的步骤。例如，该非临时性计算机可读存储介质可以为上述包括程序指令的存储器702，上述程序指令可由电子设备700的处理器701执行以完成上述的无人机控制方法。
图12是根据本公开一示例性实施例示出的另一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图12，电子设备1900包括处理器1922，其数量可以为一个或多个，以及存储器1932，用于存储可由处理器1922执行的计算机程序。存储器1932中存储的计算机程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理器1922可以被配置为执行该计算机程序，以执行上述的无人机控制方法。
另外，电子设备1900还可以包括电源组件1926和通信组件1950，该电源组件1926可以被配置为执行电子设备1900的电源管理，该通信组件1950可以被配置为实现电子设备1900的通信，例如，有线或无线通信。此外，该电子设备1900还可以包括输入/输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统。
在另一示例性实施例中，还提供了一种包括程序指令的非临时性计算机可读存储介质，该程序指令被处理器执行时实现上述的无人机控制方法的步骤。例如，该非临时性计算机可读存储介质可以为上述包括程序指令的存储器1932，上述程序指令可由电子设备1900的处 理器1922执行以完成上述的无人机控制方法。
在另一示例性实施例中，还提供一种计算机程序产品，该计算机程序产品包含能够由可编程的装置执行的计算机程序，该计算机程序具有当由该可编程的装置执行时用于执行上述的无人机控制方法的代码部分。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (13)

  1. 一种无人机控制方法，其中，包括：
    通过信号接收装置接收信号发射装置周期性发射的电磁波信号；
    根据所述电磁波信号确定无人机当前所处位置的多普勒频率值；
    根据所述当前所处位置的多普勒频率值，控制所述无人机按照目标飞行路径飞行至目标位置，所述目标飞行路径包括所述无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，所述目标飞行方向与所述当前飞行方向构成正交关系；
    根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，所述目标降落位置的下方为所述信号发射装置或者所述信号接收装置所处的位置；
    控制所述无人机从所述目标降落位置降落。
  2. 根据权利要求1所述的方法，其中，所述根据所述当前所处位置的多普勒频率值，控制所述无人机按照目标飞行路径飞行至目标位置，包括：
    根据所述当前所处位置的多普勒频率值确定第一位置和第二位置；
    控制所述无人机按照所述当前飞行方向，从所述第一位置飞行至所述第二位置；
    根据所述当前飞行方向确定所述目标飞行方向；
    控制所述无人机按照所述目标飞行方向，从所述第二位置飞行至所述目标位置。
  3. 根据权利要求2所述的方法，其中，所述根据所述当前所处位置的多普勒频率值确定第一位置和第二位置，包括：
    确定所述第一位置，在所述当前所处位置为所述第一位置时，所述当前所处位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；
    根据所述第一位置、所述当前飞行方向以及第一飞行距离，确定所述第二位置。
  4. 根据权利要求2所述的方法，其中，所述根据所述当前飞行方向确定所述目标飞行方向，包括：
    根据所述当前飞行方向，确定第一飞行方向，所述第一飞行方向为与所述当前飞行方向构成正交关系的任一方向；
    控制所述无人机按照所述第一飞行方向，从所述第二位置飞行参考时长；
    根据多个第一多普勒频率值和所述第一飞行方向，确定所述目标飞行方向，其中，所述多个第一多普勒频率值在所述参考时长的飞行过程中确定。
  5. 根据权利要求4所述的方法，其中，所述根据多个第一多普勒频率值和所述第一飞行方向，确定所述目标飞行方向，包括：
    在确定所述多个第一多普勒频率值均大于或等于频率阈值的情况下，将所述第一飞行方向作为所述目标飞行方向；或者，
    在确定所述多个第一多普勒频率值均小于所述频率阈值的情况下，将第二飞行方向作为 所述目标飞行方向，所述第二飞行方向与所述第一飞行方向相反。
  6. 根据权利要求2所述的方法，其中，所述控制所述无人机按照所述目标飞行方向，从所述第二位置飞行至所述目标位置，包括：
    在所述目标飞行方向上确定第三位置，所述第三位置的多普勒频率值与频率阈值的差值小于或等于差值阈值；
    根据所述第三位置和所述目标飞行方向，确定所述目标位置；
    控制所述无人机按照所述目标飞行方向，从所述第三位置飞行至所述目标位置。
  7. 根据权利要求1所述的方法，其中，所述通过信号接收装置接收信号发射装置周期性发射的电磁波信号之前，还包括：
    确定所述无人机通过定高模式匀速飞行至降落区域，所述降落区域包括所述目标飞行路径。
  8. 根据权利要求1所述的方法，其中，所述信号接收装置位于所述无人机，所述接收信号发射装置位于所述目标降落位置的下方位置；或者，所述信号发射装置位于所述无人机，所述接收信号接收装置位于所述目标降落位置的下方位置。
  9. 根据权利要求1-8任一项所述的方法，其中，所述根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，包括：
    基于所述多个多普勒频率值和所述多个多普勒频率值对应的位置，通过二维曲线拟合，确定所述目标降落位置。
  10. 一种无人机控制装置，其中，包括：
    接收模块，用于通过信号接收装置接收信号发射装置周期性发射的电磁波信号；
    第一确定模块，用于根据所述电磁波信号确定无人机当前所处位置的多普勒频率值；
    第一控制模块，用于根据所述当前所处位置的多普勒频率值，控制所述无人机按照目标飞行路径飞行至目标位置，所述目标飞行路径包括所述无人机的当前飞行方向和目标飞行方向各自对应的飞行路径，所述目标飞行方向与所述当前飞行方向构成正交关系；
    第二确定模块，用于根据所述无人机在所述目标飞行路径中确定的多个多普勒频率值，确定所述无人机对应的目标降落位置，所述目标降落位置的下方为所述信号发射装置或者所述信号接收装置所处的位置；
    第二控制模块，用于控制所述无人机从所述目标降落位置降落。
  11. 一种非临时性计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现权利要求1-9中任一项所述方法的步骤。
  12. 一种电子设备，其中，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1-9中任一项所述方法的步骤。
  13. 一种计算机程序产品，其中，所述计算机程序产品包括计算机程序，所述计算机程序能够由可编程的装置执行，当所述计算机程序由所述可编程的装置执行时，所述计算机程序用于执行权利要求1-9中任一项所述方法的步骤。
PCT/CN2023/138188 2023-02-07 2023-12-12 无人机控制 Ceased WO2024164693A1 (zh)

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