CN105912018A - Aircraft and obstacle avoiding method for the aircraft - Google Patents
Aircraft and obstacle avoiding method for the aircraft Download PDFInfo
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- CN105912018A CN105912018A CN201610270721.3A CN201610270721A CN105912018A CN 105912018 A CN105912018 A CN 105912018A CN 201610270721 A CN201610270721 A CN 201610270721A CN 105912018 A CN105912018 A CN 105912018A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims description 195
- 230000033001 locomotion Effects 0.000 description 10
- 230000001771 impaired effect Effects 0.000 description 6
- 238000012372 quality testing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000010006 flight Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an aircraft and an obstacle avoiding method for the aircraft. The aircraft comprises a fuselage, a holder arranged under the fuselage, an obstacle detection module arranged on the holder, an acquiring module arranged inside the fuselage, a choosing module and a controlling module wherein the obstacle detection module is used for detecting whether there is any obstacle within a preset range for the aircraft. The acquiring module is used for acquiring the running state of the aircraft when any obstacle is found within the preset range for the aircraft. The choosing module is used for choosing a corresponding obstacle avoiding strategy from a list of obstacle avoiding strategies based on the running state of the aircraft. The controlling module is used for controlling the aircraft to fly under the chosen obstacle avoiding strategy so as to have the aircraft steer clear from the obstacle. The invention further discloses a method for an aircraft to avoid obstacles. According to the invention, an aircraft can be flexibly controlled to avoid obstacles so that it does not get damaged.
Description
Technical field
The present invention relates to aircraft field, particularly relate to a kind of aircraft and aircraft barrier-avoiding method.
Background technology
At present, aircraft is widely used in civilian, commercial and military field, and this aircraft such as four axle flies
Device, multi-rotor aerocraft, unmanned plane during flying device, model plane etc..At civil area, the increasing limit
Sports fan uses aircraft to shoot with video-corder, in commercial kitchen area, except carrying picture pick-up device to every physical culture
Beyond race is tracked taking photo by plane, and have been enter into logistic industry, goods can be sent to manpower dispensing more difficult,
Slower remote districts, therefore, aircraft has a wide range of applications scope and wide market prospect.Fly
The offline mode of row device generally comprises manual mode and automatic mode.In the prior art, aircraft is flying
During row, aircraft cannot automatic obstacle-avoiding, easily bump against barrier, cause aircraft impaired, such as:
In a manual mode, manual control controls remote controller, controls aircraft completely, and people can be actively
Observation flight device around environment, prevent aircraft from bumping against on barrier, but when aircraft from the visual field
Farther out, flight environment of vehicle complexity, operational error, new hand carry out some factors such as operation, aircraft also can hit
On barrier, causing aircraft impaired, serious causes air crash；In automatic mode, aircraft is complete
Full-automatic flight, aircraft only can be according to predetermined airline operation, if aircraft runs into barrier,
Can't get around, the probability that aircraft bumps against barrier is the biggest.
Foregoing is only used for auxiliary and understands technical scheme, does not represent and recognizes that foregoing is
Prior art.
Summary of the invention
Present invention is primarily targeted at a kind of aircraft of offer and aircraft barrier-avoiding method, it is intended to solve existing
Having in technology, aircraft is operationally, it is impossible to automatic obstacle-avoiding, causes aircraft to bump against barrier, causes
The technical problem that aircraft is impaired.
For achieving the above object, the present invention provides a kind of aircraft, and described aircraft includes: fuselage, takes
It is loaded in the The Cloud Terrace under fuselage, the detection of obstacles module being arranged on The Cloud Terrace, the acquisition being arranged in fuselage
Module, selection module and control module, wherein:
Whether described detection of obstacles module, have barrier in the preset range of sense aircraft；
Described acquisition module, for when there being barrier in the preset range of aircraft, obtains described flight
The running status of device；
Described selection module, is used for the running status according to described aircraft from default Robot dodge strategy list
The middle Robot dodge strategy selecting correspondence；
Described control module, for controlling aircraft flight according to the Robot dodge strategy selected, so that aircraft
Avoiding obstacles.
Preferably, described selection module is additionally operable to:
When the running status of described aircraft is floating state, select from default Robot dodge strategy list
Passive Robot dodge strategy；
When the running status of described aircraft is state of flight, select from default Robot dodge strategy list
Automatic obstacle avoidance strategy.
Preferably, described control module includes:
First judging unit, for when described Robot dodge strategy is passive Robot dodge strategy, it is judged that described flight
Barrier in the preset range of device whether only one of which；
Determine unit, when being used for the barrier only one of which in the preset range of aircraft, according to described
The heading of barrier determines the first heading of described aircraft, described first heading and institute
The heading stating barrier becomes one first predetermined angle；
First control unit, is used for controlling described aircraft and flies according to described first heading, so that
Aircraft avoiding obstacles.
Preferably, described control module also includes:
First computing unit, when the barrier in the preset range of aircraft has multiple, with described
Aircraft is the center of circle, calculates the angle between adjacent two barriers successively, obtains adjacent two barriers
Between angle；
Select unit, for the angle between adjacent two barriers, select maximum angle；
Second judging unit, whether the maximum angle being used for selecting described in judging is more than or equal to default
Minimum safe angle；
Second control unit, for the minimum safe angle being more than or equal to preset at the maximum angle selected
When spending, control aircraft and fly over, so that flying between adjacent two barriers that described maximum angle is corresponding
Row device avoiding obstacles；And it is used for when the maximum angle selected is less than the minimum safe angle preset,
Control aircraft flight preset height up or down, so that aircraft avoiding obstacles.
Preferably, described control module includes:
Second computing unit, for when described Robot dodge strategy is automatic obstacle avoidance strategy, according to aircraft
Current flight speed and the deceleration value preset, be calculated the target flight speed of aircraft；
3rd control unit, is used for controlling described aircraft in current flight direction according to target flight speed
Flight；
Detector unit, for detection with described aircraft as the center of circle, becomes the with aircraft current flight direction
Whether two predetermined angle and the region in radius of safety have barrier；
Described 3rd control unit, is additionally operable to described aircraft as the center of circle, with aircraft current flight
When direction becomes the second predetermined angle and the region in radius of safety not to have barrier, control described aircraft
To becoming the second predetermined angle and the flight of the region in radius of safety with current flight direction, so that aircraft
Avoiding obstacles.
Additionally, for achieving the above object, the present invention also provides for a kind of aircraft barrier-avoiding method, is applied to
The aircraft stated, described method includes:
Whether barrier is had in the preset range of sense aircraft；
When there being barrier in the preset range of aircraft, obtain the running status of described aircraft；
Running status according to described aircraft selects the avoidance plan of correspondence from default Robot dodge strategy list
Slightly；
Aircraft flight is controlled according to the Robot dodge strategy selected, so that aircraft avoiding obstacles.
Preferably, from default Robot dodge strategy list, correspondence is selected according to the running status of described aircraft
The step of Robot dodge strategy include:
When the running status of described aircraft is floating state, select from default Robot dodge strategy list
Passive Robot dodge strategy；
When the running status of described aircraft is state of flight, select from default Robot dodge strategy list
Automatic obstacle avoidance strategy.
Preferably, described according to the Robot dodge strategy control aircraft flight selected, so that barrier avoided by aircraft
The step hindering thing includes:
When described Robot dodge strategy is passive Robot dodge strategy, it is judged that the barrier in the preset range of described aircraft
Hinder thing whether only one of which；
When barrier only one of which in the preset range of aircraft, according to the flight side of described barrier
To determining the first heading of described aircraft, the flight of described first heading and described barrier
Direction becomes one first predetermined angle；
Control described aircraft to fly according to described first heading, so that aircraft avoiding obstacles.
Preferably, described according to the Robot dodge strategy control aircraft flight selected, so that barrier avoided by aircraft
The step hindering thing also includes:
When the barrier in the preset range of aircraft has multiple, with described aircraft as the center of circle, successively
Calculate the angle between adjacent two barriers, obtain the angle between adjacent two barriers；
Angle between adjacent two barriers selects maximum angle；
Whether the maximum angle selected described in judgement is more than or equal to the minimum safe angle preset；
When the maximum angle selected more than or equal to preset minimum safe angle time, control aircraft from
Fly between adjacent two barriers that described maximum angle is corresponding, so that aircraft avoiding obstacles；
When the maximum angle selected less than preset minimum safe angle time, control aircraft upwards or to
Lower flight preset height, so that aircraft avoiding obstacles.
Preferably, control aircraft flight according to the Robot dodge strategy selected, so that aircraft avoiding obstacles
Step include:
When described Robot dodge strategy is automatic obstacle avoidance strategy, according to the current flight speed of aircraft with preset
Deceleration value, be calculated the target flight speed of aircraft；
Control described aircraft to fly according to target flight speed in current flight direction；
Detection with described aircraft as the center of circle, become with aircraft current flight direction the second predetermined angle and
Whether the region in radius of safety has barrier；
When with described aircraft as the center of circle, becoming the second predetermined angle with aircraft current flight direction and in peace
Region in full radius does not has barrier, then control described aircraft to becoming second pre-with current flight direction
If angle and the flight of the region in radius of safety, so that aircraft avoiding obstacles.
The aircraft of the present invention and aircraft barrier-avoiding method, this aircraft includes fuselage, is mounted under fuselage
The Cloud Terrace, the detection of obstacles module being arranged on The Cloud Terrace, the acquisition module being arranged in fuselage, selection
Module and control module, wherein: described detection of obstacles module, for the preset range of sense aircraft
The most whether there is barrier；Described acquisition module, is used for when there being barrier in the preset range of aircraft,
Obtain the running status of described aircraft；Described selection module, for the operation shape according to described aircraft
State selects the Robot dodge strategy of correspondence from default Robot dodge strategy list；Described control module, for basis
The Robot dodge strategy selected controls aircraft flight, so that aircraft avoiding obstacles；Flight can be detected in time
Whether barrier is had in the preset range of device, when having barrier in the preset range of this aircraft, according to
The state of flight of aircraft selects Robot dodge strategy, and controls aircraft flight according to the Robot dodge strategy selected,
Flexibly aircraft can be controlled, avoiding obstacles, it is to avoid aircraft is impaired.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of aircraft of the present invention；
Fig. 2 is the structural representation of an embodiment of the control module in aircraft of the present invention；
Fig. 3 is the structural representation of another embodiment of the control module in aircraft of the present invention；
Fig. 4 is distribution of obstacles schematic diagram in the present invention；
Fig. 5 is the structural representation of the another embodiment of the control module in aircraft of the present invention；
Fig. 6 is the schematic flow sheet of an embodiment of aircraft barrier-avoiding method of the present invention；
Fig. 7 is that the Robot dodge strategy according to selection in aircraft barrier-avoiding method of the present invention controls aircraft flight,
So that the schematic flow sheet of the first embodiment of aircraft avoiding obstacles；
Fig. 8 is that the Robot dodge strategy according to selection in aircraft barrier-avoiding method of the present invention controls aircraft flight,
So that the schematic flow sheet of the second embodiment of aircraft avoiding obstacles；
Fig. 9 is that the Robot dodge strategy according to selection in aircraft barrier-avoiding method of the present invention controls aircraft flight,
So that the schematic flow sheet of the 3rd embodiment of aircraft avoiding obstacles.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings further
Explanation.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.
With reference to the structural representation of the embodiment that Fig. 1, Fig. 1 are aircraft of the present invention, this aircraft includes:
Fuselage, is mounted in the The Cloud Terrace under fuselage, the detection of obstacles module 10 being arranged on The Cloud Terrace, is arranged on machine
Acquisition module 20, selection module 30 and control module 40 in body, wherein:
Whether this detection of obstacles module 10, have barrier in the preset range of sense aircraft；
This acquisition module 20, for when there being barrier in the preset range of aircraft, obtains this aircraft
Running status；
This selection module 30, is used for the running status according to this aircraft from default Robot dodge strategy list
Select corresponding Robot dodge strategy；
This control module 40, for controlling aircraft flight according to the Robot dodge strategy selected, so that aircraft
Avoiding obstacles.
This aircraft can be four-axle aircraft, multi-rotor aerocraft, unmanned plane during flying device, model plane etc..
This detection of obstacles module 10 is fixed on The Cloud Terrace, and this detection of obstacles module 10 keeps horizontal
State, no matter aircraft is currently horizontal flight or flies with an inclination angle, and this detection of obstacles module 10 is all
Can detect with this aircraft as the center of circle, around be in the barrier of horizontal plane.
This detection of obstacles module 10 includes distance measuring sensor and motor, and this distance measuring sensor is fixed on motor
On, rotate along with motor and rotate, concrete, this distance measuring sensor is rotated in horizontal direction along with motor
Rotate, whether to have barrier in measuring the preset range of aircraft.This motor is rotatable default for each second
The number of turns, the precision of the anglec of rotation is 1.Optionally, the range of this distance measuring sensor is 15 meters.This survey
Can be ultrasonic distance-measuring sensor, infrared distance sensor, laser range sensor, thunder away from sensor
Reach distance measuring sensor etc..
This preset range can be arranged as required to, and optionally, this preset range is with aircraft as the center of circle,
Horizontal extent with the first predeterminable range as radius, this first predeterminable range can be arranged as required to, one
In embodiment, this first predeterminable range is 8 meters.
Barrier whether is had in the preset range of this detection of obstacles module 10 sense aircraft, concrete,
The unit angle of the most continuous predetermined number in the preset range of this detection of obstacles module 10 sense aircraft
There is barrier and the barrier distance with aircraft in corresponding region less than or equal to preset security distance, if
There are barrier and obstacle in the region that in the preset range of this aircraft, the unit angle of continuous predetermined number is corresponding
Thing is less than or equal to preset security distance with the distance of aircraft, it is determined that in the preset range of this aircraft
There is barrier.This unit angle is 1, and this predetermined number can be arranged as required to, e.g., in an embodiment
In, this predetermined number is 3, and this preset security distance is 8 meters, then this detection of obstacles module 10 detects
In the preset range of this aircraft, there are barrier and barrier and flight in the region of the most continuous 31 correspondences
The distance of device is less than or equal to 8 meters, if the district of continuous 31 correspondences in the preset range of this aircraft
There is barrier and the barrier distance with aircraft in territory less than or equal to 8 meters, it is determined that this aircraft pre-
If there being barrier in scope.
This acquisition module 20 obtains the running status of aircraft, and this running status includes: floating state, fly
Row state.Wherein, the offline mode of this aircraft can be automatic mode or manual mode.
Pre-set Robot dodge strategy list, in this Robot dodge strategy list, common, different running statuses
Corresponding different Robot dodge strategy.This Robot dodge strategy includes automatic obstacle avoidance strategy and passive Robot dodge strategy.
This selection module 30, according to the running status of aircraft, selects correspondence from this Robot dodge strategy list
Robot dodge strategy.Optionally, this selection module 30 is additionally operable to: when the running status of this aircraft is hovering shape
During state, from default Robot dodge strategy list, select passive Robot dodge strategy；Running status when this aircraft
During for state of flight, from default Robot dodge strategy list, select automatic obstacle avoidance strategy.
This control module 40 controls aircraft flight according to the Robot dodge strategy selected, concrete, revises this and flies
The flight parameter of row device, e.g., revises the heading of this aircraft, flight speed or flying height etc.,
So that aircraft avoiding obstacles.
Use above-described embodiment, by whether having barrier in the preset range of sense aircraft, work as flight
When having barrier in the preset range of device, obtain the running status of this aircraft；And according to this aircraft
Running status selects the Robot dodge strategy of correspondence from default Robot dodge strategy list；Further according to the avoidance selected
Policy control aircraft flight, so that aircraft avoiding obstacles；Can the default model of sense aircraft in time
Whether barrier is had in enclosing, when having barrier in the preset range of this aircraft, flying according to aircraft
Row condition selecting Robot dodge strategy, and control aircraft flight according to the Robot dodge strategy selected, can be the most right
Aircraft is controlled, avoiding obstacles, it is to avoid aircraft is impaired.
Further, as in figure 2 it is shown, this control module 40 includes:
First judging unit 41, for when this Robot dodge strategy is passive Robot dodge strategy, it is judged that this aircraft
Preset range in barrier whether only one of which；
Determine unit 42, when being used for the barrier only one of which in the preset range of aircraft, according to this
The heading of barrier determines the first heading of this aircraft, this first heading and this obstacle
The heading of thing becomes one first predetermined angle；
First control unit 43, is used for controlling this aircraft and flies according to this first heading, so that flying
Row device avoiding obstacles.
This first judging unit 41 is when this Robot dodge strategy is passive Robot dodge strategy, it is judged that this aircraft pre-
If the whether only one of which of the barrier in scope；Concrete, this first judging unit 41 receives obstacle quality testing
This aircraft that survey module 10 detects barrier data in preset range, and according to the obstacle received
Thing data determine barrier whether only one of which, and these barrier data include obstacle distance, obstacle object angle
Degree and barrier quantity, wherein, barrier angle can working as according to the motor in detection of obstacles module 10
Front position of rotation determines.
This first predetermined angle can be arranged as required to, and as in one embodiment, this first predetermined angle is
90 or-90 degree.
This determines that unit 42 determines the first heading of this aircraft according to the heading of this barrier,
This first heading is different from the heading of this barrier, this first heading and this barrier
Heading becomes one first predetermined angle, as in one embodiment, this barrier in the dead astern of aircraft,
Towards aircraft flight, then the first heading of this aircraft becomes 90 with the heading of this barrier
Or-90, i.e. this aircraft to left avertence 90 or flies to right avertence 90 in the horizontal direction in the horizontal direction.
This first control unit 43 controls this aircraft and flies according to this first heading, concrete, can
Control this aircraft according to this first heading flight preset duration or the second predeterminable range, optionally,
Control this aircraft to fly with the flight speed of acquiescence according to this first heading.This preset duration and
Two predeterminable ranges can be arranged as required to, and as in one embodiment, this preset duration is 2 seconds, and this is years old
Two predeterminable ranges are 20 meters.
Further, as it is shown on figure 3, this control module 40 also includes:
First computing unit 44, when the barrier in the preset range of aircraft has multiple, with this
Aircraft is the center of circle, calculates the angle between adjacent two barriers successively, obtains adjacent two barriers
Between angle；
Select unit 45, for the angle between adjacent two barriers, select maximum angle；
Second judging unit 46, for judging that this maximum angle selected is whether more than or equal to presetting
Minimum safe angle；
Second control unit 47, for the minimum safe being more than or equal to preset at the maximum angle selected
During angle, control aircraft and fly over, so that flying between adjacent two barriers that this maximum angle is corresponding
Row device avoiding obstacles；And it is used for when the maximum angle selected is less than the minimum safe angle preset,
Control aircraft flight preset height up or down, so that aircraft avoiding obstacles.
When this first computing unit 44 barrier in the preset range of this aircraft has multiple, count successively
Calculate the angle between adjacent two barriers, obtain the angle between adjacent two barriers, concrete,
With aircraft as the center of circle, calculate the angle between adjacent two barriers respectively, as shown in Figure 4, one
In embodiment, barrier has 5, respectively Z1, Z2, Z3, Z4 and Z5, and aircraft institute is in place
Be set to O point, this first computing unit 44 calculate successively the angle between Z1 and Z2, Z2 Yu Z3 it
Between angle, angle between Z3 and Z4, angle between Z4 and Z5, angle between Z5 and Z1
Degree, the angle obtained between adjacent two barriers is respectively α 1, α 2, α 3, α 4, α 5.
This selection unit 45 angle between adjacent two barriers that the first computing unit 44 calculates
In select maximum angle, the angle calculated such as the first computing unit 44 has α 1, α 2, α 3, α 4, α 5,
Wherein, α 4 is maximum, then the maximum angle that this selection unit 45 is selected is α 4.
This minimum safe angle [alpha] 0 preset can pre-set as required, and this minimum safe angle is flight
The minimum angles that device can pass through.
This second judging unit 46 judges whether the maximum angle selecting unit 45 to select is more than or equal to
The minimum safe angle preset, if selecting the maximum angle selected of unit 45 more than or equal to presetting
Minimum safe angle, then explanation aircraft can be from adjacent two barriers corresponding to the maximum angle of this selection
Between fly out, if select the maximum angle selected of unit 45 less than the minimum safe angle preset,
Then explanation aircraft can not fly out between adjacent two barriers that the maximum angle of this selection is corresponding,
This aircraft i.e. flies to fly to any angle in the horizontal direction and all cannot get around barrier.As, this second is sentenced
Disconnected unit 46 judges whether the maximum angle α 4 that this selection unit 45 is selected is more than or equal to preset
Little security standpoint α 0.
This second control unit 47 is selecting the maximum angle selected of unit 45 more than or equal to presetting
During minimum safe angle, control aircraft and fly between adjacent two barriers that this maximum angle is corresponding,
Maximum angle α 4 as selected unit 45 to select is more than or equal to the minimum safe angle [alpha] 0 preset, should
Adjacent two barriers of maximum angle α 4 correspondence are Z4 and Z5, then control this aircraft from this barrier
Fly between Z4 and Z5, so that aircraft avoiding obstacles.I.e. in the maximum selecting unit 45 to select
Angle more than or equal to preset minimum safe angle time, this second control unit 47 control this aircraft from
Horizontal direction flies out the encirclement of barrier.
This second control unit 47 is pacified less than the minimum preset at the maximum angle selecting unit 45 to select
During full angle, control aircraft flight preset height up or down, i.e. selecting unit 45 to select
Maximum angle less than preset minimum safe angle time, illustrate that aircraft is in the horizontal direction to any angle
Fly all cannot avoiding obstacles, therefore, aircraft is abandoned level and is broken through, then vertically breaks through, i.e.
Second control unit 47 controls aircraft flight preset height up or down, optionally, can control flight
Device is with the flight speed flight preset height up or down of acquiescence, e.g., when aircraft is in outdoor,
Aircraft upwards flight preset height can be controlled；When aircraft is in indoor, aircraft can be controlled downward
Flight preset height.
Further, as it is shown in figure 5, this control module 40 includes:
Second computing unit 48, for when this Robot dodge strategy is automatic obstacle avoidance strategy, according to aircraft
Current flight speed and the deceleration value preset, be calculated the target flight speed of aircraft；
3rd control unit 49, is used for controlling this aircraft in current flight direction according to target flight speed
Flight；
Detector unit 50, for detection with this aircraft as the center of circle, becomes the with aircraft current flight direction
Whether two predetermined angle and the region in radius of safety have barrier；
3rd control unit 49, is additionally operable to this aircraft as the center of circle, with aircraft current flight side
In time becoming the second predetermined angle and the region in radius of safety there is no barrier, control this aircraft to
Current flight direction becomes the second predetermined angle and the flight of the region in radius of safety, so that aircraft is avoided
Barrier.
This deceleration value preset can pre-set as required.
This second computing unit 48 when this this Robot dodge strategy is automatic obstacle avoidance strategy, i.e. the fortune of this aircraft
When row state is state of flight, obtain the current flight speed of aircraft, and current according to this aircraft
Flight speed and the deceleration value preset, obtain the target flight speed of aircraft, and this target flight speed is led to
Crossing below equation to be calculated, V=V1-V0, wherein, V represents the target flight speed of aircraft, V1
Representing the current flight speed of aircraft, V0 represents default deceleration value.
3rd control unit 49 controls aircraft and flies according to target flight speed in current flight direction,
I.e. when there being barrier in the preset range of aircraft, and when aircraft is currently at state of flight, first to this
Aircraft slows down.
This detector unit 50 is while the 3rd control unit 49 controls aircraft down, and detection flies with this
Row device is the center of circle, becomes the second predetermined angle and the region in radius of safety with aircraft current flight direction
Whether having barrier, this second predetermined angle and radius of safety can be arranged as required to, as this second preset
Angle is 90 or-90, and this radius of safety is 8 meters；Then this detector unit 50 detects with this aircraft
For the center of circle, become 90 or-90 and region in radius of safety is 8 meters with aircraft current flight direction
Whether there is barrier.
3rd control unit 49 is additionally operable to this aircraft as the center of circle, with aircraft current flight direction
When becoming the second predetermined angle and the region in radius of safety there is no barrier, control this aircraft to work as
Front heading becomes the second predetermined angle and the flight of the region in radius of safety, so that barrier avoided by aircraft
Hinder thing.As in one embodiment, this detector unit 50 detects that with this aircraft be the center of circle, with aircraft
Current flight direction becomes 90 or-90 and do not have barrier, then in the region that radius of safety is 8 meter Nei Nei
Control controller in the horizontal direction to left avertence 90 or in the horizontal direction to there being inclined 90 flights, now fly
Device is doing retarded motion, and speed not yet reduces to 0, adds the motion of the horizontal direction of 90 ° or-90 °, flies
Row device actual motion direction is the vector resultant motion of two componental movements.After this aircraft avoiding obstacles,
3rd control unit 49 controls aircraft and returns to fly on original course line.
Optionally, this detector unit 50 is additionally operable to this aircraft as the center of circle, with aircraft current flight
When direction becomes the second predetermined angle and the region in radius of safety to have barrier, detection with this aircraft is
The center of circle, becomes the 3rd predetermined angle to the 4th predetermined angle and in radius of safety with aircraft current flight direction
Whether interior region has barrier, and the absolute value of the 3rd predetermined angle is more than or equal to the second predetermined angle
Absolute value, the absolute value of the 4th predetermined angle is more than the absolute value of the 3rd predetermined angle；As real one
Executing in example, this second predetermined angle is 90 °, and the 3rd predetermined angle is 90 °, the 4th predetermined angle
It it is 180 °；In another embodiment, this second predetermined angle is-90 °, and the 3rd predetermined angle is-90 °,
4th predetermined angle is-180 °.
Optionally, the 3rd control unit 49 is additionally operable to this aircraft as the center of circle, current with aircraft
Heading becomes the 3rd predetermined angle not have barrier to the 4th predetermined angle and the region in radius of safety
Time, control aircraft and become the 5th predetermined angle and the region in radius of safety to fly to current flight direction
OK, so that aircraft avoiding obstacles.5th predetermined angle is preset in the 3rd predetermined angle to the 4th
Between angle.If the 3rd predetermined angle is 90 °, the 4th predetermined angle is 180 °, then the 5th
Predetermined angle can be 120 °.
Optionally, the 3rd control unit 49 is additionally operable to this aircraft as the center of circle, current with aircraft
When heading becomes the second predetermined angle and the region in radius of safety to have barrier, or with this flight
Device is the center of circle, becomes the 3rd predetermined angle to the 4th predetermined angle and in safety with aircraft current flight direction
When there is barrier in region in radius, control aircraft hovering, and alert.This warning message
For acoustic information or optical information, as flashed by loudspeaker alert or by carry-on LED
Alert.
With reference to the schematic flow sheet of the embodiment that Fig. 6, Fig. 6 are aircraft barrier-avoiding method of the present invention, the party
Method is applied on the aircraft of any of the above-described embodiment, and the method includes:
S10, sense aircraft preset range in whether have barrier.
This aircraft includes: fuselage, is mounted in the The Cloud Terrace under fuselage, the obstacle quality testing being arranged on The Cloud Terrace
Survey module, the acquisition module being arranged in fuselage, selection module and control module.
This aircraft can be four-axle aircraft, multi-rotor aerocraft, unmanned plane during flying device, model plane etc..
This detection of obstacles module is fixed on The Cloud Terrace, and this detection of obstacles module keeps level, no
Pipe aircraft is currently horizontal flight or flies with an inclination angle, and this detection of obstacles module can detect
To with this aircraft as the center of circle, around it is in the barrier of horizontal plane.
This detection of obstacles module includes distance measuring sensor and motor, and this distance measuring sensor is fixed on motor,
Rotating along with motor and rotate, concrete, this distance measuring sensor rotates along with motor is rotated in horizontal direction,
Whether barrier is had in preset range with measurement aircraft.This motor rotatable predetermined amount each second,
The precision of the anglec of rotation is 1.Optionally, the range of this distance measuring sensor is 15 meters.This range finding senses
Device can be ultrasonic distance-measuring sensor, infrared distance sensor, laser range sensor, radar range finding
Sensor etc..
This preset range can be arranged as required to, and optionally, this preset range is with aircraft as the center of circle,
Horizontal extent with the first predeterminable range as radius, this first predeterminable range can be arranged as required to, one
In embodiment, this first predeterminable range is 8 meters.
In this step, in the preset range of this detection of obstacles module sense aircraft, whether there is barrier,
Concrete, the list of the most continuous predetermined number in the preset range of this detection of obstacles module sense aircraft
The region that parallactic angle degree is corresponding have the distance of barrier and barrier and aircraft less than or equal to preset security away from
From, if there is barrier in the region that in the preset range of this aircraft, the unit angle of continuous predetermined number is corresponding
And the distance of barrier and aircraft is less than or equal to preset security distance, it is determined that presetting of this aircraft
In the range of have barrier.This unit angle is 1, and this predetermined number can be arranged as required to, e.g., one
In embodiment, this predetermined number is 3, and this preset security distance is 8 meters, then the inspection of this detection of obstacles module
In surveying the preset range of this aircraft, there are barrier and barrier in the region of the most continuous 31 correspondences and fly
The distance of row device is less than or equal to 8 meters, if continuous 31 correspondences in the preset range of this aircraft
There is barrier and the barrier distance with aircraft in region less than or equal to 8 meters, it is determined that this aircraft
Barrier is had in preset range.
S20, when there being barrier in the preset range of aircraft, obtain the running status of this aircraft.
In this step, this acquisition module obtains the running status of aircraft, and this running status includes: outstanding
Stop state, state of flight.Wherein, the offline mode of this aircraft can be automatic mode or manual mode.
S30, running status according to this aircraft select the avoidance of correspondence from default Robot dodge strategy list
Strategy.
Pre-set Robot dodge strategy list, in this Robot dodge strategy list, common, different running statuses
Corresponding different Robot dodge strategy.This Robot dodge strategy includes automatic obstacle avoidance strategy and passive Robot dodge strategy.
In this step, this selection module is according to the running status of aircraft, from this Robot dodge strategy list
Select corresponding Robot dodge strategy.Optionally, according to the running status of this aircraft from default Robot dodge strategy
The step selecting the Robot dodge strategy of correspondence in list includes: when the running status of this aircraft is floating state
Time, from default Robot dodge strategy list, select passive Robot dodge strategy；When the running status of this aircraft is
During state of flight, from default Robot dodge strategy list, select automatic obstacle avoidance strategy.
S40, control aircraft flight according to the Robot dodge strategy selected, so that aircraft avoiding obstacles.
In this step, this control module controls aircraft flight according to the Robot dodge strategy selected, concrete,
Revise the flight parameter of this aircraft, e.g., revise the heading of this aircraft, flight speed or flight
Height etc., so that aircraft avoiding obstacles.
Use above-described embodiment, by whether having barrier in the preset range of sense aircraft, work as flight
When having barrier in the preset range of device, obtain the running status of this aircraft；And according to this aircraft
Running status selects the Robot dodge strategy of correspondence from default Robot dodge strategy list；Further according to the avoidance selected
Policy control aircraft flight, so that aircraft avoiding obstacles；Can the default model of sense aircraft in time
Whether barrier is had in enclosing, when having barrier in the preset range of this aircraft, flying according to aircraft
Row condition selecting Robot dodge strategy, and control aircraft flight according to the Robot dodge strategy selected, can be the most right
Aircraft is controlled, avoiding obstacles, it is to avoid aircraft is impaired.
It is flying according to the Robot dodge strategy control selected in aircraft barrier-avoiding method of the present invention with reference to Fig. 7, Fig. 7
Row device flies, so that the schematic flow sheet of the first embodiment of aircraft avoiding obstacles, details are as follows:
S41, when this Robot dodge strategy is passive Robot dodge strategy, it is judged that the barrier in the preset range of this aircraft
Hinder thing whether only one of which.
In this step, the first judging unit in this control module is passive avoidance plan at this Robot dodge strategy
Time slightly, it is judged that the whether only one of which of the barrier in the preset range of this aircraft；Concrete, this is first years old
This aircraft that judging unit reception detection of obstacles module detects barrier number in preset range
According to, and determining barrier whether only one of which according to the barrier data received, these barrier data include
Obstacle distance, barrier angle and barrier quantity, wherein, barrier angle can be according to obstacle quality testing
The current rotary position surveying the motor in module determines.
This first predetermined angle can be arranged as required to, and as in one embodiment, this first predetermined angle is
90 or-90 degree.
S42, when barrier only one of which in the preset range of aircraft, according to the flight of this barrier
Direction determines the first heading of this aircraft, this first heading and the heading of this barrier
Become one first predetermined angle.
In this step, in this control module, cell determines this according to the heading of this barrier really
First heading of aircraft, this first heading is different from the heading of this barrier, and this is years old
One heading becomes one first predetermined angle with the heading of this barrier, as in one embodiment, is somebody's turn to do
Barrier is in the dead astern of aircraft, towards aircraft flight, then the first heading of this aircraft with
The heading of this barrier becomes 90 or-90, and i.e. this aircraft is in the horizontal direction to left avertence 90 or edge
Horizontal direction is flown to right avertence 90.
S43, control this aircraft and fly according to this first heading, so that aircraft avoiding obstacles.
In this step, the first control unit in this control module controls this aircraft and first flies according to this
Line direction flies, concrete, can control this aircraft according to this first heading flight preset duration or
Second predeterminable range, optionally, controls this aircraft fast with the flight of acquiescence according to this first heading
Degree flight.This preset duration and the second predeterminable range can be arranged as required to, and as in one embodiment, are somebody's turn to do
Preset duration is 2 seconds, and this second predeterminable range is 20 meters.
It is flying according to the Robot dodge strategy control selected in aircraft barrier-avoiding method of the present invention with reference to Fig. 8, Fig. 8
Row device flies, so that the schematic flow sheet of the second embodiment of aircraft avoiding obstacles.
Aircraft flight is controlled according to the Robot dodge strategy selected based on above-mentioned, so that aircraft avoiding obstacles
First embodiment, according to select Robot dodge strategy control aircraft flight so that obstacle avoided by aircraft
The step of thing also includes:
S44, when the barrier in the preset range of aircraft has multiple, with this aircraft as the center of circle, depend on
Angle between adjacent two barriers of secondary calculating, obtains the angle between adjacent two barriers.
In this step, the first computing unit in this control module is in the preset range of this aircraft
When barrier has multiple, calculate the angle between adjacent two barriers successively, obtain adjacent two obstacles
Angle between thing, concrete, with aircraft as the center of circle, calculate respectively between adjacent two barriers
Angle, as shown in Figure 4, in one embodiment, barrier has 5, respectively Z1, Z2, Z3,
Z4 and Z5, aircraft position is O point, and this first computing unit calculates between Z1 and Z2 successively
Angle, angle between Z2 and Z3, angle between Z3 and Z4, angle between Z4 and Z5,
Angle between Z5 and Z1, obtain the angle between adjacent two barriers be respectively α 1, α 2, α 3, α 4,
α5。
S45, angle between adjacent two barriers select maximum angle.
In this step, in this control module select unit calculate from the first computing unit adjacent two
Angle between individual barrier selects maximum angle, the angle calculated such as the first computing unit have α 1,
α 2, α 3, α 4, α 5, wherein, α 4 is maximum, then the maximum angle that this selection Unit selection goes out is α 4.
S46, judge that this maximum angle selected is whether more than or equal to the minimum safe angle preset.
This minimum safe angle [alpha] 0 preset can pre-set as required, and this minimum safe angle is flight
The minimum angles that device can pass through.
In this step, the second judging unit in this control module judges the maximum selecting Unit selection to go out
Whether angle is more than or equal to the minimum safe angle preset, if selecting the maximum angle that Unit selection goes out
More than or equal to the minimum safe angle preset, then explanation aircraft can be corresponding from the maximum angle of this selection
Adjacent two barriers between fly out, if selecting the maximum angle that goes out of Unit selection less than presetting
Minimum safe angle, then explanation aircraft can not be from adjacent two obstacles corresponding to the maximum angle of this selection
Fly out between thing, i.e. this aircraft flies to fly to any angle in the horizontal direction and all cannot get around barrier.
As, this second judging unit judges whether the maximum angle α 4 that this selection Unit selection goes out is more than or equal to pre-
If minimum safe angle [alpha] 0.
S47, when the maximum angle selected more than or equal to preset minimum safe angle time, control flight
Device flies between adjacent two barriers that this maximum angle is corresponding, so that aircraft avoiding obstacles.
In this step, the second control unit in this control module is in the maximum angular selecting Unit selection to go out
When degree is more than or equal to the minimum safe angle preset, control aircraft from corresponding adjacent of this maximum angle
Flying between two barriers, the maximum angle α 4 as selected Unit selection to go out is more than or equal to preset
Little security standpoint α 0, adjacent two barriers of this maximum angle α 4 correspondence are Z4 and Z5, then control
This aircraft flies between this barrier Z4 and Z5, so that aircraft avoiding obstacles.I.e. selecting
When the maximum angle that Unit selection goes out is more than or equal to the minimum safe angle preset, this second control unit
Control this aircraft to fly out from horizontal direction the encirclement of barrier.
S48, when the maximum angle selected less than preset minimum safe angle time, control aircraft upwards
Or downward flight preset height, so that aircraft avoiding obstacles.
In this step, the second control unit in this control module is in the maximum angular selecting Unit selection to go out
When degree is less than the minimum safe angle preset, controls aircraft flight preset height up or down, i.e. exist
When the maximum angle selecting Unit selection to go out is less than the minimum safe angle preset, illustrate that aircraft is in level
Direction to any angle fly all cannot avoiding obstacles, therefore, aircraft is abandoned level and is broken through, then enters
Row is vertical to be broken through, the i.e. second control unit control aircraft flight preset height up or down, optionally,
The aircraft flight speed flight preset height up or down with acquiescence can be controlled, e.g., at aircraft
When outdoor, aircraft upwards flight preset height can be controlled；When aircraft is in indoor, can control
Aircraft downward flight preset height.
It is flying according to the Robot dodge strategy control selected in aircraft barrier-avoiding method of the present invention with reference to Fig. 9, Fig. 9
Row device flies, so that the schematic flow sheet of the 3rd embodiment of aircraft avoiding obstacles, details are as follows:
S49, when this Robot dodge strategy is automatic obstacle avoidance strategy, according to the current flight speed of aircraft and pre-
If deceleration value, be calculated the target flight speed of aircraft.
This deceleration value preset can pre-set as required.
In this step, the second computing unit in this control module is automatic obstacle avoidance at this this Robot dodge strategy
During strategy, when i.e. the running status of this aircraft is state of flight, obtain the current flight speed of aircraft,
And according to the current flight speed of this aircraft and the deceleration value preset, obtain the target flight speed of aircraft
Degree, this target flight speed is calculated by below equation, and V=V1-V0, wherein, V represents flight
The target flight speed of device, V1 represents the current flight speed of aircraft, and V0 represents default deceleration value.
S50, control this aircraft in current flight direction according to target flight speed fly.
In this step, the 3rd control unit in this control module controls aircraft in current flight direction
Flying according to target flight speed, i.e. when there being barrier in the preset range of aircraft, and aircraft is current
When being in state of flight, first this aircraft is slowed down.
S51, detection with this aircraft as the center of circle, become with aircraft current flight direction the second predetermined angle and
Whether the region in radius of safety has barrier.
In this step, the detector unit in this control module controls aircraft down in the 3rd control unit
While, detection with this aircraft as the center of circle, become with aircraft current flight direction the second predetermined angle and
Whether the region in radius of safety has barrier, and this second predetermined angle and radius of safety can be as required
Arranging, if this second predetermined angle is 90 or-90, this radius of safety is 8 meters；Then this detector unit
Detection, with this aircraft as the center of circle, becomes 90 or-90 and in radius of safety with aircraft current flight direction
It is whether the region in 8 meters has barrier.
S52, when with this aircraft as the center of circle, become with aircraft current flight direction the second predetermined angle and
Region in radius of safety does not has barrier, then control this aircraft to becoming second pre-with current flight direction
If angle and the flight of the region in radius of safety, so that aircraft avoiding obstacles.
In this step, the 3rd control unit in this control module is additionally operable to this aircraft as the center of circle,
The second predetermined angle and the region in radius of safety is become not to have barrier with aircraft current flight direction
Time, control this aircraft to becoming the second predetermined angle and the region in radius of safety with current flight direction
Flight, so that aircraft avoiding obstacles.As in one embodiment, this detector unit detects and flies with this
Row device is the center of circle, becomes 90 or-90 and be 8 meter Nei Nei in radius of safety with aircraft current flight direction
Region there is no barrier, then control controller in the horizontal direction to left avertence 90 or in the horizontal direction to having
Inclined 90 flights, now aircraft is doing retarded motion, and speed not yet reduces to 0, adds 90 ° or-90 °
The motion of horizontal direction, the aerocraft real direction of motion is the vector resultant motion of two componental movements.At this
After aircraft avoiding obstacles, the 3rd control unit controls aircraft and returns to fly on original course line.
Optionally, this detector unit is additionally operable to this aircraft as the center of circle, with aircraft current flight side
In time becoming the second predetermined angle and the region in radius of safety to have barrier, detection is with this aircraft as circle
The heart, becomes the 3rd predetermined angle to the 4th predetermined angle and in radius of safety with aircraft current flight direction
Region whether have barrier, the absolute value of the 3rd predetermined angle is more than or equal to the second predetermined angle
Absolute value, the absolute value of the 4th predetermined angle is more than the absolute value of the 3rd predetermined angle；As implemented one
In example, this second predetermined angle is 90 °, and the 3rd predetermined angle is 90 °, and the 4th predetermined angle is
180°；In another embodiment, this second predetermined angle is-90 °, and the 3rd predetermined angle is-90 °,
4th predetermined angle is-180 °.
Optionally, the 3rd control unit is additionally operable to, with this aircraft as the center of circle, currently fly with aircraft
Line direction becomes the 3rd predetermined angle not have barrier to the 4th predetermined angle and the region in radius of safety
Time, control aircraft and become the 5th predetermined angle and the region in radius of safety to fly to current flight direction
OK, so that aircraft avoiding obstacles.5th predetermined angle is preset in the 3rd predetermined angle to the 4th
Between angle.If the 3rd predetermined angle is 90 °, the 4th predetermined angle is 180 °, then the 5th
Predetermined angle can be 120 °.
Optionally, the 3rd control unit is additionally operable to, with this aircraft as the center of circle, currently fly with aircraft
When line direction becomes the second predetermined angle and the region in radius of safety to have barrier, or with this aircraft
For the center of circle, become the 3rd predetermined angle to the 4th predetermined angle with aircraft current flight direction and in safety half
When there is barrier in region in footpath, control aircraft hovering, and alert.This warning message is
Acoustic information or optical information, as by loudspeaker alert or by carry-on LED flicker
Go out warning message.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every
Utilize equivalent structure or equivalence flow process conversion that description of the invention and accompanying drawing content made, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. an aircraft, it is characterised in that described aircraft includes fuselage, is mounted in the cloud under fuselage
Platform, the detection of obstacles module being arranged on The Cloud Terrace, the acquisition module being arranged in fuselage, selection module
And control module, wherein:
Whether described detection of obstacles module, have barrier in the preset range of sense aircraft；
Described acquisition module, for when there being barrier in the preset range of aircraft, obtains described flight
The running status of device；
Described selection module, is used for the running status according to described aircraft from default Robot dodge strategy list
The middle Robot dodge strategy selecting correspondence；
Described control module, for controlling aircraft flight according to the Robot dodge strategy selected, so that aircraft
Avoiding obstacles.
2. aircraft as claimed in claim 1, it is characterised in that described selection module is additionally operable to:
When the running status of described aircraft is floating state, select from default Robot dodge strategy list
Passive Robot dodge strategy；
When the running status of described aircraft is state of flight, select from default Robot dodge strategy list
Automatic obstacle avoidance strategy.
3. aircraft as claimed in claim 2, it is characterised in that described control module includes:
First judging unit, for when described Robot dodge strategy is passive Robot dodge strategy, it is judged that described flight
Barrier in the preset range of device whether only one of which；
Determine unit, when being used for the barrier only one of which in the preset range of aircraft, according to described
The heading of barrier determines the first heading of described aircraft, described first heading and institute
The heading stating barrier becomes one first predetermined angle；
First control unit, is used for controlling described aircraft and flies according to described first heading, so that
Aircraft avoiding obstacles.
4. aircraft as claimed in claim 3, it is characterised in that described control module also includes:
First computing unit, when the barrier in the preset range of aircraft has multiple, with described
Aircraft is the center of circle, calculates the angle between adjacent two barriers successively, obtains adjacent two barriers
Between angle；
Select unit, for the angle between adjacent two barriers, select maximum angle；
Second judging unit, whether the maximum angle being used for selecting described in judging is more than or equal to default
Minimum safe angle；
Second control unit, for the minimum safe angle being more than or equal to preset at the maximum angle selected
When spending, control aircraft and fly over, so that flying between adjacent two barriers that described maximum angle is corresponding
Row device avoiding obstacles；And it is used for when the maximum angle selected is less than the minimum safe angle preset,
Control aircraft flight preset height up or down, so that aircraft avoiding obstacles.
5. aircraft as claimed in claim 2, it is characterised in that described control module includes:
Second computing unit, for when described Robot dodge strategy is automatic obstacle avoidance strategy, according to aircraft
Current flight speed and the deceleration value preset, be calculated the target flight speed of aircraft；
3rd control unit, is used for controlling described aircraft in current flight direction according to target flight speed
Flight；
Detector unit, for detection with described aircraft as the center of circle, becomes the with aircraft current flight direction
Whether two predetermined angle and the region in radius of safety have barrier；
Described 3rd control unit, is additionally operable to described aircraft as the center of circle, with aircraft current flight
When direction becomes the second predetermined angle and the region in radius of safety not to have barrier, control described aircraft
To becoming the second predetermined angle and the flight of the region in radius of safety with current flight direction, so that aircraft
Avoiding obstacles.
6. an aircraft barrier-avoiding method, is applied to the aircraft described in any one of the claims 1-5,
It is characterized in that, described method includes:
Whether barrier is had in the preset range of sense aircraft；
When there being barrier in the preset range of aircraft, obtain the running status of described aircraft；
Running status according to described aircraft selects the avoidance plan of correspondence from default Robot dodge strategy list
Slightly；
Aircraft flight is controlled according to the Robot dodge strategy selected, so that aircraft avoiding obstacles.
7. aircraft barrier-avoiding method as claimed in claim 6, it is characterised in that according to described aircraft
Running status select the step of Robot dodge strategy of correspondence to include from default Robot dodge strategy list:
When the running status of described aircraft is floating state, select from default Robot dodge strategy list
Passive Robot dodge strategy；
When the running status of described aircraft is state of flight, select from default Robot dodge strategy list
Automatic obstacle avoidance strategy.
8. aircraft barrier-avoiding method as claimed in claim 7, it is characterised in that described according to selecting
Robot dodge strategy controls aircraft flight, so that the step of aircraft avoiding obstacles includes:
When described Robot dodge strategy is passive Robot dodge strategy, it is judged that the barrier in the preset range of described aircraft
Hinder thing whether only one of which；
When barrier only one of which in the preset range of aircraft, according to the flight side of described barrier
To determining the first heading of described aircraft, the flight of described first heading and described barrier
Direction becomes one first predetermined angle；
Control described aircraft to fly according to described first heading, so that aircraft avoiding obstacles.
9. aircraft barrier-avoiding method as claimed in claim 8, it is characterised in that described according to selecting
Robot dodge strategy controls aircraft flight, so that the step of aircraft avoiding obstacles also includes:
When the barrier in the preset range of aircraft has multiple, with described aircraft as the center of circle, successively
Calculate the angle between adjacent two barriers, obtain the angle between adjacent two barriers；
Angle between adjacent two barriers selects maximum angle；
Whether the maximum angle selected described in judgement is more than or equal to the minimum safe angle preset；
When the maximum angle selected more than or equal to preset minimum safe angle time, control aircraft from
Fly between adjacent two barriers that described maximum angle is corresponding, so that aircraft avoiding obstacles；
When the maximum angle selected less than preset minimum safe angle time, control aircraft upwards or to
Lower flight preset height, so that aircraft avoiding obstacles.
10. aircraft barrier-avoiding method as claimed in claim 7, it is characterised in that according to keeping away of selecting
Barrier policy control aircraft flight, so that the step of aircraft avoiding obstacles includes:
When described Robot dodge strategy is automatic obstacle avoidance strategy, according to the current flight speed of aircraft with preset
Deceleration value, be calculated the target flight speed of aircraft；
Control described aircraft to fly according to target flight speed in current flight direction；
Detection with described aircraft as the center of circle, become with aircraft current flight direction the second predetermined angle and
Whether the region in radius of safety has barrier；
When with described aircraft as the center of circle, becoming the second predetermined angle with aircraft current flight direction and in peace
Region in full radius does not has barrier, then control described aircraft to becoming second pre-with current flight direction
If angle and the flight of the region in radius of safety, so that aircraft avoiding obstacles.
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| CN201610270721.3A CN105912018A (en) | 2016-04-27 | 2016-04-27 | Aircraft and obstacle avoiding method for the aircraft |
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