CN107783542A - The control method and control system of unmanned plane - Google Patents
The control method and control system of unmanned plane Download PDFInfo
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- CN107783542A CN107783542A CN201610728140.XA CN201610728140A CN107783542A CN 107783542 A CN107783542 A CN 107783542A CN 201610728140 A CN201610728140 A CN 201610728140A CN 107783542 A CN107783542 A CN 107783542A
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- 230000001133 acceleration Effects 0.000 claims description 11
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 4
- 230000007812 deficiency Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of control method of unmanned plane and control system, the control method of the unmanned plane includes：Send the command signal stopped in the air；The status information of unmanned plane is obtained, status information includes positional information of the unmanned plane relative to specified remaining device；Flight path is generated according to status information；Unmanned plane is driven to be flown towards remaining device according to flight path；Unmanned plane lands after reaching remaining device.By sending the command signal stopped in the air and the positioning signal of aerial remaining device to unmanned plane, positional information of the unmanned plane relative to specified remaining device is generated, and flight path is generated to drive unmanned plane to fly and land automatically on remaining device towards remaining device according to the positional information.The skyborne fixed point remaining of unmanned plane can be realized, saves the electric quantity consumption of unmanned plane, ensures that unmanned plane performs prolonged task during staying aloft.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, it particularly relates to the control method and control system of a kind of unmanned plane.
Background technology
Unmanned plane is the not manned vehicle being controlled by radio robot and airborne computer stored program controlled.
Multi-rotor unmanned aerial vehicle is more suitable for the task that a variety of someone's aircrafts should not perform due to the advantage such as its fuselage is compact, cost is cheap,
Therefore the fields such as photography, fire-fighting monitoring, scouting, traffic monitoring of taking photo by plane have been widely used in it.
Existing multi-rotor unmanned aerial vehicle, it can only be suspended in skyborne certain limit, not possess substantially and stablize in the air
Target point stop function.Existing multi-rotor unmanned aerial vehicle needs to suspend in the air, because its is big when performing air tasking
The load of power when hovering so need to consume more electricity, often also deficiency thinks it to electricity entrained by multi-rotor unmanned aerial vehicle
The problem of prolonged power supply is provided, therefore result in cruising time deficiency.
For unmanned plane in correlation technique can not fixed point remaining and the problem of cruising time deficiency in the air, not yet carry at present
Go out effective solution.
The content of the invention
For unmanned plane in correlation technique can not fixed point remaining and the problem of cruising time deficiency in the air, the present invention proposes
The control method and control system of a kind of unmanned plane, can make unmanned plane fixed point remaining in the air, and the electricity for saving unmanned plane disappears
Consumption.
The technical proposal of the invention is realized in this way：
According to an aspect of the invention, there is provided a kind of control method of unmanned plane, including：Send the finger stopped in the air
Make signal；The status information of unmanned plane is obtained, status information includes positional information of the unmanned plane relative to specified remaining device；
Flight path is generated according to status information；Unmanned plane is driven to be flown towards remaining device according to flight path；Unmanned plane, which reaches, to stop
Land after staying device.
Preferably, obtaining the status information of unmanned plane includes：The positioning signal of remaining device is sent to unmanned plane；According to fixed
The positional information of position signal generation remaining device.
Preferably, the positional information of remaining device is generated according to positioning signal to be included：Obtain the image information of remaining device；
The positional information of image procossing generation remaining device is carried out to image information.
Preferably, unmanned plane is driven to be flown towards remaining device according to flight path, in addition to：Do not reached in unmanned plane
In the case of remaining device, repeat to obtain status information；Flight path is adjusted according to status information.
Preferably, status information also includes：Attitude information.
Preferably, remaining device includes stopping bar, stop platform or stopping frame so that unmanned plane is positioned at aerial stop
Stopped on bar, stop platform or stop frame.
According to another aspect of the present invention, there is provided a kind of control system of unmanned plane, including：Control module, for sending out
Send the command signal stopped in the air；Transmitter module, it is arranged on remaining device, for sending the positioning signal of remaining device；Connect
Module is received, is communicated to connect with control module and transmitter module, for receiving command signal and positioning signal；Processor module,
It is connected with receiving module, for generating status information and generation flight path, status information includes unmanned plane relative to specified
The positional information of remaining device；And execution module, it is connected with processor module, for driving unmanned plane court according to flight path
Flown to remaining device.
Preferably, processor module also includes：Image processing module, for obtaining the image information of remaining device and to figure
As information carries out image procossing to generate the positional information of remaining device.
Preferably, in addition to：Posture acquisition module, is connected with processor module, and for obtaining the posture letter of unmanned plane
Breath.
Preferably, posture acquisition module includes：Acceleration module and gyro module；Execution module includes：Fly control module
And power plant module.
The present invention to unmanned plane by sending the command signal stopped in the air and the positioning signal of aerial remaining device, generation
Unmanned plane and generates flight path to drive unmanned plane relative to the positional information of specified remaining device according to the positional information
Fly and land automatically on remaining device towards remaining device.Unmanned plane fixed point remaining in the air can be made, save unmanned plane
Electric quantity consumption, ensure that unmanned plane performs prolonged task during staying aloft.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the flow chart of the control method of unmanned plane according to embodiments of the present invention；
Fig. 2 is the block diagram of the control system of unmanned plane according to embodiments of the present invention；
Fig. 3 is the schematic diagram of the control system of unmanned plane in accordance with another embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained, belong to what the present invention protected
Scope.
According to an embodiment of the invention, there is provided a kind of control method of unmanned plane.
As shown in figure 1, the control method of unmanned plane according to embodiments of the present invention comprises the following steps：
Step S101, send the command signal stopped in the air.Unmanned aerial vehicle (UAV) control personnel can pass through the remote control on ground
Above-mentioned command signal is sent to unmanned plane.
Step S103, obtains the status information of unmanned plane, and status information includes unmanned plane relative to specified remaining device
Positional information.
In one embodiment, step S103 is specifically included：
The positioning signal of remaining device is sent to unmanned plane；
The positional information of remaining device is generated according to positioning signal.
Positional information refers to the letter for reflecting the direction of relative position relation, distance and height between unmanned plane and remaining device
Breath.Positioning signal can be sent by the transmitter module being arranged on remaining device.
Further, in one embodiment, the positional information of remaining device is generated according to positioning signal to be included：
Obtain the image information of remaining device；
The positional information of image procossing generation remaining device is carried out to image information.
After unmanned plane receives positioning signal, the figure of remaining device can be obtained by image collecting devices such as video cameras
Piece, the positional information that image procossing generates remaining device is then carried out to the picture by image processing techniques module.
One shapes and sizes can be set on remaining device surface for known demarcation thing, will demarcation thing true form and big
The small shapes and sizes with it in picture are compared, and obtain demarcating the relative position relation of thing and unmanned plane, and then can be with
Determine the positional information of remaining device；Several pictures of remaining device can also be obtained in the flight course of unmanned plane, will be stopped
Stay the heading variable quantity, high variable quantity and distance change amount of location variation and unmanned plane of the device in several pictures
Computing is compared, to obtain the positional information of remaining device.
Step S105, flight path is generated according to status information.
Wherein, flight path should comprise at least the heading and flying height of unmanned plane.According to the position of remaining device
Information is obtained with direction relative between unmanned plane and remaining device, distance and height, can calculate unmanned plane according to this
Heading and flying height so that unmanned plane towards remaining device fly.
Step S107, unmanned plane is driven to be flown towards remaining device according to flight path.
In one embodiment, step S107 also includes：
In the case where unmanned plane does not reach remaining device, repeat to obtain status information；
Flight path is adjusted according to status information.
Unmanned plane obtains its positional information relative to remaining device according to the positioning signal received, and generates flight rail
Mark controls unmanned plane to be flown towards remaining device, and where judging in flight course whether unmanned plane has arrived at remaining device
Position.Because unmanned plane is continually changing relative to the positional information of remaining device in flight course, need to repeat to obtain
Positioning signal simultaneously generates positional information to determine whether unmanned plane has arrived at remaining device.Stop dress is not reached in unmanned plane
In the case of putting, in order to ensure that the flight course to unmanned plane is accurately controlled, should further feed back the positional information to
Unmanned plane makes it be adjusted flight path, and is flown according to the flight path after adjustment.
Step S109, unmanned plane land after reaching remaining device.
After unmanned plane reaches remaining device, automatically and accurately land on remaining device.When unmanned plane needs long
Between when being parked in air position and carrying out operation, such as perform the task of aerial fixed point shooting or aerial fixed point monitoring.Unmanned plane exists
After receiving command signal, execution task can be started by flying and finally dropping to towards remaining device automatically on remaining device,
Because needing not be at floating state during execution task, avoid and consume more electricity.
Wherein, remaining device is the device that can stay aloft unmanned plane, can be stop bar, stop platform or
Stop frame etc..
In one embodiment, while positional information of the acquisition unmanned plane relative to specified remaining device, also obtain
Take the attitude information of unmanned plane.The positioning that the transmitter module being arranged on remaining device sends remaining device to unmanned plane in real time is believed
Number, unmanned plane receives the positioning signal and computing, processing is carried out to it, and generation unmanned plane is believed relative to the position of remaining device
Breath；The attitude information of unmanned plane, including the pitching angle information of unmanned plane, roll angle information and course angle information are also generated simultaneously.
As shown in Fig. 2 according to an embodiment of the invention, a kind of control system of unmanned plane is additionally provided, including：
Control module 21, for sending the command signal stopped in the air；
Transmitter module 22, is arranged on remaining device, for sending the positioning signal of remaining device；
Receiving module 23, communicated to connect with control module 21 and transmitter module 22, for receiving command signal and positioning
Signal；
Processor module 24, it is connected with receiving module 23, for generating status information and generation flight path, status information
Positional information including unmanned plane relative to specified remaining device；And
Execution module 25, it is connected with processor module 24, for driving unmanned plane towards remaining device according to flight path
Flight.
Control module 21 sends the command signal stopped in the air to unmanned plane, and unmanned plane receives this by receiving module 23
After command signal, then receive by receiving module 23 positioning signal of the remaining device sent by transmitter module 22, processor die
Block 24 generates the status information of unmanned plane according to the positioning signal and further generates flight path, and execution module 25 is according to winged
Row Track fusion unmanned plane flies towards remaining device, and lands after unmanned plane reaches remaining device on remaining device.It is logical
Above-mentioned technical proposal is crossed, unmanned plane fixed point remaining in the air can be realized, when ensureing that unmanned plane stays aloft period executive chairman
Between task.
In one embodiment, processor module also includes image processing module, and the image for obtaining remaining device is believed
Cease and image procossing is carried out to image information to generate the positional information of remaining device.
Specifically, after unmanned plane receives above-mentioned positioning signal, can be obtained by image collecting devices such as video cameras
The picture of remaining device, the position that image procossing generates remaining device is then carried out to the picture by image processing techniques module
Information.One shapes and sizes can be set on remaining device surface for known demarcation thing, by demarcation thing true form and size
It is compared with its shapes and sizes in picture, obtains demarcating the relative position relation of thing and unmanned plane, and then can be true
Determine the positional information of remaining device；Several pictures of remaining device can also be obtained in the flight course of unmanned plane, will be stopped
Heading variable quantity, high variable quantity and the distance change amount of location variation and unmanned plane of the device in several pictures are entered
Row comparison calculation, to obtain the positional information of remaining device.
In one embodiment, in addition to posture acquisition module, posture acquisition module is connected with processor module, for obtaining
Take the attitude information of unmanned plane.
Wherein, posture acquisition module includes acceleration module and gyro module；Execution module includes flying control module and moved
Power module.Gyro module is used for the angular speed for measuring unmanned plane, and acceleration module is used for the linear acceleration for measuring unmanned plane.It is logical
Cross the angular speed measured gyro module and linear acceleration that acceleration module measures carries out appropriate calculation process, example
Such as Kalman filtering algorithm, the attitude information of unmanned plane, including the pitching angle information of unmanned plane, roll angle information and course are obtained
Angle information.
Alternatively, control module can be remote control, mobile phone or notebook computer.
Above-described embodiment is specifically described with reference to Fig. 3.The control system of the unmanned plane of the present embodiment includes：It is distant
Control device 31, the transmitter module 32 and unmanned plane 30 that are arranged on remaining device.Unmanned plane 30 includes：Receiving module 33, processor
Module 34, acceleration module 361, gyro module 362, winged control module 351, power plant module 352 and energy module 37.Remote control
Device 31 and transmitter module 32 communicate to connect with receiving module 33, receiving module 33, acceleration module 361, gyro module
362nd, fly control module 351 and power plant module 352 is all connected to processor module 34, energy module 37 and receiving module 33, acceleration
Degree module 361, gyro module 362, the control module 351 that flies are connected with power plant module 352 and are these module for power supply.
With reference also to Fig. 3, when unmanned plane manipulator needs to make unmanned plane 30 to fly to entering at the remaining device specified in the air
When row operation, by controlling remote control 31 to send the command signal stopped in the air.The receiving module 33 of unmanned plane 30 receives
To after the command signal, the positioning that the transmitter module 32 that is arranged on remaining device sends in real time is obtained by receiving module 33 and believed
Number, and the positioning signal is sent to processor module 34；Gyro module 362 and acceleration module 361 measure nobody simultaneously
The attitude information is simultaneously sent to processor module 34 by the attitude information of machine 30.Processor module 34 is carried out to above-mentioned positioning signal
Processing, computing are to determine positional information of the unmanned plane 30 relative to remaining device；Processor module 34 is to positional information and posture
Information carries out processing generation flight path, and sends drive finger to winged control module 351 and power plant module 352 according to flight path
Order, to drive unmanned plane 30 to be flown towards remaining device and land automatically after remaining device is reached.
Further, unmanned plane obtains its positional information relative to remaining device according to the positioning signal received, and
Generating flight path controls unmanned plane to be flown towards remaining device.Because unmanned plane is relative to remaining device in flight course
Positional information is continually changing, need to repeat to obtain positioning signal and generate positional information to determine whether unmanned plane has arrived at
Remaining device.Before unmanned plane does not reach the position of remaining device, in order to ensure that the flight course to unmanned plane carries out standard
True control, in the case where unmanned plane does not reach remaining device, it should also further feed back the positional information and attitude information
Processor module to unmanned plane makes it be adjusted flight path, and is driven by execution module according to the flight path after adjustment
Dynamic unmanned plane is flown.
In summary, by means of the above-mentioned technical proposal of the present invention, believed by sending the instruction stopped in the air to unmanned plane
Number and aerial remaining device positioning signal, generation unmanned plane relative to specified remaining device positional information, and according to this
Positional information generates flight path to drive unmanned plane to be flown towards remaining device, is believed in flight course by the position of feedback
Breath is adjusted to flight path, is landed automatically on remaining device after the position of remaining device is reached.Unmanned plane can be made
Fixed point remaining in the air, the electric quantity consumption of unmanned plane is saved, ensure that unmanned plane performs prolonged work during staying aloft
Task.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (10)
- A kind of 1. control method of unmanned plane, it is characterised in that including：Send the command signal stopped in the air；The status information of unmanned plane is obtained, the status information includes position of the unmanned plane relative to specified remaining device Information；Flight path is generated according to the status information；The unmanned plane is driven to be flown towards the remaining device according to the flight path；AndThe unmanned plane lands after reaching the remaining device.
- 2. the control method of unmanned plane according to claim 1, it is characterised in that obtain the status information bag of unmanned plane Include：The positioning signal of the remaining device is sent to the unmanned plane；AndThe positional information of remaining device is generated according to the positioning signal.
- 3. the control method of unmanned plane according to claim 2, it is characterised in that according to positioning signal generation The positional information of remaining device includes：Obtain the image information of the remaining device；AndThe positional information that image procossing generates the remaining device is carried out to described image information.
- 4. the control method of unmanned plane according to claim 1, it is characterised in that according to flight path driving Unmanned plane flies towards the remaining device, in addition to：In the case where unmanned plane does not reach the remaining device, repetition obtains the status information；AndThe flight path is adjusted according to the status information.
- 5. the control method of unmanned plane according to claim 1, it is characterised in that the status information also includes：Posture Information.
- 6. the control method of unmanned plane according to claim 1, it is characterised in that the remaining device include stop bar, Stop platform or stop frame so that the unmanned plane is positioned at the aerial stop bar, the stop platform or the stop Stopped on frame.
- A kind of 7. control system of unmanned plane, it is characterised in that including：Control module, for sending the command signal stopped in the air；Transmitter module, it is arranged on remaining device, for sending the positioning signal of the remaining device；Receiving module, communicated to connect with the control module and the transmitter module, for receiving the command signal and institute State positioning signal；Processor module, it is connected with the receiving module, for generating status information and generation flight path, the status information Positional information including unmanned plane relative to specified remaining device；AndExecution module, it is connected with the processor module, for driving the unmanned plane described according to the flight path Remaining device flies.
- 8. the control system of unmanned plane according to claim 7, it is characterised in that the processor module also includes：Image processing module, for obtain the remaining device image information and to described image information carry out image procossing with Generate the positional information of remaining device.
- 9. the control system of unmanned plane according to claim 8, it is characterised in that also include：Posture acquisition module, with institute Processor module connection is stated, and for obtaining the attitude information of the unmanned plane.
- 10. the control system of unmanned plane according to claim 9, it is characterised in thatThe posture acquisition module includes：Acceleration module and gyro module；AndThe execution module includes：Fly control module and power plant module.
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| CN201610728140.XA CN107783542B (en) | 2016-08-26 | 2016-08-26 | Unmanned aerial vehicle control method and control system |
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| CN116161251A (en) * | 2022-12-19 | 2023-05-26 | 北京天玛智控科技股份有限公司 | Unmanned aerial vehicle inspection method |
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| CN107783542B (en) | 2024-05-31 |
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