CN112666995A - Unmanned aerial vehicle speed planning method, device, equipment and storage medium - Google Patents
Unmanned aerial vehicle speed planning method, device, equipment and storage medium Download PDFInfo
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Abstract
The application provides a speed planning method, a speed planning device, speed planning equipment and a storage medium for an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off, and driving at a constant speed according to the preset speed; determining a deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold; judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance; and if the distance between the unmanned aerial vehicle and the terminal of the preset air route is less than or equal to the deceleration distance, decelerating the unmanned aerial vehicle according to a second preset acceleration and a preset acceleration threshold. Compared with the prior art, the problem that the unmanned aerial vehicle cannot adjust to zero when reaching a target point, and a flight path and emergency braking are possibly caused is solved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a speed planning method, a speed planning device, speed planning equipment and a storage medium for an unmanned aerial vehicle.
Background
With the continuous development of science and technology, unmanned aerial vehicles have been widely used in the fields of aerial photography, plant protection, express transportation, electric power inspection, emergency rescue and relief work, movie and television shooting, and the like. The flying path of the unmanned aerial vehicle during operation is the air route. When an existing unmanned aerial vehicle is operated, the existing unmanned aerial vehicle usually flies according to a set air route.
At present, when an unmanned aerial vehicle flies on a set air route, the speed is generally planned by adopting a position planning method, namely, the due speed of the position is calculated according to the position information of the current unmanned aerial vehicle on the air route and is sent to a controller, so that the speed of the unmanned aerial vehicle is controlled according to the applied speed.
However, in the existing position planning method, because the speed response usually lags behind the due speed, the speed of the unmanned aerial vehicle cannot be adjusted to zero when reaching the target point, or the phenomena of flight path rushing and sudden braking exist.
Disclosure of Invention
An object of the application is to provide a speed planning method, device, equipment and storage medium for an unmanned aerial vehicle, aiming at the defects in the prior art, so as to solve the problem that the speed cannot be adjusted to zero or the unmanned aerial vehicle can rush out a route and be braked when the unmanned aerial vehicle reaches a target point in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a speed planning method for an unmanned aerial vehicle, where the method includes:
accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off, and driving at a constant speed of the preset speed;
determining a deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold;
judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance;
if the distance between the unmanned aerial vehicle and the terminal point of the preset air route is smaller than or equal to the deceleration distance, the unmanned aerial vehicle is decelerated according to a second preset acceleration and the preset acceleration threshold.
Optionally, the determining a deceleration distance according to the preset speed, the preset jerk, and the preset acceleration threshold includes:
determining a basic deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold;
integrating time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining a compensation distance; the acceleration process refers to a process that the unmanned aerial vehicle accelerates to the preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration;
and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
Optionally, the decelerating the unmanned aerial vehicle according to a second preset jerk and the preset jerk threshold includes:
and decelerating the unmanned aerial vehicle according to a second preset acceleration and the preset acceleration threshold, and correcting the real-time speed of the unmanned aerial vehicle according to the coordinate information of the preset air route, the second preset acceleration and the preset acceleration threshold in the deceleration process.
Optionally, the correcting the real-time speed of the unmanned aerial vehicle according to the coordinate information of the preset air line, the second preset jerk and the preset acceleration threshold includes:
acquiring the current position coordinate and the real-time speed of the unmanned aerial vehicle;
determining a second target speed of the unmanned aerial vehicle at the current position coordinate according to the coordinate information of the preset air route, the second preset acceleration and the preset acceleration threshold;
and correcting the real-time speed according to the second target speed, and flying at the corrected speed.
Optionally, the decelerating the unmanned aerial vehicle according to a second preset jerk and the preset jerk threshold includes:
decelerating the unmanned aerial vehicle according to a second preset acceleration until the current acceleration of the unmanned aerial vehicle reaches a preset acceleration threshold;
decelerating the unmanned aerial vehicle according to the preset acceleration threshold;
judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset air route is smaller than a distance threshold value or not;
if the acceleration is smaller than the first preset acceleration, the unmanned aerial vehicle is decelerated according to the first preset acceleration until the speed of the unmanned aerial vehicle is 0.
Optionally, the absolute values of the first preset jerk and the second preset jerk are the same and are opposite numbers to each other.
In a second aspect, another embodiment of the present application provides a speed planning apparatus for a drone, the apparatus including: speed control module, confirm module and judgement module, wherein:
the speed control module is used for accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off and driving at a constant speed;
the determining module is used for determining a deceleration distance according to the preset speed, a second preset acceleration and a preset acceleration threshold;
the judging module is used for judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance;
the speed control module is specifically used for decelerating the unmanned aerial vehicle according to a second preset acceleration and a preset acceleration threshold if the distance between the unmanned aerial vehicle and the terminal point of the preset air route is less than or equal to the deceleration distance.
Optionally, the determining module is specifically configured to determine the basic deceleration distance according to a preset speed, a second preset jerk and a preset acceleration threshold; integrating time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining a compensation distance; the acceleration process refers to a process that the unmanned aerial vehicle accelerates to the preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration; and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
Optionally, the speed control module is specifically configured to decelerate according to a second preset jerk and the preset acceleration threshold, and correct the real-time speed of the unmanned aerial vehicle according to the coordinate information of the preset air line, the second preset jerk and the preset acceleration threshold in the deceleration process.
Optionally, the apparatus further comprises: an acquisition module and a correction module, wherein:
the acquisition module is used for acquiring the current position coordinate and the real-time speed of the unmanned aerial vehicle;
the speed control module is specifically used for determining a second target speed of the unmanned aerial vehicle at the current position coordinate according to the coordinate information of the preset route, the second preset acceleration and the preset acceleration threshold;
and the correcting module is used for correcting the real-time speed according to the second target speed and flying at the corrected speed.
Optionally, the speed control module is specifically configured to decelerate the unmanned aerial vehicle according to a second preset jerk until a current acceleration of the unmanned aerial vehicle reaches a preset acceleration threshold; decelerating the unmanned aerial vehicle according to the preset acceleration threshold;
the judging module is specifically used for judging whether the distance between the unmanned aerial vehicle and the end point of the preset route is smaller than a distance threshold value;
the speed control module is specifically used for decelerating the unmanned aerial vehicle according to the first preset acceleration if the first preset acceleration is smaller than the first preset acceleration until the speed of the unmanned aerial vehicle is 0.
In a third aspect, another embodiment of the present application provides an unmanned aerial vehicle, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the drone is in operation, the processor executing the machine-readable instructions to perform the steps of the method according to any one of the first aspect.
In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method according to any one of the above first aspects.
The beneficial effect of this application is: by adopting the speed planning method of the unmanned aerial vehicle, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle can be accelerated to the preset speed according to the preset first acceleration, and controlling the unmanned aerial vehicle to fly according to a preset speed, then determining a deceleration distance according to the preset speed, a second preset acceleration and an acceleration threshold value, and when the distance between the unmanned aerial vehicle and the terminal is determined to be less than or equal to the deceleration distance, controlling the unmanned aerial vehicle to decelerate the unmanned aerial vehicle according to the second acceleration and a preset acceleration threshold until the speed of the unmanned aerial vehicle is 0, the speed planning mode can divide the whole navigation of the unmanned aerial vehicle into an acceleration process, a uniform speed process and a deceleration process, and the speed of the unmanned aerial vehicle on the air route is planned in real time through the distance between the unmanned aerial vehicle and the terminal, so that the unmanned aerial vehicle flies according to the given speed, and the condition that the unmanned aerial vehicle rushes out of the air route or brakes suddenly when reaching the terminal is avoided.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to another embodiment of the present application;
fig. 3 is a schematic diagram of a speed plan of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of a speed planning apparatus for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a speed planning apparatus for an unmanned aerial vehicle according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Additionally, the flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
The speed planning method of the unmanned aerial vehicle is applied to a speed planning scene when the unmanned aerial vehicle navigates on a preset air route, so that the unmanned aerial vehicle can fly along the preset air route and the preset speed planning, and the speed of the unmanned aerial vehicle can be adjusted to zero without sudden braking before the unmanned aerial vehicle reaches a destination position due to the fact that the unmanned aerial vehicle flies along the preset air route by the speed planning method provided by the application, and the problem that the unmanned aerial vehicle rushes out of the air route is avoided; it should be understood that although the above embodiment is described by taking a speed planning scene of an unmanned aerial vehicle as an example, it should be understood that the method provided by the present application may also be applied to an unmanned vehicle or other scenes where a speed needs to be planned and the specific application scene is not limited herein.
The speed planning method for the unmanned aerial vehicle provided by the embodiment of the present application is explained below with reference to a plurality of specific application examples. Fig. 1 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 1, the method includes:
s101: after the unmanned aerial vehicle takes off, the unmanned aerial vehicle is accelerated to a preset speed according to a first preset acceleration, and the unmanned aerial vehicle runs at a constant speed at the preset speed.
The method comprises the steps that an unmanned aerial vehicle is accelerated to a preset speed by a first preset acceleration rate, the corresponding road section in the acceleration process is an acceleration road section, the stage of the unmanned aerial vehicle carrying out a constant speed form by the preset speed is a constant speed form process, the corresponding road section in the constant speed form process is a constant speed driving road section, and the acceleration rate is a first derivative of the acceleration rate.
For example, in some possible embodiments, the first preset jerk may be determined according to the model and performance of the drone, and for some drones with better acceleration performance, the first preset jerk corresponding to the drone may be set to be slightly larger, for example, and the speed of the drone may be increased more in a shorter time; for some unmanned aerial vehicles with common or poor speed-increasing performance, the first preset jerk can be set to be smaller, so that the problem that the unmanned aerial vehicle is unstable in flight due to overlarge first jerk is solved; or avoid because first predetermined acceleration is too big, unmanned aerial vehicle is because self performance problem can't reach such fast acceleration effect to cause the problem of unmanned aerial vehicle performance damage etc. the mode of setting up of specific first acceleration can be adjusted according to user's needs are nimble with setting up the size, and do not give with above-mentioned embodiment for the limit.
For example, in an embodiment of the present application, the preset speed may be determined according to performance of the unmanned aerial vehicle or a user requirement, for example, the preset speed may be determined according to a maximum flight speed of the unmanned aerial vehicle, or the preset speed may be determined according to a speed given by a user, if the speed given by the user is less than the maximum speed corresponding to performance of the unmanned aerial vehicle, the speed given by the user is determined as the preset speed, otherwise, the maximum speed corresponding to performance of the unmanned aerial vehicle is determined as the preset speed, and a specific determination manner of the preset speed may be flexibly adjusted according to a user requirement, and is not limited to that given in the above embodiment.
S102: and determining the deceleration distance according to the preset speed, the second preset acceleration and the preset acceleration threshold.
The second preset jerk can refer to the first preset jerk, and can also be set according to the model, the performance and the like of the unmanned aerial vehicle, and is not limited here.
The deceleration distance may represent a distance to be flown to decelerate from a preset speed to 0 using a second preset jerk.
S103: and judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset air route is less than or equal to the deceleration distance or not according to the preset air route and the deceleration distance.
And executing S104 if the distance between the unmanned aerial vehicle and the terminal of the preset air route is less than or equal to the deceleration distance.
S104: and decelerating the unmanned aerial vehicle according to the second preset acceleration and the preset acceleration threshold.
Wherein, the second preset jerk and the preset acceleration threshold are both negative values, the deceleration stage of the unmanned aerial vehicle is a deceleration process, and the corresponding road section in the deceleration process is a deceleration road section, in one embodiment of the present application, the deceleration process can be divided into three stages, the unmanned aerial vehicle in the first stage decelerates according to the second preset jerk until the acceleration of the unmanned aerial vehicle reaches the preset acceleration threshold, then the second stage of the deceleration process is entered, the jerk of the unmanned aerial vehicle is zero at this time, the unmanned aerial vehicle decelerates according to the preset acceleration threshold, then it is determined whether the acceleration of the unmanned aerial vehicle needs to be increased according to the distance between the current position and the terminal point of the unmanned aerial vehicle, if necessary, the third stage of the deceleration process is entered at this time, the acceleration is gradually increased to decelerate the unmanned aerial vehicle (the acceleration in the increase process is constantly, until the speed of the unmanned aerial vehicle is 0; the preset acceleration threshold value is determined jointly according to a second preset acceleration, the performance of the unmanned aerial vehicle and the distance of the deceleration road section.
By adopting the speed planning method of the unmanned aerial vehicle, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle can be accelerated to the preset speed according to the preset first acceleration, and controlling the unmanned aerial vehicle to fly according to a preset speed, then determining a deceleration distance according to the preset speed, a second preset acceleration and an acceleration threshold value, and when the distance between the unmanned aerial vehicle and the terminal is determined to be less than or equal to the deceleration distance, controlling the unmanned aerial vehicle to decelerate the unmanned aerial vehicle according to the second acceleration and a preset acceleration threshold until the speed of the unmanned aerial vehicle is 0, the speed planning mode can divide the whole navigation of the unmanned aerial vehicle into an acceleration process, a uniform speed process and a deceleration process, and the speed of the unmanned aerial vehicle on the air route is planned in real time through the distance between the unmanned aerial vehicle and the terminal, so that the unmanned aerial vehicle flies according to the given speed, and the condition that the unmanned aerial vehicle rushes out of the air route or brakes suddenly when reaching the terminal is avoided.
Optionally, in an embodiment of the present application, absolute values of the first preset jerk and the second preset jerk are the same and are opposite numbers to each other, it should be understood that the foregoing embodiment is merely an exemplary illustration, and the setting of the magnitudes of the first preset jerk and the second preset jerk may be flexibly adjusted according to user requirements, and is not limited to the foregoing embodiment.
Optionally, on the basis of the foregoing embodiment, an embodiment of the present application may further provide a speed planning method for an unmanned aerial vehicle, and an implementation process of determining a deceleration distance in the foregoing method is described as follows with reference to the accompanying drawings. Fig. 2 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 2, S102 may include:
s105: and determining the basic deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold.
For example, in an embodiment of the present application, the basic deceleration distance may be determined, for example, by calculating a distance required to reduce the speed of the drone to zero at the second preset jerk and the preset acceleration threshold, and ideally, the drone should be immediately switched to the deceleration process once the distance between the drone and the terminal is detected to be less than or equal to the basic distance.
S106: and integrating the time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining the compensation distance.
The acceleration process refers to a process from the beginning of driving to the acceleration of the unmanned aerial vehicle to a preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration.
In the actual deceleration process of the unmanned aerial vehicle, the real speed of the unmanned aerial vehicle generally cannot reach the planned given speed due to the problems of ground friction, air resistance, response time and the like, so that the distance of a deceleration section of the unmanned aerial vehicle in the real deceleration process is longer than the calculated basic distance, if the speed of the unmanned aerial vehicle is not processed, the speed is not zero when the unmanned aerial vehicle reaches a terminal point, or the unmanned aerial vehicle rushes out of a route or brakes and the like, and at the moment, errors caused by the fact that the real speed of the unmanned aerial vehicle does not accord with the given speed due to some non-resistance forces need to be compensated by determining the compensation distance.
Optionally, in some possible embodiments, in the process of decelerating the unmanned aerial vehicle, the unmanned aerial vehicle may also be decelerated according to a second preset jerk and a preset acceleration threshold, and the real-time speed of the unmanned aerial vehicle is corrected according to the coordinate information of the preset air route, the second preset jerk and the preset acceleration threshold in the deceleration process.
For example, in one embodiment of the present application, the correction method may be, for example: acquiring the current position coordinate and the real-time speed of the unmanned aerial vehicle; determining a second target speed of the unmanned aerial vehicle at the current position coordinate according to the coordinate information of the preset air route, a second preset acceleration and a preset acceleration threshold; and correcting the real-time speed according to the second target speed, and flying at the corrected speed.
For example, after the coordinates and the real-time speed of the unmanned aerial vehicle at the current position are acquired, a second target speed corresponding to the coordinates of the unmanned aerial vehicle at the current position is obtained through calculation, which is different from the real-time speed of the unmanned aerial vehicle and slightly greater than the real-time speed of the unmanned aerial vehicle, and then the unmanned aerial vehicle can continue to sail after the real-time speed of the unmanned aerial vehicle is adjusted to the second target speed according to the second target speed.
This kind of mode of correcting in real time the speed of unmanned aerial vehicle at unmanned aerial vehicle deceleration in-process can reduce the interference that other factors brought for unmanned aerial vehicle speed to it can be no speed when the terminal point is arrived to further guaranteed unmanned aerial vehicle, and does not have the condition of hard braking or rush out the terminal point.
Fig. 3 is a schematic diagram of speed planning of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 3, the unmanned aerial vehicle can naturally divide the flight path into an acceleration section, a uniform speed section and a deceleration section through a flight acceleration during a flight of a preset flight path, and the dotted line in the diagram is a real speed of the unmanned aerial vehicle, so as to realize a planning speed of the unmanned aerial vehicle, wherein a hysteresis of the real speed of the unmanned aerial vehicle also exists in the acceleration section, and a certain similarity exists between an acceleration mathematical model and a deceleration mathematical model of the unmanned aerial vehicle, so that the unmanned aerial vehicle can reach a destination smoothly and without speedintSubsequently determining the compensation distance SoffIs SintWherein the hysteresis distance S during accelerationintThe determination may be, for example: according to the first moment in the acceleration sectionThe lag distance S is determined by integrating the difference between a target speed (i.e., the planned speed) and the actual speed (i.e., the actual speed) of the drone over timeintSubsequently determining the compensation distance SoffIs Sint。
S107: and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
The finally determined deceleration distance S1 ═ S + Soff. Therefore, the unmanned aerial vehicle enters the deceleration section in advance by determining the compensation distance, so that errors caused by problems such as air resistance, ground resistance or response time are made up, and the problems that the unmanned aerial vehicle rushes out of a route or the speed is not 0 or brakes suddenly when reaching the terminal are avoided.
After the deceleration distance is determined, the unmanned aerial vehicle can advance the compensation distance to enter the deceleration process on the basis of the basic deceleration distance, namely when the distance between the unmanned aerial vehicle and the terminal is determined to be less than or equal to the deceleration distance, the unmanned aerial vehicle is immediately controlled to enter the deceleration road section, so that the unmanned aerial vehicle can stably stop at the terminal without speed.
Optionally, on the basis of the foregoing embodiment, an embodiment of the present application may further provide a speed planning method for an unmanned aerial vehicle, and an implementation process of decelerating the unmanned aerial vehicle in the foregoing method is described as follows with reference to the accompanying drawings. Fig. 4 is a schematic flow chart of a speed planning method for an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 4, S104 may include:
s108: and decelerating the unmanned aerial vehicle according to the second preset acceleration until the current acceleration of the unmanned aerial vehicle reaches a preset acceleration threshold value.
The preset acceleration threshold may be determined jointly according to a second preset jerk, the performance of the drone, and the distance of the deceleration section, for example.
S109: and decelerating the unmanned aerial vehicle according to a preset acceleration threshold value.
S110: and judging whether the distance between the unmanned aerial vehicle and the terminal of the preset air route is smaller than a distance threshold value.
If so, go to S111.
S111: and decelerating the unmanned aerial vehicle according to the first preset acceleration until the speed of the unmanned aerial vehicle is 0.
That is, in an embodiment of this application, can be divided into three stages in the deceleration process, unmanned aerial vehicle slows down according to the preset jerk of second in the first stage, until unmanned aerial vehicle's acceleration reaches preset acceleration threshold, the second stage of the deceleration process of entering this moment, unmanned aerial vehicle's jerk is zero in the second stage, and slow down according to preset acceleration threshold, confirm whether to increase unmanned aerial vehicle's acceleration according to the distance between unmanned aerial vehicle's current position and the terminal point afterwards, if needs, then enter the third stage of the deceleration process this moment, gradually increase the second jerk and in order to slow down unmanned aerial vehicle (the acceleration of the increase in-process is constantly being less than 0), until unmanned aerial vehicle's speed is 0.
By adopting the speed planning method of the unmanned aerial vehicle, after the unmanned aerial vehicle takes off, the unmanned aerial vehicle can be accelerated to the preset speed according to the preset first acceleration, the unmanned aerial vehicle is controlled to fly according to the preset speed, then the deceleration distance is determined according to the preset speed, the second preset acceleration and the acceleration threshold, and when the distance between the unmanned aerial vehicle and the terminal is determined to be less than or equal to the deceleration distance, the unmanned aerial vehicle is controlled to decelerate the unmanned aerial vehicle according to the second acceleration and the preset acceleration threshold until the speed of the unmanned aerial vehicle is 0, and in the deceleration process, the implementation speed of the unmanned aerial vehicle can be corrected, so that the interference of other factors on the speed of the unmanned aerial vehicle is reduced, the whole navigation acceleration process, the uniform speed process and the deceleration process of the unmanned aerial vehicle can be divided into the speed on the navigation line by the distance between the unmanned aerial vehicle and the terminal, the unmanned aerial vehicle flies at a given speed, so that the situation that the unmanned aerial vehicle rushes out of a flight line or brakes suddenly when arriving at a terminal point is avoided; meanwhile, the method provided by the application has small calculated amount, does not need the support of a control algorithm with complex bottom layer, and can be directly realized by a built-in controller of the unmanned aerial vehicle.
The speed planning device of the unmanned aerial vehicle provided by the present application is explained below with reference to the accompanying drawings, and the speed planning device of the unmanned aerial vehicle can execute the speed planning method of any one of the unmanned aerial vehicles shown in fig. 1 to 4, and specific implementation and beneficial effects thereof are referred to above, and are not described again below.
Fig. 5 is a schematic structural diagram of a speed planning apparatus for an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 5, the apparatus includes: a speed control module 201, a determination module 202, and a determination module 203, wherein:
the speed control module 201 is used for accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off, and driving the unmanned aerial vehicle at a preset speed at a constant speed;
the determining module 202 is configured to determine a deceleration distance according to a preset speed, a second preset jerk and a preset acceleration threshold;
the judging module 203 is used for judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance;
the speed control module 201 is specifically configured to decelerate the unmanned aerial vehicle according to a second preset jerk and a preset acceleration threshold if a distance between the unmanned aerial vehicle and a terminal point of the preset route is less than or equal to a deceleration distance.
Optionally, the determining module 202 is specifically configured to determine the basic deceleration distance according to the preset speed, the second preset jerk, and a preset acceleration threshold; integrating time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining a compensation distance; the acceleration process refers to a process that the unmanned aerial vehicle accelerates to a preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration; and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
Optionally, the speed control module 201 is specifically configured to decelerate the unmanned aerial vehicle according to a second preset jerk and a preset acceleration threshold, and correct the real-time speed of the unmanned aerial vehicle according to the coordinate information of the preset air route, the second preset jerk and the preset acceleration threshold in the deceleration process.
Fig. 6 is a schematic structural diagram of a speed planning apparatus for an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 6, the apparatus further includes: an acquisition module 204 and a remediation module 205, wherein:
an obtaining module 204, configured to obtain a current position coordinate and a real-time speed of the unmanned aerial vehicle;
the speed control module 201 is specifically configured to determine a second target speed of the unmanned aerial vehicle at the current position coordinate according to the coordinate information of the preset route, a second preset jerk and a preset acceleration threshold;
and the correcting module 205 is configured to correct the real-time speed according to the second target speed, and fly at the corrected speed.
Optionally, the speed control module 201 is specifically configured to decelerate the unmanned aerial vehicle according to a second preset jerk until a current acceleration of the unmanned aerial vehicle reaches a preset acceleration threshold; decelerating the unmanned aerial vehicle according to a preset acceleration threshold value;
the judging module 203 is specifically configured to judge whether a distance between the unmanned aerial vehicle and a terminal point of the preset route is smaller than a distance threshold;
the speed control module 201 is specifically configured to decelerate the unmanned aerial vehicle according to a first preset jerk if the speed is smaller than a predetermined jerk until the speed of the unmanned aerial vehicle is 0.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application, and the unmanned aerial vehicle includes: a processor 501, a storage medium 502, and a bus 503.
The processor 501 is used for storing a program, and the processor 501 calls the program stored in the storage medium 502 to execute the method embodiment corresponding to fig. 1-4. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application also provides a program product, such as a storage medium, on which a computer program is stored, including a program, which, when executed by a processor, performs embodiments corresponding to the above-described method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A method of speed planning for a drone, the method comprising:
accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off, and driving at a constant speed of the preset speed;
determining a deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold;
judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance;
if the distance between the unmanned aerial vehicle and the terminal point of the preset air route is smaller than or equal to the deceleration distance, the unmanned aerial vehicle is decelerated according to a second preset acceleration and the preset acceleration threshold.
2. The method of claim 1, wherein determining a deceleration distance based on the preset speed, a preset jerk, and a preset acceleration threshold comprises:
determining a basic deceleration distance according to the preset speed, the second preset acceleration and a preset acceleration threshold;
integrating time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining a compensation distance; the acceleration process refers to a process that the unmanned aerial vehicle accelerates to the preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration;
and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
3. The method of claim 1, wherein decelerating the drone according to a second preset jerk and the preset acceleration threshold comprises:
and decelerating the unmanned aerial vehicle according to a second preset acceleration and the preset acceleration threshold, and correcting the real-time speed of the unmanned aerial vehicle according to the coordinate information of the preset air route, the second preset acceleration and the preset acceleration threshold in the deceleration process.
4. The method of claim 3, wherein the correcting the real-time speed of the drone according to the coordinate information of the preset course, the second preset jerk, and the preset acceleration threshold comprises:
acquiring the current position coordinate and the real-time speed of the unmanned aerial vehicle;
determining a second target speed of the unmanned aerial vehicle at the current position coordinate according to the coordinate information of the preset air route, the second preset acceleration and the preset acceleration threshold;
and correcting the real-time speed according to the second target speed, and flying at the corrected speed.
5. The method of claim 1, wherein decelerating the drone according to a second preset jerk and the preset acceleration threshold comprises:
decelerating the unmanned aerial vehicle according to a second preset acceleration until the current acceleration of the unmanned aerial vehicle reaches a preset acceleration threshold;
decelerating the unmanned aerial vehicle according to the preset acceleration threshold;
judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset air route is smaller than a distance threshold value or not;
if the acceleration is smaller than the first preset acceleration, the unmanned aerial vehicle is decelerated according to the first preset acceleration until the speed of the unmanned aerial vehicle is 0.
6. The method of any of claims 1-5, wherein the first predetermined jerk and the second predetermined jerk are equal in absolute value and opposite in absolute value.
7. An apparatus for speed planning of a drone, the apparatus comprising: speed control module, confirm module and judgement module, wherein:
the speed control module is used for accelerating the unmanned aerial vehicle to a preset speed according to a first preset acceleration after the unmanned aerial vehicle takes off and driving at a constant speed;
the determining module is used for determining a deceleration distance according to the preset speed, a second preset acceleration and a preset acceleration threshold;
the judging module is used for judging whether the distance between the unmanned aerial vehicle and the terminal point of the preset route is less than or equal to the deceleration distance or not according to the preset route and the deceleration distance;
the speed control module is specifically used for decelerating the unmanned aerial vehicle according to a second preset acceleration and a preset acceleration threshold if the distance between the unmanned aerial vehicle and the terminal point of the preset air route is less than or equal to the deceleration distance.
8. The apparatus according to claim 7, wherein the determining module is specifically configured to determine the base deceleration distance based on a preset speed, a second preset jerk, and a preset acceleration threshold; integrating time according to the difference between the first target speed at each moment in the acceleration process and the actual speed of the unmanned aerial vehicle, and determining a compensation distance; the acceleration process refers to a process that the unmanned aerial vehicle accelerates to the preset speed, and the first target speed is determined according to the current time of each moment and a first preset acceleration; and determining the deceleration distance according to the sum of the basic deceleration distance and the compensation distance.
9. A drone, characterized in that it comprises: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the drone is in operation, the processor executing the machine-readable instructions to perform the method of any of claims 1-6 above.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the method of any of the preceding claims 1-6.
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