CN113791628B - Rapid landing track planning method and device based on composite wing unmanned aerial vehicle - Google Patents
Rapid landing track planning method and device based on composite wing unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the disclosure provides a rapid landing track planning method, a device and electronic equipment based on a compound unmanned plane, which belong to the technical field of aircraft control, and the method comprises the following steps: after a landing command of the unmanned aerial vehicle is obtained, obtaining landing coordinates of landing points of the unmanned aerial vehicle; selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality; inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track; and taking the unmanned aerial vehicle compound wing mode control curve based on the height control as a boundary control condition of unmanned aerial vehicle landing, correcting the first landing track, and generating a second landing track of the unmanned aerial vehicle for quick landing. Through the processing scheme of the present disclosure, the fast landing of the unmanned aerial vehicle can be performed based on different modes of the composite wing unmanned aerial vehicle.
Description
Technical Field
The disclosure relates to the technical field of aircraft control, in particular to a method and a device for planning a fast landing track based on a compound wing unmanned aerial vehicle and electronic equipment.
Background
The unmanned aerial vehicle has the advantages of being capable of being deployed rapidly and the like without human intervention, and is widely applied to various fields of each row. The composite wing unmanned aerial vehicle is a perfect combination of a fixed wing and a rotor unmanned aerial vehicle, the composite wing unmanned aerial vehicle has the advantages of the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, and the fixed wing unmanned aerial vehicle has the characteristics of high flying speed, high flying height, long flying time, vertical take-off and landing, hovering, flexibility and the like.
For a compound wing unmanned aerial vehicle, how to ensure that the compound wing unmanned aerial vehicle can quickly and effectively land is a technical problem to be solved.
Disclosure of Invention
In view of the above, the embodiments of the present disclosure provide a method and apparatus for planning a fast landing trajectory based on a compound unmanned plane, and an unmanned plane, so as to at least partially solve the problems existing in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for planning a fast landing trajectory based on a compound wing unmanned aerial vehicle, including:
after a landing command of the unmanned aerial vehicle is obtained, obtaining landing coordinates of landing points of the unmanned aerial vehicle;
selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
Inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
And taking the unmanned aerial vehicle compound wing mode control curve based on the height control as a boundary control condition of unmanned aerial vehicle landing, correcting the first landing track, and generating a second landing track of the unmanned aerial vehicle for quick landing.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining a landing command of an unmanned aerial vehicle, obtaining landing coordinates of a landing site of the unmanned aerial vehicle includes:
Analyzing a landing execution instruction received by the unmanned aerial vehicle;
And determining landing coordinates of the unmanned aerial vehicle based on the analysis result.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the unmanned aerial vehicle and obtaining the landing coordinates of the landing site of the unmanned aerial vehicle, the method further includes:
and acquiring the current position coordinates and flying height of the unmanned aerial vehicle.
According to a specific implementation manner of the embodiment of the present disclosure, the selecting a preset unmanned aerial vehicle landing model includes:
acquiring model information of the unmanned aerial vehicle;
Based on the model information, query is executed to a server connected with the unmanned aerial vehicle;
And determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinate and the landing coordinate of the unmanned aerial vehicle into the landing model, and generating the first landing track, includes:
And calculating the landing track according to the minimum energy consumption principle based on the current position coordinates and the landing coordinates, and generating a first landing track.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinate and the landing coordinate of the unmanned aerial vehicle into the landing model, and generating the first landing track, includes:
and calculating the landing track according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate, and generating a first landing track.
According to a specific implementation manner of the embodiment of the present disclosure, the method uses a composite wing mode control curve of an unmanned aerial vehicle based on height control as a boundary control condition for landing of the unmanned aerial vehicle, corrects the first landing track, and before generating the second landing track for rapid landing of the unmanned aerial vehicle, the method further includes:
acquiring the flying height of the unmanned aerial vehicle in the current state;
and determining a flight mode required by the unmanned aerial vehicle in the process of reaching the landing coordinates based on the flight height of the unmanned aerial vehicle in the current state, wherein the flight mode comprises a fixed wing flight mode and a rotor wing flight mode.
According to a specific implementation manner of the embodiment of the present disclosure, the modifying the first landing track by using the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, to generate a second landing track for rapid landing of the unmanned aerial vehicle, includes:
And correcting the flight track of the unmanned aerial vehicle in the interval section of the rotor wing flight height according to the control curve of the composite wing mode of the unmanned aerial vehicle, so that the flight track of the corrected unmanned aerial vehicle in the rotor wing mode is a straight line.
In a second aspect, an embodiment of the present disclosure further provides a fast landing trajectory planning device based on a composite wing unmanned aerial vehicle, including:
The acquisition module is used for acquiring landing coordinates of the unmanned aerial vehicle landing points after acquiring the landing command of the unmanned aerial vehicle;
The unmanned aerial vehicle landing system comprises a selection module, a control module and a control module, wherein the selection module is used for selecting a preset unmanned aerial vehicle landing model, and the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
the generation module is used for inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
And the execution module is used for correcting the first landing track by taking the unmanned aerial vehicle compound wing mode control curve based on the height control as a boundary control condition of unmanned aerial vehicle landing, and generating a second landing track of unmanned aerial vehicle fast landing.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
At least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of fast landing trajectory planning based on a compound-wing drone of the first aspect or any implementation of the first aspect.
In a fourth aspect, the disclosed embodiments further provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method for fast landing trajectory planning based on a compound wing drone in the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of fast landing trajectory planning based on a compound wing drone in any one of the implementations of the first aspect or the first aspect.
The fast landing track planning scheme based on the compound wing unmanned aerial vehicle in the embodiment of the disclosure comprises the following steps: after a landing command of the unmanned aerial vehicle is obtained, obtaining landing coordinates of landing points of the unmanned aerial vehicle; selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality; inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track; and taking the unmanned aerial vehicle compound wing mode control curve based on the height control as a boundary control condition of unmanned aerial vehicle landing, correcting the first landing track, and generating a second landing track of the unmanned aerial vehicle for quick landing. By the processing scheme, the efficiency of fast landing track planning based on the compound unmanned aerial vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a flowchart of a fast landing trajectory planning method based on a compound wing unmanned aerial vehicle according to an embodiment of the present disclosure;
Fig. 2 is a flowchart of another fast landing trajectory planning method based on a compound wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another fast landing trajectory planning method based on a compound wing unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart of another fast landing trajectory planning method based on a compound wing unmanned aerial vehicle according to an embodiment of the present disclosure;
Fig. 5 is a schematic structural diagram of a fast landing trajectory planning device based on a compound wing unmanned aerial vehicle according to an embodiment of the present disclosure;
Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a rapid landing track planning method based on a compound unmanned aerial vehicle. The fast landing track planning method based on the compound wing unmanned aerial vehicle provided by the embodiment can be executed by a computing device, the computing device can be implemented as software or as a combination of software and hardware, and the computing device can be integrally arranged in a server, a client and the like.
Referring to fig. 1, a fast landing trajectory planning method based on a compound wing unmanned aerial vehicle in an embodiment of the disclosure may include the following steps:
s101, after a landing command of the unmanned aerial vehicle is obtained, landing coordinates of landing points of the unmanned aerial vehicle are obtained.
After receiving the command of returning, the unmanned aerial vehicle can analyze the landing command, so as to obtain the landing coordinates of the landing point. The landing coordinates indicate the places where the unmanned aerial vehicle needs to land, and the landing track of the unmanned aerial vehicle can be determined based on the landing coordinates by analyzing the landing coordinates.
S102, selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, altitude, track angle and quality.
The landing models of the unmanned aerial vehicle can be preset, and the landing track of the unmanned aerial vehicle can be determined according to different models of the unmanned aerial vehicle through the landing models of the unmanned aerial vehicle.
Specifically, the unmanned aerial vehicle landing model can automatically calculate the landing track of the unmanned aerial vehicle according to the factors of the self flight speed, the flight height, the track angle and the self quality of the unmanned aerial vehicle.
S103, inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model, and generating a first landing track.
After the current position coordinates and the landing coordinates of the unmanned aerial vehicle are obtained, the current position coordinates and the landing coordinates of the unmanned aerial vehicle are respectively input into a landing model, and a first landing track suitable for landing of the unmanned aerial vehicle can be calculated. Through the first landing track, the unmanned aerial vehicle can be guided to land according to the conventional landing mode.
S104, taking the unmanned aerial vehicle compound wing mode control curve based on height control as a boundary control condition of unmanned aerial vehicle landing, correcting the first landing track, and generating a second landing track of unmanned aerial vehicle fast landing.
In order to further correct the landing track of the unmanned aerial vehicle, the landing process of the unmanned aerial vehicle is faster, and the first landing track can be corrected. Specifically, a control curve of the composite wing mode of the unmanned aerial vehicle can be manufactured based on the flying height value of the unmanned aerial vehicle, and the height interval can be determined through the control curve, so that the unmanned aerial vehicle adopts a fixed wing flying model or a rotor wing flying model.
The first landing trajectory can be further modified by inputting the unmanned aerial vehicle compound wing mode control curve as a boundary condition of the flight trajectory into the unmanned aerial vehicle landing model. For example, after the unmanned aerial vehicle performs a rotor flight mode, the landing track of the unmanned aerial vehicle can be modified from a spiral flight curve to a straight flight, so that the landing efficiency of the unmanned aerial vehicle is further improved.
Through the content in the embodiment, the landing route of the unmanned aerial vehicle can be modified based on different modes of the unmanned aerial vehicle, and the landing efficiency of the unmanned aerial vehicle is improved.
Referring to fig. 2, according to a specific implementation manner of the embodiment of the present disclosure, after obtaining a landing command of an unmanned aerial vehicle, obtaining landing coordinates of a landing site of the unmanned aerial vehicle includes:
s201, analyzing a landing execution instruction received by the unmanned aerial vehicle;
s202, determining landing coordinates of the unmanned aerial vehicle based on the analysis result.
According to a specific implementation manner of the embodiment of the present disclosure, after obtaining the landing command of the unmanned aerial vehicle and obtaining the landing coordinates of the landing site of the unmanned aerial vehicle, the method further includes: and acquiring the current position coordinates and flying height of the unmanned aerial vehicle.
Referring to fig. 3, according to a specific implementation manner of the embodiment of the present disclosure, the selecting a preset unmanned aerial vehicle landing model includes:
S301, obtaining model information of the unmanned aerial vehicle;
s302, based on the model information, inquiring a server connected with the unmanned aerial vehicle;
S303, determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinate and the landing coordinate of the unmanned aerial vehicle into the landing model, and generating the first landing track, includes: and calculating the landing track according to the minimum energy consumption principle based on the current position coordinates and the landing coordinates, and generating a first landing track.
According to a specific implementation manner of the embodiment of the present disclosure, the inputting the current position coordinate and the landing coordinate of the unmanned aerial vehicle into the landing model, and generating the first landing track, includes:
and calculating the landing track according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate, and generating a first landing track.
Referring to fig. 4, according to a specific implementation manner of the embodiment of the present disclosure, the method uses a composite wing mode control curve of an unmanned aerial vehicle based on altitude control as a boundary control condition for landing of the unmanned aerial vehicle, corrects a first landing track, and before generating a second landing track for fast landing of the unmanned aerial vehicle, the method further includes:
S401, acquiring the flying height of the unmanned aerial vehicle in the current state;
s402, determining a flight mode required by the unmanned aerial vehicle in the process of reaching the landing coordinates based on the flight height of the unmanned aerial vehicle in the current state, wherein the flight mode comprises a fixed wing flight mode and a rotor wing flight mode.
According to a specific implementation manner of the embodiment of the present disclosure, the modifying the first landing track by using the altitude control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, to generate a second landing track for rapid landing of the unmanned aerial vehicle, includes: and correcting the flight track of the unmanned aerial vehicle in the interval section of the rotor wing flight height according to the control curve of the composite wing mode of the unmanned aerial vehicle, so that the flight track of the corrected unmanned aerial vehicle in the rotor wing mode is a straight line.
Corresponding to the above embodiment, referring to fig. 5, the embodiment of the present application further discloses a rapid landing trajectory planning device 50 based on a compound wing unmanned aerial vehicle, including:
The acquiring module 501 is configured to acquire landing coordinates of a landing site of the unmanned aerial vehicle after acquiring a landing command of the unmanned aerial vehicle.
After receiving the command of returning, the unmanned aerial vehicle can analyze the landing command, so as to obtain the landing coordinates of the landing point. The landing coordinates indicate the places where the unmanned aerial vehicle needs to land, and the landing track of the unmanned aerial vehicle can be determined based on the landing coordinates by analyzing the landing coordinates.
The selection module 502 is configured to select a preset landing model of the unmanned aerial vehicle, where the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables including a speed, a height, a track angle and a quality.
The landing models of the unmanned aerial vehicle can be preset, and the landing track of the unmanned aerial vehicle can be determined according to different models of the unmanned aerial vehicle through the landing models of the unmanned aerial vehicle.
Specifically, the unmanned aerial vehicle landing model can automatically calculate the landing track of the unmanned aerial vehicle according to the factors of the self flight speed, the flight height, the track angle and the self quality of the unmanned aerial vehicle.
A generating module 503, configured to input the current position coordinate and the landing coordinate of the unmanned aerial vehicle into the landing model, and generate a first landing track.
After the current position coordinates and the landing coordinates of the unmanned aerial vehicle are obtained, the current position coordinates and the landing coordinates of the unmanned aerial vehicle are respectively input into a landing model, and a first landing track suitable for landing of the unmanned aerial vehicle can be calculated. Through the first landing track, the unmanned aerial vehicle can be guided to land according to the conventional landing mode.
And the execution module 504 is configured to take the altitude-control-based composite wing mode control curve of the unmanned aerial vehicle as a boundary control condition for landing of the unmanned aerial vehicle, correct the first landing track, and generate a second landing track for rapid landing of the unmanned aerial vehicle.
In order to further correct the landing track of the unmanned aerial vehicle, the landing process of the unmanned aerial vehicle is faster, and the first landing track can be corrected. Specifically, a control curve of the composite wing mode of the unmanned aerial vehicle can be manufactured based on the flying height value of the unmanned aerial vehicle, and the height interval can be determined through the control curve, so that the unmanned aerial vehicle adopts a fixed wing flying model or a rotor wing flying model.
The first landing trajectory can be further modified by inputting the unmanned aerial vehicle compound wing mode control curve as a boundary condition of the flight trajectory into the unmanned aerial vehicle landing model. For example, after the unmanned aerial vehicle performs a rotor flight mode, the landing track of the unmanned aerial vehicle can be modified from a spiral flight curve to a straight flight, so that the landing efficiency of the unmanned aerial vehicle is further improved.
Through the content in the embodiment, the landing route of the unmanned aerial vehicle can be modified based on different modes of the unmanned aerial vehicle, and the landing efficiency of the unmanned aerial vehicle is improved.
The parts of this embodiment, which are not described in detail, are referred to the content described in the above method embodiment, and are not described in detail herein.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, comprising:
At least one processor, and;
a memory communicatively coupled to the at least one processor, wherein;
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of fast landing trajectory planning based on a compound-wing drone in the method embodiment described above.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of fast landing trajectory planning based on a compound wing drone in the foregoing method embodiments.
Referring now to fig. 6, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 6, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data necessary for the operation of the electronic device 60 are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While an electronic device 60 having various means is shown, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects an internet protocol address from the at least two internet protocol addresses and returns the internet protocol address; receiving an Internet protocol address returned by the node evaluation equipment; wherein the acquired internet protocol address indicates an edge node in the content distribution network.
Or the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (8)
1. The rapid landing track planning method based on the compound wing unmanned aerial vehicle is characterized by comprising the following steps of:
after a landing command of the unmanned aerial vehicle is obtained, obtaining landing coordinates of landing points of the unmanned aerial vehicle;
selecting a preset unmanned aerial vehicle landing model, wherein the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
Inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
Taking a composite wing mode control curve of the unmanned aerial vehicle based on height control as a boundary control condition of unmanned aerial vehicle landing, correcting the first landing track, and generating a second landing track of the unmanned aerial vehicle for quick landing;
the method comprises the steps that a composite wing mode control curve of the unmanned aerial vehicle based on height control is used as a boundary control condition of landing of the unmanned aerial vehicle, a first landing track is corrected, and before a second landing track of the unmanned aerial vehicle for fast landing is generated, the method further comprises the steps of:
acquiring the flying height of the unmanned aerial vehicle in the current state;
Based on the flying height of the unmanned aerial vehicle in the current state, determining a flying mode required by the unmanned aerial vehicle in the process of reaching landing coordinates, wherein the flying mode comprises a fixed wing flying mode and a rotor wing flying mode;
the method for correcting the first landing track by taking the unmanned aerial vehicle compound wing mode control curve based on the height control as the boundary control condition of unmanned aerial vehicle landing, and generating the second landing track of unmanned aerial vehicle fast landing comprises the following steps:
And correcting the flight track of the unmanned aerial vehicle in the interval section of the rotor wing flight height according to the control curve of the composite wing mode of the unmanned aerial vehicle, so that the flight track of the corrected unmanned aerial vehicle in the rotor wing mode is a straight line.
2. The method of claim 1, wherein the acquiring the landing coordinates of the unmanned aerial vehicle landing site after the acquiring the landing command of the unmanned aerial vehicle comprises:
Analyzing a landing execution instruction received by the unmanned aerial vehicle;
And determining landing coordinates of the unmanned aerial vehicle based on the analysis result.
3. The method of claim 1, wherein after obtaining the landing coordinates of the unmanned aerial vehicle landing site after obtaining the landing command of the unmanned aerial vehicle, the method further comprises:
and acquiring the current position coordinates and flying height of the unmanned aerial vehicle.
4. The method of claim 1, wherein the selecting a pre-set unmanned aerial vehicle landing model comprises:
acquiring model information of the unmanned aerial vehicle;
Based on the model information, query is executed to a server connected with the unmanned aerial vehicle;
And determining a landing model corresponding to the unmanned aerial vehicle based on a result returned by the server.
5. The method of claim 1, wherein the inputting the current location coordinates and landing coordinates of the drone into the landing model generates a first landing trajectory, comprising:
And calculating the landing track according to the minimum energy consumption principle based on the current position coordinates and the landing coordinates, and generating a first landing track.
6. The method of claim 1, wherein the inputting the current location coordinates and landing coordinates of the drone into the landing model generates a first landing trajectory, comprising:
and calculating the landing track according to the minimum heat flux density principle based on the current position coordinate and the landing coordinate, and generating a first landing track.
7. A fast landing trajectory planning device based on a compound wing unmanned aerial vehicle, realized by the method according to any one of the preceding claims 1-6, characterized in that it comprises:
The acquisition module is used for acquiring landing coordinates of the unmanned aerial vehicle landing points after acquiring the landing command of the unmanned aerial vehicle;
The unmanned aerial vehicle landing system comprises a selection module, a control module and a control module, wherein the selection module is used for selecting a preset unmanned aerial vehicle landing model, and the landing model can generate a landing track of the unmanned aerial vehicle based on four control variables of speed, height, track angle and quality;
the generation module is used for inputting the current position coordinates and landing coordinates of the unmanned aerial vehicle into the landing model to generate a first landing track;
And the execution module is used for correcting the first landing track by taking the unmanned aerial vehicle compound wing mode control curve based on the height control as a boundary control condition of unmanned aerial vehicle landing, and generating a second landing track of unmanned aerial vehicle fast landing.
8. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the preceding claims 1-6.
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| CN108829139A (en) * | 2018-07-25 | 2018-11-16 | 哈尔滨工业大学 | A kind of boat-carrying control method that unmanned plane sea is landed |
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