WO2020191666A1 - 返航控制方法、飞行控制装置及无人机 - Google Patents
返航控制方法、飞行控制装置及无人机 Download PDFInfo
- Publication number
- WO2020191666A1 WO2020191666A1 PCT/CN2019/079878 CN2019079878W WO2020191666A1 WO 2020191666 A1 WO2020191666 A1 WO 2020191666A1 CN 2019079878 W CN2019079878 W CN 2019079878W WO 2020191666 A1 WO2020191666 A1 WO 2020191666A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- return
- flight mode
- wing
- fixed
- rotor
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 92
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 230000015654 memory Effects 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 11
- 230000001174 ascending effect Effects 0.000 claims description 10
- 230000007423 decrease Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 7
- 230000007704 transition Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 241000255925 Diptera Species 0.000 description 1
- 241001515997 Eristalis tenax Species 0.000 description 1
- 241001481659 Syrphidae Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- This application relates to the field of control technology, in particular to a return-to-home control method, a flight control device and an unmanned aerial vehicle.
- Automatic return to home is one of the common functions in the UAV flight control system. Its purpose is to control the UAV to automatically return from any position to the return position set by the user (that is, the home point).
- the existing automatic return-to-home functions of UAVs are individually designed for rotary-wing UAVs or fixed-wing UAVs.
- the advantages of the two flight modes are not fully utilized, so they cannot achieve better performance in terms of return time and energy consumption.
- the application discloses a return-to-home control method, a flight control device and an unmanned aerial vehicle, which are beneficial to improving the return-to-home performance of the unmanned aerial vehicle.
- this application provides a method for controlling the return home of an unmanned aerial vehicle.
- the unmanned aerial vehicle has a fixed-wing flight mode and a rotary-wing flight mode.
- the method includes:
- the drone meets the conditions for returning home, acquiring the current flight mode of the drone, the flying height of the drone, and the horizontal distance between the drone and the return position;
- this application provides a flight control device, which is applied to an unmanned aerial vehicle.
- the unmanned aerial vehicle has a fixed-wing flight mode and a rotary-wing flight mode.
- the flight control device includes: a memory, a processing , Where:
- the memory is used to store program instructions
- the processor calls the program instructions for:
- the drone meets the conditions for returning home, acquiring the current flight mode of the drone, the flying height of the drone, and the horizontal distance between the drone and the return position;
- this application provides a drone, which includes:
- the communication device is used to communicate with the control terminal;
- the flight control device as described in the second aspect.
- the drone meets the return home conditions, the current flight mode of the drone, the flight height of the drone, and The horizontal distance between the drone and the return position. Then, a return-to-home strategy is determined according to the flight mode, the horizontal distance, and the flight altitude, and the drone is controlled to return to the home based on the return-to-home strategy. In this way, considering the flight mode, flight altitude and horizontal distance of the drone, it is beneficial to improve the return performance of the drone, reduce the time required for the return of the drone, and reduce the energy consumption of the return of the drone.
- FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application.
- FIG. 2 is a schematic flow chart of a method for controlling the return of a drone according to an embodiment of the present application
- FIG. 3 is a schematic flowchart of another drone return control method provided by an embodiment of the present application.
- FIG. 4 is a schematic diagram of a return-to-home strategy provided by an embodiment of the present application.
- FIG. 5 is a schematic diagram of another return-to-home strategy provided by an embodiment of the present application.
- FIG. 6 is a schematic diagram of another return-to-home strategy provided by an embodiment of the present application.
- FIG. 7 is a schematic diagram of a first fixed wing circling ascent course provided by an embodiment of the present application.
- FIG. 8 is a schematic diagram of a method for calculating the first track inclination angle and the first ascent circle provided by an embodiment of the present application
- FIG. 9 is a schematic diagram of a first fixed wing hovering and descending course provided by an embodiment of the present application.
- FIG. 10 is a schematic diagram of a return trajectory of a fixed wing provided by an embodiment of the application.
- FIG. 11 is a schematic diagram of a method for calculating a third track inclination angle and a second ascent circle provided by an embodiment of the present application;
- FIG. 12 is a schematic diagram of another fixed wing return trajectory provided by an embodiment of the present application.
- FIG. 13 is a schematic structural diagram of a flight control device provided by an embodiment of the present application.
- FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle's return home control system provided by an embodiment of the present application.
- the return control system of the UAV includes: the UAV 11 and the control terminal 12.
- the flight control device 110 is included in the drone 11.
- the flight control device 110 may be a flight controller.
- the unmanned aerial vehicle 11 and the flight control device 110 may establish a communication connection through a wireless communication connection, and the unmanned aerial vehicle 11 and the flight control device 110 may also establish a communication connection through a wired communication connection.
- the drone 11 further includes a power system 111, and the power system 111 is used to provide power for the drone 11 to move.
- the drone 11 includes a rotor assembly and a fixed-wing assembly.
- the drone 11 has a rotor flight mode and a fixed-wing flight mode. In the rotor flight mode, the rotor assembly provides the flight power of the drone. In the fixed-wing mode, the fixed-wing component provides the flying power of the drone.
- the drone 11 further includes a communication device for communicating with the control terminal 12.
- the control terminal 12 is used to control the drone 11.
- the control terminal 12 may be a mobile phone, a tablet computer, a remote control, or other wearable devices (watches or bracelets), etc., which is not limited in the embodiment of the present application.
- the flight control device 110 may also be included in the control terminal 12. In the figure, the flight control device 110 is included in the drone 11 as an example.
- the return performance of the drone can be improved.
- the fixed-wing flight mode consumes less energy than the rotor flight mode. If one section of the route is converted to fixed-wing flight mode, the energy consumption of the entire route can be saved.
- the fixed-wing safety altitude refers to the minimum flight altitude allowed in the fixed-wing flight mode to ensure flight safety.
- the fixed-wing return altitude refers to the lowest altitude of the route when flying to the return position (ie home point) in the fixed-wing flight mode.
- Rotor return altitude refers to the lowest altitude of the route when flying to the return position in the rotor flight mode.
- the energy-saving threshold refers to the minimum value of the height difference between ascending or descending when switching from the rotor flight mode to the fixed wing flight mode. It can be understood that if the UAV's flight mode is switched from the rotor flight mode to the fixed wing flight mode and then rise or fall to save power consumption, the height difference of the rise or fall needs to be greater than the energy saving threshold.
- the energy-saving descent height is equal to the sum of the target value and the energy-saving threshold, where the target value is the maximum value between the safe height of the fixed wing and the return height of the rotor.
- the energy-saving ascent height is equal to the difference between the rotor return height and the energy-saving threshold.
- Rotor return range refers to the area where the horizontal distance from the return position is less than the return distance of the rotor.
- the fixed wing return range refers to the area where the horizontal distance from the return position is greater than the rotor return distance and less than the fixed wing return distance.
- Exceeding the fixed-wing return range refers to the area where the horizontal distance from the return position is greater than the fixed-wing return distance.
- the fixed-wing return range is greater than the rotor return range, and the fixed-wing return range is greater than the fixed-wing return range.
- the preset circling radius refers to the radius of the circle corresponding to circling up or down in the fixed-wing flight mode.
- the maximum track inclination angle refers to the maximum value of the attitude angle corresponding to hovering up or down in the fixed-wing flight mode.
- FIG. 2 is a schematic flowchart of a method for controlling the return of a drone according to an embodiment of the application. As shown in Fig. 2, the method may include steps 201-203. The above-mentioned steps 201-203 may be executed by a drone or a control terminal. Optionally, it can be specifically executed by a drone or a flight control device of a control terminal. among them:
- the drone meets the conditions for returning home, obtain the current flight mode of the drone, the flying height of the drone, and the horizontal distance between the drone and the return position.
- the current flight mode of the UAV includes a fixed-wing flight mode or a rotary-wing flight mode.
- the return home condition is the condition that triggers the drone to return home.
- the drone meets the conditions for returning home, including: the difference between the remaining battery power of the drone and the power required for the drone to return home is less than or equal to a preset power threshold.
- the power required for the return of the drone can be calculated according to the current flight mode of the drone, the flying height of the drone, and the horizontal distance between the drone and the return position.
- the preset power threshold may be 10% of the battery power. It should be noted that the embodiment of the present application does not limit the specific value of the preset power threshold, and those skilled in the art can set the preset power threshold according to actual conditions.
- the drone meets the conditions for returning home, including: the time for the drone to disconnect from the control terminal is greater than the time threshold; and the return instruction sent by the control terminal is acquired.
- the time for the drone to disconnect from the control terminal is greater than the time threshold, it means that the drone is disconnected from at least one device in the control terminal, and it can be determined that the drone meets the conditions for returning home, thereby avoiding The drone loses control to avoid losing it.
- the drone receives the return instruction sent by the control terminal it means that the user corresponding to the control terminal sends the return instruction to the drone through the control terminal. It can be determined that the drone meets the return conditions and respond to user operations.
- the drone meets the conditions for returning home, including: the drone's hardware equipment fails.
- hardware devices include magnetic compasses, pan-tilts, cameras and other hardware that do not affect the basic flight of drones.
- the detection method of the hardware device can obtain the detection data periodically. If the acquisition fails, it is determined that the hardware device is faulty, or when the detection data is abnormal, it is determined that the hardware device is faulty.
- the drone meets the conditions for returning home, including: the current wind speed is greater than the preset wind speed threshold for safe flight of the drone.
- the current wind speed can be detected by a wind speed detector.
- the current wind speed is greater than the preset wind speed threshold for the safe flight of the drone, it indicates that the current drone flight has a certain safety hazard, and it is determined that the drone meets the conditions for returning home.
- the return-to-home strategy includes: controlling the flight mode of the drone to switch between the fixed-wing flight mode and the rotary-wing flight mode.
- the flight mode of the drone In the process of returning home, if the flight mode of the drone is considered, for example, the fixed-wing flight mode consumes less energy than the rotor flight mode. If one section of the route is converted to the fixed-wing flight mode, the energy of the entire route can be saved Consumption; The rotor flight mode is more convenient to control than the fixed wing flight mode, and the rotor flight mode can achieve fixed-point hovering and vertical take-off and landing. If one of the routes is converted to the rotor flight mode, it can reduce the return of the drone The time required.
- the horizontal distance and flight height itself affect the planning of the route, and the horizontal distance and flight height also affect the choice of flight mode.
- the return strategy is determined according to the flight mode, horizontal distance and flight height, which is conducive to improving the drone’s performance.
- the return-to-home performance reduces the time required for the return of the drone and reduces the energy consumption of the return of the drone.
- controlling the drone to return to home includes: invoking a return-to-home mode corresponding to the return-to-home strategy to control the drone to return to home.
- the return-to-home mode may include a forward transition mode, a backward transition mode, a fixed-wing strong-cut rotor mode, a fixed-wing return mode, a rotor return mode, and a rotor landing mode.
- the forward transition mode is used to indicate that the flight mode of the drone is smoothly switched from the rotor flight mode to the fixed-wing flight mode, and the flight altitude of the drone does not change during the switching process.
- the smooth switching of the drone from the rotor flight mode to the fixed wing flight mode means that the drone automatically turns off the rotor flight mode and turns on the fixed wing flight mode within a preset distance range, so as to achieve a smooth transition from the rotor flight mode. Switch to fixed-wing flight mode to ensure the stability of the drone during flight mode switching.
- the preset distance range may be 50m.
- the backward transition mode is used to indicate that the flight mode of the drone is smoothly switched from the fixed-wing flight mode to the rotary-wing flight mode, and the flying height of the drone does not change during the switching process.
- the smooth switching of the drone from the fixed-wing flight mode to the rotor-wing flight mode means that the drone automatically turns off the fixed-wing flight mode and turns on the rotor-wing flight mode within a preset distance range to realize the flight mode from the fixed-wing flight. Smooth transition to the rotor flight mode to ensure the stability of the drone during flight mode switching.
- the preset distance range may be 50m.
- the fixed-wing strong-cut rotor mode is used to indicate that the flight mode of the drone is directly switched from the fixed-wing flight mode to the rotor flight mode, and the flight altitude of the drone does not change during the switching process.
- the direct switching of the drone from the fixed-wing flight mode to the rotor-wing flight mode means that the fixed-wing flight mode of the drone is directly turned off at the current altitude of the drone, and the rotor-wing flight mode is turned on. There is no transition. Process to make the drone quickly switch flight modes.
- the fixed-wing return mode is used to instruct the drone to fly to the return position in the fixed-wing flight mode.
- the process of flying to the return position in the fixed-wing flight mode may include the drone hovering up, hovering down, or hovering and flying at the same altitude.
- hovering level flight means that the UAV flies with a roll angle of 0 degrees in the fixed-wing flight mode, and the flying height of the UAV remains unchanged during the flight.
- it may also include flying along a straight trajectory in a fixed-wing flight mode.
- the rotor return mode is used to instruct the drone to fly to the return position in the rotor flight mode and land on the return position.
- the process of flying to the return position in the rotor flight mode may include ascending in the rotor flight mode, so as to avoid too low altitude and obstacles when returning home.
- an obstacle avoidance route is determined according to the position of the obstacle to bypass the obstacle.
- it may also include adjusting the heading of the drone to a direction pointing to the return position or a preset direction.
- the preset direction may be the heading of the drone when the drone takes off.
- it may also include flying along a straight trajectory in the rotor flight mode.
- the rotor landing mode is used to instruct the drone to maintain the current horizontal position and to lower the altitude in the rotor flight mode until it hits the ground.
- the flight mode used by the drone, the flying height of the drone, and the horizontal distance between the drone and the return position are obtained.
- a return strategy is determined according to the flight mode, the horizontal distance and the flight altitude.
- the return-to-home strategy and return-to-home parameters control the UAV to return to home.
- FIG. 3 is a schematic flowchart of another drone return control method disclosed in an embodiment of the application.
- 302 and 303 are specific implementations of 202.
- the method may include steps 301-304.
- the above steps 301 to 304 can be executed by a drone or a control terminal.
- it can be specifically executed by a drone or a flight control device of a control terminal. among them:
- the drone meets the conditions for returning home, obtain the flight mode used by the drone, the flying height of the drone, and the horizontal distance between the drone and the return position.
- the specific implementation manner of 301 is the same as the specific implementation manner of 201.
- the specific implementation manner of 201 please refer to the corresponding description of 201, which is not repeated here.
- the return range can include the return range of the rotor, the return range of the fixed wing, and the return range of the fixed wing.
- it is optional to determine the return range corresponding to the horizontal distance including: if the horizontal distance is less than the return distance of the rotor, it is determined The return range is the return range of the rotor; if the horizontal distance is greater than or equal to the return distance of the rotor and less than the return distance of the fixed wing, the return range is determined to be the return range of the fixed wing; if the horizontal distance is greater than or equal to the return distance of the fixed wing, then Determine that the return range is beyond the fixed-wing return range.
- the return strategy includes: unmanned The flight mode of the aircraft is directly switched from the fixed-wing flight mode to the rotor flight mode, the drone is controlled to rise to the rotor return height in the rotor flight mode, and the drone is controlled to return in the rotor flight mode.
- the UAV when the return range is the rotor return range, the UAV needs to perform the rotor return. Since the current flight mode of the UAV is a fixed-wing flight mode, the flying height is less than the fixed-wing safety height. In order to ensure the safety of the drone, it is first necessary to directly switch the flight mode of the drone from the fixed-wing flight mode to the rotary-wing flight mode. Since the flying height is less than the rotor return height, in order to ensure the flight safety of the drone, after switching to the rotor flight mode, it is necessary to rise to the rotor return height in the rotor flight mode, and then return to the rotor flight mode.
- the return strategy includes: The flight mode of the drone is directly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled to return to home in the rotor flight mode.
- the flight height is less than the fixed-wing safety height.
- the flight mode of the drone needs to be changed to the fixed-wing flight mode.
- the flight mode is directly switched to the rotor flight mode. Since the current flying altitude is greater than or equal to the rotor return altitude, after switching to the rotor flight mode, you can directly return to the rotor flight mode.
- the return strategy includes Control the drone to rise to the rotor return height in the fixed-wing flight mode, smoothly switch the drone's flight mode from the fixed-wing flight mode to the rotor flight mode, and control the drone to return in the rotor flight mode.
- controlling the drone to rise to the rotor return height in the fixed-wing flight mode can achieve the effect of energy saving.
- the return-to-home strategy includes: smoothly switching the drone's flight mode from fixed-wing flight mode to rotor-wing flight mode, and controlling the drone to return home in the rotor-wing flight mode.
- the return strategy includes : Control the drone to drop to the target value in the fixed-wing flight mode, smoothly switch the drone's flight mode from the fixed-wing flight mode to the rotor flight mode, and control the drone to return home in the rotor flight mode.
- controlling the drone to descend to the target value in the fixed-wing flight mode can achieve the effect of energy saving.
- the return strategy includes: controlling the drone In the rotor flight mode, ascend to the rotor return height, and control the drone to return in the rotor flight mode.
- the flight mode is rotor flight mode
- the flying height of the drone is less than the rotor return height
- the aircraft returns to home in the rotor flight mode, so that the drone returns to the return position.
- the return strategy includes: Control None The man-machine returns home in rotor flight mode.
- the drone can be controlled to return to the rotor flight mode to make the drone return to the return position.
- the return strategy includes: Align the drone's heading to the return position, smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, control the drone to rise to the rotor return height in the fixed-wing flight mode, and move the drone The flight mode is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled to return to home in the rotor flight mode.
- first align the heading of the drone to the return position which can reduce the distance to the return position.
- the flight mode of the controllable drone is smoothly switched from the rotor flight mode to the fixed-wing flight mode, and then the drone is controlled to rise to the rotor return height in the fixed-wing flight mode, so that the drone meets The flying altitude of the rotor flight mode.
- the drone's flight mode is switched from the fixed-wing flight mode to the rotor flight mode, and finally the drone is controlled to return to the rotor flight mode to make the drone return to the return position.
- controlling the drone to rise to the rotor return height in the fixed-wing flight mode can achieve the effect of energy saving.
- the return-to-home strategy includes: controlling the drone to return to home in the rotor flight mode.
- the return strategy includes: Align the drone's heading to the return position, smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, control the drone to descend to the target value in the fixed-wing flight mode, and reduce the drone's flight mode.
- the flight mode is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled to return home in the rotor flight mode.
- first align the heading of the drone to the return position which can reduce the distance to the return position.
- the flight mode of the drone can be smoothly switched from the rotor flight mode to the fixed-wing flight mode, and then the drone can be controlled to drop to the target value in the fixed-wing flight mode, and then to the target value.
- the drone's flight mode is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and finally the drone is controlled to return to the rotor flight mode to make the drone return to the return position.
- This optional method controls the drone to descend to the target value in the fixed-wing flight mode when the flying height is greater than the energy-saving descent height, which can achieve the effect of energy saving.
- the return strategy includes: changing the drone's flight mode from fixed The wing flight mode is directly switched to the rotor flight mode, the drone is controlled to rise to the fixed-wing safety height in the rotor flight mode, the heading of the drone is controlled to align to the return position, and the flight mode of the drone is smoothly switched from the rotor flight mode It is a fixed-wing flight mode, controlling the drone to return home in the fixed-wing flight mode, smoothly switching the flight mode of the drone from fixed-wing flight mode to rotor flight mode, and controlling the drone to return home in the rotor flight mode.
- the fixed-wing flight mode when the return range is the fixed-wing return range, the fixed-wing flight mode can be used to return to the home first, and then the rotor flight mode can be used to return. Since the flight mode is fixed-wing flight mode, and the flight height is less than the safety height of the fixed-wing flight, in order to ensure the safety of the drone, it is necessary to switch the fixed-wing flight mode to the rotor flight mode in time. Therefore, the flight mode of the drone needs to be changed from The fixed-wing flight mode is directly switched to the rotary-wing flight mode.
- control the drone After switching from fixed wing to rotor, control the drone to rise to the fixed wing safety height in the rotor flight mode, and then control the drone's heading to align with the return position, which can reduce the distance to the return position. Then smoothly switch the flight mode of the drone from the rotor flight mode to the fixed wing flight mode. Then control the drone to return in the fixed-wing flight mode, and then smoothly switch the drone's flight mode from the fixed-wing flight mode to the rotor flight mode, and finally control the drone to return in the rotor flight mode to make the drone return home To return position. Returning to the return position via the rotor reduces the requirements for the return position field.
- the return strategy includes: controlling the drone on the fixed-wing Return to home in flight mode, smoothly switch the flight mode of the drone from fixed-wing flight mode to rotor flight mode, and control the drone to return to home in rotor flight mode.
- the drone can be directly controlled to return to home in the fixed-wing flight mode, and then the flight mode of the drone can be smoothly switched from the fixed-wing flight mode to the rotor flight mode. Finally, control the drone to return home in the rotor flight mode to make the drone return to the return position.
- the return strategy includes: controlling the drone to rise in the rotor flight mode To the fixed-wing safety height, align the drone's heading to the return position, smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, and control the drone to return to the fixed-wing flight mode.
- the flight mode of the man-machine is smoothly switched from the fixed-wing flight mode to the rotary-wing flight mode, and the drone is controlled to return home in the rotary-wing flight mode.
- the flight mode is the rotor flight mode, and the flight height is less than the fixed wing safety height.
- align the drone's heading to the return position to reduce the flying direction. The distance to return to the position.
- the drone's flight mode is smoothly switched from the rotor flight mode to the fixed-wing flight mode, and the drone is controlled to return to the fixed-wing flight mode, and the flight mode of the drone is changed from the fixed-wing flight mode.
- the flight mode is smoothly switched to the rotor flight mode, which makes the drone switch from the fixed wing flight mode to the rotor flight mode.
- control the drone to return home in the rotor flight mode to make the drone return to the return position.
- the return strategy includes: aligning the drone's heading Return to the position, smoothly switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, control the drone to return home in the fixed-wing flight mode, and smoothly switch the flight mode of the drone from the fixed-wing flight mode to the rotor Flight mode, control the drone to return home in the rotor flight mode.
- Figure 6 describes the return steps when the return range exceeds the fixed-wing return range.
- the return strategy includes: changing the drone's flight mode from The fixed-wing flight mode is directly switched to the rotor flight mode, and the drone is controlled to land in the rotor flight mode.
- the flying mode of the drone can be directly switched from the fixed-wing flying mode to the rotary-wing flying mode.
- the return range is beyond the fixed-wing return range, it may be that the drone is too far away from the return position, and the remaining power of the drone is not enough to support the return of the drone to the return position. Therefore, after switching to the rotor flight mode, the drone can be controlled to land in the rotor flight mode to achieve a nearby landing.
- the return strategy includes : Smoothly switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, and control the drone to land in the rotor flight mode.
- the flight mode is fixed-wing flight mode
- the flight altitude is greater than or equal to the fixed-wing safety altitude
- the flight altitude is greater than or equal to the energy-saving descent altitude
- controlling the drone to descend to the target value in the fixed-wing flight mode can achieve the effect of energy saving.
- the return strategy includes: controlling the drone to land in the rotor flight mode.
- the return strategy includes: align the drone's heading and return Position, smoothly switch the flight mode of the drone from the rotor flight mode to the fixed-wing flight mode, control the drone to drop to the target value in the fixed-wing flight mode, and smoothly switch the flight mode of the drone from the fixed-wing flight mode For the rotor flight mode, control the drone to land in the rotor flight mode.
- first align the heading of the drone to the return position which can reduce the distance the drone flies to the return position.
- controlling the drone to descend to the target value in the fixed-wing flight mode can achieve the effect of energy saving.
- This application does not limit the return path corresponding to the return strategy.
- the return strategy includes controlling the drone to rise to the rotor return height in the fixed-wing flight mode, control the drone Circling the ascent route along the first fixed wing to rise to the return height of the rotor.
- FIG. 7 is a schematic diagram of a first fixed wing hovering ascent course disclosed in an embodiment of the application. As shown in Figure 7, the drone hovered from point A along the first fixed wing hovering ascent route L1 to point B, where the height of point B is the return height of the rotor.
- the first fixed-wing hovering ascent route is determined according to the first track inclination angle, the first ascent circle, and the preset hovering radius; the first flight path inclination angle and the first ascent circle It is determined based on the difference between the rotor return altitude and the flight altitude, the preset circling radius and the maximum track inclination.
- the first ascent lap is the number of laps to ascend to the return height of the rotor when hovering in the fixed-wing flight mode.
- the first trajectory inclination angle is the attitude angle of the UAV in each circle.
- the UAV can hover according to the first track inclination, the first ascent circle and the preset hovering radius, so that the UAV can rise to the rotor return height. In this way, after the drone rises to the rotor return height, the safety of returning to the return position in the rotor flight mode can be improved.
- FIG. 8 is a schematic diagram of calculating the first track inclination angle and the first ascent circle disclosed in an embodiment of this application.
- the length of the first right-angle side H1 is the vertical height of the spiral ascending. Since the preset spiral radius R is fixed, the horizontal distance will increase by 2 ⁇ R for each turn, and the first turn can be A first vertical triangle formed by the first right-angled side H1, the second right-angled side H2 and the first hypotenuse T1 is obtained, and the length of the second right-angled side H2 is 2 ⁇ R.
- the first angle ⁇ 1 is calculated based on the first right-angle side H1 and the second right-angle side H2. If the first included angle is less than or equal to the maximum trajectory inclination angle, the first trajectory inclination angle is determined to be the first included angle ⁇ 1, and the first ascent circle is 1; otherwise, according to the first right angle side H1 and the third right angle side H3 calculates the second included angle ⁇ 2.
- the first track inclination angle is determined to be the second included angle, and the first ascent circle is 2, and so on, so that the final included angle is less than or equal to the maximum
- the track inclination angle is calculated based on the vertical height of the circling ascent, the preset circling radius R and the maximum track inclination to obtain the first track inclination and the first ascent lap.
- the vertical height of the hovering rise is the difference between the return height of the rotor and the flying height. In this way, according to the difference between the return altitude and the flight altitude of the rotor, the preset circling radius and the maximum track inclination are used to determine the first track inclination and the first ascent lap.
- the return-to-home strategy includes controlling the UAV to descend to a target value in the fixed-wing flight mode, controlling the UAV to descend to the target value along the first fixed-wing hovering descent route.
- FIG. 9 is a schematic diagram of a spiral descent route of a first fixed wing disclosed in an embodiment of the application.
- the UAV descends from point C along the first fixed wing hovering descent route L2 to point D, where the height of point D is the target value, that is, the distance between the fixed wing safety height and the rotor return height Maximum value.
- the first fixed-wing hovering descent route is determined based on the second track inclination angle and the first descent circle, and the preset hovering radius, the second flight path inclination and the first descent circle It is determined based on the difference between the flight altitude and the target value, the preset circling radius and the maximum track inclination.
- the first descending circle is the number of circle descending to the target value when hovering in the fixed-wing flight mode.
- the second trajectory inclination angle is the attitude angle of the UAV in each circle. It can be understood that the drone can hover according to the second track inclination, the first descending circle and the preset hovering radius, so that the drone can descend to the target value of circle. In this way, after the drone drops to the target value, the power consumption can be saved on the basis of ensuring the safety of flying in the rotor flight mode.
- the specific method for determining the second flight path inclination angle and the first descent number can refer to the description of FIG. 8, which will not be repeated here. That is, according to the vertical height of the hovering descent, the preset hovering radius and the maximum track inclination are calculated to obtain the second track inclination and the first descent lap. In this embodiment, the vertical height of the hovering descent is the difference between the flying height and the target value. In this way, according to the difference between the flight altitude and the target value, the preset circling radius and the maximum track inclination are used to determine the second track inclination and the first descent lap.
- the return strategy includes controlling the UAV to return in the fixed-wing flight mode, controlling the UAV to ascend along the second fixed-wing hovering ascent course and fly along the fixed-wing horizontal course, Descend along the descent path of the second fixed wing circling.
- the fixed-wing horizontal course may be determined through the dubins curve planning algorithm, or other algorithms may be used to determine the fixed-wing horizontal course, which is not limited in the embodiment of the present application.
- the fixed-wing horizontal route includes an initial circle, an end circle, and a target tangent.
- the target tangent and the initial circle are tangent to the first tangent point
- the target tangent and the end circle are tangent to the second tangent point.
- the circle is the end point of smoothly switching from the rotor flight mode to the fixed-wing flight mode according to the flight mode of the drone.
- the preset circling radius and the flight mode of the drone are smoothly switched from the rotor flight mode to the starting point of the fixed-wing flight mode.
- the end circle is determined by the line between the return positions.
- the end circle is determined by the starting point, the preset circling radius and the line of the UAV's flight mode from the fixed-wing flight mode to the rotor flight mode.
- the center of the circle is on the line.
- FIG. 10 is a schematic diagram of the trajectory of the fixed wing returning home.
- the fixed-wing horizontal course includes an initial circle C1, an end circle C2, and a target tangent line IJ.
- the target tangent IJ and the initial circle C1 are tangent to the first tangent point I
- the target tangent IJ and the end circle C2 are tangent to the second tangent point J.
- Point O is the return position
- point E is the starting point of the drone's flight mode smoothly switching from the rotor flight mode to the fixed wing flight mode.
- Point F is the end point of the drone's flight mode smoothly switching from rotor flight mode to fixed-wing flight mode, and point F is the point where the initial circle C1 is tangent to the line EO.
- Point G is the starting point of the drone's flight mode smoothly switching from fixed-wing flight mode to rotor flight mode, and point G is the point where the end circle C2 is tangent to the line GO.
- Point Q is the center of the ending circle C2, and point Q is on the line EO.
- the line EO can be determined.
- the point F is on the line EO, the distance (that is, the distance between the lines EF) for the drone's flight mode to smoothly switch from the rotor flight mode to the fixed-wing flight mode is fixed, so the position of the point F can be determined . Since the initial circle C1 is tangent to the line EO at point F, the initial circle C1 is determined according to the point F, the preset spiral radius R and the line EO.
- the radius of the end circle C2 is the preset circling radius R, and the distance (that is, the distance between the connecting GO points) of the drone's flight mode from fixed-wing flight mode to rotary-wing flight mode smoothly is Fixed, the center Q of the end circle C2 is on the line EO. Therefore, after knowing the position of the O point and the distance of the line GO, and the preset circling radius R, the position of the circle center Q can be determined. According to the position of the center Q and the preset spiral radius R, the ending circle C2 can be determined. Therefore, the end circle C2 is determined according to the G point, the preset spiral radius R and the line EO.
- the second fixed wing hovering ascent path is determined according to the second ascent circle and the third track inclination angle and the preset hovering radius
- the second ascent circle and the third track inclination angle are determined according to the first projection
- the first projection point is the point where the projection of the first tangent point to the plane where the end point of the drone is smoothly switched from the rotor flight mode to the fixed wing flight mode.
- the vertical distance of hovering ascent is the length of the fourth right angle side H4, and the first circle of hovering can be obtained by The fourth right-angled side H4, the fifth right-angled side H5 and the third hypotenuse T3 form a third vertical triangle, and the length of the fifth right-angled side H5 is the sum of the initial horizontal distance W and 2 ⁇ R.
- Circling the second circle can get a fourth vertical triangle formed by the fourth right-angled side H4, the sixth right-angled side H6 and the fourth hypotenuse T4.
- the length of the sixth right-angled side H6 is the sum between the initial horizontal distance W and 4 ⁇ R Value, and so on.
- the third angle ⁇ 3 can be calculated based on the fourth right-angle side H4 and the fifth right-angle side H5. If the third inclination angle ⁇ 3 is less than or equal to the maximum track inclination angle, the third inclination angle is determined to be the third inclination angle ⁇ 3, and the second ascent circle is 1; otherwise, in the fourth vertical triangle, according to the fourth The right angle side H4 and the sixth right angle side H6 can calculate the fourth included angle ⁇ 4.
- the third inclination angle is determined to be the fourth inclination angle ⁇ 4, the second ascent circle is 2, and so on, so that the final inclination angle is less than or equal to
- the maximum track inclination angle is calculated based on the vertical height of the circling ascent, the initial horizontal distance W, the preset circling radius R and the maximum track inclination to obtain the third track inclination and the second ascent circle.
- the initial horizontal distance W is the arc length between the first tangential point and the point on the plane where the drone is smoothly switched from the rotor flight mode to the fixed wing flight mode.
- the vertical height of the hovering rise is the difference between the fixed-wing return height and the fixed-wing safety height.
- the preset circling radius R and the maximum track inclination determine the third track inclination and the second ascent circle, and then according to the second ascent circle and the third
- the track inclination and the preset circling radius R determine the circling ascent course of the second fixed wing.
- the second fixed-wing hovering descent route is determined according to the second descent circle and the fourth track inclination angle
- the preset hovering radius, the second descent circle and the fourth track inclination angle are determined according to the second It is determined by the arc length between the projection point and the starting point where the drone is smoothly switched from the fixed-wing flight mode to the rotor flight mode, the difference between the fixed-wing return height and the target value, the preset circling radius and the maximum track inclination angle ,
- the target value is the maximum value between the fixed-wing safety height and the rotor return height
- the second projection point is the second tangent point projected to the plane where the drone is smoothly switched from fixed-wing flight mode to rotor flight mode. Point.
- FIG. 12 is a schematic diagram of another fixed-wing return trajectory provided by an embodiment of the application.
- point F is the end point of the drone flight mode smoothly switching from the rotor flight mode to the fixed wing flight mode.
- Point G is the starting point for the UAV's flight mode to smoothly switch from fixed-wing flight mode to rotary-wing flight mode.
- Point I is the first tangent point, and point J is the second tangent point.
- the height of points I and J is the fixed-wing return height, and the height of point G is the target value.
- the drone can hover and level along the plane determined by straight line IJ, and fly along the route determined by IJ after hovering and level flight.
- the drone can hover and level along the plane determined by the straight line IJ, and hover and descend to the starting point G along the second fixed wing hovering descent route L4 after hovering and leveling.
- the second step of controlling the drone to return in the fixed-wing flight mode is not the step of smoothly switching the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, then the second The number of ascent laps and the third track inclination are determined based on the difference between the fixed wing's return altitude and the fixed wing's safe altitude, the preset circling radius and the maximum track inclination.
- controlling the drone to return to home includes: invoking a return-to-home mode corresponding to the return-to-home strategy to control the drone to return to home.
- the specific implementation manner of 304 is the same as the specific implementation manner of 203.
- the flight mode used by the drone, the flying height of the drone, and the horizontal distance between the drone and the return position are obtained. Then, determine the return range corresponding to the horizontal distance, and determine the return strategy based on the return range, the flight mode, and the flight altitude. Then, according to the return-to-home strategy, control the drone to return to home. In this way, the flight mode, flight altitude and horizontal distance of the UAV are considered, which is beneficial to improve the return performance of the UAV.
- FIG. 13 is a schematic structural diagram of a flight control device provided in an embodiment of the application.
- the flight control device is applied to an unmanned aerial vehicle.
- the unmanned aerial vehicle has a fixed-wing flight mode and a rotary-wing flight mode.
- the device includes a memory 1301 and a processor 1302.
- the memory 1301 and the processor 1302 may be connected through a bus system 1303.
- the memory 1301 is used to store program instructions.
- the memory 1301 may include a volatile memory (volatile memory), such as a random-access memory (random-access memory, RAM); the memory 1301 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory). memory), solid-state drive (SSD), etc.; the memory 1301 may also include a combination of the foregoing types of memories.
- the processor 1302 may include a central processing unit (CPU).
- the processor 1302 may further include a hardware chip.
- the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
- ASIC application-specific integrated circuit
- PLD programmable logic device
- the above-mentioned PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), etc.
- the processor 1302 calls the program instructions in the memory 1301 to execute the following steps:
- the return-to-home strategy includes: controlling the flight mode of the drone to switch between the fixed-wing flight mode and the rotor flight mode.
- the method for the processor 1302 to determine the return-to-home strategy according to the flight mode, horizontal distance and flight altitude is specifically as follows:
- the specific method for the processor 1302 to determine the return range corresponding to the horizontal distance is as follows:
- the return range is determined to be the return range of the rotor
- the return range is determined to be the return range of the fixed wing
- the return range is determined to exceed the fixed-wing return range.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return-to-home strategy includes: changing the drone's flight mode directly from the fixed-wing flight mode Switch to the rotor flight mode, control the drone to rise to the rotor return height in the rotor flight mode, and control the drone to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: changing the drone's flight mode to fixed-wing flight The mode is directly switched to the rotor flight mode, and the drone is controlled to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone in fixed-wing flight mode Ascend to the rotor return height, smoothly switch the drone's flight mode from fixed-wing flight mode to rotor flight mode, and control the drone to return to home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: The flight mode is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled to return to home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone in the fixed-wing flight mode Descend to the target value, smoothly switch the drone's flight mode from fixed-wing flight mode to rotary-wing flight mode, control the drone to return to home in the rotary-wing flight mode, the target value is between the fixed-wing safety altitude and the rotor return altitude Maximum value.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone to rise to the rotor return height in the rotor flight mode , Control the drone to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone to return in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: align the drone's heading to the return position , Smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, control the drone to rise to the rotor return height in the fixed-wing flight mode, and smoothly switch the drone's flight mode from the fixed-wing flight mode In the rotor flight mode, control the drone to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone at Return home in rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: align the drone's heading to the return position, Smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, control the drone to drop to the target value in the fixed-wing flight mode, and smoothly switch the drone's flight mode from the fixed-wing flight mode to the rotor Flight mode, control the drone to return home in the rotor flight mode, the target value is the maximum value between the fixed wing safety altitude and the rotor return home altitude.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: switching the drone's flight mode from fixed-wing flight mode to rotor flight mode directly, Control the drone to rise to the fixed-wing safety height in the rotor flight mode, control the drone's heading to align to the return position, smoothly switch the drone's flight mode from the rotor flight mode to the fixed-wing flight mode, and control the drone Return to home in the fixed-wing flight mode, smoothly switch the flight mode of the drone from the fixed-wing flight mode to the rotor flight mode, and control the drone to return to home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone to return to home in the fixed-wing flight mode and turning the drone into The flight mode is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone to rise to the fixed-wing safety height in the rotor flight mode, and moving the drone The heading of the drone is aligned with the return position, the flight mode of the drone is smoothly switched from the rotor flight mode to the fixed-wing flight mode, the drone is controlled to return to the fixed-wing flight mode, and the flight mode of the drone is changed from the fixed-wing flight mode Smoothly switch to the rotor flight mode, and control the drone to return home in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: align the drone's heading to the return position, and adjust the drone's flight mode Smoothly switch from the rotor flight mode to the fixed-wing flight mode, control the drone to return home in the fixed-wing flight mode, smoothly switch the drone's flight mode from the fixed-wing flight mode to the rotor flight mode, and control the drone to fly on the rotor Return home in mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: changing the drone's flight mode from fixed The wing flight mode is smoothly switched to the rotor flight mode, and the drone is controlled to land in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone on the fixed-wing Drop to the target value in flight mode, smoothly switch the drone's flight mode from fixed-wing flight mode to rotary-wing flight mode, control the drone to fall in the rotary-wing flight mode, and the target value is between the fixed-wing safety height and the rotor return height The maximum value.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: controlling the drone to land in the rotor flight mode.
- the method for the processor 1302 to determine the return-home strategy according to the return-home range, flight mode, and flight altitude is specifically as follows:
- the return strategy includes: align the drone's heading to the return position, and change the drone's flight mode
- the rotor flight mode is smoothly switched to the fixed-wing flight mode, the drone is controlled to drop to the target value in the fixed-wing flight mode, the flight mode of the drone is smoothly switched from the fixed-wing flight mode to the rotor flight mode, and the drone is controlled in In the rotor flight mode, the target value is the maximum value between the safe height of the fixed wing and the return height of the rotor.
- the return-to-home strategy includes controlling the drone to ascend to the return height of the rotor in the fixed-wing flight mode, control the drone to rise to the return height of the rotor along the first fixed-wing hovering route.
- the first fixed-wing hovering ascent route is determined based on the first track inclination angle and the first ascent circle, and the preset hovering radius; the first flight path inclination and the first ascent circle are determined based on the return height of the rotor The difference between the flight altitudes is determined by the preset circling radius and the maximum track inclination.
- the return-to-home strategy includes controlling the drone to descend to the target value in the fixed-wing flight mode, controlling the drone to descend to the target value along the first fixed-wing hovering route, the target value is the fixed-wing safety altitude and the rotor The maximum value between the return altitudes.
- the first fixed-wing hovering descent route is determined based on the second track inclination angle and the first descent circle, and the preset hovering radius.
- the second flight path inclination and the first descent circle are determined based on the flight altitude and the target The difference between the values is determined by the preset circling radius and the maximum track inclination.
- the return strategy includes controlling the drone to return in the fixed-wing flight mode, controlling the drone to ascend along the second fixed-wing hovering ascent route, fly along the fixed-wing horizontal route, and hover along the second fixed-wing descending route decline.
- the fixed-wing horizontal route includes the initial circle, the end circle and the target tangent.
- the target tangent and the initial circle are tangent to the first tangent point, and the target tangent and the end circle are tangent to the second tangent point.
- the flight mode of the aircraft is smoothly switched from the rotor flight mode to the end point of the fixed-wing flight mode.
- the preset circling radius and the flight mode of the drone are smoothly switched from the rotor flight mode to the fixed-wing flight mode between the starting point and the return position.
- the connection is determined, and the end circle is determined by the starting point, the preset circling radius and the connection line when the UAV's flight mode is smoothly switched from fixed-wing flight mode to rotary-wing flight mode.
- the center of the end circle is on the connection line.
- the second fixed-wing hovering ascent path is determined according to the second ascent circle and the third track inclination angle and the preset hovering radius
- the second ascent circle and the third track inclination angle are determined according to the first projection point
- the UAV is determined by the arc length between the end point of the smooth switch from the rotor flight mode to the fixed-wing flight mode, the difference between the fixed-wing return height and the fixed-wing safety height, the preset hovering radius and the maximum track inclination
- the first projection point is the point where the projection of the first all point to the plane where the end point of the UAV smoothly switches from the rotor flight mode to the fixed wing flight mode.
- the second fixed-wing hovering descent route is determined according to the second descent circle and the fourth track inclination angle, and the preset hovering radius, and the second descent circle and the fourth track inclination angle are determined according to the second projection point
- the target is determined by the arc length between the starting point when the drone is smoothly switched from the fixed-wing flight mode to the rotary-wing flight mode, the difference between the fixed-wing return altitude and the target value, the preset circling radius and the maximum track inclination.
- the value is the maximum value between the fixed-wing safety height and the rotor return height.
- the second projection point is the point where the second tangent point is projected to the plane where the UAV smoothly switches from the fixed-wing flight mode to the rotor flight mode.
- the drone meets the conditions for returning home, including one or more of the following:
- the difference between the remaining battery power of the drone and the power required for the drone to return is less than or equal to the preset power threshold
- the disconnection time between the drone and the control terminal is greater than the time threshold
- the hardware equipment of the drone fails
- the current wind speed is greater than the preset wind speed threshold for safe flight of the drone
- the principle of the flight control device provided in the embodiment of this application to solve the problem is similar to that of the method embodiment of this application. Therefore, the implementation of the device can refer to the implementation of the method, and its beneficial effects can be referred to the beneficial effects of the method. Description, I won’t repeat it here.
- the embodiments of the present application also provide an unmanned aerial vehicle, wherein the unmanned aerial vehicle has a fixed-wing flight mode and a rotary-wing flight mode, and includes a fuselage, a communication device, and a flight control device as shown in FIG. 13.
- the communication device uses To communicate with the control terminal.
- the functions described in this application can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on the computer-readable medium.
- the computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium that facilitates the transfer of a computer program from one place to another.
- the storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种返航控制方法、飞行控制装置及无人机,有利于提升无人机的返航性能。该无人机具有固定翼飞行模式和旋翼飞行模式,该方法包括:若无人机满足返航条件,则获取无人机当前的飞行模式、无人机的飞行高度以及无人机与返回位置之间的水平距离(S201);根据飞行模式、水平距离和飞行高度确定返航策略(S202);根据返航策略,控制无人机进行返航(S203)。
Description
本申请涉及控制技术领域,尤其涉及一种返航控制方法、飞行控制装置及无人机。
自动返航是无人机飞行控制***中的常见功能之一,其目的是控制无人机从任意位置自动返回至用户设定的返回位置(即home点)。在实际应用中,已有的无人机自动返航功能均是单独针对旋翼无人机或者固定翼无人机设计的。对于同时具有旋翼飞行模式和固定翼飞行模式的无人机来说,并没有充分发挥其两种飞行模式各自的优点,因此不能在返航时间、返航能量消耗等方面达到较好的性能。
发明内容
本申请公开了一种返航控制方法、飞行控制装置及无人机,有利于提升无人机的返航性能。
第一方面,本申请提供了一种无人机的返航控制方法,所述无人机具有固定翼飞行模式和旋翼飞行模式,所述方法包括:
若所述无人机满足返航条件,则获取所述无人机当前的飞行模式、所述无人机的飞行高度以及所述无人机与返回位置之间的水平距离;
根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略;
根据所述返航策略,控制所述无人机进行返航。
第二方面,本申请提供了一种飞行控制装置,所述飞行控制装置应用于无人机,所述无人机具有固定翼飞行模式和旋翼飞行模式,所述飞行控制装置包括:存储器、处理器,其中:
所述存储器,用于存储程序指令;
所述处理器,调用所述程序指令以用于:
若所述无人机满足返航条件,则获取所述无人机当前的飞行模式、所述无人机的飞行高度以及所述无人机与返回位置之间的水平距离;
根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略;
根据所述返航策略,控制所述无人机进行返航。
第三方面,本申请提供了一种无人机,该无人机包括:
机身;
通信装置,用于与控制终端进行通信;
如第二方面所述的飞行控制装置。
本申请实施例中提供的返航控制方法、飞行控制装置及无人机,若所述无人机满足返航条件,则获取所述无人机当前的飞行模式、所述无人机的飞行高度以及所述无人机与返回位置之间的水平距离。然后,根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略,并根据所述返航策略,控制所述无人机进行返航。通过这种方式,考虑了无人机的飞行模式以及飞行高度和水平距离,有利于提升无人机的返航性能,减少无人机返航所需要的时间,降低无人机返航的能量消耗。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种***架构的示意图;
图2是本申请实施例提供的一种无人机的返航控制方法的流程示意图;
图3是本申请实施例提供的另一种无人机的返航控制方法的流程示意图;
图4是本申请实施例提供的一种返航策略的示意图;
图5是本申请实施例提供的另一种返航策略的示意图;
图6是本申请实施例提供的另一种返航策略的示意图;
图7是本申请实施例提供的一种第一固定翼盘旋上升航线的示意图;
图8是本申请实施例提供的一种计算第一航迹倾角和第一上升圈数方法的示意图;
图9是本申请实施例提供的一种第一固定翼盘旋下降航线的示意图;
图10为本申请实施例提供的一种固定翼返航的轨迹的示意图;
图11是本申请实施例提供的一种计算第三航迹倾角和第二上升圈数方法的示意图;
图12是本申请实施例提供的另一种固定翼返航的轨迹的示意图;
图13是本申请实施例提供的一种飞行控制装置的结构示意图。
为了使本申请的目的、技术方案和优点更加清楚,下面将结合附图对本申请实施例的技术方案进行描述。
为了清楚地描述本申请实施例的方案,下面结合附图1对本申请实施例可能应用的***架构进行说明。
具体请参见图1,图1是本申请实施例提供的一种无人机的返航控制***的结构示意图。所述无人机的返航控制***包括:无人机11和控制终端12。飞行控制装置110包括于无人机11中。所述飞行控制装置110可以为飞行控制器。其中,无人机11和飞行控制装置110之间可以通过无线通信连接方式建立通信连接,所述无人机11和飞行控制装置110之间也可以通过有线通信连接方式建立通信连接。
在某些实施例中,所述无人机11还包括动力***111,所述动力***111用于为无人机11提供移动的动力。所述无人机11包括旋翼组件和固定翼组件,对应的,所述无人机11具有旋翼飞行模式和固定翼飞行模式,在旋翼飞行模式下,旋翼组件提供无人机的飞行动力,在固定翼模式下,固定翼组件提供无人机的飞行动力。
在某些实施例中,所述无人机11还包括通信装置,用于与控制终端12进行通信。控制终端12用于对无人机11进行控制。该控制终端12可以为手机、平板电脑、遥控器或其他穿戴式设备(手表或手环)等,本申请实施例不做限定。需要说明的是,飞行控制装置110还可包括于控制终端12中,图中以飞行控制装置110包括于无人机11为例。
对于具有固定翼飞行模式和旋翼飞行模式的无人机来说,在返航过程中,若考虑无人机的飞行模式,可提升无人机的返航性能。例如:固定翼飞行模式相对于旋翼飞行模式耗能低,若将其中的一段航线转换为固定翼飞行模式飞行,则可节省整个航线的能量消耗。
在描述具体的实施例之前,先介绍本申请实施例涉及的预设参数,其中:
固定翼安全高度,是指为了保证飞行安全,在固定翼飞行模式下允许的最低飞行高度。
固定翼返航高度,是指在固定翼飞行模式下飞向返回位置(即home点)时航线的最低高度。
旋翼返航高度,是指在旋翼飞行模式下飞向返回位置时航线的最低高度。
节能阈值,是指从旋翼飞行模式切换到固定翼飞行模式时,上升或下降的高度差的最小值。可以理解,如果试图通过将无人机的飞行模式由旋翼飞行模式切换至固定翼飞行模式再上升或下降以节省功耗时,上升或下降的高度差需大于该节能阈值。
节能下降高度,等于目标值与节能阈值之间的和值,其中,目标值为固定翼安全高度与旋翼返航高度之间的最大值。
节能上升高度,等于旋翼返航高度与节能阈值之间的差值。
旋翼返航范围,是指距离返回位置的水平距离小于旋翼返航距离的区域。
固定翼返航范围,是指距离返回位置的水平距离大于旋翼返航距离且小于固定翼返航距离的区域。
超过固定翼返航范围,是指距离返回位置的水平距离大于固定翼返航距离的区域。可选的,固定翼返航范围大于旋翼返航范围,超过固定翼返航范围大于固定翼返航范围。
预设盘旋半径,是指在固定翼飞行模式下盘旋上升或下降对应的圆的半径。
最大航迹倾角,是指在固定翼飞行模式下盘旋上升或下降对应的姿态角度的最大值。
需要说明的是,本领域技术人员可根据实际应用场景对上述预设参数进行设定。
下面对本申请实施例提供的无人机的返航控制方法的具体流程进一步进行说明。
请参阅图2,图2为本申请实施例公开的一种无人机的返航控制方法的流程示意图。如图2所示,该方法可包括步骤201~203,上述步骤201-203可以由无人机执行,也可以由控制终端执行。可选的,具体可以由无人机或控制终端的飞行控制装置执行。其中:
201、若无人机满足返航条件,则获取该无人机当前的飞行模式、该无人机的飞行高度以及该无人机与返回位置之间的水平距离。
其中,无人机当前的飞行模式包括固定翼飞行模式或旋翼飞行模式。
其中,返航条件为触发无人机进行返航的条件。
可选的,无人机满足返航条件,包括:无人机的电池的剩余电量与该无人机返航所需电量之差小于或等于预设电量阈值。
其中,无人机返航所需电量可根据该无人机当前的飞行模式、该无人机的飞行高度以及该无人机与返回位置之间的水平距离进行计算。
可以理解,在无人机的电池的剩余电量与无人机返航所需电量之差小于或等于预设电量阈值时,确定该无人机的剩余电量可以支撑无人机返航至返回位置,然而此时无人机不执行返航操作,可能导致最终无法返回至返回位置,因此确定该无人机满足返航条件。示例的,该预设电量阈值可以是电池电量的10%。需要说明的是,本申请实施例不限定预设电量阈值的具体数值,本领域技术人员可根据实际情况对预设电量阈值进行设定。
可选的,无人机满足返航条件,包括:无人机与控制终端断开连接的时间大于时间阈值;获取到控制终端发送的返航指令。
可以理解,在无人机与控制终端断开连接的时间大于时间阈值时,表示该无人机与控制终端之中的至少一个设备断开连接,可确定该无人机满足返航条件,从而避免无人机失去控制,以免丢失。此外,在无人机接收到控制终端发送的返航指令时,表示控制终端对应的用户通过该控制终端向无人机发送返航指令,可确定该无人机满足返航条件,从而响应用户操作。
可选的,无人机满足返航条件,包括:无人机的硬件设备出现故障。
其中,硬件设备包括磁罗盘、云台、相机等不影响无人机基础飞行的硬件。该硬件设备的检测方法可通过定时获取其检测数据,若获取失败,则确定该硬件设备出现故障,或者在该检测数据异常时,则确定该硬件设备出现故障。
可以理解,在上述硬件设备故障时,可确定该无人机满足返航条件,以控制无人机返回至返回位置,从而避免无人机产生较大的故障。
可选的,无人机满足返航条件,包括:当前风速大于无人机安全飞行的预设风速阈值。
其中,当前风速可通过风速检测器进行检测得到。在当前风速大于无人机安全飞行的预设风速阈值时,表示当前无人机的飞行存在一定安全隐患,则确定该无人机满足返航条件。
202、根据该飞行模式、该水平距离和该飞行高度确定返航策略。
可选的,返航策略包括:控制无人机的飞行模式在固定翼飞行模式和旋翼飞行模式之间切换。
在返航过程中,若考虑无人机的飞行模式,例如:固定翼飞行模式相对于旋翼飞行模式耗能低,若将其中的一段航线转换为固定翼飞行模式飞行,则可节省整个航线的能量消耗;旋翼飞行模式相对于固定翼飞行模式控制方便,且旋翼飞行模式可实现定点定高悬停和垂直起降,若将其中的一段航线转换为旋翼飞行模式飞行,则可减少无人机返航所需要的时间。而水平距离和飞行高度本身影响航线的规划,且水平距离和飞行高度还影响飞行模式的选择,在本申请中,根据飞行模式、水平距离和飞行高度确定返航策略,有利于提升无人机的返航性能,减少无人机返航所需要的时间,降低无人机返航的能量消耗。
203、根据该返航策略,控制该无人机进行返航。
可选的,根据该返航策略,控制该无人机进行返航包括:调用与该返航策略对应的返航模式以控制该无人机进行返航。其中,返航模式可以包括前向过渡模式,后向过渡模式,固定翼强切旋翼模式,固定翼返航模式,旋翼返航模式,旋翼降落模式。
在一些实施例中,前向过渡模式用于指示无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式,且切换过程中无人机的飞行高度不变。在某些实施例中,无人机从旋翼飞行模式平滑切换为固定翼飞行模式是指无人机在预设距离范围内自动关闭旋翼飞行模式以及开启固定翼飞行模式,实现从旋翼飞行模式平滑转变成固定翼飞行模式,以确保无人机在飞行模式切换过程中的平稳性。示例的,该预设距离范围可以为50m。
在一些实施例中,后向过渡模式用于指示无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式,且切换过程中无人机的飞行高度不变。在某些实施例中,无人机从固定翼飞行模式平滑切换为旋翼飞行模式是指无人机在预 设距离范围内自动关闭固定翼飞行模式并开启旋翼飞行模式,实现从固定翼飞行模式平滑转变成旋翼飞行模式,以确保无人机在飞行模式切换过程中的平稳性。示例的,该预设距离范围可以为50m。
在一些实施例中,固定翼强切旋翼模式用于指示无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式,且切换过程中无人机的飞行高度不变。在某些实施例中,无人机从固定翼飞行模式直接切换为旋翼飞行模式是指在无人机的当前高度直接关闭无人机的固定翼飞行模式,并开启旋翼飞行模式,没有过渡的过程,以使无人机快速切换飞行模式。
在一些实施例中,固定翼返航模式用于指示无人机以固定翼飞行模式飞向返回位置。可选的,在以固定翼飞行模式飞向返回位置的过程中可以包括无人机盘旋上升、盘旋下降、或者在同一高度下盘旋平飞。其中,盘旋平飞是指无人机在固定翼飞行模式下以横滚角为0度飞行,且飞行过程中无人机的飞行高度不变。可选的,还可以包括在固定翼飞行模式下沿直线轨迹飞行。
在一些实施例中,旋翼返航模式用于指示无人机以旋翼飞行模式飞向返回位置,并降落在该返回位置上。可选的,在以旋翼飞行模式飞向返回位置的过程中可以包括以旋翼飞行模式上升,以避免返航时高度过低,遇到障碍物。可选的,还可以包括在无人机前方遇到障碍物时,根据障碍物的位置确定避障航线以绕过障碍物。可选的,还可以包括将无人机的航向调整至指向返回位置的方向或预设方向,示例的,该预设方向可以是无人机起飞时无人机的航向。可选的,还可以包括在旋翼飞行模式下沿直线轨迹飞行。
在一些实施例中,旋翼降落模式用于指示无人机保持当前水平位置,以旋翼飞行模式降低高度直到落地。
需要说明的是,本领域技术人员可根据返航策略设定对应的返航模式,以在根据该返航策略,控制该无人机进行返航时,可以调用与该返航策略对应的返航模式以控制该无人机进行返航,提高无人机返航的控制效率。
通过实施图2所描述的方法,若无人机满足返航条件,则获取该无人机所使用的飞行模式、该无人机的飞行高度以及该无人机与返回位置之间的水平距离。然后,根据该飞行模式、该水平距离和该飞行高度确定返航策略。然后,根据该返航策略以及返航参数,控制无人机进行返航。通过这种方式,考虑了无人机的飞行模式以及飞行高度和水平距离,有利于提升无人机的返航性能,减少无人机返航所需要的时间,降低无人机返航的能量消耗。
请参阅图3,图3为本申请实施例公开的另一种无人机的返航控制方法的流程示意图。其中,302和303为202的具体实施方式。如图3所示,该方法 可包括步骤301~304。上述步骤301~304可以由无人机执行,也可以由控制终端执行。可选的,具体可以由无人机或控制终端的飞行控制装置执行。其中:
301、若无人机满足返航条件,则获取该无人机所使用的飞行模式、该无人机的飞行高度以及该无人机与返回位置之间的水平距离。
其中,301的具体实施方式与201的具体实施方式相同,具体可参见201对应的描述,在此不赘述。
302、确定该水平距离对应的返航范围。
其中,返航范围可包括旋翼返航范围、固定翼返航范围和超过固定翼返航范围,如前,可选的,确定该水平距离对应的返航范围,包括:若该水平距离小于旋翼返航距离,则确定该返航范围为旋翼返航范围;若该水平距离大于或等于旋翼返航距离,且小于固定翼返航距离,则确定该返航范围为固定翼返航范围;若该水平距离大于或等于固定翼返航距离,则确定该返航范围为超过固定翼返航范围。
可以理解,根据水平距离与预先设置的旋翼返航距离和固定翼返航距离进行对比,可得到无人机对应的返航范围。
303、根据该返航范围、该飞行模式以及该飞行高度确定返航策略。
请参照图4,图4描述了在返航范围为旋翼返航范围时的返航策略。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度小于旋翼返航高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下上升至旋翼返航高度、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,在返航范围为旋翼返航范围时,无人机需要进行旋翼返航。由于无人机当前的飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度。为了保证无人机的安全,首先需要将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式。由于飞行高度小于旋翼返航高度,为保证无人机的飞行安全,在切换为旋翼飞行模式之后,还需要在旋翼飞行模式下上升至旋翼返航高度,再以旋翼飞行模式进行返航。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度大于或等于旋翼返航高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,由于无人机当前的飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度,为了保证无人机的安全,首先需要将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式。由于当前的飞行高度大于或 等于旋翼返航高度,在切换为旋翼飞行模式之后,可直接以旋翼飞行模式进行返航。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于或等于节能上升高度,则返航策略包括控制无人机在固定翼飞行模式下上升至旋翼返航高度、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,飞行高度小于或等于节能上升高度时,控制无人机在固定翼飞行模式下上升至旋翼返航高度,可以达到节能的效果。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度小于节能下降高度,且飞行高度大于节能上升高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度大于或等于节能下降高度,则返航策略包括:控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,飞行高度大于或等于节能下降高度时,控制无人机在固定翼飞行模式下下降至目标值,可以达到节能的效果。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度小于旋翼返航高度,则返航策略包括:控制无人机在旋翼飞行模式下上升至旋翼返航高度、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,由于飞行模式为旋翼飞行模式,并且无人机的飞行高度小于旋翼返航高度,因此可先控制无人机在旋翼飞行模式下上升至旋翼返航高度,再控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度大于或等于旋翼返航高度,则返航策略包括:控制无人机在旋翼飞行模式下返航。
在该可选的方式中,由于飞行模式为旋翼飞行模式,并且飞行高度大于或等于旋翼返航高度,因此可控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于或等于节能上升高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下上升至旋翼返航高度、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼 飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,先将无人机的航向对准返回位置,可减少飞向返回位置的距离。在航向对准返回位置之后,可控制无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式,再控制无人机在固定翼飞行模式下上升至旋翼返航高度,使得无人机满足旋翼飞行模式的飞行高度。在执行上升至旋翼返航高度之后,将无人机的飞行模式由固定翼飞行模式切换为旋翼飞行模式,最后控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。该可选方式在飞行高度小于或等于节能上升高度时,控制无人机在固定翼飞行模式下上升至旋翼返航高度,可以达到节能的效果。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度小于节能下降高度,且飞行高度大于节能上升高度,则返航策略包括:控制无人机在旋翼飞行模式下返航。
可选的,如图4所示,若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度大于或等于节能下降高度,则该返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,先将无人机的航向对准返回位置,可减少飞向返回位置的距离。在航向对准返回位置之后,可将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式,再控制无人机在固定翼飞行模式下下降至目标值,在无人机下降至目标值之后,将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式,最后控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。该可选方式在飞行高度大于节能下降高度时,控制无人机在固定翼飞行模式下下降至目标值,可以达到节能的效果。
请参照图5,图5描述了在返航范围为固定翼返航范围时的返航步骤。
可选的,如图5所示,若返航范围为固定翼返航范围,飞行模式为固定翼飞行模式,且飞行高度小于固定翼安全高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下上升至固定翼安全高度、控制无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,在返航范围为固定翼返航范围时,可先采用固定翼飞行模式返航,再采用旋翼飞行模式返航。由于飞行模式为固定翼飞行模式,并且飞行高度小于固定翼安全高度,为保障无人机的安全,需要及时将固定翼飞行模式切换为旋翼飞行模式,因此需要先将无人机的飞行模式由固定翼飞行模 式直接切换为旋翼飞行模式。在切换为固定翼至旋翼之后,再控制无人机在旋翼飞行模式下上升至固定翼安全高度,再控制无人机的航向对准返回位置,可减少飞向返回位置的距离。再将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式。再控制无人机在固定翼飞行模式下返航,再将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式,最后控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。通过旋翼返航回到返回位置降低了对返回位置场地的要求。
可选的,如图5所示,若返航范围为固定翼返航范围,飞行模式为固定翼飞行模式,且飞行高度大于或等于固定翼安全高度,则返航策略包括:控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,由于飞行模式为固定翼飞行模式,并且飞行高度大于或等于固定翼安全高度。因此,可直接控制无人机在固定翼飞行模式下返航,再将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式。最后控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。
可选的,如图5所示,若返航范围为固定翼返航范围,飞行模式为旋翼飞行模式,且飞行高度小于固定翼安全高度,则返航策略包括:控制无人机在旋翼飞行模式下上升至固定翼安全高度、将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,由于飞行模式为旋翼飞行模式,并且飞行高度小于固定翼安全高度。为保障无人机的安全,需控制无人机在旋翼飞行模式下上升至固定翼安全高度,在上升至固定翼安全高度之后,再将无人机的航向对准返回位置,可减少飞向返回位置的距离。在航向对准返回位置之后,再将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式,控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式,使得无人机从固定翼飞行模式切换至旋翼飞行模式。最后控制无人机在旋翼飞行模式下返航,使得无人机返航至返回位置。
可选的,如图5所示,若返航范围为固定翼返航范围,飞行模式为旋翼飞行模式,且飞行高度大于或等于固定翼安全高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
在该可选的方式中,先将无人机的航向对准返回位置,可减少飞向返回位置的距离。再将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式,再控制无人机在固定翼飞行模式下返航,再将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式。最后执行控制无人机在旋翼飞行模式下返航, 使得无人机返航至返回位置。
请参照图6,图6描述了在返航范围为超过固定翼返航范围时的返航步骤。
可选的,如图6所示,若返航范围为超过固定翼返航范围,飞行模式为固定翼飞行模式,且飞行高度小于固定翼安全高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落。
在该可选的方式中,由于飞行高度小于固定翼安全高度,为了保障无人机的安全,可先将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式。当返航范围为超过固定翼返航范围时,此时可能由于无人机距离返回位置太远,无人机的剩余电量不足以支持无人机返航至返回位置。因此在切换为旋翼飞行模式之后,可控制无人机在旋翼飞行模式下降落,以实现无人机就近降落。
可选的,如图6所示,若返航范围为超过固定翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于节能下降高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落。
可选的,如图6所示,若返航范围为超过固定翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度大于或等于节能下降高度,则返航策略包括:控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落。
在该可选的方式中,飞行高度大于或等于节能下降高度时,控制无人机在固定翼飞行模式下下降至目标值,能达到节能的效果。
可选的,如图6所示,若返航范围为超过固定翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于节能下降高度,则返航策略包括:控制无人机在旋翼飞行模式下降落。
可选的,如图6所示,若返航范围为超过固定翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于节能下降高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落。
在该可选的方式中,先将无人机的航向对准返回位置,可减少无人机飞向返回位置的距离。再将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式。在飞行高度大于或等于节能下降高度时,控制无人机在固定翼飞行模式下下降至目标值,能达到节能的效果。再将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式,最后控制无人机在旋翼飞行模式下降落。
本申请对于返航策略对应的返航路径不做限定,可选的,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度时,控制所 述无人机沿第一固定翼盘旋上升航线上升至所述旋翼返航高度。
例如,图7为本申请实施例公开的一种第一固定翼盘旋上升航线的示意图。如图7所示,无人机从A点沿着第一固定翼盘旋上升航线L1盘旋上升至B点,其中,B点的高度为旋翼返航高度。
在一种可能的示例中,第一固定翼盘旋上升航线是根据第一航迹倾角和第一上升圈数,以及预设盘旋半径确定的;该第一航迹倾角和该第一上升圈数是根据旋翼返航高度与飞行高度之间的差值,预设盘旋半径以及最大航迹倾角确定的。
其中,第一上升圈数为以固定翼飞行模式进行盘旋,上升至旋翼返航高度的圈数。第一航迹倾角为每盘旋一圈无人机的姿态角度。
可以理解,无人机可根据第一航迹倾角、第一上升圈数以及预设盘旋半径进行盘旋,以使无人机上升至旋翼返航高度。如此,在无人机上升至旋翼返航高度之后,可提高以旋翼飞行模式返航至返回位置的安全性。
本申请对于确定第一航迹倾角和第一上升圈数的方法不做限定,例如,图8为本申请实施例公开的一种计算第一航迹倾角和第一上升圈数的示意图。如图8所示,第一直角边H1的长度为盘旋上升的垂直高度,由于预设盘旋半径R是固定的,则每盘旋一圈,水平距离即增加2πR的长度,则盘旋第一圈可得到由第一直角边H1和第二直角边H2和第一斜边T1组成的第一垂直三角形,该第二直角边H2的长度为2πR。盘旋第二圈可得到由第一直角边H1,第三直角边H3和第二斜边T2组成的第二垂直三角形,该第三直角边H3的长度为4πR,以此类推。在第一垂直三角形中,根据该第一直角边H1和第二直角边H2计算第一夹角θ1。若第一夹角小于或等于最大航迹倾角,则确定该第一航迹倾角为第一夹角θ1,第一上升圈数为1;否则,根据该第一直角边H1和第三直角边H3计算第二夹角θ2。若第二夹角θ2小于或等于最大航迹倾角,则确定该第一航迹倾角为第二夹角,第一上升圈数为2,以此类推,使得最后得到的夹角小于或等于最大航迹倾角,从而根据盘旋上升的垂直高度、预设盘旋半径R和最大航迹倾角进行计算,以得到第一航迹倾角和第一上升圈数。在该实施例中,盘旋上升的垂直高度为旋翼返航高度与飞行高度之间的差值。如此,根据旋翼返航高度与飞行高度之间的差值,预设盘旋半径以及最大航迹倾角确定第一航迹倾角和第一上升圈数。
可选的,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下下降至目标值时,控制所述无人机沿第一固定翼盘旋下降航线下降至目标值。
例如,图9为本申请实施例公开的一种第一固定翼盘旋下降航线的示意图。如图9所示,无人机从C点沿着第一固定翼盘旋下降航线L2盘旋下降至D点,其中,D点的高度为目标值,即固定翼安全高度与旋翼返航高度之间的最大值。
在一种可能的示例中,第一固定翼盘旋下降航线是根据第二航迹倾角和第一下降圈数,以及预设盘旋半径确定的,该第二航迹倾角和该第一下降圈数是根据飞行高度与目标值之间的差值,预设盘旋半径以及最大航迹倾角确定的。
其中,第一下降圈数为以固定翼飞行模式进行盘旋,下降至目标值的圈数。第二航迹倾角为每盘旋一圈无人机的姿态角度。可以理解,无人机可根据第二航迹倾角、第一下降圈数以及预设盘旋半径进行盘旋,以使无人机下降至目标值的圈数。如此,在无人机下降至目标值之后,可在保证以旋翼飞行模式飞行的安全性的基础上,节省功耗。
具体的确定第二航迹倾角和第一下降圈数的方法可参照图8的描述,在此不再赘述。即根据盘旋下降的垂直高度,预设盘旋半径和最大航迹倾角进行计算,以得到第二航迹倾角和第一下降圈数。在该实施例中,盘旋下降的垂直高度为飞行高度与目标值之间的差值。如此,根据飞行高度与目标值之间的差值,预设盘旋半径以及最大航迹倾角确定第二航迹倾角和第一下降圈数。
可选的,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下返航时,控制所述无人机沿第二固定翼盘旋上升航线上升、沿固定翼水平航线飞行、沿第二固定翼盘旋下降航线下降。
可选的,可通过dubins曲线的规划算法确定固定翼水平航线,或通过其他算法确定固定翼水平航线,本申请实施例不做限定。
可选的,固定翼水平航线包括初始圆、结束圆和目标切线,该目标切线与该初始圆相切于第一切点,该目标切线与该结束圆相切于第二切点,该初始圆是根据无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点,预设盘旋半径和无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的起始点与返回位置之间的连线确定的,该结束圆是根据无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点、预设盘旋半径和连线确定的,该结束圆的圆心在连线上。
请参照图10,图10为固定翼返航的轨迹的示意图。如图10所示,固定翼水平航线包括初始圆C1、结束圆C2和目标切线IJ。其中,目标切线IJ与初始圆C1相切于第一切点I,目标切线IJ与结束圆C2相切于第二切点J。O点为返回位置,E点为无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的起始点。F点为无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点,且F点为初始圆C1与连线EO相切的点。G点为无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点,且G点为结束圆C2与连线GO相切的点。Q点为结束圆C2的圆心,且Q点在连线EO上。
在可选实施例中,在已知E点和O点的位置之后,可确定连线EO。而F点在连线EO上,无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的距离(即连线EF之间的距离)是固定的,因此,可确定点F的位置。又因为初始圆C1与连线EO相切于F点,因此,根据点F、预设盘旋半径R和连线EO确定初始圆C1。
在可选实施例中,结束圆C2的半径为预设盘旋半径R,无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的距离(即连线GO点之间的距离)是固定的,结束圆C2的圆心Q处于连线EO上。因此,在已知O点的位 置和连线GO的距离,以及预设盘旋半径R之后,可确定圆心Q的位置。再根据圆心Q的位置以及预设盘旋半径R,可确定结束圆C2。因此,根据G点、预设盘旋半径R和连线EO确定结束圆C2。
可选的,第二固定翼盘旋上升航线是根据第二上升圈数和第三航迹倾角以及预设盘旋半径确定的,该第二上升圈数和该第三航迹倾角是根据第一投影点与无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点之间的弧长、固定翼返航高度与固定翼安全高度之间的差值,预设盘旋半径以及最大航迹倾角确定的,该第一投影点为第一切点投影至无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点所在平面的点。
本申请对于确定第三航迹倾角和第二上升圈数的方法不做限定,例如,如图11所示,盘旋上升的垂直距离为第四直角边H4的长度,盘旋第一圈可得到由第四直角边H4,第五直角边H5和第三斜边T3组成的第三垂直三角形,该第五直角边H5的长度为初始水平距离W与2πR之间的和值。盘旋第二圈可得到由第四直角边H4,第六直角边H6和第四斜边T4组成的第四垂直三角形,该第六直角边H6的长度为初始水平距离W与4πR之间的和值,以此类推。在第三垂直三角形中,根据该第四直角边H4和第五直角边H5可计算第三夹角θ3。若第三夹角θ3小于或等于最大航迹倾角,则确定该第三航迹倾角为第三夹角θ3,第二上升圈数为1;否则,在第四垂直三角形中,根据该第四直角边H4和第六直角边H6可计算第四夹角θ4。若第四夹角θ4小于或等于最大航迹倾角,则确定该第三航迹倾角为第四夹角θ4,第二上升圈数为2,以此类推,使得最后得到的夹角小于或等于最大航迹倾角,从而根据盘旋上升的垂直高度,初始水平距离W,预设盘旋半径R和最大航迹倾角进行计算,以得到第三航迹倾角和第二上升圈数。
基于此,在该实施例中,初始水平距离W为第一切点与无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点所在平面的点之间的弧长。盘旋上升的垂直高度为固定翼返航高度与固定翼安全高度之间的差值,如此,根据固定翼返航高度与固定翼安全高度之间的差值,第一投影点与无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点之间的弧长,预设盘旋半径R和最大航迹倾角确定第三航迹倾角和第二上升圈数,再根据第二上升圈数和第三航迹倾角以及预设盘旋半径R确定第二固定翼盘旋上升航线。
可选的,第二固定翼盘旋下降航线是根据第二下降圈数和第四航迹倾角、以及预设盘旋半径确定的,该第二下降圈数和该第四航迹倾角是根据第二投影点与无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点之间的弧长、固定翼返航高度与目标值之间的差值、预设盘旋半径以及最大航迹倾角确定的,该目标值为固定翼安全高度与旋翼返航高度之间的最大值,该第二投影点为第二切点投影至无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点所在平面的点。
同理,对于规划第二固定翼盘旋下降航线的方法可参照图11的描述,在该 实施例中,根据盘旋下降的垂直高度(目标值与固定翼返航高度之间的差值)、第二投影点与无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点之间的弧长、预设盘旋半径和最大航迹倾角确定第四航迹倾角和第二下降圈数,再根据第二下降圈数和第四航迹倾角、以及预设盘旋半径确定第二固定翼盘旋下降航线。
举例来说,图12为本申请实施例提供的另一种固定翼返航的轨迹的示意图。在图12中,点F为无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点。点G为无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点。点I为第一切点,点J为第二切点。点I、点J的高度为固定翼返航高度,点G的高度为目标值。如图8所示,无人机从点F沿着第二固定翼盘旋上升航线L3盘旋上升至点I。再从该第一切点I水平直线飞行至第二切点J,然后从该J点沿着第二固定翼盘旋下降航线L4盘旋下降至起始点G。可选的,为进一步提高飞行稳定性,无人机到达I点后可沿直线IJ所确定的平面进行盘旋平飞,在盘旋平飞后沿IJ所确定的航线飞行。可选的,无人机到达J点后可沿直线IJ所确定的平面进行盘旋平飞,在盘旋平飞后沿着第二固定翼盘旋下降航线L4盘旋下降至起始点G。
需要说明的是,若控制所述无人机在所述固定翼飞行模式下返航的前一个步骤不是将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的步骤,则第二上升圈数和第三航迹倾角是根据固定翼返航高度与固定翼安全高度之间的差值,预设盘旋半径以及最大航迹倾角确定的。
304、根据该返航策略,控制该无人机进行返航。
可选的,根据该返航策略,控制该无人机进行返航包括:调用与该返航策略对应的返航模式以控制该无人机进行返航。
需要说明的是,本领域技术人员可根据返航策略设定对应的返航模式,以在根据该返航策略,控制该无人机进行返航时,可以调用与该返航策略对应的返航模式以控制该无人机进行返航,提高无人机返航的控制效率。
其中,304的具体实施方式与203的具体实施方式相同,具体可参见203对应的描述,在此不赘述。
通过实施图3所描述的方法,若无人机满足返航条件,则获取该无人机所使用的飞行模式、该无人机的飞行高度以及该无人机与返回位置之间的水平距离。然后,确定该水平距离对应的返航范围,根据该返航范围、该飞行模式以及该飞行高度确定返航策略。然后,根据该返航策略,控制无人机进行返航。通过这种方式,考虑了无人机的飞行模式以及飞行高度和水平距离,有利于提升无人机的返航性能。
请参见图13,图13为本申请实施例中提供的一种飞行控制装置的结构示意图,该飞行控制装置应用于无人机,无人机具有固定翼飞行模式和旋翼飞行 模式,该飞行控制装置包括存储器1301和处理器1302。可选的,存储器1301和处理器1302可通过总线***1303相连。
存储器1301,用于存储程序指令。存储器1301可以包括易失性存储器(volatile memory),例如随机存取存储器(random-access memory,RAM);存储器1301也可以包括非易失性存储器(non-volatile memory),例如快闪存储器(flash memory),固态硬盘(solid-state drive,SSD)等;存储器1301还可以包括上述种类的存储器的组合。
处理器1302可以包括中央处理器(central processing unit,CPU)。处理器1302还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)等。上述PLD可以是现场可编程逻辑门阵列(field-programmable gate array,FPGA),通用阵列逻辑(generic array logic,GAL)等。其中,处理器1302调用存储器1301中的程序指令用于执行以下步骤:
若无人机满足返航条件,则获取无人机当前的飞行模式、无人机的飞行高度以及无人机与返回位置之间的水平距离;
根据飞行模式、水平距离和飞行高度确定返航策略;
根据返航策略,控制无人机进行返航。
可选的,所述返航策略包括:控制所述无人机的飞行模式在所述固定翼飞行模式和所述旋翼飞行模式之间切换。
可选的,处理器1302根据飞行模式、水平距离和飞行高度确定返航策略的方式具体为:
确定水平距离对应的返航范围;
根据返航范围、飞行模式以及飞行高度确定返航策略。
可选的,处理器1302确定水平距离对应的返航范围的方式具体为:
若水平距离小于旋翼返航距离,则确定返航范围为旋翼返航范围;
若水平距离大于或等于旋翼返航距离,且小于固定翼返航距离,则确定返航范围为固定翼返航范围;
若水平距离大于或等于固定翼返航距离,则确定返航范围为超过固定翼返航范围。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度小于旋翼返航高度,则返航策略包括:将无人机 的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下上升至旋翼返航高度、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度大于或等于旋翼返航高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于或等于节能上升高度,则返航策略包括:控制无人机在固定翼飞行模式下上升至旋翼返航高度、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度小于节能下降高度,且飞行高度大于节能上升高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度大于或等于节能下降高度,则返航策略包括:控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航,目标值为固定翼安全高度与旋翼返航高度之间的最大值。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度小于旋翼返航高度,则返航策略包括:控制无人机在旋翼飞行模式下上升至旋翼返航高度、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于固定翼安全高度,且飞行高度大于或等于旋翼返航高度,则返航策略包括:控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于或等于节能上升高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下上升至旋翼返航高度、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度小于节能下降高度,且飞行高度大于节能上升高度,则返航策略包括:控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为旋翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于固定翼安全高度,飞行高度大于或等于节能下降高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航,目标值为固定翼安全高度与旋翼返航高度之间的最大值。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为固定翼返航范围,飞行模式为固定翼飞行模式,且飞行高度小于固定翼安全高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式直接切换为旋翼飞行模式、控制无人机在旋翼飞行模式下上升至固定翼安全高度、控制无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为固定翼返航范围,飞行模式为固定翼飞行模式,且飞行高度大于或等于固定翼安全高度,则返航策略包括:控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为固定翼返航范围,飞行模式为旋翼飞行模式,且飞行高度小于固定翼安全高度,则返航策略包括:控制无人机在旋翼飞行模式下上升至固定翼安全高度、将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为固定翼返航范围,飞行模式为旋翼飞行模式,且飞行高度大于或等于固定翼安全高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下返航、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为超过固定翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度小于节能下降高度,则返航策略包括:将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为超过固定翼返航范围,飞行模式为固定翼飞行模式,飞行高度大于或等于固定翼安全高度,且飞行高度大于或等于节能下降高度,则返航策略包括:控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落目标值为固定翼安全高度与旋翼返航高度之间的最大值。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为超过固定翼返航范围,飞行模式为旋翼飞行模式,飞行高度小于节能下降高度,则返航策略包括:控制无人机在旋翼飞行模式下降落。
可选的,处理器1302根据返航范围、飞行模式以及飞行高度确定返航策略的方式具体为:
若返航范围为超过固定翼返航范围,飞行模式为旋翼飞行模式,飞行高度大于或等于节能下降高度,则返航策略包括:将无人机的航向对准返回位置、将无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制无人机在固定翼飞行模式下下降至目标值、将无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下降落,目标值为固定翼安全高度与旋翼返航高度之间的最大值。
可选的,当返航策略包括控制无人机在固定翼飞行模式下上升至旋翼返航高度时,控制无人机沿第一固定翼盘旋上升航线上升至旋翼返航高度。
可选的,第一固定翼盘旋上升航线是根据第一航迹倾角和第一上升圈数,以及预设盘旋半径确定的;第一航迹倾角和第一上升圈数是根据旋翼返航高度与飞行高度之间的差值,预设盘旋半径以及最大航迹倾角确定的。
可选的,当返航策略包括控制无人机在固定翼飞行模式下下降至目标值时,控制无人机沿第一固定翼盘旋下降航线下降至目标值,目标值为固定翼安全高度与旋翼返航高度之间的最大值。
可选的,第一固定翼盘旋下降航线是根据第二航迹倾角和第一下降圈数,以及预设盘旋半径确定的,第二航迹倾角和第一下降圈数是根据飞行高度与目标值之间的差值,预设盘旋半径以及最大航迹倾角确定的。
可选的,当返航策略包括控制无人机在固定翼飞行模式下返航时,控制无人机沿第二固定翼盘旋上升航线上升、沿固定翼水平航线飞行、沿第二固定翼盘旋下降航线下降。
可选的,固定翼水平航线包括初始圆、结束圆和目标切线,目标切线与初始圆相切于第一切点,目标切线与结束圆相切于第二切点,初始圆是根据无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点,预设盘旋半径和无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的起始点与返回位置之间的连线确定的,结束圆是根据无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点、预设盘旋半径和连线确定的,结束圆的圆心在连线上。
可选的,第二固定翼盘旋上升航线是根据第二上升圈数和第三航迹倾角以及预设盘旋半径确定的,第二上升圈数和第三航迹倾角是根据第一投影点与无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点之间的弧长、固定翼返航高度与固定翼安全高度之间的差值,预设盘旋半径以及最大航迹倾角确定的,第一投影点为第一切点投影至无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点所在平面的点。
可选的,第二固定翼盘旋下降航线是根据第二下降圈数和第四航迹倾角、以及预设盘旋半径确定的,第二下降圈数和第四航迹倾角是根据第二投影点与无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点之间的弧长、固定翼返航高度与目标值之间的差值、预设盘旋半径以及最大航迹倾角确定的,目标值为固定翼安全高度与旋翼返航高度之间的最大值,第二投影点为第二切点投影至无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点所在平面的点。
可选的,无人机满足返航条件,包括以下一种或多种:
无人机的电池的剩余电量与无人机返航所需电量之差小于或等于预设电量阈值;
无人机与控制终端断开连接的时间大于时间阈值;
无人机的硬件设备出现故障;
当前风速大于无人机安全飞行的预设风速阈值;
获取到控制终端发送的返航指令。
基于同一申请构思,本申请实施例中提供的飞行控制装置解决问题的原理与本申请方法实施例相似,因此该装置的实施可以参见方法的实施,其有益效果可以参见方法的有益效果,为简洁描述,在这里不再赘述。
本申请实施例还提供一种无人机,其中,该无人机具有固定翼飞行模式和旋翼飞行模式,包括机身、通信装置以及如图13所述的飞行控制装置,该通信装置,用于与控制终端进行通信。
在上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述的部分,可以参见其他实施例的相关描述。
本领域技术人员应该可以意识到,在上述一个或多个示例中,本申请所描述的功能可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时,可以将这些功能存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质,其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上所述的具体实施方式,对本申请的目的、技术方案和有益效果进行了进一步详细说明,所应理解的是,以上所述仅为本申请的具体实施方式而已,并不用于限定本申请的保护范围,凡在本申请的技术方案的基础之上,所做的任何修改、等同替换、改进等,均应包括在本申请的保护范围之内。
Claims (65)
- 一种无人机的返航控制方法,其特征在于,所述无人机具有固定翼飞行模式和旋翼飞行模式,所述方法包括:若所述无人机满足返航条件,则获取所述无人机当前的飞行模式、所述无人机的飞行高度以及所述无人机与返回位置之间的水平距离;根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略;根据所述返航策略,控制所述无人机进行返航。
- 根据权利要求1所述的方法,其特征在于,所述返航策略包括:控制所述无人机的飞行模式在所述固定翼飞行模式和所述旋翼飞行模式之间切换。
- 根据权利要求1所述的方法,其特征在于,所述根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略,包括:确定所述水平距离对应的返航范围;根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略。
- 根据权利要求3所述的方法,其特征在于,所述确定所述水平距离对应的返航范围,包括:若所述水平距离小于旋翼返航距离,则确定所述返航范围为旋翼返航范围;若所述水平距离大于或等于所述旋翼返航距离,且小于固定翼返航距离,则确定所述返航范围为固定翼返航范围;若所述水平距离大于或等于所述固定翼返航距离,则确定所述返航范围为超过固定翼返航范围。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度小于旋翼返航高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下上升至所述旋翼返航高度、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度大于或等于旋翼返航高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于或等于节能上升高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下 上升至旋翼返航高度、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度小于节能下降高度,且所述飞行高度大于节能上升高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度大于或等于节能下降高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度小于旋翼返航高度,则所述返航策略包括:控制无人机在旋翼飞行模式下上升至所述旋翼返航高度、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度大于或等于旋翼返航高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于或等于节能上升高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、 所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度小于节能下降高度,且所述飞行高度大于节能上升高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度大于或等于节能下降高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下上升至所述固定翼安全高度、控制所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度大于或等于固定翼安全高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述旋翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下上升至所述固定翼安全高度、将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由旋翼飞行模式平滑切换为固定 翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述旋翼飞行模式,且所述飞行高度大于或等于固定翼安全高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于节能下降高度,则所述返航策略包括:将所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度大于或等于节能下降高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于节能下降高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求4所述的方法,其特征在于,所述根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略,包括:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于节能下降高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落,所述目标值为固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求1所述的方法,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度时,控制所述无人机沿第一固定翼盘旋上升航线上升至所述旋翼返航高度。
- 根据权利要求24所述的方法,其特征在于,所述第一固定翼盘旋上升航线是根据第一航迹倾角和第一上升圈数,以及预设盘旋半径确定的;所述第一航迹倾角和所述第一上升圈数是根据旋翼返航高度与所述飞行高度之间的差值,所述预设盘旋半径以及最大航迹倾角确定的。
- 根据权利要求1所述的方法,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下下降至目标值时,控制所述无人机沿第一固定翼盘旋下降航线下降至目标值,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求26所述的方法,其特征在于,所述第一固定翼盘旋下降航线是根据第二航迹倾角和第一下降圈数,以及预设盘旋半径确定的,所述第二航迹倾角和所述第一下降圈数是根据所述飞行高度与所述目标值之间的差值,所述预设盘旋半径以及最大航迹倾角确定的。
- 根据权利要求1所述的方法,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下返航时,控制所述无人机沿第二固定翼盘旋上升航线上升、沿固定翼水平航线飞行、沿第二固定翼盘旋下降航线下降。
- 根据权利要求28所述的方法,其特征在于,所述固定翼水平航线包括初始圆、结束圆和目标切线,所述目标切线与所述初始圆相切于第一切点,所述目标切线与所述结束圆相切于第二切点,所述初始圆是根据所述无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点,预设盘旋半径和所述无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的起始点与所述返回位置之间的连线确定的,所述结束圆是根据所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点、所述预设盘旋半径和所述连线确定的,所述结束圆的圆心在所述连线上。
- 根据权利要求29所述的方法,其特征在于,所述第二固定翼盘旋上升航线是根据第二上升圈数和第三航迹倾角以及预设盘旋半径确定的,所述第二上升圈数和所述第三航迹倾角是根据第一投影点与所述无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点之间的弧长、所述固定翼返航高度与所述固定翼安全高度之间的差值,所述预设盘旋半径以及最大航迹倾角确定的,所 述第一投影点为所述第一切点投影至所述无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点所在平面的点。
- 根据权利要求29所述的方法,其特征在于,所述第二固定翼盘旋下降航线是根据第二下降圈数和第四航迹倾角、以及预设盘旋半径确定的,所述第二下降圈数和所述第四航迹倾角是根据第二投影点与所述无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点之间的弧长、所述固定翼返航高度与目标值之间的差值、所述预设盘旋半径以及最大航迹倾角确定的,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值,所述第二投影点为所述第二切点投影至所述无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点所在平面的点。
- 根据权利要求1-31任一项所述的方法,其特征在于,所述无人机满足返航条件,包括以下一种或多种:所述无人机的电池的剩余电量与所述无人机返航所需电量之差小于或等于预设电量阈值;所述无人机与控制终端断开连接的时间大于时间阈值;所述无人机的硬件设备出现故障;当前风速大于所述无人机安全飞行的预设风速阈值;获取到所述控制终端发送的返航指令。
- 一种飞行控制装置,其特征在于,所述飞行控制装置应用于无人机,所述无人机具有固定翼飞行模式和旋翼飞行模式,所述飞行控制装置包括:存储器、处理器,其中:所述存储器,用于存储程序指令;所述处理器,调用所述程序指令以用于:若所述无人机满足返航条件,则获取所述无人机当前的飞行模式、所述无人机的飞行高度以及所述无人机与返回位置之间的水平距离;根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略;根据所述返航策略,控制所述无人机进行返航。
- 根据权利要求33所述的装置,其特征在于,所述返航策略包括:控制所述无人机的飞行模式在所述固定翼飞行模式和所述旋翼飞行模式之间切换。
- 根据权利要求33所述的装置,其特征在于,所述处理器根据所述飞行模式、所述水平距离和所述飞行高度确定返航策略时,具体用于:确定所述水平距离对应的返航范围;根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略。
- 根据权利要求35所述的装置,其特征在于,所述处理器确定所述水平距离对应的返航范围时,具体用于:若所述水平距离小于旋翼返航距离,则确定所述返航范围为旋翼返航范围;若所述水平距离大于或等于所述旋翼返航距离,且小于固定翼返航距离,则确定所述返航范围为固定翼返航范围;若所述水平距离大于或等于所述固定翼返航距离,则确定所述返航范围为超过固定翼返航范围。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度小于旋翼返航高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下上升至所述旋翼返航高度、控制无人机在旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度大于或等于旋翼返航高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于或等于节能上升高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度小于节能下降高度,且所述飞行高度大于节能上升高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度大于或等于节能下降高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航、所述目标值为 所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度小于旋翼返航高度,则所述返航策略包括:控制无人机在旋翼飞行模式下上升至所述旋翼返航高度、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于固定翼安全高度,且所述飞行高度大于或等于旋翼返航高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于或等于节能上升高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度小于节能下降高度,且所述飞行高度大于节能上升高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述旋翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于固定翼安全高度,所述飞行高度大于或等于节能下降高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航 范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下上升至所述固定翼安全高度、控制所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度大于或等于固定翼安全高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述旋翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下上升至所述固定翼安全高度、将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式、控制无人机在旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述固定翼返航范围,所述飞行模式为所述旋翼飞行模式,且所述飞行高度大于或等于固定翼安全高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下返航、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下返航。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,且所述飞行高度小于固定翼安全高度,则所述返航策略包括:将所述无人机的飞行模式由所述固定翼飞行模式直接切换为所述旋翼飞行模式、控 制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度小于节能下降高度,则所述返航策略包括:将所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式和控制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述固定翼飞行模式,所述飞行高度大于或等于固定翼安全高度,且所述飞行高度大于或等于节能下降高度,则所述返航策略包括:控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度小于节能下降高度,则所述返航策略包括:控制所述无人机在所述旋翼飞行模式下降落。
- 根据权利要求36所述的装置,其特征在于,所述处理器根据所述返航范围、所述飞行模式以及所述飞行高度确定所述返航策略时,具体用于:若所述返航范围为所述超过固定翼返航范围,所述飞行模式为所述旋翼飞行模式,所述飞行高度大于或等于节能下降高度,则所述返航策略包括:将所述无人机的航向对准所述返回位置、将所述无人机的飞行模式由所述旋翼飞行模式平滑切换为所述固定翼飞行模式、控制所述无人机在所述固定翼飞行模式下下降至目标值、将所述无人机的飞行模式由所述固定翼飞行模式平滑切换为所述旋翼飞行模式、控制所述无人机在所述旋翼飞行模式下降落,所述目标值为固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求33所述的装置,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下上升至旋翼返航高度时,控制所述无人机沿第一固定翼盘旋上升航线上升至所述旋翼返航高度。
- 根据权利要求56所述的装置,其特征在于,所述第一固定翼盘旋上升航线是根据第一航迹倾角和第一上升圈数,以及预设盘旋半径确定的;所述第一航迹倾角和所述第一上升圈数是根据旋翼返航高度与所述飞行高度之间的差值,所述预设盘旋半径以及最大航迹倾角确定的。
- 根据权利要求33所述的装置,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下下降至目标值时,控制所述无人机沿第一 固定翼盘旋下降航线下降至目标值,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值。
- 根据权利要求58所述的装置,其特征在于,所述第一固定翼盘旋下降航线是根据第二航迹倾角和第一下降圈数,以及预设盘旋半径确定的,所述第二航迹倾角和所述第一下降圈数是根据所述飞行高度与所述目标值之间的差值,所述预设盘旋半径以及最大航迹倾角确定的。
- 根据权利要求33所述的装置,其特征在于,当所述返航策略包括控制所述无人机在所述固定翼飞行模式下返航时,控制所述无人机沿第二固定翼盘旋上升航线上升、沿固定翼水平航线飞行、沿第二固定翼盘旋下降航线下降。
- 根据权利要求60所述的装置,其特征在于,所述固定翼水平航线包括初始圆、结束圆和目标切线,所述目标切线与所述初始圆相切于第一切点,所述目标切线与所述结束圆相切于第二切点,所述初始圆是根据所述无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的结束点,预设盘旋半径和所述无人机的飞行模式由旋翼飞行模式平滑切换为固定翼飞行模式的起始点与所述返回位置之间的连线确定的,所述结束圆是根据所述无人机的飞行模式由固定翼飞行模式平滑切换为旋翼飞行模式的起始点、所述预设盘旋半径和所述连线确定的,所述结束圆的圆心在所述连线上。
- 根据权利要求61所述的装置,其特征在于,所述第二固定翼盘旋上升航线是根据第二上升圈数和第三航迹倾角以及预设盘旋半径确定的,所述第二上升圈数和所述第三航迹倾角是根据第一投影点与所述无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点之间的弧长、所述固定翼返航高度与所述固定翼安全高度之间的差值,所述预设盘旋半径以及最大航迹倾角确定的,所述第一投影点为所述第一切点投影至所述无人机由旋翼飞行模式平滑切换为固定翼飞行模式的结束点所在平面的点。
- 根据权利要求61所述的装置,其特征在于,所述第二固定翼盘旋下降航线是根据第二下降圈数和第四航迹倾角、以及预设盘旋半径确定的,所述第二下降圈数和所述第四航迹倾角是根据第二投影点与所述无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点之间的弧长、所述固定翼返航高度与目标值之间的差值、所述预设盘旋半径以及最大航迹倾角确定的,所述目标值为所述固定翼安全高度与旋翼返航高度之间的最大值,所述第二投影点为所述第二切点投影至所述无人机由固定翼飞行模式平滑切换为旋翼飞行模式的起始点所在平面的点。
- 根据权利要求33-63任一项所述的装置,其特征在于,所述无人机满足返航条件,包括以下一种或多种:所述无人机的电池的剩余电量与所述无人机返航所需电量之差小于或等于预设电量阈值;所述无人机与控制终端断开连接的时间大于时间阈值;所述无人机的硬件设备出现故障;当前风速大于所述无人机安全飞行的预设风速阈值;获取到所述控制终端发送的返航指令。
- 一种无人机,其特征在于,所述无人机具有固定翼飞行模式和旋翼飞行模式,所述无人机包括:机身;通信装置,用于与控制终端进行通信;如权利要求33-63中任一项所述的飞行控制装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201980005013.9A CN111226184B (zh) | 2019-03-27 | 2019-03-27 | 返航控制方法、飞行控制装置及无人机 |
PCT/CN2019/079878 WO2020191666A1 (zh) | 2019-03-27 | 2019-03-27 | 返航控制方法、飞行控制装置及无人机 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2019/079878 WO2020191666A1 (zh) | 2019-03-27 | 2019-03-27 | 返航控制方法、飞行控制装置及无人机 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020191666A1 true WO2020191666A1 (zh) | 2020-10-01 |
Family
ID=70830165
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2019/079878 WO2020191666A1 (zh) | 2019-03-27 | 2019-03-27 | 返航控制方法、飞行控制装置及无人机 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN111226184B (zh) |
WO (1) | WO2020191666A1 (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113296544B (zh) * | 2021-07-27 | 2022-01-04 | 北京远度互联科技有限公司 | 无人机返航路径规划方法、无人机、电子设备及计算机可读存储介质 |
CN113296545B (zh) * | 2021-07-27 | 2021-11-30 | 北京远度互联科技有限公司 | 无人机返航路径规划方法、无人机、电子设备及计算机可读存储介质 |
CN113487915B (zh) * | 2021-09-06 | 2021-11-16 | 江苏启航航空科技有限公司 | 一种基于无人机飞行服务监管***及方法 |
CN113867417B (zh) * | 2021-12-06 | 2022-03-29 | 北京航空航天大学 | 一种无人机移动目标久航追踪方法 |
US20230351899A1 (en) * | 2022-04-27 | 2023-11-02 | David G. Fliszar | Navigation correction for excessive wind |
CN116088563A (zh) * | 2022-12-02 | 2023-05-09 | 安徽送变电工程有限公司 | 一种用于垂直起降固定翼的降落控制方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105867423A (zh) * | 2016-06-08 | 2016-08-17 | 杨珊珊 | 无人飞行器返航方法、返航***及其无人飞行器 |
CN106527481A (zh) * | 2016-12-06 | 2017-03-22 | 重庆零度智控智能科技有限公司 | 无人机飞行控制方法、装置及无人机 |
JP2017511764A (ja) * | 2014-12-15 | 2017-04-27 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 航空機、その離陸制御方法及びシステム、ならびに、着陸制御方法及びシステム |
WO2018028364A1 (zh) * | 2016-08-11 | 2018-02-15 | 深圳光启空间技术有限公司 | 无人机返航的控制方法和装置 |
CN108128455A (zh) * | 2017-11-30 | 2018-06-08 | 广州市华科尔科技股份有限公司 | 一种多旋翼无人机控制方法 |
CN108496134A (zh) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | 无人机返航路径规划方法及装置 |
CN108885462A (zh) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | 无人机的飞行控制方法、无人机及机器可读存储介质 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014089604A1 (en) * | 2012-12-13 | 2014-06-19 | Stoprotor Technology Pty Ltd | Aircraft and methods for operating an aircraft |
CN106502262A (zh) * | 2015-09-08 | 2017-03-15 | 中国农业机械化科学研究院 | 一种农用无人机飞行平台及其控制***和控制方法 |
CN105905294B (zh) * | 2016-04-25 | 2018-05-01 | 北京中科遥数信息技术有限公司 | 垂直起降固定翼无人机 |
CN106184737B (zh) * | 2016-09-23 | 2017-06-23 | 西北工业大学 | 复合式布局垂直起降飞行器以及垂直起降飞行方法 |
CN108572655B (zh) * | 2018-04-25 | 2022-05-13 | 重庆市亿飞智联科技有限公司 | 飞行控制方法及相关装置 |
-
2019
- 2019-03-27 CN CN201980005013.9A patent/CN111226184B/zh active Active
- 2019-03-27 WO PCT/CN2019/079878 patent/WO2020191666A1/zh active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017511764A (ja) * | 2014-12-15 | 2017-04-27 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 航空機、その離陸制御方法及びシステム、ならびに、着陸制御方法及びシステム |
CN105867423A (zh) * | 2016-06-08 | 2016-08-17 | 杨珊珊 | 无人飞行器返航方法、返航***及其无人飞行器 |
WO2018028364A1 (zh) * | 2016-08-11 | 2018-02-15 | 深圳光启空间技术有限公司 | 无人机返航的控制方法和装置 |
CN106527481A (zh) * | 2016-12-06 | 2017-03-22 | 重庆零度智控智能科技有限公司 | 无人机飞行控制方法、装置及无人机 |
CN108496134A (zh) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | 无人机返航路径规划方法及装置 |
CN108885462A (zh) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | 无人机的飞行控制方法、无人机及机器可读存储介质 |
CN108128455A (zh) * | 2017-11-30 | 2018-06-08 | 广州市华科尔科技股份有限公司 | 一种多旋翼无人机控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN111226184B (zh) | 2024-03-12 |
CN111226184A (zh) | 2020-06-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020191666A1 (zh) | 返航控制方法、飞行控制装置及无人机 | |
WO2020125636A1 (zh) | 一种自动返航方法、装置和无人机 | |
WO2020191647A1 (zh) | 一种无人机的降落控制方法、飞行控制设备及无人机 | |
CN110738872B (zh) | 用于空中交通工具的飞行控制***和相关方法 | |
WO2021244545A1 (zh) | 一种无人机制导方法、无人机及存储介质 | |
US9637227B2 (en) | Unmanned aerial vehicle hybrid rotor drive | |
US20170075360A1 (en) | Unmanned Aerial Vehicle Low-Power Operation | |
US20220055748A1 (en) | Obstacle avoidance method and apparatus for unmanned aerial vehicle landing, and unmanned aerial vehilce | |
WO2019056172A1 (zh) | 无人机的飞行控制方法、无人机及机器可读存储介质 | |
WO2018214074A1 (zh) | 无人飞行器的返航控制方法、设备及无人飞行器 | |
CN108528677B (zh) | 一种重心自调节无人机 | |
WO2018086030A1 (zh) | 一种无人机下降的控制方法、装置以及无人机 | |
WO2020237528A1 (zh) | 垂直起降无人机的飞行控制方法、设备及垂直起降无人机 | |
US20230280763A1 (en) | Method for protection unmanned aerial vehicle and unmanned aerial vehicle | |
US20210120176A1 (en) | Method of controlling gimbal, gimbal and uav | |
WO2021023187A1 (zh) | 一种倾转旋翼无人机的控制方法及倾转旋翼无人机 | |
US20220317708A1 (en) | Unmanned aerial vehicle protection method and apparatus and unmanned aerial vehicle | |
US11947366B2 (en) | Unmanned aerial vehicle severe low-power protection method and unmanned aerial vehicle | |
CN102915037A (zh) | 基于混合控制的四旋翼无人机增稳控制方法 | |
WO2021195828A1 (zh) | 无人机下降的控制方法和装置、无人机 | |
US11822350B2 (en) | Adjusting load on tethered aircraft | |
US20170369163A1 (en) | Aircraft system and method for vertical takeoff and landing | |
WO2020237529A1 (zh) | 一种无人机的飞行控制方法、设备及无人机 | |
CN104571127B (zh) | 无人直升机前飞速度/垂直速度匹配的巡线飞行控制方法 | |
KR20140089096A (ko) | 멀티로터 기반의 복합 무인 비행체의 주 날개 받음각 제어 시스템 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19920811 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19920811 Country of ref document: EP Kind code of ref document: A1 |