CN105667826B - A kind of control method and device of unmanned vehicle - Google Patents
A kind of control method and device of unmanned vehicle Download PDFInfo
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- CN105667826B CN105667826B CN201610122466.8A CN201610122466A CN105667826B CN 105667826 B CN105667826 B CN 105667826B CN 201610122466 A CN201610122466 A CN 201610122466A CN 105667826 B CN105667826 B CN 105667826B
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- 238000004891 communication Methods 0.000 claims abstract description 40
- 230000008054 signal transmission Effects 0.000 claims description 7
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
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Abstract
本发明公开了一种无人飞行器的控制方法及装置，该方法包括：通过传感器检测站点上的当前数据，判定当前数据是否满足预设条件，若当前数据满足预设条件时，通过无线通信模块向无人飞行器发送告知站点已被占用的第一指示信号；若当前数据不满足预设条件时，则通过无线通信模块向无人飞行器发送站点未被占用的第二指示信号。通过本发明实施例所提供的方法可以更加精确对站点上的需要降落的无人飞行器进行控制，从而保证无人飞行器能够有序的降落，避免了无人飞行器的降落冲突，提升了无人飞行器降落时的安全性。
The invention discloses a control method and device for an unmanned aerial vehicle. The method includes: detecting current data on a site through a sensor, determining whether the current data satisfies a preset condition, and if the current data satisfies the preset condition, using a wireless communication module Send a first indication signal to the unmanned aerial vehicle that the site is occupied; if the current data does not meet the preset conditions, send a second indication signal that the site is not occupied to the unmanned aerial vehicle through the wireless communication module. The method provided by the embodiment of the present invention can more accurately control the unmanned aerial vehicle that needs to land on the site, thereby ensuring that the unmanned aerial vehicle can land in an orderly manner, avoiding the landing conflict of the unmanned aerial vehicle, and improving the unmanned aerial vehicle. Safety during landing.
Description
Technical field
This application involves unmanned vehicle technical field more particularly to a kind of control method and device of unmanned vehicle.
Background technique
Currently, small miniature unmanned vehicle refers in particular to all kinds of more rotary wind types, hybrid-type small in size, light-weight nobody
Aircraft.The flight course of such unmanned vehicle can be implemented to directly control by ground remote control platform, remote controler, can also lead to
Computer, the software on server are crossed, carries out trajectory planning control in conjunction with principles such as electronic map, satellite positioning and navigation system.By
Greatly simplified in small miniature unmanned vehicle flight control mode, take off landing and flight course control security also compared with
Height is used widely now.
Opposite, due to small miniature unmanned vehicle, especially more rotor unmanned aircrafts are in landing, due to air-flow
Eddy current effect, sinking speed control at that time, are not easy to cause air crash or danger out of control.So small miniature unmanned vehicle
Automatic landing technology be conveniently, this automatic landing primarily directed to sinking speed and level point control, really
It protects and implements landing in a safety and rapid velocity interval, while ensuring to drop to a scheduled region.
One of implementation of above-mentioned automatic landing technology is just to provide a kind of and small miniature unmanned vehicle and matches
The automatic landing platform (website) closed, the platform can identify (cross, H font by GPS coordinate, wireless beacon, vision guide
Deng) landing place of unmanned vehicle guided.On the basis of position is guided, which can also be further provided for
The track of flight sinking speed and flight landing to unmanned vehicle provides intelligence auxiliary control.In this way, significantly reducing use
The operating pressure at family, user, which only needs to be absorbed in, completes aerial aerial mission using unmanned vehicle, in flight landing phases
It can let go and give entire descent to the intelligent interaction between unmanned vehicle and website to realize.
But in above-mentioned technology, have a problem that, when website and aircraft are one-one relationships, this scheme
It is perfect, but when a website corresponding with service is when more unmanned vehicles, possible initiation landing conflicts, or even landing thing
Therefore.
Summary of the invention
The embodiment of the invention provides a kind of control method and device of unmanned vehicle, to solve in the prior art one
A station services may cause the problem of landing conflict or even landing accident when more unmanned vehicles.
Its specific technical solution is as follows:
A kind of control method of unmanned vehicle, which comprises
The current data on website is detected by sensor；
Determine whether the current data meets preset condition；
If the current data meets preset condition, module sends to unmanned vehicle and informs station by wireless communication
Put occupied first indication signal；
If the current data is unsatisfactory for preset condition, module is to unmanned vehicle transmitting station by wireless communication
Unappropriated second indication signal.
Optionally, the current data detected by sensor on website, specifically:
The pressure value on the website is detected by the pressure sensor being arranged on website；
It is described to determine whether the current data meets preset condition, specifically:
Determine whether the pressure value detected is more than or equal to preset threshold.
Optionally, module sends to unmanned vehicle and informs website occupied first instruction letter by wireless communication
Number, comprising:
Generate first indication signal with setting signal format；
Module sends first indication signal with setting signal format to unmanned vehicle by wireless communication.
Optionally, module sends to unmanned vehicle and informs website occupied first instruction letter by wireless communication
Number, comprising:
Obtain the signal transmission power of setting；
According to the signal transmission power of setting, first indication signal is sent to unmanned vehicle.
Optionally, module sends to unmanned vehicle and informs website occupied first instruction letter by wireless communication
Number, comprising:
Determine preset flight parameter；
The flight parameter is added in first indication signal, and is flown by the wireless communication module to nobody
Row device sends first indication signal.
Optionally, it is sent in module by wireless communication to unmanned vehicle and informs website occupied first instruction letter
After number, further includes:
When detecting that the pressure value on the website is less than preset threshold by sensor, generating allows unmanned vehicle
Land the third indication signal of the website；
The third indication signal is sent to the unmanned vehicle of specified state of flight by the wireless communication module.
A kind of control device of unmanned vehicle, comprising:
Sensor, for detecting the current data on website；
Processor is connect with the sensor, for determining whether the current data meets preset condition；
Signal transceiver is connected to the processor, if meet preset condition for the current data, passes through nothing
Line communication module is sent to unmanned vehicle informs website occupied first indication signal；；If the current data is discontented
When sufficient preset condition, then by wireless communication module to unappropriated second indication signal of unmanned vehicle transmitting station.
Optionally, the sensor is specially pressure sensor, for detecting the pressure value on the website；
The processor, specifically for determining whether the pressure value detected is more than or equal to preset threshold.
Optionally, the processor has first indication signal of setting signal format specifically for generating；
The signal transceiver is specifically used for module by wireless communication and sends to unmanned vehicle with setting signal lattice
First indication signal of formula.
Optionally, the processor is also used to detecting that it is default that the pressure value on the website is less than by sensor
When threshold value, the third indication signal for allowing unmanned vehicle to land the website is generated；
The signal transceiver is also used to be sent to the third indication signal by the wireless communication module specified
The unmanned vehicle of state of flight.
In method provided by the present invention, the current data on website is detected by sensor, determines that current data is
No to meet preset condition, if current data meets preset condition, module is to unmanned vehicle transmitting station by wireless communication
Occupied first indication signal；If current data is unsatisfactory for preset condition, module flies to nobody by wireless communication
Unappropriated second indication signal of row device transmitting station.Provided method can be with more accurate on website through the invention
The unmanned vehicle that lands of needs controlled, to guarantee the landing that unmanned vehicle can be orderly, avoid nobody and fly
The landing conflict of row device improves safety when unmanned vehicle landing.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method of unmanned vehicle in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the control device of unmanned vehicle in the embodiment of the present invention.
Specific embodiment
Unmanned vehicle landing may be caused in more unmanned vehicles to solve a station service in the prior art
Conflict, or even the problem of initiation landing accident, the embodiment of the invention provides a kind of control method of unmanned vehicle, this method
Include: the current data detected by sensor on website, determine whether current data meets preset condition, if current data is full
When sufficient preset condition, module is sent to unmanned vehicle by wireless communication informs website occupied first indication signal；
If current data is unsatisfactory for preset condition, module is to unmanned vehicle transmitting station unappropriated by wireless communication
Two indication signals.Through the embodiment of the present invention provided method can be landed with the more accurate needs on website nobody fly
Row device is controlled, to guarantee the landing that unmanned vehicle can be orderly, avoids the landing conflict of unmanned vehicle, is promoted
Safety when unmanned vehicle landing.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that this hair
Particular technique feature in bright embodiment and embodiment is the explanation to technical solution of the present invention, rather than is limited, not
In the case where conflict, the particular technique feature in the embodiment of the present invention and embodiment be can be combined with each other.
It is as shown in Figure 1 a kind of flow chart of the control method of unmanned vehicle in the embodiment of the present invention, this method comprises:
S101 detects the current data on website by sensor；
What needs to be explained here is that in embodiments of the present invention, which is the place of the stop of unmanned vehicle, the station
Point includes main body, satellite navigation and positioning module, wireless signal transceiver module, landing guiding function module.
Satellite navigation and positioning module on website can orient current position coordinates, and receive and dispatch mould by wireless signal
Block issues the location information of website to periphery, when wireless signal transceiver module receives the landing request of wireless aircraft, stands
Point will complete Information Authentication between unmanned vehicle and to code, the flight control process of adapter tube unmanned vehicle, and to nobody
Aircraft issues flight control instruction, may include landing cruise speed set, landing place coordinate etc. in the control instruction.
After unmanned vehicle receives above-mentioned control instruction, implement to land according to predetermined position coordinate.
In embodiments of the present invention, if there is the landing of unmanned vehicle on a station, then other nobody
Aircraft cannot drop to again on the website, so the sensor being arranged on website can detect the current number on website in real time
According to can detect the data by two kinds of data in the embodiment of the present invention.
The sensor can be pressure sensor, which is arranged on the surface for stopping unmanned vehicle,
When unmanned vehicle is stopped on this site, pressure sensor will test the pressure that unmanned vehicle is applied to website surface.
Therefore it can detect whether unmanned vehicle rests on website by pressure sensor.
The sensor can also be imaging sensor, which can take the object of website upper surface stop
Body can be rested in after imaging sensor collects image by image analysis to determine whether there is unmanned vehicle
On website.
For above content, the current data detected on website can be pressure value either image data.
After collecting image by sensor, step S102 is entered.
S102, determines whether current data meets preset condition；
Specifically, collected data may be pressure value in S101, it is also possible to image data.So for not
Same data are just corresponding with different determination methods.
If the current data is the pressure value detected by pressure sensor, whether the pressure value detected is determined
More than or equal to preset threshold.Here preset threshold can be the total weight of the unmanned vehicle of specific model, naturally it is also possible to
It is a theoretical estimated value, can also be according to different application scenarios the value set.
If the current data is the image data detected by imaging sensor, acquired image data are determined
In object volume whether be greater than preset threshold, preset threshold here can be set according to the volume size of unmanned vehicle
It is fixed, it can also be with the customized value of user.
If current data meets preset condition, then S103 is executed；If current data is unsatisfactory for preset condition, then
Execute S104.
S103, module is sent to unmanned vehicle by wireless communication informs website occupied first indication signal；
S104, module is to unappropriated second indication signal of unmanned vehicle transmitting station by wireless communication.
Specifically, in embodiments of the present invention, when the pressure value that pressure sensor detects is more than or equal to preset threshold
When, then illustrate to have stopped unmanned vehicle on website, will be sent to other unmanned vehicles inform that current site is occupied at this time
First indication signal, first indication signal illustrate to have stopped unmanned vehicle on website.And it needs to drop to this
The unmanned vehicle of website will be switched to specified state of flight, such as be switched to hovering when receiving first indication signal
State of flight, waits the instruction of website, or is switched to manual state of flight, to prompt control terminal manual manipulation unmanned flight
Device drops to other websites.The landing of other unmanned vehicles thus is avoided that on this site, so as to avoid unmanned vehicle
Landing conflict promotes the safety of unmanned vehicle landing.
Certainly, if detect that image data meets preset condition by imaging sensor, then illustrate to stop on website
Unmanned vehicle will send to other unmanned vehicles inform current site occupied first indication signal at this time,
It needs to drop to the unmanned vehicle of the website in this way when receiving first indication signal, specified state of flight will be switched to,
Such as it is switched to hovering flight state, the instruction of website is waited, or be switched to manual state of flight, to prompt control terminal
Manual manipulation unmanned vehicle drops to other websites.
If collected current data is unsatisfactory for preset condition, then illustrate that nobody stopped is not present on the website to fly
Row device, thus by wireless communication module to unappropriated second indication signal of unmanned vehicle transmitting station, in this way other
Unmanned vehicle can drop on the website of the free time.
It, can be whether there is unmanned vehicle on accurate detection website, and there are nobody by above-mentioned method
In the case where aircraft, website occupied first indication signal timely is issued to other unmanned vehicles, is kept away in this way
The landing conflict for exempting from unmanned vehicle on same website avoids the safety accident generated when the landing of unmanned vehicle, is promoted
The flight safety of unmanned vehicle.
Further, in embodiments of the present invention, in order to enable the first indication signal that website issues will not be normal to other
Unmanned vehicle interfere, so the transmission power of signal that website issues will be sent out according to the signal transmission power of setting
Out.
Such as website need to unmanned vehicle issue hovering flight indication signal when, website will acquire setting
Signal transmission power, since signal transmission power is restricted, so the coverage area of signal that website issues is limited by,
The coverage area of signal can be 0-5 meters either 0-8 meters, and preferential can be 0-5 meters.Make in this way other normal flights without
People's aircraft not will receive interference.
Further, in embodiments of the present invention, in order to further decrease the interference to the unmanned vehicle in regional scope,
The first indication signal that website is issued to other unmanned vehicles is sent according to setting signal format, has setting letter
First indication signal of number format can only be in the unmanned vehicle identification of specified state of flight, that is to say, that fly at nobody
When row device is under specified state of flight, which can identify the first indication signal that website is sent out.This
Sample can respond first indication signal to avoid the unmanned vehicle of other normal flights, to guarantee the flight of unmanned vehicle
Safety and stability.
What needs to be explained here is that the specified state of flight can be hovering flight state or automatic landing state or
Manual landing state etc..
Further, in order to guarantee safety of the unmanned vehicle in hovering flight, thus website to other nobody fly
When row device sends indication signal, flight parameter can be added in the control instruction, may include hovering in the flight parameter and fly
Row height and hovering flight time etc., such as hovering flight height are used to indicate unmanned vehicle hovering flight corresponding high
On degree, such as hovering flight is in 3 meters of height either 5 meters of height；For another example the hovering flight time can indicate unmanned vehicle
It detects whether website can be used again after separated in time under hovering flight state, can guarantee to rest on website in this way
Unmanned vehicle can safe take-off, to improve the safety of unmanned vehicle landing.
Further, in embodiments of the present invention, the sensor on website can detect current data in real time, with pressure sensing
Device comes for example, the pressure sensor can detect pressure value in real time, if pressure sensor detects the pressure on website
When value is less than preset threshold, then the third indication signal for allowing unmanned vehicle to land the website is generated, and by wireless communication
The third indication signal is sent to the unmanned vehicle of specified state of flight by module.Briefly, when resting on website
After the taking off of unmanned vehicle, which will be in idle condition down, so website will be to the unmanned vehicle of hovering flight
The unmanned vehicle of the unappropriated third indication signal of transmitting station, the website that needs to land can rest in the website in time
On.To improve the utilization rate of website, and it is also ensured that unmanned vehicle landing safety.
Generally speaking, in the method provided by the embodiment of the present invention, the sensor on website can be to the number on website
According to being acquired, determine to whether there is unmanned vehicle on website, and inform according to result is determined and need to land above website
Unmanned vehicle, so that the multiple unmanned vehicles of control that website can be one-to-many, and ensure that it is each nobody fly
The safety of row device landing.
A kind of control method of unmanned vehicle in the embodiment of the present invention is corresponded to, additionally provides one kind in the embodiment of the present invention
The control device of unmanned vehicle is illustrated in figure 2 a kind of structure of the control device of unmanned vehicle in the embodiment of the present invention
Schematic diagram, the device include:
Sensor 201, for detecting the current data on website；
Processor 202 is connect with the sensor 201, for determining whether the current data meets preset condition；
Signal transceiver 203 is connect with the processor 202, if meet preset condition for the current data,
Module is sent to unmanned vehicle by wireless communication informs website occupied first indication signal；；If the current number
When according to being unsatisfactory for preset condition, then module is believed to unappropriated second instruction of unmanned vehicle transmitting station by wireless communication
Number.
Further, in embodiments of the present invention, the sensor 201 is specially pressure sensor, for detecting the station
Pressure value on point；
The processor 202, specifically for determining whether the pressure value detected is more than or equal to preset threshold.
Further, in embodiments of the present invention, the processor 202 has setting signal format specifically for generating
First indication signal, wherein the setting signal format is that the unmanned vehicle in setting state of flight can identify
Format；
The signal transceiver 203 is specifically used for module by wireless communication and sends to unmanned vehicle with setting letter
First indication signal of number format.
Further, in embodiments of the present invention, the processor 202 is also used to detecting the station by sensor
When pressure value on point is less than preset threshold, the third indication signal for allowing unmanned vehicle to land the website is generated；
The signal transceiver 203 is also used to be sent to the third indication signal by the wireless communication module
The unmanned vehicle of specified state of flight.
Although the preferred embodiment of the application has been described, but one of ordinary skilled in the art once knows substantially
Creative concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (8)
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| CN108415450A (en) * | 2017-02-09 | 2018-08-17 | 深圳光启飞行包科技有限公司 | The control system of personal aircraft |
| WO2021097645A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市大疆创新科技有限公司 | Landing control method and device, base station, unmanned aerial vehicle and storage medium |
| CN115214902A (en) * | 2021-04-20 | 2022-10-21 | 苏州臻迪智能科技有限公司 | Aircraft hangar and control method thereof |
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| US7581702B2 (en) * | 2006-06-09 | 2009-09-01 | Insitu, Inc. | Wirelessly controlling unmanned aircraft and accessing associated surveillance data |
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| CN102298389A (en) * | 2011-06-10 | 2011-12-28 | 清华大学 | System fully controlled and taken over by ground station during takeoff and landing stages of unmanned plane |
| US9499265B2 (en) * | 2014-07-02 | 2016-11-22 | Skycatch, Inc. | Unmanned aerial vehicle landing interface |
| CN104656669B (en) * | 2015-03-10 | 2016-08-17 | 泰州市泰坦自动化设备有限公司 | UAV Landing location finding system based on image procossing |
| CN105068548B (en) * | 2015-08-12 | 2019-06-28 | 北京贯中精仪科技有限公司 | UAV Landing guides system |
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| CN104007766A (en) * | 2014-03-24 | 2014-08-27 | 深圳市大疆创新科技有限公司 | Flight control method and device for unmanned aerial vehicle |
| CN105068555A (en) * | 2015-06-30 | 2015-11-18 | 安科智慧城市技术（中国）有限公司 | Automatic alignment method and device for unmanned plane |
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