CN108415459B - A control method and device for a drone to fly around a target point - Google Patents
A control method and device for a drone to fly around a target point Download PDFInfo
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- CN108415459B CN108415459B CN201810502793.5A CN201810502793A CN108415459B CN 108415459 B CN108415459 B CN 108415459B CN 201810502793 A CN201810502793 A CN 201810502793A CN 108415459 B CN108415459 B CN 108415459B
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 238000004804 winding Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种无人机绕目标点环绕飞行的控制方法及装置，该装置包括加装在无人机上的激光测距传感器，放置在目标物体中心的激光反射棒；所述无人机上加装有同步电机，同步电机连接激光测距传感器，同步电机用于调整激光测距传感器俯仰角，使激光能够照射到激光反射棒的反射区上；所述激光反射棒，用于反射激光。所述激光反射棒为伸缩式结构，包括由上至下依次连接的反射棒本体、透明支撑杆、透明底座，所述反射棒本体包括可伸缩反射区、固定反射区。采用本发明，无人机根据激光测距传感器测得的数据精确调整飞行圆半径，精度达到毫米级；在室内接收不到GPS的地方也可以进行目标点的环绕飞行。
A control method and device for a drone to fly around a target point, the device includes a laser rangefinder sensor installed on the drone, and a laser reflector rod placed at the center of the target object; a synchronous motor is installed on the drone, the synchronous motor is connected to the laser rangefinder sensor, and the synchronous motor is used to adjust the pitch angle of the laser rangefinder sensor so that the laser can irradiate the reflective area of the laser reflector rod; the laser reflector rod is used to reflect the laser. The laser reflector rod is a telescopic structure, including a reflector rod body, a transparent support rod, and a transparent base connected in sequence from top to bottom, and the reflector rod body includes a telescopic reflective area and a fixed reflective area. By adopting the present invention, the drone can accurately adjust the radius of the flight circle according to the data measured by the laser rangefinder sensor, and the accuracy reaches the millimeter level; the drone can also fly around the target point in indoor places where GPS cannot be received.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and a device for surrounding flight of an unmanned aerial vehicle around a target point.
Background
With the rapid development of unmanned aerial vehicle technology in recent years, unmanned aerial vehicle aerial photography has been greatly applied due to the excellent display view angle. The unmanned aerial vehicle performs aerial surrounding shooting on a target point to form a common shooting scene, and a set of photos shot in a surrounding mode can be processed to generate a 360-degree display photo of the target object, and a computer three-dimensional model of the target object can be generated through a photo modeling program.
In order to realize the surrounding flight of the target point, the existing unmanned aerial vehicle needs to use a GPS satellite positioning system. And an operator sends the longitude and latitude of the target point and the radius of the round of the circle to the unmanned aerial vehicle through the ground station or the remote control equipment, and the unmanned aerial vehicle dynamically calculates the flight track according to the longitude and latitude of the unmanned aerial vehicle and the radius of the round of the circle and controls the unmanned aerial vehicle to fly along the track through the flight control system.
This control has several drawbacks:
1) At present, the positioning precision of the civil GPS is always kept at 5 meters, so that the unmanned aerial vehicle cannot accurately fly and shoot according to a preset circle radius.
2) There is still a GPS RTK measurement technique at present, can improve the precision of GPS to the centimetre level, but this scheme needs reference station and mobile station equipment to cooperate and realize, and equipment is complicated and expensive, hardly is applied and promotes in civilian unmanned aerial vehicle field.
3) The GPS positioning needs to receive satellite signals, and if the target point is indoor, the unmanned aerial vehicle cannot receive the GPS signals, and the unmanned aerial vehicle cannot fly around the target point.
Disclosure of Invention
Aiming at the defect that the current unmanned aerial vehicle uses GPS to carry out the surrounding flight of the target point, the invention provides a control method and a device for the surrounding flight of the unmanned aerial vehicle around the target point, so that the unmanned aerial vehicle does not depend on the GPS to carry out the surrounding flight of the target point, and the control method and the device have the advantages that: the unmanned plane accurately adjusts the radius of the flying circle according to the data measured by the laser ranging sensor, and the accuracy reaches the millimeter level. The surrounding flight of the target point can also be performed in a place where the GPS is not received indoors.
The technical scheme adopted by the invention is as follows:
the device comprises a laser ranging sensor additionally arranged on the unmanned aerial vehicle and a laser reflecting rod arranged in the center of a target object; the unmanned aerial vehicle is additionally provided with a synchronous motor, the synchronous motor is connected with a laser ranging sensor, and the synchronous motor is used for adjusting the pitch angle of the laser ranging sensor so that laser can irradiate on a reflecting area of the laser reflecting rod; the laser reflection rod is used for reflecting laser.
The laser reflection rod is of a telescopic structure and comprises a reflection rod body, a transparent support rod and a transparent base which are sequentially connected from top to bottom, wherein the reflection rod body comprises a telescopic reflection area and a fixed reflection area.
The unmanned aerial vehicle is additionally provided with an electronic compass, and the electronic compass is used for acquiring a course angle of the unmanned aerial vehicle.
The unmanned aerial vehicle is additionally provided with a barometer, and the barometer is used for measuring the flying height of the unmanned aerial vehicle.
The invention relates to a control method and a device for unmanned aerial vehicle to fly around a target point, which have the following technical effects:
1. the horizontal precision of the target point around the fly can reach millimeter level, which is far higher than the precision of civil GPS.
2. The target point can be flown around in the room without GPS signal.
3. The required materials and original papers are common in market, easy to obtain and low in cost.
Drawings
Fig. 1 is a schematic view of the unmanned aerial vehicle of the present invention.
Fig. 2 is a top view of the flight path of the unmanned aerial vehicle (flying in a counterclockwise direction) according to the present invention.
Fig. 3 is a schematic view of a laser reflector rod according to the present invention.
Detailed Description
As shown in fig. 1 to 3, an unmanned aerial vehicle flies around a target point, and the device comprises a laser ranging sensor 2 additionally arranged on the unmanned aerial vehicle 1, and a laser reflection rod 4 arranged at the center of a target object 3.
The unmanned aerial vehicle 1 is additionally provided with a synchronous motor, the synchronous motor is connected with the laser ranging sensor 2, and the synchronous motor is used for adjusting the pitch angle of the laser ranging sensor 2 so that laser can irradiate on a reflecting area of the laser reflecting rod 4.
The laser reflection rod 4 is used for reflecting laser.
The laser reflection rod 4 is of a telescopic structure, and the length of the laser reflection rod 4 can be flexibly adjusted according to requirements. The laser reflection rod 4 comprises a reflection rod body, a transparent support rod 7 and a transparent base 8 which are sequentially connected from top to bottom, wherein the reflection rod body comprises a telescopic reflection area 5 and a fixed reflection area 6.
The length of the telescopic reflection area 5 can be increased according to the requirement, so that laser is more easily reflected back to the laser ranging sensor.
The fixed reflection area 6 can reflect the laser emitted by the laser ranging sensor back to enable the laser ranging sensor to measure the distance.
The transparent supporting rod 7 is a supporting rod of the laser reflecting rod, plays a supporting role, and is transparent and convenient in material and is used for picture matting in later stage.
The transparent base 8 is a base of the laser reflection rod, plays a role in fixing the laser reflection rod on a target object, and is transparent in material and convenient for later-stage photograph matting.
An electronic compass is additionally arranged on the unmanned aerial vehicle 1 and is used for acquiring a course angle of the unmanned aerial vehicle 1.
The unmanned aerial vehicle 1 is additionally provided with a barometer, and the barometer is used for measuring the flying height of the unmanned aerial vehicle 1.
The laser ranging sensor 2 plays a role in searching the circle center of the target point, and the ranging value is used for calculating the radius of the flight circle;
the unmanned aerial vehicle 1 refers to a rotor unmanned aerial vehicle which can hover in the air and has the capability of flying horizontally in four directions, namely front, back, left and right.
The laser ranging sensor 2 always points to the direction of the head of the unmanned aerial vehicle 1 and can only do pitching motion. The laser ranging sensor 2 adopts HIREED HI laser ranging sensor.
The synchronous motor is used for adjusting the pitch angle of the laser ranging sensor 2, so that the laser can irradiate the reflecting area of the laser reflecting rod 4, and the synchronous motor can accurately rotate according to a given angle.
And a laser reflection rod 4 is placed in the center of the target object 3, the unmanned aerial vehicle 1 hovers at a certain height, an operator adjusts the laser ranging sensor 2 to point to the direction of the laser reflection rod 4, and when the unmanned aerial vehicle flies transversely, laser can irradiate the laser reflection rod 4. The operator will wind circle radius and photograph quantity, send unmanned aerial vehicle 1 through the instruction, unmanned aerial vehicle 1 keeps the course to fly for certain distance, laser ranging sensor 2 can detect that the distance value diminishes a lot suddenly, unmanned aerial vehicle aircraft nose has pointed at the 3 centre of a circle of target object this moment, unmanned aerial vehicle 1 calculates actual flight radius according to ranging value and laser ranging sensor 2 pitch angle, keep the course unchangeable, adjust actual flight radius to preset circle radius from beginning to end, after adjusting in place, take first photograph. Before the next photo is shot, the unmanned aerial vehicle 1 calculates the steering deflection angle according to the shooting quantity of the photo, and after the unmanned aerial vehicle 1 adjusts the steering according to the deflection angle, the following steps are carried out: the steps of transverse flight, detection of the laser reflection rod 4, adjustment of the flight radius, shooting of a photo and course deflection are repeated continuously, and then the surrounding shooting of the whole target object can be completed.
The specific target point winding steps are as follows:
step 1: the laser reflection rod 4 shown in fig. 3 is placed at the center O point at the top of the target object 3 as a center reference.
Step 2: as shown in fig. 2, the unmanned aerial vehicle 1 is placed on the ground at a certain distance from the target object 3, after an operator controls the unmanned aerial vehicle 1 to take off, the unmanned aerial vehicle 1 is lifted to a preset height H in fig. 1 to hover, the head direction of the unmanned aerial vehicle 1 points into a circle, the pitch angle of the laser ranging sensor 2 is adjusted through a ground station or a remote controller, so that laser points to the direction of the laser reflection rod 4, and the laser can irradiate the laser reflection rod 4 when the unmanned aerial vehicle 1 is ensured to fly transversely.
Step 3: the operator sets the radius of the circle and the number of photographs taken for the unmanned aerial vehicle 1, and issues a circle photographing instruction.
Step 4: after receiving the winding shooting instruction, the unmanned aerial vehicle 1 starts to autonomously shoot around the target object 3.
① . The unmanned aerial vehicle 1 always keeps the flying height (H in fig. 1) unchanged throughout the encircling flying process.
② . The unmanned aerial vehicle starts to keep the course unchanged from the point A in fig. 2 and transversely flies, meanwhile, the ranging value (S in fig. 1) of the laser ranging sensor 2 is continuously read, the ranging value is suddenly changed when flying to the point B, the ranging value is greatly reduced compared with the prior art, at the moment, the laser ranging sensor 2 points to the laser reflection rod 4, the head of the unmanned aerial vehicle 1 points to the center of a target object, and the unmanned aerial vehicle 1 stores the current course d1.
③ . According to the triangle relation in fig. 1, the unmanned aerial vehicle 1 calculates the current actual flight radius r=s×cos β, compares R with the set circle radius, keeps the heading unchanged, advances or retreats from the point B in fig. 2, adjusts the actual flight radius R to the preset circle radius, and finally stays at the point C to take the first photo.
④ . Unmanned plane 1 heading angle deflection alpha to heading d2, d2=d1+alpha, alpha=360/n (n is the number of photographs taken);
⑤ . The unmanned aerial vehicle 1 keeps the heading D2 unchanged and flies transversely, when flying to the point D, the ranging value suddenly becomes much smaller, at the moment, the laser ranging sensor 2 points to the laser reflection rod 4 again, the nose of the unmanned aerial vehicle 1 points to the center of a target object, and the current heading is stored.
⑥ . The unmanned aerial vehicle 1 keeps the course unchanged, retreats, adjusts to a preset circle radius and takes a picture.
⑦ . And repeating the step ④、⑤、⑥ until the point F is reached, the set shooting quantity of the photos is reached, and the winding shooting is completed. The solid line of fig. 2 shows the flight path of the unmanned aerial vehicle, and the more the number of photos are taken, the closer the flight path of the unmanned aerial vehicle is to a perfect circle.
Another:
(1) The photo shot by the camera 9 of the unmanned aerial vehicle 1 comprises a laser reflection rod, and the laser reflection rod can be scratched off by photo processing software.
(2) If a camera is added to track a center reference object of a target object through a pattern recognition technology, the time for searching a center point of the unmanned aerial vehicle can be saved.
(3) The unmanned aerial vehicle can wind and fly clockwise in overlook, and the method is similar to overlook anticlockwise.
Claims (4)
1. An unmanned aerial vehicle surrounds device of flight around target point, its characterized in that: the device comprises a laser ranging sensor (2) arranged on an unmanned plane (1), and a laser reflecting rod (4) arranged at the center of a target object (3); a synchronous motor is additionally arranged on the unmanned aerial vehicle (1), the synchronous motor is connected with the laser ranging sensor (2), and the synchronous motor is used for adjusting the pitch angle of the laser ranging sensor (2) so that laser can irradiate on a reflecting area of the laser reflecting rod (4); the laser reflection rod (4) is used for reflecting laser;
The laser reflection rod (4) is of a telescopic structure and comprises a reflection rod body, a transparent support rod (7) and a transparent base (8) which are sequentially connected from top to bottom, wherein the reflection rod body comprises a telescopic reflection area (5) and a fixed reflection area (6);
The telescopic reflection area (5) can increase the length of the laser reflection area according to the requirement, so that laser is more easily reflected back to the laser ranging sensor (2);
The fixed reflection area (6) can reflect the laser emitted by the laser ranging sensor (2) back to enable the laser ranging sensor to measure the distance;
The unmanned aerial vehicle surrounding target point surrounding shooting method based on the unmanned aerial vehicle surrounding flight device comprises the following steps:
Placing a laser reflection rod (4) at the center of a target object (3), taking off the unmanned aerial vehicle (1) to hover at a certain height, and adjusting the laser ranging sensor (2) to point to the direction of the laser reflection rod (4) by an operator to ensure that laser can irradiate the laser reflection rod (4) when the unmanned aerial vehicle flies transversely;
An operator sends the round-the-fly radius and the number of shot photos to the unmanned aerial vehicle (1) through an instruction, when the unmanned aerial vehicle (1) keeps the course to fly transversely for a certain distance, the laser ranging sensor (2) can detect that the distance value suddenly becomes much smaller, at the moment, the unmanned aerial vehicle head points to the center of a target object (3), the unmanned aerial vehicle (1) calculates the actual flight radius according to the ranging value and the pitch angle of the laser ranging sensor (2), the course is kept unchanged, the actual flight radius is adjusted to the preset round radius from front to back, and after the adjustment is completed, a first photo is shot;
before the next photo is shot, the unmanned aerial vehicle (1) calculates a steering deflection angle according to the shooting quantity of the photos, and after the unmanned aerial vehicle (1) adjusts steering according to the deflection angle, the following steps are carried out: the steps of transverse flight, detection of a laser reflecting rod (4), adjustment of flight radius, shooting of a photo and course deflection are repeated continuously, and then the surrounding shooting of the whole target object can be completed.
2. The apparatus for the unmanned aerial vehicle to fly around the target point according to claim 1, wherein: the unmanned aerial vehicle (1) is additionally provided with an electronic compass, and the electronic compass is used for acquiring the course angle of the unmanned aerial vehicle (1).
3. The apparatus for the unmanned aerial vehicle to fly around the target point according to claim 1, wherein: the unmanned aerial vehicle (1) is additionally provided with a barometer, and the barometer is used for measuring the flying height of the unmanned aerial vehicle (1).
4. A method of unmanned aerial vehicle encircling a target point using the apparatus for unmanned aerial vehicle encircling a target point according to claim 1,2 or 3, comprising the steps of:
Step 1: firstly, placing a laser reflection rod (4) at the center O point at the top of a target object (3) as a circle center reference object;
Step 2: placing the unmanned aerial vehicle (1) on the ground at a certain distance from the target object (3), enabling the unmanned aerial vehicle (1) to rise to a preset height H for hovering after an operator controls the unmanned aerial vehicle (1) to take off, enabling the head direction of the unmanned aerial vehicle (1) to point into a circle, adjusting the pitch angle of a laser ranging sensor (2) through a ground station or a remote controller, enabling laser to point to the direction of a laser reflection rod (4), and ensuring that the laser can irradiate the laser reflection rod (4) when the unmanned aerial vehicle (1) flies transversely;
Step 3: setting a circle-around radius and the shooting number of photos for the unmanned aerial vehicle (1) by an operator, and sending out a circle shooting instruction;
Step 4: after receiving the winding shooting instruction, the unmanned aerial vehicle (1) starts to shoot around the target object (3) autonomously.
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| CN109669478B (en) * | 2019-02-20 | 2024-08-23 | 广州愿托科技有限公司 | Unmanned aerial vehicle distance-attaching surrounding control method based on ranging sensor and unmanned aerial vehicle |
| CN111637871A (en) * | 2020-05-28 | 2020-09-08 | 武汉大学 | Unmanned aerial vehicle camera steady self-checking method and device based on rotary flight |
| CN112731442B (en) * | 2021-01-12 | 2023-10-27 | 桂林航天工业学院 | An adjustable surveying instrument for UAV surveying and mapping |
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