CN103344240B - The device for retrieving of unmanned vehicle and method - Google Patents
The device for retrieving of unmanned vehicle and method Download PDFInfo
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- CN103344240B CN103344240B CN201310282511.2A CN201310282511A CN103344240B CN 103344240 B CN103344240 B CN 103344240B CN 201310282511 A CN201310282511 A CN 201310282511A CN 103344240 B CN103344240 B CN 103344240B
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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
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of method for retrieving of unmanned vehicle and device, belong to unmanned vehicle field, the method includes the flight position information by wireless network timing acquisition unmanned vehicle and preserves；After the request for giving unmanned vehicle for change is received, the positional information for reading the unmanned vehicle that last time is preserved positions the position of unmanned vehicle；The position of output unmanned vehicle.Using the method and apparatus of the embodiment of the present invention, by recording the positional information in unmanned vehicle flight course, in the case where flying to lose, the positional information preserved according to last time orients unmanned vehicle landing or the position range for dropping, to help reduce search area, give unmanned vehicle for change, reduce economic loss.
Description
Technical field
The present invention relates to unmanned vehicle, more particularly to a kind of device for retrieving of unmanned vehicle and method.
Background technology
Microminiature unmanned vehicle be particularly suitable for executing in environment near the ground (such as indoor, city and jungle etc.) monitoring,
The tasks such as scouting, with wide dual-use prospect.But due to unmanned vehicle sometimes winged farther out, beyond operator
Visual line of sight when, if manipulation improper, unmanned vehicle out of hand may drop somewhere.If it is intended to give for change dropping
, it would be desirable to a very big scope is searched for, if unmanned vehicle falls inside grove, the difficulty of searching will become higher.
Related searching householder method is installation alarm on unmanned vehicle, when unmanned vehicle automatic after the drops
Give a warning.If the people for finding unmanned vehicle is insufficient to closely, it is difficult to audible alarm with a distance from unmanned vehicle
The chimes of doom that device sends, that is to say, that audible alarm has no ability to help and reduces searching scope.If unmanned vehicle exists
During dropping, battery is out of joint, or the battery has run down, cannot just send sound.
Content of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of device for retrieving of unmanned vehicle and method,
To help reduce search area, unmanned vehicle is given for change.
The technical scheme adopted by present invention solution above-mentioned technical problem is as follows：
According to an aspect of the present invention, there is provided a kind of method for retrieving of unmanned vehicle be applied to hand-held device for retrieving
In, the method includes：
The hand-held device for retrieving passes through the flight position information of wireless network timing acquisition unmanned vehicle and preserves, from
And the longitude and latitude of the unmanned vehicle for passing through constantly to preserve acquisition so that the hand-held device for retrieving have recorded unmanned vehicle
Longitude and latitude path in positional information in flight course；
The hand-held device for retrieving is received after giving the request of unmanned vehicle for change, is read last in the longitude and latitude path
The positional information of the unmanned vehicle for once preserving；
The hand-held device for retrieving positions the position of unmanned vehicle according to positional information；
The hand-held device for retrieving shows the position of unmanned vehicle and the positional information of manipulator, wherein, institute
The positional information for stating manipulator is obtained by the position measurement sensor of the hand-held device for retrieving.
Preferably, the above-mentioned position for positioning unmanned vehicle according to positional information includes：Cartographic information is obtained, by nothing
The position of people's aircraft is marked on map.
Further, the position of manipulator is marked on map.
Preferably, the above-mentioned position for positioning unmanned vehicle according to positional information includes：
Determine unmanned vehicle relative to manipulator according to the positional information of manipulator and the positional information of unmanned vehicle
Positional information.
Further, the above-mentioned position of display unmanned vehicle and the positional information of manipulator include：By nobody
Aircraft is shown on a display screen by the form of figure relative to the distance and bearing angle of manipulator.
Further, the method also includes：Obtain the azimuth of the screen datum line of the display screen, and by the figure
The positive optical axis relative to display screen reversely rotates the azimuth.
According to another aspect of the present invention, there is provided a kind of hand-held device for retrieving of unmanned vehicle include being sequentially connected
Position information acquisition module, give request receiving module, locating module and output module for change, wherein：
Position information acquisition module, by the flight position information of wireless network timing acquisition unmanned vehicle and preserves,
So as to pass through the longitude and latitude of the unmanned vehicle for constantly preserving acquisition so that the hand-held device for retrieving have recorded unmanned flight
Longitude and latitude path in positional information of the device in flight course；
Give request receiving module for change, for receiving the request for giving unmanned vehicle for change, and notify locating module；
Locating module, last in the longitude and latitude path for, after the request for giving unmanned vehicle for change is received, reading
The positional information of the unmanned vehicle for once preserving, according to the position that positional information positions unmanned vehicle；
Output module, for showing the position of unmanned vehicle and the positional information of manipulator, wherein, described
The positional information of manipulator is obtained by the position measurement sensor of the hand-held device for retrieving.
Preferably, locating module is additionally operable to obtain cartographic information, and the position of unmanned vehicle is marked on map
Out；Output module, is additionally operable to the map for exporting the mark of the position with unmanned vehicle.
Further, it is preferable to, locating module is additionally operable to mark the position of manipulator on map by map
Out；Output module is additionally operable to the ground of the position mark for exporting the mark of the position with unmanned vehicle and manipulator
Figure.
Preferably, locating module is additionally operable to determine nothing according to the positional information of manipulator and the positional information of unmanned vehicle
Positional information of people's aircraft relative to manipulator.
Further, output module specifically for：Distance and bearing angle of the unmanned vehicle relative to manipulator is passed through
The form of figure shows on a display screen.
Further, device for retrieving also includes azimuth acquisition module, wherein：Azimuth acquisition module, obtains described aobvious
The azimuth of the screen datum line of display screen, and send locating module to；Locating module is additionally operable to the figure relative to display
The positive optical axis of screen reversely rotates the azimuth.
The method for retrieving and device of the unmanned vehicle of the embodiment of the present invention, by recording in unmanned vehicle flight course
Positional information, in the case where flying to lose, according to last time preserve positional information orient unmanned vehicle landing or fall
The position range for falling, to help reduce search area, gives unmanned vehicle for change, reduces economic loss.
Description of the drawings
Fig. 1 is a kind of method for retrieving flow chart of unmanned vehicle provided in an embodiment of the present invention.
A kind of signal of position for showing unmanned vehicle on map that Fig. 2 is provided for the preferred embodiment of the present invention
Figure；
A kind of display schematic diagram of display screen east-west direction horizontal positioned that Fig. 3 is provided for the preferred embodiment of the present invention；
A kind of display schematic diagram of display screen North and South direction horizontal positioned that Fig. 4 is provided for the preferred embodiment of the present invention；
Fig. 5 is azimuth schematic diagram provided in an embodiment of the present invention；
A kind of azimuth of the screen datum line of display screen that Fig. 6 is provided for the preferred embodiment of the present invention and unmanned vehicle
Relative to observation place azimuth consistent when schematic diagram；
Fig. 7 is a kind of structural representation of the device for retrieving of unmanned vehicle provided in an embodiment of the present invention.
Specific embodiment
In order that the technical problem to be solved, technical scheme and beneficial effect are clearer, clear, below tie
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
In order to explain the present invention, it is not intended to limit the present invention.
Fig. 1 is a kind of method flow diagram for giving unmanned vehicle for change provided in an embodiment of the present invention, and the method includes：
S101, the flight position information by wireless network timing acquisition unmanned vehicle are simultaneously preserved.
Specifically, first can set up Wireless Fidelity Wi-Fi network in this step with unmanned vehicle carries out point-to-point leading to
Letter；Positional information by Wi-Fi network timing acquisition unmanned vehicle.It is, of course, also possible to pass through 2G networks (GSM, TDMA,
CDMA), the 5G networks of 3G (W-CDMA, CDMA2000, TDS-CDMA, UMTS), 4G (WiMAX, LTE, TD-LTE) and future
Communicated.The flight position information of unmanned vehicle includes the latitude and longitude information that flies, by being arranged on unmanned vehicle
State sensor measurement is obtained and is sent by wireless network.After getting the flight position information of unmanned vehicle, will flight
The latitude and longitude information of positional information is preserved in memory, and memory includes but is not limited to NVRAM (Non-Volatile
Random Access Memory, nonvolatile random access memory).Can also be stored directly in caching.
In this step by constantly preserve acquisition unmanned vehicle longitude and latitude, have recorded unmanned vehicle flight
During positional information in longitude and latitude path, so in the case where flying to lose, it is possible to according to obtain last warp
Latitude coordinate orients unmanned vehicle landing or the position that drops.
S102, judge whether to receive the request for giving unmanned vehicle for change, if it is, execution step S103, otherwise returns
Return step S101.
Specifically, manipulator can assign instruction by the man-machine interface on display screen, it is also possible to fast by button
Instruction is assigned in victory, can also be by providing phonetic order.
S103, the positional information for reading the unmanned vehicle that last time is preserved.
S104, the position of positioning unmanned vehicle.
S105, the position of output unmanned vehicle.
In the present embodiment, the position that voice message or display screen show the unmanned vehicle for positioning can be passed through,
So that manipulator intuitively navigates to unmanned vehicle as early as possible.
In the present embodiment, the positional information of manipulator can also be obtained, and wherein, the positional information of manipulator is by being attached to
Manipulator or the sensor on the object entrained by manipulator are obtained, as this method is realized on hand-held device for retrieving, institute
Position with the position of manipulator and hand-held device for retrieving is same position, therefore can be surveyed by the position of hand-held device for retrieving
Obtaining, position measurement sensor includes but is not limited to GPS module to quantity sensor, and GPS module positioning device for retrieving oneself is current
Longitude and latitude, it is, of course, also possible to adopt the Big Dipper and GLONASS alignment systems positioning coordinate information.
As a preferred version of the present embodiment, nobody can be positioned according to the longitude and latitude of unmanned vehicle by map
The position of aircraft, marks the position of unmanned vehicle on the map for showing.It is, of course, also possible to further exist
The position of the control person that goes out for drill is marked on map.Specifically, by spreading out the map, nothing is automatically positioned out on the map for showing
The position that the longitude and latitude of people's aircraft is located, can be being automatically positioned out what the longitude and latitude of manipulator was located on the map for showing
Position, finally by the map that display screen shows the mark of the position with unmanned vehicle position mark and manipulator.So,
The location finding for allowing manipulator directly above to show according to the map flies the positioning unmanned vehicle that loses, and can reduce hunting zone about
In the range of 10 meters (referring to Fig. 2).
Used as another preferred version of the present embodiment, this method also includes being flown with nobody according to the positional information of manipulator
The positional information of row device determines positional information of the unmanned vehicle relative to manipulator, by unmanned vehicle relative to manipulator's
Positional information shows on screen.Preferably by unmanned vehicle relative to manipulator distance and unmanned vehicle relative to behaviour
The azimuth of control person is shown on a display screen by the form of figure.Wherein, orientation of the unmanned vehicle relative to observation place
Angle refers to the angle of projection of the unmanned vehicle with the line of observation place in ground level and direct north, refers to Fig. 3 and (shows
Screen east-west direction horizontal positioned, unmanned vehicle are located at the north-east of display screen) and Fig. 4 (display screen North and South direction horizontal positioned,
Unmanned vehicle is located at the north-east of display screen), the positional representation unmanned vehicle position of arrow in the figure of display, circle
The heart represents the position of manipulator, the line in arrow and the center of circle represent the position of unmanned vehicle relative to manipulator away from
From projection of the line on ground level represents azimuth of the unmanned vehicle relative to manipulator with the angle a in the positive north, to grasp
Several circles of the control person for the center of circle, represent unmanned vehicle with a distance from manipulator near to remote from the inside to surface.That is, logical
Cross circle manipulator be recognized that aircraft with its distance between.So manipulator can refer to according to the figure shown on screen
Show, find the position of unmanned vehicle.
Another preferred scheme of the present embodiment, this method also include：Obtain the orientation of the screen datum line of display screen
Angle, and the positive optical axis by figure relative to display screen reversely rotates the azimuth.
Wherein, the screen datum line of display screen refers to the parallel reference line with display screen, can be on display screen
The line at following midpoint, bottom and upper segment referred to when the figure for showing is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to projection of the screen datum line on ground level with
The angle (B angles as shown in Figure 5) of direct north.The positive optical axis of display screen refers to the axle perpendicular to display screen, it is also possible to think
Be people soon display screen when.
Specifically, the azimuth of the screen datum line of display screen can be realized by magnetometer, with the finger of magnetometer
To as benchmark, the azimuth that the screen datum line of display screen rotates in the horizontal direction is obtained relative to direct north.And pass through
The positive optical axis of the figure relative to display screen is reversely rotated the azimuth so that show the phase of the unmanned vehicle of screen display
Position is kept with ground level as reference, unrelated with the horizontal positioned direction of display screen.Here, the azimuth reality of screen datum line
Border just refers to the angle of projection of the screen datum line on ground level and direct north, refers to Fig. 3 and Fig. 4, and magnetometer can be with
Realized by compass, such as determine that unmanned vehicle shows on a display screen in real time according to the sensing of compass as benchmark
The position for showing, it is ensured that as long as the position of unmanned vehicle does not change, no matter manipulator holds display screen in horizontal positioned direction
How change angle is rotated with non-horizontal placement direction (can not substantially vertical placement except), according to the screen benchmark of display screen
The figure for showing is reversely rotated the azimuth relative to the positive optical axis of display screen by the azimuth of line in real time, can guarantee that display screen
Projection of the line in upward arrow and the center of circle on ground level keeps constant, i.e., nothing in Fig. 3 and Fig. 4 relative to the angle of ground level
People's aircraft keeps constant relative to the azimuth a of observation place.If without compass functional, angle a cannot be accomplished
Keep constant, but can ensure that when display screen east-west direction horizontal positioned (as shown in Figure 3), arrow can reflect nothing with the center of circle
People's aircraft and the actual relative position of manipulator.Manipulator can move closer to nobody by the line along arrow and the center of circle
Aircraft, when display screen being rotated to consistent with the orientation of unmanned vehicle as shown in Figure 6 such as, then goes to forward nobody and flies
Row device position.During moving closer to, the position of the unmanned vehicle shown in display screen is with a distance from the center of circle
Increasingly nearer, when being eventually found unmanned vehicle, its position is overlapped with the center of circle.
A kind of structural representation of the device for retrieving of unmanned vehicle provided in an embodiment of the present invention is illustrated in figure 7, should
Device includes earthing position data obtaining module 10, gives request receiving module 20, locating module 30 and output module 40 for change.
Position information acquisition module 10, by the flight position information of wireless network timing acquisition unmanned vehicle and protects
Deposit.
Wherein, a kind of preferred version of position information acquisition module 10 is carried out with unmanned vehicle by Wi-Fi network
Point-to-point communication is so as to obtaining the flight position information of unmanned vehicle.Specifically, the flight position letter of unmanned vehicle
Breath includes the latitude and longitude information that flies, and is obtained by the state sensor measurement being arranged on unmanned vehicle, and unmanned vehicle connects
After receiving the transmission acquisition request of position information acquisition module 10, flight position information is sent to position letter by wireless network
Acquisition module 10 is ceased, or flight position information is actively regularly sent to position letter by wireless network by unmanned vehicle timing
Breath acquisition module 10, after position information acquisition module 10 receives the flight position information of unmanned vehicle, flight position is believed
The latitude and longitude information of breath is preserved in memory or in internal memory.
Give request receiving module 20 for change, for receiving the request for giving unmanned vehicle for change, and notify locating module 30.
Specifically, give request receiving module 20 for change to realize by man-machine interface, it is also possible to by shortcut key
To realize, can also be realized by voice module.
Locating module 30, for reading the positional information of the unmanned vehicle that last time is preserved, fixed according to positional information
The position of position unmanned vehicle.
Output module 40, for exporting the position of unmanned vehicle.
Specifically, output module 40 could be for the display screen of the position for showing unmanned vehicle, it is also possible to
It is the position speech player by voice broadcast unmanned vehicle.
Position information acquisition module 10 can also obtain the positional information of manipulator, and the positional information of manipulator is sent to
Locating module 30.Wherein, the positional information of manipulator is by being attached to manipulator or the biography on the object entrained by manipulator
Sensor is obtained, as device for retrieving can be hand-held device, so the position of the position of manipulator and device for retrieving is same
Position, therefore can be obtained by the position measurement sensor of device for retrieving, position measurement sensor includes but is not limited to GPS moulds
Block, the current longitude and latitude of GPS module positioning device for retrieving oneself, it is, of course, also possible to adopt the Big Dipper and GLONASS alignment systems fixed
The coordinate information of position.
In a preferred scheme of the present embodiment, locating module 30 is additionally operable to obtain cartographic information, fixed on map
The position of position unmanned vehicle is simultaneously marked；By display screen, output module 40 shows that the institute with unmanned vehicle is in place
The map of tagging.In more preferably a kind of scheme, position information acquisition module 10 is additionally operable to the position for obtaining manipulator position
Information, and send locating module 30 to, locating module 30 marks the position at control person place of going out for drill, output module 40 to lead on map
Cross display screen to show the mark of the position with unmanned vehicle and manipulate the map of position mark processed.So manipulator is just
The location finding that directly, quickly above can show according to the map flies the positioning unmanned vehicle that loses, and can reduce hunting zone about 10
In the range of rice (such as Fig. 2).
In another preferred scheme of the present embodiment, locating module 30 is additionally operable to be believed according to the position of unmanned vehicle
The positional information of breath and manipulator obtains positional information of the unmanned vehicle relative to manipulator.Output module 40 is by unmanned flight
Device shows on a display screen relative to the positional information of manipulator.In more preferably a kind of scheme, locating module 30 is according to nobody
The positional information of the positional information of aircraft and manipulator obtains distance and unmanned flight of the unmanned vehicle relative to manipulator
Azimuth of the device relative to manipulator, output module 40 by unmanned vehicle relative to manipulator distance and unmanned vehicle phase
For the azimuth of manipulator is shown on a display screen by the form of figure.Refer to Fig. 2 and Fig. 3, arrow in the figure of display
The positional representation unmanned vehicle position of head, the center of circle represents that the position of manipulator, arrow are represented with the line in the center of circle
Distance of the position of unmanned vehicle relative to manipulator, projection of the line on ground level with positive the north angle a indicate without
Azimuth of people's aircraft relative to observation place, the several circles with observation place as the center of circle represent that nobody flies from the inside to surface
Row device near to remote, so can more intuitively tell that unmanned vehicle is relative to manipulator for manipulator with a distance from device for retrieving
Position.That is, by circle manipulator be recognized that aircraft with its distance between.So manipulator can basis
The figure instruction shown on screen, finds the position of unmanned vehicle.
In another preferred scheme of the present embodiment, the device for retrieving also includes azimuth acquisition module, for obtaining
The azimuth of the screen datum line of display screen is taken, and sends locating module 30 to；Locating module 30 is additionally operable to the figure that will show
The azimuth is reversely rotated with respect to the positive optical axis of display screen.So that showing that the relative position of screen display unmanned vehicle is protected
Hold with ground level as reference, (display screen can not vertically be placed and be removed with the horizontal positioned direction of display screen and non-horizontal placement direction
Unrelated outward).Wherein, the screen datum line of display screen refers to the parallel reference line with display screen, can be on display screen
The line at following midpoint, bottom and upper segment referred to when the figure for showing is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to screen datum line ground level projection with just
The north to angle (B angles as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, it is also possible to be considered
People soon display screen when, be observing display screen perpendicular to the angle of display screen.
Wherein, azimuth acquisition module can be realized by magnetometer.Benchmark is used as by the sensing of magnetometer, is obtained
The azimuth that the screen datum line of display screen rotates in the horizontal direction is taken relative to direct north.Fig. 3, Fig. 4 and Fig. 6 is referred to,
Magnetometer can realize by compass that the sensing according to compass determines that as benchmark unmanned vehicle is real on a display screen
When the position that shows, it is ensured that as long as the position of unmanned vehicle does not change, no matter how device for retrieving changes in the horizontal direction
Varied angle, it is ensured that the line in display screen upward arrow and the center of circle keeps constant relative to the angle of ground level, i.e., in Fig. 3 and Fig. 4
Unmanned vehicle keeps constant relative to the azimuth a of observation place.So, manipulator can pass through along arrow and the center of circle
Line moves closer to unmanned vehicle, and display screen is rotated to azimuth and the unmanned vehicle such as Fig. 6 screen datum lines such as
Relative to the position that the azimuth of display screen is consistent, unmanned vehicle position is then gone to forward.In the mistake for moving closer to
Cheng Zhong, the position of the unmanned vehicle shown in display screen are also increasingly nearer with a distance from the center of circle, can also pass through voice simultaneously
The distance and bearing angle of unmanned vehicle is reported, when being eventually found unmanned vehicle, its position is overlapped with the center of circle.
It should be noted that the various technical schemes in the method for retrieving of above-mentioned unmanned vehicle, in this unmanned vehicle
Device for retrieving in equally applicable, detailed content is no longer repeated.
Using the method and apparatus of the embodiment of the present invention, by recording the positional information in unmanned vehicle flight course,
In the case where flying to lose, the positional information preserved according to last time orients unmanned vehicle landing or the position model for dropping
Enclose, help give the unmanned vehicle for flying to lose for change, reduce economic loss.
Above by reference to the preferred embodiments of the present invention have been illustrated, not thereby limit to the interest field of the present invention.This
Art personnel can have multiple flexible programs to realize the present invention, for example as one without departing from the scope of the present invention and essence
The feature of individual embodiment can be used for another embodiment and obtain another embodiment.All institutes within the technology design with the present invention
Any modification, equivalent and the improvement that makees, all should be within the interest field of the present invention.
Claims (12)
1. a kind of method for retrieving of unmanned vehicle, it is characterised in that methods described is applied in hand-held device for retrieving, the method
Including：
The hand-held device for retrieving passes through the flight position information of wireless network timing acquisition unmanned vehicle and preserves；
The hand-held device for retrieving is received after giving the request of unmanned vehicle for change, reads the unmanned vehicle that last time is preserved
Positional information；
The hand-held device for retrieving positions the position of unmanned vehicle according to the positional information；
The hand-held device for retrieving shows the position of the unmanned vehicle and the positional information of manipulator,
Wherein, the unmanned vehicle is shown on a display screen by the form of figure relative to the azimuth of manipulator so that
The unmanned vehicle is kept with ground level as reference relative to the azimuth of manipulator, with the horizontal positioned direction of display screen without
Close,
The positional information of the manipulator is obtained by the position measurement sensor of the hand-held device for retrieving.
2. the method for retrieving of unmanned vehicle according to claim 1, it is characterised in that positioned according to the positional information
The position of unmanned vehicle includes：Cartographic information is obtained, the position of unmanned vehicle is marked on map.
3. the method for retrieving of unmanned vehicle according to claim 2, it is characterised in that the position of manipulator exists
It is marked on map.
4. the method for retrieving of unmanned vehicle according to claim 1, it is characterised in that positioned according to the positional information
The position of unmanned vehicle includes：Determine that nobody flies according to the positional information of manipulator and the positional information of unmanned vehicle
Positional information of the row device relative to manipulator.
5. the method for retrieving of unmanned vehicle according to claim 4, it is characterised in that show the unmanned vehicle
The positional information of position and manipulator includes：By unmanned vehicle relative to manipulator shape of the distance by figure
Formula shows on a display screen.
6. the method for retrieving of unmanned vehicle according to claim 5, it is characterised in that the method also includes：Obtain institute
The azimuth of the screen datum line of display screen is stated, and the positive optical axis by the figure relative to display screen reversely rotates the orientation
Angle.
7. the hand-held device for retrieving of a kind of unmanned vehicle, it is characterised in that the hand-held device for retrieving includes：Positional information is obtained
Module, give request receiving module, locating module and output module for change, wherein：
Position information acquisition module, by the flight position information of wireless network timing acquisition unmanned vehicle and preserves；
Give request receiving module for change, for receiving the request for giving unmanned vehicle for change, and notify locating module；
Locating module, for reading the positional information of the unmanned vehicle that last time is preserved, positions according to the positional information
The position of the unmanned vehicle；
Output module, for showing the position of the unmanned vehicle and the positional information of manipulator, wherein, described
Unmanned vehicle is shown on a display screen by the form of figure relative to the azimuth of manipulator so that the unmanned vehicle
Azimuth relative to manipulator is kept with ground level as reference, unrelated with the horizontal positioned direction of display screen,
The positional information of the manipulator is obtained by the position measurement sensor of the hand-held device for retrieving.
8. the hand-held device for retrieving of unmanned vehicle according to claim 7, it is characterised in that
The locating module, is additionally operable to obtain cartographic information, the position of unmanned vehicle is marked on map；
The output module, is additionally operable to the map for exporting the mark of the position with the unmanned vehicle.
9. the hand-held device for retrieving of unmanned vehicle according to claim 8, it is characterised in that the locating module, also
For the position of manipulator is marked on map；
The output module, marks for exporting the position of the mark of the position with unmanned vehicle and manipulator
Map.
10. the hand-held device for retrieving of unmanned vehicle according to claim 7, it is characterised in that the locating module, also
For determining position of the unmanned vehicle relative to manipulator according to the positional information of manipulator and the positional information of unmanned vehicle
Confidence ceases.
The hand-held device for retrieving of 11. unmanned vehicles according to claim 10, it is characterised in that the output module tool
Body is used for：Distance of the unmanned vehicle relative to manipulator is shown on a display screen by the form of figure.
The hand-held device for retrieving of 12. unmanned vehicles according to claim 11, it is characterised in that described hand-held give dress for change
Put, wherein：
The azimuth acquisition module, obtains the azimuth of the screen datum line of the display screen, and sends the positioning mould to
Block；
The locating module, is additionally operable to the positive optical axis by the figure relative to display screen and reversely rotates the azimuth.
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| CN201310282511.2A CN103344240B (en) | 2013-07-05 | 2013-07-05 | The device for retrieving of unmanned vehicle and method |
| CN201710240419.8A CN107084721B (en) | 2013-07-05 | 2013-07-05 | Recovery device and method for unmanned aerial vehicle |
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| CN107084721B (en) | 2020-05-05 |
| CN107084721A (en) | 2017-08-22 |
| CN103344240A (en) | 2013-10-09 |
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