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WO2018094626A1 - 无人飞行器的避障控制方法及无人飞行器 - Google Patents

无人飞行器的避障控制方法及无人飞行器 Download PDF

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Publication number
WO2018094626A1
WO2018094626A1 PCT/CN2016/106995 CN2016106995W WO2018094626A1 WO 2018094626 A1 WO2018094626 A1 WO 2018094626A1 CN 2016106995 W CN2016106995 W CN 2016106995W WO 2018094626 A1 WO2018094626 A1 WO 2018094626A1
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WO
WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
detecting device
detecting
pitch angle
Prior art date
Application number
PCT/CN2016/106995
Other languages
English (en)
French (fr)
Inventor
邹尧
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to JP2019547745A priority Critical patent/JP6783950B2/ja
Priority to CN201680003543.6A priority patent/CN107003679A/zh
Priority to PCT/CN2016/106995 priority patent/WO2018094626A1/zh
Publication of WO2018094626A1 publication Critical patent/WO2018094626A1/zh
Priority to US16/418,067 priority patent/US20190278303A1/en

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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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/10—Constructional aspects of UAVs for stealth, e.g. reduction of cross-section detectable by radars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the embodiments of the present invention relate to the field of drones, and in particular, to an obstacle avoidance control method for an unmanned aerial vehicle and an unmanned aerial vehicle.
  • the unmanned aerial vehicle is equipped with a radar, and the radar can detect whether there is an obstacle in front of the unmanned aerial vehicle when the unmanned aerial vehicle is flying in the air, and the obstacle in the high air is less than the obstacle in the low air, and the air is low.
  • Common obstacles include wires, poles, shrubs, vegetation and other obstacles.
  • the function of the radar is more important.
  • the detection direction of the radar is easily affected by the angle of the UAV, that is, when the UAV's own angle changes, the radar detects.
  • the direction also changes with the angle of the UAV's own angle, which causes the radar to accurately detect obstacles in front of the UAV, thereby reducing the safety of the UAV during flight.
  • Embodiments of the present invention provide an obstacle avoidance control method for an unmanned aerial vehicle and an unmanned aerial vehicle to improve safety of the unmanned aerial vehicle during flight.
  • An aspect of an embodiment of the present invention is to provide an obstacle avoidance control method for an unmanned aerial vehicle, the unmanned aerial vehicle including a body and a detecting device disposed on the body, the detecting device for detecting the unmanned person An obstacle around the aircraft, the method comprising:
  • a power system mounted to the fuselage for providing flight power
  • a flight controller in communication with the power system, for controlling the flight of the unmanned aerial vehicle
  • a detecting device mounted on the fuselage for detecting an obstacle around the unmanned aerial vehicle
  • the flight controller is also used to:
  • Another aspect of an embodiment of the present invention is to provide an obstacle avoidance control method for an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle including a fuselage and a radar disposed on the airframe, wherein the radar is configured to detect the An obstacle in front of a human aircraft, the method comprising:
  • the detection direction of the radar is controlled according to a pitch angle of the fuselage such that the detection direction is in a horizontal direction.
  • a power system mounted to the fuselage for providing flight power
  • a flight controller in communication with the power system, for controlling the flight of the unmanned aerial vehicle
  • a radar mounted to the fuselage for detecting an obstacle in front of the agricultural unmanned aerial vehicle
  • the flight controller is also used to:
  • the detection direction of the radar is controlled according to a pitch angle of the fuselage such that the detection direction is in a horizontal direction.
  • the obstacle avoidance control method and the unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiment control the detection direction of the detecting device according to the current attitude information of the unmanned aerial vehicle, and ensure that the detecting direction of the detecting device is located in a preset direction, for example, a horizontal direction, without following
  • the change of the current attitude of the UAV allows the detection device to accurately detect obstacles in front of the UAV, thereby improving the safety of the UAV during flight.
  • FIG. 1 is a schematic structural view of an unmanned aerial vehicle in the prior art
  • FIG. 4 is a flowchart of an obstacle avoidance control method for an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 8 is an application scenario of an obstacle avoidance control of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 9 is another application scenario of an obstacle avoidance control of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 12 is a flowchart of an obstacle avoidance control method for an agricultural unmanned aerial vehicle according to another embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the unmanned aerial vehicle includes a fuselage 11 and a detecting device 12 disposed on the body 11.
  • the detecting device 12 may be a sensor such as radar, ultrasonic, TOF, binocular vision, etc., for detecting around the unmanned aerial vehicle.
  • the obstacle in particular, the detection device 12 can detect obstacles in front of the UAV.
  • the attitude of the unmanned aerial vehicle is continuously adjusted, and the attitude includes at least one of the following: a pitch angle, a roll angle, a yaw angle, and particularly a pitch angle, when the fuselage 11
  • the pitch angle of the detecting device 12 also changes.
  • the detecting direction of the detecting device 12 deviates from the horizontal direction.
  • the device 12 uses the ground as its detected obstacle, thereby initiating the obstacle avoidance function of the unmanned aerial vehicle, for example, controlling the unmanned aerial vehicle to stop flying forward, causing the obstacle avoidance function of the unmanned aerial vehicle to be accidentally activated.
  • the UAV is in the brake control process, and its pitch angle is positive.
  • the detecting direction of the detecting device 12 is upward from the horizontal direction.
  • the obstacle 13 may actually exist in front of the UAV.
  • the detecting direction of the detecting device 12 deviates from the horizontal direction, the detecting device 12 cannot accurately detect the front. Obstacle 13, if the UAV continues to fly forward, will cause the UAV to crash into the obstacle 13.
  • the detection direction of the detection device is affected by the pitch angle of the UAV.
  • the elevation angle of the UAV is not zero, the detection direction of the detection device deviates from the horizontal direction, and The detection direction of the detection device changes with the change of the elevation angle of the UAV, which causes the detection device to not accurately detect the obstacles in front of the UAV, reducing the safety of the UAV during flight, especially in low altitude. Security.
  • the present embodiment provides an obstacle avoidance control method for an unmanned aerial vehicle, and the principle of the obstacle avoidance control method of the unmanned aerial vehicle will be described in detail below.
  • FIG. 4 is a flowchart of an obstacle avoidance control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 4, the method in this embodiment may include:
  • Step S101 Acquire current posture information of the UAV.
  • the unmanned aerial vehicle includes a body and a detecting device disposed on the body, the detecting device is configured to detect an obstacle around the unmanned aerial vehicle, and current posture information of the unmanned aerial vehicle It may be the current posture information of the body, or may be the current posture information of the detecting device.
  • the attitude information includes at least one of the following: a pitch angle, a roll angle, and a yaw angle.
  • the attitude information of the fuselage such as the pitch angle, the roll angle, and the yaw angle may change.
  • the attitude information of the detecting device such as the pitch angle, the roll angle, and the yaw angle may also change.
  • the principle of the obstacle avoidance control method of the unmanned aerial vehicle provided by the embodiment is described by the change of the pitch angle of the airframe and/or the pitch angle of the detecting device.
  • Step S102 Control a detection direction of the detection device according to the current posture information of the UAV, so that the detection direction is in a preset direction.
  • the detecting direction of the detecting device is always maintained in a horizontal direction, for example, the detecting beam emitted by the detecting device always points in a horizontal direction, or the detecting direction of the detecting device first follows the posture change of the body. And change, then adjust to the preset For example, the pitch angle of the fuselage changes, causing the pitch angle of the detecting device to also change, so that the detecting direction of the detecting device deviates from the horizontal direction, that is, the detecting direction of the detecting device follows the change of the pitch angle of the body. And changing, at this time, by a control device connected to the detecting device, the detecting device controls the detecting direction of the detecting device such that the detecting direction of the detecting device is in a horizontal direction or at a preset angle with the horizontal direction.
  • the execution body of the embodiment may be a flight controller or a control module having a control function in the unmanned aerial vehicle.
  • the flight controller is used as the main body.
  • the flight controller may be configured according to the The current attitude information of the UAV controls the detection direction of the detection device.
  • the implementation manners are as follows:
  • the detecting direction of the detecting device is controlled according to the pitch angle of the detecting device.
  • the detection direction of the detecting device is controlled according to the pitch angle of the airframe.
  • the pitch angle of the fuselage 11 and the pitch angle of the detecting device 12 are both zero, as indicated by the arrow 1, causing the detecting direction of the detecting device 12 to deviate from the horizontal direction, as indicated by the arrow 2, this embodiment
  • the detection direction of the detecting device 12 can be controlled according to the pitch angle of the detecting device 12, and the detecting direction of the detecting device 12 can also be controlled according to the pitch angle of the body 11.
  • the flight controller in the unmanned aerial vehicle includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect an acceleration, a pitch angle, a roll angle, a yaw angle, and the like of the unmanned aerial vehicle.
  • the inertial measurement unit can also be used for detecting the detection.
  • the pitch angle is a positive direction with respect to the horizontal direction and a negative direction with respect to the horizontal direction. 5 and 6, when the pitch angle of the body 11 or the pitch angle of the detecting device 12 is Timing, the detecting device 12 can be rotated in the opposite direction of the pitch angle, that is, when the pitch angle of the body 11 or the pitch angle of the detecting device 12 is negative, the direction opposite to the pitch angle can be positive. Further, the pitch detecting device 12 is rotated; in addition, the pitch angle of the body 11 or the pitch angle of the detecting device 12 may be equal to the angle of the rotation detecting device 12.
  • the detection direction of the detection device is controlled to ensure that the detection direction of the detection device is in a preset direction, such as a horizontal direction, without changing according to the change of the current posture of the UAV, so that the detection device can Accurate detection of obstacles in front of the UAV improves the safety of the UAV during flight.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the detecting device 12 is disposed on the body 11 by the rotating device 14, and the detecting device 12 and the rotating device 14 are connected, and the rotating device 14 can be rotated upward from the horizontal direction, as shown in FIG.
  • the arrow 4 can also be rotated downward from the horizontal direction, as indicated by arrow 5 in FIG.
  • the detecting direction of the detecting detecting device 12 can be realized by controlling the detecting device 12 to rotate, as shown in FIG. 5 and FIG. 6 can also be realized by controlling the rotation of the rotating device 14, so that the detecting direction of the detecting device 12 is the same as the horizontal direction.
  • the flight controller can also be used to control the rotation of the rotating device 14, including the rotating direction and the rotating angle. size.
  • the pitch angle is a positive direction with respect to the horizontal direction and a negative direction with respect to the horizontal direction.
  • the inertial measurement unit in the flight controller can detect the pitch angle of the UAV in real time. As shown in Figure 8, the current pitch angle of the UAV is negative. As indicated by the arrow 6, the flight controller controls the rotation device 14 to be positive. The direction of rotation, as indicated by the arrow 7, is that the angle of rotation for controlling the rotation of the rotating device 14 is positive.
  • the detecting device 12 rotates with the rotation of the rotating device 14, and adjusts the detecting direction of the detecting device 12 during the rotating process to keep the detecting direction of the detecting device 12 in the horizontal direction, thereby ensuring that the detecting device 12 can accurately detect the obstacle ahead. Matter 13.
  • the current pitch angle of the UAV is equal to the magnitude of the rotational angle of the rotating device 14.
  • the current pitch angle of the UAV is positive, as indicated by arrow 8.
  • the flight controller controls the rotation device 14 to rotate in the negative direction, as indicated by the arrow 9, that is, the rotation angle at which the rotation of the rotation device 14 is controlled is negative.
  • the detecting device 12 rotates with the rotation of the rotating device 14, and adjusts the detecting direction of the detecting device 12 during the rotating process to keep the detecting direction of the detecting device 12 in the horizontal direction, thereby ensuring that the detecting device 12 can accurately detect the obstacle ahead. Matter 13.
  • the current pitch angle of the UAV is equal to the magnitude of the rotational angle of the rotating device 14.
  • the detecting device 12 is specifically a radar
  • the rotating device 14 is specifically a steering gear.
  • the detecting device is disposed on the body through the rotating device, and the rotating device can be rotated upwards from the horizontal direction or downward from the horizontal direction.
  • the rotating device rotates, the detecting device rotates along with the rotating device, when no When the current pitch angle of the human aircraft is positive, the rotating device is controlled to rotate in the negative direction.
  • the rotating device is controlled to rotate in the positive direction, and the current pitch angle of the unmanned aerial vehicle is rotated and rotated.
  • the rotation angles of the devices are equal, which ensures that the detection direction of the detection device is always maintained in the horizontal direction, so that the detection device can more accurately detect the obstacles in front, thereby further improving the safety of the UAV during flight.
  • the unmanned aerial vehicle 100 includes: a fuselage, a power system, a flight controller 118, and a detecting device 12, and the power system includes at least the following a motor 107, a propeller 106 and an electronic governor 117, the power system is mounted on the fuselage for providing flight power; the flight controller 118 is communicatively coupled to the power system for controlling the unmanned aerial vehicle Flight; the detection device 12 is mounted to the fuselage for detecting obstacles around the UAV 100.
  • the flight controller 118 includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect an acceleration, a pitch angle, a roll angle, a yaw angle, and the like of the drone.
  • the flight controller 118 is coupled to the detection device 12 and is also used to detect the pitch angle, roll angle, and yaw angle of the probe device 12.
  • the flight controller 118 is specifically configured to: acquire current posture information of the unmanned aerial vehicle; and control a detection direction of the detection device according to current posture information of the unmanned aerial vehicle, so that the detection direction is located in a preset direction.
  • the current posture information of the UAV includes at least one of the following: the current state of the fuselage Gesture information, current posture information of the detecting device.
  • the attitude information includes at least one of the following: a pitch angle, a roll angle, and a yaw angle.
  • the detecting direction of the detecting device is always maintained in the horizontal direction; or the detecting direction of the detecting device first changes in accordance with the posture change of the body, and then remains in the preset direction.
  • the flight controller 118 controls the detection direction of the detection device 12 to be implemented in the following two ways:
  • the flight controller 118 controls the detecting direction of the detecting device according to the pitch angle of the detecting device.
  • the flight controller 118 controls the detection direction of the detection device according to the pitch angle of the UAV.
  • the flight controller 118 can control the detection direction of the detection device 12 by controlling the rotation of the detection device 12 such that the detection direction of the detection device 12 is the same as the horizontal direction.
  • the unmanned aerial vehicle 100 further includes: a sensing system 108, a communication system 110, a supporting device 102, and a photographing device 104.
  • the supporting device 102 may specifically be a pan/tilt
  • the communication system 110 may specifically include receiving
  • the receiver is configured to receive a wireless signal transmitted by the antenna 114 of the ground station 112, and 116 represents an electromagnetic wave generated during communication between the receiver and the antenna 114.
  • the detection direction of the detection device is controlled to ensure that the detection direction of the detection device is in a preset direction, such as a horizontal direction, without changing according to the change of the current posture of the UAV, so that the detection device can Accurate detection of obstacles in front of the UAV improves the safety of the UAV during flight.
  • FIG. 11 is a structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
  • the unmanned aerial vehicle 100 further includes a rotating device 14, and the detecting device 12 is rotated.
  • the device 14 is located in the body. fly
  • the row controller 118 can also control the direction of detection of the detecting device 12 by controlling the rotation of the rotating device 14, such that the detecting direction of the detecting device 12 is the same as the horizontal direction.
  • the specific manner in which the flight controller 118 controls the rotation of the rotating device 14 is: if the current pitch angle of the UAV is positive, the flight controller 118 controls the rotation angle of the rotation of the rotating device 14 to be negative; or, if the current pitch of the UAV is negative If the angle is negative, the flight controller 118 controls the rotation angle of the rotation of the rotating device 14 to be positive. Additionally, in some embodiments, the current pitch angle of the UAV is equal to the magnitude of the rotational angle of the rotating device.
  • the detecting device 12 is a radar and the rotating device 14 is a steering gear.
  • the detecting device is disposed on the body through the rotating device, and the rotating device can be rotated upwards from the horizontal direction or downward from the horizontal direction.
  • the rotating device rotates, the detecting device rotates along with the rotating device, when no When the current pitch angle of the human aircraft is positive, the rotating device is controlled to rotate in the negative direction.
  • the rotating device is controlled to rotate in the positive direction, and the current pitch angle of the unmanned aerial vehicle is rotated and rotated.
  • the rotation angles of the devices are equal, which ensures that the detection direction of the detection device is always maintained in the horizontal direction, so that the detection device can more accurately detect the obstacles in front, thereby further improving the safety of the UAV during flight.
  • FIG. 12 is a flowchart of an obstacle avoidance control method for an agricultural unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 12, the method in this embodiment may include:
  • Step S201 Acquire a pitch angle of the airframe.
  • the agricultural unmanned aerial vehicle includes a fuselage and a radar disposed on the fuselage, and the radar is used to detect an obstacle in front of the unmanned aerial vehicle.
  • the flight controller of the agricultural unmanned aerial vehicle includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect acceleration, pitch angle, roll angle, and yaw angle of the agricultural unmanned aerial vehicle.
  • the execution body of the embodiment may be a flight controller or a control module having a control function in the agricultural unmanned aerial vehicle.
  • the flight controller is used as the main body, and the flight controller may acquire the airframe through the inertial measurement unit.
  • the pitch angle is used as the main body, and the flight controller may acquire the airframe through the inertial measurement unit.
  • Step S202 Control a detection direction of the radar according to a pitch angle of the airframe, so that the detection direction is in a horizontal direction.
  • the flight controller controls the detection direction of the radar according to the pitch angle of the fuselage.
  • the radar is controlled to rotate such that the detection direction of the radar is in a horizontal direction.
  • the detecting device 12 is specifically the radar in the embodiment.
  • the flight controller controls the radar to rotate in the negative direction.
  • the pitch angle of the body 11 is In the negative time, the flight controller controls the radar to rotate in the positive direction so that the detection direction of the radar is in the horizontal direction.
  • the radar is disposed in the fuselage through a steering gear.
  • the steering gear is controlled to rotate so that the detection direction of the radar is in a horizontal direction.
  • the rotating device 14 is specifically the steering gear in the embodiment.
  • the detecting device 12, that is, the radar is disposed in the body 11 through the steering gear, and the steering gear can be rotated upward from the horizontal direction, as shown by the arrow 4 in FIG. It is also possible to rotate downward from the horizontal direction, as shown by arrow 5 in FIG.
  • the flight controller can also control the detection direction of the radar by controlling the rotation of the steering gear.
  • the pitch angle is a positive direction with respect to the horizontal direction and a negative direction with respect to the horizontal direction.
  • the inertial measurement unit in the flight controller can detect the pitch angle of the fuselage in real time.
  • the flight controller controls the rotation angle of the steering gear to be negative, as shown in FIG. 9;
  • the flight controller controls the rotation angle of the steering gear to be positive, as shown in FIG.
  • the current pitch angle of the fuselage is equal to the magnitude of the steering angle of the steering gear.
  • the detection direction of the detection device is controlled to ensure that the detection direction of the detection device is in a preset direction, such as a horizontal direction, without changing according to the change of the current posture of the UAV, so that the detection device can Accurate detection of obstacles in front of the UAV improves the safety of the UAV during flight.
  • the unmanned aerial vehicle 100 includes: a fuselage, a power system, a flight controller 118, and a radar 12, the power system including at least one of the following: the motor 107, the propeller 106, and the electronic tune a speedometer 117, a power system is mounted on the airframe for providing flight power; a flight controller 118 is communicatively coupled to the power system for controlling the flight of the unmanned aerial vehicle; the radar 12 is mounted to the fuselage for An obstacle around the unmanned aerial vehicle 100 is detected.
  • the flight controller 118 includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect acceleration, pitch angle, roll angle, and yaw angle of the agricultural unmanned aerial vehicle.
  • the flight controller 118 is specifically configured to: acquire a pitch angle of the airframe; and control a detection direction of the radar according to a pitch angle of the airframe, so that the detection direction is in a horizontal direction.
  • the flight controller 118 is used to control the detection direction of the radar 12, which can be implemented in the following two ways:
  • the flight controller 118 controls the rotation of the radar 12 such that the detection direction of the radar 12 is in the horizontal direction.
  • the radar 12 is provided to the body through the steering gear 14.
  • the flight controller 118 controls the steering gear 14 to rotate so that the detection direction of the radar 12 is in the horizontal direction.
  • the flight controller 118 controls the rotation angle of the steering of the steering gear 14 to be negative; or, when the current pitch angle of the fuselage is negative, the flight controller 118 controls the steering gear 14 The rotation angle of the rotation is positive.
  • the current pitch angle of the fuselage is equal to the magnitude of the steering angle of the steering gear 14.
  • the agricultural unmanned aerial vehicle further includes: a sensing system 108 , a communication system 110 , a supporting device 102 , and a photographing device 104 , wherein the supporting device 102 may specifically be a cloud platform, and the communication system 110 is specifically A receiver may be included, the receiver is for receiving a wireless signal transmitted by the antenna 114 of the ground station 112, and 116 is indicative of electromagnetic waves generated during communication between the receiver and the antenna 114.
  • the detection direction of the detection device is controlled to ensure that the detection direction of the detection device is in a preset direction, such as a horizontal direction, without changing according to the change of the current posture of the UAV, so that the detection device can Accurate detection of obstacles in front of the UAV improves the safety of the UAV during flight.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

一种无人飞行器的避障控制方法及无人飞行器，该方法包括：获取无人飞行器（100）的当前姿态信息；根据无人飞行器（100）的当前姿态信息，控制探测设备（12）的探测方向，使探测方向位于预设方向，例如水平方向，而不随无人飞行器（100）的当前姿态的变化而变化，使得探测设备（12）可以准确地探测到无人飞行器（100）前方的障碍物，从而提高了无人飞行器（100）飞行时的安全性。

Description

无人飞行器的避障控制方法及无人飞行器 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人飞行器的避障控制方法及无人飞行器。
背景技术
现有技术中无人飞行器安装有雷达，雷达能够检测无人飞行器在空中飞行时，无人飞行器的前方是否有障碍物，高空中的障碍物相对于低空中的障碍物要少一些，低空中常见的障碍物有电线，电线杆，灌木，植被等障碍物等。
因此，无人飞行器在低空中飞行时，雷达的功能更为重要，但是现有技术中，雷达的探测方向容易受无人飞行器自身角度的影响，即无人飞行器自身角度变化时，雷达的探测方向也随着无人飞行器自身角度的变化而变化，导致雷达无法准确的探测到无人飞行器前方的障碍物，从而降低了无人飞行器飞行时的安全性。
发明内容
本发明实施例提供一种无人飞行器的避障控制方法及无人飞行器，以提高无人飞行器飞行时的安全性。
本发明实施例的一个方面是提供一种无人飞行器的避障控制方法，所述无人飞行器包括机身以及设于所述机身的探测设备，所述探测设备用于探测所述无人飞行器的周围的障碍物，所述方法包括：
获取所述无人飞行器的当前姿态信息；
根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
本发明实施例的另一个方面是提供一种无人飞行器，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；
探测设备，安装在所述机身，用于探测所述无人飞行器的周围的障碍物；
所述飞行控制器还用于：
获取所述无人飞行器的当前姿态信息；
根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
本发明实施例的另一个方面是提供一种农业无人飞行器的避障控制方法，所述农业无人飞行器包括机身以及设于所述机身的雷达，所述雷达用于探测所述无人飞行器的前方的障碍物，所述方法包括：
获取所述机身的俯仰角；
根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
本发明实施例的另一个方面是提供一种农业无人飞行器，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；
雷达，安装在所述机身，用于探测所述农业无人飞行器的前方的障碍物；
所述飞行控制器还用于：
获取所述机身的俯仰角；
根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
本实施例提供的无人飞行器的避障控制方法及无人飞行器，根据无人飞行器的当前姿态信息，控制探测设备的探测方向，保证探测设备的探测方向位于预设方向例如水平方向，而不随无人飞行器的当前姿态的变化而变化，使得探测设备可以准确的探测到无人飞行器前方的障碍物，从而提高了无人飞行器飞行时的安全性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术中无人飞行器的结构示意图；
图2为现有技术中无人飞行器避障控制的一种应用场景；
图3为现有技术中无人飞行器避障控制的另一种应用场景；
图4为本发明实施例提供的无人飞行器的避障控制方法的流程图；
图5为本发明实施例提供的无人飞行器的结构示意图；
图6为本发明实施例提供的无人飞行器的结构示意图；
图7为本发明实施例提供的无人飞行器的结构示意图；
图8为本发明实施例提供的无人飞行器避障控制的一种应用场景；
图9为本发明实施例提供的无人飞行器避障控制的另一种应用场景；
图10为本发明实施例提供的无人飞行器的结构图；
图11为本发明另一实施例提供的无人飞行器的结构图；
图12为本发明另一实施例提供的农业无人飞行器的避障控制方法的流程图。
附图标记：
1-俯仰角的方向  2-探测设备的探测方向   3-探测设备的转动方向
4-转动装置的转动方向      5-转动装置的转动方向
6-机身的俯仰角方向        7-转动装置的转动方向
8-机身的俯仰角方向        9-转动装置的转动方向
11-机身     12-探测设备      13-障碍物
14-转动装置       100-无人飞行器
107-电机    106-螺旋桨      117-电子调速器
118-飞行控制器   108-传感系统    110-通信系统
102-支撑设备     104-拍摄设备    112-地面站
114-天线         116-电磁波
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为现有技术中无人飞行器的结构示意图；图2为现有技术中无人飞行器避障控制的一种应用场景；图3为现有技术中无人飞行器避障控制的另一种应用场景。如图1所示，无人飞行器包括机身11、以及机身11上设置的探测设备12，探测设备12可以是雷达、超声波、TOF、双目视觉等传感器，用于探测无人飞行器周围的障碍物，具体的，探测设备12可以探测无人飞行器前方的障碍物。现有技术中，无人飞行器在飞行过程中，其姿态是不停调节的，该姿态包括如下至少一种：俯仰角，横滚角，偏航角，特别是俯仰角，当机身11的俯仰角发生变化时，探测设备12的俯仰角也会跟着变化，如图2所示，当机身11的俯仰角为负时，探测设备12的探测方向偏离水平方向向下，此时，探测设备12会将地面作为其探测到的障碍物，从而启动无人飞行器的避障功能，例如，控制无人飞行器停止向前飞行，导致无人飞行器的避障功能被误启动。
再如，如图3所示，无人飞行器处于刹车控制过程，其俯仰角为正， 探测设备12的探测方向偏离水平方向向上，此时，无人飞行器前方可能真的存在障碍物13，但是，由于探测设备12的探测方向偏离了水平方向，导致探测设备12无法准确探测到前方的障碍物13，若无人飞行器继续向前飞行，将导致无人飞行器撞向障碍物13。
根据图2和图3可知，现有技术中，探测设备的探测方向受无人飞行器俯仰角的影响，当无人飞行器俯仰角不为零时，探测设备的探测方向便会偏离水平方向，且探测设备的探测方向会随着无人飞行器俯仰角的变化而变化，从而导致探测设备无法准确检测无人飞行器前方的障碍物，降低了无人飞行器飞行时的安全性，特别是在低空中飞行的安全性。针对现有技术中的该问题，本实施例提供了一种无人飞行器的避障控制方法，下面将详细介绍该无人飞行器的避障控制方法的原理。
本实施例提供一种无人飞行器的避障控制方法。图4为本发明实施例提供的无人飞行器的避障控制方法的流程图。如图4所示，本实施例中的方法，可以包括：
步骤S101、获取所述无人飞行器的当前姿态信息。
在本实施例中，无人飞行器包括机身以及设于所述机身的探测设备，所述探测设备用于探测所述无人飞行器的周围的障碍物，所述无人飞行器的当前姿态信息可以是机身的当前姿态信息，也可以是探测设备的当前姿态信息。
所述姿态信息包括如下至少一种：俯仰角，横滚角，偏航角。
无人飞行器在飞行过程中，机身的姿态信息如俯仰角，横滚角，偏航角会发生变化，探测设备的姿态信息如俯仰角，横滚角，偏航角也可能发生变化。在本实施例中以机身的俯仰角和/或探测设备的俯仰角的变化，说明本实施例提供的无人飞行器的避障控制方法的原理。
步骤S102、根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
在一些实施例中，所述探测设备的探测方向始终保持在水平方向，例如，探测设备发出的探测光束始终指向水平方向，或者，所述探测设备的探测方向先跟随所述机身的姿态变化而变化，然后再调整至所述预设方 向，例如，机身的俯仰角发生了变化，导致探测设备的俯仰角也发生了变化，从而使得探测设备的探测方向偏离了水平方向，即探测设备的探测方向跟随机身的俯仰角的变化而变化，此时，通过一个与探测设备连接的控制装置，由该控制装置控制该探测设备的探测方向，以使探测设备的探测方向位于水平方向，或者与水平方向成预设角度。
本实施例的执行主体可以是飞行控制器，也可以是无人飞行器中具有控制功能的控制模块，本实施例以飞行控制器为执行主体，在本实施例中，飞行控制器可根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，具体的，可实现方式有如下两种：
第一种：
当无人飞行器的当前姿态信息为所述探测设备的俯仰角时，根据所述探测设备的俯仰角，控制所述探测设备的探测方向。
第二种：
当无人飞行器的当前姿态信息为所述机身的俯仰角时，根据所述机身的俯仰角，控制所述探测设备的探测方向。
如图5所示，机身11的俯仰角和探测设备12的俯仰角均不为零，如箭头1所示，导致探测设备12的探测方向偏离水平方向，如箭头2所示，本实施例可以根据探测设备12的俯仰角来控制探测设备12的探测方向，也可以根据机身11的俯仰角来控制探测设备12的探测方向。无人飞行器中的飞行控制器包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测所述无人飞行器的加速度、俯仰角、横滚角及偏航角等，另外，在本实施例中，惯性测量单元还可以用于检测探测设备12的俯仰角、横滚角及偏航角。因此，可通过惯性测量单元检测的机身11的俯仰角或探测设备12的俯仰角，飞行控制器根据机身11的俯仰角或探测设备12的俯仰角，控制探测设备12的探测方向，控制探测设备12的探测方向的一种可实现方式是：控制探测设备12转动，如图5所示，可沿着如箭头3所示的方向转动探测设备12，转动探测设备12后的结果如图6所示，箭头2所示的探测设备12的探测方向与水平方向相同。
假设俯仰角相对水平方向向上为正方向，相对水平方向向下为负方向。根据图5和图6可知，当机身11的俯仰角或探测设备12的俯仰角为 正时，可按照该俯仰角相反的方向即负向转动探测设备12；同理，当机身11的俯仰角或探测设备12的俯仰角为负时，可按照该俯仰角相反的方向即正向转动探测设备12；此外，机身11的俯仰角或探测设备12的俯仰角的大小还可以与转动探测设备12的角度大小相等。
本实施例根据无人飞行器的当前姿态信息，控制探测设备的探测方向，保证探测设备的探测方向位于预设方向例如水平方向，而不随无人飞行器的当前姿态的变化而变化，使得探测设备可以准确的探测到无人飞行器前方的障碍物，从而提高了无人飞行器飞行时的安全性。
本实施例提供一种无人飞行器的避障控制方法。图7为本发明实施例提供的无人飞行器的结构示意图。如图7所示，在图1的基础上，探测设备12通过转动装置14设于机身11，探测设备12和转动装置14连接，转动装置14可以偏离水平方向向上转动，如图7所示的箭头4，也可以偏离水平方向向下转动，如图7所示的箭头5。
当转动装置14发生转动时，探测设备12跟随转动装置14一起转动，因此，在本实施例中，控制探测设备12的探测方向除了可以通过控制探测设备12转动的方式实现，如图5、图6所示，还可以通过控制转动装置14转动来实现，以使探测设备12的探测方向与水平方向相同，具体的，飞行控制器还可用于控制转动装置14转动，包括转动方向和转动角度的大小。
假设俯仰角相对水平方向向上为正方向，相对水平方向向下为负方向。飞行控制器中的惯性测量单元可实时检测无人飞行器的俯仰角，如图8所示，无人飞行器的当前俯仰角为负，如箭头6所示，则飞行控制器控制转动装置14向正方向转动，如箭头7所示，即控制转动装置14转动的转动角为正。探测设备12随着转动装置14的转动而转动，在转动过程中调节探测设备12的探测方向，以使探测设备12的探测方向保持在水平方向，保证了探测设备12可以准确检测到前方的障碍物13。此外，在一些实施例中，无人飞行器的当前俯仰角的大小与转动装置14的转动角的大小相等。
另外，如图9所示，无人飞行器的当前俯仰角为正，如箭头8所示， 则飞行控制器控制转动装置14向负方向转动，如箭头9所示，即控制转动装置14转动的转动角为负。探测设备12随着转动装置14的转动而转动，在转动过程中调节探测设备12的探测方向，以使探测设备12的探测方向保持在水平方向，保证了探测设备12可以准确检测到前方的障碍物13。此外，在一些实施例中，无人飞行器的当前俯仰角的大小与转动装置14的转动角的大小相等。
在本实施例中，探测设备12具体为雷达，转动装置14具体为舵机。
本实施例中，探测设备通过转动装置设于机身，转动装置可以偏离水平方向向上转动，也可以偏离水平方向向下转动，当转动装置发生转动时，探测设备跟随转动装置一起转动，当无人飞行器的当前俯仰角为正时，控制转动装置向负方向转动，当无人飞行器的当前俯仰角为负时，控制转动装置向正方向转动，且无人飞行器的当前俯仰角的大小与转动装置的转动角的大小相等，保证了探测设备的探测方向始终保持在水平方向，以使探测设备可以更加准确检测到前方的障碍物，进一步提高了无人飞行器飞行时的安全性。
本实施例提供一种无人飞行器。图10为本发明实施例提供的无人飞行器的结构图，如图10所示，无人飞行器100包括：机身、动力系统、飞行控制器118和探测设备12，所述动力系统包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力系统安装在所述机身，用于提供飞行动力；飞行控制器118与所述动力系统通讯连接，用于控制所述无人飞行器飞行；探测设备12安装在机身，用于探测无人飞行器100的周围的障碍物。
其中，飞行控制器118包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测所述无人机的加速度、俯仰角、横滚角及偏航角等。飞行控制器118与探测设备12连接，还用于检测探测设备12的俯仰角、横滚角及偏航角。飞行控制器118具体用于：获取所述无人飞行器的当前姿态信息；根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
所述无人飞行器的当前姿态信息包括如下至少一种：所述机身的当前 姿态信息，所述探测设备的当前姿态信息。所述姿态信息包括如下至少一种：俯仰角，横滚角，偏航角。
在一些实施例中，所述探测设备的探测方向始终保持在水平方向；或者，所述探测设备的探测方向先跟随所述机身的姿态变化而变化，然后再保持在所述预设方向。
在本实施例中，飞行控制器118控制探测设备12的探测方向可通过如下两种方式实现：
第一种：
当无人飞行器的当前姿态信息为所述探测设备的俯仰角时，飞行控制器118根据所述探测设备的俯仰角，控制所述探测设备的探测方向。
第二种：
当无人飞行器的当前姿态信息为所述无人飞行器的俯仰角时，飞行控制器118根据所述无人飞行器的俯仰角，控制所述探测设备的探测方向。
具体的，飞行控制器118可以通过控制探测设备12转动的方式，控制探测设备12的探测方向，使得探测设备12的探测方向与水平方向相同。
另外，如图10所示，无人飞行器100还包括：传感系统108、通信系统110、支撑设备102、拍摄设备104，其中，支撑设备102具体可以是云台，通信系统110具体可以包括接收机，接收机用于接收地面站112的天线114发送的无线信号，116表示接收机和天线114通信过程中产生的电磁波。
本实施例提供的无人飞行器的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。
本实施例根据无人飞行器的当前姿态信息，控制探测设备的探测方向，保证探测设备的探测方向位于预设方向例如水平方向，而不随无人飞行器的当前姿态的变化而变化，使得探测设备可以准确的探测到无人飞行器前方的障碍物，从而提高了无人飞行器飞行时的安全性。
本实施例提供一种无人飞行器。图11为本发明另一实施例提供的无人飞行器的结构图，如图11所示，在图10所示实施例的基础上，无人飞行器100还包括转动装置14，探测设备12通过转动装置14设于机身。飞 行控制器118还可以通过控制转动装置14转动的方式，控制探测设备12的探测方向，使得探测设备12的探测方向与水平方向相同。
飞行控制器118控制转动装置14转动的具体方式为：若无人飞行器的当前俯仰角为正，则飞行控制器118控制转动装置14转动的转动角为负；或者，若无人飞行器的当前俯仰角为负，则飞行控制器118控制转动装置14转动的转动角为正。另外，在一些实施例中，所述无人飞行器的当前俯仰角的大小与所述转动装置的转动角的大小相等。
可选的，探测设备12是雷达，转动装置14是舵机。
本实施例提供的无人飞行器的具体原理和实现方式均与图7所示实施例类似，此处不再赘述。
本实施例中，探测设备通过转动装置设于机身，转动装置可以偏离水平方向向上转动，也可以偏离水平方向向下转动，当转动装置发生转动时，探测设备跟随转动装置一起转动，当无人飞行器的当前俯仰角为正时，控制转动装置向负方向转动，当无人飞行器的当前俯仰角为负时，控制转动装置向正方向转动，且无人飞行器的当前俯仰角的大小与转动装置的转动角的大小相等，保证了探测设备的探测方向始终保持在水平方向，以使探测设备可以更加准确检测到前方的障碍物，进一步提高了无人飞行器飞行时的安全性。
本实施例提供一种农业无人飞行器的避障控制方法。图12为本发明另一实施例提供的农业无人飞行器的避障控制方法的流程图。如图12所示，本实施例中的方法，可以包括：
步骤S201、获取所述机身的俯仰角。
在本实施例中，农业无人飞行器包括机身以及设于所述机身的雷达，所述雷达用于探测所述无人飞行器的前方的障碍物。
农业无人飞行器的飞行控制器包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测该农业无人飞行器的加速度、俯仰角、横滚角及偏航角等。本实施例的执行主体可以是飞行控制器，也可以是农业无人飞行器中具有控制功能的控制模块，本实施例以飞行控制器为执行主体，飞行控制器可通过惯性测量单元获取到机身的俯仰角。
步骤S202、根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
飞行控制器根据机身的俯仰角，控制雷达的探测方向，
在本实施例中，飞行控制器控制所述雷达的探测方向的可实现方式有两种：
第一种：
控制所述雷达转动，以使所述雷达的探测方向位于水平方向。如图5和图6所示，探测设备12具体为本实施例中的雷达，当机身11的俯仰角为正时，飞行控制器控制雷达向负方向转动，当机身11的俯仰角为负时，飞行控制器控制雷达向正方向转动，以使雷达的探测方向位于水平方向。
第二种：
所述雷达通过舵机设于所述机身。控制所述舵机转动，以使所述雷达的探测方向位于水平方向。如图7所示，转动装置14具体为本实施例中的舵机，探测设备12即雷达通过舵机设于机身11，舵机可以偏离水平方向向上转动，如图7所示的箭头4，也可以偏离水平方向向下转动，如图7所示的箭头5。
当舵机发生转动时，雷达跟随舵机一起转动，因此，在本实施例中，飞行控制器还可以通过控制舵机转动，来控制雷达的探测方向。
假设俯仰角相对水平方向向上为正方向，相对水平方向向下为负方向。飞行控制器中的惯性测量单元可实时检测机身的俯仰角，当机身的当前俯仰角为正时，飞行控制器控制舵机转动的转动角为负，如图9所示；或者，当机身的当前俯仰角为负时，飞行控制器控制所述舵机转动的转动角为正，如图8所示。在一些实施例中，所述机身的当前俯仰角的大小与所述舵机的转动角的大小相等。
本实施例根据无人飞行器的当前姿态信息，控制探测设备的探测方向，保证探测设备的探测方向位于预设方向例如水平方向，而不随无人飞行器的当前姿态的变化而变化，使得探测设备可以准确的探测到无人飞行器前方的障碍物，从而提高了无人飞行器飞行时的安全性。
本实施例提供一种农业无人飞行器。如图10所示，无人飞行器100 具体为本实施例中的农业无人飞行器，农业无人飞行器包括：机身、动力系统、飞行控制器118和雷达12，所述动力系统包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力系统安装在所述机身，用于提供飞行动力；飞行控制器118与所述动力系统通讯连接，用于控制所述无人飞行器飞行；雷达12安装在机身，用于探测无人飞行器100的周围的障碍物。
其中，飞行控制器118包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测该农业无人飞行器的加速度、俯仰角、横滚角及偏航角等。飞行控制器118具体用于：获取所述机身的俯仰角；根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
在本实施例中，飞行控制器118用于控制雷达12的探测方向，具体可通过如下两种方式实现：
第一种：
飞行控制器118控制雷达12转动，以使雷达12的探测方向位于水平方向。
第二种：
如图11所示，雷达12通过舵机14设于所述机身。飞行控制器118控制舵机14转动，以使雷达12的探测方向位于水平方向。
具体的，当机身的当前俯仰角为正时，飞行控制器118控制舵机14转动的转动角为负；或者，当机身的当前俯仰角为负时，飞行控制器118控制舵机14转动的转动角为正。
在一些实施例中，所述机身的当前俯仰角的大小与舵机14的转动角的大小相等。
另外，如图10或图11所示，农业无人飞行器还包括：传感系统108、通信系统110、支撑设备102、拍摄设备104，其中，支撑设备102具体可以是云台，通信系统110具体可以包括接收机，接收机用于接收地面站112的天线114发送的无线信号，116表示接收机和天线114通信过程中产生的电磁波。
本实施例提供的农业无人飞行器的具体原理和实现方式均与图12所 示实施例类似，此处不再赘述。
本实施例根据无人飞行器的当前姿态信息，控制探测设备的探测方向，保证探测设备的探测方向位于预设方向例如水平方向，而不随无人飞行器的当前姿态的变化而变化，使得探测设备可以准确的探测到无人飞行器前方的障碍物，从而提高了无人飞行器飞行时的安全性。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上 述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (36)

  1. 一种无人飞行器的避障控制方法，所述无人飞行器包括机身以及设于所述机身的探测设备，所述探测设备用于探测所述无人飞行器的周围的障碍物，其特征在于，所述方法包括：
    获取所述无人飞行器的当前姿态信息；
    根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
  2. 根据权利要求1所述的方法，其特征在于，所述无人飞行器的当前姿态信息包括如下至少一种：所述机身的当前姿态信息，所述探测设备的当前姿态信息。
  3. 根据权利要求2所述的方法，其特征在于，所述探测设备的探测方向始终保持在水平方向；或者，所述探测设备的探测方向先跟随所述机身的姿态变化而变化，然后再保持在所述预设方向。
  4. 根据权利要求2所述的方法，其特征在于，所述姿态信息包括如下至少一种：俯仰角，横滚角，偏航角。
  5. 根据权利要求4所述的方法，其特征在于，所述无人飞行器的当前姿态信息为所述探测设备的俯仰角；
    所述根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，包括：
    根据所述探测设备的俯仰角，控制所述探测设备的探测方向。
  6. 根据权利要求4所述的方法，其特征在于，所述无人飞行器的当前姿态信息为所述机身的俯仰角；
    所述根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，包括：
    根据所述机身的俯仰角，控制所述探测设备的探测方向。
  7. 根据权利要求5或6所述的方法，其特征在于，所述控制所述探测设备的探测方向，包括：
    控制所述探测设备转动，以使所述探测设备的探测方向与水平方向相同。
  8. 根据权利要求5或6所述的方法，其特征在于，所述探测设备通 过转动装置设于所述机身。
  9. 根据权利要求8所述的方法，其特征在于，所述控制所述探测设备的探测方向，包括：
    控制所述转动装置转动，以使所述探测设备的探测方向与水平方向相同。
  10. 根据权利要求9所述的方法，其特征在于，所述无人飞行器的当前俯仰角为正，控制所述转动装置转动的转动角为负；
    或者，
    所述无人飞行器的当前俯仰角为负，控制所述转动装置转动的转动角为正。
  11. 根据权利要求10所述的方法，其特征在于，所述无人飞行器的当前俯仰角的大小与所述转动装置的转动角的大小相等。
  12. 根据权利要求8所述的方法，其特征在于，所述探测设备是雷达，所述转动装置是舵机。
  13. 一种无人飞行器，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；
    探测设备，安装在所述机身，用于探测所述无人飞行器的周围的障碍物；
    所述飞行控制器还用于：
    获取所述无人飞行器的当前姿态信息；
    根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向，使所述探测方向位于预设方向。
  14. 根据权利要求13所述的无人飞行器，其特征在于，所述无人飞行器的当前姿态信息包括如下至少一种：所述机身的当前姿态信息，所述探测设备的当前姿态信息。
  15. 根据权利要求14所述的无人飞行器，其特征在于，所述探测设备的探测方向始终保持在水平方向；或者，所述探测设备的探测方向先跟 随所述机身的姿态变化而变化，然后再保持在所述预设方向。
  16. 根据权利要求14所述的无人飞行器，其特征在于，所述姿态信息包括如下至少一种：俯仰角，横滚角，偏航角。
  17. 根据权利要求16所述的无人飞行器，其特征在于，所述无人飞行器的当前姿态信息为所述探测设备的俯仰角；
    所述飞行控制器根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向时具体用于：
    根据所述探测设备的俯仰角，控制所述探测设备的探测方向。
  18. 根据权利要求16所述的无人飞行器，其特征在于，所述无人飞行器的当前姿态信息为所述无人飞行器的俯仰角；
    所述飞行控制器根据所述无人飞行器的当前姿态信息，控制所述探测设备的探测方向时具体用于：
    根据所述无人飞行器的俯仰角，控制所述探测设备的探测方向。
  19. 根据权利要求17或18所述的无人飞行器，其特征在于，所述飞行控制器控制所述探测设备的探测方向时具体用于：
    控制所述探测设备转动，以使所述探测设备的探测方向与水平方向相同。
  20. 根据权利要求17或18所述的无人飞行器，其特征在于，还包括：
    转动装置，所述探测设备通过转动装置设于所述机身。
  21. 根据权利要求20所述的无人飞行器，其特征在于，所述飞行控制器控制所述探测设备的探测方向时具体用于：
    控制所述转动装置转动，以使所述探测设备的探测方向与水平方向相同。
  22. 根据权利要求21所述的无人飞行器，其特征在于，所述无人飞行器的当前俯仰角为正，控制所述转动装置转动的转动角为负；
    或者，
    所述无人飞行器的当前俯仰角为负，控制所述转动装置转动的转动角为正。
  23. 根据权利要求22所述的无人飞行器，其特征在于，所述无人飞行器的当前俯仰角的大小与所述转动装置的转动角的大小相等。
  24. 根据权利要求20所述的无人飞行器，其特征在于，所述探测设备是雷达，所述转动装置是舵机。
  25. 一种农业无人飞行器的避障控制方法，所述农业无人飞行器包括机身以及设于所述机身的雷达，所述雷达用于探测所述无人飞行器的前方的障碍物，其特征在于，所述方法包括：
    获取所述机身的俯仰角；
    根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
  26. 根据权利要求25所述的方法，其特征在于，所述控制所述雷达的探测方向，包括：
    控制所述雷达转动，以使所述雷达的探测方向位于水平方向。
  27. 根据权利要求25所述的方法，其特征在于，所述雷达通过舵机设于所述机身。
  28. 根据权利要求27所述的方法，其特征在于，所述控制所述雷达的探测方向，包括：
    控制所述舵机转动，以使所述雷达的探测方向位于水平方向。
  29. 根据权利要求28所述的方法，其特征在于，所述机身的当前俯仰角为正，控制所述舵机转动的转动角为负；
    或者，
    所述机身的当前俯仰角为负，控制所述舵机转动的转动角为正。
  30. 根据权利要求29所述的方法，其特征在于，所述机身的当前俯仰角的大小与所述舵机的转动角的大小相等。
  31. 一种农业无人飞行器，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；
    雷达，安装在所述机身，用于探测所述农业无人飞行器的前方的障碍物；
    所述飞行控制器还用于：
    获取所述机身的俯仰角；
    根据所述机身的俯仰角，控制所述雷达的探测方向，使所述探测方向位于水平方向。
  32. 根据权利要求31所述的农业无人飞行器，其特征在于，所述飞行控制器控制所述雷达的探测方向时具体用于：
    控制所述雷达转动，以使所述雷达的探测方向位于水平方向。
  33. 根据权利要求31所述的农业无人飞行器，其特征在于，还包括：
    舵机，所述雷达通过所述舵机设于所述机身。
  34. 根据权利要求33所述的农业无人飞行器，其特征在于，所述飞行控制器控制所述雷达的探测方向时具体用于：
    控制所述舵机转动，以使所述雷达的探测方向位于水平方向。
  35. 根据权利要求34所述的农业无人飞行器，其特征在于，所述机身的当前俯仰角为正，控制所述舵机转动的转动角为负；
    或者，
    所述机身的当前俯仰角为负，控制所述舵机转动的转动角为正。
  36. 根据权利要求35所述的农业无人飞行器，其特征在于，所述机身的当前俯仰角的大小与所述舵机的转动角的大小相等。
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