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Method of retrieving and releasing unmanned aerial vehicle in hand-held mode and apparatus thereof
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A drone and handheld technology, applied in the field of handheld recovery and flying drones, to achieve the effect of omitting hardware costs
Inactive Publication Date: 2015-12-23
BEIJING ZERO ZERO INFINITY TECH
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Abstract
Description
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[0006] However, this way of flying the drone through the remote control requires the operator to have skilled remote control technology and a strong sense of control
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Embodiment 1
[0060] see figure 1 , which is a flow chart of Embodiment 1 of the method for hand-held recovery and release of unmanned aerial vehicles provided by the present invention.
[0061] The method for hand-held recovery and release of unmanned aerial vehicles provided by this embodiment includes:
[0062] S101: Real-time detection of state parameters of the drone;
[0063] It can be understood that the method of hand-held drone recovery provided by the present invention does not require any remote control equipment, but directly recovers the drone by hand. Therefore, the detection of the state parameters of the UAV is detected by the UAV's own sensors. For example, instruments such as accelerometers and gyroscopes are set on the drone.
[0064] S102: Determine whether the drone is released by hand or recovered by hand according to the state parameters;
[0065] The judgment that the UAV is hand-held and recovered specifically includes:
[0066] Judging whether the UAV has been...
Embodiment 2
[0075] see figure 2 , which is a flow chart of the hand-held recovery drone provided by the present invention.
[0076] S201: Real-time detection of state parameters of the UAV; the state parameters of the UAV include position parameters of the UAV and attitude parameters of the UAV;
[0077] The position parameter of described unmanned aerial vehicle specifically passes the data detected by accelerometer, the unmanned aerial vehicle that is arranged on the first camera detection of unmanned aerial vehicle facing the ground side to the data of ground feature point and the unmanned aerial vehicle and sonardetector detection. Obtained by fusion of distance data on the ground;
[0078] The attitude parameters of the UAV are obtained by fusing the data detected by the accelerometer and the data detected by the gyroscope.
[0079] The state parameters of the UAV are expressed as follows: (t i ,x i ,y i ,z i ,φ i ,θ i ,ψ i ), where (x i ,y i ,z i ) is the UAV at time t...
Embodiment 3
[0097] see image 3 , this figure is a flow chart of the hand-held unmanned aerial vehicle provided by the present invention.
[0098]In this embodiment, it is introduced that when it is judged that it is triggered to enter the pre-flight state by judging that the trajectory of the UAV being lifted by the hand is a preset trajectory.
[0099] When it is judged that the UAV is triggered to enter the pre-flight state, it is judged that the trajectory of the UAV being lifted by the hand is the preset trajectory, including:
[0100] S301: Detect the UAV at time t i The corresponding positional parameters (x i ,y i ,z i ), x i ,y i are the two-dimensional coordinates of the x-axis and y-axis of the horizontal plane parallel to the ground, respectively, z i is the coordinate perpendicular to the ground; t i is the timestamp;
[0101] S302: pass x i ,y i Judging whether the movement direction of the UAV on the x-axis and y-axis is monotonously moving toward the positive ax...
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Abstract
The invention provides a method of retrieving and releasing an unmanned aerial vehicle in a hand-held mode and an apparatus thereof. The method comprises the following steps of detecting a state parameter of an unmanned aerial vehicle in real time; through the state parameter, determining whether the unmanned aerial vehicle is released in the hand-held mode or is retrieved in the hand-held mode; if the unmanned aerial vehicle is determined to be released in the hand-held mode, making a rotor wing rotate so as to begin to take off; if the unmanned aerial vehicle is determined to be retrieved in the hand-held mode, making the rotor wing stop rotating. When being retrieved in the hand-held mode, the unmanned aerial vehicle receives a resistance of hands so that the state parameter of the unmanned aerial vehicle during a flight process changes obviously when being affected by the resistance of hands in short time. When the unmanned aerial vehicle takes off in the hand-held mode from a stop state, a middle state parameter changes because the unmanned aerial vehicle is lifted. Therefore, through the change of the state parameter, whether the unmanned aerial vehicle is released in the hand-held mode can be determined. By using the method provided in the invention, a user does not need to control remote control equipment so as to carry out releasing and retrieving of the unmanned aerial vehicle. For the user, a technology of operating a remote controller is omitted. For the unmanned aerial vehicle, the vehicle is free and is not controlled by other equipment.
Description
technical field [0001] The invention relates to the technical field of drone control, in particular to a method and device for hand-held recovery and release of drones. Background technique [0002] In the prior art, the way to recover the drone is to use a remote control or a similar remote control device (such as a mobile phone) to control the drone to land on a certain plane, and then manually recover the drone. [0003] However, such a recovery method requires the user to first operate the remote control to make the drone fly above the landing point, which has certain requirements on the user's ability to operate the remote control. Some users cannot quickly recover the drone if they are not familiar with the remote control method of the drone. In addition, in such a recovery method, the drone will have a free fall process within a certain distance before approaching the landing plane, and the free fall process will easily cause damage to the drone. Finally, such a rec...
Claims
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Application Information
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