Aircraft detection method and height control method

Abstract

The invention discloses an aircraft detection method. A detection device is arranged in the aircraft, and the detection device detects the distance or the vertical height between the aircraft and a detected area. A planar array photoelectric sensor is arranged in the detection device, the detection device acquires the distance or the vertical height between a below detected area in front of the aircraft and the aircraft based on the planar array photoelectric sensor in a flight state of the aircraft, and the distance between a detected area right below the aircraft and the aircraft can be acquired. The invention also discloses an aircraft height control method. A flight device acquires the vertical height A between a detected area right below the aircraft and the aircraft through the aircraft detection method, the vertical height H1, H2, H3...Hn between the below detected area in front of the aircraft and the aircraft is acquired, and according to the vertical height A and the verticalheight H1, H2, H3...Hn, the flight control system in the aircraft controls the flight height of the aircraft.

Description

technical field [0001] The present application relates to an aircraft detection method and an aircraft altitude control method. Background technique [0002] In the prior art, the UAV needs to measure its height in real time during the working process, and a distance sensor is usually used to collect the height data of the UAV. The distance sensors include devices such as ultrasound, binocular vision, and laser radar. [0003] Among them, in the method of using laser radar, the laser radar is fixed on the UAV. During the working process, the laser radar emitting module emits detection light, and the detection light is emitted to the ground or the surface of other objects to be reflected, forming The echo signal is received by the receiving module of the laser radar. The laser radar calculates the relationship between the UAV itself and the ground according to the time difference, phase difference or triangular position relationship between the detection light sent by the tr...

AI Technical Summary

Problems solved by technology

[0004] However, in the prior art, the lidar can only measure the flight height of the drone at a single point, that is, the lidar can only obtain the distance value of a single point for each ranging

In addition, the UAV has a certain speed during flight, and the usual laser radar can only detect the distance value of a single point in the vertical direction, and cannot detect the ground conditions below the UAV in time. When the drone enters a new terrain and adjusts the flight altitude of the drone, it needs a period of delay, which will affect the working efficiency of the drone

In addition, when the UAV is flying forward or backward, the attitude of the UAV will be tilted. At this time, a laser radar at a single point cannot accurately detect the exact distance between the UAV and the directly below the UAV.

[0005] In view of the above deficiencies in the prior art, the problem that the aircraft cannot predict or detect the flight terrain to be passed in advance, the application discloses an aircraft detection method and an aircraft height control method

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