A method, device, equipment and storage medium for flying an unmanned aerial vehicle at a constant altitude

Abstract

The present invention relates to a method, device, equipment and storage medium for a drone to maintain a fixed altitude, which is applied to a hollow environment that is closed from top to bottom, and includes: obtaining an effective distance from the top of the drone to the top of the hollow environment and an effective distance from the bottom of the drone to the bottom of the hollow environment; calculating the first altitude data of the drone according to the effective distance from the bottom of the drone to the bottom of the hollow environment and current air pressure data; calculating the second altitude data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment; and maintaining a fixed altitude in a hollow environment that is closed from top to bottom according to a preset altitude according to the first altitude data and the second altitude data of the drone. The present invention provides a method, device, equipment and storage medium for a drone to maintain a fixed altitude, which obtains the altitude data of the drone by obtaining the upper and lower distances from the drone to the hollow environment, thereby achieving fixed altitude flight.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle flight technology, and in particular to a method, device, equipment and storage medium for unmanned aerial vehicle fixed-altitude flight. Background Art

[0002] Currently, the scenarios for using drones for inspection are becoming more and more diverse. They are not limited to outdoors, but also include tunnels, under bridges, underground factories and other confined dark spaces. Moreover, the main function of this type of inspection drone is to serve as a carrier for payload equipment, providing a good working environment for taking photos of the payload equipment.

[0003] When drones are used for detection in a closed hollow environment, the bottom detection of the closed hollow environment requires that the camera be kept within a fixed object distance range from the bottom of the hollow environment to facilitate the camera to capture clear and bright images. In order to ensure a stable object distance, the aircraft must be able to achieve stable altitude fixation. The commonly used altitude fixation solution for drones currently uses the millimeter radar under the aircraft as a ranging sensor, and the drone's internal barometer as the source of altitude fixation information.

[0004] However, when the terrain appears uneven from below the drone, the drone detecting at the bottom of a closed hollow environment will follow the terrain data measured by the millimeter wave for flight. At this time, the drone cannot guarantee constant altitude flight in a closed hollow environment. Summary of the invention

[0005] In view of this, it is necessary to provide a method, device, equipment and storage medium for UAV constant altitude flight, so as to solve the problem in the prior art that when the terrain below the UAV is uneven, the UAV cannot ensure constant altitude flight in a closed hollow environment.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for a drone to maintain a constant altitude, which is applied to a hollow environment that is closed from top to bottom, and includes:

[0008] Get the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0009] The first height data of the drone is calculated based on the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data;

[0010] The second height data of the drone is calculated based on the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0011] According to the first altitude data and the second altitude data of the UAV, the UAV is flown at a predetermined altitude in a closed hollow environment.

[0012] Preferably, obtaining the effective distance from the top of the drone to the top of the hollow environment includes:

[0013] The actual distance from the top of the drone to the top of the hollow environment at different angles is obtained, and the jump abnormal values ​​in the actual distance from the top of the drone to the top of the hollow environment at different angles are eliminated to obtain the distance measurement value from the top of the drone to the top of the hollow environment;

[0014] Extract the distance measurement value from the top of the drone to the top of the mid-air environment within the preset angle range;

[0015] Calculate the vertical distance from the top of the drone to the top of the hollow environment based on the distance measurement value from the top of the drone to the top of the hollow environment within the preset angle range;

[0016] Compensating the vertical distance from the top of the UAV to the top of the hollow environment to obtain a compensation value of the vertical distance from the top of the UAV to the top of the hollow environment;

[0017] Performing filtering processing on the compensation value of the vertical distance from the top of the UAV to the top of the hollow environment to obtain a filtered value of the vertical distance from the top of the UAV to the top of the hollow environment;

[0018] The filtered value of the vertical distance from the top of the drone to the top of the hollow environment within the first preset distance limit is extracted, which is the effective distance from the top of the drone to the top of the hollow environment.

[0019] Preferably, obtaining the effective distance from the bottom of the drone to the bottom of the hollow environment includes:

[0020] Obtain the distance from the bottom of the drone to the bottom of the hollow environment, remove the jump abnormal values ​​in the distance from the bottom of the drone to the bottom of the hollow environment, and obtain the distance measurement value from the bottom of the drone to the bottom of the hollow environment;

[0021] The distance measurement value from the bottom of the UAV to the bottom of the hollow environment is filtered to obtain a filtered value of the distance from the bottom of the UAV to the bottom of the hollow environment;

[0022] The filtered value of the distance from the bottom of the drone to the bottom of the hollow environment within the second preset distance limit is extracted, which is the effective distance from the bottom of the drone to the bottom of the hollow environment.

[0023] Preferably, the first height data of the drone is calculated based on the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data, including:

[0024] The effective distance from the bottom of the UAV to the bottom of the hollow environment and the current air pressure data are weighted, and the first height data of the UAV is calculated through the weighted weight coefficient, the real-time data of the current air pressure, the air pressure data when the UAV takes off, and the effective distance from the bottom of the UAV to the bottom of the hollow environment.

[0025] Preferably, the second height data of the drone is calculated based on the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment, including:

[0026] If the effective distance from the bottom of the drone to the bottom of the hollow environment is less than the preset height, the second height data is the first height data of the drone;

[0027] If the effective distance from the bottom of the drone to the bottom of the hollow environment is greater than the preset height, the height of the hollow environment closed up and down is calculated, and the second height data is the height of the hollow environment closed up and down minus the effective distance from the top of the drone to the top of the hollow environment.

[0028] Preferably, the effective distance to the bottom of the drone is obtained by a lower millimeter-wave radar, and the air pressure data is obtained by a barometer, and the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data are weighted, specifically:

[0029]

[0030] α=1-β(α,β∈(0,1))

[0031] Among them, α is the weight coefficient of air pressure data, β is the weight coefficient of millimeter wave radar, Real-time data of the barometer, The air pressure data recorded when the drone takes off; is the real-time output value of the millimeter-wave radar; It is the first height data.

[0032] Preferably, the effective distance from the top of the drone to the top of the hollow environment is obtained by using the rotating laser radar on the drone.

[0033] In a second aspect, the present invention further provides a UAV constant altitude flight device, which is applied to a hollow environment closed from top to bottom, and is characterized by comprising:

[0034] An acquisition module is used to acquire the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0035] A first calculation module, used for calculating first height data of the drone according to an effective distance from the bottom of the drone to the bottom of the hollow environment and current air pressure data;

[0036] A second calculation module is used to calculate the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0037] The flight module is used to fly at a fixed altitude in a closed hollow environment at a preset altitude according to the first altitude data and the second altitude data of the drone.

[0038] In a third aspect, the present invention further provides an electronic device, including a memory and a processor, wherein:

[0039] Memory, used to store programs;

[0040] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the method for maintaining altitude of a drone in any of the above implementations.

[0041] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, the steps in the method for maintaining altitude while flying a drone in any of the above-mentioned implementations can be implemented.

[0042] The beneficial effect of adopting the above-mentioned embodiments is as follows: the present invention provides a method, device, equipment and storage medium for fixed-altitude flight of unmanned aerial vehicles, which obtains the effective values ​​of the height data from the top and bottom of the unmanned aerial vehicle to the top and bottom of the hollow environment respectively, and then calculates the first height data and the second height data of the unmanned aerial vehicle respectively. The real-time height data of the unmanned aerial vehicle during the flight can be obtained through the first height data and the second height data of the unmanned aerial vehicle, and then the real-time height data of the unmanned aerial vehicle is used to control the unmanned aerial vehicle to achieve fixed-altitude flight at a preset height. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for maintaining altitude when flying a drone provided by the present invention;

[0044] Figure 2 A schematic diagram of a flow chart of an embodiment of obtaining the effective distance from the top of a drone to the top of a hollow environment provided by the present invention;

[0045] Figure 3 A schematic diagram of a flow chart of an embodiment of obtaining the effective distance from the bottom of a drone to the bottom of a hollow environment provided by the present invention;

[0046] Figure 4 A schematic structural diagram of an embodiment of a UAV altitude-fixed flight device provided by the present invention;

[0047] Figure 5A schematic diagram of the structure of an electronic device for a drone to maintain constant altitude flight provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0049] In the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0050] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] The present invention provides a method, device, equipment and storage medium for maintaining altitude of an unmanned aerial vehicle, which are described below respectively.

[0052] See also Figure 1 , Figure 1 A flowchart of an embodiment of a method for maintaining altitude of a UAV provided by the present invention is provided. A specific embodiment of the present invention discloses a method for maintaining altitude of a UAV, which is applied to a hollow environment closed from top to bottom, including:

[0053] S101, obtaining the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0054] S102, calculating first altitude data of the drone according to the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data;

[0055] S103, calculating the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0056] S104, according to the first altitude data and the second altitude data of the UAV, the UAV is flown at a predetermined altitude in a closed hollow environment.

[0057] In step S101, the upper and lower closed hollow environment of this embodiment is the bottom of a bridge. When the drone flies under the bridge, the effective value of the height from the drone to the water surface under the bridge and the effective value of the height from the drone to the bottom of the bridge are obtained. The height of the drone when flying under the bridge can be calculated through these two height data, thereby achieving fixed-altitude flight under the bridge.

[0058] In step S102, the first distance of the drone's altitude is the altitude data measured when the drone is outside the bottom of the target bridge, or the drone is at the bottom of the target bridge, but the drone's flight altitude is relatively low at this time, so the first altitude data calculated through the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data can accurately measure the drone's flight altitude at this time.

[0059] In step S103, the measured distance from the top of the drone to the top of the hollow environment may be valid only when the drone is at the bottom of the target bridge. The effective distance from the top of the drone to the top of the hollow environment can be used to accurately measure the distance from the top of the drone to the top of the hollow environment when the drone is a certain distance from the ground, and can be used to calculate the height of the drone at this time.

[0060] In step S104, based on the calculated first height data and second height data of the UAV, the real-time height data and environmental data of the UAV during the entire flight process can be calculated, and based on the real-time height data and environmental data of the UAV, the UAV can be controlled to achieve a fixed altitude flight at the bottom of the bridge at a preset height.

[0061] In the above embodiment, the effective value of the height from the drone to the water surface under the bridge and the effective value of the height from the drone to the bottom of the bridge are obtained. The first height data and the second height data of the drone when flying under the bridge are calculated through these two height data, and the real-time height data of the drone can be obtained. The drone can be controlled according to the real-time height data of the drone to achieve fixed-altitude flight under the bridge at a preset height.

[0062] Compared with the prior art, the present embodiment provides a method, device, equipment and storage medium for fixed-altitude flight of a drone, which obtains the effective values ​​of the height data from the top and bottom of the drone to the top and bottom of the hollow environment respectively, and then calculates the first height data and the second height data of the drone respectively. The real-time height data of the drone during flight can be obtained through the first height data and the second height data of the drone, and then the drone is controlled to achieve fixed-altitude flight at a preset height through the real-time height data of the drone.

[0063] See also Figure 2 , Figure 2A schematic diagram of a flow chart of an embodiment of obtaining the effective distance from the top of a drone to the top of a hollow environment provided by the present invention. In some embodiments of the present invention, obtaining the effective distance from the top of a drone to the top of a hollow environment includes:

[0064] S201, obtaining the actual distance from the top of the drone to the top of the hollow environment at different angles, eliminating jump abnormal values ​​in the actual distance from the top of the drone to the top of the hollow environment at different angles, and obtaining the distance measurement value from the top of the drone to the top of the hollow environment;

[0065] S202, extracting the distance measurement value from the top of the drone to the top of the mid-air environment within a preset angle range;

[0066] S203, calculating the vertical distance from the top of the drone to the top of the hollow environment according to the distance measurement value from the top of the drone to the top of the hollow environment within a preset angle range;

[0067] S204, performing compensation processing on the vertical distance from the top of the UAV to the top of the hollow environment to obtain a compensation value of the vertical distance from the top of the UAV to the top of the hollow environment;

[0068] S205, filtering the compensation value of the vertical distance from the top of the drone to the top of the hollow environment to obtain a filtered value of the vertical distance from the top of the drone to the top of the hollow environment;

[0069] S206: extracting a filtered value of the vertical distance from the top of the drone to the top of the hollow environment within a first preset distance limit range, that is, the effective distance from the top of the drone to the top of the hollow environment.

[0070] In step S201, the initial distance data from the top of the drone to the top of the hollow environment is measured. Due to mechanical vibration, rotational eccentricity, sunlight exposure and other reasons, the ranging value may have abnormal values ​​such as large ranging error, output value jump, and ranging value being empty. The above abnormal data needs to be eliminated.

[0071] In step S202, the initial measurement data is data within a 360° range, but data in multiple angle directions are useless data. For the height direction, only part of the data needs to be paid attention to. Therefore, after the abnormal value data is eliminated, the data range needs to be limited to a preset angle range. As a preferred embodiment, the preset angle range selects a range of 60° to the left and right of the height directly above the drone.

[0072] In step S203, the measured value of one rotation of the drone can be expressed as d i Corresponding to the rotation angle When the UAV is on the bottom plane of the bridge, the vertical distance d from each point of the UAV to the bottom plane of the bridge can be calculated by measuring the distance and angle information. Li .

[0073] The calculation formula is as follows:

[0074] In step S204, during measurement, the drone's flight pitch angle θ U and the roll angle γ, so the distance from the UAV to the bridge bottom plane calculated in step S203 has attitude interference and needs attitude compensation. The compensation method can be expressed as:

[0075]

[0076] In step S205, after performing attitude angle compensation on the distance measurement information, in order to ensure the smoothness of the measured distance information, it is necessary to perform mean filtering on N data within the 120° measurement area to ensure the stability of the distance information measurement.

[0077] The calculation formula is as follows:

[0078] In step S206, the filtered distance value d is finally L Whether it is within the safety value range, it is output only after it is determined to be valid data.

[0079] In the above embodiment, since there are many errors in the initially measured distance data from the top of the drone to the top of the hollow environment, it is necessary to first eliminate the outliers, then select the data within the valid angle range, and then calculate the vertical distance from the drone to the bottom of the bridge. Then, attitude compensation and filtering are performed successively to improve the authenticity and stability of the vertical distance from the drone to the bottom of the bridge. Finally, it is determined whether the filtered distance measurement value is within the safety value range. If the conditions are met, the height data at this time is output as valid data.

[0080] See also Figure 3 , Figure 3 A schematic diagram of a flow chart of an embodiment of obtaining the effective distance from the bottom of a drone to the bottom of a hollow environment provided by the present invention. In some embodiments of the present invention, obtaining the effective distance from the bottom of a drone to the bottom of a hollow environment includes:

[0081] S301, obtaining the distance from the bottom of the drone to the bottom of the hollow environment, eliminating jump abnormal values ​​in the distance from the bottom of the drone to the bottom of the hollow environment, and obtaining the distance measurement value from the bottom of the drone to the bottom of the hollow environment;

[0082] S302, filtering the distance measurement value from the bottom of the drone to the bottom of the hollow environment to obtain a filtered value of the distance from the bottom of the drone to the bottom of the hollow environment;

[0083] S303: extracting a filtered value of the distance from the bottom of the drone to the bottom of the hollow environment within a second preset distance limit range, that is, the effective distance from the bottom of the drone to the bottom of the hollow environment.

[0084] In step S301, when the drone is flying, there are differences in the measurement points under the drone, and different measurement targets reflect different clutter, which causes jumps in the ranging output. To ensure the validity of the ranging data, these jump outliers need to be eliminated first.

[0085] In step S302, the distance measurement values ​​after the abnormal values ​​are removed need to be filtered. The smoothing method uses sliding window average filtering to increase the smoothness of the data and reduce data glitches.

[0086] In step S303, the filtering value is subjected to a limiting judgment. If the smoothed filtering value data is within a limited range, the data is considered valid.

[0087] In the above embodiment, the distance data from the bottom of the drone to the bottom of the hollow environment initially measured will also have some abnormal values. It is necessary to first eliminate the abnormal values, and then filter the distance measurement values ​​after eliminating the abnormal values ​​to increase the smoothness of the data and reduce data glitches. The filtered values ​​are then limited and output after being determined to be valid data.

[0088] In some embodiments of the present invention, the first height data of the drone is calculated based on the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data, including:

[0089] The effective distance from the bottom of the UAV to the bottom of the hollow environment and the current air pressure data are weighted, and the first height data of the UAV is calculated through the weighted weight coefficient, the real-time data of the current air pressure, the air pressure data when the UAV takes off, and the effective distance from the bottom of the UAV to the bottom of the hollow environment.

[0090] In the above embodiment, according to the different flight altitudes of the drone, the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data have different weights. The first height data of the drone is calculated by using the different weights of the two, the real-time data of the current air pressure, the air pressure data when the drone takes off, and the effective distance from the bottom of the drone to the bottom of the hollow environment. It should be noted that at this time, the drone is not flying under the target bridge, or it is flying under the target bridge but at a lower altitude. Only in this way can the first height data measured be true and reliable.

[0091] It can be understood that the weighted coefficient includes the weight coefficient of the air pressure data recorded by the barometer and the weight coefficient of the millimeter wave radar.

[0092] In some embodiments of the present invention, the second height data of the drone is calculated based on the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment, including:

[0093] If the effective distance from the bottom of the drone to the bottom of the hollow environment is less than the preset height, the second height data is the first height data of the drone;

[0094] If the effective distance from the bottom of the drone to the bottom of the hollow environment is greater than the preset height, the height of the hollow environment closed up and down is calculated, and the second height data is the height of the hollow environment closed up and down minus the effective distance from the top of the drone to the top of the hollow environment.

[0095] In the above embodiment, when the drone flies under the target bridge, obtaining the altitude data of the drone requires integrating the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment.

[0096] If the effective distance from the bottom of the drone to the bottom of the bridge Less than the preset height value H Mean , the second height data output after fusion is:

[0097] If the effective distance from the bottom of the drone to the bottom of the bridge Greater than the preset height value H Mean , calculate the total height of the bridge The second height data output after fusion is:

[0098] In some embodiments of the present invention, the effective distance to the bottom of the drone is obtained by a lower millimeter-wave radar, and the air pressure data is obtained by a barometer, and the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data are weighted, specifically:

[0099]

[0100] α=1-β(α,β∈(0,1));

[0101] Among them, α is the weight coefficient of air pressure data, β is the weight coefficient of millimeter wave radar, Real-time data of the barometer, The air pressure data recorded when the drone takes off; is the real-time output value of the millimeter-wave radar; It is the first height data.

[0102] In the above embodiment, the millimeter wave radar uses millimeter waves for ranging. Usually, millimeter waves refer to electromagnetic waves in the frequency domain of 30 to 300 GHz (wavelength of 1 to 10 mm). The wavelength of millimeter waves is between centimeter waves and light waves. Therefore, millimeter waves have the advantages of both microwave guidance and photoelectric guidance. The millimeter wave radar has high angular resolution and angle measurement accuracy, and is conducive to resisting electronic interference, clutter interference, and multipath reflection interference. In the target bridge bottom area, the distance from the drone to the bottom surface can be measured.

[0103] The barometer is an instrument made based on Torricelli's experimental principle to measure atmospheric pressure. Different altitudes will cause different atmospheric pressures, thereby measuring the altitude of the drone flying in the air.

[0104] There is a certain error in calculating the height of the drone using the lower millimeter-wave radar or barometer alone, so the two are combined and different weights are assigned according to the reliability of their data. Weighted fusion is then performed to improve the accuracy of the drone's first height data.

[0105] In some embodiments of the present invention, the effective distance from the top of the drone to the top of the hollow environment is obtained by using an upper rotating laser radar of the drone.

[0106] In the above embodiment, the rotating laser radar can measure the target distance by rotating to emit pulsed laser to illuminate the target and using a sensor to measure the return time of the reflected pulse. Because the bottom structure of the bridge is relatively complex, the effective distance from the drone to the bottom of the bridge can be measured by rotating and then selecting data within a certain angle range.

[0107] In order to better implement the drone altitude-fixed flight method in the embodiment of the present invention, based on the drone altitude-fixed flight method, correspondingly, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of an embodiment of a UAV altitude-fixed flight device provided by the present invention. The embodiment of the present invention provides a UAV altitude-fixed flight device 400, including:

[0108] An acquisition module 401 is used to acquire an effective distance from the top of the drone to the top of the hollow environment and an effective distance from the bottom of the drone to the bottom of the hollow environment;

[0109] The first calculation module 402 is used to calculate the first height data of the drone according to the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data;

[0110] The second calculation module 403 is used to calculate the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment;

[0111] The flight module 404 is used to fly at a predetermined altitude in a closed hollow environment according to the first altitude data and the second altitude data of the drone.

[0112] It should be noted here that: the device 400 provided in the above embodiment can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above method embodiments, which will not be repeated here.

[0113] See also Figure 5 , Figure 5 A schematic diagram of the structure of an electronic device for a drone to maintain altitude provided by an embodiment of the present invention. Based on the above drone flight method, the present invention also provides a drone flight device, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a PDA, and a server. The drone flight device includes a processor 510, a memory 520, and a display 530. Figure 5 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0114] In some embodiments, the memory 520 may be an internal storage unit of the drone altitude-fixing flight device, such as a hard disk or memory of the drone altitude-fixing flight device. In other embodiments, the memory 520 may also be an external storage device of the drone altitude-fixing flight device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the drone altitude-fixing flight device. Further, the memory 520 may also include both an internal storage unit and an external storage device of the drone altitude-fixing flight device. The memory 520 is used to store application software and various types of data installed in the drone altitude-fixing flight device, such as program codes for installing the drone altitude-fixing flight device. The memory 520 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 520 stores a drone altitude-fixing flight program 540, which can be executed by the processor 510, thereby realizing the drone altitude-fixing flight method of each embodiment of the present application.

[0115] In some embodiments, the processor 510 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 520, such as executing a method for maintaining altitude of a drone.

[0116] In some embodiments, the display 530 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 530 is used to display information on the drone altitude control flight device and to display a visual user interface. The components 510-530 of the drone altitude control flight device communicate with each other via a system bus.

[0117] In one embodiment, when the processor 510 executes the drone altitude-fixing flight program 540 in the memory 520 , the steps in the above drone altitude-fixing flight method are implemented.

[0118] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for flying an unmanned aerial vehicle at a constant altitude, applied to a hollow environment that is closed from top to bottom, characterized in that: include: Obtaining the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment; Calculate the first height data of the drone according to the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data; Calculate the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment; According to the first altitude data and the second altitude data of the drone, the drone flies at a preset altitude in the closed hollow environment; The obtaining of the effective distance from the top of the drone to the top of the hollow environment includes: Acquire the actual distance from the top of the drone to the top of the hollow environment at different angles, remove jump abnormal values ​​in the actual distance from the top of the drone to the top of the hollow environment at different angles, and obtain the distance measurement value from the top of the drone to the top of the hollow environment; Extracting the distance measurement value from the top of the drone to the top of the hollow environment within a preset angle range; Calculate the vertical distance from the top of the drone to the top of the hollow environment according to the distance measurement value from the top of the drone to the top of the hollow environment within the preset angle range; Performing compensation processing on the vertical distance from the top of the UAV to the top of the hollow environment to obtain a compensation value of the vertical distance from the top of the UAV to the top of the hollow environment; Performing filtering processing on the compensation value of the vertical distance from the top of the UAV to the top of the hollow environment to obtain a filtered value of the vertical distance from the top of the UAV to the top of the hollow environment; A filtered value of the vertical distance from the top of the drone to the top of the hollow environment within a first preset distance limit range is extracted, which is the effective distance from the top of the drone to the top of the hollow environment.

2. The method for maintaining altitude of an unmanned aerial vehicle according to claim 1, characterized in that: Obtaining the effective distance from the bottom of the drone to the bottom of the hollow environment includes: Obtaining the distance from the bottom of the drone to the bottom of the hollow environment, eliminating jump abnormal values ​​in the distance from the bottom of the drone to the bottom of the hollow environment, and obtaining a distance measurement value from the bottom of the drone to the bottom of the hollow environment; Performing filtering on the distance measurement value of the distance from the bottom of the UAV to the bottom of the hollow environment to obtain a filtered value of the distance from the bottom of the UAV to the bottom of the hollow environment; A filtered value of the distance from the bottom of the drone to the bottom of the hollow environment within a second preset distance limit range is extracted, which is the effective distance from the bottom of the drone to the bottom of the hollow environment.

3. The method for maintaining altitude of a UAV according to claim 1, characterized in that: The first height data of the drone is calculated based on the effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data, including: The effective distance from the bottom of the UAV to the bottom of the hollow environment and the current air pressure data are weighted, and the first height data of the UAV is calculated through the weighted weight coefficient, the real-time data of the current air pressure, the air pressure data when the UAV takes off, and the effective distance from the bottom of the UAV to the bottom of the hollow environment.

4. The method for maintaining altitude of an unmanned aerial vehicle according to claim 1, characterized in that: The calculating the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment includes: If the effective distance from the bottom of the drone to the bottom of the hollow environment is less than the preset height, the second height data is the first height data of the drone; If the effective distance from the bottom of the drone to the bottom of the hollow environment is greater than the preset height, the height of the hollow environment closed up and down is calculated, and the second height data is the height of the hollow environment closed up and down minus the effective distance from the top of the drone to the top of the hollow environment.

5. The method for maintaining altitude while flying an unmanned aerial vehicle according to claim 3, characterized in that: The effective distance to the bottom of the drone is obtained by the lower millimeter-wave radar, and the air pressure data is obtained by the barometer. The effective distance from the bottom of the drone to the bottom of the hollow environment and the current air pressure data are weighted, specifically: （ ） in, is the weight coefficient of air pressure data is the weight coefficient of millimeter wave radar, Real-time data of the barometer, Air pressure data recorded when the drone takes off; is the real-time output value of the millimeter-wave radar; It is the first height data.

6. The method for maintaining altitude while flying an unmanned aerial vehicle according to claim 1, characterized in that: The effective distance from the top of the UAV to the top of the hollow environment is obtained by using the rotating laser radar on the UAV.

7. A UAV constant altitude flight device, used in a hollow environment closed from top to bottom, characterized in that: include: An acquisition module, used to acquire an effective distance from the top of the drone to the top of the hollow environment and an effective distance from the bottom of the drone to the bottom of the hollow environment; A first calculation module, used for calculating first height data of the drone according to an effective distance from the bottom of the drone to the bottom of the hollow environment and current air pressure data; A second calculation module is used to calculate the second height data of the drone according to the effective distance from the top of the drone to the top of the hollow environment and the effective distance from the bottom of the drone to the bottom of the hollow environment; A flight module, configured to fly at a predetermined altitude in the closed hollow environment according to the first altitude data and the second altitude data of the drone; The obtaining of the effective distance from the top of the drone to the top of the hollow environment includes: Acquire the actual distance from the top of the drone to the top of the hollow environment at different angles, remove jump abnormal values ​​in the actual distance from the top of the drone to the top of the hollow environment at different angles, and obtain the distance measurement value from the top of the drone to the top of the hollow environment; Extracting the distance measurement value from the top of the drone to the top of the hollow environment within a preset angle range; Calculate the vertical distance from the top of the drone to the top of the hollow environment according to the distance measurement value from the top of the drone to the top of the hollow environment within the preset angle range; Performing compensation processing on the vertical distance from the top of the UAV to the top of the hollow environment to obtain a compensation value of the vertical distance from the top of the UAV to the top of the hollow environment; Performing filtering processing on the compensation value of the vertical distance from the top of the UAV to the top of the hollow environment to obtain a filtered value of the vertical distance from the top of the UAV to the top of the hollow environment; A filtered value of the vertical distance from the top of the drone to the top of the hollow environment within a first preset distance limit range is extracted, which is the effective distance from the top of the drone to the top of the hollow environment.

8. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the method for maintaining altitude while flying a UAV as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the drone altitude-fixed flight method described in any one of claims 1 to 6.

Images