Unmanned aerial vehicle flight control method, unmanned aerial vehicle and computer readable storage medium

Abstract

A method for controlling flight of a UAV, a UAV and a computer readable storage medium, wherein the method comprises: acquiring an instant flight parameter and a planning target parameter of the UAV, calculating a flight planning parameter of the UAV according to the instant flight parameter and the planning target parameter, determining an instruction flight speed of the UAV according to the flight planning parameter and an instruction response delay time of the UAV, and controlling the UAV to fly at the instruction flight speed. The method can improve the control effect on the flight speed of the UAV.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV flight control method, a UAV, and a computer-readable storage medium. Background Technology

[0002] Unmanned aerial vehicles (UAVs), also known as drones, utilize technologies such as satellite positioning, remote sensing, geospatial analysis, aerospace, automatic control, and computer-aided analysis to control their flight. They can be applied in various fields, including agriculture, forestry, surveying, and transportation.

[0003] In existing technologies, drones basically plan their flight process by controlling speed based on horizontal and vertical distances. However, there are few parameters involved in the planning, resulting in a coarse planning process and poor planning effect. Summary of the Invention

[0004] This application provides a drone flight control method, a drone, and a computer-readable storage medium. It can predict more detailed future flight speed information of the drone through a large number of flight planning parameters during flight, resulting in good control performance.

[0005] This application provides a method for controlling the flight of an unmanned aerial vehicle (UAV), including:

[0006] Obtain real-time flight parameters and planned target parameters for the drone;

[0007] Based on the real-time flight parameters and the planned target parameters, calculate the flight planning parameters of the UAV;

[0008] Based on the flight planning parameters and the command response delay time of the UAV, the commanded flight speed of the UAV is determined, and the UAV is controlled to fly at the commanded flight speed.

[0009] One aspect of this application also provides a drone, including:

[0010] The acquisition module is used to acquire the real-time flight parameters and planned target parameters of the UAV;

[0011] The processing module is used to calculate the flight planning parameters of the UAV based on the real-time flight parameters and the planning target parameters;

[0012] The processing module is further configured to determine the commanded flight speed of the UAV based on the flight planning parameters and the command response delay time of the UAV, and control the UAV to fly at the commanded flight speed.

[0013] One aspect of this application also provides a drone, including:

[0014] Memory and processor;

[0015] The memory stores executable computer programs;

[0016] The processor, coupled to the memory, invokes the executable computer program stored in the memory to perform the steps of the UAV flight control method described above.

[0017] One aspect of this application also provides a computer-readable storage medium storing a computer program thereon, which, when run by a processor, implements the UAV flight control method provided in the above embodiments.

[0018] As can be seen from the above embodiments of this application, by acquiring and based on the real-time flight parameters and planned target parameters of the UAV, the flight planning parameters of the UAV are obtained. Based on the flight planning parameters and the command response delay time of the UAV, the commanded flight speed of the UAV is determined, and the UAV is controlled to fly at the commanded flight speed. By obtaining the flight planning parameters through the current real-time flight parameters and future planned target parameters of the UAV, the command response delay time is determined based on the flight planning parameters, and the speed required for the UAV to reach the target position is determined based on the flight planning parameters and the command response delay time. The future flight speed and other flight parameters of the UAV can be predicted, thus achieving a better effect of flexibly controlling the flight of the UAV throughout its flight. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a UAV flight control method provided in an embodiment of this application;

[0021] Figure 2 A flowchart illustrating a drone flight control method provided in another embodiment of this application;

[0022] Figure 3 This is a simulation diagram of the vertical velocity planning of a UAV in the UAV flight control method provided in the embodiments of this application;

[0023] Figure 4 This is a schematic diagram of the structure of a drone provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the hardware structure of a drone provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The technical solutions of this application are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0028] See Figure 1 This application provides an embodiment of a drone flight control method, wherein the executing entity is the drone, specifically the drone's processor. The drone is also equipped with a navigation system. The method includes the following steps:

[0029] S101. Obtain the real-time flight parameters and planned target parameters of the UAV;

[0030] Real-time flight parameters include: the drone's real-time position x0, real-time speed v0, and real-time time t0;

[0031] The planning target parameters include: the target position xe of the UAV flight, the target speed ve, and the expected time te to reach the target position.

[0032] The expected time is the time the user hopes the drone will reach the target location; the target location is the destination the user sets for the drone.

[0033] The navigation system obtains the drone's current real-time flight parameters and retrieves the pre-set planning target parameters from the memory.

[0034] S102. Calculate the flight planning parameters of the UAV based on the real-time flight parameters and the planned target parameters;

[0035] The flight planning parameters are C = [C0, C1, C2, C3]. T , where c 0 c1 is the flight position planning parameter, c2 is the flight speed planning parameter, c3 is the flight acceleration planning parameter, and c3 is the flight jerk planning parameter.

[0036] Calculate the flight planning parameters based on the flight time parameters and flight status parameters;

[0037] Specifically, based on kinematic principles such as integrating jerk over time to obtain acceleration, integrating acceleration over time to obtain velocity, and integrating velocity over time to obtain displacement, the following equation is obtained, and C is solved from the following equation:

[0038]

[0039] C = T -1 X.

[0040] Optionally, in another embodiment of this application, see [link to relevant documentation]. Figure 2 Step S102 may also include:

[0041] Step S201: Obtain the maximum target speed of the UAV based on the flight planning parameters;

[0042] Based on the flight planning parameters C obtained in step S102, that is, based on the solved C0, C1, C2, and C3, the maximum target speed of the UAV is calculated.

[0043] The maximum target speed refers to the maximum speed that the drone needs to reach the target location within the expected time.

[0044] Specifically, based on the flight planning parameters, the speed corresponding to the linear interpolation time point of the planned flight time period is calculated, and the maximum value among the absolute values ​​of the speed values ​​is selected as the maximum target speed.

[0045] The speed corresponding to the linear interpolation time point is calculated by setting a fixed time interval δt, and based on the aircraft's current speed, the set time interval δt, and the flight planning parameter C, the speed corresponding to the linear interpolation time point after the fixed time interval δt from the current time point t is obtained.

[0046] Step S202: If the maximum target speed is greater than the maximum safe flight speed of the UAV, the expected time is extended by a preset time increment so that the maximum target speed is less than the maximum safe flight speed of the UAV.

[0047] Furthermore, if the calculated maximum target speed exceeds the UAV's maximum safe flight speed, the UAV's flight safety cannot be guaranteed. The maximum safe flight speed is the maximum speed at which the UAV is allowed to fly. If the maximum safe flight speed is exceeded, the flight will be stopped according to a preset time increment Δt. e Extend the expected time t e For example, the extended expected time t e '=t e +Δt e This allows the drone's command speed to remain within a safe flight speed range, improving the drone's flight safety.

[0048] S103. Based on the flight planning parameters and command response delay time, determine the commanded flight speed of the UAV and control the UAV to fly at the commanded flight speed.

[0049] Command response delay time ΔT refers to the time it takes for the UAV to respond to a command.

[0050] In this embodiment, starting from the instruction to fly at the commanded speed, the drone responds to the instruction by adjusting its flight speed to the commanded speed, and it takes ΔT time to reach the target position.

[0051] The response delay time for this command can be determined through prior testing.

[0052] Based on the flight planning parameters, the commanded flight speed vc at several moments after the current moment is obtained. That is, te in the matrix of the aforementioned flight planning parameters C is set to ΔT, and the speed vc after ΔT can be obtained through the matrix. The commanded flight speed vc corresponding to the moment after the current moment is increased by ΔT (seconds) is taken as the commanded flight speed.

[0053] Using the flight planning parameters C0, C1, C2, and C3, the corresponding future flight parameter curves can be obtained. The horizontal axis can include the time between t0 and te. By selecting any time point, the corresponding future flight parameters can be obtained, such as future flight position x, future flight speed v, and future flight acceleration a.

[0054] An example, such as Figure 3 As shown, Figure 3 This is a simulation diagram of vertical velocity planning for a UAV. Figure 3 From top to bottom, it includes the future position curve, the future velocity curve, and the future acceleration curve. Among them, Figure 3 The curve in the middle represents the planned future speed of the UAV obtained using these flight planning parameters. The horizontal axis of the curve represents each discrete time point. Assuming the time interval between these discrete time points is δt, then ΔT = nδt, where ΔT is obtained by pushing forward n steps from the current time. The commanded flight speed of the UAV is then the nth speed value in the series of speeds represented by this curve.

[0055] Step S103 can be executed after step S102 or after step S202.

[0056] In this embodiment, the flight planning parameters of the UAV are obtained by taking and using the UAV's real-time flight parameters and planned target parameters. The commanded flight speed of the UAV is determined based on the flight planning parameters and the UAV's command response delay time, and the UAV is controlled to fly at the commanded flight speed. By using the UAV's current real-time flight parameters and future planned target parameters, the flight planning parameters are obtained. The command response delay time is determined based on the flight planning parameters, and the speed required for the UAV to reach the target position is determined based on the flight planning parameters and the command response delay time. The future flight speed of the UAV can be predicted, thus achieving a better effect in planning the UAV's flight.

[0057] See Figure 4 A schematic diagram of the structure of a drone provided in one embodiment of this application, the drone comprising:

[0058] The acquisition module 301 is used to acquire the real-time flight parameters and planned target parameters of the UAV;

[0059] The processing module 302 is used to calculate the flight planning parameters of the UAV based on the real-time flight parameters and the planning target parameters;

[0060] The processing module 302 is also used to determine the commanded flight speed of the UAV based on the flight planning parameters and the command response delay time of the UAV, and control the UAV to fly at the commanded flight speed.

[0061] Obtaining the drone's real-time flight parameters and planned target parameters includes:

[0062] Obtain the drone's real-time position, real-time speed, target position, target speed, and expected time to reach the target position.

[0063] Furthermore, the processing module 302 is also used to obtain the maximum target speed of the UAV based on the flight planning parameters.

[0064] In this embodiment, the flight planning parameters of the UAV are obtained based on the real-time flight parameters and the planned target parameters. Based on the flight planning parameters and the command response delay time of the UAV, the commanded flight speed of the UAV is determined, and the UAV is controlled to fly at the commanded flight speed. The commanded flight speed is the speed required for the UAV to reach the target position. The future flight speed of the UAV can be predicted, thus achieving a better effect of planning the flight of the UAV.

[0065] See Figure 5 The present application provides a schematic diagram of the hardware structure of a drone according to an embodiment. Figure 5 As shown, the drone includes a memory 401 and a processor 402.

[0066] The memory 401 stores an executable computer program 403. The processor 402, coupled to the memory 401, calls the executable computer program 403 stored in the memory to execute the UAV flight control method provided in the above embodiment.

[0067] For example, the computer program 403 can be divided into one or more modules / units, which are stored in memory 401 and executed by processor 402 to complete the present invention. The one or more modules / units may include various modules in the UAV in the above embodiments, such as: acquisition module 301 and processing module 302.

[0068] Furthermore, the drone also includes:

[0069] At least one input device and at least one output device.

[0070] The processor 402, memory 401, input devices, and output devices mentioned above can be connected via a bus.

[0071] The input device can be a camera, touch panel, physical buttons, or mouse, etc. The output device can be a display screen.

[0072] Furthermore, the drone may include more components than shown in the diagram, or combine certain components, or different components, such as network access devices, sensors, etc.

[0073] Processor 402 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0074] The memory 401 can be, for example, a hard disk drive, non-volatile memory (such as flash memory or other electronically programmable, erasable memory used to form a solid-state drive), volatile memory (such as static or dynamic random access memory), etc., and this application embodiment is not limited thereto. Specifically, the memory 401 can be an internal storage unit of the drone, such as the drone's hard disk or RAM. The memory 401 can also be an external storage device of the drone, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the drone. Further, the memory 401 can include both the internal storage unit of the electronic device and external storage devices. The memory 401 is used to store computer programs and other programs and data required by the terminal. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0075] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the drone in the above embodiments, and the computer-readable storage medium may be the aforementioned... Figure 5 The memory 401 in the illustrated embodiment stores a computer program on the computer-readable storage medium. When executed by a processor, the program implements the UAV flight control method described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, a portable hard drive, a read-only memory (ROM), RAM, a magnetic disk, or an optical disk, or any other medium capable of storing program code.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed drones and methods can be implemented in other ways. For example, the drone embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0077] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0079] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0080] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0082] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0084] The above is a description of the UAV flight control method, UAV, and computer-readable storage medium provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling the flight of an unmanned aerial vehicle (UAV), characterized in that, include: The system acquires the real-time flight parameters and planned target parameters of the UAV. The real-time flight parameters include the UAV's real-time time, real-time position, and real-time speed. The planned target parameters include the target position, target speed, and expected time to reach the target position. Based on the real-time flight parameters and the planned target parameters, the flight planning parameters of the UAV are calculated, wherein the flight planning parameters of the UAV include the position parameters, velocity parameters, acceleration parameters and jerk parameters of the UAV's flight plan. Based on the flight planning parameters and the command response delay time of the UAV, the commanded flight speed of the UAV is determined, and the UAV is controlled to fly at the commanded flight speed. The step of determining the commanded flight speed of the UAV based on the flight planning parameters and the command response delay time of the UAV includes: Based on the flight planning parameters, multiple flight speeds are obtained at several times after the current time, and the flight speed corresponding to the time after adding the command response delay time to the current time is taken as the command flight speed.

2. The method according to claim 1, characterized in that, The step of calculating the flight planning parameters of the UAV based on the real-time flight parameters and the planned target parameters includes: Based on the instantaneous time, instantaneous position, instantaneous velocity, target position, target velocity, and expected time to reach the target position, calculate the position parameters, velocity parameters, acceleration parameters, and jerk parameters of the UAV's flight plan; The calculation formula is as follows: ， in, For the instantaneous time, For the desired time, For the instantaneous position, For the target location, For the instantaneous speed, The target speed, For flight position planning parameters, For flight speed planning parameters, Parameters for flight acceleration planning, Parameters for flight jerkiness planning.

3. The method according to claim 2, characterized in that, The step of calculating the flight planning parameters of the UAV based on the real-time flight parameters and the planned target parameters includes: The maximum target speed of the UAV is obtained based on the flight planning parameters.

4. The method according to claim 3, characterized in that, The maximum target speed of the UAV obtained from the flight planning parameters includes: Based on the flight planning parameters, the speed corresponding to the linear interpolation time point of the planned flight time period is calculated, and the maximum value of the absolute value of the calculated speed is determined as the maximum target speed.

5. The method according to claim 4, characterized in that, After obtaining the maximum target speed of the UAV based on the flight planning parameters, the process includes: If the maximum target speed is greater than the maximum safe flight speed of the UAV, the expected time is extended by a preset time increment so that the maximum target speed is less than the maximum safe flight speed of the UAV.

6. A drone, characterized in that, include: The acquisition module is used to acquire the real-time flight parameters and planned target parameters of the UAV. The real-time flight parameters include the real-time time, real-time position and real-time speed of the UAV. The planned target parameters include the target position, target speed and expected time to reach the target position. The processing module is used to calculate the flight planning parameters of the UAV based on the real-time flight parameters and the planned target parameters, wherein the flight planning parameters of the UAV include the position parameters, velocity parameters, acceleration parameters and jerk parameters of the UAV's flight plan; The processing module is further configured to determine the commanded flight speed of the UAV based on the flight planning parameters and the command response delay time of the UAV, and control the UAV to fly at the commanded flight speed. The processing module is further configured to obtain multiple flight speeds at several times after the current time based on the flight planning parameters, and to take the flight speed corresponding to the time after adding the command response delay time to the current time as the command flight speed.

7. A drone, characterized in that, include: Memory and processor; The memory stores executable computer programs; The processor coupled to the memory invokes the executable computer program stored in the memory to execute the UAV flight control method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the UAV flight control method as described in any one of claims 1-5.

Images