A control method, device, equipment and storage medium for laser radar for unmanned aerial vehicle

Abstract

The embodiments of the present invention provide a control method, device, equipment and storage medium for a laser radar for an unmanned aerial vehicle. The method first obtains the current distance information of the unmanned aerial vehicle from the ground, and then adjusts the field of view of the laser radar according to the current distance information, thereby solving the problem that the field of view of the existing unmanned aerial vehicle laser radar cannot be adjusted according to the distance information from the ground, can only work at a single field of view angle, and has poor flexibility. The field of view of the laser radar is adjusted according to the current distance information, and is adjusted to a large field of view when the distance is close to the ground, and is adjusted to a small field of view when the distance is far from the ground. This can not only ensure safety during landing, but also avoid the high energy consumption caused by working at a large field of view angle, as well as the problem of laser divergence at a large field of view angle affecting the detection distance.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of laser radar technology, and in particular, to a control method, device, equipment and storage medium for a laser radar for an unmanned aerial vehicle. Background Art

[0002] UAV equipment is a type of aerial robot that has developed rapidly in recent years. It has the advantages of low cost, diverse functions and easy use. It can be widely used in security inspection, search and rescue, material transportation, pesticide spraying, data collection and map construction and other mission scenarios, and has outstanding application value. In the process of executing long-term actual tasks, due to the limited battery life of current UAV equipment, especially multi-rotor UAV equipment that uses batteries as a power source (generally working battery life is 15 to 30 minutes), UAV equipment needs to continuously land on mobile sites or ground base stations for autonomous charging, which needs to be achieved through precise autonomous landing.

[0003] When a drone lands, it needs to accurately obtain the height from the ground and the terrain information of the ground; the existing laser radar used in drone landing solutions has the following defects: it cannot meet the requirements of long detection distance and high detection accuracy at the same time. In other words, laser radar needs to emit surface laser to achieve high-precision detection, and surface laser is relatively divergent, which will affect the detection distance. Therefore, how to balance the distance measurement accuracy and detection distance of laser radar is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present invention provide a control method, device, equipment and storage medium for a laser radar for an unmanned aerial vehicle. The field of view angle of the laser radar is adjusted according to the current distance information. When the distance to the ground is close, it is adjusted to a large field of view angle, and when the distance to the ground is far, it is adjusted to a small field of view angle. This can not only ensure the safety during landing, but also avoid the high energy consumption caused by working at a large field of view angle, and the problem of laser divergence under a large field of view angle affecting the detection distance.

[0005] In a first aspect, an embodiment of the present invention provides a control method for a laser radar for an unmanned aerial vehicle, comprising:

[0006] Obtaining the current distance information of the UAV from the ground;

[0007] Adjust the field of view angle of the laser radar according to the current distance information.

[0008] Optionally, adjusting the field of view angle of the laser radar according to the current distance information includes:

[0009] If the current distance information is within a preset distance range, the laser radar is controlled to operate at a first field of view angle, and first measurement information of the ground is obtained; wherein the first measurement information includes terrain information of the ground and distance information of the drone from the ground;

[0010] If the current distance information exceeds a preset distance range, the laser radar is controlled to operate at a second field of view angle and obtain second measurement information of the ground; wherein the second measurement information includes the distance information of the drone from the ground; wherein the first field of view angle is greater than the second field of view angle.

[0011] Optionally, if the current distance information is within a preset distance range, the laser radar is controlled to operate at a first field of view angle, and first measurement information of the ground is acquired, further comprising:

[0012] According to the first measurement information, determine whether the ground is a flat ground; wherein the flat ground is a ground whose area satisfies a preset area, and the variance of the distance value between each point in the preset area and the laser radar is within a preset error range;

[0013] If not, the laser radar is controlled to operate at a third field of view angle, wherein the third field of view angle is greater than the first field of view angle.

[0014] Optionally, adjusting the field of view angle of the laser radar according to the current distance information includes:

[0015] Determining a target field of view angle of the laser radar according to the current distance information;

[0016] Determine the target light emitting radius of the light emitting device and the target photosensitive radius of the photosensitive device of the laser radar according to the target field of view angle of the laser radar; wherein the light emitting radius of the light emitting device and the photosensitive radius of the photosensitive device are equal;

[0017] According to the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device, the light-emitting section area of ​​the laser radar light-emitting device and the photosensitive area of ​​the photosensitive device are adjusted to adjust the field of view angle of the laser radar to the target field of view angle.

[0018] Optionally, determining a target light emitting radius of the laser radar light emitting device and a target light sensing radius of the light sensing device according to a target field of view angle of the laser radar includes:

[0019] Based on the formula r=tanA / 2*f, the target light-emitting radius r of the laser radar light-emitting device and the target light-sensitive radius r of the light-sensitive device are calculated according to the target field of view angle A of the laser radar and the focal length f of the lens in the laser radar.

[0020] Optionally, obtaining current distance information of the UAV from the ground includes:

[0021] The laser radar is controlled to operate at an initial field of view angle to obtain current distance information of the UAV from the ground.

[0022] Optionally, before controlling the laser radar to work with an initial field of view, the method further includes:

[0023] Obtaining power information of the laser radar;

[0024] When the power information is greater than a preset power value, determining the first field of view angle as the initial field of view angle;

[0025] When the power information is less than or equal to the preset power value, the second viewing angle is determined as the initial viewing angle.

[0026] In a second aspect, an embodiment of the present invention further provides a control device for a laser radar for an unmanned aerial vehicle, comprising:

[0027] A current distance information acquisition module is used to obtain the current distance information of the UAV from the ground;

[0028] The field of view angle adjustment module is used to adjust the field of view angle of the laser radar according to the current distance information.

[0029] In a third aspect, an embodiment of the present invention further provides a control device for a laser radar for an unmanned aerial vehicle, comprising:

[0030] one or more processors;

[0031] A storage device for storing one or more programs;

[0032] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the laser radar for an unmanned aerial vehicle as described in any one of the first aspects of the present invention.

[0033] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for a laser radar for an unmanned aerial vehicle as described in any one of the first aspects of the present invention.

[0034] The embodiments of the present invention provide a control method, device, equipment and storage medium for a laser radar for an unmanned aerial vehicle. The method first obtains the current distance information of the unmanned aerial vehicle from the ground, and then adjusts the field of view of the laser radar according to the current distance information, thereby solving the problem that the field of view of the existing unmanned aerial vehicle laser radar cannot be adjusted according to the distance information from the ground, can only work at a single field of view angle, and has poor flexibility. The field of view of the laser radar is adjusted according to the current distance information, and is adjusted to a large field of view when the distance to the ground is close, and is adjusted to a small field of view when the distance to the ground is far, which can not only ensure the safety during landing, but also avoid the large energy consumption caused by working at a large field of view angle, and the problem of laser divergence at a large field of view angle affecting the detection distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 It is a flow chart of a control method of a laser radar for a drone provided by an embodiment of the present invention;

[0037] Figure 2 It is a flowchart of a control method of a laser radar for an unmanned aerial vehicle provided in the second embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of a UAV landing provided by an embodiment of the present invention;

[0039] Figure 4 1 is a flow chart of a control method for a laser radar for an unmanned aerial vehicle provided in Embodiment 3 of the present invention;

[0040] Figure 5 This is a schematic diagram of the relative radius of the light-emitting section and the lens of a laser radar for an unmanned aerial vehicle provided by an embodiment of the present invention;

[0041] Figure 6 It is a schematic diagram of the structure of a control device for a laser radar for an unmanned aerial vehicle provided in a fourth embodiment of the present invention;

[0042] Figure 7 It is a structural schematic diagram of a control device for a laser radar for an unmanned aerial vehicle provided in Example 5 of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. It should be noted that the directional words such as "upper", "lower", "left", "right" and the like described in the embodiments of the present invention are described at the angles shown in the accompanying drawings and should not be understood as limitations on the embodiments of the present invention. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is formed "on" or "under" another element, it can not only be directly formed "on" or "under" another element, but also indirectly formed "on" or "under" another element through an intermediate element. The terms "first", "second", etc. are only used for descriptive purposes and do not represent any order, quantity or importance, but are only used to distinguish different components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific circumstances.

[0045] The term “including” and its variations used in the present invention are open inclusions, that is, “including but not limited to.” The term “based on” means “based at least in part on.” The term “one embodiment” means “at least one embodiment.”

[0046] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish the corresponding contents, and are not used to limit the order or interdependence.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] Figure 1 It is a flow chart of a control method for a laser radar for an unmanned aerial vehicle provided by an embodiment of the present invention. The method can be applicable to the situation where a laser radar is controlled for an unmanned aerial vehicle. The method can be executed by a laser radar control device for an unmanned aerial vehicle, wherein the device can be implemented by software and / or hardware.

[0049] like Figure 1 As shown, the control method of the laser radar for the drone provided in the first embodiment of the present invention includes the following steps:

[0050] S110: Obtain current distance information between the drone and the ground.

[0051] Specifically, when a drone needs to land, it needs to turn on the laser radar to detect the ground and achieve a safe landing. However, when the drone is at different altitudes, its accuracy of ground detection is also different. Correspondingly, the detection accuracy is affected by the laser radar field of view. Therefore, it is necessary to first obtain the current distance information of the drone from the ground, so as to control the laser radar's field of view according to the current altitude of the drone, so as to obtain the terrain information and height information of the ground and achieve a successful landing of the drone. Among them, the drone can obtain the current altitude from the sea level through GPS, thereby obtaining the current distance information from the ground, and there is no limitation on this.

[0052] S120. Adjust the field of view angle of the laser radar according to the current distance information.

[0053] Specifically, the detection range of the laser radar is affected by the field of view of the laser radar. For example, when the field of view of the laser radar is large, the laser emitted by the laser radar is a surface laser, which can scan the detailed terrain information of the ground, so as to find a suitable landing position and ensure landing safety. When the field of view of the laser radar is small, the laser radar emits point laser, and the distance information from the ground can be obtained. At the same time, the energy consumption of the emission point laser is small while the energy consumption of the surface laser is large. Therefore, the field of view of the laser radar can be adjusted according to the current distance information of the UAV from the ground. That is, when the distance to the ground is close, the field of view of the laser radar is increased to obtain detailed terrain information of the ground; when the distance to the ground is far, the field of view of the laser radar is reduced. At this time, there is no need to pay attention to the terrain information, only the distance information needs to be obtained, and a small energy consumption can be guaranteed.

[0054] A control method for a laser radar for an unmanned aerial vehicle provided in an embodiment of the present invention first obtains the current distance information of the unmanned aerial vehicle from the ground, and then adjusts the field of view angle of the laser radar according to the current distance information, thereby solving the problem that the field of view angle of the existing unmanned aerial vehicle laser radar cannot be adjusted according to the distance information from the ground, can only work at a single field of view angle, and has poor flexibility; the field of view angle of the laser radar is adjusted according to the current distance information, and is adjusted to a large field of view angle when the distance to the ground is close, and is adjusted to a small field of view angle when the distance to the ground is far, which can not only ensure the safety during landing, but also avoid the high energy consumption caused by working at a large field of view angle all the time, and the problem of laser divergence at a large field of view angle affecting the detection distance.

[0055] Embodiment 2

[0056] Figure 2 1 is a flow chart of a control method for a laser radar for an unmanned aerial vehicle provided in the second embodiment of the present invention. The second embodiment is optimized based on the above embodiment.

[0057] The above step S120, adjusting the field of view angle of the laser radar according to the current distance information, is refined as follows:

[0058] If the current distance information is within the preset distance range, the laser radar is controlled to operate at a first field of view angle and obtain first measurement information of the ground;

[0059] If the current distance information exceeds the preset distance range, the laser radar is controlled to operate at a second field of view angle and obtain second measurement information of the ground; wherein the first field of view angle is greater than the second field of view angle.

[0060] If the current distance information is within the preset distance range, the laser radar is controlled to work at the first field of view angle and the first measurement information of the ground is obtained, and the following is added:

[0061] According to the first measurement information, it is determined whether the ground is flat; wherein the flat ground is a ground whose area satisfies a preset area, and the variance of the distance value between each point in the preset area and the laser radar is within a preset error range;

[0062] If not, the laser radar is controlled to operate at a third field of view angle, wherein the third field of view angle is greater than the first field of view angle.

[0063] For details not yet provided in this embodiment, please refer to Embodiment 1.

[0064] like Figure 2 As shown, a control method for a radar for an unmanned aerial vehicle provided in Embodiment 2 of the present invention includes the following steps:

[0065] S210: Obtain current distance information between the UAV and the ground.

[0066] S220: If the current distance information is within a preset distance range, control the laser radar to operate at a first field of view angle and obtain first measurement information of the ground.

[0067] The preset distance range may be understood as a pre-set distance range, which may be 0-1 m, for example. The first measurement information includes terrain information of the ground and distance information between the drone and the ground.

[0068] Specifically, when the current distance information of the drone from the ground is within a preset distance range, that is, the drone is close to the ground, in order to ensure landing safety, it is necessary to detect the terrain information of the ground so that the drone can land on a stable ground. Therefore, it is necessary to control the laser radar to work at the first field of view angle, that is, a larger field of view angle, so as to emit a surface laser. After the radar is controlled to work at the first field of view angle, since the drone is at a low altitude, that is, close to the ground, it is necessary to obtain the first measurement information of the ground, that is, the terrain information of the ground and the distance information of the drone from the ground, so as to ensure that the drone can land smoothly.

[0069] S230: If the current distance information exceeds the preset distance range, control the laser radar to operate at a second field of view angle and obtain second measurement information of the ground.

[0070] The second measurement information includes distance information between the UAV and the ground.

[0071] Specifically, if the current distance information of the drone exceeds the preset distance range, that is, the drone is flying at a high altitude, there is no need to measure the terrain information of the ground. It only needs to land according to the distance information from the ground and ensure a longer detection distance.

[0072] S240. Determine whether the ground is flat based on the first measurement information; wherein the flat ground is a ground whose area satisfies a preset area, and the variance of the distance value between each point in the preset area and the laser radar is within a preset error range.

[0073] Exemplarily, a drone needs to find a flat ground of a preset area for a smooth landing, where the preset area is an area set according to the area required for the drone to land. Therefore, it is necessary to select a ground that meets the preset area size and the variance of the distance values ​​of each point on the ground to the drone is within a preset range in the first measurement information of the current ground. At this time, it indicates that the ground within the area is flat and the drone can be controlled to land.

[0074] S250: If not, control the laser radar to operate at a third field of view angle, wherein the third field of view angle is greater than the first field of view angle.

[0075] Specifically, when there is no radar on the ground under the first field of view angle for the drone to land, it is necessary to further increase the detection range of the drone to find landing ground in other ranges, that is, control the lidar to work at the third field of view angle to further increase the detection range to find a location suitable for the drone to land. Figure 3 is a schematic diagram of a drone landing provided by an embodiment of the present invention, with reference to Figure 3, the drone 10 detects that the current terrain information is a stepped terrain under the first field of view FOV1 of the radar, and the drone is at the edge of the step. At this time, it is impossible to land, so the field of view needs to be increased to expand the detection range. In other embodiments of the present invention, the drone can also move while detecting to find a suitable landing terrain.

[0076] It should be noted that when the laser radar works at the first field of view angle and the second field of view angle, it will obtain the distance information from the ground, so as to correct the current distance information initially obtained by the GPS. At the same time, the field of view angle of the laser radar can be controlled to switch according to the current distance information from the ground; illustratively, when the distance information measured by the laser radar working at the first field of view angle exceeds the preset distance range, the field of view angle is controlled to switch to the second field of view angle, and a point laser is emitted, thereby reducing energy consumption and increasing the detection distance; and when the distance information measured by the laser radar working at the first field of view angle is within the preset distance range, the control is switched to the first field of view angle, and a surface laser is emitted to detect the terrain information on the ground to ensure the safety of landing.

[0077] In an optional embodiment of the present invention, the drone also includes an image sensor; the first measurement information also includes ground material information. For example, for the same detection laser, the reflected light intensity of the cement ground is greater than the reflected light intensity of the soil. Therefore, the image sensor can be used to obtain the current ground image. Based on the ground image combined with the first measurement information of the lidar, more accurate ground material information can be obtained to determine whether the current ground material meets the landing conditions. If so, landing is performed; if not, the field of view angle is increased to find a suitable landing ground in a larger range.

[0078] Embodiment 3

[0079] Figure 4 : is a flow chart of a control method of a laser radar for a drone provided in Embodiment 3 of the present invention. In the embodiment of the present invention, the above step S120, adjusting the field of view angle of the laser radar according to the current distance information, is refined as follows:

[0080] Determining a target field of view angle of the laser radar according to the current distance information;

[0081] Determine the target light emitting radius of the light emitting device and the target photosensitive radius of the photosensitive device of the laser radar according to the target field of view angle of the laser radar; wherein the light emitting radius of the light emitting device and the photosensitive radius of the photosensitive device are equal;

[0082] The light emitting radius of the laser radar light emitting device and the photosensing radius of the photosensing device are adjusted to the target photosensing radius, so as to adjust the light emitting section area of ​​the laser radar light emitting device and the photosensing area of ​​the photosensing device, so as to adjust the field of view angle of the laser radar to the target field of view angle.

[0083] refer to Figure 4 , a control method for a laser radar for an unmanned aerial vehicle provided by an embodiment of the present invention includes:

[0084] S310: Obtain the current distance information between the UAV and the ground.

[0085] S320: Determine the target field of view angle of the laser radar according to the current distance information.

[0086] Among them, the target field of view angle can be understood as a field of view angle corresponding to a preset distance range according to a preset setting; for example, if the current distance information exceeds the preset distance range, it is necessary to control the radar to work at a smaller field of view angle and emit a point laser, so the target field of view angle of the laser radar is determined to be 2°; if the current distance information is within the preset distance range, it is necessary to control the radar to work at a larger field of view angle and emit a surface laser, so the target field of view angle of the laser radar is determined to be 30°.

[0087] Figure 5 Schematic diagram of the radius of the light-emitting section and the lens of a laser radar for a drone provided by an embodiment of the present invention, with reference to Figure 5 At a long distance, a small field of view angle A is required. While keeping the focal length f of the lens unchanged, the small angle is obtained by reducing the radius r of the light-emitting section; at a close distance, when a large field of view angle A is required, while keeping the focal length f unchanged, the large angle is obtained by enlarging the radius r of the light-emitting section.

[0088] S330. Determine the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device according to the target field of view angle of the laser radar; wherein the light-emitting radius of the light-emitting device and the photosensitive radius of the photosensitive device are equal.

[0089] Specifically, since the light-emitting node area of ​​the laser radar light-emitting device determines the light-emitting range of the laser radar, it determines the target field of view angle of the laser radar; accordingly, in order to receive the reflected laser, the photosensitive area of ​​the photosensitive device needs to be equal to the light-emitting node area of ​​the laser radar light-emitting device. After determining the target field of view angle of the laser radar according to the current distance information, in order to adjust the field of view angle of the laser radar to the target field of view angle, it is necessary to determine the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device, thereby adjusting the light-emitting radius of the laser radar light-emitting device and the photosensitive radius of the photosensitive device to the target light-emitting radius and the target photosensitive radius, thereby adjusting the light-emitting node area of ​​the laser radar light-emitting device and the photosensitive area of ​​the photosensitive device to adjust the field of view angle of the laser radar to the target field of view angle.

[0090] Among them, based on the formula r=tanA / 2*f, according to the target field of view angle A of the laser radar and the focal length f of the lens in the laser radar, the target light-emitting radius r of the laser radar light-emitting device and the target photosensitive radius r of the photosensitive device are calculated; after the laser radar light-emitting device emits laser, it passes through the lens to the ground. When the focal length of the lens remains unchanged, when the radius r increases, tanA / 2 increases, that is, the target field of view angle A of the laser radar increases. Therefore, the field of view angle of the laser radar can be adjusted by adjusting the target light-emitting radius r of the laser radar light-emitting device and the target photosensitive radius r of the photosensitive device.

[0091] S340. According to the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device, adjust the light-emitting section area of ​​the laser radar light-emitting device and the photosensitive area of ​​the photosensitive device to adjust the field of view angle of the laser radar to the target field of view angle.

[0092] The technical solution of the embodiment of the present invention determines the target field of view angle of the laser radar through the current distance information, and then determines the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device according to the target field of view angle of the laser radar; finally, the light-emitting radius of the laser radar light-emitting device and the photosensitive radius of the photosensitive device are adjusted to the target photosensitive radius, and the light-emitting section area of ​​the laser radar light-emitting device and the photosensitive area of ​​the photosensitive device are adjusted to adjust the field of view angle of the laser radar to the target field of view angle, thereby further improving the flexibility and accuracy of the adjustment of the field of view angle of the laser radar.

[0093] Optionally, the above step S110, obtaining the current distance information of the drone from the ground, includes:

[0094] Control the laser radar to work at the initial field of view to obtain the current distance information between the drone and the ground.

[0095] Before controlling the LiDAR to work with the initial field of view, it also includes:

[0096] Get the power information of the LiDAR.

[0097] When the power information is greater than the preset power value, the first viewing angle is determined as the initial viewing angle.

[0098] Specifically, when the power information of the laser radar is greater than the preset power value, the power is relatively large, that is, the laser radar can emit a high-power laser, so that when operating at a larger first field of view angle, it can also ensure a longer detection range.

[0099] When the power information is less than or equal to the preset power value, the second viewing angle is determined as the initial viewing angle.

[0100] Specifically, when the power information of the laser radar is less than or equal to the preset power value, the power is low at this time. In order to reduce energy consumption and ensure a larger detection range, a smaller second field of view angle is required as the initial field of view angle to detect the current distance information of the ground;

[0101] In an optional embodiment of the present invention, when the battery power is too low, there is no need to switch the radar field of view according to the distance, that is, the second field of view is maintained throughout the whole process. At this time, only the distance needs to be measured to complete the landing, and there is no need to pay attention to the requirement of a smooth landing.

[0102] Embodiment 4

[0103] Figure 6 This is a schematic diagram of the structure of a control device for a laser radar for an unmanned aerial vehicle provided in Example 4 of the present invention. The device can be applied to the control of a laser radar for an unmanned aerial vehicle, wherein the device can be implemented by software and / or hardware and is generally integrated on the control device of the laser radar for an unmanned aerial vehicle.

[0104] like Figure 6 As shown, the device comprises:

[0105] The current distance information acquisition module 410 is used to obtain the current distance information between the drone and the ground;

[0106] The field of view angle adjustment module 420 is used to adjust the field of view angle of the laser radar according to the current distance information.

[0107] In this embodiment, the current distance information of the UAV from the ground is first obtained through the current distance information acquisition module, and then the field of view of the laser radar is adjusted according to the current distance information according to the field of view adjustment module, which solves the problem that the field of view of the existing UAV laser radar cannot be adjusted according to the distance information from the ground, can only work with a single field of view, and has poor flexibility; the field of view of the laser radar is adjusted according to the current distance information, and is adjusted to a large field of view when the distance is close to the ground, and is adjusted to a small field of view when the distance is far from the ground. This can not only ensure safety during landing, but also avoid the high energy consumption caused by working at a large field of view, and the problem of laser divergence under a large field of view, which affects the detection distance.

[0108] Optionally, the viewing angle adjustment module 420 includes:

[0109] A first field of view angle adjustment unit, used to control the laser radar to operate at a first field of view angle and obtain first measurement information of the ground if the current distance information is within a preset distance range;

[0110] The second field of view angle adjustment unit is used to control the laser radar to operate at a second field of view angle and obtain second measurement information of the ground if the current distance information exceeds a preset distance range; wherein the first field of view angle is greater than the second field of view angle.

[0111] Optionally, the control device of the UAV laser radar further includes:

[0112] A ground judgment module, used to judge whether the ground is flat according to the first measurement information; wherein the flat ground is a ground whose area satisfies a preset area, and the variance of the distance value between each point in the preset area and the laser radar is within a preset error range;

[0113] The third field of view angle adjustment unit is used to control the laser radar to operate at a third field of view angle, wherein the third field of view angle is greater than the first field of view angle.

[0114] Optionally, the viewing angle adjustment module 420 further includes:

[0115] A target field of view angle determination unit, used to determine the target field of view angle of the laser radar according to the current distance information;

[0116] A target luminous radius and target photosensitive radius determination unit, used to determine the target luminous radius of the laser radar light emitting device and the target photosensitive radius of the photosensitive device according to the target field of view angle of the laser radar; wherein the luminous radius of the light emitting device and the photosensitive radius of the photosensitive device are equal;

[0117] The target field of view angle adjustment unit is used to adjust the light-emitting section area of ​​the laser radar's light-emitting device and the photosensitive area of ​​the photosensitive device according to the target light-emitting radius of the laser radar's light-emitting device and the target photosensitive radius of the photosensitive device, so as to adjust the laser radar's field of view angle to the target field of view angle.

[0118] Optionally, the target light emitting radius and target photosensitive radius determination unit is specifically used to:

[0119] Based on the formula r=tanA / 2*f, according to the target field of view angle A of the laser radar and the focal length f of the lens in the laser radar, the target light-emitting radius r of the laser radar light-emitting device and the target light-sensitive radius r of the light-sensitive device are calculated.

[0120] Optionally, the current distance information acquisition module 410 includes:

[0121] The initial field of view angle control unit is used to control the laser radar to work at the initial field of view angle to obtain the current distance information of the drone from the ground.

[0122] Optionally, the control device of the UAV laser radar further includes:

[0123] A power information acquisition module is used to obtain the power information of the laser radar;

[0124] A first initial viewing angle determining module, configured to determine the first viewing angle as the initial viewing angle when the power information is greater than a preset power value;

[0125] The second initial viewing angle determination module is used to determine the second viewing angle as the initial viewing angle when the power information is less than or equal to a preset power value.

[0126] The control device of the above-mentioned laser radar for unmanned aerial vehicles can execute the control method of the laser radar for unmanned aerial vehicles provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0127] Embodiment 5

[0128] Figure 7 Schematic diagram of the structure of a control device for a laser radar for a drone provided in Embodiment 5 of the present invention. Figure 7 As shown, the device provided by the fifth embodiment of the present invention includes: one or more processors 51 and a storage device 52; the processor 51 in the device may be one or more, Figure 7 A processor 51 is taken as an example; the storage device 52 is used to store one or more programs; the one or more programs are executed by the one or more processors 51, so that the one or more processors 51 implement the control method of the laser radar for a drone as described in any one of the embodiments of the present invention.

[0129] The device may further include: an input device 53 and an output device 54 .

[0130] The processor 51, storage device 52, input device 53 and output device 54 in the device may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0131] The storage device 52 in the device is a computer-readable storage medium that can be used to store one or more programs, which can be software programs, computer executable programs and modules, such as program instructions / modules corresponding to the control method for the laser radar for drones provided in the embodiment of the present invention. The processor 51 executes various functional applications and data processing of the terminal device by running the software programs, instructions and modules stored in the storage device 52, that is, the control method for the laser radar for drones in the above method embodiment is realized.

[0132] The storage device 52 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the device, etc. In addition, the storage device 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 52 may further include a memory remotely arranged relative to the processor 51, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] The input device 53 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 54 may include a display device such as a display screen.

[0134] Furthermore, when one or more programs included in the above device are executed by the one or more processors 51, the program performs the following operations:

[0135] Get the current distance information between the drone and the ground;

[0136] According to the current distance information, the field of view angle of the laser radar is adjusted.

[0137] Embodiment 6

[0138] Embodiment 6 of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute a control method for a laser radar for a drone. The method includes:

[0139] Get the current distance information between the drone and the ground;

[0140] According to the current distance information, the field of view angle of the laser radar is adjusted.

[0141] Optionally, when the program is executed by a processor, it can also be used to execute the control method of the laser radar for a drone provided in any embodiment of the present invention.

[0142] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device.

[0143] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0144] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.

[0145] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0146] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a laser radar for an unmanned aerial vehicle, characterized in that: include: Obtaining the current distance information of the UAV from the ground; Adjust the field of view angle of the laser radar according to the current distance information.

2. The control method according to claim 1, characterized in that: Adjusting the field of view angle of the laser radar according to the current distance information includes: If the current distance information is within a preset distance range, the laser radar is controlled to operate at a first field of view angle, and first measurement information of the ground is obtained; wherein the first measurement information includes terrain information of the ground and distance information of the drone from the ground; If the current distance information exceeds a preset distance range, the laser radar is controlled to operate at a second field of view angle and obtain second measurement information of the ground; wherein the second measurement information includes the distance information of the drone from the ground; and the first field of view angle is greater than the second field of view angle.

3. The control method according to claim 2, characterized in that: If the current distance information is within the preset distance range, the laser radar is controlled to operate at a first field of view angle and first measurement information of the ground is obtained, further comprising: According to the first measurement information, determine whether the ground is a flat ground; wherein the flat ground is a ground whose area satisfies a preset area, and the variance of the distance value between each point in the preset area and the laser radar is within a preset error range; If not, the laser radar is controlled to operate at a third field of view angle, wherein the third field of view angle is greater than the first field of view angle.

4. The control method according to claim 1, characterized in that: Adjusting the field of view angle of the laser radar according to the current distance information includes: Determining a target field of view angle of the laser radar according to the current distance information; Determine the target light emitting radius of the light emitting device and the target photosensitive radius of the photosensitive device of the laser radar according to the target field of view angle of the laser radar; wherein the light emitting radius of the light emitting device and the photosensitive radius of the photosensitive device are equal; According to the target light-emitting radius of the laser radar light-emitting device and the target photosensitive radius of the photosensitive device, the light-emitting section area of ​​the laser radar light-emitting device and the photosensitive area of ​​the photosensitive device are adjusted to adjust the field of view angle of the laser radar to the target field of view angle.

5. The control method according to claim 4, characterized in that: Determining the target light emitting radius of the laser radar light emitting device and the target light sensing radius of the light sensing device according to the target field of view angle of the laser radar includes: Based on the formula r=tanA / 2*f, the target light-emitting radius r of the laser radar light-emitting device and the target light-sensitive radius r of the light-sensitive device are calculated according to the target field of view angle A of the laser radar and the focal length f of the lens in the laser radar.

6. The control method according to claim 1, characterized in that: Get the current distance information of the drone from the ground, including: The laser radar is controlled to operate at an initial field of view angle to obtain current distance information of the UAV from the ground.

7. The control method according to claim 6, characterized in that: Before controlling the laser radar to work with an initial field of view, the method further includes: Obtaining power information of the laser radar; When the power information is greater than a preset power value, determining the first field of view angle as the initial field of view angle; When the power information is less than or equal to the preset power value, the second viewing angle is determined as the initial viewing angle.

8. A control device for a laser radar for an unmanned aerial vehicle, characterized in that: include: A current distance information acquisition module is used to obtain the current distance information of the UAV from the ground; The field of view angle adjustment module is used to adjust the field of view angle of the laser radar according to the current distance information.

9. A control device for a laser radar for an unmanned aerial vehicle, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the laser radar for an unmanned aerial vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the laser radar for an unmanned aerial vehicle as described in any one of claims 1 to 7 is implemented.

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