CN118151670B - Control method and system for emergency return of flight equipment - Google Patents
Control method and system for emergency return of flight equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/46—Control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
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Abstract
The invention is applicable to the technical field of aircrafts, and provides a control method and a system for emergency return of flying equipment, wherein the method comprises the following steps: establishing a plurality of space nodes in a virtual space based on the direction-changing position of the aircraft in the flight process, wherein the space nodes, the departure point and the return point form a flight route; acquiring a node panoramic image of the aircraft when the aircraft changes direction; when the navigation is carried out, traversing the node panoramic images corresponding to the space nodes which are adjacent in sequence by taking the navigation points as the base points to identify the feasibility of the direct flight path; generating a return route according to the flight route after the space nodes are screened out, and controlling the aircraft to return. The invention can optimize the path between the space nodes by utilizing the characteristics of the panoramic video, thereby leading the space nodes to return more effectively.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a control method and a system for emergency return of flying equipment.
Background
The flying device refers to an instrument device which flies in the air, such as an airplane, a spacecraft, a balloon and the like, and the unmanned aerial vehicle is a special type of flying device, is the front edge of the technical development of the current aircraft, and plays an important role in various fields.
The unmanned aerial vehicle is powered by the battery, the endurance mileage of the unmanned aerial vehicle is limited, the unmanned aerial vehicle can return after the unmanned aerial vehicle executes the task, extreme conditions are met, for example, when weather changes are unfavorable for flying, the emergency return action can be executed, and the emergency return function of the unmanned aerial vehicle can effectively reduce economic loss caused by crash.
At present, when an unmanned plane carries out emergency return, in order to avoid encountering obstacles, most of unmanned planes return according to the original route, the return speed is increased compared with that of manual control, but the return speed is still not efficient enough, if the unmanned plane returns in a mode of tending to a straight line, the unmanned plane inevitably needs to rely on the obstacle avoidance function of the unmanned plane, but the existing obstacle avoidance function still has the defects, so that the control method and the system for the emergency return of the flight equipment are provided, and the aim of solving the problems is achieved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a control method and a control system for emergency return of flight equipment, so as to solve the problems in the background art.
The invention is realized in that a control method for an emergency return of a flying device comprises the steps of:
Establishing a plurality of space nodes in a virtual space based on the direction-changing position of the aircraft in the flight process, wherein the space nodes, the departure point and the return point form a flight route;
Acquiring a node panoramic image of an aircraft during turning, wherein the node panoramic image corresponds to space nodes one by one, and the node panoramic image is acquired through image equipment arranged on the aircraft;
when the navigation is carried out, traversing node panoramic images corresponding to space nodes which are adjacent in sequence by taking the navigation points as base points, and identifying the feasibility of the direct flight path, wherein the feasibility is used for screening out the space nodes of unnecessary paths in the flight route;
generating a return route according to the flight route after the space nodes are screened out, and controlling the aircraft to return.
As a further scheme of the invention: the step of establishing a plurality of space nodes in the virtual space based on the position of the direction change in the flight process of the aircraft specifically comprises the following steps:
Acquiring flight data in the flight process of the aircraft through a background, wherein the flight data comprise position data, and speed and direction data of the aircraft;
Establishing a flight route of the aircraft in a virtual space according to flight data of the aircraft, wherein a departure point in the flight route is in a known state, and a return point in the flight route is obtained by acquiring the return positioning of the aircraft in real time;
and identifying inflection points of route transformation in the flight route to obtain a plurality of space nodes.
As a further scheme of the invention: the step of adjusting the view angle orientation of the node panoramic image according to the relative position parameter to obtain the picture image specifically comprises the following steps:
after the corresponding node panoramic image is called, carrying out position transformation by taking the selected space node as a reference on the basis of the relative position parameter to obtain a reference position parameter of the reference point relative to the selected space node, wherein the reference position parameter is three-dimensional space coordinate data;
performing view angle adjustment on the node panoramic image according to the reference position parameters, and locking;
and intercepting and scaling the node panoramic image after the view angle is locked to obtain the picture image.
As a further scheme of the invention: the image acquisition module comprises:
the monitoring unit is used for monitoring the data transmission process between the aircraft and the controller in the flight process of the aircraft through the background;
The command transmission unit is used for simultaneously transmitting control commands to the aircraft and the background through the controller in the flight process of the aircraft;
The instruction identification unit is used for identifying the control instruction through the background, and generating an image acquisition instruction when the control instruction belongs to an instruction for controlling the adjustment direction of the aircraft;
and the instruction issuing unit sends the image acquisition instruction to the aircraft so as to acquire the node panoramic image of the current position.
As a further scheme of the invention:
Another object of the present invention is to provide a control system for emergency return of a flying device, said system comprising:
The flight route processing module is used for establishing a plurality of space nodes in the virtual space based on the position where the direction change is carried out in the flight process of the aircraft, wherein the space nodes, the departure point and the return point form a flight route;
The system comprises an image acquisition module, a display module and a display module, wherein the image acquisition module acquires a node panoramic image of an aircraft during turning, the node panoramic image corresponds to space nodes one by one, and the node panoramic image is acquired through image equipment arranged on the aircraft;
The node processing module is used for traversing the feasibility of identifying the direct flight path by taking the return points as the base points and corresponding node panoramic images of the space nodes which are adjacent in sequence when returning, and is used for screening out the space nodes of unnecessary paths in the flight path;
and the return control module generates a return route according to the flight route after the space nodes are screened out and controls the aircraft to return. As a further scheme of the invention:
as a further scheme of the invention: the flight path processing module includes:
The flight data acquisition unit acquires flight data in the flight process of the aircraft through a background, wherein the flight data comprises position data, and speed and direction data of the aircraft;
The virtual route establishing unit establishes a flight route of the aircraft in a virtual space according to flight data of the aircraft, wherein a departure point in the flight route is in a known state, and a return point in the flight route is obtained by acquiring the return positioning of the aircraft in real time;
And the route identification unit is used for identifying inflection points of route transformation in the flight route to obtain a plurality of space nodes.
As a further scheme of the invention: the node processing module comprises:
the node selection unit takes the return point as a reference point and selects a space node closest to the return point in the flight route;
the position calculation unit is used for determining relative position parameters between the return point and the selected space node according to the positions of the return point and the selected space node;
The image retrieving processing unit is used for retrieving the node panoramic image corresponding to the selected spatial node, and adjusting the view angle orientation of the node panoramic image according to the relative position parameter to obtain a picture image, wherein the picture image is an image of the position of the selected spatial node towards the datum point;
The image recognition unit is used for recognizing the picture image and judging whether an obstacle exists between the datum point and the selected space node or not;
And the judging unit is used for deleting the selected space node and selecting the next space node to repeat the steps when no obstacle exists between the two space nodes, taking the selected space node as a datum point and selecting the next space node to repeat the steps when the obstacle exists between the two space nodes.
Compared with the prior art, the invention has the beneficial effects that:
The invention obtains the flight route of the aircraft by utilizing the data in the flight process of the aircraft, and obtains the position of the aircraft for direction conversion, namely the space node.
Drawings
Fig. 1 is a flow chart of a control method for an emergency return of a flying device.
FIG. 2 is a flow chart of a method for controlling an emergency return of a piece of flying equipment for creating a plurality of spatial nodes in a virtual space based on a location of a direction change during a flight of an aircraft.
Fig. 3 is a flowchart of acquiring a panoramic image of a node of an aircraft during a direction change in a control method for an emergency return of a flying device.
Fig. 4 is a flowchart of the feasibility of traversing the node panoramic image corresponding to the space node adjacent in sequence with the return point as the base point to identify the direct flight path in the control method for the emergency return of the flight equipment.
Fig. 5 is a flowchart for adjusting the view angle orientation of a panoramic image of a node according to a relative position parameter in a control method for emergency return of a flight device to obtain a frame image.
Fig. 6 is a schematic structural view of a control system for emergency return of a flying apparatus.
Fig. 7 is a schematic view of the structure of a flight path processing module in a control system for emergency return of a flight device.
Fig. 8 is a schematic structural diagram of an image acquisition module in a control system for emergency return of a flight device.
Fig. 9 is a schematic structural view of a node processing module in a control system for emergency return of a flight device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a control method for an emergency return of a flight device, the method including the steps of:
S100, establishing a plurality of space nodes in a virtual space based on the direction-changing position of the aircraft in the flight process, wherein the space nodes, the departure point and the return point form a flight route;
S200, acquiring a node panoramic image of the aircraft during turning, wherein the node panoramic image corresponds to space nodes one by one, and the node panoramic image is acquired through image equipment arranged on the aircraft;
S300, traversing node panoramic images corresponding to space nodes which are adjacent in sequence by taking a return point as a base point to identify the feasibility of a direct flight path when returning, and screening out space nodes in unnecessary paths in a flight route;
S400, generating a return route according to the flight route after the space nodes are screened out, and controlling the aircraft to return.
In order to avoid the obstacle when the unmanned plane is in emergency return, the unmanned plane is mostly returned according to the original route, and the return speed is increased compared with the manual control, but the unmanned plane is still not efficient, and the time consumed in emergency return is long.
In the embodiment of the invention, the flight route of the aircraft is obtained by utilizing the data in the flight process of the aircraft, and the position of the aircraft for direction conversion, namely the space node, is also obtained.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of establishing a plurality of spatial nodes in the virtual space based on the position of the direction change during the flight of the aircraft specifically includes:
S101, acquiring flight data in the flight process of an aircraft through a background, wherein the flight data comprise position data and speed and direction data of the aircraft;
S102, establishing a flight route of the aircraft in a virtual space according to flight data of the aircraft, wherein a departure point in the flight route is in a known state, and a return point in the flight route is obtained by acquiring the return positioning of the aircraft in real time;
S103, identifying inflection points of route transformation in the flight route to obtain a plurality of space nodes.
In the embodiment of the invention, in general, in order to better record the state of the aircraft, the aircraft can upload data to the background in the flight process, and the flight data of the aircraft is included, wherein the flight data comprises the position of the aircraft, the speed and the direction of the aircraft, the flight data is analyzed to establish the flight route of the aircraft, the departure point and the return point are convenient to acquire, and after the flight route is formed, the shape of the flight route is analyzed, so that the inflection point in the flight route can be used as the space node, and the position of the direction change of the aircraft in the flight process can be obtained by the method.
As shown in fig. 3, as a preferred embodiment of the present invention, the step of acquiring a panoramic image of a node of an aircraft during direction change specifically includes:
S201, monitoring a data transmission process between an aircraft and a controller in the flight process of the aircraft through a background;
s202, in the flight process of the aircraft, a control instruction is simultaneously sent to the aircraft and the background through a controller;
S203, identifying the control instruction through a background, and generating an image acquisition instruction when the control instruction belongs to an instruction for controlling the adjustment direction of the aircraft;
s204, sending the image acquisition instruction to the aircraft, so that the aircraft acquires the node panoramic image of the current position.
In the embodiment of the invention, the flight of the aircraft can be realized by matching the controller with the background system, in the method, when the unmanned aerial vehicle needs to adjust the direction, the unmanned aerial vehicle is necessarily realized by the controller, the controller can send a control instruction to the aircraft, if the state of the aircraft is monitored by the background, certain delay is necessarily present, but if the controller transmits the control instruction to the background at the same time, the control instruction is identified by the background, the direction of the aircraft needs to be changed can be directly obtained, and at the moment, the image equipment on the aircraft can acquire the node panoramic image of the current position through the image acquisition instruction.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of traversing the node panoramic image corresponding to the space node that is adjacent in sequence with the return point as the base point to identify the feasibility of the direct flight path specifically includes:
S301, taking the return point as a reference point, and selecting a space node closest to the return point in a flight route;
s302, determining relative position parameters between the return point and the selected space node according to the positions of the return point and the selected space node;
s303, calling a node panoramic image corresponding to the selected spatial node, and adjusting the view angle orientation of the node panoramic image according to the relative position parameter to obtain a picture image, wherein the picture image is an image at the reference point of the orientation of the selected spatial node;
s304, identifying the picture image, and judging whether an obstacle exists between the datum point and the selected space node or not;
s305, deleting the selected space node and selecting the next space node to repeat the steps when no obstacle exists between the two space nodes, taking the selected space node as a datum point when the obstacle exists between the two space nodes, and selecting the next space node to repeat the steps.
In the embodiment of the invention, for better explanation, for example, a flight route is composed of three space nodes, a departure point and a return point, at this time, the return point and the third space node can be selected, the position of the return point relative to the third space node, namely, the relative position parameter, can be obtained by adjusting the node panoramic image of the third space node, whether the third space node has an obstacle from the third space node to the return point or not can be obtained by identifying the image, if the obstacle exists, the return of the original route is safe, and then the third space node is used as a reference for checking again, if the obstacle does not exist, the original route may not be efficient, so that the condition of the route needs to be verified by using the condition of the second space node relative to the return point.
As shown in fig. 5, as a preferred embodiment of the present invention, the step of adjusting the viewing angle orientation of the panoramic image of the node according to the relative position parameter for obtaining the frame image specifically includes:
S3031, after the corresponding node panoramic image is called, carrying out position transformation by taking the selected space node as a reference on the basis of the relative position parameter to obtain a reference position parameter of the reference point relative to the selected space node, wherein the reference position parameter is three-dimensional space coordinate data;
S3032, performing view angle adjustment on the node panoramic image according to the reference position parameters and locking the node panoramic image;
S3033, the node panoramic image after the view angle is locked is intercepted and scaled to obtain the picture image.
In the embodiment of the invention, the relative position parameter is the condition that the selected space node is relative to the return point, but the node panoramic image is corresponding to the space node, so that the relative position parameter is required to be transformed to obtain the position of the return point (reference point) relative to the space node, thereby being capable of carrying out view angle adjustment and locking on the node panoramic image Fang Baini, and the condition that an image picture after view angle locking possibly has distortion is required to be scaled, so that the panoramic picture approaches to a plane, and the subsequent obstacle recognition can be facilitated.
As shown in fig. 6, an embodiment of the present invention further provides a control system for an emergency return of a flight device, the system including:
The flight route processing module 100 establishes a plurality of space nodes in the virtual space based on the position where the direction change is performed in the flight process of the aircraft, and the plurality of space nodes, the departure point and the return point form a flight route;
The image acquisition module 200 is used for acquiring a node panoramic image of the aircraft during turning, wherein the node panoramic image corresponds to the space nodes one by one, and the node panoramic image is acquired by image equipment arranged on the aircraft;
the node processing module 300 is used for traversing the feasibility of identifying the direct flight path by taking the return points as the base points and traversing the node panoramic images corresponding to the space nodes which are adjacent in sequence when returning, and is used for screening out the space nodes in unnecessary paths in the flight path;
the return control module 400 generates a return route according to the flight route after the space nodes are screened out and controls the aircraft to return.
In the embodiment of the invention, the flight route of the aircraft is obtained by utilizing the data in the flight process of the aircraft, and the position of the aircraft for direction conversion, namely the space node, is also obtained.
As shown in fig. 7, as a preferred embodiment of the present invention, the flight path processing module 100 includes:
A flight data acquisition unit 101 that acquires flight data during the flight of an aircraft through the background, the flight data including position data, speed and direction data of the aircraft;
A virtual route creation unit 102 that creates a flight route of the aircraft in a virtual space based on flight data of the aircraft, a departure point in the flight route being a known state, a return point in the flight route being obtained by acquiring a location of a return of the aircraft in real time;
the route identifying unit 103 identifies inflection points of route transformation in the flight route to obtain a plurality of spatial nodes.
As shown in fig. 8, as a preferred embodiment of the present invention, the image acquisition module 200 includes:
the monitoring unit 201 monitors the data transmission process between the aircraft and the controller in the flight process of the aircraft through the background;
The instruction transmission unit 202 is used for simultaneously transmitting control instructions to the aircraft and the background through the controller in the flight process of the aircraft;
the instruction identifying unit 203 identifies the control instruction through the background, and generates an image acquisition instruction when the control instruction belongs to an instruction for controlling the adjustment direction of the aircraft;
the instruction issuing unit 204 sends the image acquisition instruction to the aircraft, so that the aircraft acquires the node panoramic image of the current position.
As shown in fig. 9, as a preferred embodiment of the present invention, the node processing module 300 includes:
the node selection unit 301 takes the return point as a reference point, and selects a spatial node closest to the return point in the flight route;
a position calculation unit 302, which determines a relative position parameter between the return point and the selected space node according to the positions of the two;
The image retrieving processing unit 303 retrieves a node panoramic image corresponding to the selected spatial node, and adjusts a view angle orientation of the node panoramic image according to the relative position parameter to obtain a picture image, where the picture image is an image of the selected spatial node at a reference point;
an image recognition unit 304, configured to recognize the frame image, and determine whether an obstacle exists between the reference point and the selected spatial node;
the determining unit 305 deletes the selected spatial node and selects the next spatial node to repeat the above steps when there is no obstacle therebetween, and uses the selected spatial node as a reference point and selects the next spatial node to repeat the above steps when there is an obstacle therebetween.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (7)
1. A control method for an emergency return of a flying device, the method comprising the steps of:
Establishing a plurality of space nodes in a virtual space based on the direction-changing position of the aircraft in the flight process, wherein the space nodes, the departure point and the return point form a flight route;
Acquiring a node panoramic image of an aircraft during turning, wherein the node panoramic image corresponds to space nodes one by one, and the node panoramic image is acquired through image equipment arranged on the aircraft;
when the navigation is carried out, traversing node panoramic images corresponding to space nodes which are adjacent in sequence by taking the navigation points as base points, and identifying the feasibility of the direct flight path, wherein the feasibility is used for screening out the space nodes of unnecessary paths in the flight route;
Generating a return route according to the flight route after the space nodes are screened out, and controlling the aircraft to return;
the step of traversing the feasibility of identifying the direct flight path by using the node panoramic image corresponding to the space nodes which are adjacent in sequence by using the return points as the base points specifically comprises the following steps:
taking the return point as a reference point, and selecting a space node closest to the return point in the flight route;
Determining relative position parameters between the return point and the selected space node according to the positions of the return point and the selected space node;
The method comprises the steps of calling a node panoramic image corresponding to a selected space node, and adjusting the view angle orientation of the node panoramic image according to relative position parameters to obtain a picture image, wherein the picture image is an image at a reference point of the selected space node orientation;
Identifying the picture image, and judging whether an obstacle exists between the datum point and the selected space node or not;
And deleting the selected space node and selecting the next space node to repeat the steps when no obstacle exists between the two space nodes, and taking the selected space node as a datum point and selecting the next space node to repeat the steps when the obstacle exists between the two space nodes.
2. The method for controlling the emergency return of a flying device according to claim 1, wherein said step of establishing a plurality of spatial nodes in a virtual space based on the position of the direction change during the flight of the aircraft, comprises:
Acquiring flight data in the flight process of the aircraft through a background, wherein the flight data comprise position data, and speed and direction data of the aircraft;
Establishing a flight route of the aircraft in a virtual space according to flight data of the aircraft, wherein a departure point in the flight route is in a known state, and a return point in the flight route is obtained by acquiring the return positioning of the aircraft in real time;
and identifying inflection points of route transformation in the flight route to obtain a plurality of space nodes.
3. The method for controlling the emergency return of a flying device according to claim 1, wherein the step of acquiring the panoramic image of the node of the aircraft during the direction change comprises the following steps:
monitoring a data transmission process between the aircraft and the controller in the flight process of the aircraft through a background;
in the flight process of the aircraft, a control instruction is simultaneously sent to the aircraft and the background through the controller;
identifying the control instruction through a background, and generating an image acquisition instruction when the control instruction belongs to an instruction for controlling the adjustment direction of the aircraft;
And sending the image acquisition instruction to the aircraft to acquire the node panoramic image of the current position.
4. The method for controlling an emergency return of a flying device according to claim 1, wherein the step of adjusting the viewing angle orientation of the panoramic image of the node according to the relative position parameter for obtaining the frame image comprises:
after the corresponding node panoramic image is called, carrying out position transformation by taking the selected space node as a reference on the basis of the relative position parameter to obtain a reference position parameter of the reference point relative to the selected space node, wherein the reference position parameter is three-dimensional space coordinate data;
performing view angle adjustment on the node panoramic image according to the reference position parameters, and locking;
and intercepting and scaling the node panoramic image after the view angle is locked to obtain the picture image.
5. A control system for emergency return of a flying device, the system comprising:
The flight route processing module is used for establishing a plurality of space nodes in the virtual space based on the position where the direction change is carried out in the flight process of the aircraft, wherein the space nodes, the departure point and the return point form a flight route;
The system comprises an image acquisition module, a display module and a display module, wherein the image acquisition module acquires a node panoramic image of an aircraft during turning, the node panoramic image corresponds to space nodes one by one, and the node panoramic image is acquired through image equipment arranged on the aircraft;
The node processing module is used for traversing the feasibility of identifying the direct flight path by taking the return points as the base points and corresponding node panoramic images of the space nodes which are adjacent in sequence when returning, and is used for screening out the space nodes of unnecessary paths in the flight path;
The return control module generates a return route according to the flight route after the space nodes are screened out and controls the aircraft to return;
The node processing module comprises:
the node selection unit takes the return point as a reference point and selects a space node closest to the return point in the flight route;
the position calculation unit is used for determining relative position parameters between the return point and the selected space node according to the positions of the return point and the selected space node;
The image retrieving processing unit is used for retrieving the node panoramic image corresponding to the selected spatial node, and adjusting the view angle orientation of the node panoramic image according to the relative position parameter to obtain a picture image, wherein the picture image is an image of the position of the selected spatial node towards the datum point;
The image recognition unit is used for recognizing the picture image and judging whether an obstacle exists between the datum point and the selected space node or not;
And the judging unit is used for deleting the selected space node and selecting the next space node to repeat the steps when no obstacle exists between the two space nodes, taking the selected space node as a datum point and selecting the next space node to repeat the steps when the obstacle exists between the two space nodes.
6. The control system for emergency return of a flying device of claim 5, wherein the flight path processing module includes:
The flight data acquisition unit acquires flight data in the flight process of the aircraft through a background, wherein the flight data comprises position data, and speed and direction data of the aircraft;
The virtual route establishing unit establishes a flight route of the aircraft in a virtual space according to flight data of the aircraft, wherein a departure point in the flight route is in a known state, and a return point in the flight route is obtained by acquiring the return positioning of the aircraft in real time;
And the route identification unit is used for identifying inflection points of route transformation in the flight route to obtain a plurality of space nodes.
7. The control system for emergency return of a flying device of claim 5, wherein the image acquisition module comprises:
the monitoring unit is used for monitoring the data transmission process between the aircraft and the controller in the flight process of the aircraft through the background;
The command transmission unit is used for simultaneously transmitting control commands to the aircraft and the background through the controller in the flight process of the aircraft;
The instruction identification unit is used for identifying the control instruction through the background, and generating an image acquisition instruction when the control instruction belongs to an instruction for controlling the adjustment direction of the aircraft;
and the instruction issuing unit sends the image acquisition instruction to the aircraft so as to acquire the node panoramic image of the current position.
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| CN109407704A (en) * | 2018-12-13 | 2019-03-01 | 佛山单常科技有限公司 | A kind of intelligent unmanned plane makes a return voyage control system |
| CN112379691A (en) * | 2020-11-11 | 2021-02-19 | 苏州极目机器人科技有限公司 | Return control method and device |
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| CN109407704A (en) * | 2018-12-13 | 2019-03-01 | 佛山单常科技有限公司 | A kind of intelligent unmanned plane makes a return voyage control system |
| CN112379691A (en) * | 2020-11-11 | 2021-02-19 | 苏州极目机器人科技有限公司 | Return control method and device |
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