CN-122018563-A - Flying device and control method thereof

Abstract

A flying device and a control method thereof. The apparatus obtains a plurality of magnetic field data measured over a time interval. The apparatus calculates a plurality of orientation directions based on the plurality of magnetic field data. The apparatus calculates a plurality of displacement orientations based on a plurality of displacement records corresponding to the time interval. The device compares the plurality of orientation directions and the plurality of displacement directions and judges whether the flying device is subjected to magnetic interference in the time interval. In response to determining that the flying device is subject to the magnetic disturbance, the device performs an avoidance maneuver. The flying device and the control method thereof provided by the disclosure judge whether the flying device is subjected to magnetic interference or not by comparing different data, so that the flying device is prevented from being out of control due to environmental influence.

Inventors

• LUO ZHAOCHENG
• Wen Yilun

Assignees

• 财团法人工业技术研究院

Dates

Publication Date

20260512

Application Date

20241216

Priority Date

20241112

Claims (20)

1. 1. A control method, suitable for use with a flying device, comprising the steps of: acquiring a plurality of first magnetic field data measured in a first time interval; calculating a plurality of first orientation directions of the corresponding magnetic poles based on the plurality of first magnetic field data; Calculating a plurality of first displacement orientations based on a plurality of first displacement records corresponding to the first time interval; Comparing the first plurality of orientations and the first plurality of displacements to determine whether the flying device is magnetically disturbed during the first time interval, and And controlling the flying device to execute avoidance operation in response to judging that the flying device is subjected to the magnetic interference.
2. 2. The control method of claim 1, wherein the step of calculating the plurality of first displacement orientations further comprises: The plurality of first displacement orientations are calculated based on a plurality of first acceleration values measured by the accelerometer during the first time interval.
3. 3. The control method of claim 1, wherein the step of calculating the plurality of first displacement orientations further comprises: The plurality of first displacement orientations are calculated based on a plurality of positioning positions of a positioning element measured in the first time interval.
4. 4. The control method of claim 1, wherein the step of comparing the plurality of first orientation orientations and the plurality of first displacement orientations further comprises: Calculating a first azimuth difference and a second azimuth difference of the plurality of first orientation azimuth and the plurality of first displacement azimuth corresponding to the first time point and the second time point based on the first time point and the second time point in the first time interval; calculating a first variation between the first and second orientation differences, and Based on the first variation, it is determined whether the flying device is subject to the magnetic interference in the first time interval.
5. 5. The control method of claim 4, wherein the step of comparing the plurality of first orientation orientations and the plurality of first displacement orientations further comprises: Responsive to the first variance being greater than a second threshold, calculating third bearing differences for the plurality of first orientation orientations and the plurality of first displacement orientations corresponding to a third time point in the first time interval based on the third time point; Calculating a second variation between the third and first orientation differences, and And in response to the second variation being greater than the second threshold, determining that the flying device is subject to the magnetic interference in the first time interval.
6. 6. The control method as set forth in claim 1, further comprising: Calculating a magnetic field value interval based on positioning information of the flying device; Performing a corrective action based on the initial magnetic field data and the magnetic field value interval, wherein the flying device measures the initial magnetic field data at a point in time as early as the first time interval, and In response to the correction operation not being completed, the plurality of first orientation orientations are not calculated.
7. 7. The control method as set forth in claim 1, further comprising: Calculating a magnetic field strength difference between one of the plurality of first magnetic field data and a calibration value, wherein the calibration value is generated based on positioning information of the flying device, and And in response to the magnetic field strength difference being greater than a first threshold, determining that the flying device is subject to the magnetic disturbance.
8. 8. The control method as set forth in claim 1, further comprising: Receiving a plurality of second magnetic field data measured in a second time interval from the flying device, wherein the second time interval is longer than the first time interval, and the second time interval includes the first time interval; calculating a plurality of second orientation directions corresponding to the magnetic poles based on the plurality of second magnetic field data; calculating a plurality of second displacement orientations based on a plurality of second displacement records corresponding to the second time interval, and Comparing the plurality of second orientation directions and the plurality of second displacement directions, and judging whether the flying device is subjected to the magnetic interference in the second time interval.
9. 9. The control method of claim 1, wherein the avoidance operation comprises: estimating the range and position of the interference source based on a plurality of first magnetic field data corresponding to a plurality of positions, and Based on the range and the position of the interference source, an avoidance path is generated to control the flying device to avoid the interference source.
10. 10. The control method of claim 9, wherein the step of generating the avoidance path further comprises: Determining a start point and an end point based on the original path, and Based on the starting point, the end point, the range of the interference source and the position, at least one iterative operation is executed to determine at least one path point, wherein each path point is iteratively generated based on the starting point or the previous path point, and the at least one path point is connected with the starting point and the end point to form the avoidance path.
11. 11. A device for the flying of a vehicle, characterized by comprising: Magnetometer, and The processor is electrically connected with the magnetometer and is used for executing the following operations: Receiving from the magnetometer a plurality of first magnetic field data measured in a first time interval; calculating a plurality of first orientation directions of the corresponding magnetic poles based on the plurality of first magnetic field data; Calculating a plurality of first displacement orientations based on a plurality of first displacement records corresponding to the first time interval; Comparing the plurality of first orientation orientations and the plurality of first displacement orientations to determine whether the magnetometer is magnetically disturbed during the first time interval, and In response to determining that the magnetometer is subject to the magnetic disturbance, an avoidance operation is performed.
12. 12. The flying apparatus of claim 11 wherein the operation of calculating the plurality of first displacement orientations further comprises: The plurality of first displacement orientations are calculated based on a plurality of first acceleration values measured by the accelerometer during the first time interval.
13. 13. The flying apparatus of claim 11 wherein the operation of calculating the plurality of first displacement orientations further comprises: The plurality of first displacement orientations are calculated based on a plurality of positioning positions of a positioning element measured in the first time interval.
14. 14. The flying apparatus of claim 11, wherein the operation of comparing the plurality of first orientation orientations and the plurality of first displacement orientations further comprises: Calculating a first azimuth difference and a second azimuth difference of the plurality of first orientation azimuth and the plurality of first displacement azimuth corresponding to the first time point and the second time point based on the first time point and the second time point in the first time interval; calculating a first variation between the first and second orientation differences, and Based on the first variation, it is determined whether the magnetometer is subject to the magnetic interference during the first time interval.
15. 15. The flying apparatus of claim 14, wherein the operation of comparing the plurality of first orientation orientations and the plurality of first displacement orientations further comprises: Responsive to the first variance being greater than a second threshold, calculating third bearing differences for the plurality of first orientation orientations and the plurality of first displacement orientations corresponding to a third time point in the first time interval based on the third time point; Calculating a second variation between the third and first orientation differences, and And in response to the second variation being greater than the second threshold, determining that the magnetometer is subject to the magnetic interference during the first time interval.
16. 16. The flying device of claim 11 wherein the processor further performs the operations of: Calculating a magnetic field value interval based on positioning information of the flying device; performing a corrective action based on the initial magnetic field data and the interval of magnetic field values, wherein the magnetometer measures the initial magnetic field data at a point in time as early as the first time interval, and In response to the correction operation not being completed, the plurality of first orientation orientations are not calculated.
17. 17. The flying device of claim 11 wherein the processor further performs the operations of: Calculating a magnetic field strength difference between one of the plurality of first magnetic field data and a calibration value, wherein the calibration value is generated based on positioning information of the flying device, and And in response to the magnetic field strength difference being greater than a first threshold, determining that the magnetometer is subject to the magnetic interference.
18. 18. The flying device of claim 11 wherein the processor further performs the operations of: Receiving a plurality of second magnetic field data measured in a second time interval from the magnetometer, wherein the second time interval is longer than the first time interval, and the second time interval comprises the first time interval; calculating a plurality of second orientation directions corresponding to the magnetic poles based on the plurality of second magnetic field data; calculating a plurality of second displacement orientations based on a plurality of second displacement records corresponding to the second time interval, and Comparing the plurality of second orientations and the plurality of second displacement orientations, and judging whether the magnetometer is subject to the magnetic interference in the second time interval.
19. 19. The flying device of claim 11 wherein the avoidance operation comprises: estimating the range and position of the interference source based on a plurality of first magnetic field data corresponding to a plurality of positions, and Based on the range and the position of the interference source, an avoidance path is generated to control the flying device to avoid the interference source.
20. 20. The flying device of claim 19 wherein the act of creating the avoidance path further comprises: Determining a start point and an end point based on the original path, and Based on the starting point, the end point, the range of the interference source and the position, at least one iterative operation is executed to determine at least one path point, wherein each path point is iteratively generated based on the starting point or the previous path point, and the at least one path point is connected with the starting point and the end point to form the avoidance path.

Description

Flying device and control method thereof Technical Field The present disclosure relates to a flight device and a control method thereof, and more particularly, to a flight device with a magnetic interference avoidance function and a control method thereof. Background Bridge is one of important traffic construction in China or region, and bridge inspection is also an important work for maintaining traffic safety. However, inspection operations for bridges are often limited by topography, industrial safety, and other factors, which presents a number of difficulties. Some prior art use unmanned aerial vehicle to patrol and examine the bridge, and because unmanned aerial vehicle relies on many electronic component to maintain the operation, high-voltage cable, the magnetization reinforcing bar on the bridge probably can produce magnetic interference to unmanned aerial vehicle for electronic component takes place unusually, and then leads to unmanned aerial vehicle unable location, the circumstances of skew channel even crash. In view of this, it is a great need in the art to identify magnetic interference and avoid sources of interference. Disclosure of Invention In order to solve the above-mentioned problems, the disclosure provides a control method for a flying device, which comprises obtaining a plurality of first magnetic field data measured in a first time interval, calculating a plurality of first orientation directions corresponding to a magnetic pole based on the plurality of first magnetic field data, calculating a plurality of first displacement directions based on a plurality of first displacement records corresponding to the first time interval, comparing the plurality of first orientation directions and the plurality of first displacement directions, judging whether the flying device is subject to a magnetic interference in the first time interval, and controlling the flying device to execute an avoidance operation in response to judging that the flying device is subject to the magnetic interference. In one embodiment of the present invention, wherein the step of calculating the plurality of first displacement orientations further comprises calculating the plurality of first displacement orientations based on a plurality of first acceleration values measured by an accelerometer during the first time interval. In an embodiment of the invention, wherein the step of calculating the plurality of first displacement orientations further comprises calculating the plurality of first displacement orientations based on a plurality of positioning positions of a positioning element measured during the first time interval. In an embodiment of the present invention, the step of comparing the first plurality of orientations and the first plurality of displacement orientations further includes calculating a first orientation difference and a second orientation difference between the first plurality of orientations and the first plurality of displacement orientations corresponding to the first time point and the second time point based on a first time point and a second time point in the first time period, calculating a first variance between the first orientation difference and the second orientation difference, and determining whether the flying device is subject to the magnetic interference in the first time period based on the first variance. In an embodiment of the present invention, the step of comparing the first plurality of orientations and the first plurality of displacement orientations further includes calculating a third orientation difference between the first plurality of orientations and the first plurality of displacement orientations corresponding to a third time point in the first time interval based on the third time point in the first time interval in response to the first variation being greater than a second threshold, calculating a second variation between the third orientation difference and the first orientation difference, and determining that the flying device is subject to the magnetic interference in the first time interval in response to the second variation being greater than the second threshold. In one embodiment of the present invention, the method further comprises calculating a magnetic field value interval based on positioning information of the flying device, performing a calibration operation based on an initial magnetic field data and the magnetic field value interval, wherein the flying device measures the initial magnetic field data at a point in time earlier than the first time interval, and not calculating the plurality of first orientations in response to the calibration operation being not completed. In one embodiment of the present invention, the method further comprises calculating a magnetic field strength difference between one of the plurality of first magnetic field data and a calibration value, wherein the calibration value is generated based on positioning info