CN106687371A - Unmanned aerial vehicle control method, device and system - Google Patents
Unmanned aerial vehicle control method, device and system Download PDFInfo
- Publication number
- CN106687371A CN106687371A CN201680002501.0A CN201680002501A CN106687371A CN 106687371 A CN106687371 A CN 106687371A CN 201680002501 A CN201680002501 A CN 201680002501A CN 106687371 A CN106687371 A CN 106687371A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- power
- unmanned
- information
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000007613 environmental effect Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 13
- 238000005183 dynamical system Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 20
- 230000000903 blocking effect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/389—Measuring internal impedance, internal conductance or related variables
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
An unmanned aerial vehicle control method and system and an unmanned aerial vehicle are disclosed. The method comprises the following steps, (S101), obtaining sensing information of a sensor (42) mounted on an unmanned aerial vehicle; (S102), determining whether the unmanned aerial vehicle is overloaded based on the sensing information (S102); if the unmanned aerial vehicle is overloaded, the corresponding protection command is executed (S103), and the sensed information of the sensor (42) mounted on the unmanned aerial vehicle is obtained via an MCU of the unmanned aerial vehicle. The sensing information is status information of the unmanned aerial vehicle and / or the environmental information of the unmanned aerial vehicle; via the status information of the unmanned aerial vehicle or / and unmanned aerial vehicle environmental information, whether the UAV's power supply load works in the current flight state can be determined; according to whether the UAV is loaded with objects and / or blocking objects are positioned below the unmanned aircraft, whether the unmanned aerial vehicle is overloaded can be determined, improving the accuracy of unmanned aircraft overload detection.
Description
Technical field
The present embodiments relate to unmanned plane field, more particularly to a kind of control method of unmanned vehicle, device and it is
System.
Background technology
Unmanned plane is in an overload condition in prior art, it is easy to because the discharge power of battery exceedes the specified work(of battery
Rate, and cause cell voltage to drastically reduce, so as to aircraft aircraft bombing accident occur.
Prior art detects whether aircraft transships by two ways, and a kind of mode is to install overload measurement dress aboard
Put, but the overload measurement device increased the quality of aircraft, and another way is the mutation by detecting aircraft Z axis acceleration
To judge whether aircraft transships, but, when aircraft slowly rises, it is difficult to detect the mutation of aircraft Z axis acceleration, it is impossible to accurately
Judge whether aircraft transships.
The content of the invention
The embodiment of the present invention provides a kind of control method of unmanned vehicle, apparatus and system, to improve unmanned vehicle
The accuracy of overload detection.
The one side of the embodiment of the present invention is to provide a kind of control method of unmanned vehicle, including：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
The other side of the embodiment of the present invention is to provide a kind of control system of unmanned vehicle, including one or more
Processor, the processor is used for：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
The other side of the embodiment of the present invention is to provide a kind of unmanned vehicle, including：
Fuselage；
Dynamical system, installed in the fuselage, for providing flying power；
Control system, electrically connects with the dynamical system, and for controlling the dynamical system, the control system includes one
Individual or multiple processors, the processor is used for：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
The control method of unmanned vehicle provided in an embodiment of the present invention, apparatus and system, by the MCU of flight controller
Obtain unmanned vehicle carry sensor sensitive information, sensitive information can be the status information of unmanned vehicle and/or
The environmental information of unmanned vehicle, can determine that by the status information of unmanned vehicle and/or the environmental information of unmanned vehicle
Unmanned plane under current state during flight, the electrical source of power of unmanned plane whether load operation, meanwhile, whether carried according to unmanned plane
Have whether object and/or unmanned vehicle lower section have shelter, determine whether unmanned vehicle overloads, the embodiment of the present invention is from more
Individual condition determines whether unmanned vehicle overloads, and multiple conditions determine that unmanned vehicle overloads when meeting simultaneously, improve
The accuracy of unmanned vehicle overload detection.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the control method flow chart of the unmanned vehicle that the embodiment of the present invention one is provided；
Fig. 2 is the control method flow chart of the unmanned vehicle that the embodiment of the present invention two is provided；
Fig. 3 is the control method flow chart of the unmanned vehicle that the embodiment of the present invention three is provided；
Fig. 4 is the structure chart of the control system of the unmanned vehicle that the embodiment of the present invention four is provided；
Fig. 5 is the structure chart of the control system of the unmanned vehicle that the embodiment of the present invention five is provided；
Fig. 6 is the structure chart of the control system of the unmanned vehicle that the embodiment of the present invention six is provided；
Fig. 7 is the structural representation of the unmanned vehicle that the embodiment of the present invention seven is provided.
Reference：
40- control system 41- processor 42- sensors
421- imageing sensor 422- electrical quantity sensor 423- gravity sensors
1001- dynamical system 1002- propeller 1003- control systems
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can directly on another component
Or can also there is component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field for belonging to the present invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of body ground embodiment, it is not intended that of the invention in limiting.Term as used herein " and/or " include one or more phases
The arbitrary and all of combination of the Listed Items of pass.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Embodiment one
The embodiment of the present invention one provides a kind of control method of unmanned vehicle.Fig. 1 is what the embodiment of the present invention one was provided
The control method flow chart of unmanned vehicle.Whether the embodiment of the present invention accurately can not judge unmanned vehicle for prior art
The situation of overload, there is provided the control method of unmanned vehicle, the method is comprised the following steps that：
Step S101, the sensitive information for obtaining the sensor that the unmanned vehicle is carried；
Specifically, the method in the embodiment of the present invention can apply to the flight controller of unmanned vehicle, the flight control
Device processed includes micro-control unit (Microcontroller Unit, abbreviation MCU), and the micro-control unit can be to be loaded with control journey
The circuit board of functional circuit module is provided with the chip of sequence, or the micro-control unit.The executive agent of the embodiment of the present invention
Can be the MCU of the flight controller.In addition, unmanned vehicle carries sensor, for obtaining this, nobody flies the sensor
The sensitive information of the sensitive information of the status information of row device and/or the environmental information of the unmanned vehicle.
The sensor is connected with MCU communications, and MCU obtains the status information of the unmanned vehicle and/or is somebody's turn to do by sensor
The environmental information of unmanned vehicle, the status information includes following at least one：Offline mode, flight speed, weight, electric power electricity
The working condition in source, the image information for carrying carrier zones；The environmental information includes following at least one：Whether surrounding blocks
Thing, geographical position, geographical environment, climatic environment, air ambient.
Specifically, sensor includes following at least one：For obtaining the carrying carrier zones of the unmanned vehicle
The imageing sensor of image information, for obtaining the electrical quantity sensing of the electrical quantity information of the electrical source of power of the unmanned vehicle
Device；Wherein, imageing sensor can be the capture apparatus such as photographic head, camera, and the capture apparatus are used to shoot the unmanned vehicle
Carrying carrier zones image and/or the unmanned vehicle below image；The electrical source of power of the unmanned vehicle can be
Battery.
Step S102, according to the sensitive information, determine whether the unmanned vehicle overloads；
MCU according to above-mentioned sensitive information, such as offline mode, flight speed, weight, the electrical quantity information of electric supply,
Image below the image information of carrier zones, unmanned vehicle etc. is carried, determines whether the unmanned vehicle overloads, it is determined that
The method whether unmanned vehicle overloads includes following at least one：1) offline mode, flights of the MCU according to unmanned vehicle
Speed, weight determine the nominal electrical parameters of unmanned vehicle electric supply during flight under current state, such as rated voltage, specified
Electric current, rated power, if the current electrical quantity of the electric supply of electrical quantity sensor sensing is more than nominal electrical parameters, meanwhile, root
Determine that there is carrying object carrying carrier zones according to the image information for carrying carrier zones, it is determined that unmanned vehicle overloads；2)MCU
Offline mode, flight speed according to unmanned vehicle, weight determine unmanned vehicle, and electric power is electric during flight under current state
The nominal electrical parameters in source, such as rated voltage, rated current, rated power, if electrical quantity sensor sensing electric supply work as
Front electrical quantity is more than nominal electrical parameters, meanwhile, determine that there is screening unmanned vehicle lower section according to the image below unmanned vehicle
Block material, it is determined that unmanned vehicle overloads；3) MCU determines that the current electrical quantity of the electric supply that electrical quantity sensor is sensed is more than
Nominal electrical parameters, determine that there is carrying object carrying carrier zones according to the image information for carrying carrier zones, meanwhile, according to nobody
Image below aircraft determines that there is shelter unmanned vehicle lower section, it is determined that unmanned vehicle overloads.
If step S103, the unmanned vehicle overload, corresponding protection instruction is performed.
In order to prevent unmanned vehicle overload from causing air crash, after MCU determines the unmanned vehicle overload, it is immediately performed
Corresponding protection instruction, for example, user's remote control equipment earthward sends the information of unmanned vehicle overload, user according to
The information to unmanned vehicle sends landing instruction, or MCU determines that controlling nobody immediately after unmanned vehicle overload flies
Row device forced landing, opens unmanned vehicle airborne parachute while forced landing, so as to unmanned vehicle safe landing,
Fuselage is avoided to be damaged when landing in an emergency.
The embodiment of the present invention obtains the sensitive information of the sensor that unmanned vehicle is carried by the MCU of flight controller,
Sensitive information can be the environmental information of the status information of unmanned vehicle and/or unmanned vehicle, by unmanned vehicle
The environmental information of status information and/or unmanned vehicle can determine that unmanned plane under current state during flight, the power of unmanned plane
Power supply whether load operation, meanwhile, whether object is equipped with according to unmanned plane and/or whether unmanned vehicle lower section blocks
Thing, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and many
Individual condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Embodiment two
The embodiment of the present invention two provides a kind of control method of unmanned vehicle.Fig. 2 is what the embodiment of the present invention two was provided
The control method flow chart of unmanned vehicle.On the basis of embodiment one, the unmanned vehicle that the embodiment of the present invention two is provided
Control method comprise the following steps that：
Step S201, the sensitive information for obtaining the sensor that the unmanned vehicle is carried；
Specifically, the sensor includes following at least one：For obtaining the carrying carrier area of the unmanned vehicle
The imageing sensor of the image information in domain, for obtaining the electrical quantity of the electrical quantity information of the electrical source of power of the unmanned vehicle
Sensor.
Step S202, according to the unmanned vehicle carrying carrier zones image information, determine the unmanned flight
Whether device is equipped with carrier；
Specifically, the imageing sensor is photographic head, and the photographic head is arranged on the fuselage of unmanned vehicle, for shooting this
The image of the carrying carrier zones of unmanned vehicle, MCU is connected with photographic head communication, the unmanned vehicle that photographic head is shot
The image information of carrying carrier zones be sent to MCU, image informations of the MCU to the carrying carrier zones of the unmanned vehicle
Image procossing is carried out, determines in described image information whether there is object, if there is object, it is determined that unmanned flight is equipped with carrier.
Step S203, according to the electrical quantity information of the electrical source of power of the unmanned vehicle, determine the unmanned vehicle
Whether it is short of power；
The electrical quantity information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
Electrical quantity sensor is electrically connected with the electrical source of power such as battery of unmanned vehicle, and the electrical quantity sensor acquisition is moved
The electrical quantity information of power power supply, electrical quantity information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
The electrical quantity information of electrical quantity sensor real-time detection battery, and the electrical quantity information of battery is sent to into MCU, MCU is according to electricity
The electrical quantity information in pond determines whether unmanned vehicle is short of power, and for example, whether the present discharge power for judging battery is less than
It is specified whether whether the rated power of battery, the current voltage of battery are less than less than the current flow of rated voltage and/or battery
Electric current；Furthermore it is also possible to current discharge power is calculated according to the current voltage and internal resistance of battery, or according to the current of battery
Electric current and internal resistance calculate current discharge power, and whether the present discharge power for judging battery is less than the rated power of battery.If
The present discharge power of battery is less than the rated power of battery, current voltage the working as less than rated voltage and/or battery of battery
Front electric current is less than rated current, it is determined that unmanned vehicle is short of power.
If step S204, the unmanned vehicle are equipped with carrier, and the unmanned vehicle is short of power, it is determined that described
Unmanned vehicle overloads；
According to step S203 and step S204, if MCU determines that unmanned vehicle is equipped with carrier, and unmanned vehicle power
It is not enough, it is determined that the unmanned vehicle overload.
If step S205, the unmanned vehicle overload, corresponding protection instruction is performed.
In order to prevent unmanned vehicle overload from causing air crash, after MCU determines the unmanned vehicle overload, it is immediately performed
Corresponding protection instruction, corresponding protection instruction includes following at least one：Send for pointing out the unmanned flight to user
The information of device overload, returns immediately home points, and the airborne parachute of the unmanned vehicle is opened in forced landing immediately.
The embodiment of the present invention carries out image procossing with true by the image information of the carrying carrier zones to unmanned vehicle
Determine whether unmanned vehicle is equipped with carrier, compare the electrical quantity information of the electrical source of power of unmanned vehicle and the size of rated value
To determine whether unmanned vehicle is short of power, if unmanned vehicle is equipped with carrier, and unmanned vehicle is short of power, then really
Determine unmanned vehicle overload, whether the embodiment of the present invention is short of power from unmanned vehicle and whether is equipped with two conditions of carrier
Determine whether unmanned vehicle overloads, and two conditions determine that unmanned vehicle overloads when meeting simultaneously, improve nobody and fly
The accuracy of row device overload detection.
Embodiment three
The embodiment of the present invention three provides a kind of control method of unmanned vehicle.Fig. 3 is what the embodiment of the present invention three was provided
The control method flow chart of unmanned vehicle.On the basis of embodiment two, the unmanned vehicle that the embodiment of the present invention three is provided
Control method comprise the following steps that：
Step S301, the sensitive information for obtaining the sensor that the unmanned vehicle is carried；
In embodiments of the present invention, the sensor includes following at least one：For obtaining the unmanned vehicle
The imageing sensor of the image information of carrier zones is carried, for obtaining the electrical quantity letter of the electrical source of power of the unmanned vehicle
The electrical quantity sensor of breath, for obtaining the LOAD CELLS or gravity sensor of the quality of the unmanned vehicle.
Step S302, according to the unmanned vehicle carrying carrier zones image information, determine the unmanned flight
Whether device is equipped with carrier；
Step S302 is specifically consistent with step S202, and concrete grammar is repeated no more.
Step S303, the quality according to the unmanned vehicle and current flight pattern are calculated according to preset algorithm model
The preset range of the discharge power of the electrical source of power, wherein, the preset algorithm model includes quality, the nothing of unmanned vehicle
The corresponding relation of the preset range of the discharge power of the offline mode of people's aircraft and the electrical source of power；
In embodiments of the present invention, MCU is electrically connected with LOAD CELLS or gravity sensor, obtains LOAD CELLS or weight
The quality of the unmanned vehicle of force transducer sensing.MCU is also electrically connected with the offline mode detection circuit of unmanned vehicle, and this flies
Row mode detection circuit is used to detect the offline mode of unmanned vehicle, and the offline mode is sent to into MCU.In addition, MCU is deposited
Contain preset algorithm model, the preset algorithm model be the unmanned vehicle derived according to mass data quality, nobody fly
The algorithm of preset range three's corresponding relation of the offline mode of row device and the discharge power of electrical source of power, if electrical source of power is put
Electrical power is in the preset range, it is ensured that the unmanned vehicle of quality normal flight under the offline mode.Specifically,
The quality and offline mode of the unmanned vehicle that MCU is sensed according to LOAD CELLS or gravity sensor detect the nothing of electric circuit inspection
The current flight pattern of people's aircraft, the default model of the discharge power of the electrical source of power is calculated according to the preset algorithm model
Enclose.
If the present discharge power of step S304, the electrical source of power of the unmanned vehicle exceeds the preset range, really
The fixed unmanned vehicle is short of power；
Preferably, the electrical quantity information is discharge power, the electrical quantity sensor sensing battery in the embodiment of the present invention
Discharge power, MCU determines the present discharge power of battery according to the present discharge power of the battery of electrical quantity sensor sensing
Whether beyond the preset range calculated according to preset algorithm model, if the present discharge power of battery exceeds the preset range,
Then determine that unmanned vehicle is short of power.
If step S305, the unmanned vehicle are equipped with carrier, and the unmanned vehicle is short of power, it is determined that described
Unmanned vehicle overloads；
If step S306, the unmanned vehicle overload, corresponding protection instruction is performed.
Step S305 is consistent with the method for step S204, and step S306 is consistent with the method for step S205, concrete grammar this
Place repeats no more.
The quality of the unmanned vehicle that the embodiment of the present invention is sensed by MCU according to LOAD CELLS or gravity sensor and
The current flight pattern of the unmanned vehicle of offline mode detection electric circuit inspection, according to preset algorithm model unmanned vehicle is calculated
Battery discharge power preset range, and the present discharge power of the battery according to electrical quantity sensor sensing, it is determined that electric
Whether the present discharge power in pond exceeds the preset range calculated according to preset algorithm model, if the present discharge power of battery
Beyond the preset range, it is determined that unmanned vehicle is short of power, aircraft power is improve according to preset algorithm model not enough
Accuracy of detection, further increase unmanned vehicle overload detection accuracy.
Example IV
The embodiment of the present invention four provides a kind of control system of unmanned vehicle.Fig. 4 is what the embodiment of the present invention four was provided
The structure chart of the control system of unmanned vehicle, as shown in figure 4, the control system 40 of the unmanned vehicle includes one or many
Individual processor 41, the processor 41 is used to obtain the sensitive information of the sensor that the unmanned vehicle is carried；According to described
Sensitive information, determines whether the unmanned vehicle overloads；If the unmanned vehicle overload, perform corresponding protection and refer to
Order.
Processor 41 can be to be provided with functional circuit module in the chip for being loaded with control program, or the micro-control unit
Circuit board.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically for performing what above-mentioned Fig. 1 was provided
Embodiment of the method, here is omitted for concrete function.
The embodiment of the present invention obtains the sensitive information of the sensor that unmanned vehicle is carried by the MCU of flight controller,
Sensitive information can be the environmental information of the status information of unmanned vehicle and/or unmanned vehicle, by unmanned vehicle
The environmental information of status information and/or unmanned vehicle can determine that unmanned plane under current state during flight, the power of unmanned plane
Power supply whether load operation, meanwhile, whether object is equipped with according to unmanned plane and/or whether unmanned vehicle lower section blocks
Thing, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and many
Individual condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Further, as shown in figure 4, the control system 40 of unmanned vehicle also includes sensor 42, the sensor 42
It is connected with the communication of the processor 41, the sensor 42 is used to obtain the status information of the unmanned vehicle and/or institute
State the sensitive information of the environmental information of unmanned vehicle.
Embodiment five
The embodiment of the present invention five provides a kind of control system of unmanned vehicle.Fig. 5 is what the embodiment of the present invention five was provided
The structure chart of the control system of unmanned vehicle, as shown in figure 5, on the basis of example IV, the sensor 42 include as
Lower at least one：For obtaining the imageing sensor 421 of the image information of the carrying carrier zones of the unmanned vehicle, it is used for
Obtain the electrical quantity sensor 422 of the electrical quantity information of the electrical source of power of the unmanned vehicle.
Further, processor 41 with specific reference to the unmanned vehicle carrying carrier zones image information, it is determined that
Whether the unmanned vehicle is equipped with carrier；According to the electrical quantity information of the electrical source of power of the unmanned vehicle, institute is determined
State whether unmanned vehicle is short of power；If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power,
Determine the unmanned vehicle overload.
Further, corresponding protection instruction includes following at least one：Send for pointing out the nothing to user
The information of people's aircraft overload, returns immediately home points, and the airborne drop of the unmanned vehicle is opened in forced landing immediately
Fall umbrella.
Preferably, the image information of the carrying carrier zones of 41 pairs of unmanned vehicles of processor carries out image procossing,
Determine in described image information whether there is object.
Preferably, the electrical quantity information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically for performing what above-mentioned Fig. 2 was provided
Embodiment of the method, here is omitted for concrete function.
The embodiment of the present invention carries out image procossing with true by the image information of the carrying carrier zones to unmanned vehicle
Determine whether unmanned vehicle is equipped with carrier, compare the electrical quantity information of the electrical source of power of unmanned vehicle and the size of rated value
To determine whether unmanned vehicle is short of power, if unmanned vehicle is equipped with carrier, and unmanned vehicle is short of power, then really
Determine unmanned vehicle overload, whether the embodiment of the present invention is short of power from unmanned vehicle and whether is equipped with two conditions of carrier
Determine whether unmanned vehicle overloads, and two conditions determine that unmanned vehicle overloads when meeting simultaneously, improve nobody and fly
The accuracy of row device overload detection.
Embodiment six
The embodiment of the present invention six provides a kind of control system of unmanned vehicle.Fig. 6 is what the embodiment of the present invention six was provided
The structure chart of the control system of unmanned vehicle, as shown in fig. 6, on the basis of embodiment five, it is preferable that the electrical quantity letter
Cease for discharge power.
Further, sensor 42 also includes the LOAD CELLS or gravity for obtaining the quality of the unmanned vehicle
Sensor, as shown in fig. 6, sensor 42 also includes gravity sensor 423.Processor 41 is with specific reference to the unmanned vehicle
Quality and current flight pattern calculate the preset range of the discharge power of the electrical source of power according to preset algorithm model, wherein,
The preset algorithm model includes the electric discharge of the quality, the offline mode of unmanned vehicle and the electrical source of power of unmanned vehicle
The corresponding relation of the preset range of power；If the present discharge power of the electrical source of power of the unmanned vehicle is beyond described default
Scope, determines that the unmanned vehicle is short of power.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically for performing what above-mentioned Fig. 3 was provided
Embodiment of the method, here is omitted for concrete function.
The quality of the unmanned vehicle that the embodiment of the present invention is sensed by MCU according to LOAD CELLS or gravity sensor and
The current flight pattern of the unmanned vehicle of offline mode detection electric circuit inspection, according to preset algorithm model unmanned vehicle is calculated
Battery discharge power preset range, and the present discharge power of the battery according to electrical quantity sensor sensing, it is determined that electric
Whether the present discharge power in pond exceeds the preset range calculated according to preset algorithm model, if the present discharge power of battery
Beyond the preset range, it is determined that unmanned vehicle is short of power, aircraft power is improve according to preset algorithm model not enough
Accuracy of detection, further increase unmanned vehicle overload detection accuracy.
Embodiment seven
The embodiment of the present invention seven provides a kind of unmanned vehicle.Fig. 7 is the unmanned vehicle that the embodiment of the present invention seven is provided
Structural representation.As shown in fig. 7, the unmanned vehicle in the present embodiment can include：Fuselage, dynamical system 1001, spiral
Oar 1002, control system 1003；Dynamical system 1001 is arranged on the fuselage, for providing flying power；Control system 1003
Electrically connect with dynamical system 1001, for controlling the dynamical system 1001, control system 1003 includes flight controller, flight
Controller includes one or more processors, and the processor is used for：Obtain the sense of the sensor that the unmanned vehicle is carried
Measurement information；According to the sensitive information, determine whether the unmanned vehicle overloads；If the unmanned vehicle overload, holds
The corresponding protection instruction of row.
Processor 41 can be to be provided with functional circuit module in the chip for being loaded with control program, or the micro-control unit
Circuit board.
The control system 1003 of the embodiment of the present invention, can be arranged on the lower section of dynamical system 1001, or unmanned flight
Where other of device are suitable.The structure of each part in control system 1003, function and annexation with example IV class
Seemingly, here is omitted.
The embodiment of the present invention obtains the sensitive information of the sensor that unmanned vehicle is carried by the MCU of flight controller,
Sensitive information can be the environmental information of the status information of unmanned vehicle and/or unmanned vehicle, by unmanned vehicle
The environmental information of status information and/or unmanned vehicle can determine that unmanned plane under current state during flight, the power of unmanned plane
Power supply whether load operation, meanwhile, whether object is equipped with according to unmanned plane and/or whether unmanned vehicle lower section blocks
Thing, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and many
Individual condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Further, control system 1003 also includes：Sensor, the sensor is connected with processor communication, institute
Sensor is stated for obtaining the sensing of the environmental information of status information the and/or described unmanned vehicle of the unmanned vehicle
Information.
Preferably, the sensor includes following at least one：For obtaining the carrying carrier area of the unmanned vehicle
The imageing sensor of the image information in domain, for obtaining the electrical quantity of the electrical quantity information of the electrical source of power of the unmanned vehicle
Sensor.
On the basis of the technical scheme that above-described embodiment seven is provided, it is preferred that the processor is with specific reference to described
The image information of the carrying carrier zones of unmanned vehicle, determines whether the unmanned vehicle is equipped with carrier；According to described
The electrical quantity information of the electrical source of power of unmanned vehicle, determines whether the unmanned vehicle is short of power；If described, nobody flies
Row device is equipped with carrier, and the unmanned vehicle is short of power, and determines the unmanned vehicle overload.
Corresponding protection instruction includes following at least one：Send for pointing out the unmanned vehicle to surpass to user
The information of load, returns immediately home points, and the airborne parachute of the unmanned vehicle is opened in forced landing immediately.
Further, the implement body that processes carries out figure to the image information of the carrying carrier zones of the unmanned vehicle
As processing, determine in described image information whether there is object.
The electrical quantity information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
Preferably, the electrical quantity information is discharge power；The sensor is also included for obtaining the unmanned flight
The LOAD CELLS or gravity sensor of the quality of device；The processor is with specific reference to the quality of the unmanned vehicle and current
Offline mode calculates the preset range of the discharge power of the electrical source of power according to preset algorithm model, wherein, the pre- imputation
Method model includes the default of the discharge power of the quality, the offline mode of unmanned vehicle and the electrical source of power of unmanned vehicle
The corresponding relation of scope；If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, it is determined that
The unmanned vehicle is short of power.
In sum, the embodiment of the present invention obtains the sensor that unmanned vehicle is carried by the MCU of flight controller
Sensitive information, sensitive information can be the environmental information of the status information of unmanned vehicle and/or unmanned vehicle, by nobody
The status information of aircraft and/or the environmental information of unmanned vehicle can determine that unmanned plane under current state during flight, nobody
The electrical source of power of machine whether load operation, meanwhile, whether whether object and/or unmanned vehicle lower section is equipped with according to unmanned plane
There is shelter, determine whether unmanned vehicle overloads, the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions,
And multiple conditions determine that unmanned vehicle overloads when meeting simultaneously, the accuracy of unmanned vehicle overload detection is improve；It is logical
Crossing the image information of the carrying carrier zones to unmanned vehicle carries out image procossing to determine whether unmanned vehicle is equipped with
Carrier, compare unmanned vehicle electrical source of power electrical quantity information with the size of rated value to determine whether unmanned vehicle moves
Power is not enough, if unmanned vehicle is equipped with carrier, and unmanned vehicle is short of power, it is determined that unmanned vehicle overloads, this
Whether bright embodiment is short of power from unmanned vehicle and whether is equipped with two conditions of carrier determines whether unmanned vehicle surpasses
Carry, and two conditions determine that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection；
The quality and offline mode of the unmanned vehicle sensed according to LOAD CELLS or gravity sensor by MCU detects electric circuit inspection
Unmanned vehicle current flight pattern, according to preset algorithm model calculate unmanned vehicle battery discharge power it is pre-
If scope, whether the and present discharge power of the battery according to electrical quantity sensor sensing determine the present discharge power of battery
Beyond the preset range calculated according to preset algorithm model, if the present discharge power of battery exceeds the preset range, really
Determine unmanned vehicle to be short of power, according to preset algorithm model the not enough accuracy of detection of aircraft power is improve, further carry
The high accuracy of unmanned vehicle overload detection.
In several embodiments provided by the present invention, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.For example, device embodiment described above is only schematic, for example, the division of the unit, and only
Only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can be tied
Close or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs by some interfaces, device or unit or logical
Letter connection, can be electrical, mechanical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can according to the actual needs be selected to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.And aforesaid storage medium includes：USB flash disk, portable hard drive, read only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division be illustrated, in practical application, can as desired by above-mentioned functions distribute it is complete by different functional modules
Into, will the internal structure of device be divided into different functional modules, to complete all or part of function described above.On
The specific work process of the device of description is stated, the corresponding process in preceding method embodiment is may be referred to, be will not be described here.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme.
Claims (23)
1. a kind of control method of unmanned vehicle, it is characterised in that include：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
2. method according to claim 1, it is characterised in that the sensor includes following at least one：For obtaining
The imageing sensor of the image information of the carrying carrier zones of the unmanned vehicle, for obtaining the dynamic of the unmanned vehicle
The electrical quantity sensor of the electrical quantity information of power power supply.
3. method according to claim 2, it is characterised in that described according to the sensitive information, determine it is described nobody fly
Whether row device overloads, including：
According to the image information of the carrying carrier zones of the unmanned vehicle, determine whether the unmanned vehicle is equipped with load
Body；
According to the electrical quantity information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle surpasses
Carry.
4. method according to claim 3, it is characterised in that corresponding protection instruction includes following at least one：
The information for pointing out the unmanned vehicle overload is sent to user, home points are returned immediately, forced landing immediately is beaten
Drive the airborne parachute of the unmanned vehicle.
5. method according to claim 4, it is characterised in that the carrying carrier zones according to the unmanned vehicle
Image information, determine whether the unmanned vehicle is equipped with carrier, including：
Image procossing is carried out to the image information of the carrying carrier zones of the unmanned vehicle, determining in described image information is
It is no to have object.
6. the method according to any one of claim 2-5, it is characterised in that the electrical quantity information includes following at least
Kind：
Discharge power, electricity, voltage, electric current and internal resistance.
7. method according to claim 6, it is characterised in that the electrical quantity information is discharge power；
The sensor also includes the LOAD CELLS or gravity sensor for obtaining the quality of the unmanned vehicle；
The electrical quantity information of the electrical source of power according to the unmanned vehicle, power is not to determine the unmanned vehicle
Foot, including：
According to the quality and current flight pattern of the unmanned vehicle according to preset algorithm model, the electrical source of power is calculated
The preset range of discharge power, wherein, the preset algorithm model includes quality, the flight of unmanned vehicle of unmanned vehicle
The corresponding relation of the preset range of the discharge power of pattern and the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
8. a kind of control system of unmanned vehicle, it is characterised in that including one or more processors, the processor is used
In：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
9. the control system of unmanned vehicle according to claim 8, it is characterised in that also include：
Sensor, the sensor is connected with processor communication, and the sensor is used to obtain the unmanned vehicle
The sensitive information of status information and/or the unmanned vehicle environmental information.
10. the control system of unmanned vehicle according to claim 9, it is characterised in that the sensor includes as follows
It is at least one：For obtaining the imageing sensor of the image information of the carrying carrier zones of the unmanned vehicle, for obtaining
The electrical quantity sensor of the electrical quantity information of the electrical source of power of the unmanned vehicle.
The control system of 11. unmanned vehicles according to claim 10, it is characterised in that the processor with specific reference to
The image information of the carrying carrier zones of the unmanned vehicle, determines whether the unmanned vehicle is equipped with carrier；
According to the electrical quantity information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle surpasses
Carry.
The control system of 12. unmanned vehicles according to claim 11, it is characterised in that corresponding protection instruction
Including following at least one：The information for pointing out the unmanned vehicle overload is sent to user, home is returned immediately
The airborne parachute of the unmanned vehicle is opened in point, immediately forced landing.
The control system of 13. unmanned vehicles according to claim 12, it is characterised in that the process implement body is to institute
Stating the image information of the carrying carrier zones of unmanned vehicle carries out image procossing, determines in described image information whether there is thing
Body.
The control system of 14. unmanned vehicles described according to any one of claim 10-13, it is characterised in that institute
Stating electrical quantity information includes following at least one：
Discharge power, electricity, voltage, electric current and internal resistance.
The control system of 15. described unmanned vehicles according to claim 14, it is characterised in that the electrical quantity letter
Cease for discharge power；
The sensor also includes the LOAD CELLS or gravity sensor for obtaining the quality of the unmanned vehicle；
The processor with specific reference to the unmanned vehicle quality and current flight pattern according to preset algorithm model, calculate
The preset range of the discharge power of the electrical source of power, wherein, the preset algorithm model includes quality, the nothing of unmanned vehicle
The corresponding relation of the preset range of the discharge power of the offline mode of people's aircraft and the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
16. a kind of unmanned vehicles, it is characterised in that include：
Fuselage；
Dynamical system, installed in the fuselage, for providing flying power；
Control system, electrically connects with the dynamical system, for controlling the dynamical system, the control system include one or
Multiple processors, the processor is used for：
Obtain the sensitive information of the sensor that the unmanned vehicle is carried；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload, corresponding protection instruction is performed.
17. unmanned vehicles according to claim 16, it is characterised in that the control system also includes：
Sensor, the sensor is connected with processor communication, and the sensor is used to obtain the unmanned vehicle
The sensitive information of status information and/or the unmanned vehicle environmental information.
18. unmanned vehicles according to claim 17, it is characterised in that the sensor includes following at least one：
For obtain the unmanned vehicle carrying carrier zones image information imageing sensor, for obtain it is described nobody fly
The electrical quantity sensor of the electrical quantity information of the electrical source of power of row device.
19. unmanned vehicles according to claim 18, it is characterised in that the processor with specific reference to it is described nobody fly
The image information of the carrying carrier zones of row device, determines whether the unmanned vehicle is equipped with carrier；
According to the electrical quantity information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle surpasses
Carry.
20. unmanned vehicles according to claim 19, it is characterised in that corresponding protection instruction include such as down to
Few one kind：The information for pointing out the unmanned vehicle overload is sent to user, home points is returned immediately, immediately promptly
Landing, opens the airborne parachute of the unmanned vehicle.
21. unmanned vehicles according to claim 20, it is characterised in that the process implement body is to the unmanned flight
The image information of the carrying carrier zones of device carries out image procossing, determines in described image information whether there is object.
22. unmanned vehicles according to any one of claim 18-21, it is characterised in that the electrical quantity information includes
It is following at least one：
Discharge power, electricity, voltage, electric current and internal resistance.
23. unmanned vehicles according to claim 22, it is characterised in that the electrical quantity information is discharge power；
The sensor also includes the LOAD CELLS or gravity sensor for obtaining the quality of the unmanned vehicle；
The processor with specific reference to the unmanned vehicle quality and current flight pattern according to preset algorithm model, calculate
The preset range of the discharge power of the electrical source of power, wherein, the preset algorithm model includes quality, the nothing of unmanned vehicle
The corresponding relation of the preset range of the discharge power of the offline mode of people's aircraft and the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/080794 WO2017185363A1 (en) | 2016-04-29 | 2016-04-29 | Method, apparatus, and system for controlling unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106687371A true CN106687371A (en) | 2017-05-17 |
| CN106687371B CN106687371B (en) | 2018-10-30 |
Family
ID=58849601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002501.0A Active CN106687371B (en) | 2016-04-29 | 2016-04-29 | The control method of unmanned vehicle, apparatus and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106687371B (en) |
| WO (1) | WO2017185363A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750142A (en) * | 2018-04-19 | 2018-11-06 | 顺丰科技有限公司 | Unmanned plane weight measurements and system |
| PL422312A1 (en) * | 2017-07-21 | 2019-01-28 | Advanced Protection Systems Spółka Z Ograniczoną Odpowiedzialnością | Multi-sensor detection, classification and neutralization system of the unmanned aircrafts, ensuring all round protection without blind spots |
| CN110108341A (en) * | 2018-02-01 | 2019-08-09 | 北京京东尚科信息技术有限公司 | The automatic weighing method and system of unmanned plane |
| CN110383525A (en) * | 2018-01-19 | 2019-10-25 | 深圳市大疆创新科技有限公司 | A battery safety reminder system |
| CN111132870A (en) * | 2018-11-30 | 2020-05-08 | 深圳市大疆创新科技有限公司 | Control method of movable platform, movable platform and storage medium |
| CN111977004A (en) * | 2020-08-31 | 2020-11-24 | 广州极飞科技有限公司 | Overload protection method and device and aircraft |
| WO2021114198A1 (en) * | 2019-12-13 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Management method and device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040245B (en) * | 2019-04-30 | 2022-04-22 | 中北大学 | Aircraft with overload sensor and installation error calibration system |
| CN113815859B (en) * | 2021-09-26 | 2023-12-05 | 广州极飞科技股份有限公司 | Unmanned equipment take-off control method, unmanned equipment take-off control device, unmanned equipment take-off control equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN204916202U (en) * | 2015-07-29 | 2015-12-30 | 深圳市大疆创新科技有限公司 | Unmanned vehicles's protector , Protection system and unmanned vehicles |
| WO2016008125A1 (en) * | 2014-07-16 | 2016-01-21 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method therefor |
| CN105334865A (en) * | 2015-11-24 | 2016-02-17 | 余江 | Battery monitor-based flight control method and flight control device |
| CN105334861A (en) * | 2015-10-18 | 2016-02-17 | 上海圣尧智能科技有限公司 | Unmanned plane flight control module, unmanned plane flight control system and unmanned plane |
| CN105487383A (en) * | 2016-01-27 | 2016-04-13 | 谭圆圆 | Unmanned aircraft load control method and apparatus |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932521A (en) * | 2015-05-28 | 2015-09-23 | 江西洪都航空工业集团有限责任公司 | Unmanned plane parachute-throwing method based on overload size determination |
| CN205169496U (en) * | 2015-11-06 | 2016-04-20 | 中国航空工业经济技术研究院 | Aerial commodity circulation unmanned aerial vehicle article hang system of putting |
| CN105302154B (en) * | 2015-11-08 | 2018-09-18 | 杨珊珊 | Unmanned vehicle for monitoring conveying articles and its monitoring method |
-
2016
- 2016-04-29 WO PCT/CN2016/080794 patent/WO2017185363A1/en not_active Ceased
- 2016-04-29 CN CN201680002501.0A patent/CN106687371B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016008125A1 (en) * | 2014-07-16 | 2016-01-21 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method therefor |
| CN204916202U (en) * | 2015-07-29 | 2015-12-30 | 深圳市大疆创新科技有限公司 | Unmanned vehicles's protector , Protection system and unmanned vehicles |
| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN105334861A (en) * | 2015-10-18 | 2016-02-17 | 上海圣尧智能科技有限公司 | Unmanned plane flight control module, unmanned plane flight control system and unmanned plane |
| CN105334865A (en) * | 2015-11-24 | 2016-02-17 | 余江 | Battery monitor-based flight control method and flight control device |
| CN105487383A (en) * | 2016-01-27 | 2016-04-13 | 谭圆圆 | Unmanned aircraft load control method and apparatus |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL422312A1 (en) * | 2017-07-21 | 2019-01-28 | Advanced Protection Systems Spółka Z Ograniczoną Odpowiedzialnością | Multi-sensor detection, classification and neutralization system of the unmanned aircrafts, ensuring all round protection without blind spots |
| CN110383525A (en) * | 2018-01-19 | 2019-10-25 | 深圳市大疆创新科技有限公司 | A battery safety reminder system |
| CN110383525B (en) * | 2018-01-19 | 2023-07-18 | 深圳市大疆创新科技有限公司 | A battery safety reminder system |
| US12233722B2 (en) | 2018-01-19 | 2025-02-25 | SZ DJI Technology Co., Ltd. | Battery safety alert system |
| CN110108341A (en) * | 2018-02-01 | 2019-08-09 | 北京京东尚科信息技术有限公司 | The automatic weighing method and system of unmanned plane |
| CN108750142A (en) * | 2018-04-19 | 2018-11-06 | 顺丰科技有限公司 | Unmanned plane weight measurements and system |
| CN108750142B (en) * | 2018-04-19 | 2022-03-29 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle weight measurement method and system |
| CN111132870A (en) * | 2018-11-30 | 2020-05-08 | 深圳市大疆创新科技有限公司 | Control method of movable platform, movable platform and storage medium |
| WO2021114198A1 (en) * | 2019-12-13 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Management method and device |
| CN111977004A (en) * | 2020-08-31 | 2020-11-24 | 广州极飞科技有限公司 | Overload protection method and device and aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017185363A1 (en) | 2017-11-02 |
| CN106687371B (en) | 2018-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106687371A (en) | Unmanned aerial vehicle control method, device and system | |
| AU2019257292B2 (en) | Multi-UAV management | |
| AU2014221189B2 (en) | Aircraft electric motor system | |
| EP3285130A2 (en) | Tethered unmanned aerial vehicle | |
| CN111213106B (en) | Unmanned aerial vehicle landing control method, flight control equipment and unmanned aerial vehicle | |
| JP2017526566A (en) | Surface detection using ground effect in unmanned aerial vehicles | |
| Al-Madani et al. | Design of fully automatic drone parachute system with temperature compensation mechanism for civilian and military applications | |
| WO2019146579A1 (en) | Information processing device and information processing method | |
| CN203876988U (en) | Protection and control system of aircraft and aircraft | |
| CN106428585A (en) | Flight protection control method, controller and control system for unmanned air vehicle | |
| CN109573028A (en) | A kind of auxiliary unmanned plane method for retrieving, device and unmanned plane | |
| CN115202384A (en) | Unmanned aerial vehicle flight control method and device, unmanned aerial vehicle system and storage medium | |
| CN113093797A (en) | Unmanned aerial vehicle-based intelligent power transmission line inspection method and system | |
| CN107067489A (en) | A kind of intelligent patrol detection control system of unmanned plane | |
| CN106708065A (en) | Unmanned aerial vehicle landing control method, device and unmanned aerial vehicle | |
| CN111625013A (en) | Energy estimation method and device for unmanned aerial vehicle to execute flight mission | |
| CN108227731A (en) | Unmanned plane collision-proof method and device | |
| CN105711843A (en) | Air-drop parachute | |
| CN104890889A (en) | Control method of aircraft and aircraft | |
| CN114462740B (en) | Flight mission evaluation method, device, apparatus and computer-readable storage medium | |
| CN111158390A (en) | Method for disposing abnormal parking of engine of unmanned aerial vehicle suitable for fixed air route | |
| CN112947537A (en) | Unmanned aerial vehicle control method and device, computer equipment and storage medium | |
| CN205139711U (en) | Unmanned aerial vehicle safety guarantee equipment and have its unmanned aerial vehicle | |
| CN115860292A (en) | Fishing administration monitoring-based optimal path planning method and device for unmanned aerial vehicle | |
| JP7601456B2 (en) | Control device, flying object control method and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240521 Address after: Building 3, Xunmei Science and Technology Plaza, No. 8 Keyuan Road, Science and Technology Park Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518057, 1634 Patentee after: Shenzhen Zhuoyu Technology Co.,Ltd. Country or region after: China Address before: 518057 Shenzhen Nanshan High-tech Zone, Shenzhen, Guangdong Province, 6/F, Shenzhen Industry, Education and Research Building, Hong Kong University of Science and Technology, No. 9 Yuexingdao, South District, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. Country or region before: China |