WO2017185363A1 - Method, apparatus, and system for controlling unmanned aerial vehicle - Google Patents

Abstract

A method for controlling an unmanned aerial vehicle, a control system, and an unmanned aerial vehicle. The method comprises: acquiring sensing information of a sensor (42) carried by an unmanned aerial vehicle (S101); on the basis of the sensing information, determining whether the unmanned aerial vehicle is overloaded (S102); and if the unmanned aerial vehicle is overloaded, then executing a corresponding protective command (S103). The sensing information of the sensor (42) carried on the unmanned aerial vehicle is acquired by means of an MCU of a flying controller; the sensing information may be unmanned aerial vehicle state information and/or unmanned aerial vehicle environment information, and on the basis of the unmanned aerial vehicle state information and/or the unmanned aerial vehicle environment information, it can be determined whether the load of the power supply of the unmanned aerial vehicle will work if the unmanned aerial vehicle flies in the current state; in addition, on the basis of whether the unmanned aerial vehicle is carrying an object and/or whether there is a obstruction underneath the unmanned aerial vehicle, it can be determined whether the unmanned aerial vehicle is overloaded, improving the accuracy of the detection of unmanned aerial vehicle overloading.

Description

Unmanned aerial vehicle control method, device and system Technical field

Embodiments of the present invention relate to the field of drones, and in particular, to a method, device, and system for controlling an unmanned aerial vehicle.

Background technique

In the prior art, under the overload condition, it is easy to cause the battery voltage to drop sharply due to the discharge power of the battery exceeding the rated power of the battery, thereby causing an aircraft bomber accident.

The prior art detects whether the aircraft is overloaded by two ways. One way is to install an overload measuring device on the aircraft, but the overload measuring device increases the mass of the aircraft, and the other way is to determine the sudden change of the Z-axis acceleration of the aircraft. Whether the aircraft is overloaded, but when the aircraft slowly rises, it is difficult to detect the sudden change of the Z-axis acceleration of the aircraft, and it is impossible to accurately determine whether the aircraft is overloaded.

Summary of the invention

Embodiments of the present invention provide a method, device, and system for controlling an unmanned aerial vehicle to improve accuracy of an unmanned aerial vehicle overload detection.

An aspect of an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Acquiring sensing information of the sensor carried by the unmanned aerial vehicle;

Determining whether the unmanned aerial vehicle is overloaded according to the sensing information;

If the UAV is overloaded, a corresponding protection command is executed.

Another aspect of an embodiment of the present invention is to provide a control system for an unmanned aerial vehicle comprising one or more processors for:

Acquiring sensing information of the sensor carried by the unmanned aerial vehicle;

Determining whether the unmanned aerial vehicle is overloaded according to the sensing information;

If the UAV is overloaded, a corresponding protection command is executed.

Another aspect of an embodiment of the present invention provides an unmanned aerial vehicle comprising:

Body

a power system mounted to the fuselage for providing flight power;

a control system electrically coupled to the power system for controlling the power system, the control system including one or more processors, the processor for:

Acquiring sensing information of the sensor carried by the unmanned aerial vehicle;

Determining whether the unmanned aerial vehicle is overloaded according to the sensing information;

If the UAV is overloaded, a corresponding protection command is executed.

The control method, device and system for the unmanned aerial vehicle provided by the embodiment of the present invention acquire the sensing information of the sensor carried by the unmanned aerial vehicle through the MCU of the flight controller, and the sensing information may be the state information of the unmanned aerial vehicle or/and none. The environmental information of the human aircraft, through the state information of the unmanned aerial vehicle or / and the environmental information of the unmanned aerial vehicle, can determine whether the power supply of the drone is loaded when the drone is flying in the current state, and at the same time, according to the drone Whether there is an object or/and an obstruction under the UAV to determine whether the UAV is overloaded, the embodiment of the present invention determines whether the UAV is overloaded from a plurality of conditions, and determines that the UAV is overloaded when multiple conditions are simultaneously satisfied. Improves the accuracy of unmanned aerial vehicle overload detection.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present invention;

2 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present invention;

3 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present invention;

4 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 4 of the present invention;

5 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 5 of the present invention;

6 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 6 of the present invention;

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 7 of the present invention.

Reference mark:

40-Control System 41-Processor 42-Sensor

421-Image Sensor 422-Electric Parameter Sensor 423-Gravity Sensor

1001-Power System 1002-propeller 1003-Control System

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiment 1

Embodiment 1 of the present invention provides a control method for an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present invention. The embodiment of the present invention provides a method for controlling an unmanned aerial vehicle according to the prior art that the UAV cannot be accurately determined. The specific steps of the method are as follows:

Step S101: Acquire sensing information of a sensor carried by the UAV;

Specifically, the method in the embodiment of the present invention may be applied to a flight controller of an unmanned aerial vehicle, where the flight controller includes a Microcontroller Unit (MCU), and the micro control unit may be a chip carrying a control program. Or a circuit board in which the functional circuit module is disposed in the micro control unit. The execution body of the embodiment of the present invention may be the flight controller MCU. In addition, the unmanned aerial vehicle carries a sensor for acquiring sensing information of the state information of the unmanned aerial vehicle or/and sensing information of the environmental information of the unmanned aerial vehicle.

The sensor is connected to the MCU, and the MCU acquires status information of the UAV or/and environmental information of the UAV through a sensor, and the status information includes at least one of the following: flight mode, flight speed, weight, and power supply work. The state, the image information of the carrier area; the environment information includes at least one of the following: whether there is an obstruction, a geographical location, a geographical environment, a climatic environment, and an air environment.

Specifically, the sensor includes at least one of: an image sensor for acquiring image information of the carrier area of the UAV, and an electrical parameter sensor for acquiring electrical parameter information of the power source of the UAV; The image sensor may be a camera, a camera or the like for capturing an image of the carrier area of the unmanned aerial vehicle or/and an image below the unmanned aerial vehicle; the power source of the unmanned aerial vehicle may be a battery.

Step S102: Determine, according to the sensing information, whether the unmanned aerial vehicle is overloaded;

The MCU determines whether the unmanned aerial vehicle is overloaded according to the sensing information, such as flight mode, flight speed, weight, electrical parameter information of the power source, image information of the mounted carrier area, an image under the UAV, etc., determining the The method for overloading the UAV includes at least one of the following: 1) The MCU determines the rated electrical parameters of the power source, such as the rated voltage and rating, when the UAV is flying in the current state according to the flight mode, flight speed, and weight of the UAV. Current, rated power, if the current electrical parameter of the power source sensed by the electrical parameter sensor is greater than the rated electrical parameter, and at the same time, according to the image information of the mounted carrier area, it is determined that the mounted carrier area has a mounted object, and the unmanned aerial vehicle is determined to be overloaded; 2) The MCU determines the rated electrical parameters of the power supply when the UAV is flying in the current state according to the flight mode, flight speed and weight of the unmanned aerial vehicle, such as rated voltage, rated current, and rated power, if the electrical parameter sensor senses the power supply The current electrical parameter is greater than the rated electrical parameter, and at the same time, according to the unmanned flight The image below the device determines that there is an obstruction under the UAV, and then determines that the UAV is overloaded; 3) The MCU determines that the current electrical parameter of the electric power source sensed by the electrical parameter sensor is greater than the rated electrical parameter, and is determined according to the image information of the carrier region The mounted carrier area has a mounted object, and at the same time, according to the image below the unmanned aerial vehicle, it is determined that there is an obstruction under the UAV, and the unmanned aerial vehicle is determined to be overloaded.

Step S103: If the UAV is overloaded, execute a corresponding protection command.

In order to prevent the UAV from overloading, the MCU determines that the UAV is overloaded. Immediately thereafter, the corresponding protection instruction is executed, for example, the user remote control device of the ground is sent the prompt information of the unmanned aerial vehicle overload, and the user sends a landing instruction to the unmanned aerial vehicle according to the prompt information, or the MCU determines that the unmanned aerial vehicle is overloaded immediately after the control. The human aircraft landed in an emergency, and the UAV's on-board parachute was opened at the same time as the emergency landing, so that the UAV could land safely and avoid damage to the fuselage during an emergency landing.

In the embodiment of the present invention, the sensing information of the sensor carried by the unmanned aerial vehicle is acquired by the MCU of the flight controller, and the sensing information may be state information of the unmanned aerial vehicle or/and environmental information of the unmanned aerial vehicle, and the state information of the unmanned aerial vehicle Or/and the environmental information of the unmanned aerial vehicle can determine whether the drone's power supply is working when the drone is flying in the current state, and depending on whether the drone is equipped with an object or/and under the unmanned aerial vehicle The occlusion object determines whether the unmanned aerial vehicle is overloaded. The embodiment of the present invention determines whether the unmanned aerial vehicle is overloaded from a plurality of conditions, and determines that the unmanned aerial vehicle is overloaded when the plurality of conditions are simultaneously satisfied, thereby improving the accuracy of the unmanned aerial vehicle overload detection.

Embodiment 2

Embodiment 2 of the present invention provides a control method for an unmanned aerial vehicle. FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present invention. Based on the first embodiment, the specific steps of the control method of the unmanned aerial vehicle provided by the second embodiment of the present invention are as follows:

Step S201: Acquire sensing information of a sensor carried by the UAV;

Specifically, the sensor includes at least one of: an image sensor for acquiring image information of a carrier region of the UAV, and an electrical parameter sensor for acquiring electrical parameter information of a power source of the UAV .

Step S202: determining, according to image information of the carrier area of the unmanned aerial vehicle, whether the unmanned aerial vehicle is equipped with a carrier;

Specifically, the image sensor is a camera, and the camera is disposed on the body of the unmanned aerial vehicle, and is used for capturing an image of the carrier area of the unmanned aerial vehicle, and the MCU is connected with the camera, and the camera mounts the unmanned aerial vehicle. The image information of the carrier area is transmitted to the MCU, and the MCU performs image processing on the image information of the mounted carrier area of the unmanned aerial vehicle to determine whether there is an object in the image information, and if there is an object, it is determined that the unmanned flight is loaded with the carrier.

Step S203: determining, according to electrical parameter information of the power source of the unmanned aerial vehicle, whether the unmanned aerial vehicle is insufficiently powered;

The electrical parameter information includes at least one of the following: discharge power, electric quantity, voltage, current, and internal resistance.

The electrical parameter sensor is electrically connected to a power source of the unmanned aerial vehicle, such as a battery. The electrical parameter sensor collects electrical parameter information of the power source, and the electrical parameter information includes at least one of the following: discharge power, power, voltage, current, and internal resistance. The electrical parameter sensor detects the electrical parameter information of the battery in real time, and sends the electrical parameter information of the battery to the MCU, and the MCU determines whether the unmanned aerial vehicle is insufficiently powered according to the electrical parameter information of the battery, for example, determining whether the current discharge power of the battery is less than the rated capacity of the battery. Whether the power, the current voltage of the battery is less than the rated voltage or / and the current current of the battery is less than the rated current; in addition, the current discharge power can be calculated according to the current voltage and internal resistance of the battery, or calculated according to the current current and internal resistance of the battery. The current discharge power determines whether the current discharge power of the battery is less than the rated power of the battery. If the current discharge power of the battery is less than the rated power of the battery, the current voltage of the battery is less than the rated voltage, and/or the current current of the battery is less than the rated current, it is determined that the unmanned aerial vehicle is underpowered.

Step S204: If the UAV is equipped with a carrier, and the UAV is insufficiently powered, it is determined that the UAV is overloaded;

According to step S203 and step S204, if the MCU determines that the unmanned aerial vehicle is equipped with the carrier and the unmanned aerial vehicle is insufficiently powered, it is determined that the unmanned aerial vehicle is overloaded.

Step S205: If the UAV is overloaded, execute a corresponding protection command.

In order to prevent the UAV from being overloaded and causing the crash, when the MCU determines that the UAV is overloaded, the corresponding protection command is immediately executed, and the corresponding protection command includes at least one of the following: sending the user to prompt the UAV to be overloaded The prompt message, immediately return to the home point, immediately landed immediately, open the parachute onboard the unmanned aerial vehicle.

In the embodiment of the present invention, the image information of the carrier area of the unmanned aerial vehicle is image processed to determine whether the unmanned aerial vehicle is equipped with the carrier, and the electrical parameter information and the rated value of the power source of the unmanned aerial vehicle are compared to determine the unmanned aerial vehicle. Whether the power is insufficient, if the unmanned aerial vehicle is equipped with a carrier, and the unmanned aerial vehicle is insufficiently powered, it is determined that the unmanned aerial vehicle is overloaded. In the embodiment of the present invention, whether the unmanned aerial vehicle is determined from whether the unmanned aerial vehicle is insufficiently powered or not is loaded with the carrier Overload, and the unmanned aerial vehicle overload is determined when both conditions are met, which improves the accuracy of the unmanned aerial vehicle overload detection.

Embodiment 3

Embodiment 3 of the present invention provides a control method for an unmanned aerial vehicle. FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present invention. Based on the second embodiment, the specific steps of the control method of the unmanned aerial vehicle provided by the third embodiment of the present invention are as follows:

Step S301: Acquire sensing information of a sensor carried by the UAV;

In an embodiment of the present invention, the sensor includes at least one of the following: an image sensor for acquiring image information of a carrier area of the UAV for acquiring electrical parameter information of a power source of the UAV An electrical parameter sensor, a load cell or a gravity sensor for acquiring the mass of the unmanned aerial vehicle.

Step S302: determining, according to image information of the carrier area of the unmanned aerial vehicle, whether the unmanned aerial vehicle is equipped with a carrier;

Step S302 is specifically the same as step S202, and the specific method is not described again.

Step S303: Calculate a preset range of the discharge power of the power source according to a preset algorithm model according to the quality of the unmanned aerial vehicle and the current flight mode, where the preset algorithm model includes the mass of the unmanned aerial vehicle, Correspondence between the flight mode of the human aircraft and the preset range of the discharge power of the power source;

In an embodiment of the invention, the MCU is electrically coupled to the load cell or the gravity sensor to obtain the mass of the unmanned aerial vehicle sensed by the load cell or the gravity sensor. The MCU is also electrically coupled to an aircraft mode detection circuit of the UAV, the flight mode detection circuit is configured to detect an airplane mode of the UAV and transmit the flight mode to the MCU. In addition, the MCU stores a preset algorithm model, which is an algorithm for mapping the quality of the unmanned aerial vehicle, the flight mode of the unmanned aerial vehicle, and the preset range of the discharge power of the power source based on a large amount of data. If the discharge power of the power source is within the preset range, the unmanned aerial vehicle of the quality can be guaranteed to fly normally in the flight mode. Specifically, the MCU calculates the discharge power of the power source according to the preset algorithm model according to the mass of the unmanned aerial vehicle sensed by the load cell or the gravity sensor and the current flight mode of the unmanned aerial vehicle detected by the flight mode detection circuit. Set the scope.

Step S304, if the current discharge power of the power source of the unmanned aerial vehicle exceeds the preset range, determining that the unmanned aerial vehicle is insufficiently powered;

Preferably, the electrical parameter information is the discharge power. The electrical parameter sensor in the embodiment of the invention senses the discharge power of the battery, and the MCU determines whether the current discharge power of the battery exceeds the current discharge power of the battery sensed by the electrical parameter sensor. Preset range calculated according to the preset algorithm model If the current discharge power of the battery exceeds the preset range, it is determined that the unmanned aerial vehicle is insufficiently powered.

Step S305: If the UAV is equipped with a carrier, and the UAV is insufficiently powered, it is determined that the UAV is overloaded;

Step S306: If the UAV is overloaded, execute a corresponding protection command.

Step S305 is consistent with the method of step S204, and the method of step S306 is the same as that of step S205. The specific method is not described herein again.

According to the embodiment of the present invention, the MCU calculates the unmanned aerial vehicle mass measured by the load cell or the gravity sensor and the current flight mode of the unmanned aerial vehicle detected by the flight mode detection circuit, and calculates the discharge power of the battery of the unmanned aerial vehicle according to a preset algorithm model. The preset range, and determining whether the current discharge power of the battery exceeds a preset range calculated according to a preset algorithm model according to the current discharge power of the battery sensed by the electrical parameter sensor, if the current discharge power of the battery exceeds the preset range Then, it is determined that the unmanned aerial vehicle is insufficiently powered, and the detection accuracy of the aircraft lacking power is improved according to the preset algorithm model, and the accuracy of the unmanned aerial vehicle overload detection is further improved.

Embodiment 4

Embodiment 4 of the present invention provides a control system for an unmanned aerial vehicle. 4 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 4 of the present invention. As shown in FIG. 4, the control system 40 of the UAV includes one or more processors 41, and the processor 41 is used by the processor 41. Obtaining sensing information of the sensor carried by the UAV; determining, according to the sensing information, whether the UAV is overloaded; if the UAV is overloaded, executing a corresponding protection command.

The processor 41 may be a chip carrying a control program or a circuit board in which the functional circuit module is disposed in the micro control unit.

The control system of the UAV provided by the embodiment of the present invention may be specifically used to perform the method embodiment provided in FIG. 1 above, and specific functions are not described herein again.

In the embodiment of the present invention, the sensing information of the sensor carried by the unmanned aerial vehicle is acquired by the MCU of the flight controller, and the sensing information may be state information of the unmanned aerial vehicle or/and environmental information of the unmanned aerial vehicle, and the state information of the unmanned aerial vehicle Or/and the environmental information of the unmanned aerial vehicle can determine whether the drone's power supply is working when the drone is flying in the current state, and depending on whether the drone is equipped with an object or/and under the unmanned aerial vehicle The occlusion object determines whether the unmanned aerial vehicle is overloaded. The embodiment of the present invention determines whether the unmanned aerial vehicle is overloaded from a plurality of conditions, and determines that the unmanned aerial vehicle is overloaded when multiple conditions are simultaneously satisfied, thereby improving the unmanned aerial vehicle overload detection. The accuracy of the measurement.

Further, as shown in FIG. 4, the control system 40 of the UAV further includes a sensor 42 that is communicatively coupled to the processor 41, and the sensor 42 is configured to acquire status information of the UAV. Or/and sensing information of the environmental information of the unmanned aerial vehicle.

Embodiment 5

Embodiment 5 of the present invention provides a control system for an unmanned aerial vehicle. 5 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 5 of the present invention. As shown in FIG. 5, on the basis of Embodiment 4, the sensor 42 includes at least one of the following: An image sensor 421 for carrying image information of a carrier area of a human aircraft is an electric parameter sensor 422 for acquiring electrical parameter information of a power source of the unmanned aerial vehicle.

Further, the processor 41 determines whether the unmanned aerial vehicle is equipped with a carrier according to image information of the mounted carrier area of the unmanned aerial vehicle; and determines the none according to electrical parameter information of the power supply of the unmanned aerial vehicle. Whether the human aircraft is underpowered; if the unmanned aerial vehicle is equipped with a carrier and the unmanned aerial vehicle is underpowered, the unmanned aerial vehicle is determined to be overloaded.

Further, the corresponding protection instruction includes at least one of: sending a prompt message for prompting the unmanned aerial vehicle to be overloaded, immediately returning to the home point, immediately landing immediately, and opening the parachute on the unmanned aerial vehicle. .

Preferably, the processor 41 performs image processing on image information of the mounted carrier area of the UAV to determine whether there is an object in the image information.

Preferably, the electrical parameter information includes at least one of the following: discharge power, electric quantity, voltage, current, and internal resistance.

The control system of the unmanned aerial vehicle provided by the embodiment of the present invention may be specifically used to perform the method embodiment provided in FIG. 2 above, and specific functions are not described herein again.

In the embodiment of the present invention, the image information of the carrier area of the unmanned aerial vehicle is image processed to determine whether the unmanned aerial vehicle is equipped with the carrier, and the electrical parameter information and the rated value of the power source of the unmanned aerial vehicle are compared to determine the unmanned aerial vehicle. Whether the power is insufficient, if the unmanned aerial vehicle is equipped with a carrier, and the unmanned aerial vehicle is insufficiently powered, it is determined that the unmanned aerial vehicle is overloaded. In the embodiment of the present invention, whether the unmanned aerial vehicle is determined from whether the unmanned aerial vehicle is insufficiently powered or not is loaded with the carrier Overload, and the unmanned aerial vehicle overload is determined when both conditions are met, which improves the accuracy of the unmanned aerial vehicle overload detection.

Embodiment 6

Embodiment 6 of the present invention provides a control system for an unmanned aerial vehicle. FIG. 6 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 6 of the present invention. As shown in FIG. 6, on the basis of Embodiment 5, preferably, the electrical parameter information is a discharge power.

Further, the sensor 42 further includes a load cell or a gravity sensor for acquiring the mass of the UAV. As shown in FIG. 6, the sensor 42 further includes a gravity sensor 423. The processor 41 calculates a preset range of the discharge power of the power source according to a preset algorithm model according to the quality of the unmanned aerial vehicle and the current flight mode, where the preset algorithm model includes the quality of the unmanned aerial vehicle, Corresponding relationship between a flight mode of the unmanned aerial vehicle and a preset range of discharge power of the power source; if the current discharge power of the power source of the unmanned aerial vehicle exceeds the preset range, determining that the unmanned aerial vehicle is insufficiently powered .

The control system of the unmanned aerial vehicle provided by the embodiment of the present invention may be specifically used to perform the method embodiment provided in FIG. 3 above, and specific functions are not described herein again.

According to the embodiment of the present invention, the MCU calculates the unmanned aerial vehicle mass measured by the load cell or the gravity sensor and the current flight mode of the unmanned aerial vehicle detected by the flight mode detection circuit, and calculates the discharge power of the battery of the unmanned aerial vehicle according to a preset algorithm model. The preset range, and determining whether the current discharge power of the battery exceeds a preset range calculated according to a preset algorithm model according to the current discharge power of the battery sensed by the electrical parameter sensor, if the current discharge power of the battery exceeds the preset range Then, it is determined that the unmanned aerial vehicle is insufficiently powered, and the detection accuracy of the aircraft lacking power is improved according to the preset algorithm model, and the accuracy of the unmanned aerial vehicle overload detection is further improved.

Example 7

Embodiment 7 of the present invention provides an unmanned aerial vehicle. FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to Embodiment 7 of the present invention. As shown in FIG. 7, the unmanned aerial vehicle in this embodiment may include: a fuselage, a power system 1001, a propeller 1002, and a control system 1003; a power system 1001 is installed in the airframe to provide flight power; and the control system 1003 Electrically coupled to power system 1001 for controlling said power system 1001, control system 1003 includes a flight controller, and flight controller includes one or more processors for: acquiring sensors carried by said unmanned aerial vehicle Sensing information; determining, according to the sensing information, whether the unmanned aerial vehicle is overloaded; if the unmanned aerial vehicle is overloaded, executing a corresponding protection command.

The processor 41 may be a chip carrying a control program, or the micro control unit is provided with The circuit board of the functional circuit module.

The control system 1003 of the embodiment of the present invention may be disposed below the power system 1001 or other suitable place of the unmanned aerial vehicle. The structure, function, and connection relationship of the components in the control system 1003 are similar to those in the fourth embodiment, and are not described herein again.

In the embodiment of the present invention, the sensing information of the sensor carried by the unmanned aerial vehicle is acquired by the MCU of the flight controller, and the sensing information may be state information of the unmanned aerial vehicle or/and environmental information of the unmanned aerial vehicle, and the state information of the unmanned aerial vehicle Or/and the environmental information of the unmanned aerial vehicle can determine whether the drone's power supply is working when the drone is flying in the current state, and depending on whether the drone is equipped with an object or/and under the unmanned aerial vehicle The occlusion object determines whether the unmanned aerial vehicle is overloaded. The embodiment of the present invention determines whether the unmanned aerial vehicle is overloaded from a plurality of conditions, and determines that the unmanned aerial vehicle is overloaded when the plurality of conditions are simultaneously satisfied, thereby improving the accuracy of the unmanned aerial vehicle overload detection.

Further, the control system 1003 further includes: a sensor communicatively coupled to the processor, the sensor for acquiring state information of the UAV or/and a sense of environmental information of the UAV Measuring information.

Preferably, the sensor comprises at least one of: an image sensor for acquiring image information of a carrier area of the UAV, and an electrical parameter sensor for acquiring electrical parameter information of a power source of the UAV .

On the basis of the technical solution provided in the seventh embodiment, it is preferable that the processor determines, according to image information of the carrier area of the unmanned aerial vehicle, whether the unmanned aerial vehicle is equipped with a carrier; The electrical parameter information of the power source of the unmanned aerial vehicle determines whether the unmanned aerial vehicle is insufficiently powered; if the unmanned aerial vehicle is equipped with a carrier and the unmanned aerial vehicle is insufficiently powered, the unmanned aerial vehicle is determined to be overloaded.

The corresponding protection command includes at least one of the following: sending a prompt message for prompting the unmanned aerial vehicle to be overloaded to the user, immediately returning to the home point, and immediately landing immediately, opening the parachute onboard the unmanned aerial vehicle.

Further, the processor specifically performs image processing on image information of the mounted carrier area of the UAV to determine whether there is an object in the image information.

The electrical parameter information includes at least one of the following: discharge power, electric quantity, voltage, current, and internal resistance.

Preferably, the electrical parameter information is a discharge power; the sensor further includes a load cell or a gravity sensor for acquiring the mass of the unmanned aerial vehicle; the processor is specifically according to the quality and current of the unmanned aerial vehicle The flight mode calculates a preset range of the discharge power of the power source according to a preset algorithm model, wherein the preset algorithm model includes a mass of the unmanned aerial vehicle, an airplane mode of the unmanned aerial vehicle, and a discharge power of the power source Corresponding relationship of the preset range; if the current discharge power of the power source of the unmanned aerial vehicle exceeds the preset range, determining that the unmanned aerial vehicle is insufficiently powered.

In summary, the embodiment of the present invention acquires the sensing information of the sensor carried by the unmanned aerial vehicle by using the MCU of the flight controller, and the sensing information may be state information of the unmanned aerial vehicle or/and environmental information of the unmanned aerial vehicle, The state information of the human aircraft and/or the environmental information of the unmanned aerial vehicle can determine whether the power supply of the drone is loaded when the drone is flying in the current state, and at the same time, according to whether the drone is loaded with an object or/and none Whether there is an obstruction under the human aircraft to determine whether the UAV is overloaded or not, the embodiment of the present invention determines whether the UAV is overloaded from a plurality of conditions, and determines that the UAV is overloaded when multiple conditions are simultaneously satisfied, thereby improving the UAV overload detection. Accuracy; image processing of the image of the carrier area of the unmanned aerial vehicle is performed to determine whether the unmanned aerial vehicle is equipped with a carrier, and the electrical parameter information and the rated value of the power source of the unmanned aerial vehicle are compared to determine the unmanned aerial vehicle. Is there insufficient power, if the UAV is equipped with a carrier, and the UAV is underpowered? Then, it is determined that the UAV is overloaded, and the embodiment of the present invention determines whether the UAV is overloaded from whether the UAV is underpowered and whether the carrier is loaded or not, and the UAV is overloaded when the two conditions are simultaneously satisfied, thereby improving the unmanned Accuracy of aircraft overload detection; the mass of unmanned aerial vehicle detected by the MCU according to the weight of the unmanned aerial vehicle sensed by the load cell or the gravity sensor and the current flight mode detected by the flight mode detection circuit, and the battery of the unmanned aerial vehicle is calculated according to the preset algorithm model a preset range of the discharge power, and determining whether the current discharge power of the battery exceeds a preset range calculated according to a preset algorithm model according to the current discharge power of the battery sensed by the electrical parameter sensor, if the current discharge power of the battery exceeds the The preset range determines that the unmanned aerial vehicle is underpowered, and the detection accuracy of the aircraft lacking power is improved according to the preset algorithm model, and the accuracy of the unmanned aerial vehicle overload detection is further improved.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely Schematically, for example, the division of the unit is only a logical function division, and the actual implementation may have another division manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be Ignore, or not execute. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (23)

A method for controlling an unmanned aerial vehicle, comprising: Acquiring sensing information of the sensor carried by the unmanned aerial vehicle; Determining whether the unmanned aerial vehicle is overloaded according to the sensing information; If the UAV is overloaded, a corresponding protection command is executed. The method according to claim 1, wherein the sensor comprises at least one of: an image sensor for acquiring image information of a carrier area of the unmanned aerial vehicle, for acquiring the unmanned aerial vehicle An electrical parameter sensor for electrical parameter information of a power source. The method according to claim 2, wherein the determining, according to the sensing information, whether the UAV is overloaded comprises: Determining, according to image information of the carrier area of the unmanned aerial vehicle, whether the unmanned aerial vehicle is equipped with a carrier; Determining whether the unmanned aerial vehicle is insufficiently powered according to electrical parameter information of the power source of the unmanned aerial vehicle; If the UAV is equipped with a carrier and the UAV is underpowered, the UAV is determined to be overloaded. The method according to claim 3, wherein the corresponding protection command comprises at least one of: sending a prompt message for prompting the unmanned aerial vehicle to be overloaded, immediately returning to the home point, and immediately landing immediately. Open the parachute onboard the unmanned aerial vehicle. The method according to claim 4, wherein the determining whether the unmanned aerial vehicle is equipped with a carrier according to image information of the mounted carrier area of the unmanned aerial vehicle comprises: Image processing is performed on image information of the mounted carrier area of the UAV to determine whether there is an object in the image information. The method according to any one of claims 2 to 5, wherein the electrical parameter information comprises at least one of the following: Discharge power, charge, voltage, current, and internal resistance. The method of claim 6 wherein said electrical parameter information is Electric power; The sensor also includes a load cell or a gravity sensor for acquiring the mass of the UAV; Determining whether the unmanned aerial vehicle is insufficiently powered according to the electrical parameter information of the power source of the unmanned aerial vehicle includes: Calculating a preset range of discharge power of the power source according to a preset algorithm model according to a quality of the unmanned aerial vehicle and a current flight mode, wherein the preset algorithm model includes a mass of the unmanned aerial vehicle, and an unmanned aerial vehicle Corresponding relationship between the flight mode and a preset range of the discharge power of the power source; If the current discharge power of the power source of the UAV exceeds the preset range, it is determined that the UAV is insufficiently powered. A control system for an unmanned aerial vehicle, comprising one or more processors, the processor for: Acquiring sensing information of the sensor carried by the unmanned aerial vehicle; Determining whether the unmanned aerial vehicle is overloaded according to the sensing information; If the UAV is overloaded, a corresponding protection command is executed. The control system of the UAV according to claim 8, further comprising: a sensor, the sensor being in communication with the processor, the sensor being configured to acquire sensing information of status information of the UAV or/and environmental information of the UAV. A control system for an unmanned aerial vehicle according to claim 9, wherein said sensor comprises at least one of: an image sensor for acquiring image information of a carrier area of said unmanned aerial vehicle, for acquiring An electrical parameter sensor for electrical parameter information of a power source of an unmanned aerial vehicle. The control system of the unmanned aerial vehicle according to claim 10, wherein the processor determines whether the unmanned aerial vehicle is equipped with a carrier according to image information of a carrier area of the unmanned aerial vehicle; Determining whether the unmanned aerial vehicle is insufficiently powered according to electrical parameter information of the power source of the unmanned aerial vehicle; If the UAV is equipped with a carrier and the UAV is underpowered, the UAV is determined to be overloaded. The control system of the unmanned aerial vehicle according to claim 11, wherein the corresponding protection command comprises at least one of: sending a prompt message for prompting the unmanned aerial vehicle to be overloaded, and immediately returning to the home point. Immediately landed immediately and opened the parachute onboard the unmanned aerial vehicle. The control system of the unmanned aerial vehicle according to claim 12, wherein the processor specifically performs image processing on image information of the mounted carrier area of the unmanned aerial vehicle to determine whether there is an object in the image information. The control system for an unmanned aerial vehicle according to any one of claims 10 to 13, wherein the electrical parameter information comprises at least one of the following: Discharge power, charge, voltage, current, and internal resistance. The control system for an unmanned aerial vehicle according to claim 14, wherein the electrical parameter information is a discharge power; The sensor also includes a load cell or a gravity sensor for acquiring the mass of the UAV; The processor calculates a preset range of the discharge power of the power source according to a preset algorithm model according to the quality of the unmanned aerial vehicle and the current flight mode, wherein the preset algorithm model includes the quality of the unmanned aerial vehicle Corresponding relationship between the flight mode of the unmanned aerial vehicle and the preset range of the discharge power of the power source; If the current discharge power of the power source of the UAV exceeds the preset range, it is determined that the UAV is insufficiently powered. An unmanned aerial vehicle, comprising: body; a power system mounted to the fuselage for providing flight power; a control system electrically coupled to the power system for controlling the power system, the control system including one or more processors, the processor for: Acquiring sensing information of the sensor carried by the unmanned aerial vehicle; Determining whether the unmanned aerial vehicle is overloaded according to the sensing information; If the UAV is overloaded, a corresponding protection command is executed. The UAV according to claim 16, wherein the control system further comprises: a sensor, the sensor being in communication with the processor, the sensor being configured to acquire sensing information of status information of the UAV or/and environmental information of the UAV. The UAV according to claim 17, wherein the sensor comprises at least one of: an image sensor for acquiring image information of a carrier area of the UAV for acquiring the unmanned person An electrical parameter sensor for electrical parameter information of the power source of the aircraft. The unmanned aerial vehicle according to claim 18, wherein the processor determines whether the unmanned aerial vehicle is equipped with a carrier according to image information of a carrier area of the unmanned aerial vehicle; Determining whether the unmanned aerial vehicle is insufficiently powered according to electrical parameter information of the power source of the unmanned aerial vehicle; If the UAV is equipped with a carrier and the UAV is underpowered, the UAV is determined to be overloaded. The unmanned aerial vehicle according to claim 19, wherein the corresponding protection command comprises at least one of: sending a prompt message for prompting the unmanned aerial vehicle to be overloaded to the user, immediately returning to the home point, and immediately rushing Landing, opening the parachute onboard the unmanned aerial vehicle. The UAV according to claim 20, wherein the processor specifically performs image processing on image information of the mounted carrier area of the UAV to determine whether there is an object in the image information. The UAV according to any one of claims 18 to 21, wherein the electrical parameter information comprises at least one of the following: Discharge power, charge, voltage, current, and internal resistance. The UAV according to claim 22, wherein said electrical parameter information is a discharge power; The sensor also includes a load cell or a gravity sensor for acquiring the mass of the UAV; The processor calculates a preset range of the discharge power of the power source according to a preset algorithm model according to the quality of the unmanned aerial vehicle and the current flight mode, wherein the preset algorithm model includes the quality of the unmanned aerial vehicle Corresponding relationship between the flight mode of the unmanned aerial vehicle and the preset range of the discharge power of the power source; If the current discharge power of the power source of the UAV exceeds the preset range, it is determined that the UAV is insufficiently powered.

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