[go: up one dir, main page]

WO2017185363A1 - Procédé, appareil et dispositif de commande de véhicule aérien sans pilote - Google Patents

Procédé, appareil et dispositif de commande de véhicule aérien sans pilote Download PDF

Info

Publication number
WO2017185363A1
WO2017185363A1 PCT/CN2016/080794 CN2016080794W WO2017185363A1 WO 2017185363 A1 WO2017185363 A1 WO 2017185363A1 CN 2016080794 W CN2016080794 W CN 2016080794W WO 2017185363 A1 WO2017185363 A1 WO 2017185363A1
Authority
WO
WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
uav
sensor
information
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.)
Ceased
Application number
PCT/CN2016/080794
Other languages
English (en)
Chinese (zh)
Inventor
许柏皋
王雷
王文韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2016/080794 priority Critical patent/WO2017185363A1/fr
Priority to CN201680002501.0A priority patent/CN106687371B/zh
Publication of WO2017185363A1 publication Critical patent/WO2017185363A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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

Definitions

  • 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.
  • 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.
  • 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:
  • a power system mounted to the fuselage for providing flight power
  • control system electrically coupled to the power system for controlling the power system, the control system including one or more processors, the processor for:
  • 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.
  • Embodiment 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present invention
  • Embodiment 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present invention
  • FIG. 4 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 4 of the present invention.
  • FIG. 5 is a structural diagram of a control system of an unmanned aerial vehicle according to Embodiment 5 of the present invention.
  • FIG. 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.
  • a component when 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.
  • 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
  • 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.
  • 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 senor 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.
  • 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
  • Step S103 If the UAV is overloaded, execute a corresponding protection command.
  • 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.
  • 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 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
  • the senor 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;
  • the image sensor is a camera
  • 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
  • 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.
  • 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;
  • 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.
  • 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.
  • 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 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
  • the senor 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;
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • the control system 40 of the UAV includes one or more processors 41, and the processor 41 is used by the processor 41.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the electrical parameter information includes at least one of the following: discharge power, electric quantity, voltage, current, and internal resistance.
  • 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.
  • 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 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.
  • the electrical parameter information is a discharge power.
  • the senor 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the senor 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the disclosed apparatus and method may be implemented in other manners.
  • 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.
  • 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.
  • 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. .

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

L'invention concerne un procédé de commande d'un véhicule aérien sans pilote, un système de commande et un véhicule aérien sans pilote. Le procédé consiste à : acquérir des informations de détection d'un capteur (42) porté par un véhicule aérien sans pilote (S101) ; sur la base des informations de détection, déterminer si le véhicule aérien sans pilote est surchargé (S102) ; et si le véhicule aérien sans pilote est surchargé, exécuter ensuite une commande de protection correspondante (S103). Les informations de détection du capteur (42) porté sur le véhicule aérien sans pilote sont acquises au moyen d'une MCU d'un organe de commande volant ; les informations de détection peuvent être des informations d'état du véhicule aérien sans pilote et/ou des informations d'environnement du véhicule aérien sans pilote, et sur la base des informations d'état du véhicule aérien sans pilote et/ou des informations d'environnement du véhicule aérien sans pilote, il est possible de déterminer si la charge de l'alimentation électrique du véhicule aérien sans pilote va fonctionner si le véhicule aérien sans pilote est actuellement en train de voler ; en outre, si le véhicule aérien sans pilote porte un objet et/ou qu'il y a une obstruction sous le véhicule aérien sans pilote, il est possible de déterminer si le véhicule aérien sans pilote est surchargé, améliorant ainsi la précision de la détection d'une surcharge du véhicule aérien sans pilote.
PCT/CN2016/080794 2016-04-29 2016-04-29 Procédé, appareil et dispositif de commande de véhicule aérien sans pilote Ceased WO2017185363A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/080794 WO2017185363A1 (fr) 2016-04-29 2016-04-29 Procédé, appareil et dispositif de commande de véhicule aérien sans pilote
CN201680002501.0A CN106687371B (zh) 2016-04-29 2016-04-29 无人飞行器的控制方法、装置及系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/080794 WO2017185363A1 (fr) 2016-04-29 2016-04-29 Procédé, appareil et dispositif de commande de véhicule aérien sans pilote

Publications (1)

Publication Number Publication Date
WO2017185363A1 true WO2017185363A1 (fr) 2017-11-02

Family

ID=58849601

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/080794 Ceased WO2017185363A1 (fr) 2016-04-29 2016-04-29 Procédé, appareil et dispositif de commande de véhicule aérien sans pilote

Country Status (2)

Country Link
CN (1) CN106687371B (fr)
WO (1) WO2017185363A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040245A (zh) * 2019-04-30 2019-07-23 中北大学 一种设有过载传感器及安装误差标定系统的飞行器
CN113815859A (zh) * 2021-09-26 2021-12-21 广州极飞科技股份有限公司 无人设备起飞控制方法、装置、设备及存储介质

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL422312A1 (pl) * 2017-07-21 2019-01-28 Advanced Protection Systems Spółka Z Ograniczoną Odpowiedzialnością Wielo-sensorowy system detekcji, klasyfikacji i neutralizacji bezzałogowych statków powietrznych zapewniający ochronę dookólną bez stref martwych
CN116674386A (zh) 2018-01-19 2023-09-01 深圳市大疆创新科技有限公司 一种电池安全提示系统
CN110108341B (zh) * 2018-02-01 2022-12-02 北京京东乾石科技有限公司 无人机的自动称重方法及系统
CN108750142B (zh) * 2018-04-19 2022-03-29 丰翼科技(深圳)有限公司 无人机重量测量方法及系统
WO2020107451A1 (fr) * 2018-11-30 2020-06-04 深圳市大疆创新科技有限公司 Procédé de commande de plate-forme mobile, plate-forme mobile et support d'enregistrement
CN113661120B (zh) * 2019-12-13 2025-01-03 深圳市大疆创新科技有限公司 管理方法和设备
CN111977004A (zh) * 2020-08-31 2020-11-24 广州极飞科技有限公司 过载保护方法、装置和飞行器

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104932521A (zh) * 2015-05-28 2015-09-23 江西洪都航空工业集团有限责任公司 一种基于过载大小判断的无人机抛伞方法
CN105093130A (zh) * 2015-09-17 2015-11-25 杨珊珊 一种无人飞行器续航能力监测系统及方法
CN204916202U (zh) * 2015-07-29 2015-12-30 深圳市大疆创新科技有限公司 一种无人飞行器的防护装置、防护系统及无人飞行器
WO2016008125A1 (fr) * 2014-07-16 2016-01-21 深圳市大疆创新科技有限公司 Véhicule aérien électrique sans pilote et procédé de protection intelligente de grandeurs électriques pour celui-ci
CN105302154A (zh) * 2015-11-08 2016-02-03 杨珊珊 用于监控运送物品的无人飞行器及其监控方法
CN105334861A (zh) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 一种无人机飞控模块、无人机飞控系统及无人机
CN105487383A (zh) * 2016-01-27 2016-04-13 谭圆圆 一种无人飞行器负载控制方法及装置
CN205169496U (zh) * 2015-11-06 2016-04-20 中国航空工业经济技术研究院 一种空中物流无人机物品吊放系统

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105334865A (zh) * 2015-11-24 2016-02-17 余江 基于电量监控的飞行控制方法及飞行控制装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016008125A1 (fr) * 2014-07-16 2016-01-21 深圳市大疆创新科技有限公司 Véhicule aérien électrique sans pilote et procédé de protection intelligente de grandeurs électriques pour celui-ci
CN104932521A (zh) * 2015-05-28 2015-09-23 江西洪都航空工业集团有限责任公司 一种基于过载大小判断的无人机抛伞方法
CN204916202U (zh) * 2015-07-29 2015-12-30 深圳市大疆创新科技有限公司 一种无人飞行器的防护装置、防护系统及无人飞行器
CN105093130A (zh) * 2015-09-17 2015-11-25 杨珊珊 一种无人飞行器续航能力监测系统及方法
CN105334861A (zh) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 一种无人机飞控模块、无人机飞控系统及无人机
CN205169496U (zh) * 2015-11-06 2016-04-20 中国航空工业经济技术研究院 一种空中物流无人机物品吊放系统
CN105302154A (zh) * 2015-11-08 2016-02-03 杨珊珊 用于监控运送物品的无人飞行器及其监控方法
CN105487383A (zh) * 2016-01-27 2016-04-13 谭圆圆 一种无人飞行器负载控制方法及装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040245A (zh) * 2019-04-30 2019-07-23 中北大学 一种设有过载传感器及安装误差标定系统的飞行器
CN110040245B (zh) * 2019-04-30 2022-04-22 中北大学 一种设有过载传感器及安装误差标定系统的飞行器
CN113815859A (zh) * 2021-09-26 2021-12-21 广州极飞科技股份有限公司 无人设备起飞控制方法、装置、设备及存储介质
CN113815859B (zh) * 2021-09-26 2023-12-05 广州极飞科技股份有限公司 无人设备起飞控制方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CN106687371A (zh) 2017-05-17
CN106687371B (zh) 2018-10-30

Similar Documents

Publication Publication Date Title
WO2017185363A1 (fr) Procédé, appareil et dispositif de commande de véhicule aérien sans pilote
CN109634295B (zh) 一种自动返航方法、装置和无人机
CN109739253B (zh) 一种飞行器电池监控方法、装置、电池及飞行器
US10745127B2 (en) Systems and methods for execution of recovery actions on an unmanned aerial vehicle
CN107078358B (zh) 电池温度检测方法、控制系统、电池及无人飞行器
CN113484765B (zh) 无人机的续航时间确定方法、装置、处理设备及介质
CN112000118B (zh) 一种无人机保护方法、装置及无人机
CN111213106B (zh) 一种无人机的降落控制方法、飞行控制设备及无人机
CN106716281B (zh) 控制方法、控制设备和无人机
WO2023025200A1 (fr) Procédé et appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué, appareil de commande à distance et support de stockage
CN111240354B (zh) 无人机严重低电保护方法及无人机
CN109573028A (zh) 一种辅助无人机找回方法、装置和无人机
CN105425160B (zh) 一种基于多轴旋翼无人机的航时确定方法及装置
CN105292494A (zh) 无人机伞降方法和装置
CN115867459A (zh) Uav机群中电池容量管理的系统和方法
CN107783552B (zh) 控制无人机返航的方法及装置
CN113721648A (zh) 一种无人机飞行控制方法、装置、管理平台和存储介质
JP2019163028A (ja) 特定の飛行状態を支援するために航空機の複数のエンジンによって生成される推力を制御するための方法及びシステム
CN107074347A (zh) 飞行控制方法、系统和无人飞行器
CN205121348U (zh) 无人飞行器安全快速降落系统及其遥控设备和无人飞行器
CN104714552A (zh) 基于手机实时监控的四旋翼飞行器
WO2018068193A1 (fr) Procédé de commande, dispositif de commande, système de commande de vol, et véhicule aérien sans pilote à rotors multiples
CN113815859B (zh) 无人设备起飞控制方法、装置、设备及存储介质
CN109131841A (zh) 飞行器的供电方法、装置、飞行控制系统及飞行器
CN109476375A (zh) 用于感测和控制无人驾驶飞行器的碰撞的系统和方法

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16899874

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16899874

Country of ref document: EP

Kind code of ref document: A1