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WO2018028364A1 - Procédé et dispositif de commande d'aéronef sans pilote pour effectuer un vol de retour - Google Patents

Procédé et dispositif de commande d'aéronef sans pilote pour effectuer un vol de retour Download PDF

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Publication number
WO2018028364A1
WO2018028364A1 PCT/CN2017/092051 CN2017092051W WO2018028364A1 WO 2018028364 A1 WO2018028364 A1 WO 2018028364A1 CN 2017092051 W CN2017092051 W CN 2017092051W WO 2018028364 A1 WO2018028364 A1 WO 2018028364A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
return
control signal
control
remote controller
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/CN2017/092051
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English (en)
Chinese (zh)
Inventor
刘若鹏
栾琳
林玉娟
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.)
Shenzhen Kuang Chi Space Technology Co Ltd
Original Assignee
Shenzhen Kuang Chi Space 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 Shenzhen Kuang Chi Space Technology Co Ltd filed Critical Shenzhen Kuang Chi Space Technology Co Ltd
Publication of WO2018028364A1 publication Critical patent/WO2018028364A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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

Definitions

  • the present invention relates to the field of drone control, and in particular to a control method and apparatus for returning a drone.
  • Embodiments of the present invention provide a control method and apparatus for returning a drone to at least solve the technical problem that the current UAV has poor obstacle avoidance performance during the return flight.
  • a method for controlling a return of a drone comprising: controlling, according to a first control signal, the drone to return to a predetermined path; Receiving, in the returning process of the predetermined path, receiving a second control signal sent by the remote controller, wherein the second control signal is used to adjust the predetermined path, so that the drone avoids an obstacle; and the second control And superimposing the signal on the first control signal to obtain a superimposed control signal; and using the superimposed control signal to control the drone to return.
  • the method further includes: detecting, by the preset interval, whether the remote controller sends the second control signal; if the remote controller is detected to be sent Receiving, by the second control signal, the second control signal sent by the remote controller; if the remote controller is not detected to send the second control signal, using the first control signal, controlling the The drone returned.
  • the method further includes: generating an automatic returning trigger signal according to a predefined triggering manner; and the drone is triggered by the automatic returning triggering signal Enter the return flight process.
  • generating an automatic returning trigger signal includes at least one of: generating the automatic returning trigger signal by triggering a return mode of the remote controller; and triggering a returning button of the ground control station by triggering Generating the automatic returning trigger signal; generating the automatic returning trigger signal by detecting the detection signal of the remote controller that the power is insufficient; if the distance between the remote controller and the drone is greater than a preset distance, generating The automatic returning trigger signal; if the energy of the energy management system of the drone is lower than a preset threshold, generating the automatic returning trigger signal.
  • the method further includes: detecting a preset return mode; according to the preset The first control signal is obtained by the flight signal of the drone corresponding to the return mode.
  • the preset return mode includes any one of the following: a right angle return mode, a three-dimensional coordinate axis parabolic return mode, and a round return mode.
  • controlling the return of the drone includes one of: controlling the drone to return to a return point indicated by a position of the mast activated by the remote controller; controlling the drone to return through the remote controller Or the return point set by the ground station; controlling the drone to return to the preset fixed return point.
  • a control device for returning a drone comprising: a returning module, configured to control the drone to return to a predetermined path according to the first control signal a first receiving module, configured to receive a second control signal sent by the remote controller during the return of the drone according to the predetermined path, where the second control signal is used to adjust the predetermined path, so that The supercomputer avoids the obstacle; the superimposing module is configured to superimpose the second control signal and the first control signal to obtain a superimposed control signal, wherein the first control signal is a predetermined control to return the drone
  • the first control module is configured to control the return of the drone by using the superimposed control signal.
  • the device further includes: a detecting module, configured to detect whether the remote controller sends the second control signal every preset interval during the return of the drone; a module, configured to receive the second control signal sent by the remote controller if the remote controller detects that the second control signal is sent, where the second control module is configured to send the remote controller if the remote controller is not detected
  • the second control signal controls the drone to return using the first control signal.
  • the device further includes: a generating module, configured to generate an automatic returning trigger signal according to a preset triggering manner before the drone is in a returning process; and a triggering module, configured to trigger in the automatic returning Under the trigger of the signal, the drone enters the return flight process.
  • a generating module configured to generate an automatic returning trigger signal according to a preset triggering manner before the drone is in a returning process
  • a triggering module configured to trigger in the automatic returning Under the trigger of the signal, the drone enters the return flight process.
  • the remote controller in the process of returning the drone, if an obstacle is encountered, the remote controller sends a second control signal to the drone, and the drone control system then uses the second control signal.
  • the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal.
  • the second control signal that can be sent by the remote controller and the predetermined superimposition control of superimposing the first control signal of the drone returning
  • the signal adjusts a predetermined path controlled by the first control signal, so that the drone can avoid obstacles
  • the energy margin is The requirement is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.
  • FIG. 1 is a flow chart of a control method for returning a drone according to an embodiment of the present invention
  • FIG. 2 is a flow chart of an optional method for controlling the return of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a control device for returning a drone according to an embodiment of the invention.
  • an embodiment of a method for controlling the return of a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be in a computer such as a set of computer executable instructions. Executed in the system, and although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.
  • FIG. 1 is a flowchart of a method for controlling the return of a drone according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
  • step S102 controlling the drone to return to the predetermined path according to the first control signal
  • Step S104 receiving a second control signal sent by the remote controller during the return of the drone according to the predetermined path, wherein the second control signal is used to adjust the predetermined path, so that the drone avoids the obstacle;
  • Step S106 superimposing the second control signal and the first control signal to obtain a superimposed control signal, where the first control signal is a predetermined signal for controlling the return of the drone;
  • Step S108 using the superimposed control signal, controlling the drone to return.
  • the remote controller sends a second control signal to the drone, and the drone control system then uses the second control signal.
  • the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal.
  • the second control signal that can be sent by the remote controller and the predetermined superimposition control of superimposing the first control signal of the drone returning
  • the signal adjusts a predetermined path controlled by the first control signal, so that the drone can avoid obstacles.
  • the energy balance is The requirement of quantity is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.
  • the drone can receive the second control signal sent by the remote controller, and the drone control system
  • the second control signal ie, the control signal of the remote controller
  • the superimposed control signal is used to control the flight of the drone.
  • the drone can be guaranteed to be in the process of automatic returning, and within the control range of the remote controller, when encountering an obstacle, the operator controls the aircraft using the remote controller, and the drone control system receives a control signal to the remote controller (ie, the second control signal described above), and superimposing the control signal of the remote controller and the return control signal (ie, the first control signal described above), and controlling the flight of the drone by using the superimposed signal
  • the drone can be prevented from crashing because of the inability to avoid obstacles during the return flight.
  • the method may further include: detecting, by the preset interval, whether the remote controller sends the second control signal; if detecting the remote controller sending The second control signal receives the second control signal sent by the remote controller; if the remote controller does not detect the second control signal, the first control signal is used to control the drone to return.
  • the remote controller sends a second control signal to the drone.
  • the drone control system detects whether the remote controller sends the second control signal to the drone every predetermined time interval, and if the remote controller detects that the remote control sends the second control signal, That is, during the return flight, the drone encounters an obstacle, and the drone control system receives the second control signal sent by the remote controller, and implements the second control signal and the predetermined control drone return by software programming.
  • the unmanned aerial vehicle adopts different control signals for control in the case of encountering an obstacle and not encountering an obstacle, respectively, and realizes the Intelligent and efficient control of the human-machine return process.
  • the method before the drone is in the returning process, the method further includes: generating an automatic returning trigger signal according to a preset triggering manner; and triggering the automatic returning triggering signal, the drone Enter the return flight process.
  • generating an automatic returning trigger signal includes at least one of the following: generating an automatic returning trigger signal by triggering a return mode of the remote controller; generating a returning button by triggering the ground control station Automatic returning trigger signal; generating an automatic returning trigger signal by detecting a detection signal of insufficient power of the remote controller; if the distance between the remote controller and the drone is greater than a preset distance, generating an automatic returning trigger signal; if the energy management of the drone If the energy of the system is lower than the preset threshold, an automatic return flight trigger signal is generated.
  • the trigger mode of the drone returning is diverse.
  • the auto-return trigger signal can be generated by triggering the return mode of the remote control, or by triggering the return button of the ground control station.
  • the drone control system After receiving the auto-return trigger signal, the drone control system is in the auto-return trigger signal. Under the trigger, the drone enters the returning process; when the power of the remote control is insufficient, the drone control signal is lost, the drone can be triggered to return automatically, that is, the remote controller can be detected by the detecting module installed in the remote controller.
  • the detection signal of the low battery is sent by the remote controller to the drone control system, and the automatic returning trigger signal is generated by the drone control system, and the drone enters the returning process under the trigger of the automatic returning trigger signal;
  • the drone can be triggered to automatically return to the air, that is,
  • the man-machine control system can obtain the distance between the drone and the remote controller, and generate an automatic returning trigger signal when the distance is greater than the preset distance, and the drone enters and returns under the trigger of the automatic returning trigger signal.
  • the drone has an energy management system, when the energy is below a certain threshold (that is, the above-mentioned preset threshold), it is not enough to support the automatic return of the drone, the drone can be triggered to automatically return, that is, The drone control system can be used to detect whether the energy is below a certain threshold, and when the energy is below a certain threshold, an automatic returning trigger signal is generated, and the drone enters and returns under the trigger of the automatic returning trigger signal. process.
  • a certain threshold that is, the above-mentioned preset threshold
  • the drone can be triggered to enter the returning process under the action of various triggering modes, thereby realizing the flexibility of the drone control, thereby improving the user experience.
  • the method before detecting whether the remote controller sends the second control signal every predetermined interval, the method further includes: detecting a preset return mode; according to the preset return mode Corresponding drone flight signals, the first control signal is obtained.
  • the preset return mode includes any one of the following: a right angle return mode, a three-dimensional coordinate parabola return mode, and a round return mode.
  • the drone After the drone enters the return flight process, when the drone is at the current flight altitude, or the ground station is set to the return altitude, the drone is controlled to fly to the set height, the drone The control system detects the return mode selected by the operator (ie, the preset return mode described above), and according to the flight signal corresponding to the return mode, the first control signal can be obtained, that is, the automatic return control signal is obtained.
  • the return mode selected by the operator ie, the preset return mode described above
  • the automatic return route of the aircraft is optional, and the return flight mode may be selected according to the flight environment of the vehicle, that is, the automatic return route is selected.
  • the return mode is various. It can be set at the ground station with a right-angle route, a three-axis route parabola or a circular route, etc., that is, the set return mode can be the right-angle route return mode (ie, the drone moves vertically to the setting).
  • the method ie, the return mode of the arc motion track is determined by the location of the drone, the set return position, and the position of the intermediate flight.
  • the ground station can be selected and set differently.
  • the return mode according to the selected return mode, can achieve flexible control of the drone.
  • controlling the return of the drone includes one of: controlling the drone to return to the return point indicated by the position of the mast start of the remote controller; controlling the drone to return through the remote controller Or the return point set by the ground station; control the drone to return to the preset fixed return point.
  • the drone is controlled to return, and finally the drone is controlled to return to the return point.
  • the design of the return point can be various.
  • the position where the mast of the remote controller is activated can be used as the position of the return point.
  • the user wants to set a certain point in the flight as the return point it can be designed by the remote controller or the ground station.
  • the above two return points are designed as short return points, that is, the user can redesign as needed; if the user wants to return to a fixed position every time the drone can be programmed by software, in the program Set a permanent return point.
  • a remote switch is provided with a switch to indicate whether the return point can be activated by the mast or the remote controller is set, that is, the design of the return point is switched by the switch.
  • the position activated by the mast of the remote control is used as the position of the return point, or the return point is designed by the remote controller during the flight of the drone.
  • the design of the return point is diverse, and based on the diversity of the design of the return point, the flexible control of the drone can be realized, and the user experience is improved.
  • drone in the above embodiment may also be referred to as an aircraft.
  • the embodiment may include the following steps:
  • Step S201 The drone enters a return flight process.
  • the automatic returning trigger signal may be generated according to a preset triggering manner; under the trigger of the automatic returning triggering signal, the drone enters a returning process.
  • the implementation of the automatic returning trigger signal is the same as that in the foregoing embodiment, and is not described here.
  • Step S202 Control the drone to fly to a specified height.
  • the drone is controlled to fly to the set height.
  • Step S203 Detect a return mode selected by the operator.
  • the return mode selected by the operator is the above-mentioned preset return mode, and the return mode is various, which is selected at the ground station by the operator according to the flight environment of the drone.
  • Step S204 obtaining a first flight according to a flight signal of the drone corresponding to the return mode selected by the operator. control signal.
  • the first control signal is a predetermined signal for controlling the return of the drone, that is, the automatic return control signal, the control signal of the automatic return of the drone; and the drone corresponding to the return mode selected by the operator
  • the flight signal is calculated and the first control signal is obtained.
  • Step S205 Detect whether the remote controller sends the second control signal every preset period.
  • step S206 If it is detected that the remote controller sends the second control signal, step S206 is performed; otherwise, step S207 is performed.
  • Step S206 superimposing the second control signal and the first control signal to obtain a superposition control signal.
  • step S208 is performed.
  • Step S207 using the first control signal, controlling the drone to return.
  • the first control signal is used to control the drone to return.
  • Step S208 Control the drone to return by using the superimposed control signal.
  • the superimposed control signal is used to control the flight of the drone to control the drone to avoid obstacles, and after the drone successfully avoids the obstacle, continue to control the drone flight by using the first control signal, Complete the return journey.
  • the aircraft in the flight control program for controlling the flight of the drone, if the aircraft performs the task instruction of automatic returning, the aircraft will follow the setting.
  • the return mode returns, but when the operator finds that the aircraft encounters an obstacle during the return of the aircraft, the operator can control the flight of the aircraft through the remote control.
  • the control signal of the aircraft is the remote control signal (ie, the above)
  • the second control signal is superimposed with the control signal (ie, the first control signal described above) that is automatically returned, and the superimposed signal is used to control the aircraft to return.
  • the aircraft will operate in the headless mode during the return flight with the remote control signal participating in the control, that is, the remote control signal is always used (ie, in the above embodiment)
  • the second control signal enters the direction of the nose of the cymbal in the direction of flight, so as to prevent the operator from correctly manipulating the aircraft and avoiding obstacles after failing to hit the yaw angle. The situation happened.
  • the control of the remote controller in the process of not interrupting the automatic returning, the control of the remote controller is added, the control signal of the remote controller is superimposed with the control signal of the returning, and the superimposed signal is used to control the aircraft to avoid obstacles and complete the return flight. This can prevent the drone from crashing and reduce the loss, and the same can reduce the loss of energy.
  • the device may include: a returning module 32, a first receiving module 34, a superimposing module 36, and a A control module 38.
  • the returning module 32 is configured to control the drone to return to the predetermined path according to the first control signal;
  • the first receiving module 34 is configured to receive the remote controller during the return of the drone according to the predetermined path a second control signal sent, wherein the second control signal is used to adjust a predetermined path to enable the drone to avoid obstacles
  • the superimposing module 36 is configured to superimpose the second control signal and the first control signal to obtain a superimposed control signal, where the first control signal is a predetermined signal for controlling the return of the drone;
  • the first control module 38 is configured to control the drone to return using the superimposed control signal.
  • the remote controller sends a second control signal to the drone, and the drone control system will use the second control signal.
  • the superimposed control signal is used to control the return of the drone, that is, the drone adds a second control signal as a fine adjustment based on the control of the first control signal.
  • the energy balance is The requirement of quantity is relatively low, which can reduce the energy loss, thereby improving the obstacle avoidance performance of the drone during the return flight process, and solving the problem that the current drone avoidance performance of the drone during the return flight process is poor.
  • the drone in the process of returning the drone, if an obstacle is encountered, and within the control range of the remote controller, the drone can receive the second control signal sent by the remote controller, and the drone control system Will pass the software
  • the method of programming realizes superposition of the second control signal (ie, the control signal of the remote controller) with the predetermined first control signal for controlling the return of the drone, and controls the flight of the drone by using the superimposed control signal to control the unmanned The machine avoids obstacles.
  • the drone can be guaranteed to be in the process of automatic returning, and within the control range of the remote controller, when encountering an obstacle, the operator controls the aircraft using the remote controller, and the drone control system receives a control signal to the remote controller (ie, the second control signal described above), and superimposing the control signal of the remote controller and the return control signal (ie, the first control signal described above), and controlling the flight of the drone by using the superimposed signal
  • the drone can be prevented from crashing because of the inability to avoid obstacles during the return flight.
  • the device may further include: a detecting module, configured to detect whether the remote controller sends the second control signal every preset period during the return process of the drone; a receiving module, configured to receive a second control signal sent by the remote controller if the remote controller detects that the second control signal is sent, where the second control module is configured to: if the remote controller does not detect the second control signal, A control signal controls the drone to return.
  • a detecting module configured to detect whether the remote controller sends the second control signal every preset period during the return process of the drone
  • a receiving module configured to receive a second control signal sent by the remote controller if the remote controller detects that the second control signal is sent, where the second control module is configured to: if the remote controller does not detect the second control signal, A control signal controls the drone to return.
  • the remote controller sends a second control signal to the drone.
  • the drone control system detects whether the remote control sends a second control signal to the drone every predetermined interval, and if the remote controller detects that the second control signal is sent, that is, during the return flight, the drone encounters an obstacle.
  • the UAV control system receives the second control signal sent by the remote controller, and realizes superposition of the second control signal and the predetermined first control signal for controlling the return of the drone by software programming, and uses the superposition control Signal, control the flight of the drone to control the drone to avoid obstacles, and after the drone successfully avoids the obstacle, continue to use the first control signal to control the drone flight, complete the return flight process; if no remote control is detected
  • the second control signal is sent, that is, during the return flight, if the drone does not encounter an obstacle, the first control signal is used to control the drone to return.
  • the drone in the return process of the unmanned aerial vehicle, the drone is controlled by different control signals in the case of encountering obstacles and not encountering obstacles, thereby realizing Intelligent and efficient control of the human-machine return process.
  • the apparatus may further include: a generating module, configured at the drone Before the returning process, an automatic returning trigger signal is generated according to a preset triggering manner; and a triggering module is used for triggering the returning process of the drone under the trigger of the automatic returning trigger signal.
  • the trigger mode of the drone returning is diverse.
  • the auto-return trigger signal can be generated by triggering the return mode of the remote control, or by triggering the return button of the ground control station.
  • the drone control system After receiving the auto-return trigger signal, the drone control system is in the auto-return trigger signal. Under the trigger, the drone enters the returning process; when the power of the remote control is insufficient, the drone control signal is lost, the drone can be triggered to return automatically, that is, the remote controller can be detected by the detecting module installed in the remote controller.
  • the detection signal of the low battery is sent by the remote controller to the drone control system, and the automatic returning trigger signal is generated by the drone control system, and the drone enters the returning process under the trigger of the automatic returning trigger signal;
  • the drone control signal is lost, and the drone can be automatically returned, that is, the drone control system can obtain the unmanned The distance between the machine and the remote control, and the distance is greater than the preset distance
  • the auto-return trigger signal is generated, and the drone enters the returning process under the trigger of the auto-return trigger signal; if the drone has an energy management system, the energy is below a certain threshold (ie, the above-mentioned preset threshold) In the case that it is not enough to support the automatic return of the drone, it can trigger the automatic return of the drone, that is, the drone control system can detect whether the energy is below a certain threshold and the energy is below a certain threshold. Next, an automatic returning trigger signal is generated, and the drone enters
  • the drone can be triggered to enter the returning process under the action of various triggering modes, thereby realizing the flexibility of the drone control, thereby improving the user experience.
  • the aircraft in the flight control program for controlling the flight of the drone, if the aircraft performs the task command of the automatic returning flight, the aircraft will follow the setting.
  • the return mode returns, but when the operator finds that the aircraft encounters an obstacle during the return of the aircraft, the operator can control the flight of the aircraft through the remote control.
  • the control signal of the aircraft is the remote control signal (ie, the above)
  • the second control signal is superimposed with the control signal (ie, the first control signal described above) that is automatically returned, and the superimposed signal is used to control the aircraft to return.
  • the aircraft In order to avoid the operator's loss caused by the erroneous operation in an emergency, the aircraft will operate in the headless mode during the return flight with the remote control signal participating in the control, that is, the machine always enters the ⁇ machine with the remote control signal.
  • the direction of the head is forward in the direction of flight, so as to prevent the operator from correctly manipulating the aircraft to avoid obstacles after the yaw angle is missed.
  • the disclosed technical content may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • the actual implementation may have another division manner.
  • multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the unit described as a separate component may or may not be physically distributed, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place, or may be distributed to multiple On the unit. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiment of the present 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 a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. , including a number of instructions to make a computer device (can be a personal computer, server or network All or part of the steps of the method described in the various embodiments of the invention are performed.
  • the foregoing storage medium includes: a USB flash drive, a read only memory (ROM, Read-Only)
  • RAM Random Access Memory
  • removable hard disk disk or optical disk, and other media that can store program code.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande d'un aéronef sans pilote pour effectuer un vol de retour. Le procédé consiste : à commander, selon un premier signal de commande, à un aéronef sans pilote d'effectuer un vol de retour dans un itinéraire préétabli (S102) ; à recevoir un deuxième signal de commande envoyé par une télécommande pendant le processus de vol de retour de l'aéronef dans l'itinéraire préétabli, le deuxième signal de commande servant à régler l'itinéraire préétabli de sorte que l'aéronef sans pilote puisse éviter des obstacles (S104) ; à superposer le deuxième signal de commande sur le premier signal de commande pour obtenir un signal de commande superposé (S106) ; et à commander, au moyen du signal de commande superposé, à l'aéronef sans pilote d'effectuer un vol de retour (S108). Au moyen du procédé et du dispositif, le problème technique existant de mauvaise performance d'évitement d'obstacles d'un aéronef sans pilote pendant un vol de retour est résolu.
PCT/CN2017/092051 2016-08-11 2017-07-06 Procédé et dispositif de commande d'aéronef sans pilote pour effectuer un vol de retour Ceased WO2018028364A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610657843.8A CN107728638A (zh) 2016-08-11 2016-08-11 无人机返航的控制方法和装置
CN201610657843.8 2016-08-11

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WO2018028364A1 true WO2018028364A1 (fr) 2018-02-15

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WO (1) WO2018028364A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109445464A (zh) * 2019-01-08 2019-03-08 深圳市道通智能航空技术有限公司 一种飞行控制方法及飞行控制系统
CN111226184A (zh) * 2019-03-27 2020-06-02 深圳市大疆创新科技有限公司 返航控制方法、飞行控制装置及无人机
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