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WO2020220159A1 - Procédé et dispositif de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, système et support d'enregistrement - Google Patents

Procédé et dispositif de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, système et support d'enregistrement Download PDF

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Publication number
WO2020220159A1
WO2020220159A1 PCT/CN2019/084760 CN2019084760W WO2020220159A1 WO 2020220159 A1 WO2020220159 A1 WO 2020220159A1 CN 2019084760 W CN2019084760 W CN 2019084760W WO 2020220159 A1 WO2020220159 A1 WO 2020220159A1
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WO
WIPO (PCT)
Prior art keywords
motor
rotation state
drone
control signal
target
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/CN2019/084760
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English (en)
Chinese (zh)
Inventor
龚鼎
陈超彬
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
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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.)
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201980004935.8A priority Critical patent/CN111226183B/zh
Priority to PCT/CN2019/084760 priority patent/WO2020220159A1/fr
Publication of WO2020220159A1 publication Critical patent/WO2020220159A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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 control technology, in particular to a control method, equipment, unmanned aerial vehicle, system and storage medium of an unmanned aerial vehicle.
  • the mobile robots are usually controlled by remote control devices.
  • the remote control device and the unmanned vehicle are independent of each other, the remote control device is responsible for inputting instructions, and the unmanned vehicle is responsible for executing instructions.
  • the embodiments of the present invention provide a control method, equipment, unmanned aerial vehicle, system and storage medium of an unmanned aerial vehicle, which improve the effectiveness and flexibility of controlling the unmanned aerial vehicle, save system design costs, and improve user experience .
  • an embodiment of the present invention provides a method for controlling a drone, the drone including one or more motors for providing mobile power for the drone, and the method includes:
  • the drone is controlled to perform a preset action task.
  • an embodiment of the present invention provides a control device applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes one or more motors for providing mobile power for the unmanned aerial vehicle, including: a memory and a processor;
  • the memory is used to store program instructions
  • the processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • the drone is controlled to perform a preset action task.
  • an embodiment of the present invention provides a drone, including:
  • the power system configured on the fuselage is used to provide mobile power for the drone;
  • the power system includes: power components; one or more motors for driving the power components to rotate to provide power for the movement of the drone;
  • the processor is configured to obtain the rotation state information of the target motor in the one or more motors, wherein the rotation of the target motor is caused by the external force applied to it by the user; generating control according to the rotation state information of the target motor Signal; according to the control signal to control the drone to perform a preset action task.
  • an embodiment of the present invention provides a control system, including: a control device and a drone;
  • the control device is configured to obtain information about the rotation state of a target motor in the one or more motors, wherein the rotation of the target motor is caused by an external force applied to it by a user, and is based on the rotation state of the target motor.
  • Information generates a control signal, and sends the control signal to the drone;
  • the unmanned aerial vehicle is used to receive a control signal sent by the control device, and execute a preset action task according to the instruction of the control signal.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.
  • the control device triggers the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system cost; by acquiring the rotation state information of the target motor, according to The rotation state information of the target motor generates a control signal, and controls the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
  • the situation has improved the flexibility and effectiveness of drone control and improved user experience.
  • FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a scenario of an application control method provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an action task for determining a target motor, a preset target rotation state, and a preset target rotation state through a control terminal provided by an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of another drone control method provided by an embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
  • the control method of the drone provided in the embodiments of the present invention may be executed by a drone.
  • the control method may be executed by a control device of the drone.
  • the control device of the drone can be installed on the drone, that is, the drone includes the control device; in some embodiments, the control device can be spatially independent from the drone.
  • Man-machine In some embodiments, a communication connection is established between the control terminal and the drone.
  • the control terminal can detect user input control operations to generate control instructions, and send the control instructions to the drone to control the drone to perform work tasks , Such as mobile tasks, shooting tasks, etc., the drone can send collected data, such as image data or its own state data, to the control terminal.
  • the drone includes one or more motors for providing moving power for the drone; in some embodiments, the drone further includes a power component that is rotationally connected to the motor In some embodiments, the power component includes at least one of a wheel, a propeller, and a crawler.
  • the unmanned aerial vehicle may be a mission robot whose mission relies on the motor to move autonomously, and the unmanned aerial vehicle may include movable equipment such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships.
  • the control method of the drone can trigger the rotation of the target motor of the drone by the user applying an external force to the target motor of one or more motors of the drone to obtain the rotation of the target motor. State information, and generate a control signal according to the rotation state information of the target motor, so as to control the drone to perform a preset action task according to the control signal.
  • the preset action tasks include, but are not limited to, the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio At least one of the control task of the playback device, and the spraying device of the drone to spray pesticides.
  • the user can apply external force to the drone's motor to cause the motor to rotate, so as to obtain the motor's rotation status information, and according to the motor's rotation status
  • the information generates a control signal to control the UAV to perform the preset action task indicated by the control signal, which improves the effectiveness and flexibility of the UAV control.
  • the rotation of the target motor is not caused by a control command for the drone generated inside the drone. In one embodiment, the rotation of the target motor is not caused by the drone. It is caused by the control instruction to the motor, and further, the rotation of the target motor may be caused by an external force applied to it by the user.
  • the control method of the drone detects that the target motor of one or more motors is not caused by the control command to the motor generated inside the drone, it can acquire the rotation state information of the target motor, and according to The rotation state information of the target motor generates a control signal to control the drone to perform a preset action task according to the control signal.
  • the rotation status information includes, but is not limited to, information indicating whether the motor is rotating (for example, information indicating that the motor is in a rotating state or a stopped state), the rotation speed of the motor, the rotation angle of the motor, the acceleration of the motor rotation, and the motor Any one or more of the joint angles.
  • control signal includes a switch control signal and/or a digital control signal; in some embodiments, the switch control signal may indicate whether the motor is rotating according to one or more target motors. Any one or more of the information, the joint angle of the motor, and the rotation angle of the motor are determined; in some embodiments, the digital control signal may be determined according to the joint angle, motor speed, and motor rotation angle of one or more target motors. Any one or more of information from the angle of rotation, the acceleration of the motor rotation, etc. are determined.
  • the rotation state information, control signal, and the corresponding relationship between the three action tasks is to determine whether the rotation state of the target motor matches one of the at least one preset target rotation state in the corresponding relationship, and if it is determined to match, generate The control signal associated with the matching preset target rotation state is used to control the drone to perform the preset action task indicated by the control signal.
  • the preset correspondence between the rotation state information, the control signal, and the motion task of the motor includes at least one correspondence between the preset target rotation state and the motion task, and the motion task Correspondence with control signal.
  • the corresponding relationship between the at least one preset target rotation state and the motion task, and the corresponding relationship between the motion task and the control signal may be pre-solidified in the control program of the drone.
  • the correspondence between the at least one preset target rotation state and the motion task, and the correspondence between the motion task and the control signal may be edited and determined by the user through the control terminal.
  • Table 1 can be used as an example to briefly describe the correspondence between the rotation state information and the control signal of a motor of the unmanned aerial vehicle in the embodiment of the present invention.
  • the rotation state or the stop state of the motor corresponds to a switch control signal
  • the joint angle and the motor speed of the motor correspond to the digital control signal respectively.
  • the rotation status information of the motor can be obtained through a motor status monitor on the drone.
  • the motor status monitor can monitor the running status of the motor in real time, and send the monitored rotation status of the motor
  • the control equipment of the drone is processed, wherein the motor state monitor may include one or more current sensors, voltage sensors, and magnetic sensors.
  • the motor status monitor may include a Hall bed sensor.
  • the preset correspondence between at least one preset target rotation state and the motion task, and the correspondence between the motion task and the control signal it can be determined that it corresponds to the combination of the rotation state information of the multiple target motors.
  • Control signal Specifically, the following Table 2 can be used as an example to briefly illustrate the correspondence between the rotation state information of multiple target motors and the control signal.
  • the combination of the rotation status information of multiple motors may correspond to one or more control signals.
  • Table 2 the combination of the counterclockwise rotation of the No. 1 motor and the clockwise rotation of the No. 2 motor and the switch value control Signal correspondence; the combination of No. 1, 3 motor stationary and No. 2 motor rotating corresponds to the switch value control signal; the combination and switch value control of the angle of the No. 1 motor at 0 ⁇ 90 degrees and the angle of the No. 2 motor at -180 ⁇ -90 degrees Signal correspondence.
  • FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the control system of the unmanned aerial vehicle includes: an unmanned aerial vehicle 12 and a control terminal 13.
  • the drone 12 includes a control device 11.
  • the drone 12 includes a power system 121, and the power system 121 is used to provide power for the drone 12 to move.
  • the drone 12 and the control device 11 are independent of each other.
  • the control device 11 is set in a cloud server and establishes a communication connection with the drone 12 through a wireless communication connection.
  • the control terminal 13 establishes a communication connection with the drone 12, and the control terminal 13 is used to send a remote control signal to the drone 12 to control the flight direction and speed of the drone 12.
  • the control device 11 may obtain the rotation state information of the target motor in one or more motors, where the rotation of the target motor is caused by the external force applied to it by the user, and is based on the rotation state of the target motor.
  • the information generates a control signal, and according to the control signal, the drone 12 is controlled to perform a preset action task, so as to realize the control of the drone without a control terminal, which improves the effectiveness and control of the drone. flexibility.
  • FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention.
  • the method may be executed by a control device, and the specific explanation of the control device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S201 Acquire rotation state information of a target motor in one or more motors, where the rotation of the target motor is caused by an external force applied to it by a user.
  • control device may obtain the rotation state information of the target motor in one or more motors, wherein the rotation of the target motor is caused by the external force applied to it by the user.
  • control device may trigger the rotation of the target motor by the user applying an external force to one or more motors of the drone to obtain the rotation state information of the target motor.
  • control device may obtain the rotation state information of the target motor through a drone motor state monitor, and the specific implementation is as described above.
  • the drone further includes a power component connected to the motor to rotate, and the rotation of the target motor may be caused by an external force applied to it by the user through the power component.
  • the power component includes at least one of a wheel, a propeller, and a crawler.
  • the user can apply an external force to the propeller of the drone to rotate the propeller, thereby triggering the rotation of the target motor corresponding to the rotation state of the propeller.
  • Fig. 3 is a schematic diagram of the application control method provided by the embodiment of the present invention.
  • the unmanned vehicle 301 is taken as an example.
  • a motor (not shown) that provides moving power for the car.
  • the motor rotates and connects to the wheel 302.
  • the user's hand 303 can apply an external force to the wheel 302.
  • the wheel 302 rotates in the direction shown in FIG. Rotate the connected motor to rotate.
  • control device may generate a control signal according to the rotation state information of the target motor.
  • control signal includes a digital control signal and/or a digital control signal, and the digital control information and the digital control signal are explained as described above.
  • the control device when the control device generates a control signal according to the rotation state information of the target motor, it may determine whether the rotation state of the target motor is consistent with at least one preset state according to the rotation state information of the target motor.
  • a preset target rotation state among the target rotation states is matched, and when a match is determined, a control signal associated with the matched preset target rotation state is generated.
  • each preset target rotation state in the at least one preset target rotation state corresponds to an action task.
  • the action task may include, but is not limited to, the movement task of the drone, the action task of each load on the drone, etc.
  • the load of the drone includes, but is not limited to, a camera, a spray device, PTZ, audio playback device, etc.
  • the rotation states of motor 1 and motor 2 correspond to the preset action tasks.
  • the rotation angle of the motor 1 corresponds to the matching action task of the pan/tilt rotation angle
  • the rotation state of the motor 2 corresponds to the matching action task of spraying pesticides. If the rotation angle of the motor 1 is 50 degrees, and the corresponding matching action task is that the pan/tilt of the unmanned aerial vehicle rotates 50 degrees, a control signal can be generated and controlled to rotate the pan/tilt by 50 degrees. If the motor 2 is in a rotating state, and the corresponding matching action task is to start the spraying device of the drone, a control signal to control the pesticide spraying device of the drone can be generated.
  • At least one of the target motor, at least one preset target rotation state, and at least one preset target rotation state corresponding to each preset target rotation state may be controlled by the user Terminal editing is determined, that is, the user can select one motor or multiple motors of the drone as the target motor through the control terminal.
  • the control device When the user selects the target motor, the control device will obtain the rotation status information of the target motor.
  • the user can also control the terminal to determine the preset target rotation state and the action task corresponding to the preset target rotation state, that is, the user can determine through the terminal what kind of action the drone should perform when the target motor is rotating.
  • control device determines that the rotation state of the target motor matches the preset target rotation state according to the rotation state information of the target motor, it will generate a control signal associated with the preset target rotation state, and then according to the The control signal controls the drone to perform an action task corresponding to the preset target rotation state.
  • FIG. 4 is a schematic diagram of an action task of determining a target motor, a preset target rotation state, and a preset target rotation state by controlling a terminal according to an embodiment of the present invention.
  • the control terminal can display a control interface, and can perform an editing operation on the control interface to determine the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state.
  • the control interface can display the action task list 401 and the drone motor list 402, and the user can drag the icon of the No. 1 motor in the drone motor list 402 to the edit box 403 , So the user can select motor No. 1 as the target motor.
  • the user can click the icon of motor No.
  • the control interface can pop up a dialog box for editing the preset target rotation state, and the user can operate the dialog box to determine the preset target state, for example, rotate 360 degree.
  • the target motor is determined to be the No. 1 motor
  • the preset target rotation state is determined to rotate 360 degrees.
  • the user can drag the photo icon from the action task list 401 to the edit box 404, so that the action task corresponding to the preset target rotation state is determined to be a photo.
  • the control device will obtain the rotation state information of the No. 1 motor.
  • the control device determines that the rotation state of the No. 1 motor matches the 360-degree rotation state according to the rotation state information of the No. 1 motor, A control signal associated with the 360-degree rotation state is generated, and the drone is then controlled to perform an action task corresponding to the 360-degree rotation state, that is, a photographing task, according to the control signal.
  • the implementation of at least one of the target motor, the at least one preset target rotation state and the at least one preset target rotation state of the at least one preset target rotation state is determined through this user's independent editing It can meet the needs of different users and enhance the user experience.
  • the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state may be pre-solidified in the control program of the drone Yes, there is no specific limitation here.
  • control signal includes a switch control signal and/or a digital control signal.
  • control signal includes a digital control signal
  • the control device when the control device generates the control signal associated with the matched preset target rotation state, it may follow a conversion rule corresponding to the matched preset target rotation state, Perform conversion calculation on the rotation state information to obtain a digital control signal associated with the matched preset target rotation state.
  • the rotation speed of the target motor corresponds to the matching action task of the drone spraying device spraying pesticides. If the rotation speed of the target motor is 1000 revolutions per minute, the corresponding matching action task
  • the spraying device of the man-machine sprays pesticides at a rate of 2 liters/minute, and then a digital quantity control signal for controlling the spraying device of the drone to spray pesticides at a rate of 2 liters/minute can be generated.
  • control signal includes a switch value control signal, and when the control device generates a control signal associated with the matched preset target rotation state, it can generate a switch value associated with the matched preset target rotation state. control signal.
  • the control device determines that the rotation state of the motor 1 and the motor 2 matches the preset target rotation state according to the rotation state information of the motor 1 and the motor 2, the control device can generate and turn on the drone
  • the on-off control signal of the audio playback device is used to control the drone to turn on the audio playback device.
  • S203 Control the drone to perform a preset action task according to the control signal.
  • control device can control the drone to perform a preset action task according to the control signal.
  • the preset action tasks include, but are not limited to, the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio At least one of the control tasks of the playback device.
  • control device when the control device controls the drone to perform a preset action task according to the control signal, it may control the drone to perform the task according to the control signal associated with the matched preset target rotation state. Action tasks corresponding to the matching preset target rotation state.
  • control signal acquired by the control device is a digital control signal for controlling the spraying device of the drone to spray pesticides at a rate of 2 liters per minute
  • the control device can control to turn on the spraying device of the drone, And control the spraying device of the drone to perform the action task of spraying pesticides at a speed of 2 liters/min.
  • the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
  • the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
  • FIG. 5 is a schematic flowchart of another drone control method according to an embodiment of the present invention.
  • the method may be executed by a control device, and the specific explanation of the control device is as described above.
  • the difference between the embodiment of the present invention and the embodiment described in Fig. 2 is that the embodiment of the present invention is a schematic description of the implementation process of generating a control signal in the motor interaction mode.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Obtain rotation state information of a target motor in one or more motors, where the rotation of the target motor is caused by an external force applied to it by a user.
  • control device may obtain the rotation state information of the target motor in one or more motors, where the rotation of the target motor is caused by the external force applied to it by the user.
  • the specific implementation is as described above, here No longer.
  • the drone when it is detected that the drone meets the preset mode entry condition, it enters the motor interaction mode.
  • the meeting the preset mode entry condition may include: receiving a control instruction sent by the control terminal for instructing the drone to enter the motor interaction mode; or detecting that the drone is in contact with the control The terminal is disconnected.
  • satisfying the preset mode entry condition may further include: detecting that the drone is in a powered-on state; or detecting that the motor rotation state of the drone satisfies a preset state condition, for example, When the motor of the drone rotates 3 times clockwise and 3 times counterclockwise, it can be determined that the drone meets the preset mode entry conditions, and thus enters the motor interaction mode.
  • the entering the motor interaction mode in other embodiments may also include other triggering methods, which are not specifically limited in the embodiment of the present invention.
  • S503 In the motor interaction mode, generate a control signal according to the rotation state information of the target motor.
  • control device may generate a control signal according to the rotation state information of the target motor in the motor interaction mode.
  • control signal includes a digital control signal and/or a digital control signal, and the digital control information and the digital control signal are explained as described above.
  • control device may determine whether the rotation state of the target motor is one of at least one preset target rotation state according to the rotation state information of the target motor in the motor interaction mode
  • the preset target rotation state matching wherein each preset target rotation state in the at least one preset target rotation state corresponds to an action task; when a match is determined, a control associated with the matched preset target rotation state is generated
  • the specific implementation of the signal is as described above.
  • the drone includes two motors, namely motor 1 and motor 2.
  • the rotation speed of motor 1 corresponds to the matching action task for the flight speed of the drone
  • the rotation state of motor 2 The corresponding matching action task is the shooting task of the drone camera.
  • the rotation speed of the motor 1 is 1000 revolutions/minute, and the corresponding action task is that the flying speed of the drone is 400 m/min, then it is possible to generate and control the number for the flying speed of the drone to be 400 m/min Volume control signal; and, if the motor 2 is at a rotation angle of 45 degrees, and the matching action task is that the shooting angle of the camera of the drone is 45 degrees, the camera can be generated to control the camera of the drone with 45 degrees as The digital control signal for shooting at the shooting angle.
  • S504 Control the drone to perform a preset action task according to the control signal.
  • control device can control the drone to perform a preset action task according to the control signal.
  • the explanation and specific implementation of the preset action task are as described above, and will not be repeated here.
  • control device obtains a digital control signal that controls the flying speed of the drone to 400 m/min, and a digital control signal that controls the drone's camera to shoot at a shooting angle of 45 degrees Control signal
  • the control device can control the drone to fly at a speed of 400 m/min, and control the drone's camera to shoot at a shooting angle of 45 degrees during the flight.
  • the unmanned aerial vehicle further includes an electronic adjustment device for driving the motor to rotate, and in the motor interaction mode, the electronic adjustment device is configured to prohibit sending a motor for driving the drone Drive signal for motor rotation.
  • the rotation of the target motor of the drone is not caused by a control command generated inside the drone.
  • the rotation of the target motor is not sent by the ESC connected to the target motor.
  • the control device may configure the ESC to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
  • the unmanned aerial vehicle further includes an electronic adjustment device for driving the motor to rotate.
  • the control device may control the electronic adjustment device to send the electric adjustment device to the motor of the drone for driving the motor to rotate.
  • the drive signal In contrast to the motor interaction mode, in the power output mode, the rotation of the drone's motor is caused by a control command generated inside the drone; in one embodiment, the rotation of the motor is caused by communication with the motor
  • the motor provides power for the movement of the drone, and the control device can control the ESC to send the driving signal for driving the rotation of the motor to the motor of the drone.
  • the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors, so as to obtain the rotation state information of the target motor, which saves the system cost;
  • a control signal is generated according to the rotation state information of the target motor to control the drone to perform the preset action task indicated by the control signal, which improves the flexibility of controlling the drone.
  • FIG. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • the device includes a memory 601, a processor 602, and a data interface 603;
  • the memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories.
  • the processor 602 may be a central processing unit (CPU).
  • the processor 602 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the processor 602 is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • the drone is controlled to perform a preset action task.
  • the processor 602 when the processor 602 generates a control signal according to the rotation state information of the target motor, it is specifically configured to:
  • the processor 602 controls the drone to perform a preset action task according to the control signal, it is specifically configured to:
  • the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
  • At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
  • the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
  • processor 602 is further configured to:
  • the generating a control signal according to the rotation state information of the target motor includes:
  • a control signal is generated according to the rotation state information of the target motor.
  • meeting the preset mode entry condition includes:
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor 602 is further used for:
  • the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor 602 is further used for:
  • the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
  • control signal includes a switch control signal and/or a digital control signal.
  • control signal includes a digital control signal; when the processor 402 generates the control signal associated with the matched preset target rotation state, it is specifically used for:
  • conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
  • the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
  • the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
  • the power component includes at least one of a wheel, a propeller, and a crawler.
  • the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
  • the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
  • the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
  • An embodiment of the present invention also provides an unmanned aerial vehicle, including: a fuselage; a power system configured on the fuselage to provide mobile power for the unmanned aerial vehicle; the power system includes: power components; one or more The motor is used to drive the power component to rotate to provide power for the movement of the drone; the processor is used to obtain the rotation state information of the target motor in the one or more motors, wherein the rotation of the target motor is directed by the user Caused by the applied external force; generating a control signal according to the rotation state information of the target motor; controlling the drone to perform a preset action task according to the control signal.
  • the processor when the processor generates a control signal according to the rotation state information of the target motor, it is specifically configured to:
  • the processor controls the drone to perform a preset action task according to the control signal, it is specifically used for:
  • the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
  • At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
  • the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
  • processor is also used for:
  • the generating a control signal according to the rotation state information of the target motor includes:
  • a control signal is generated according to the rotation state information of the target motor.
  • meeting the preset mode entry condition includes:
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor is further used for:
  • the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor is further used for:
  • the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
  • control signal includes a switch control signal and/or a digital control signal.
  • control signal includes a digital control signal; when the processor generates the control signal associated with the matched preset target rotation state, it is specifically used for:
  • conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
  • the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
  • the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
  • the power component includes at least one of a wheel, a propeller, and a crawler.
  • the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
  • the drone can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system cost;
  • the control device obtains the rotation of the target motor State information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, which avoids the inability to connect when the control terminal is disconnected from the drone
  • the control of drones improves the flexibility and effectiveness of drone control, and improves user experience.
  • the embodiment of the present invention also provides a control system, the control system includes: a control device and a drone;
  • the control device is configured to obtain information about the rotation state of a target motor in the one or more motors, wherein the rotation of the target motor is caused by an external force applied to it by a user, and is based on the rotation state of the target motor.
  • Information generates a control signal, and sends the control signal to the drone;
  • the unmanned aerial vehicle is used to receive a control signal sent by the control device, and execute a preset action task according to the instruction of the control signal.
  • control device when the control device generates a control signal according to the rotation state information of the target motor, it is specifically used to:
  • control device controls the drone to perform a preset action task according to the control signal, it is specifically used for:
  • the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
  • At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
  • the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
  • control device is also used for:
  • the generating a control signal according to the rotation state information of the target motor includes:
  • a control signal is generated according to the rotation state information of the target motor.
  • meeting the preset mode entry condition includes:
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the control device is also used for:
  • the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
  • the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the control device is also used for:
  • the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
  • control signal includes a switch control signal and/or a digital control signal.
  • control signal includes a digital control signal; when the control device generates the control signal associated with the matched preset target rotation state, it is specifically used for:
  • conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
  • the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
  • the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
  • the power component includes at least one of a wheel, a propeller, and a crawler.
  • the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
  • the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
  • the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and can also be implemented The device in the corresponding embodiment of the present invention will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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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)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Toys (AREA)

Abstract

Les modes de réalisation de l'invention concernent un procédé et un dispositif de commande d'engin volant sans pilote embarqué, un engin volant sans pilote embarqué, un système et un support d'enregistrement. Ledit procédé consiste à : obtenir des informations d'état de rotation d'un moteur électrique cible parmi un ou plusieurs moteurs électriques, la rotation du moteur électrique cible étant provoquée par une force externe appliquée à celui-ci par un utilisateur ; générer un signal de commande en fonction des informations d'état de rotation du moteur cible ; et commander l'engin volant sans pilote embarqué pour exécuter une tâche d'action prédéfinie en fonction du signal de commande. Ledit procédé améliore la flexibilité et l'efficacité de la commande d'un engin volant sans pilote embarqué, et améliore l'expérience de l'utilisateur.
PCT/CN2019/084760 2019-04-28 2019-04-28 Procédé et dispositif de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, système et support d'enregistrement Ceased WO2020220159A1 (fr)

Priority Applications (2)

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CN201980004935.8A CN111226183B (zh) 2019-04-28 2019-04-28 一种无人机的控制方法、设备、无人机、系统及存储介质
PCT/CN2019/084760 WO2020220159A1 (fr) 2019-04-28 2019-04-28 Procédé et dispositif de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, système et support d'enregistrement

Applications Claiming Priority (1)

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PCT/CN2019/084760 WO2020220159A1 (fr) 2019-04-28 2019-04-28 Procédé et dispositif de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué, système et support d'enregistrement

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WO2018039337A1 (fr) * 2016-08-23 2018-03-01 Canvas Technology, Inc. Chariot autonome pour des applications de fabrication et d'entrepôt
CN106527479A (zh) * 2016-11-29 2017-03-22 广州极飞科技有限公司 一种无人机的控制方法及装置
CN107223220A (zh) * 2016-12-30 2017-09-29 深圳市大疆灵眸科技有限公司 云台控制方法、装置及云台
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