WO2021088699A1 - Control method for unmanned aerial vehicle, unmanned aerial vehicle, and remote control device - Google Patents

Abstract

A control method for an unmanned aerial vehicle (10), an unmanned aerial vehicle (10), and a remote control device (30). The control method for the unmanned aerial vehicle (10) applied to the remote control device (30) comprises: first, obtaining electric quantity information and state information of the unmanned aerial vehicle (10) (S21); then, automatically generating a corresponding control instruction according to the obtained electric quantity information and state information (S22); and sending the control instruction to the unmanned aerial vehicle (10), so that the unmanned aerial vehicle (10) executes a corresponding control operation according to the control instruction (S23). Automatic power-on and power-off of the unmanned aerial vehicle (10) is achieved without any manual operation, thereby enabling an intelligent operation process and improving user experience.

Description

Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201911072906.3, and the application name is "Unmanned Aerial Vehicle Control Method, Unmanned Aerial Vehicle and Remote Control Device" on November 05, 2019. The entire content of the application is approved The reference is incorporated in this application.

【Technical Field】

The present invention relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a remote control device.

【Background technique】

With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are gradually becoming more and more popular. There are many ways to control unmanned aerial vehicles, such as remote control, mobile phone, computer and other mobile terminals.

In the process of implementing the present invention, the inventor found that the related technology has at least the following problems: Currently, before the user uses the mobile terminal to control the UAV, the user needs to manually trigger it, and press and hold the power button for 3-5 seconds to shut down successfully. The process is unintelligent, more complicated, and the user experience is poor.

[Summary of the invention]

In order to solve the above technical problems, the embodiments of the present invention provide an unmanned aerial vehicle control method, an unmanned aerial vehicle, and a remote control device that simplify the shutdown process of the unmanned aerial vehicle and improve the user experience.

In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions: a control method of an unmanned aerial vehicle, applied to a remote control device, the method includes:

Acquiring power information and status information of the unmanned aerial vehicle;

Generate corresponding control instructions according to the power information and status information;

Sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs corresponding control operations according to the control instruction.

Optionally, the control command includes a power-on command and a power-off command;

The generating a corresponding control instruction according to the power information and state information includes: generating a shutdown instruction when the power information is lower than a preset power range and when the state information meets a preset shutdown state;

When the power information is not lower than the preset power range, and when the state information satisfies the preset power-on state, a power-on instruction is generated.

Optionally, the status information includes task execution status and firmware upgrade status;

When the state information satisfies a preset shutdown state, it includes:

When the task execution state is the task execution completed state and the firmware upgrade state is the upgrade completed state, it is determined that the state information satisfies the preset shutdown state.

Optionally, the unmanned aerial vehicle is connected to the remote control device in wireless communication;

The status information also includes idle time, where the idle time is the duration of the unmanned aerial vehicle not receiving the communication signal of the remote control device;

The method also includes:

When the idle time reaches the preset time length, a prompt message is generated;

Obtaining confirmation information generated according to the prompt information;

If the determined information is confirmed information, generate the shutdown instruction;

If the confirmation information is information to be confirmed, the shutdown instruction is generated after a preset period of time.

Optionally, the method further includes:

Acquiring environmental image information within a preset distance range of the unmanned aerial vehicle;

Generate safety evaluation information according to the environmental image information;

When the safety evaluation information is risk confirmation information, the risk confirmation information is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle refuses to perform a corresponding control operation according to the risk confirmation information.

Optionally, the method further includes: the generating safety evaluation information according to the environmental image information includes:

Analyzing whether there is a biological image in the environmental image information;

If yes, generate dangerous confirmation information;

If not, a security confirmation message is generated.

In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions: an unmanned aerial vehicle control method, applied to the unmanned aerial vehicle, the method includes: monitoring its own power information and status information;

Sending the power information and status information to a remote control device, so that the remote control device generates corresponding control instructions;

According to the received control instruction, the corresponding control operation is executed.

Optionally, the control command includes a power-on command and a power-off command;

When the boot instruction is received, the boot operation is automatically executed;

When the shutdown instruction is received, the shutdown operation is automatically executed.

Optionally, the unmanned aerial vehicle is equipped with a camera; the method further includes:

Capture environmental image information within a preset distance

Sending the environmental image information to the remote control device, so that the remote control device generates safety evaluation information;

If the received safety evaluation information is a danger confirmation message, shield the boot instruction or refuse to perform the boot operation.

To solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:

body;

An arm, connected to the fuselage;

The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;

Flight control module; and

A memory communicatively connected with the flight control module; wherein the memory stores instructions that can be executed by the flight control module, and the instructions are executed by the flight control module so that the flight control module The group can be used to perform the control method of the unmanned aerial vehicle as described above.

To solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: a remote control device, the remote control device includes:

case;

At least one processor; and

A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor The device can be used to perform the control method of the unmanned aerial vehicle as described above.

Compared with the prior art, the control method for providing an unmanned aerial vehicle in the embodiment of the present invention can first obtain the power information and status information of the unmanned aerial vehicle, and then automatically generate corresponding control instructions according to the acquired power information and information, And send the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs corresponding control operations according to the control instruction, and realizes the automatic switch of the unmanned aerial vehicle without manual operation, making the operation process intelligent, Improve the user experience.

【Explanation of the drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;

2 is a schematic flowchart of a control method of an unmanned aerial vehicle provided by one of the embodiments of the present invention, and the method is applied to a remote control device;

FIG. 3 is a schematic flowchart of one embodiment of S22 in FIG. 2;

FIG. 4 is a schematic flowchart of another embodiment of S22 in FIG. 2;

FIG. 5 is a schematic flowchart of a control method of an unmanned aerial vehicle according to another embodiment of the present invention;

FIG. 6 is a schematic flowchart of a control method of an unmanned aerial vehicle provided by one of the embodiments of the present invention, and the method is applied to an unmanned aerial vehicle;

FIG. 7 is a schematic flowchart of a control method of an unmanned aerial vehicle according to another embodiment of the present invention, and the method is applied to an unmanned aerial vehicle;

FIG. 8 is a structural block diagram of a control device for an unmanned aerial vehicle provided by one of the embodiments of the present invention, and the device is applied to a remote control device;

FIG. 9 is a structural block diagram of a control device for an unmanned aerial vehicle according to another embodiment of the present invention, and the device is applied to an unmanned aerial vehicle;

FIG. 10 is a structural block diagram of an unmanned aerial vehicle provided by one of the embodiments of the present invention;

FIG. 11 is a structural block diagram of a remote control device provided by another embodiment of the present invention.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as being "fixed to" another element, it may be directly on the other element, or there may be one or more elements in between. When an element is said to be "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements in between. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present invention. The invention and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

The embodiment of the present invention provides a control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a remote control device, wherein the control method of the unmanned aerial vehicle applied to the remote control device first obtains the power information and status information of the unmanned aerial vehicle, and then according to The acquired power information and information will automatically generate corresponding control instructions, and send the control instructions to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform corresponding control operations according to the control instruction, thereby realizing the unmanned aerial vehicle The automatic switch machine does not require manual operation, which makes the operation process intelligent and improves the user experience.

The following examples illustrate the application environment of the control method of the unmanned aerial vehicle.

FIG. 1 is a schematic diagram of an application environment of an aircraft-free control method provided by an embodiment of the present invention; as shown in FIG. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30 and a user 40. The user 40 can use the remote control device 30 to control the UAV 10 through the infrared wireless network.

The unmanned aerial vehicle 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an umbrella-wing unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle, and a helicopter model.

The unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use. One or more functional modules may be added to the unmanned aerial vehicle 10 to enable the unmanned aerial vehicle 10 to realize corresponding functions.

For example, in this embodiment, the UAV 10 is provided with an infrared emitting device and a battery module.

After the battery module is connected to the UAV 10, the battery module can provide power for the UAV 10.

The infrared emission device is used to send infrared access information and receive infrared control instructions issued by the remote control device. For example, when the remote control device issues an infrared control instruction, the infrared emission device receives the infrared control instruction, and then makes The unmanned aerial vehicle 10 controls the activation state of the unmanned aerial vehicle 10 according to the infrared control command. After the battery module is connected to the UAV 10, the infrared emitting device can send the infrared access information obtained from the access information of the battery module to the remote control device 30.

The unmanned aerial vehicle 10 includes at least one flight control module, which serves as the control core for the flight and data transmission of the unmanned aerial vehicle 10, and has the ability to monitor, calculate, and manipulate the flight and mission of the unmanned aerial vehicle. In this embodiment, The flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal. The remote control device 30 may be any type of smart device used to establish a communication connection with the UAV 10, such as a mobile phone, a tablet computer, a notebook computer, or other mobile control terminals.

The remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle. For example, the remote control device 30 may be used to receive infrared access information generated by the UAV 10 when the battery module is normally connected to the UAV. The remote control device 30 can also send an infrared control command generated according to the control command of the user 40 to the UAV 10 to control the activation state of the UAV 10. The remote control device 30 can also be equipped with an image transmission module for controlling positioning images, pan-tilt shooting images, and aiming images return. In this embodiment, the image transmission module can also modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.

The remote control device 30 may also be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.

These interactive devices include but are not limited to: buttons, display screens, touch screens, speakers, and remote control joysticks. For example, the remote control device 30 may be equipped with a touch screen, through which the user 40 receives remote control instructions for the UAV 10.

In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can also be integrated with the existing image visual processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may use a dual-lens camera to collect images, and the remote control device 30 may analyze the images, so as to realize the gesture control of the unmanned aerial vehicle 10 by the user 40.

Fig. 2 is an embodiment of an unmanned aerial vehicle control method provided by an embodiment of the present invention. This method can be performed by the unmanned aerial vehicle in FIG. 1.

Specifically, referring to Figure 2, the method may include but is not limited to the following steps:

S21: Acquire power information and status information of the unmanned aerial vehicle.

Specifically, the UAV is provided with a battery module, and the battery module is the power source of the UAV 10. When the battery module is normally connected to the UAV 10, the battery module The UAV 10 can be powered normally. In this embodiment, the battery remaining capacity of the battery module is obtained in real time as the power information.

Wherein, the status information includes task execution status, firmware upgrade status, and so on. The task execution status refers to whether the unmanned aerial vehicle is currently executing route, waypoint, and surveying and mapping tasks. The firmware upgrade state refers to whether it is currently in the firmware module upgrade state.

S22: Generate a corresponding control instruction according to the power information and status information.

Wherein, the control command includes a power-on command and a power-off command. First, the power information and status information of the UAV are acquired, and then when the power information and status information meet preset conditions, a corresponding power-on command or power-off command is generated. instruction.

For example, when the power information is lower than the preset power reserve and the status information is the task execution completed state, it is determined that the unmanned aerial vehicle meets the preset shutdown conditions, and the shutdown instruction is generated accordingly.

For another example, when the power information is higher than the preset power reserve and the status information is the loaded task status, it is determined that the UAV meets the preset power-on conditions, and the power-on instruction is generated accordingly.

S23. Send the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs a corresponding control operation according to the control instruction.

Specifically, a power-on command or a power-off command generated according to the power information and status information is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle performs a corresponding power-on operation or power-off operation according to the power-on command or power-off command.

The embodiment of the present invention provides a control method of an unmanned aerial vehicle. The method first obtains the power information and status information of the unmanned aerial vehicle, and then automatically generates corresponding control instructions according to the acquired power information and information, and combines Send the control instruction to the UAV, so that the UAV performs corresponding control operations according to the control instruction, and realizes the automatic switch of the UAV without manual operation, making the operation process intelligent and improving user experience.

In order to better generate corresponding control instructions based on the power information and status information, in some embodiments, please refer to FIG. 3. S22 includes the following steps:

S221: When the power information is lower than the preset power range, and when the state information meets the preset power-off state, generate a shutdown instruction.

Specifically, in this embodiment, the battery module of the UAV includes: a voltage conversion module, a voltage detection module, a current detection module, a temperature detection module, an IO input and output module, a CPU control module, a communication module, and a power display module And interface circuit. Among them, the voltage conversion module realizes the conversion of the battery input voltage into the 5V and 3.3V voltages required by the board; the voltage detection module uses a balanced plug to connect to the battery to realize the measurement of the single voltage value and the total voltage value; the battery power output line The current detection module can be connected to convert the collected current value into a voltage value and send it to the CPU interface for AD collection; the temperature detection module can realize temperature collection by connecting 1 to 8 platinum resistance sensors; the communication module is used for The connection between the board and peripherals can support CAN, RS232, and RS485 interfaces. The CPU control module is connected with the voltage detection module, the current detection module and the temperature detection module through the interface circuit to realize the collection of voltage, current, and temperature; the CPU control module realizes input and output control through the interface with the IO input and output module; CPU control The module has a built-in logic algorithm. Through real-time integration of the output current, you can get the power that the battery has used and the difference between the total power and calculate the remaining power. The remaining power is the power information.

Specifically, the device also includes a CAN interface module 30, which can realize the connection and management of multiple drone battery pack management devices through the CAN interface module. At this time, through the management software configuration, any one of the drone battery pack management devices can be used. The serial port can realize real-time output of data from all UAV battery pack management devices.

In one embodiment, the voltage conversion module adopts TI's DCDC power supply chip to realize high-efficiency 5V voltage conversion; through the LDO voltage regulator chip, 3.3V voltage conversion is realized, and the post filter circuit ensures the stable and reliable power output. In one embodiment, a dedicated battery management chip of TI is used, and through CPU program control, the balanced charging and discharging operation of a battery pack composed of 3-6 single cells and the measurement of the single cell voltage and the total voltage are realized. In one embodiment, the current detection module adopts a Hall sensor to convert the current signal into a voltage signal, which is connected to the AD pin of the CPU, and the acquisition of ±150 ampere current is realized through the CPU program. In one embodiment, the temperature detection module adopts a bridge balance method and an operational amplifier circuit, and realizes temperature collection through an external platinum resistance wire sensor; and realizes a maximum of 8 channels of temperature collection through a multi-channel analog switch. In one embodiment, the CPU control module adopts the ARM chip of ST Company, and realizes the collection of analog data through the AD conversion function; through the IO interface, it supports 4 TTL inputs and 4 channels. In one embodiment, the CPU control module can implement parameter setting, query, and real-time data reception through built-in software programs and supporting management software.

Specifically, the UAV is provided with a storage device, and the storage device is preset with a preset power range. Wherein, the storage device may be flash memory, hard disk memory, micro multimedia card memory, card memory (for example, SD or XD memory), random access memory (RAM), static random access memory (SRAM), Readable memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks and optical disks.

Wherein, the status information includes a task execution status and a firmware upgrade status; when the task execution status is a task execution completed status, and the firmware upgrade status is an upgrade completed status, it is determined that the status information satisfies the preset shutdown status.

Specifically, the obtained power information is compared with the preset power range extracted from the storage device, and if the power information is lower than the preset power range, and when the state information meets the preset shutdown state When, a shutdown command is generated.

For example, if the preset power range is 5%-10%, the power information is 3%, and the current mission execution status of the UAV is the mission execution status, and the firmware upgrade status is the upgrade completion status, then If 3% of the power information is lower than the preset power range of 5%-10%, and the current state information satisfies the preset shutdown state, a shutdown instruction is generated.

S223: When the power information is not lower than the preset power range, and when the state information satisfies the preset power-on state, generate a power-on instruction.

For example, if the preset power range is 5%-10%, the power information is 11%, and the current mission execution status of the UAV is the mission loaded status, and the firmware upgrade status is the upgrade completed status, then If 11% of the power information is higher than the preset power range of 5%-10%, and the current state information satisfies the preset power-on state, a power-on instruction is generated.

In order to better generate corresponding control instructions based on the power information and status information, in some embodiments, please refer to FIG. 4, S22 includes the following steps:

S222: When the idle time reaches a preset time length, generate a prompt message;

Specifically, the unmanned aerial vehicle is connected to the remote control device in wireless communication. The wireless communication may be a wireless communication network used to establish a data transmission channel between two nodes based on any type of data transmission principle, such as a Bluetooth network, a WiFi network, a wireless cellular network located in different signal frequency bands, or a combination thereof.

The status information further includes an idle time period, wherein the idle time period is the duration of the unmanned aerial vehicle not receiving the communication signal of the remote control device.

For example, if the idle time is 3 minutes, it means that the UAV has not received the communication signal of the remote control device within 3 minutes, that is, the user has not operated the remote control device. If the preset time length is 2 minutes, when the idle time exceeds the preset time length of 2 minutes, a prompt message is generated to prompt the user whether to turn off the UAV.

S224: Obtain confirmation information generated according to the prompt information;

Specifically, when the idle time reaches a preset length of time, a prompt message is generated to prompt the user whether to turn off the UAV, and the prompt message may be "The standby time is too long, do you want to turn off the unmanned aerial vehicle? Machine" and so on.

If the user clicks to confirm, the generated confirmation information is confirmed information;

If the user does not confirm and operate, the generated confirmation information is the information to be confirmed.

S226: If the determined information is confirmed information, generate the shutdown instruction.

S228: If the confirmation information is information to be confirmed, the shutdown instruction is generated after a preset time interval.

In order to better control the activation of the UAV according to the infrared control command, in some embodiments, referring to Fig. 5, the method further includes the following steps:

S24: Acquire environmental image information within a preset distance range of the unmanned aerial vehicle;

Specifically, the unmanned aerial vehicle is provided with a pan/tilt camera device, which can perform surround shooting, wherein the surround shooting includes horizontal surround shooting and vertical surround shooting, that is, the pan/tilt camera device can shoot everything. Describes the environmental image information from various angles around the unmanned aerial vehicle.

Wherein, the pan-tilt camera device includes an electronic compass, a global positioning system GPS chip and a processor; the electronic compass is used to obtain the lens orientation of the pan-tilt camera device; the GPS chip is used to acquire the pan-tilt camera The location information of the device, the location information of the pan/tilt camera device includes the latitude and longitude of the pan/tilt camera device; the processor is configured to receive a shooting instruction, the shooting instruction includes location information of a target, and the location information of the target includes The longitude and latitude of the target; and used to adjust the lens orientation of the pan/tilt camera device acquired by the electronic compass according to the position information of the target, the position information of the pan/tilt camera device acquired by the GPS chip The shooting angle of the pan/tilt camera device is used to shoot environmental image information of various angles around the UAV.

S25: Generate safety evaluation information according to the environmental image information;

Specifically, according to the environmental image information, it is determined whether there is a biological image within the preset distance range of the unmanned aerial vehicle, and if so, the safety evaluation information is generated as danger confirmation information. If not, the generated safety evaluation information is safety confirmation information.

S26: When the safety evaluation information is danger confirmation information, send the danger confirmation information to the unmanned aerial vehicle, so that the unmanned aerial vehicle refuses to perform a corresponding control operation according to the danger confirmation information.

Specifically, when the safety evaluation information is danger confirmation information, it is determined that there are other creatures around the unmanned aerial vehicle. In order to prevent other creatures around the unmanned aerial vehicle from being harmed when the unmanned aerial vehicle is suddenly turned on, sending The danger confirmation information is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle refuses to perform a corresponding startup operation according to the danger confirmation information.

FIG. 7 is a schematic flowchart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present application, and the method may be executed by the unmanned aerial vehicle in FIG. 1.

Specifically, referring to FIG. 7, the method may include but is not limited to the following steps:

S31: Monitor its own power information and status information.

S32: Send the power information and status information to the remote control device, so that the remote control device generates a corresponding control instruction.

S33: Perform a corresponding control operation according to the received control instruction.

Wherein, the control instruction includes a startup instruction and a shutdown instruction; when the startup instruction is received, the startup operation is automatically executed; when the shutdown instruction is received, the shutdown operation is automatically executed.

Specifically, referring to FIG. 7, the method may include but is not limited to the following steps:

S34: Shoot environmental image information within a preset distance range.

Specifically, the UAV is equipped with a camera device, the camera device may be a pan-tilt camera device, and the pan-tilt camera device can perform surround shooting, wherein the surround shooting includes horizontal surround shooting and vertical surround shooting, namely The pan/tilt camera device can capture environmental image information of various angles around the unmanned aerial vehicle.

S35: Send the environmental image information to the remote control device, so that the remote control device generates safety evaluation information.

S36: If the received safety evaluation information is a danger confirmation message, shield the boot instruction or refuse to perform the boot operation.

It should be noted that, in the above embodiments, there is not necessarily a certain sequence between the above steps. A person of ordinary skill in the art can understand from the description of the embodiments of the present application that in different embodiments, the above steps There can be different execution orders, that is, they can be executed in parallel, they can be executed interchangeably, and so on.

As another aspect of the embodiments of the present application, the embodiments of the present application provide a control device 70 of an unmanned aerial vehicle, which is applied to a remote control device. Referring to FIG. 8, the control device 70 of the unmanned aerial vehicle includes: an information acquisition module 71, a control instruction generation module 72, and a first sending module 73.

The acquisition module 71 is used to acquire the power information and status information of the UAV.

The control instruction generating module 72 is configured to generate corresponding control instructions according to the power information and status information.

The first sending module 73 is configured to send the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs a corresponding control operation according to the control instruction.

Therefore, in this embodiment, by first acquiring the power information and status information of the unmanned aerial vehicle, and then automatically generating corresponding control instructions based on the acquired power information and information, and sending the control instructions to the unmanned aerial vehicle. The aircraft, so that the unmanned aircraft performs corresponding control operations according to the control instructions, realizes the automatic switch of the unmanned aircraft without manual operation, makes the operation process intelligent, and improves the user experience.

In some embodiments, the control device of the UAV further includes an environmental image information acquisition module 74, a safety evaluation information generation module 75, and a second sending module 76,

The environmental image information acquisition module 74 is configured to generate safety evaluation information according to the environmental image information.

The safety evaluation information generating module 75 is configured to send the hazard confirmation information to the unmanned aerial vehicle when the safety evaluation information is the danger confirmation information, so that the unmanned aerial vehicle refuses to perform corresponding actions according to the danger confirmation information. Control operation.

As another aspect of the embodiments of the present application, the embodiments of the present application provide a control device 80 of an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle. Please refer to FIG. 9, the control device 80 of the UAV includes a monitoring module 81, a third sending module 82 and a control operation module 83.

The monitoring module 81 is used to monitor its own power information and status information.

The third sending module 82 is configured to send the power information and status information to a remote control device, so that the remote control device generates corresponding control instructions.

The control operation module 83 is configured to execute corresponding control operations according to the received control instruction.

In some embodiments, the control device 80 of the UAV further includes a photographing module 84, a fourth sending module 85, and an operating module 86.

The photographing module 84 is used for photographing environmental image information within a preset distance range.

The fourth sending module 85 is configured to send the environmental image information to the remote control device, so that the remote control device generates safety evaluation information.

The operation module 86 is used for shielding the booting instruction or refusing to perform the booting operation if the received safety evaluation information is dangerous confirmation information.

FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an embodiment of the present application. The unmanned aerial vehicle 10 can be any type of unmanned vehicle and can execute the control method of the unmanned aerial vehicle provided by the above-mentioned corresponding method embodiment. , Or, run the control device 70 of the unmanned aerial vehicle provided by the above-mentioned corresponding device embodiment. The unmanned aerial vehicle includes: a fuselage, an arm, a power unit, an infrared transmitting device, a flight control module 110, a memory 120, and a communication module 130.

The arm is connected to the fuselage; the power device is provided on the arm for providing flight power to the unmanned aerial vehicle; the infrared emitting device is provided in the fuselage for Send infrared access information and receive infrared control instructions from the remote control device;

The flight control module has the ability to monitor, calculate and manipulate the flight and mission of the UAV, and includes a set of equipment for controlling the launch and recovery of the UAV. The flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.

The flight control module 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.

The flight control module 110 can be of any type and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.

As a non-transitory computer-readable storage medium, the memory 120 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program corresponding to the control method of the unmanned aerial vehicle in the embodiment of the present invention Instructions/modules (for example, the first infrared information sending module 71, the control instruction generating module 72, the first sending module 73, the environmental image information acquiring module 74, the safety evaluation information generating module 75 and the second sending module shown in FIG. 8 76). The flight control module 110 executes various functional applications and data processing of the control device 70 of the unmanned aerial vehicle by running the non-transient software programs, instructions and modules stored in the memory 120, that is, the implementation of any of the above method embodiments Control method of unmanned aerial vehicle.

The memory 120 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the control device 70 of the unmanned aerial vehicle. Wait. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the storage 120 may optionally include storage remotely provided with respect to the flight control module 110, and these remote storages may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 120 stores instructions that can be executed by the at least one flight control module 110; the at least one flight control module 110 is used to execute the instructions to implement the control of the unmanned aerial vehicle in any of the foregoing method embodiments The method, for example, executes the above-described method steps 21, 22, 23, etc., to realize the functions of the modules 71-76 in FIG. 8.

The communication module 130 is a functional module used to establish a communication connection and provide a physical channel. The communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.

FIG. 11 is a schematic structural diagram of a remote control device 30 provided by an embodiment of the present application, which can execute the control method of the unmanned aerial vehicle provided by the above-mentioned corresponding method embodiment, or run the unmanned aerial vehicle provided by the above-mentioned corresponding device embodiment Control device. The remote control device includes a housing, an infrared receiving device, a processor 310, a memory 320, and a communication module 330.

The infrared receiving device is arranged in the housing and is used for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle.

The image transmission module is used to control the positioning picture, the PTZ shooting picture and the aiming picture return. In this embodiment, the image transmission module can also modulate a binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.

The processor 310, the memory 320, and the communication module 330 establish a communication connection between any two through a bus.

The processor 310 may be of any type, and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.

As a non-transitory computer-readable storage medium, the memory 320 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the program corresponding to the control method of the unmanned aerial vehicle in the embodiment of the present invention Instructions/modules (for example, the monitoring module 81, the third sending module 82, the control operation module 83, the photographing module 84, the fourth sending module 85, and the operation module 86 shown in FIG. 9). The processor 310 executes various functional applications and data processing of the control device 80 of the unmanned aerial vehicle by running the non-transitory software programs, instructions and modules stored in the memory 320, that is, to realize the unmanned aerial vehicle in any of the above-mentioned method embodiments. The control method of the aircraft.

The memory 320 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the control device 80 of the unmanned aerial vehicle. Wait. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 320 may optionally include a memory remotely provided with respect to the processor 310, and these remote memories may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 320 stores instructions that can be executed by the at least one processor 310; the at least one processor 310 is used to execute the instructions to implement the control method of the unmanned aerial vehicle in any of the foregoing method embodiments, for example, The method steps 31, 32, 33 and so on described above are executed to realize the functions of the modules 81-86 in FIG. 9.

The communication module 330 is a functional module used to establish a communication connection and provide a physical channel. The communication module 330 may be any type of wireless or wired communication module 330, including but not limited to a WiFi module or a Bluetooth module.

Further, the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are controlled by one or more flight controllers. The execution of the module 110, for example, executed by one of the flight control modules 110 in FIG. 10, can cause the above-mentioned one or more flight control modules 110 to execute the control method of the unmanned aerial vehicle in any of the above-mentioned method embodiments, for example, execute the above The described method steps 21, 22, 23, etc. realize the functions of the modules 71-75 in FIG. 9.

Further, the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors. 310 is executed, for example, executed by one of the processors 310 in FIG. 11, so that the one or more processors 310 can execute the control method of the unmanned aerial vehicle in any of the foregoing method embodiments, for example, execute the method steps 31 and 31 described above. 32, 33, and so on, realize the functions of modules 81-83 in Figure 10.

The device embodiments described above are merely illustrative. 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, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product. The computer program can be stored in a non-transitory computer. In the read storage medium, the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-mentioned products can execute the control method of the unmanned aerial vehicle provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the control method of the unmanned aerial vehicle. For technical details that are not described in detail in this embodiment, please refer to the control method of the unmanned aerial vehicle provided in the embodiment of the present invention.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementations of the present invention. Examples of the scope of technical solutions.

Claims (11)

A control method of an unmanned aerial vehicle, applied to a remote control device, characterized in that it includes: Acquiring power information and status information of the unmanned aerial vehicle; Generate corresponding control instructions according to the power information and status information; Sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs corresponding control operations according to the control instruction. The method according to claim 1, wherein the control command includes a power-on command and a power-off command; The generating a corresponding control instruction according to the power information and state information includes: generating a shutdown instruction when the power information is lower than a preset power range and when the state information meets a preset shutdown state; When the power information is not lower than the preset power range, and when the state information satisfies the preset power-on state, a power-on instruction is generated. The method according to claim 2, wherein the status information includes task execution status and firmware upgrade status; When the state information satisfies a preset shutdown state, it includes: When the task execution state is the task execution completed state and the firmware upgrade state is the upgrade completed state, it is determined that the state information satisfies the preset shutdown state. The method according to claim 3, wherein the unmanned aerial vehicle is wirelessly connected to the remote control device, and the status information further includes idle time, wherein the idle time is the unmanned aerial vehicle The duration of receiving the communication signal of the remote control device; The method also includes: When the idle time reaches the preset time length, a prompt message is generated; Obtaining confirmation information generated according to the prompt information; If the determined information is confirmed information, generate the shutdown instruction; If the confirmation information is information to be confirmed, the shutdown instruction is generated after a preset period of time. The method according to any one of claims 1-4, wherein the method further comprises: Acquiring environmental image information within a preset distance range of the unmanned aerial vehicle; Generate safety evaluation information according to the environmental image information; When the safety evaluation information is risk confirmation information, the risk confirmation information is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle refuses to perform a corresponding control operation according to the risk confirmation information. The method according to claim 5, wherein said generating safety evaluation information according to said environmental image information comprises: Analyzing whether there is a biological image in the environmental image information; If yes, generate dangerous confirmation information; If not, a security confirmation message is generated. An unmanned aerial vehicle control method, applied to an unmanned aerial vehicle, characterized in that: Monitor your own power information and status information; Sending the power information and status information to a remote control device, so that the remote control device generates corresponding control instructions; According to the received control instruction, the corresponding control operation is executed. The method according to claim 7, wherein the control command includes a power-on command and a power-off command; The executing the corresponding control operation according to the received control instruction includes: When the boot instruction is received, the boot operation is automatically executed; When the shutdown instruction is received, the shutdown operation is automatically executed. The method according to claim 8, wherein the UAV is equipped with a camera; the method further comprises: Capture environmental image information within a preset distance Sending the environmental image information to the remote control device, so that the remote control device generates safety evaluation information; If the received safety evaluation information is a danger confirmation message, shield the boot instruction or refuse to perform the boot operation. An unmanned aerial vehicle, characterized in that it comprises: body; An arm, connected to the fuselage; The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly; Flight control module; and A memory communicatively connected with the flight control module; wherein the memory stores instructions that can be executed by the flight control module, and the instructions are executed by the flight control module so that the flight control module The group can be used to implement the unmanned aerial vehicle control method according to any one of claims 1-6. A remote control device, characterized in that it comprises: case; At least one processor; and A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor The device can be used to implement the control method of an unmanned aerial vehicle according to any one of claims 7-9.

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