CN110673644A - Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device - Google Patents
Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention relates to a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a remote control device, wherein the control method of the unmanned aerial vehicle applied to the remote control device comprises the following steps: the method comprises the steps of firstly obtaining electric quantity information and state information of the unmanned aerial vehicle, then automatically generating a corresponding control instruction according to the obtained electric quantity information and state information, and sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding control operation according to the control instruction, automatic startup and shutdown of the unmanned aerial vehicle are realized, manual operation is not needed, the operation process is intelligent, and user experience is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a remote control device.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are also becoming increasingly popular. The unmanned aerial vehicle can be controlled in many ways, for example, through a remote controller, a mobile phone, a computer and other mobile terminals.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems: at present, before a user uses a mobile terminal to operate an unmanned aerial vehicle, the user needs to manually trigger the unmanned aerial vehicle, the unmanned aerial vehicle can be successfully powered off by pressing a power-on button for 3-5 seconds, the power-off process is not intelligent, the power-off process is complex, and the user experience is poor.
[ summary of the invention ]
In order to solve the technical problem, embodiments of the present invention provide a control method for an unmanned aerial vehicle, and a remote control device, which simplify a shutdown process of the unmanned aerial vehicle and improve user experience.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a control method of an unmanned aerial vehicle is applied to a remote control device, and the method comprises the following steps:
acquiring electric quantity information and state information of the unmanned aerial vehicle;
generating a corresponding control instruction according to the electric quantity information and the state information;
and sending the control command to the unmanned aerial vehicle so that the unmanned aerial vehicle executes corresponding control operation according to the control command.
Optionally, the control instruction includes a power-on instruction and a power-off instruction;
generating a corresponding control instruction according to the electric quantity information and the state information, wherein the generating of the corresponding control instruction comprises the following steps: when the electric quantity information is lower than a preset electric quantity range and the state information meets a preset shutdown state, generating a shutdown instruction;
and when the electric quantity information is not lower than the preset electric quantity range and the state information meets the preset starting state, generating a starting instruction.
Optionally, the state information includes a task execution state and a firmware upgrade state;
when the state information meets a preset shutdown state, the method comprises the following steps:
and when the task execution state is a task execution completion state and the firmware upgrading state is an upgrading completion state, determining that the state information meets a preset shutdown state.
Optionally, the unmanned aerial vehicle is in wireless communication connection with the remote control device;
the state information further comprises an idle time length, wherein the idle time length is the duration of the communication signal of the remote control device which is not received by the unmanned aerial vehicle;
the method further comprises the following steps:
when the idle time reaches a preset time length, generating prompt information;
obtaining confirmation information generated according to the prompt information;
if the determined information is confirmed information, generating the shutdown instruction;
and if the confirmation information is the information to be confirmed, generating the shutdown instruction after a preset time interval.
Optionally, the method further comprises:
acquiring environmental image information within a preset distance range of the unmanned aerial vehicle;
generating safety evaluation information according to the environment image information;
and when the safety evaluation information is danger confirmation information, sending the danger confirmation information to the unmanned aerial vehicle so that the unmanned aerial vehicle refuses to execute corresponding control operation according to the danger confirmation information.
Optionally, the method further comprises: generating safety evaluation information according to the environment image information, wherein the safety evaluation information comprises:
analyzing whether a biological image exists in the environment image information;
if so, generating danger confirmation information;
if not, generating safety confirmation information.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a control method of an unmanned aerial vehicle is applied to the unmanned aerial vehicle, and the method comprises the following steps: monitoring self electric quantity information and state information;
sending the electric quantity information and the state information to a remote control device so that the remote control device generates a corresponding control instruction;
and executing corresponding control operation according to the received control instruction.
Optionally, the control instruction includes a power-on instruction and a power-off instruction;
when the starting-up instruction is received, automatically executing the starting-up operation;
and when the shutdown instruction is received, automatically executing shutdown operation.
Optionally, the unmanned aerial vehicle is equipped with a camera device; the method further comprises the following steps:
shooting environmental image information within a preset distance range
Sending the environment image information to the remote control device so that the remote control device generates safety evaluation information;
and if the received safety evaluation information is danger confirmation information, shielding a starting-up instruction or refusing to execute the starting-up operation.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the method of controlling an unmanned aerial vehicle as described above.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a remote control device, the remote control device comprising:
a housing;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling an unmanned aerial vehicle as described above.
Compared with the prior art, the control method for the unmanned aerial vehicle provided by the embodiment of the invention can be used for automatically generating the corresponding control instruction according to the acquired electric quantity information and state information of the unmanned aerial vehicle and sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the corresponding control operation according to the control instruction, the automatic startup and shutdown of the unmanned aerial vehicle is realized, the manual operation is not needed, the operation process is intelligent, and the user experience is improved.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of the unmanned aerial vehicle according to an embodiment of the present invention, the method being applied to a remote control device;
FIG. 3 is a schematic flow chart of one embodiment of S22 of FIG. 2;
FIG. 4 is a schematic flow chart of another embodiment of S22 of FIG. 2;
fig. 5 is a schematic flow chart of a control method of an unmanned aerial vehicle according to another embodiment of the present invention;
fig. 6 is a schematic flow chart of a control method of the unmanned aerial vehicle, which is applied to the unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a control method of an unmanned aerial vehicle according to another embodiment of the present invention, the method being applied to the unmanned aerial vehicle;
fig. 8 is a block diagram showing a configuration of a control device of an unmanned aerial vehicle according to an embodiment of the present invention, the control device being applied to a remote control device;
fig. 9 is a block diagram of a control device for an unmanned aerial vehicle according to another embodiment of the present invention, the device being applied to an unmanned aerial vehicle;
fig. 10 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 11 is a block diagram of a remote control device according to another embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a remote control device, wherein the control method of the unmanned aerial vehicle applied to the remote control device comprises the steps of firstly obtaining electric quantity information and state information of the unmanned aerial vehicle, then automatically generating a corresponding control instruction according to the obtained electric quantity information and state information, and sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding control operation according to the control instruction, the automatic startup and shutdown of the unmanned aerial vehicle is realized, manual operation is not needed, the operation process is intelligent, and the user experience is improved.
The following illustrates an application environment of the control method of the unmanned aerial vehicle.
FIG. 1 is a schematic illustration of an environment in which an embodiment of the present invention provides an aircraft-less control method; 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 control the unmanned aerial vehicle 10 through the infrared wireless network using the remote control device 30.
Unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotor unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, an umbrella wing unmanned aerial vehicle, a flapping wing unmanned aerial vehicle, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with an infrared emitting device and a battery module.
After the battery module is connected to the unmanned aerial vehicle 10, the battery module can provide a power supply for the unmanned aerial vehicle 10.
The infrared transmitting device is configured to send infrared access information and receive an infrared control instruction sent by a remote control device, for example, when the remote control device sends an infrared control instruction, the infrared transmitting device receives the infrared control instruction, so that the unmanned aerial vehicle 10 controls a starting state of the unmanned aerial vehicle 10 according to the infrared control instruction. After the battery module is connected to the unmanned aerial vehicle 10, the infrared transmitting device may transmit the infrared access information obtained according to 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 as a control core for flight and data transmission of the unmanned aerial vehicle 10, and has the capability of monitoring, computing and manipulating flight and tasks of the unmanned aerial vehicle. The remote control device 30 may be any type of smart device, such as a mobile phone, a tablet computer, a laptop computer, or other mobile control terminal, for establishing a communication connection with the unmanned aerial vehicle 10.
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 configured to receive infrared access information generated by the UAV 10 when the battery module is normally accessed to the UAV. The remote control device 30 may also send an infrared control command generated according to the control command of the user 40 to the unmanned aerial vehicle 10 to control the starting state of the unmanned aerial vehicle 10. The remote control device 30 may also be equipped with a picture transmission module for controlling the positioning of the picture, the shooting of the picture by the pan/tilt and the return of the aiming picture. In this embodiment, the map transmission module may further 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 for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the remote control device 30 may be equipped with a touch display screen through which a remote control instruction of the unmanned aerial vehicle 10 by the user 40 is received.
In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can further provide more intelligent services by fusing the existing image vision processing technology. For example, the unmanned aerial vehicle 10 may capture images by means of a dual-optical camera, and the images are analyzed by the remote control device 30, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
Fig. 2 is an embodiment of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. The method may be performed by the unmanned aerial vehicle of fig. 1.
Specifically, referring to fig. 2, the method may include, but is not limited to, the following steps:
and S21, acquiring the electric quantity information and the state information of the unmanned aerial vehicle.
Specifically, unmanned vehicles is provided with the battery module, the battery module is unmanned vehicles 10's power source, works as the battery module normally inserts when unmanned vehicles 10, the battery module can be for unmanned vehicles 10 normally supplies power. In this embodiment, the battery remaining capacity of the battery module is obtained in real time as the electric quantity information.
The state information includes a task execution state, a firmware upgrade state, and the like. The task execution state refers to whether the unmanned aerial vehicle is currently executing a course, waypoint and mapping task. The firmware upgrading state refers to whether the firmware module is currently in the upgrading state.
And S22, generating a corresponding control instruction according to the electric quantity information and the state information.
The control instruction comprises a starting instruction and a shutdown instruction, electric quantity information and state information of the unmanned aerial vehicle are firstly acquired, and then when the electric quantity information and the state information meet preset conditions, a corresponding starting instruction or a corresponding shutdown instruction is generated.
For example, when the electric quantity information is lower than a preset electric quantity margin and the state information is a task execution completion state, it is determined that the unmanned aerial vehicle meets a preset shutdown condition, and a shutdown instruction is correspondingly generated.
For another example, when the electric quantity information is higher than the preset electric quantity margin and the state information is the loaded task state, it is determined that the unmanned aerial vehicle meets the preset starting condition, and a starting instruction is correspondingly generated.
And S23, sending the control command to the unmanned aerial vehicle so that the unmanned aerial vehicle executes corresponding control operation according to the control command.
Specifically, a starting instruction or a shutdown instruction generated according to the electric quantity information and the state information is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle executes corresponding starting operation or shutdown operation according to the starting instruction or the shutdown instruction.
The embodiment of the invention provides a control method of an unmanned aerial vehicle, which comprises the steps of firstly obtaining electric quantity information and state information of the unmanned aerial vehicle, then automatically generating a corresponding control instruction according to the obtained electric quantity information and state information, and sending the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes corresponding control operation according to the control instruction, the automatic startup and shutdown of the unmanned aerial vehicle is realized, manual operation is not needed, the operation process is intelligent, and the user experience is improved.
In order to better generate a corresponding control command according to the power information and the status information, in some embodiments, referring to fig. 3, S22 includes the following steps:
and S221, generating a shutdown instruction when the electric quantity information is lower than a preset electric quantity range and the state information meets a preset shutdown state.
Specifically, in this embodiment, unmanned vehicles's battery module includes: the device comprises 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, an electric quantity display module and an interface circuit. The voltage conversion module is used for converting the battery input voltage into 5V and 3.3V voltages required by the board card; the voltage detection module is connected with the battery by adopting an equalizing plug, so that the measurement of the single voltage value and the total voltage value is realized; the power output line of the battery is connected to the current detection module, so that the acquired current value can be converted into a voltage value and sent to the CPU interface for AD acquisition; the temperature detection module is externally connected with 1-8 paths of platinum resistance sensors, so that temperature collection can be realized; the communication module is used for connecting the board card with the peripheral equipment and CAN support CAN, RS232 and RS485 interfaces. The CPU control module is connected with the voltage detection module and the current detection module temperature detection module through an interface circuit to realize the collection of voltage, current and temperature; the CPU control module realizes input and output control through an interface with the IO input and output module; the CPU control module is internally provided with a logic algorithm, and the difference value between the used electric quantity of the battery and the total electric quantity can be obtained through the integral operation of the output current in real time, so that the residual electric quantity can be calculated. The remaining power is the power information.
Specifically, the device still includes CAN interface module 30, CAN realize the connection and the management of a plurality of unmanned aerial vehicle group battery management device through CAN interface module, and through the configuration of management software this moment, adopt the serial ports of arbitrary one unmanned aerial vehicle group battery management device, CAN realize exporting all unmanned aerial vehicle group battery management device's data in real time.
In one embodiment, the voltage conversion module adopts a DCDC power supply chip of TI company to realize high-efficiency 5V voltage conversion; 3.3V voltage conversion is realized through the LDO voltage stabilization chip, and the stability and reliability of power output are ensured by the post-filter circuit. In one embodiment, a special battery management chip of TI company is adopted, and the battery pack consisting of 3-6 single batteries is subjected to balanced charge and discharge operation and measurement of single voltage and total voltage through CPU program control. In one embodiment, the current detection module adopts a Hall sensor, converts a current signal into a voltage signal, is connected to an AD pin of a CPU, and acquires the current of +/-150 amperes through a CPU program. In one embodiment, the temperature detection module adopts a bridge balance method and an operational amplifier circuit, and realizes the acquisition of temperature through an external platinum resistance wire sensor; and the maximum 8-path temperature acquisition is realized through a multi-path analog switch. In one embodiment, the CPU control module adopts an ARM chip of ST company, and realizes the acquisition of analog data through an AD conversion function; and 4-path TTL input are supported through an IO interface. In one embodiment, the CPU control module may implement parameter setting, querying, and real-time data receiving through a built-in software program and a supporting management software.
Specifically, the unmanned aerial vehicle is provided with a storage device, and the storage device is preset with a preset electric quantity range. Among them, the storage device may be a flash memory type memory, a hard disk type memory, a micro multimedia card type memory, a card type memory (e.g., SD or XD memory), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.
The state information comprises a task execution state and a firmware upgrading state; and when the task execution state is a task execution completion state and the firmware upgrading state is an upgrading completion state, determining that the state information meets a preset shutdown state.
Specifically, the acquired electric quantity information is compared with a preset electric quantity range extracted from the storage device, and if the electric quantity information is lower than the preset electric quantity range, and when the state information meets a preset shutdown state, a shutdown instruction is generated.
For example, if the preset electric quantity range is 5% to 10%, the electric quantity information is 3%, the task execution state of the current unmanned aerial vehicle is a task execution completion state, and the firmware upgrade state is an upgrade completion state, then the electric quantity information is 3% lower than the preset electric quantity range by 5% to 10%, and the current state information meets the preset shutdown state, then a shutdown instruction is generated.
And S223, generating a starting-up instruction when the electric quantity information is not lower than the preset electric quantity range and the state information meets a preset starting-up state.
For example, if the preset electric quantity range is 5% to 10%, the electric quantity information is 11%, the task execution state of the current unmanned aerial vehicle is a task loaded state, and the firmware upgrade state is an upgrade completed state, the electric quantity information 11% is higher than the preset electric quantity range by 5% to 10%, and the current state information meets the preset startup state, a startup instruction is generated.
In order to better generate a corresponding control command according to the power information and the status information, in some embodiments, referring to fig. 4, S22 includes the following steps:
s222: when the idle time reaches a preset time length, generating prompt information;
specifically, the unmanned aerial vehicle is in wireless communication connection with the remote control device. The wireless communication may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a bluetooth network, a WiFi network, a wireless cellular network or a combination thereof located in different signal frequency bands.
The state information further comprises an idle time length, wherein the idle time length is the duration of the communication signal of the remote control device which is not received by the unmanned aerial vehicle.
For example, if the idle time is 3min, it indicates that the unmanned aerial vehicle does not receive the communication signal of the remote control device within 3min, that is, the user does not operate the remote control device. If the preset time length is 2min, when the idle time exceeds the preset time length of 2min, generating prompt information to prompt the user whether to close the unmanned aerial vehicle.
S224: obtaining confirmation information generated according to the prompt information;
specifically, when the idle time length reaches a preset time length, prompt information is generated to prompt the user whether to close the unmanned aerial vehicle, and the prompt information may be "standby time is too long, whether to close the unmanned aerial vehicle", or the like.
If the user clicks the confirmation, the generated confirmation information is confirmed information;
and if the user does not confirm and operate, the generated confirmation information is the information to be confirmed.
S226: and if the determined information is confirmed information, generating the shutdown instruction.
S228: and if the confirmation information is the information to be confirmed, generating the shutdown instruction after a preset time interval.
To better control the starting of the unmanned aerial vehicle according to the infrared control command, in some embodiments, referring to fig. 5, the method further includes the following steps:
s24: acquiring environmental image information within a preset distance range of the unmanned aerial vehicle;
specifically, unmanned vehicles is provided with cloud platform camera device, cloud platform camera device can encircle the shooting, wherein encircle the shooting including the level and encircle the shooting perpendicularly, promptly cloud platform camera device can shoot the environmental image information of each angle around unmanned vehicles.
The holder camera device comprises an electronic compass, a Global Positioning System (GPS) chip and a processor; the electronic compass is used for acquiring the lens orientation of the holder camera device; the GPS chip is used for acquiring the position information of the holder camera device, and the position information of the holder camera device comprises the longitude and latitude of the holder camera device; the processor is used for receiving a shooting instruction, wherein the shooting instruction comprises position information of a target, and the position information of the target comprises longitude and latitude of the target; and the shooting angle of the tripod head camera device is adjusted according to the position information of the target, the position information of the tripod head camera device acquired by the GPS chip and the lens orientation of the tripod head camera device acquired by the electronic compass so as to shoot the environmental image information of each angle around the unmanned aerial vehicle.
S25: generating safety evaluation information according to the environment image information;
specifically, whether a biological image exists in a preset distance range of the unmanned aerial vehicle is judged according to the environment image information, and if yes, safety evaluation information is generated to be danger confirmation information. If not, generating the safety evaluation information as safety confirmation information.
S26: and when the safety evaluation information is danger confirmation information, sending the danger confirmation information to the unmanned aerial vehicle so that the unmanned aerial vehicle refuses to execute corresponding control operation according to the danger confirmation information.
Specifically, when the safety evaluation information is danger confirmation information, it is determined that other creatures exist around the unmanned aerial vehicle, and in order to prevent the other creatures around the unmanned aerial vehicle from being damaged when the unmanned aerial vehicle is suddenly started, the danger confirmation information is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle refuses to execute corresponding starting operation according to the danger confirmation information.
Fig. 7 is a schematic flow chart of a control method of an unmanned aerial vehicle according to an embodiment of the present application, where the method may be performed 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:
and S31, monitoring the self power information and the state information.
And S32, sending the electric quantity information and the state information to a remote control device so that the remote control device generates a corresponding control instruction.
And S33, executing corresponding control operation according to the received control command.
The control instruction comprises a starting instruction and a shutdown instruction; when the starting-up instruction is received, automatically executing the starting-up operation; and when the shutdown instruction is received, automatically executing shutdown operation.
Specifically, referring to fig. 7, the method may include, but is not limited to, the following steps:
and S34, shooting the environment image information within the preset distance range.
Specifically, the unmanned aerial vehicle is provided with a camera device, the camera device can 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, that is, the pan-tilt camera device can shoot environment image information of all angles around the unmanned aerial vehicle.
And S35, sending the environment image information to the remote control device so that the remote control device generates safety evaluation information.
And S36, if the received safety evaluation information is danger confirmation information, shielding the starting-up instruction or refusing to execute the starting-up operation.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiment of the present application, the embodiment of the present application provides 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 transmission module 73.
The obtaining module 71 is configured to obtain electric quantity information and state information of the unmanned aerial vehicle.
The control instruction generating module 72 is configured to generate a corresponding control instruction according to the electric quantity information and the state information.
The first sending module 73 is configured to send the control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes a corresponding control operation according to the control instruction.
Therefore, in this embodiment, the electric quantity information and the state information of the unmanned aerial vehicle are firstly acquired, then the corresponding control instruction is automatically generated according to the acquired electric quantity information and state information, and the control instruction is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the corresponding control operation according to the control instruction, the automatic startup and shutdown of the unmanned aerial vehicle is realized, manual operation is not needed, the operation process is intelligent, and the user experience is improved.
In some embodiments, the control device of the unmanned aerial vehicle further comprises an environment image information acquisition module 74, a safety evaluation information generation module 75 and a second sending module 76,
the environment image information obtaining module 74 is configured to generate security evaluation information according to the environment image information.
The safety evaluation information generating module 75 is configured to send the danger confirmation information to the unmanned aerial vehicle when the safety evaluation information is danger confirmation information, so that the unmanned aerial vehicle refuses to execute corresponding control operation according to the danger confirmation information.
As another aspect of the embodiment of the present application, the embodiment of the present application provides a control device 80 of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle. Referring to fig. 9, the control device 80 of the unmanned aerial vehicle includes: a monitoring module 81, a third sending module 82 and a control operation module 83.
The monitoring module 81 is used for monitoring the electric quantity information and the state information of the monitoring module.
The third sending module 82 is configured to send the electric quantity information and the state information to a remote control device, so that the remote control device generates a corresponding control instruction.
The control operation module 83 is configured to execute a corresponding control operation according to the received control instruction.
In some embodiments, the control device 80 of the unmanned aerial vehicle further includes a shooting module 84, a fourth sending module 85, and an operating module 86.
The shooting module 84 is configured to shoot the environment image information within a preset distance range.
The fourth sending module 85 is configured to send the environment image information to the remote control device, so that the remote control device generates security evaluation information.
The operation module 86 is configured to shield the boot instruction or refuse to execute the boot operation if the received security evaluation information is the danger confirmation information.
Fig. 10 is a schematic structural diagram of an unmanned aerial vehicle 10 provided in an embodiment of the present application, where the unmanned aerial vehicle 10 may be any type of unmanned vehicle, and is capable of executing the control method of the unmanned aerial vehicle provided in the corresponding method embodiment described above, or operating the control device 70 of the unmanned aerial vehicle provided in the corresponding device embodiment described above. The unmanned aerial vehicle includes: fuselage, horn, power device, infrared emitter, flight control module 110, memory 120 and communication module 130.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; the infrared transmitting device is arranged in the machine body and used for transmitting infrared access information and receiving an infrared control instruction transmitted by the remote control device;
the flight control module has the ability of monitoring, operating and manipulating unmanned aerial vehicle flight and tasks, and comprises a set of equipment for unmanned aerial vehicle emission and recovery control. The flight control module can also modulate the binary digital signals into corresponding infrared signals in the form of optical pulses or demodulate the infrared signals in the form of optical pulses into binary digital signals.
The flight control module 110, the memory 120, and the communication module 130 establish a communication connection therebetween in a bus manner.
The flight control module 110 may be any type of flight control module 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the unmanned aerial vehicle in the embodiment of the present invention (for example, the first infrared information transmitting module 71, the control instruction generating module 72, the first transmitting module 73, the environment image information acquiring module 74, and the safety evaluation information generating module 75 and the second transmitting module 76 shown in fig. 8). 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-transitory software program, instructions and modules stored in the memory 120, that is, implements the control method of the unmanned aerial vehicle in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the control device 70 of the unmanned aerial vehicle, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from flight control module 110, which may be connected to UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one flight control module 110; the at least one flight control module 110 is configured to execute the instructions to implement the control method of the unmanned aerial vehicle in any of the above method embodiments, for example, to execute the above-described method steps 21, 22, 23, and so on, to implement the functions of the blocks 71-76 in fig. 8.
The communication module 130 is a functional module for establishing a communication connection and providing 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, etc.
Fig. 11 is a schematic structural diagram of a remote control device 30 according to an embodiment of the present application, which is capable of executing the control method of the unmanned aerial vehicle according to the corresponding method embodiment described above, or operating the control device of the unmanned aerial vehicle according to the corresponding device embodiment described above. 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 shell and used for receiving infrared access information and sending an infrared control instruction for controlling the unmanned aerial vehicle.
The image transmission module is used for controlling the positioning picture, the shooting picture of the holder and the return of the aiming picture. In this embodiment, the map transmission module may further 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 processor 310, the memory 320 and the communication module 330 are connected to each other by a bus.
The processor 310 may be of any type, with one or more processing cores of the processor 310. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 320 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the unmanned aerial vehicle according to the embodiment of the present invention (for example, the monitoring module 81, the third sending module 82, the control operation module 83, the shooting 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 executing the non-transitory software programs, instructions and modules stored in the memory 320, that is, the control method of the unmanned aerial vehicle in any one of the above method embodiments is implemented.
The memory 320 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the control device 80 of the unmanned aerial vehicle, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 320 may optionally include memory located remotely from processor 310, which may be connected to UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 320 stores instructions executable by the at least one processor 310; the at least one processor 310 is configured to execute the instructions to implement the method for controlling the UAV in any of the above-described method embodiments, for example, to execute the above-described method steps 31, 32, 33, and so on, to implement the functions of the blocks 81-86 in FIG. 9.
The communication module 330 is a functional module for establishing a communication connection and providing 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, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more flight control modules 110, for example, by one flight control module 110 in fig. 10, and may cause the one or more flight control modules 110 to execute the control method of the unmanned aerial vehicle in any method embodiment described above, for example, execute the above-described method steps 21, 22, 23, and so on, to implement the functions of modules 71 to 75 in fig. 9.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors 310, for example, by one processor 310 in fig. 11, and may cause the one or more processors 310 to execute the control method of the unmanned aerial vehicle in any of the above-described method embodiments, for example, execute the above-described method steps 31, 32, 33, and so on, and implement the functions of the modules 81 to 83 in fig. 10.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the control method of the unmanned aerial vehicle provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the control method of the unmanned aerial vehicle. Technical details that are not described in detail in the present embodiment can be referred to a control method of the unmanned aerial vehicle provided by the embodiment of the present invention.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A control method of an unmanned aerial vehicle is applied to a remote control device and is characterized by comprising the following steps:
acquiring electric quantity information and state information of the unmanned aerial vehicle;
generating a corresponding control instruction according to the electric quantity information and the state information;
and sending the control command to the unmanned aerial vehicle so that the unmanned aerial vehicle executes corresponding control operation according to the control command.
2. The method of claim 1, wherein the control command comprises a power-on command and a power-off command;
generating a corresponding control instruction according to the electric quantity information and the state information, wherein the generating of the corresponding control instruction comprises the following steps: when the electric quantity information is lower than a preset electric quantity range and the state information meets a preset shutdown state, generating a shutdown instruction;
and when the electric quantity information is not lower than the preset electric quantity range and the state information meets the preset starting state, generating a starting instruction.
3. The method of claim 2, wherein the status information comprises a task execution status and a firmware upgrade status;
when the state information meets a preset shutdown state, the method comprises the following steps:
and when the task execution state is a task execution completion state and the firmware upgrading state is an upgrading completion state, determining that the state information meets a preset shutdown state.
4. The method of claim 3, wherein the UAV is in wireless communication with the remote control device, the status information further comprising an idle duration, wherein the idle duration is a duration of time during which the UAV does not receive a communication signal from the remote control device;
the method further comprises the following steps:
when the idle time reaches a preset time length, generating prompt information;
obtaining confirmation information generated according to the prompt information;
if the determined information is confirmed information, generating the shutdown instruction;
and if the confirmation information is the information to be confirmed, generating the shutdown instruction after a preset time interval.
5. The method according to any one of claims 1-4, further comprising:
acquiring environmental image information within a preset distance range of the unmanned aerial vehicle;
generating safety evaluation information according to the environment image information;
and when the safety evaluation information is danger confirmation information, sending the danger confirmation information to the unmanned aerial vehicle so that the unmanned aerial vehicle refuses to execute corresponding control operation according to the danger confirmation information.
6. The method according to claim 5, wherein the generating of the safety evaluation information according to the environment image information comprises:
analyzing whether a biological image exists in the environment image information;
if so, generating danger confirmation information;
if not, generating safety confirmation information.
7. A control method of an unmanned aerial vehicle is applied to the unmanned aerial vehicle and is characterized in that,
monitoring self electric quantity information and state information;
sending the electric quantity information and the state information to a remote control device so that the remote control device generates a corresponding control instruction;
and executing corresponding control operation according to the received control instruction.
8. The method of claim 7, wherein the control instructions comprise a power-on instruction and a power-off instruction;
the executing corresponding control operation according to the received control instruction comprises:
when the starting-up instruction is received, automatically executing the starting-up operation;
and when the shutdown instruction is received, automatically executing shutdown operation.
9. The method according to claim 8, wherein the unmanned aerial vehicle is equipped with a camera device; the method further comprises the following steps:
shooting environmental image information within a preset distance range
Sending the environment image information to the remote control device so that the remote control device generates safety evaluation information;
and if the received safety evaluation information is danger confirmation information, shielding a starting-up instruction or refusing to execute the starting-up operation.
10. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the method of controlling an unmanned aerial vehicle of any one of claims 1-6.
11. A remote control device, comprising:
a housing;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling an UAV of any of claims 7-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911072906.3A CN110673644A (en) | 2019-11-05 | 2019-11-05 | Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device |
| PCT/CN2020/124468 WO2021088699A1 (en) | 2019-11-05 | 2020-10-28 | Control method for unmanned aerial vehicle, unmanned aerial vehicle, and remote control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911072906.3A CN110673644A (en) | 2019-11-05 | 2019-11-05 | Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device |
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| CN110673644A true CN110673644A (en) | 2020-01-10 |
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| CN201911072906.3A Pending CN110673644A (en) | 2019-11-05 | 2019-11-05 | Control method of unmanned aerial vehicle, unmanned aerial vehicle and remote control device |
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