WO2020107465A1

WO2020107465A1 - Control method, unmanned aerial vehicle and computer-readable storage medium

Info

Publication number: WO2020107465A1
Application number: PCT/CN2018/118728
Authority: WO
Inventors: 张岩松; 房玲江; 龙玉其; 冯健
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-06-04
Also published as: CN110832737A

Abstract

Disclosed are a control method, an unmanned aerial vehicle and a computer-readable storage medium. When a main power source is in a power-down state, a backup power source can be used to supply power to an unmanned aerial vehicle so as to record state data of the unmanned aerial vehicle. The state data can be used for analyzing and positioning a fault of the unmanned aerial vehicle, thereby improving the accuracy and reliability of fault cause analysis when the unmanned aerial vehicle is powered down abnormally, and reducing difficulty in troubleshooting the unmanned aerial vehicle. The control method comprises: when a main power source supplies power to an unmanned aerial vehicle, detecting a power supply parameter of the main power source (S202); according to an operation parameter signal, determining whether the main power source is in a power-down state (S204); and when it is determined that the main power source is in a power-down state, acquiring electricity from a backup power source, and recording state data of the unmanned aerial vehicle (S206), wherein when the main power source is in the power-down state, the backup power source is triggered to supply power to the unmanned aerial vehicle.

Description

Control method, drone and computer readable storage medium

Technical field

The invention relates to the technical field of control, in particular to a control method, a drone and a computer-readable storage medium.

Background technique

With the development of drone technology, drones are widely used in military and civil fields, for example, drone plant maintenance and cultivation, drone aerial photography and drone forest fire monitoring, etc.

During the flight of the drone, the power of the drone may be powered off due to various reasons (such as short circuit of the power supply, burnout, power supply impact, disconnection of the power supply line, etc.), which may cause the drone to crash. . At present, when such a drone crash occurs, the state data at the time of the drone crash cannot be obtained, which makes it difficult for engineers and consumers to analyze the cause of the drone crash.

Summary of the invention

The embodiments of the present invention aim to provide a control method, a drone, and a computer-readable storage medium to record the state data of the drone when the power supply is in a power-off state.

In order to achieve the above object, the technical solution of the first aspect of the present invention improves a control method, which includes: detecting the power supply parameters of the main power supply when the main power supply is supplying power to the UAV; Power state; when it is determined that the main power supply is in the power-off state, obtain power from the backup power supply and record the status data of the drone; wherein, when the main power supply is in the power-off state, the backup power supply is triggered to supply power to the drone.

The technical solution of the second aspect of the present invention provides an unmanned aerial vehicle, the unmanned aerial vehicle including a processor, the processor is used to: when the main power supply to the drone, detect the power supply parameters of the main power supply; Whether the power supply is in the power-off state; when it is determined that the main power supply is in the power-off state, obtain power from the backup power supply and record the status data of the drone; wherein, when the main power supply is in the power-off state, the backup power supply is triggered to the drone powered by.

The technical solution of the third aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, which is characterized in that when the computer program is executed, the control method as provided in the first aspect of the embodiment of the present invention is implemented A step of.

Based on the control method, drone, drone, and computer-readable storage medium provided by the embodiments of the present invention, the power supply parameters of the main power supply are detected to determine whether the main power supply is in a power-off state, and when it is determined that the main power supply is in a power-off state In the state, obtain power from the backup power supply and record the state data of the drone. In this way, engineers can efficiently and quickly troubleshoot the cause of the drone according to the recorded status data, which reduces the difficulty of troubleshooting the drone.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention For those of ordinary skill in the art, without paying creative labor, other drawings can be obtained based on these drawings.

FIG. 1 shows a schematic diagram of a drone system according to an embodiment of the invention;

2 shows a schematic diagram of a control method according to an embodiment of the invention;

FIG. 3 shows a schematic diagram of a control scheme according to an embodiment of the invention;

4 shows a schematic diagram of a control method according to another embodiment of the invention;

5 shows a schematic diagram of a control method according to another embodiment of the invention;

FIG. 6 shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there can be centered components at the same time.

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

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

As shown in FIG. 1, the drone system 10 may include a control terminal 110 and a drone 120. The drone 120 may be a single-rotor or multi-rotor drone. In some cases, the drone 120 may be a fixed-wing drone.

The drone 120 may include a power system 102, a control system 104, and a fuselage. When the drone 120 is specifically a multi-rotor drone, the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The drone may also include a tripod, where the tripod is connected to the fuselage and used to support the landing of the drone.

The power system 102 may include one or more power components 1022. The power components 1022 are used to provide flying power for the UAV 120, which enables the UAV 120 to achieve one or more degrees of freedom of movement.

The control system may include a processor 1042, a memory 1044, and a sensing system 1046. The sensing system 1046 includes one or more types of sensors, wherein the sensing system 1046 can output and transmit sensing data to measure the state data of the drone 120. The sensing system 1046 may include, for example, at least one of barometer, gyroscope, ultrasonic sensor, electronic compass, inertial measurement unit, visual sensor (monocular sensor or binocular sensor), global navigation satellite system, barometer, etc. Species. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS).

The processor 1042 is used to control various operations of the drone. For example, the processor 1042 may control the power components to realize the movement of the drone, and for another example, the processor 1042 may control the sensor system 1046 of the drone to collect data.

In some embodiments, the sensing system 1046 may include an image acquisition device 1064. The image acquisition device 1064 may be a device such as a camera or a video camera for capturing images. The image acquisition device 1064 may communicate with the processor 1042 and Shoot under the control of 1042.

In some embodiments, the drone 120 further includes a gimbal 106, and the gimbal 106 may include a motor 1062. The gimbal 106 is used to carry the image acquisition device 1064, and the processor 1042 may control the motion of the gimbal 106 through the motor. It should be understood that the gimbal 106 may be independent of the drone 120, or may be a part of the drone 120. In some embodiments, the image acquisition device 1064 may be fixedly connected to the body of the drone 120.

The UAV 120 further includes a transmission device 112, and under the control of the processor 1042, the transmission device 112 may send the data collected by the sensing system 1046 to the control terminal 110. The control terminal 110 may include a transmission device (not shown). The transmission device of the control terminal may establish a wireless communication connection with the transmission device 112 of the drone 120. The transmission device of the control terminal may receive the data sent by the transmission device 112. In addition, the control The terminal 110 may also send control instructions to the drone 120 through its own transmission device.

The control terminal 110 may include a controller 1102 and a display device 1104. The controller 1102 can control various operations of the control terminal. For example, the controller 1102 can control the transmission device to receive the data sent by the drone 120 through the transmission device 112, and for another example, the controller 1104 can control the display device 1104 to display the transmitted data, where the data can include the environment captured by the image acquisition device 1064 Image, posture information, position information, power information, etc.

In addition, the drone 120 also includes a battery system 108. The battery system 108 may include a main power supply 1082 and a backup power supply 1084. By default, the main power supply 1082 is used to supply power to the drone 120, for example, the power component 102, the transmission device 112, and the gimbal 106. Hardware electronic devices such as image acquisition equipment 1064 provide power.

It can be understood that any of the above controllers may include one or more processors, where the one or more processors may work individually or cooperatively.

It should be understood that the above naming of the components of the drone 120 is for identification purposes only, and should not be construed as limiting the embodiments of the present invention.

Referring to FIGS. 1, 2 and 3, the battery system 108 in this embodiment mainly includes a main power supply 1082 and a backup power supply 1084. The default control system 104 is powered by the main power supply 1082 to realize the operation of the drone. In the power-off state, the control system 104 is powered by the backup power supply 1084 to achieve battery life, that is, to record the status data of the drone.

As shown in FIG. 2, the control method provided according to the embodiment of the present invention specifically includes:

In step S202, when the main power supply supplies power to the drone, the power supply parameters of the main power supply are detected.

Specifically, the execution subject of the control method may be a drone, and the drone includes a processor. Further, the execution subject of the method may be the processor. When the drone is working normally, the main power supply provides power to the drone. When the main power supply is supplying power to the UAV, the processor can detect the power supply parameters of the main power supply in real time. Further, the processor can detect the power supply status of the main power supply through its own acquisition module (such as ADC module). In some cases, the processor may also detect the power supply parameters of the main power supply by receiving sensor data output from a sensor that monitors the power supply status of the main power supply. The power supply parameter may be any parameter related to the power supply state of the main power supply, for example, the power supply parameter may include one of voltage, current, power, power, voltage change rate, current change rate, and power change rate One or more.

Step S204: Determine whether the main power supply is in a power-off state according to the power supply parameters.

Specifically, as mentioned above, the main power supply may be in a power-down state due to various reasons and cannot normally supply power to the drone, and the processor needs to determine whether the main power supply is in the power-down state in real time. Further, after acquiring the power supply parameters of the main power supply, the processor can determine whether the main power supply is in a power-off state according to the power supply parameters of the main power supply, that is, the processor can determine whether the main power supply can normally control the unmanned power supply according to the power supply parameters Power supply.

Step S206, when it is determined that the main power source is in the power-off state, obtain power from the backup power source, and record the state data of the drone, wherein, when the main power source is in the power-off state, the backup power source is triggered to supply power to the drone.

Specifically, when the main power supply supplies power to the drone, the backup power supply does not supply power to the drone. In some cases, when the main power supply supplies power to the drone, the main power supply may charge the backup power supply. When the main power supply is in a power-off state, the backup power supply is triggered to supply power to the drone. Among them, in some cases, a trigger circuit is provided in the drone, wherein the trigger circuit may be a circuit module different from the processor, when the main power supply is in a power-off state, the trigger circuit may trigger the backup power supply to no Man-machine power supply. In some cases, when the processor determines that the main power supply is in a power-off state, the processor may trigger the backup power supply to supply power to the drone, for example, the processor may trigger the backup power supply to the non-power supply by sending a trigger signal to the backup power supply. Man-machine power supply. When the main power supply is supplying power to the drone, the processor obtains power from the main power supply. When the main power supply is determined to be in a power-off state through the power supply parameters of the main power supply, the processor can obtain power from the backup power supply. The processor uses the power provided by the backup power source to record the status data of the drone. Further, the drone includes a memory, when the main power supply is in a power-off state, the memory can obtain power from a backup power supply, and the processor recording the state data of the drone may include: The state data of the man-machine is recorded in the memory. The state data of the drone may include any data that reflects the working state of the drone, for example, the state data includes: power supply parameters of the main power supply, sensor data output by the sensor of the drone, unmanned At least one of the working states of the multiple functional components of the aircraft, the state data of the drone can be used for failure analysis of the drone. Among them, the sensor data output by the sensor of the UAV includes one of speed, position, acceleration, angular velocity, altitude, flight trajectory, wind speed, wind direction, temperature, humidity, attitude, and captured image. The functional components of the UAV may include communication components, navigation components, power components, heat dissipation components, main power supply, and so on. The working state of the functional component may be information characterizing whether the functional component is working normally.

Based on the control method provided by the embodiment of the present invention, the power supply parameters of the main power supply are detected to determine whether the main power supply is in a power-off state, and when it is determined that the main power supply is in a power-off state, the power is obtained from the backup power supply and the drone is recorded State data, so that engineers can efficiently and quickly troubleshoot the cause of the drone according to the recorded state data, reducing the difficulty of troubleshooting the drone.

In some embodiments, the backup power source is triggered to supply power to the sensor of the drone. The state data of the drone includes the sensor data output by the sensor, and the state data of the drone is recorded, including: recording the output of the drone by the sensor. Sensory data.

Specifically, when the main power supply is in the power-off state, the backup power supply is triggered to supply power to the UAV sensor, so that when the main power supply is in the power-off state, the UAV sensor can continue to work normally. The sensor data output by the sensor of the UAV can reflect the working state of the UAV. The processor can use the backup power to provide power to record the sensor data output by the sensor, so that the post-engineering personnel can use the recorded sensor data Perform failure analysis.

In some embodiments, the sensor includes a plurality of different types of sensors, and recording the state data of the drone includes: recording the sensor data output by each type of the sensors of the plurality of different types of sensors according to a preset priority.

Specifically, because different types of sensors can reflect the main power supply's power failure or other malfunctions of the drone from different degrees, in addition, the stored power of the backup power supply may be limited, and may only be enough to power some sensors. Simultaneously recording the sensor data output by many different types of sensors may cause the power of the backup power source to be quickly consumed and result in unsuccessful recording of the sensor data. Therefore, the processor can set different priority levels for different types of sensors. By recording the sensor data output by each type of sensor in a variety of different types of sensors according to the preset priority, this can not only ensure important sensor output The sensor data is recorded, which is also helpful to reduce the power consumption of the processor when recording the sensor data.

In some embodiments, recording the state data of the drone includes: recording the state data of the drone for a preset duration.

Specifically, the processor may record the state data of the drone with a preset duration, where the preset duration may be given, for example, 10 seconds, 15 seconds, or 20 seconds, and so on. In some cases, the preset duration may be determined according to the remaining power of the backup power supply. When the remaining power is more, the preset duration may be set larger, and when the remaining power is less, the preset duration may be set smaller .

In some embodiments, the backup power source does not provide power to the power components of the drone.

Specifically, the amount of power that the backup power source can store is usually much less than the main power source. If the backup power source supplies power to the power component, the power component will quickly consume the power of the backup power source. This may cause the processor and/or sensor to fail to obtain sufficient power from the backup power source, which may result in the failure of the UAV's status data recording. Therefore, In order to ensure the integrity of the status data recorded by the processor, when the main power supply is in a power-off state, the backup power supply does not supply power to the power components of the drone.

Among them, the power components include components that can provide flying power for the UAV, such as motors, ESCs, engines, etc., but are not limited thereto.

In some embodiments, detecting the power supply parameters of the main power supply includes: detecting power supply parameters of multiple power supply loops powered by the main power supply; determining whether the main power supply is in a power-off state according to the power supply parameters includes: determining according to the power supply parameters of the multiple power supply loops Whether the main power supply is in a power-off state.

Specifically, the unmanned aerial vehicle includes a functional component that obtains power from a main power source, where the functional component includes a plurality of different types, and when the main power source supplies power to the functional component, a plurality of different power supply circuits are formed. In order to determine whether the main power supply is in a power-off state, the processor can detect the power supply parameters of multiple power supply loops powered by the main power supply, and determine whether the main power supply is in a power-off state according to the power supply parameters of the multiple power supply loops. Further, the processor may determine whether the main power supply is in a power-off state by performing weighted calculations and voting calculations on the power supply parameters of multiple power supply loops. By detecting the power supply parameters of multiple power supply loops to jointly determine whether the main power supply is in a power-off state, the accuracy and reliability of detecting the power failure of the main power supply can be further improved.

In some embodiments, the method further includes: detecting whether the main power supply is in a power-on state during or after recording status data; when the main power supply is in a power-up state, obtaining power from the main power supply; wherein, when the main power supply When in the power-on state, the main power supply is triggered to power the drone.

Specifically, in some cases, after the main power supply is in the power-down state, the main power supply may re-enter the power-up state for some reason. The processor detects whether the main power supply is in the power-on state during the process of recording the status data or after recording the data, and when the main power supply is in the power-on state, the processor obtains power from the main power supply, and restores the main power supply to the drone in time Power supply. For example, if the main power supply of the UAV is powered down on the ground, it may be caused by voltage fluctuations. When or after the ground data is recorded, it is detected whether the main power supply is restored to the power-on state, and the main power supply standby, battery maintenance, and power can be continued. Balance, etc., but not limited to this, as another example, when the main power supply is powered down in the air, if the main power supply is detected, the processor obtains power from the main power supply, and the main power supply is triggered to supply power to the drone. , Which in turn reduces the possibility of the drone crashing or being lost.

The specific steps above are described in detail with reference to FIGS. 4 and 5:

As shown in FIG. 4, the control method of the drone includes: step S402, when the main power supply is supplying power to the drone, detecting the power supply parameters of the main power supply; step S404, determining whether the main power supply is powered off (off) according to the power supply parameters If yes, go to step S406, if no, go to step S402; step S406, when the main power supply is powered on and the drone is in the air, obtain power from the main power supply and control the operation of the power components of the drone; step S408, record the status data of the drone, for example, synchronize SD (Secure Digital Memory) card data to back up the flight records of the specified parts; step S410, after completing the flight data synchronization, according to the power supply parameters Determine again whether the main power supply is still powered off (off). If yes, go to step S412, if not, go to step S402; step S412, record the status data of the unmanned aircraft of the preset duration, and determine whether the maximum backup power supply is reached For the duration of power supply, if it is, step S414 is executed; if not, step S408 is executed; step S414, after the data is recorded, the standby power source is controlled to stop supplying power to the drone.

As shown in FIG. 5, the control method of the drone includes: step S502, when the main power supply is supplying power to the drone, detecting the power supply parameters of the main power supply; step S504, determining whether the main power supply is powered off (off) according to the power supply parameters, If yes, go to step S506, if no, go to step S502; step S506, when the main power supply is powered on and the drone is in the air, obtain power from the main power supply and control the operation of the power components of the drone; step S508 , Record the status data of the drone, for example, synchronize the SD (Secure Digital Memory) card data to back up the operation records of the specified parts on the ground; Step S510, in the process of recording the status data or record After the data is completed, it is detected whether the main power supply is in the power-on state. If yes, step S512 is executed; if not, step S516 is executed; step S512, the status data of the drone with a preset duration is recorded, and it is determined whether the standby power source is reached Maximum power supply duration, if yes, step S514 is executed, if not, step S508 is executed; step S514, after data is recorded, the standby power supply is controlled to stop supplying power to the drone; step S516, reset the drone's flight controller, For example, trigger the controller to perform a software reset.

In some embodiments, when the main power source is in the power-on state, obtaining power from the main power source includes: when the main power source is in the power-up state and the drone is on the ground, obtaining power from the main power source and resetting the drone's flight controller ; When the main power supply is powered on and the drone is on the ground, obtain power from the main power supply and control the operation of the power components of the drone.

Specifically, when the main power supply is powered on and the drone is on the ground, the processor obtains power from the main power supply and resets the drone's flight controller. When the main power supply is powered on and the drone is on the ground, the process The device obtains power from the main power source and controls the operation of the power components of the drone. Since there is no possibility of the UAV crashing on the ground, resetting the flight controller to make the UAV re-enter the standby state, enabling the UAV to take off or perform tasks in the reset state at any time, effectively reducing the main power off The impact of electricity on the reliability of drones. When the drone is in the air, if the main power supply is powered on, the main power supply is triggered to supply power to the drone, the processor can obtain power from the main power supply, and the processor can control the power components of the drone to operate Man-machine provides flight power.

In some embodiments, the control method further includes: after the data is recorded, controlling the backup power source to stop supplying power to the drone.

Specifically, during the flight of the drone, when the main power supply is in a power-off state, the drone is likely to crash. After the processor uses the circuit provided by the backup power supply to record the status data of the drone, it controls the backup power supply to stop supplying power to the drone, so that the electrical connection between the backup power supply and the drone can be disconnected to prevent the drone from falling. When the aircraft standby power supply is still electrically connected to the drone, this can protect the functional components on the drone.

As shown in FIG. 6, an embodiment of the present invention further provides a drone 600, which includes: a processor 1042, a main power supply 1082, and a backup power supply 1084, where,

The processor 1042 is used to:

When it is determined that the main power supply 1082 supplies power to the drone, the power supply parameters of the main power supply 1082 are detected;

Determine whether the main power supply 1082 is in a power-down state according to the power supply parameters;

When it is determined that the main power supply 1082 is in a power-off state, obtain power from the backup power supply 1084, and record the status data of the drone;

Wherein, when the main power supply 1082 is in a power-off state, the backup power supply 1084 is triggered to supply power to the drone.

Optionally, the backup power supply 1084 is triggered to supply power to the sensor of the drone, the state data of the drone includes the sensor data output by the sensor,

When the processor 1042 records the status data of the drone, it is specifically used to:

Record the sensor data of the UAV output by the sensor.

Optionally, the sensor includes multiple different types of sensors,

The processor 1042 records the status data of the drone, which is specifically used for:

The sensor data output by each of the plurality of different types of sensors is recorded according to a preset priority.

Optionally, when the processor 1042 records the status data of the drone, it is specifically used to:

Record the status data of the UAV with preset duration.

Optionally, the backup power supply 1084 does not supply power to the power components of the drone.

Optionally, when the processor 1042 detects the power supply parameter of the main power supply 1082, it is specifically used to:

Detecting power supply parameters of multiple power supply loops powered by the main power supply 1082;

When the processor 1042 determines whether the main power supply 1082 is in a power-down state according to the power supply parameter, it is specifically used to:

According to the power supply parameters of the multiple power supply circuits, it is determined whether the main power supply 1082 is in a power-off state.

Optionally, the processor 1042 is further configured to: during recording of the status data or after recording the data, detect whether the main power supply is in a power-on state;

When the main power supply 1082 is in a power-on state, obtain power from the main power supply 1082;

Wherein, when the main power supply 1082 is in the power-on state, the main power supply 1082 is triggered to supply power to the drone.

Optionally, when the main power supply 1082 is in a power-on state, when obtaining power from the main power supply 1082, the processor 1042 is specifically configured to:

When the main power supply 1082 is in the power-on state and the drone is on the ground, obtain power from the main power supply 1082 and reset the flight controller of the drone;

When the main power supply 1082 is in the power-on state and the drone is in the air, power is obtained from the main power supply 1082 and the power components of the drone are controlled to operate.

Optionally, the processor 1042 is further configured to: after the data is recorded, control the backup power supply 1084 to stop supplying power to the drone.

Optionally, the state data includes: at least one of power supply parameters of the main power supply 1082, sensor data output by a sensor of the drone, and working states of multiple functional components of the drone.

An embodiment of the present invention also provides a computer-readable storage medium. The UAV is provided with a processor. The computer-readable storage medium stores a control program. When the control program is executed by the processor, it is implemented as defined in any of the above embodiments. Control method steps.

Further, it can be understood that any process or method description in the flowchart or otherwise described herein can be understood as representing executable instructions including one or more steps for implementing a specific logical function or process Modules, fragments, or parts of the code, and the scope of the preferred embodiment of the present invention includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in the reverse order according to the functions involved The order to execute the functions should be understood by those skilled in the art to which the embodiments of the present invention belong.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be regarded as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium, For use by, or in combination with, instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that may contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples of computer-readable media (non-exhaustive list) include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means as necessary Process to obtain the program electronically and then store it in computer memory.

It should be understood that each part of the present invention may be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented with software or firmware stored in memory and executed by a suitable instruction execution system. For example, if it is implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a logic gate circuit for implementing a logic function on a data signal Discrete logic circuits, dedicated integrated circuits with appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried by the method in the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and when the program is executed , Including one of the steps of the method embodiment or a combination thereof.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

A control method applied to a drone, wherein the drone includes a main power supply and a backup power supply, and is characterized by including:

When the main power supply supplies power to the drone, the power supply parameters of the main power supply are detected;

Determine whether the main power supply is in a power-off state according to the power supply parameter;

When it is determined that the main power supply is in a power-off state, obtain power from the backup power supply, and record the status data of the drone;

Wherein, when the main power supply is in a power-off state, the backup power supply is triggered to supply power to the drone.
The method according to claim 1, wherein the backup power source is triggered to supply power to the sensor of the drone, and the state data of the drone includes sensor data output by the sensor,

The recording status data of the drone includes:

Record the sensor data of the UAV output by the sensor.
The method according to claim 2, wherein the sensor includes a plurality of different types of sensors,

The recorded status data of the drone includes:

The sensor data output by each of the plurality of different types of sensors is recorded according to a preset priority.
The method according to any one of claims 1 to 3, characterized in that

The recording status data of the drone includes:

Record the status data of the UAV with preset duration.
The method according to any one of claims 1 to 4, wherein the backup power source does not supply power to the power components of the drone.
The method according to any one of claims 1 to 5, characterized in that

The detecting the power supply parameters of the main power supply includes:

Detecting power supply parameters of multiple power supply loops powered by the main power supply;

The determining whether the main power supply is in a power-off state according to the power supply parameters includes:

It is determined whether the main power supply is in a power-off state according to power supply parameters of the multiple power supply loops.
The method according to any one of claims 1 to 6, wherein the method further comprises:

During the process of recording the status data or after recording the data, detecting whether the main power supply is in a power-on state;

When the main power supply is in a power-on state, obtain power from the main power supply;

Wherein, when the main power supply is in the power-on state, the main power supply is triggered to supply power to the drone.
The method according to claim 7, wherein the obtaining power from the main power source when the main power source is in a power-up state includes:

When the main power supply is powered on and the drone is on the ground, obtain power from the main power supply and reset the flight controller of the drone;

When the main power supply is in the power-on state and the drone is in the air, power is obtained from the main power supply, and the power components of the drone are controlled to operate.
The method according to any one of claims 1 to 8, further comprising: after the data is recorded, controlling the standby power source to stop supplying power to the drone.
The method according to any one of claims 1 to 9, wherein the status data includes: power supply parameters of the main power supply, sensor data output by the sensor of the drone, and multiple functional components of the drone At least one of the working states.
A drone is characterized by comprising: a processor, a main power supply and a backup power supply, wherein,

The processor is used for:

When determining that the main power supply supplies power to the drone, detect the power supply parameters of the main power supply;

Determine whether the main power supply is in a power-off state according to the power supply parameter;

When it is determined that the main power supply is in a power-off state, obtain power from the backup power supply, and record the status data of the drone;

Wherein, when the main power supply is in a power-off state, the backup power supply is triggered to supply power to the drone.
The drone according to claim 11, wherein the backup power source is triggered to supply power to the sensor of the drone, and the state data of the drone includes the sensor data output by the sensor,

When the processor records the status data of the drone, it is specifically used to:

Record the sensor data of the UAV output by the sensor.
The unmanned aerial vehicle according to claim 12, characterized in that the sensor includes a plurality of different types of sensors,

The processor records the status data of the drone, which is specifically used for:

The sensor data output by each of the plurality of different types of sensors is recorded according to a preset priority.
The drone according to any one of claims 11 to 13, characterized in that

When the processor records the status data of the drone, it is specifically used to:

Record the status data of the UAV with preset duration.
The drone according to any one of claims 11 to 14, characterized in that

The standby power supply does not supply power to the power components of the UAV.
The drone according to any one of claims 11 to 15, characterized in that

When the processor detects the power supply parameter of the main power supply, it is specifically used to:

Detecting power supply parameters of multiple power supply loops powered by the main power supply;

When the processor determines whether the main power supply is in a power-off state according to the power supply parameter, it is specifically used to:

It is determined whether the main power supply is in a power-off state according to power supply parameters of the multiple power supply loops.
The drone according to any one of claims 11 to 16, wherein

The processor is further configured to detect whether the main power supply is in a power-on state during the process of recording the status data or after recording the data;

When the main power supply is in a power-on state, obtain power from the main power supply;

Wherein, when the main power supply is in the power-on state, the main power supply is triggered to supply power to the drone.
The UAV according to claim 17, characterized in that

When the main power supply is in the power-on state, when the power is obtained from the main power supply, the processor is specifically used to:

When the main power supply is powered on and the drone is on the ground, obtain power from the main power supply and reset the flight controller of the drone;

When the main power supply is in the power-on state and the drone is in the air, power is obtained from the main power supply, and the power components of the drone are controlled to operate.
The drone according to any one of claims 11 to 18, the processor is further configured to: after the data is recorded, control the standby power source to stop supplying power to the drone.
The drone according to any one of claims 11 to 19, wherein the state data includes: power supply parameters of the main power supply, sensor data output by the sensor of the drone, and multiple At least one of the working states of the functional component.
A computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed, the steps of the control method according to any one of claims 1 to 10 are realized.