CN106687371B - The control method of unmanned vehicle, apparatus and system - Google Patents
The control method of unmanned vehicle, apparatus and system Download PDFInfo
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- CN106687371B CN106687371B CN201680002501.0A CN201680002501A CN106687371B CN 106687371 B CN106687371 B CN 106687371B CN 201680002501 A CN201680002501 A CN 201680002501A CN 106687371 B CN106687371 B CN 106687371B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000007613 environmental effect Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 13
- 238000005183 dynamical system Methods 0.000 claims description 12
- 238000005303 weighing Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 25
- 230000006870 function Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/389—Measuring internal impedance, internal conductance or related variables
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A kind of control method of unmanned vehicle, control system and unmanned vehicle.This method includes：Obtain the sensitive information (S101) of the sensor (42) of unmanned vehicle carrying；According to sensitive information, determine whether unmanned vehicle overloads (S102)；If unmanned vehicle overloads, corresponding protection instruction (S103) is executed.The sensitive information of the sensor (42) of unmanned vehicle carrying is obtained by the MCU of flight controller, sensitive information can be the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, it can determine unmanned plane under current state when flight by the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, the electrical source of power of unmanned plane whether load operation, simultaneously, according to unmanned plane whether equipped with whether having shelter below object and/or unmanned vehicle, determine whether unmanned vehicle overloads, improve the accuracy of unmanned vehicle overload detection.
Description
Technical field
The present embodiments relate to unmanned plane field more particularly to a kind of control method of unmanned vehicle, device and it is
System.
Background technology
Unmanned plane is in an overload condition in the prior art, it is easy to because the discharge power of battery is more than the specified work(of battery
Rate, and cell voltage is caused to drastically reduce, to which aircraft aircraft bombing accident occur.
The prior art detects whether aircraft overloads by two ways, and a kind of mode is installation overload measurement dress aboard
It sets, but the overload measurement device increases the quality of aircraft, another way is the mutation by detecting aircraft Z axis acceleration
Judge whether aircraft overloads, still, when aircraft slowly rises, it is difficult to detect the mutation of aircraft Z axis acceleration, it cannot be accurate
Judge whether aircraft overloads.
Invention content
The embodiment of the present invention provides a kind of control method of unmanned vehicle, apparatus and system, to improve unmanned vehicle
Overload the accuracy detected.
The one side of the embodiment of the present invention is to provide a kind of control method of unmanned vehicle, including：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction.
The other side of the embodiment of the present invention is to provide a kind of control system of unmanned vehicle, including one or more
Processor, the processor are used for：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction.
The other side of the embodiment of the present invention is to provide a kind of unmanned vehicle, including：
Fuselage；
Dynamical system is mounted on the fuselage, for providing flying power；
Control system is electrically connected with the dynamical system, and for controlling the dynamical system, the control system includes one
A or multiple processors, the processor are used for：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction.
The control method of unmanned vehicle provided in an embodiment of the present invention, apparatus and system pass through the MCU of flight controller
Obtain unmanned vehicle carrying sensor sensitive information, sensitive information can be unmanned vehicle status information and/or
The environmental information of unmanned vehicle can determine by the status information of unmanned vehicle and/or the environmental information of unmanned vehicle
Unmanned plane under current state when flight, the electrical source of power of unmanned plane whether load operation, meanwhile, whether carried according to unmanned plane
Whether have shelter, determine whether unmanned vehicle overloads if having below object and/or unmanned vehicle, the embodiment of the present invention is from more
A condition determines whether unmanned vehicle overloads, and multiple conditions determine that unmanned vehicle overloads, and improves when meeting simultaneously
The accuracy of unmanned vehicle overload detection.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the control method flow chart for the unmanned vehicle that the embodiment of the present invention one provides；
Fig. 2 is the control method flow chart of unmanned vehicle provided by Embodiment 2 of the present invention；
Fig. 3 is the control method flow chart for the unmanned vehicle that the embodiment of the present invention three provides；
Fig. 4 is the structure chart of the control system for the unmanned vehicle that the embodiment of the present invention four provides；
Fig. 5 is the structure chart of the control system for the unmanned vehicle that the embodiment of the present invention five provides；
Fig. 6 is the structure chart of the control system for the unmanned vehicle that the embodiment of the present invention six provides；
Fig. 7 is the structural schematic diagram for the unmanned vehicle that the embodiment of the present invention seven provides.
Reference numeral：
40- control system 41- processor 42- sensors
421- imaging sensor 422- electrical parameter sensor 423- gravity sensors
1001- dynamical system 1002- propeller 1003- control systems
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
Body embodiment purpose, it is not intended that in limitation the present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Embodiment one
The embodiment of the present invention one provides a kind of control method of unmanned vehicle.Fig. 1 is what the embodiment of the present invention one provided
The control method flow chart of unmanned vehicle.Whether the embodiment of the present invention is unable to accurate judgement unmanned vehicle for the prior art
The case where overload, the control method of unmanned vehicle is provided, this method is as follows：
Step S101, the sensitive information of the sensor of the unmanned vehicle carrying is obtained；
Specifically, the method in the embodiment of the present invention can be applied to the flight controller of unmanned vehicle, the flight control
Device processed includes micro-control unit (Microcontroller Unit, abbreviation MCU), which can be to be loaded with control journey
The circuit board of functional circuit module is provided in the chip of sequence or the micro-control unit.The executive agent of the embodiment of the present invention
Can be the MCU of the flight controller.In addition, unmanned vehicle carries sensor, for obtaining this, nobody flies the sensor
The sensitive information of the sensitive information of the status information of row device and/or the environmental information of the unmanned vehicle.
The sensor is connected with MCU communications, and MCU obtains the status information of the unmanned vehicle by sensor and/or is somebody's turn to do
The environmental information of unmanned vehicle, the status information include following at least one：Offline mode, flying speed, weight, electric power electricity
The working condition in source, the image information for carrying carrier zones；The environmental information includes following at least one：Whether surrounding blocks
Object, geographical location, geographical environment, climatic environment, air environment.
Specifically, sensor includes following at least one：Carrying carrier zones for obtaining the unmanned vehicle
The imaging sensor of image information, the electrical parameter sensing of the electrical parameter information of the electrical source of power for obtaining the unmanned vehicle
Device；Wherein, imaging sensor can be the capture apparatus such as camera, camera, and the capture apparatus is for shooting the unmanned vehicle
Carrying carrier zones image and/or the image below the unmanned vehicle；The electrical source of power of the unmanned vehicle can be
Battery.
Step S102, according to the sensitive information, determine whether the unmanned vehicle overloads；
MCU according to above-mentioned sensitive information, as offline mode, flying speed, weight, the electrical parameter information of electric supply,
The image informations of carrier zones, the image etc. below unmanned vehicle are carried, determines whether the unmanned vehicle overloads, determines
The method whether unmanned vehicle overloads includes following at least one：1) MCU is according to the offline mode of unmanned vehicle, flight
Speed, weight determine the nominal electrical parameters of unmanned vehicle electric supply when flight under current state, such as rated voltage, specified
Electric current, rated power, if the current electrical parameter of the electric supply of electrical parameter sensor sensing is more than nominal electrical parameters, meanwhile, root
Determine that carrying carrier zones has carrying object according to the image information for carrying carrier zones, it is determined that unmanned vehicle overloads；2)MCU
Determining unmanned vehicle according to the offline mode of unmanned vehicle, flying speed, weight, electric power is electric when flight under current state
The nominal electrical parameters in source, such as rated voltage, rated current, rated power, if the electric supply of electrical parameter sensor sensing is worked as
Preceding electrical parameter is more than nominal electrical parameters, meanwhile, determine there is screening below unmanned vehicle according to the image below unmanned vehicle
Block material, it is determined that unmanned vehicle overloads；3) MCU determines that the current electrical parameter of the electric supply of electrical parameter sensor sensing is more than
Nominal electrical parameters determine that carrying carrier zones has carrying object according to the image information for carrying carrier zones, meanwhile, according to nobody
Image below aircraft determines there is shelter below unmanned vehicle, it is determined that unmanned vehicle overloads.
If step S103, the described unmanned vehicle overload, executes corresponding protection instruction.
Unmanned vehicle overload in order to prevent leads to air crash, after MCU determines the unmanned vehicle overload, is immediately performed
Corresponding protection instruction, for example, user's remote control equipment earthward sends the prompt message of unmanned vehicle overload, user according to
The prompt message is immediately controlled nobody after determining unmanned vehicle overload to unmanned vehicle transmission landing instruction or MCU and flies
Unmanned vehicle airborne parachute is opened in row device forced landing while forced landing, so as to unmanned vehicle safe landing,
Fuselage is avoided to be damaged when landing in an emergency.
The embodiment of the present invention obtains the sensitive information of the sensor of unmanned vehicle carrying by the MCU of flight controller,
Sensitive information can be the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, pass through unmanned vehicle
Status information and/or the environmental information of unmanned vehicle can determine unmanned plane under current state when flight, the power of unmanned plane
Power supply whether load operation, meanwhile, according to unmanned plane whether equipped with whether being blocked below object and/or unmanned vehicle
Object, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and more
A condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Embodiment two
Second embodiment of the present invention provides a kind of control methods of unmanned vehicle.Fig. 2 is provided by Embodiment 2 of the present invention
The control method flow chart of unmanned vehicle.On the basis of embodiment one, unmanned vehicle provided by Embodiment 2 of the present invention
Control method be as follows：
Step S201, the sensitive information of the sensor of the unmanned vehicle carrying is obtained；
Specifically, the sensor includes following at least one：Carrying carrier area for obtaining the unmanned vehicle
The imaging sensor of the image information in domain, the electrical parameter of the electrical parameter information of the electrical source of power for obtaining the unmanned vehicle
Sensor.
Step S202, according to the image information of the carrying carrier zones of the unmanned vehicle, the unmanned flight is determined
Whether device is equipped with carrier；
Specifically, which is camera, which is arranged the fuselage in unmanned vehicle, for shooting this
The image of the carrying carrier zones of unmanned vehicle, MCU are connected with camera communication, the unmanned vehicle that camera is shot
The image informations of carrying carrier zones be sent to MCU, image informations of the MCU to the carrying carrier zones of the unmanned vehicle
Image procossing is carried out, determines in described image information whether there is object, if there is object, it is determined that unmanned flight is equipped with carrier.
Step S203, according to the electrical parameter information of the electrical source of power of the unmanned vehicle, the unmanned vehicle is determined
Whether it is short of power；
The electrical parameter information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
Electrical parameter sensor is electrically connected with the electrical source of power of unmanned vehicle such as battery, and electrical parameter sensor acquisition is dynamic
The electrical parameter information of power power supply, electrical parameter information include following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
Electrical parameter sensor detects the electrical parameter information of battery in real time, and the electrical parameter information of battery is sent to MCU, and MCU is according to electricity
The electrical parameter information in pond determines whether unmanned vehicle is short of power, for example, judging whether the present discharge power of battery is less than
Whether whether the rated power of battery, the current voltage of battery are less than the current flow of rated voltage and/or battery less than specified
Electric current；Furthermore it is also possible to current discharge power is calculated according to the current voltage of battery and internal resistance, or according to the current of battery
Electric current and internal resistance calculate current discharge power, judge whether the present discharge power of battery is less than the rated power of battery.If
The present discharge power of battery is less than the rated power of battery, the current voltage of battery is less than rated voltage and/or battery is worked as
Preceding electric current is less than rated current, it is determined that unmanned vehicle is short of power.
If step S204, the described unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, described in determination
Unmanned vehicle overloads；
According to step S203 and step S204, if MCU determines unmanned vehicle equipped with carrier, and unmanned vehicle power
It is insufficient, it is determined that the unmanned vehicle overload.
If step S205, the described unmanned vehicle overload, executes corresponding protection instruction.
Unmanned vehicle overload in order to prevent leads to air crash, after MCU determines the unmanned vehicle overload, is immediately performed
Corresponding protection instruction, corresponding protection instruction include following at least one：It is sent to user for prompting the unmanned flight
The prompt message of device overload, returns to home points immediately, and the airborne parachute of the unmanned vehicle is opened in forced landing immediately.
The embodiment of the present invention carries out image procossing with true by the image information of the carrying carrier zones to unmanned vehicle
Whether unmanned vehicle is determined equipped with carrier, compares the electrical parameter information of the electrical source of power of unmanned vehicle and the size of rated value
To determine whether unmanned vehicle is short of power, if unmanned vehicle, equipped with carrier, and unmanned vehicle is short of power, then really
Determine unmanned vehicle overload, whether the embodiment of the present invention is short of power from unmanned vehicle and whether equipped with two conditions of carrier
Determine whether unmanned vehicle overloads, and when two conditions meet simultaneously determines that unmanned vehicle overloads, and improves nobody and flies
The accuracy of row device overload detection.
Embodiment three
The embodiment of the present invention three provides a kind of control method of unmanned vehicle.Fig. 3 is what the embodiment of the present invention three provided
The control method flow chart of unmanned vehicle.On the basis of embodiment two, the unmanned vehicle of the offer of the embodiment of the present invention three
Control method be as follows：
Step S301, the sensitive information of the sensor of the unmanned vehicle carrying is obtained；
In embodiments of the present invention, the sensor includes following at least one：For obtaining the unmanned vehicle
The imaging sensor for carrying the image information of carrier zones, the electrical parameter letter of the electrical source of power for obtaining the unmanned vehicle
The electrical parameter sensor of breath, the weighing sensor or gravity sensor of the quality for obtaining the unmanned vehicle.
Step S302, according to the image information of the carrying carrier zones of the unmanned vehicle, the unmanned flight is determined
Whether device is equipped with carrier；
Step S302 is specifically consistent with step S202, and specific method repeats no more.
Step S303, it is calculated according to preset algorithm model according to the quality of the unmanned vehicle and current flight pattern
The preset range of the discharge power of the electrical source of power, wherein the preset algorithm model includes the quality of unmanned vehicle, nothing
The correspondence of the preset range of the offline mode of people's aircraft and the discharge power of the electrical source of power；
In embodiments of the present invention, MCU is electrically connected with weighing sensor or gravity sensor, obtains weighing sensor or again
The quality of the unmanned vehicle of force snesor sensing.MCU is also electrically connected with the offline mode detection circuit of unmanned vehicle, this flies
Row pattern detection circuit is used to detect the offline mode of unmanned vehicle, and the offline mode is sent to MCU.In addition, MCU is deposited
Contain preset algorithm model, the preset algorithm model be the unmanned vehicle derived according to mass data quality, nobody fly
The algorithm of preset range three's correspondence of the offline mode of row device and the discharge power of electrical source of power, if electrical source of power is put
Electrical power is in the preset range, it is ensured that the unmanned vehicle of quality normal flight under the offline mode.Specifically,
The nothing of the quality and the detection of offline mode detection circuit of the unmanned vehicle that MCU is sensed according to weighing sensor or gravity sensor
The current flight pattern of people's aircraft calculates the default model of the discharge power of the electrical source of power according to the preset algorithm model
It encloses.
If the present discharge power of the electrical source of power of step S304, the described unmanned vehicle exceeds the preset range, really
The fixed unmanned vehicle is short of power；
Preferably, the electrical parameter information is discharge power, and the electrical parameter sensor in the embodiment of the present invention senses battery
Discharge power, MCU according to electrical parameter sensor sensing battery present discharge power, determine the present discharge power of battery
Whether exceed according to the calculated preset range of preset algorithm model, if the present discharge power of battery exceeds the preset range,
Then determine that unmanned vehicle is short of power.
If step S305, the described unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, described in determination
Unmanned vehicle overloads；
If step S306, the described unmanned vehicle overload, executes corresponding protection instruction.
Step S305 is consistent with the method for step S204, and step S306 is consistent with the method for step S205, specific method this
Place repeats no more.
The quality for the unmanned vehicle that the embodiment of the present invention is sensed by MCU according to weighing sensor or gravity sensor and
The current flight pattern of the unmanned vehicle of offline mode detection circuit detection calculates unmanned vehicle according to preset algorithm model
Battery discharge power preset range, and according to electrical parameter sensor sensing battery present discharge power, determine electricity
Whether the present discharge power in pond exceeds according to the calculated preset range of preset algorithm model, if the present discharge power of battery
Beyond the preset range, it is determined that unmanned vehicle is short of power, and aircraft power deficiency is improved according to preset algorithm model
Accuracy of detection, further improve unmanned vehicle overload detection accuracy.
Example IV
The embodiment of the present invention four provides a kind of control system of unmanned vehicle.Fig. 4 is what the embodiment of the present invention four provided
The structure chart of the control system of unmanned vehicle, as shown in figure 4, the control system 40 of the unmanned vehicle includes one or more
A processor 41, the processor 41 are used to obtain the sensitive information of the sensor of the unmanned vehicle carrying；According to described
Sensitive information, determines whether the unmanned vehicle overloads；If the unmanned vehicle overload executes corresponding protection and refers to
It enables.
Processor 41 can be to be loaded in the chip or the micro-control unit of control program to be provided with functional circuit module
Circuit board.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically used for executing what above-mentioned Fig. 1 was provided
Embodiment of the method, details are not described herein again for concrete function.
The embodiment of the present invention obtains the sensitive information of the sensor of unmanned vehicle carrying by the MCU of flight controller,
Sensitive information can be the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, pass through unmanned vehicle
Status information and/or the environmental information of unmanned vehicle can determine unmanned plane under current state when flight, the power of unmanned plane
Power supply whether load operation, meanwhile, according to unmanned plane whether equipped with whether being blocked below object and/or unmanned vehicle
Object, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and more
A condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Further, as shown in figure 4, the control system 40 of unmanned vehicle further includes sensor 42, the sensor 42
With the processor 41 communicate connect, the sensor 42 be used for obtain the unmanned vehicle status information and/or institute
State the sensitive information of the environmental information of unmanned vehicle.
Embodiment five
The embodiment of the present invention five provides a kind of control system of unmanned vehicle.Fig. 5 is what the embodiment of the present invention five provided
The structure chart of the control system of unmanned vehicle, as shown in figure 5, on the basis of example IV, the sensor 42 includes such as
Lower at least one：The imaging sensor 421 of the image information of carrying carrier zones for obtaining the unmanned vehicle, is used for
Obtain the electrical parameter sensor 422 of the electrical parameter information of the electrical source of power of the unmanned vehicle.
Further, processor 41 is determined with specific reference to the image information of the carrying carrier zones of the unmanned vehicle
Whether the unmanned vehicle is equipped with carrier；According to the electrical parameter information of the electrical source of power of the unmanned vehicle, institute is determined
State whether unmanned vehicle is short of power；If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power,
Determine the unmanned vehicle overload.
Further, corresponding protection instruction includes following at least one：It is sent to user for prompting the nothing
The prompt message of people's aircraft overload, returns to home points immediately, and the airborne drop of the unmanned vehicle is opened in forced landing immediately
Fall umbrella.
Preferably, processor 41 carries out image procossing to the image information of the carrying carrier zones of the unmanned vehicle,
Determine in described image information whether there is object.
Preferably, the electrical parameter information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically used for executing what above-mentioned Fig. 2 was provided
Embodiment of the method, details are not described herein again for concrete function.
The embodiment of the present invention carries out image procossing with true by the image information of the carrying carrier zones to unmanned vehicle
Whether unmanned vehicle is determined equipped with carrier, compares the electrical parameter information of the electrical source of power of unmanned vehicle and the size of rated value
To determine whether unmanned vehicle is short of power, if unmanned vehicle, equipped with carrier, and unmanned vehicle is short of power, then really
Determine unmanned vehicle overload, whether the embodiment of the present invention is short of power from unmanned vehicle and whether equipped with two conditions of carrier
Determine whether unmanned vehicle overloads, and when two conditions meet simultaneously determines that unmanned vehicle overloads, and improves nobody and flies
The accuracy of row device overload detection.
Embodiment six
The embodiment of the present invention six provides a kind of control system of unmanned vehicle.Fig. 6 is what the embodiment of the present invention six provided
The structure chart of the control system of unmanned vehicle, as shown in fig. 6, on the basis of embodiment five, it is preferable that the electrical parameter letter
Breath is discharge power.
Further, sensor 42 further includes the weighing sensor or gravity of the quality for obtaining the unmanned vehicle
Sensor, as shown in fig. 6, sensor 42 further includes gravity sensor 423.Processor 41 is with specific reference to the unmanned vehicle
Quality and current flight pattern calculate the preset range of the discharge power of the electrical source of power according to preset algorithm model, wherein
The preset algorithm model include the quality of unmanned vehicle, unmanned vehicle offline mode and the electrical source of power electric discharge
The correspondence of the preset range of power；If the present discharge power of the electrical source of power of the unmanned vehicle is beyond described default
Range determines that the unmanned vehicle is short of power.
The control system of unmanned vehicle provided in an embodiment of the present invention can be specifically used for executing what above-mentioned Fig. 3 was provided
Embodiment of the method, details are not described herein again for concrete function.
The quality for the unmanned vehicle that the embodiment of the present invention is sensed by MCU according to weighing sensor or gravity sensor and
The current flight pattern of the unmanned vehicle of offline mode detection circuit detection calculates unmanned vehicle according to preset algorithm model
Battery discharge power preset range, and according to electrical parameter sensor sensing battery present discharge power, determine electricity
Whether the present discharge power in pond exceeds according to the calculated preset range of preset algorithm model, if the present discharge power of battery
Beyond the preset range, it is determined that unmanned vehicle is short of power, and aircraft power deficiency is improved according to preset algorithm model
Accuracy of detection, further improve unmanned vehicle overload detection accuracy.
Embodiment seven
The embodiment of the present invention seven provides a kind of unmanned vehicle.Fig. 7 is the unmanned vehicle that the embodiment of the present invention seven provides
Structural schematic diagram.As shown in fig. 7, the unmanned vehicle in the present embodiment may include：Fuselage, dynamical system 1001, spiral
Paddle 1002, control system 1003；Dynamical system 1001 is mounted on the fuselage, for providing flying power；Control system 1003
It is electrically connected with dynamical system 1001, for controlling the dynamical system 1001, control system 1003 includes flight controller, flight
Controller includes one or more processors, and the processor is used for：Obtain the sense of the sensor of the unmanned vehicle carrying
Measurement information；According to the sensitive information, determine whether the unmanned vehicle overloads；If the unmanned vehicle overload, holds
The corresponding protection instruction of row.
Processor 41 can be to be loaded in the chip or the micro-control unit of control program to be provided with functional circuit module
Circuit board.
The control system 1003 of the embodiment of the present invention, can be arranged in the lower section of dynamical system 1001 or unmanned flight
Other suitable places of device.Structure, function and the connection relation of each component in control system 1003 with example IV class
Seemingly, details are not described herein again.
The embodiment of the present invention obtains the sensitive information of the sensor of unmanned vehicle carrying by the MCU of flight controller,
Sensitive information can be the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, pass through unmanned vehicle
Status information and/or the environmental information of unmanned vehicle can determine unmanned plane under current state when flight, the power of unmanned plane
Power supply whether load operation, meanwhile, according to unmanned plane whether equipped with whether being blocked below object and/or unmanned vehicle
Object, determines whether unmanned vehicle overloads, and the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions, and more
A condition determines that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection.
Further, control system 1003 further includes：Sensor, the sensor are connected with processor communication, institute
State the sensing of status information of the sensor for obtaining the unmanned vehicle and/or the unmanned vehicle environmental information
Information.
Preferably, the sensor includes following at least one：Carrying carrier area for obtaining the unmanned vehicle
The imaging sensor of the image information in domain, the electrical parameter of the electrical parameter information of the electrical source of power for obtaining the unmanned vehicle
Sensor.
On the basis of the technical solution that above-described embodiment seven provides, it is preferred that the processor is with specific reference to described
Whether the image information of the carrying carrier zones of unmanned vehicle, determine the unmanned vehicle equipped with carrier；According to described
The electrical parameter information of the electrical source of power of unmanned vehicle, determines whether the unmanned vehicle is short of power；If described, nobody flies
Row device is equipped with carrier, and the unmanned vehicle is short of power, and determines the unmanned vehicle overload.
Corresponding protection instruction includes following at least one：It is sent to user for prompting the unmanned vehicle super
The prompt message of load, returns to home points immediately, and the airborne parachute of the unmanned vehicle is opened in forced landing immediately.
Further, the processing implement body carries out figure to the image information of the carrying carrier zones of the unmanned vehicle
As processing, determine in described image information whether there is object.
The electrical parameter information includes following at least one：Discharge power, electricity, voltage, electric current and internal resistance.
Preferably, the electrical parameter information is discharge power；The sensor further includes for obtaining the unmanned flight
The weighing sensor or gravity sensor of the quality of device；The processor is with specific reference to the quality of the unmanned vehicle and current
Offline mode calculates the preset range of the discharge power of the electrical source of power according to preset algorithm model, wherein the pre- imputation
Method model includes the default of the discharge power of the quality of unmanned vehicle, the offline mode of unmanned vehicle and the electrical source of power
The correspondence of range；If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, determine
The unmanned vehicle is short of power.
In conclusion the embodiment of the present invention obtains the sensor of unmanned vehicle carrying by the MCU of flight controller
Sensitive information, sensitive information can be the status information of unmanned vehicle and/or the environmental information of unmanned vehicle, by nobody
The status information of aircraft and/or the environmental information of unmanned vehicle can determine unmanned plane under current state when flight, nobody
The electrical source of power of machine whether load operation, meanwhile, according to unmanned plane whether equipped with below object and/or unmanned vehicle whether
There is shelter, determines whether unmanned vehicle overloads, the embodiment of the present invention determines whether unmanned vehicle overloads from multiple conditions,
And multiple conditions determine that unmanned vehicle overloads when meeting simultaneously, improve the accuracy of unmanned vehicle overload detection；It is logical
Cross the carrying carrier zones to unmanned vehicle image information carry out image procossing with determine unmanned vehicle whether equipped with
Carrier compares the electrical parameter information of the electrical source of power of unmanned vehicle and the size of rated value to determine whether unmanned vehicle moves
Power is insufficient, if unmanned vehicle, equipped with carrier, and unmanned vehicle is short of power, it is determined that unmanned vehicle overloads, this hair
Whether bright embodiment is short of power from unmanned vehicle and whether equipped with two conditions of carrier determines whether unmanned vehicle surpasses
It carries, and when two conditions meet simultaneously determines that unmanned vehicle overloads, and improves the accuracy of unmanned vehicle overload detection；
Quality and the detection of offline mode detection circuit by MCU according to weighing sensor or the unmanned vehicle of gravity sensor sensing
Unmanned vehicle current flight pattern, according to preset algorithm model calculate unmanned vehicle battery discharge power it is pre-
If range, and according to electrical parameter sensor sensing battery present discharge power, determine battery present discharge power whether
Beyond according to the calculated preset range of preset algorithm model, if the present discharge power of battery exceeds the preset range, really
Determine unmanned vehicle to be short of power, improves the insufficient accuracy of detection of aircraft power according to preset algorithm model, further carry
The high accuracy of unmanned vehicle overload detection.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function module
Division progress for example, in practical application, can be complete by different function modules by above-mentioned function distribution as needed
At the internal structure of device being divided into different function modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (20)
1. a kind of control method of unmanned vehicle, which is characterized in that including：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction；
It is described to determine whether the unmanned vehicle overloads according to the sensitive information, including：
According to the image information of the carrying carrier zones of the unmanned vehicle, determine the unmanned vehicle whether equipped with load
Body；
According to the electrical parameter information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle is super
It carries.
2. according to the method described in claim 1, it is characterized in that, the sensor includes following at least one：For obtaining
The imaging sensor of the image information of the carrying carrier zones of the unmanned vehicle, for obtaining the dynamic of the unmanned vehicle
The electrical parameter sensor of the electrical parameter information of power power supply.
3. according to the method described in claim 2, it is characterized in that, corresponding protection instruction includes following at least one：
The prompt message for prompting the unmanned vehicle to overload is sent to user, returns to home points immediately, forced landing immediately is beaten
Open the airborne parachute of the unmanned vehicle.
4. according to the method described in claim 3, it is characterized in that, the carrying carrier zones according to the unmanned vehicle
Image information, whether determine the unmanned vehicle equipped with carrier, including：
Image procossing is carried out to the image information of the carrying carrier zones of the unmanned vehicle, determining in described image information is
It is no to have object.
5. according to claim 2-4 any one of them methods, which is characterized in that the electrical parameter information includes following at least one
Kind：
Discharge power, electricity, voltage, electric current and internal resistance.
6. according to the method described in claim 5, it is characterized in that, the electrical parameter information is discharge power；
The sensor further includes the weighing sensor or gravity sensor of the quality for obtaining the unmanned vehicle；
The electrical parameter information of the electrical source of power according to the unmanned vehicle, determine the unmanned vehicle whether power not
Foot, including：
According to the quality of the unmanned vehicle and current flight pattern according to preset algorithm model, the electrical source of power is calculated
The preset range of discharge power, wherein the preset algorithm model includes the flight of the quality of unmanned vehicle, unmanned vehicle
The correspondence of the preset range of the discharge power of pattern and the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
7. a kind of control system of unmanned vehicle, which is characterized in that including one or more processors, the processor is used
In：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction；
The processor determines the unmanned flight with specific reference to the image information of the carrying carrier zones of the unmanned vehicle
Whether device is equipped with carrier；
According to the electrical parameter information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle is super
It carries.
8. the control system of unmanned vehicle according to claim 7, which is characterized in that further include：
Sensor, the sensor are connected with processor communication, and the sensor is for obtaining the unmanned vehicle
The sensitive information of the environmental information of status information the and/or described unmanned vehicle.
9. the control system of unmanned vehicle according to claim 8, which is characterized in that the sensor include such as down toward
Few one kind：The imaging sensor of the image information of carrying carrier zones for obtaining the unmanned vehicle, for obtaining
State the electrical parameter sensor of the electrical parameter information of the electrical source of power of unmanned vehicle.
10. the control system of unmanned vehicle according to claim 9, which is characterized in that corresponding protection instruction
Including following at least one：The prompt message for prompting the unmanned vehicle to overload is sent to user, returns to home immediately
The airborne parachute of the unmanned vehicle is opened in point, immediately forced landing.
11. the control system of unmanned vehicle according to claim 10, which is characterized in that the processing implement body is to institute
The image information for stating the carrying carrier zones of unmanned vehicle carries out image procossing, determines in described image information whether there is object
Body.
12. according to the control system of claim 9-11 any one of them unmanned vehicles, which is characterized in that the electrical parameter
Information includes following at least one：
Discharge power, electricity, voltage, electric current and internal resistance.
13. the control system of unmanned vehicle according to claim 12, which is characterized in that the electrical parameter information is to put
Electrical power；
The sensor further includes the weighing sensor or gravity sensor of the quality for obtaining the unmanned vehicle；
The processor with specific reference to the unmanned vehicle quality and current flight pattern according to preset algorithm model, calculate
The preset range of the discharge power of the electrical source of power, wherein the preset algorithm model includes the quality of unmanned vehicle, nothing
The correspondence of the preset range of the offline mode of people's aircraft and the discharge power of the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
14. a kind of unmanned vehicle, which is characterized in that including：
Fuselage；
Dynamical system is mounted on the fuselage, for providing flying power；
Control system is electrically connected with the dynamical system, for controlling the dynamical system, the control system include one or
Multiple processors, the processor are used for：
Obtain the sensitive information of the sensor of the unmanned vehicle carrying；
According to the sensitive information, determine whether the unmanned vehicle overloads；
If the unmanned vehicle overload executes corresponding protection instruction；
The processor determines the unmanned flight with specific reference to the image information of the carrying carrier zones of the unmanned vehicle
Whether device is equipped with carrier；
According to the electrical parameter information of the electrical source of power of the unmanned vehicle, determine whether the unmanned vehicle is short of power；
If the unmanned vehicle is equipped with carrier, and the unmanned vehicle is short of power, and determines that the unmanned vehicle is super
It carries.
15. unmanned vehicle according to claim 14, which is characterized in that the control system further includes：
Sensor, the sensor are connected with processor communication, and the sensor is for obtaining the unmanned vehicle
The sensitive information of the environmental information of status information the and/or described unmanned vehicle.
16. unmanned vehicle according to claim 15, which is characterized in that the sensor includes following at least one：
For obtain the unmanned vehicle carrying carrier zones image information imaging sensor, for obtain it is described nobody fly
The electrical parameter sensor of the electrical parameter information of the electrical source of power of row device.
17. unmanned vehicle according to claim 16, which is characterized in that corresponding protection instruction include such as down toward
Few one kind：The prompt message for prompting the unmanned vehicle to overload is sent to user, returns to home points immediately, immediately promptly
Landing, opens the airborne parachute of the unmanned vehicle.
18. unmanned vehicle according to claim 17, which is characterized in that the processing implement body is to the unmanned flight
The image information of the carrying carrier zones of device carries out image procossing, determines in described image information whether there is object.
19. according to claim 16-18 any one of them unmanned vehicles, which is characterized in that the electrical parameter information includes
It is following at least one：
Discharge power, electricity, voltage, electric current and internal resistance.
20. unmanned vehicle according to claim 19, which is characterized in that the electrical parameter information is discharge power；
The sensor further includes the weighing sensor or gravity sensor of the quality for obtaining the unmanned vehicle；
The processor with specific reference to the unmanned vehicle quality and current flight pattern according to preset algorithm model, calculate
The preset range of the discharge power of the electrical source of power, wherein the preset algorithm model includes the quality of unmanned vehicle, nothing
The correspondence of the preset range of the offline mode of people's aircraft and the discharge power of the electrical source of power；
If the present discharge power of the electrical source of power of the unmanned vehicle exceeds the preset range, the unmanned flight is determined
Device is short of power.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/080794 WO2017185363A1 (en) | 2016-04-29 | 2016-04-29 | Method, apparatus, and system for controlling unmanned aerial vehicle |
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| CN106687371A CN106687371A (en) | 2017-05-17 |
| CN106687371B true CN106687371B (en) | 2018-10-30 |
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| WO (1) | WO2017185363A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| PL422312A1 (en) * | 2017-07-21 | 2019-01-28 | Advanced Protection Systems Spółka Z Ograniczoną Odpowiedzialnością | Multi-sensor detection, classification and neutralization system of the unmanned aircrafts, ensuring all round protection without blind spots |
| CN116674386A (en) * | 2018-01-19 | 2023-09-01 | 深圳市大疆创新科技有限公司 | Battery safety prompt system |
| CN110108341B (en) * | 2018-02-01 | 2022-12-02 | 北京京东乾石科技有限公司 | Automatic weighing method and system for unmanned aerial vehicle |
| CN108750142B (en) * | 2018-04-19 | 2022-03-29 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle weight measurement method and system |
| WO2020107451A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for movable platform, movable platform and storage medium |
| CN110040245B (en) * | 2019-04-30 | 2022-04-22 | 中北大学 | Aircraft with overload sensor and installation error calibration system |
| WO2021114198A1 (en) * | 2019-12-13 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Management method and device |
| CN111977004A (en) * | 2020-08-31 | 2020-11-24 | 广州极飞科技有限公司 | Overload protection method and device and aircraft |
| CN113815859B (en) * | 2021-09-26 | 2023-12-05 | 广州极飞科技股份有限公司 | Unmanned equipment take-off control method, unmanned equipment take-off control device, unmanned equipment take-off control equipment and storage medium |
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| WO2016008125A1 (en) * | 2014-07-16 | 2016-01-21 | 深圳市大疆创新科技有限公司 | Electric unmanned aerial vehicle and intelligent electric quantity protection method therefor |
| CN104932521A (en) * | 2015-05-28 | 2015-09-23 | 江西洪都航空工业集团有限责任公司 | Unmanned plane parachute-throwing method based on overload size determination |
| CN204916202U (en) * | 2015-07-29 | 2015-12-30 | 深圳市大疆创新科技有限公司 | Unmanned vehicles's protector , Protection system and unmanned vehicles |
| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN105334861A (en) * | 2015-10-18 | 2016-02-17 | 上海圣尧智能科技有限公司 | Unmanned plane flight control module, unmanned plane flight control system and unmanned plane |
| CN205169496U (en) * | 2015-11-06 | 2016-04-20 | 中国航空工业经济技术研究院 | Aerial commodity circulation unmanned aerial vehicle article hang system of putting |
| CN105302154B (en) * | 2015-11-08 | 2018-09-18 | 杨珊珊 | Unmanned vehicle for monitoring conveying articles and its monitoring method |
| CN105334865A (en) * | 2015-11-24 | 2016-02-17 | 余江 | Battery monitor-based flight control method and flight control device |
| CN105487383B (en) * | 2016-01-27 | 2018-01-16 | 谭圆圆 | A kind of unmanned vehicle load control method and device |
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Effective date of registration: 20240521 Address after: Building 3, Xunmei Science and Technology Plaza, No. 8 Keyuan Road, Science and Technology Park Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518057, 1634 Patentee after: Shenzhen Zhuoyu Technology Co.,Ltd. Country or region after: China Address before: 518057 Shenzhen Nanshan High-tech Zone, Shenzhen, Guangdong Province, 6/F, Shenzhen Industry, Education and Research Building, Hong Kong University of Science and Technology, No. 9 Yuexingdao, South District, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. Country or region before: China |