CN106716284A - Control method, device and system, aircraft, carrier and manipulator - Google Patents
Control method, device and system, aircraft, carrier and manipulator Download PDFInfo
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- CN106716284A CN106716284A CN201680002473.2A CN201680002473A CN106716284A CN 106716284 A CN106716284 A CN 106716284A CN 201680002473 A CN201680002473 A CN 201680002473A CN 106716284 A CN106716284 A CN 106716284A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
Provided are a control method, device and system, an aircraft, a carrier and a manipulator. The method comprises the following steps: determining the flight mode of the aircraft; controlling the motion of the carrier of the aircraft by using a first upright control mode when determining the flight mode as the upright flight mode; adopting a first inversion control mode when determining the flight mode as the inverted flight mode The control mode controls the movement of the carrier, wherein the movement state of the control carrier is changed in the first upright control mode in accordance with the same control command in a manner different from the change in the state of motion of the carrier in the first inverted control mode such that When the flight mode of the aircraft is changed, there is no need to change the manipulation habits of the carrier carried by the aircraft of users, thereby enhancing experience of users.
Description
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or is somebody's turn to do
Patent is disclosed.
Technical field
The present embodiments relate to control technology field, more particularly to a kind of control method, device and system, aircraft,
Carrier and manipulation device.
Background technology
With the development of airmanship, aircraft, for example, UAV (Unmanned Aerial Vehicle, unmanned flight
Device), also referred to as unmanned plane, from it is military develop into it is more and more extensive civilian, for example, UAV plant protection, UAV aviations are clapped
Take the photograph, UAV Forest Fires police commissioner control etc., and civil nature is also the trend of UAV future developments.
Under some scenes, UAV can carry the load for performing particular task by carrier (carrier)
(payload).For example, when Aerial photography is carried out using UAV, UAV can carry capture apparatus by head.In some situations
Under, according to the difference of flight environment of vehicle, UAV may need flying upside down, for example, when Forest Fire police commissioner control is carried out, it may be necessary to
Shoot the target above aircraft.
However, when UAV flying upside downs, because the flight attitude of UAV there occurs upset so that the user of UAV has to
Change original manipulation custom to adapt to the upset of the flight attitude of UAV, so as to the manipulation to user to the equipment on UAV brings
Inconvenience.
It would therefore be highly desirable to provide a kind of can facilitate user to manipulate the equipment on UAV in flying machine flying upside down
Technical scheme.
The content of the invention
The embodiment of the present invention provides a kind of control method, device and system, aircraft, carrier and manipulation device, Neng Gou
User is facilitated to manipulate the equipment on UAV during flying machine flying upside down.
On the one hand, there is provided a kind of control method.The control method includes：Determine the offline mode of aircraft；It is determined that
When offline mode is upright offline mode, using the motion of the carrier of the first upright control model control aircraft；It is determined that flying
When row mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, according to identical control
Instruction, controls the variation pattern of the motion state of carrier to be different from the first handstand control model under the first upright control model
The variation pattern of the motion state of lower control carrier, carrier is used for carry load.
On the other hand, there is provided a kind of control method.The control method includes：Determine the offline mode of aircraft；True
When determining offline mode for upright offline mode, the attitude of aircraft is controlled using the first upright control model；It is determined that flight mould
When formula is flying upside down pattern, the attitude of aircraft is controlled using the first handstand control model, wherein, referred to according to identical control
Order, controls the variation pattern of the attitude of aircraft to be different from being controlled under the first handstand control model under the first upright control model
The variation pattern of the attitude of aircraft processed.
On the other hand, there is provided a kind of control method.The control method includes：The commanding apparatus of aircraft determines aircraft
Offline mode；Commanding apparatus is it is determined that offline mode is upright offline mode and receives the first control instruction of user input
When, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control the attitude of aircraft
The change of the motion state of change or carrier；Commanding apparatus is it is determined that the offline mode of aircraft is flying upside down pattern and reception
To user input the first control instruction when, the first control instruction is converted into the second control instruction, and to aircraft or flight
The carrier of device sends the second control instruction, wherein, the variation pattern of the attitude of the first control instruction control aircraft or carrier
The change of the variation pattern or carrier movement state of the attitude of the variation pattern of motion state and the second control instruction control aircraft
Change mode is different.
On the other hand, there is provided a kind of control device.The control device includes：Determining module, for determining aircraft
Offline mode；Control module, for when it is upright offline mode that determining module determines offline mode, using the first upright control
The motion of the carrier of Schema control aircraft, when it is flying upside down pattern that determining module determines offline mode, falls using first
Vertical control model controls the motion of carrier, wherein, according to identical control instruction, carrier is controlled under the first upright control model
Motion state variation pattern be different under the first handstand control model control carrier motion state variation pattern, carry
Body is used for carry load.
On the other hand, there is provided a kind of control device.The control device includes：Determining module, for determining aircraft
Offline mode；Control module, for when it is upright offline mode that determining module determines offline mode, using the first upright control
The attitude of Schema control aircraft, and when it is flying upside down pattern that determining module determines offline mode, stood upside down using first
Control model controls the attitude of aircraft, wherein controlling the variation pattern of the attitude of aircraft under the first upright control model not
It is same as the variation pattern of the attitude of control aircraft under the first handstand control model.
On the other hand, there is provided a kind of control device.The control device includes：Determining module, determining module, for determining
The offline mode of aircraft；Sending module, for determining offline mode for upright offline mode in determining module and receiving use
During the first control instruction of family input, the first control instruction is sent to the carrier of aircraft or aircraft；Modular converter, for
Determining module determines that the offline mode of aircraft, will for flying upside down pattern and when receiving the first control instruction of user input
First control instruction is converted to the second control instruction, and wherein sending module is additionally operable to send the to the carrier of aircraft or aircraft
Two control instructions, the first control instruction is used for change or the motion state of carrier of the attitude for controlling aircraft, and the first control refers to
The variation pattern of the motion state of the variation pattern or carrier of the attitude of order control aircraft and the control flight of the second control instruction
The variation pattern of the attitude of device or the variation pattern of carrier movement state are different, and carrier is used for carry load.
On the other hand, there is provided a kind of flight control system.The flight control system includes：Processor and memory, its
Middle memory is used to store instruction cause that processor is used to select corresponding control model according to the offline mode of aircraft；
Wherein when it is determined that offline mode is upright offline mode, the load of aircraft is controlled using the first upright control model
The motion of body, when it is determined that offline mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model, its
In, according to identical control instruction, control the variation pattern of the motion state of carrier to be different under the first upright control model
The variation pattern of the motion state of carrier, carrier are controlled under the first handstand control model is used for carry load.
On the other hand, there is provided a kind of control system of carrier.The control system of the carrier includes：Processor and storage
Device, wherein, memory is used to store instruction cause that processor is used for according to the corresponding control of the offline mode of aircraft selection
Pattern；Wherein, when it is determined that offline mode is upright offline mode, the motion of carrier is controlled using the first upright control model,
When it is determined that offline mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, according to phase
Same control instruction, controls the variation pattern of the motion state of carrier to be different from being stood upside down first under the first upright control model
The variation pattern of the motion state of carrier, carrier are controlled under control model is used for carry load.
On the other hand, there is provided a kind of flight control system.The flight control system includes：Processor and memory, its
Middle memory is used for store instruction to cause that processor is used to select corresponding control model according to the offline mode of aircraft, its
In when it is determined that offline mode is upright offline mode, the attitude of aircraft is controlled using the first upright control model, it is determined that
When offline mode is flying upside down pattern, the attitude of aircraft is controlled using the first handstand control model, wherein, according to identical
Control instruction, controls the variation pattern of the attitude of aircraft to be different from the first handstand control mould under the first upright control model
The variation pattern of the attitude of aircraft is controlled under formula.
On the other hand, there is provided a kind of aircraft.The aircraft includes the flight control system of above-mentioned aspect；And it is multiple
Propulsion plant, the flying power for being supplied to aircraft, wherein, flight control system is communicated to connect with multiple propulsion plants,
For controlling multiple propulsion plants to work, to realize required attitude.
On the other hand, there is provided a kind of carrier.The carrier includes：Control system in terms of as described above；And one or many
Individual rotating shaft mechanism, rotating shaft mechanism includes the power set that rotating shaft and drive shaft are rotated；Wherein, control system and power set
Communication connection, for controlling power set to work, to realize required motion state.
On the other hand, there is provided a kind of manipulation device.The manipulation device includes：Processor and memory, wherein memory
For store instruction with so that processor is used to export corresponding control instruction according to the offline mode of aircraft：Transceiver, uses
In determining that offline mode is upright offline mode and when receiving the first control instruction of user input in controller, to aircraft
Or the carrier of aircraft sends the first control instruction, first control instruction is used for change or the carrier of the attitude for controlling aircraft
The change of motion state, processor, for it is determined that aircraft offline mode is for flying upside down pattern and to receive user defeated
During the first control instruction for entering, the first control instruction is converted into the second control instruction, transceiver is additionally operable to aircraft or flies
The carrier of row device sends the second control instruction, wherein, the variation pattern or carrier of the attitude of the first control instruction control aircraft
Motion state variation pattern and the second control instruction control aircraft attitude variation pattern or carrier movement state
Variation pattern is different.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the motion state using different control model control carriers changes in a different manner so that in the flight mould of aircraft
When formula changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for the embodiment of the present invention
Accompanying drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 according to an embodiment of the invention.
Fig. 2 is the indicative flowchart of the control method of aircraft according to an embodiment of the invention.
Fig. 3 A are the direction of rotation of the rotary shaft of head under upright offline mode according to one embodiment of the present of invention
Schematic diagram.
Fig. 3 B are the direction of rotation of the rotary shaft of head under flying upside down pattern according to the embodiment of of the invention
Schematic diagram.
Schematic diagram when Fig. 4 A are flight upright according to the aircraft of one embodiment of the present of invention.
Schematic diagram when Fig. 4 B are the aircraft flying upside down according to one embodiment of the present of invention.
Fig. 5 is the indicative flowchart of the control method of the aircraft of another embodiment of the present invention.
Fig. 6 is the indicative flowchart of the control method of aircraft according to another embodiment of the present invention.
Schematic diagram when Fig. 7 A are flight upright according to the aircraft of another embodiment of the present invention.
Schematic diagram when Fig. 7 B are the aircraft flying upside down according to another embodiment of the present invention.
Schematic diagram when Fig. 7 C are flight upright according to the aircraft of another embodiment of the present invention.
Schematic diagram when Fig. 7 D are the aircraft flying upside down according to another embodiment of the present invention.
Fig. 8 is the indicative flowchart of the control method of aircraft according to another embodiment of the present invention.
Fig. 9 is the structural representation of control device according to an embodiment of the invention.
Figure 10 is the structural representation of control device according to another embodiment of the present invention.
Figure 11 is the structural representation of control device according to another embodiment of the present invention.
Figure 12 is the structural representation of flight control system according to an embodiment of the invention.
Figure 13 is the structural representation of the control system of carrier according to an embodiment of the invention.
Figure 14 is the structural representation of flight control system according to another embodiment of the present invention.
Figure 15 is the structural representation of manipulation device according to an embodiment of the invention.
Figure 16 is the structural representation of aircraft according to one embodiment of present invention.
Figure 17 is the structural representation of carrier according to an embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
The embodiment provides the method and system being controlled to the equipment on UAV.Embodiments of the invention
Can apply to various types of UAV.For example, UAV can be small-sized UAV.In certain embodiments, UAV can be rotor
Aircraft (rotorcraft), for example, by multiple pushing meanss by air-driven multi-rotor aerocraft, implementation of the invention
Example is not limited to this, and UAV can also be other types of UAV or movable fixture.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 according to an embodiment of the invention.The present embodiment is with rotor
Illustrated as a example by aircraft.
Unmanned flight's system 100 can include UAV 110, carrier 12 0, display device 130 and commanding apparatus 140.Wherein,
UAV 110 can include dynamical system 150, flight control system 160 and frame 170.UAV 110 can be with commanding apparatus 140
Radio communication is carried out with display device 130.
Frame 170 can include fuselage and foot stool (also referred to as undercarriage).Fuselage can include centre frame and and center
One or more horns of frame connection, one or more horns radially extend from centre frame.Foot stool is connected with fuselage, uses
Played a supportive role in when UAV 110 lands.
Dynamical system 150 can include electron speed regulator (referred to as electricity adjust) 151, one or more rotors 153 and with
One or more corresponding motors 152 of one or more rotors 153, wherein motor 152 are connected to electron speed regulator 151 with rotation
Between the wing 153, motor 152 and rotor 153 are arranged on corresponding horn；Electron speed regulator 151 is used to receive flight controller
160 drive signals for producing, and driving current is provided to motor 152 according to drive signal, with the rotating speed of controlled motor 152.Electricity
Machine 152 is used to drive rotor wing rotation, so that for the flight of UAV 110 provides power, the power enables that UAV 110 realizes one
The motion of the individual or multiple frees degree.In certain embodiments, UAV 110 can rotate around one or more rotary shafts.For example,
Above-mentioned rotary shaft can include roll axle, translation shaft and pitch axis.It should be understood that motor 152 can be direct current generator, it is also possible to hand over
Stream motor.In addition, motor 152 can be brushless electric machine, it is also possible to brush motor.
Flight control system 160 can include flight controller 161 and sensor-based system 162.Sensor-based system 162 is used to measure
The attitude information of UAV, i.e. UAV 110 space positional information and status information, for example, three-dimensional position, three-dimensional perspective, three-dimensional
Speed, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system 162 can for example include gyroscope, electronic compass, IMU (inertia
Measuring unit, Inertial Measurement, Unit), vision sensor, GPS (global positioning system, Global
Positioning System) and the sensor such as barometer at least one.Flight controller 161 is used to control UAV 110
Flight, for example, can according to sensor-based system 162 measure attitude information control UAV 110 flight.It should be understood that flight control
Device processed 161 can be controlled according to the programmed instruction finished in advance to UAV 110, it is also possible to come from commanding apparatus by response
140 one or more control instructions are controlled to UAV 110.
Carrier 12 0 can include that electricity adjusts 121 and motor 122.Carrier 12 0 can be used to carry load 123.For example, when load
When body 120 is tripod head equipment, load 123 can be capture apparatus (for example, according to machine, video camera etc.), and embodiments of the invention are simultaneously
Not limited to this, for example, carrier can also be the load bearing equipment for carrying weapon or other loads.Flight controller 161 can be with
The motion of 121 and the control carrier 12 0 of motor 122 is adjusted by electricity.Alternatively, as an another embodiment, carrier 12 0 can also be wrapped
Controller is included, for controlling the motion of carrier 12 0 by controlling electricity tune 121 and motor 122.It should be understood that carrier 12 0 can be only
Stand on UAV 110, or a part of UAV 110.It should be understood that motor 122 can be direct current generator, it is also possible to alternating current
Machine.In addition, motor 122 can be brushless electric machine, it is also possible to brush motor.It should also be understood that carrier may be located at the top of aircraft
Portion, it is also possible to positioned at the bottom of aircraft.
Display device 130 is located at the ground surface end of unmanned flight's system 100, can be led to UAV110 wirelessly
Letter, and it is displayed for the attitude information of UAV 110.In addition, when it is capture apparatus to load 123, can also be in display
The image that capture apparatus shoot is shown in equipment 130.It should be understood that display device 130 can be independent equipment, it is also possible to set
In commanding apparatus 140.
Commanding apparatus 140 is located at the ground surface end of unmanned flight's system 100, can be led to UAV110 wirelessly
Letter, for carrying out remote control to UAV 110.Commanding apparatus for example can be remote control or the APP for being provided with control UAV
The terminal device of (application program, Application), for example, smart mobile phone, panel computer etc..In embodiments of the invention, lead to
Cross commanding apparatus receive user input, can refer to by remote control pull out the input units such as wheel, button, button, rocking bar or
User interface (UI) on person's terminal device is manipulated to UAV.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, is changed in a different manner using the different motion state of control model control carrier or the attitude of aircraft so that
When the offline mode of aircraft changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve use
Experience at family.
It should be understood that the above-mentioned name for unmanned flight's system components is only in order at the purpose of mark, should not
It is interpreted as the limitation to embodiments of the invention.
Fig. 2 is the indicative flowchart of the control method of aircraft according to an embodiment of the invention.The present embodiment
Control method can apply to different aircraft.Aircraft for example can be the UAV of Fig. 1, and the control method for example can be with
Performed by the flight controller of Fig. 1 or the controller of carrier.Such as it is not particularly illustrated, the controller hereinafter mentioned can refer to winged
The controller of line control unit or carrier.As shown in Fig. 2 the control method includes following content.
210, determine the offline mode of aircraft.For example, offline mode can include upright offline mode and flying upside down
Pattern.Upright offline mode can refer to that aircraft is in or corresponding to the state of upright flight, and flying upside down pattern can refer to
Aircraft is in or corresponding to handstand or the state of wing-over.
Embodiments of the invention are not construed as limiting for determining the mode of the offline mode of aircraft, can be flown by measuring
The attitude information of device determines the offline mode of aircraft, it is also possible to which the offline mode sent according to commanding apparatus indicates to determine
The offline mode of aircraft.
220, when it is determined that offline mode is upright offline mode, the load of aircraft is controlled using the first upright control model
The motion of body.
For example, the control model of carrier can have two kinds, including：First upright control model and the first handstand control mould
Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down pattern,
I.e. first upright control model is used for the motion of the control carrier when aircraft is in upright offline mode, and first stands upside down controls mould
Formula is used for the motion of the control carrier when aircraft is in flying upside down pattern.
230, when it is determined that offline mode is flying upside down pattern, the fortune of carrier is controlled using the first handstand control model
It is dynamic.According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different under the first upright control model
The variation pattern of the motion state of carrier is controlled under the first handstand control model.Carrier is used for carry load.
For example, the motion state of carrier can include the direction of motion and/or motion amplitude, motion state can include as follows
It is at least one：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.When the motion of above-mentioned carrier is rotation
When, the angle that the direction of motion and motion amplitude are respectively the direction of rotation and rotate, when the motion of above-mentioned carrier is for translation, fortune
Dynamic direction and motion amplitude are respectively the direction of translation and the distance of translation.Correspondingly, the variation pattern difference of the direction of motion can
To refer to the in opposite direction of motion, for example, translation is in opposite direction or rotation in opposite direction.The variation pattern of motion amplitude is not
With the of different sizes of motion amplitude can be referred to, for example, the distance difference of translation or the angle for rotating are different.
Specifically, the different control models of carrier can correspond to the different offline mode of aircraft, when aircraft exists
When switching between different offline mode, the control to carry-on carrier is also correspondingly cut between different control models
Change.When the controller of aircraft determines that aircraft is in upright offline mode, and receive the control instruction of control carrier movement
When, control the motion state of carrier to change in a way, for example, control carrier is moved in one direction, when aircraft
When controller determines that aircraft is in flying upside down pattern, and when receiving identical control instruction, the motion state of carrier is controlled
Alternatively variation pattern, for example, control carrier is moved in another direction.It should be understood that above-mentioned control instruction can be winged
The control instruction of the control carrier movement that the user of row device is input into by commanding apparatus.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the motion state using different control model control carriers changes in a different manner so that in the flight mould of aircraft
When formula changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.
It is described below in detail when offline mode is switched over, how the control model of carrier switches.
In certain embodiments, according to identical control instruction, the motion of carrier is controlled under the first upright control model
Direction is opposite with the direction of motion of the control carrier under the first handstand control model.
Specifically, under upright offline mode, when the control instruction that control carrier is rotated in a first direction is received,
Control carrier to move in the first direction under first upright control model, under flying upside down pattern, refer to when identical control is received
When making, carrier is controlled to be moved along the second direction opposite with first direction under the first handstand control model.For example, first direction
For clockwise, second direction is for counterclockwise, vice versa.For another example, to stretch out direction, second direction is first direction
Shrinkage direction, vice versa.It should be understood that the clockwise and counterclockwise of certain object refers to face in the embodiment of the present invention
The direction determined during to the same surface of the object.
Embodiments in accordance with the present invention, by when aircraft is in opposite offline mode, being referred to according to identical control
Order, is moved so that when the offline mode of aircraft changes, nothing in opposite direction using opposite control model control carrier
The manipulation custom of the carrier that user carries to aircraft need to be changed, so as to improve Consumer's Experience.
Embodiments in accordance with the present invention, carrier can include one or more rotating shaft mechanisms.For example, the rotating shaft mechanism of carrier
Can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Using the first upright control model
When controlling the motion of carrier of aircraft, rotating shaft mechanism can be controlled around the rotary shaft of rotating shaft mechanism according to the first control instruction
It is rotated in a first direction, and in the motion of the carrier using the first handstand control model control aircraft, according to identical control
Instruction control rotating shaft mechanism rotates around rotary shaft along the second direction opposite with first direction.Embodiments of the invention can divide
Each rotating shaft mechanism that Kong Zhi be in above three rotating shaft mechanism rotates around corresponding rotary shaft, for example, control roll axle machine
Structure rotates around roll axle, and control translation axis mechanism rotates around translation shaft, and control pitching axis mechanism rotates around pitch axis.
Specifically, in the motion of the carrier using the first upright control model control aircraft, can be by the first control
Instruction is converted to the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and is stood upside down using first
During the motion of the carrier of control model control aircraft, identical first control instruction can be converted to the second drive signal, with
Motor is rotated in a second direction.
For example, in the case where the motor of carrier is for alternating current generator, the first drive signal and the second drive signal can be
Three-phase alternating current signal, and the first drive signal is opposite with the phase sequence of the second drive signal.For example, can be in the main electricity of motor
Switching switch is set on road, when aircraft is in upright offline mode, is caused on main circuit by controlling the switching to switch
Three-phase alternating current signal motor is rotated forward, and under flying upside down pattern, can change main electricity by controlling the switching to switch
The phase sequence of any two-phase of the Three-phase alternating current signal on road, so that motor is inverted.Furthermore it is also possible to pass through to switch main electricity
Road controls alternating current generator to rotate and reverse with the connection of start-up capacitance.In the case where the motor of carrier is for direct current generator, the
One drive signal and the second drive signal can be DC signal, and the first drive signal and the second drive signal electric current
In the opposite direction.
Alternately, as another embodiment, carrier can include one or more telescoping mechanisms.Using upright control
During the motion of Schema control carrier, telescoping mechanism can be controlled to stretch out the first distance in the first direction according to the first control instruction,
When the motion of carrier is controlled using handstand control model, telescoping mechanism edge and first party can be controlled according to identical control instruction
Second distance is shunk to opposite second direction, the first distance can be more than or equal to second distance.For example, the first distance with
In the case that second distance is equal, under upright offline mode, the telescoping mechanism stretches out, and under flying upside down pattern, this is stretched
Original position is return by contracting mechanism.First direction and second direction can be with the fuselages of aircraft into default angle, for example, and aircraft
Fuselage top surface or bottom surface it is parallel or vertical.For example, the first control instruction can be the finger that control carrier is in camera site
Order.It should be understood that first direction and second direction can be the direction along the expansion rail of telescoping mechanism.
Embodiments in accordance with the present invention, when aircraft is in upright offline mode, in order that carrier (for example, head) holds
The load (for example, camera) of load obtains bigger visual angle, carrier can be controlled to be in and stretch out state；And be in aircraft and stood upside down
During offline mode, in order that the center of gravity of aircraft can relatively low and smooth flight, can control carrier be in contraction state so that
More preferable state of flight or shooting effect are realized under two kinds of offline mode.
The offline mode for how determining aircraft is described below in detail, it is for instance possible to use the following two kinds mode：According to winged
The attitude information of row device determines offline mode or determines offline mode according to the instruction of commanding apparatus.
Embodiments in accordance with the present invention, in 210, controller can obtain the attitude information of aircraft, and according to flight
The attitude information of device, determines the offline mode of aircraft.
Specifically, the sensor sensing that attitude information can be carried by aircraft is obtained, for example, attitude information can include
At least one of the angle of pitch of aircraft and the roll angle of aircraft, sensor can include following at least one：Gyroscope,
Electronic compass, Inertial Measurement Unit and vision sensor, embodiments of the invention are not limited to this, it is also possible to can using other
Measure the sensor of the attitude information of aircraft.For example, if the angle of pitch or roll angle of aircraft are in default angular range,
Can then determine that offline mode is flying upside down pattern.Above-mentioned default angular range can be the angular area centered on 180 degree
Between, for example, above-mentioned default angular range can be 90 degree to 270 degree of angular interval.It is above-mentioned default in some embodiments
Angular range can be 180 degree, i.e., when the horizontal level when aircraft is from upright flight overturns 180 degree, it is believed that flight
Device is in flying upside down pattern.Correspondingly, if the angular interval of the angle of pitch or roll angle of aircraft centered on 0 degree, example
Such as, the angular interval of -90 degree to 90 degree, then it is considered that aircraft is in upright offline mode.It should be understood that above-mentioned preset range
Simply illustrate, it is also possible to which other default angular ranges are set according to actual needs.
Alternately, as another embodiment, in 210, what the commanding apparatus that controller can receive aircraft sent
Offline mode is indicated, and offline mode is indicated for indicating offline mode for flying upside down pattern or upright offline mode, and according to
Offline mode indicates to determine offline mode.
Specifically, user can be indicated using commanding apparatus input offline mode, for indicating aircraft to be in upright flying
Row mode or flying upside down pattern.So, user can flexibly decide whether using two kinds of control models according to actual needs
To control the motion of carrier.For example, offline mode is designated as the upright offline mode of 1 expression, it is 0 expression flying upside down pattern, or
Person is opposite.Furthermore it is also possible to the flying upside down pattern sent by judging whether to receive commanding apparatus indicates to represent, example
Such as, receive flying upside down pattern to indicate to represent that aircraft is in flying upside down pattern, otherwise represent that aircraft is in upright flying
Row mode.
Alternatively, as another embodiment, in the case where the control method of Fig. 2 is performed by flight controller, flight control
Device processed can also receive the control instruction of commanding apparatus transmission, and send the control instruction to the controller of carrier, to carry
The controller of body controls the motion of carrier using the first upright control model in upright offline mode, and in flying upside down mould
During formula, the motion of carrier is controlled using the first handstand control model.
Further, flight controller can also send offline mode and indicate to the controller of carrier, and the offline mode refers to
Show that for indicating offline mode be upright offline mode or flying upside down pattern.
Alternatively, as another embodiment, in the case where the control method of Fig. 2 is performed by the controller of carrier, carrier
Controller can receive the offline mode that flight controller or commanding apparatus send and indicate, the offline mode is indicated for indicating
Offline mode is flying upside down pattern or upright offline mode, and is indicated to determine offline mode according to the offline mode.
Alternatively, as another embodiment, in the case where the control method of Fig. 2 is performed by the controller of carrier, carrier
Controller can utilize sensor on carrier, determine the attitude angle of aircraft, and in attitude angle in default angle model
When enclosing interior, determine that offline mode is flying upside down pattern；Otherwise, it determines offline mode is upright offline mode.
Specifically, the sensor of carrier can include gyroscope, and embodiments of the invention are not limited to this, it is also possible to utilize
Other can measure the sensor of the attitude information of aircraft.If the angle of pitch or roll angle of sensor are in default angle model
Enclose, then can determine that offline mode is flying upside down pattern.Above-mentioned default angular range can be the angle centered on 180 degree
Interval, for example, above-mentioned default angular range can be 90 degree to 270 degree of angular interval.It is above-mentioned default in some embodiments
Angular range can be 180 degree.Correspondingly, if the angular interval of the angle of pitch or roll angle of aircraft centered on 0 degree,
For example, angular interval of -90 degree to 90 degree, then it is considered that aircraft is in upright offline mode.It should be understood that above-mentioned default model
Enclose and simply illustrate, it is also possible to which other default angular ranges are set according to actual needs.
Alternatively, as another embodiment, in the case where the control method of Fig. 2 is performed by the controller of carrier, carrier
Controller can also receive the above-mentioned control instruction that flight controller or commanding apparatus send.
For convenience, embodiments of the invention are illustrated by taking Aerial photography as an example below.In this case,
Carrier is tripod head equipment, and it is capture apparatus to load.Tripod head equipment is used to for capture apparatus (for example, camera) to be carried on aircraft
On fuselage (for example, horn), to play a part of to increase steady and regulation capture apparatus visual angles.
Fig. 3 A are the direction of rotation of the rotary shaft of head under upright offline mode according to one embodiment of the present of invention
Schematic diagram.Fig. 3 B are the direction of rotation of the rotary shaft of head under flying upside down pattern according to the embodiment of of the invention
Schematic diagram.The rotating shaft mechanism of the present embodiment can apply in different carriers, in the present embodiment, be said by taking head as an example
It is bright.
Below embodiments of the invention are illustrated by taking three axle heads as an example.It should be understood that the tripod head equipment of embodiments of the invention
Can also be single shaft head or two axle The Cloud Terraces.
The rotating shaft mechanism of three axle heads can include pitching axis mechanism, roll axis mechanism and translation axis mechanism, wrap respectively
The rotary shafts such as pitch axis, roll axle and translation shaft and corresponding motor are included, the motor of each rotating shaft mechanism is used to drive accordingly
Rotating shaft mechanism rotated around corresponding rotary shaft.Each motor can be connected by support arm with corresponding rotary shaft.When
When needing to be adjusted the coverage of the capture apparatus on head, can be sent by commanding apparatus (for example, remote control)
Control instruction, is respectively started three motors, is controlled accordingly with to roll axis mechanism, pitching axis mechanism and horizontal axis mechanism
Or adjustment, so that capture apparatus obtain maximum coverage.For example, when the motor of pitching axis mechanism rotates, driving
Pitching axis mechanism rotates around pitch axis, when the motor of roll axis mechanism rotates, drives roll axis mechanism to be revolved around roll axle
Turn, when the motor for translating axis mechanism rotates, drive translation axis mechanism to be rotated around translation shaft.
For each rotary shaft, for identical control instruction, referring to Fig. 3 A, upright offline mode is in aircraft
When, controller controls corresponding rotating shaft mechanism to be rotated along order clockwise around corresponding rotary shaft.Referring to Fig. 3 B, in flight
When device is in flying upside down pattern, controller controls corresponding rotating shaft mechanism to be revolved in the counterclockwise direction around corresponding rotary shaft
Turn.
Schematic diagram when Fig. 4 A are flight upright according to the aircraft of one embodiment of the present of invention.Fig. 4 B are according to this hair
Schematic diagram during the aircraft flying upside down of bright one embodiment.
Referring to Fig. 4 A, aircraft can include four rotors：Rotor 41, rotor 42, rotor 43 and rotor 44.Wherein rotor
41 fronts for being located at aircraft, rotor 42 is located at the rear of aircraft, and rotor 43 is located at the right of aircraft, and rotor 44 is located at and flies
The left of row device.Tripod head equipment 45 is located at the lower section of aircraft, for carrying capture apparatus (not shown).When aircraft is in just
During vertical offline mode, tripod head equipment is located at the lower section of aircraft.Referring to Fig. 4 B, when aircraft is in flying upside down pattern, cloud
Platform equipment is located at the top of aircraft.
By taking the target for shooting ground as an example, under upright offline mode, user can be input into by commanding apparatus and cause cloud
The control instruction that platform equipment is rotated in a clockwise direction around pitch axis, for example, user can turn clockwise on commanding apparatus
Certain pull out wheel, then controller can using upright control model control tripod head equipment be revolved along clockwise direction around pitch axis
Turn so that capture apparatus away from the fuselage of aircraft to point to the reference object on ground, and under flying upside down pattern, use
Family still can be sent according to custom so that the control instruction that is rotated in a clockwise direction around pitch axis of tripod head equipment, for example,
Certain turned clockwise on commanding apparatus pulls out wheel, and at this moment, controller controls tripod head equipment along the inverse time using handstand control model
Pin direction rotates so that capture apparatus near the fuselage of aircraft pointing to the reference object on ground.
For example, in upright flight, capture apparatus need towards ground direction shoot when, it is necessary to the thumb wheel for passing through remote control
The direction that capture apparatus on control tripod head equipment are directed away from fuselage rotates predetermined angle, for example, the remote control that turns clockwise
Thumb wheel, the direction that the capture apparatus on tripod head equipment are directed away from fuselage rotates.In flying upside down, capture apparatus need court
, it is necessary to the thumb wheel for passing through remote control controls the capture apparatus on tripod head equipment towards near the side of fuselage when earthward direction shoots
To rotation predetermined angle, for example, the thumb wheel of the remote control that turns clockwise, the capture apparatus on tripod head equipment are towards near fuselage
Direction rotates.In other words, under upright offline mode and flying upside down pattern, the identical control that the thumb wheel of remote control sends refers to
Order control tripod head equipment rotates in opposite direction around pitch axis.Therefore, embodiments in accordance with the present invention, no matter aircraft just
Vertical flight or flying upside down, user can easily manipulate the rotation of tripod head equipment, and manipulate custom without changing.
Alternatively, as another embodiment, the control method of Fig. 2 can also include：The image that capture apparatus shoot is received,
When it is determined that offline mode is flying upside down pattern, the image that capture apparatus shoot is carried out into handstand treatment, and handstand is processed
Image afterwards is sent to display and is shown.
Specifically, the image that can be shot capture apparatus by the controller of aircraft carries out handstand treatment, and will stand upside down
Image after treatment is sent to ground surface end (for example, commanding apparatus).Alternately, as another embodiment, it is also possible to by nobody
The figure that the controller (for example, the controller on commanding apparatus or display device) of the ground surface end of flight system shoots capture apparatus
As carrying out handstand treatment.So, although aircraft flying upside down causes the image that capture apparatus shoot to be to stand upside down, but by falling
After vertical treatment, the image shown on the display of ground surface end is still upright, so as to improve Consumer's Experience.
It should be understood that the description of the control in the present embodiment for tripod head equipment can also be applied similarly to other carriers
Control.
Aircraft generally carries distance measuring sensor below fuselage, for measuring the flying height of aircraft, and controls
The flying height of aircraft, in order to avoid collided with the barrier of lower section.For example, controller can be sensed according to the range finding of lower section
The distance between aircraft and lower section barrier of device sensing, control the distance to be more than preset value.However, flying when aircraft stands upside down
During row, the distance measuring sensor will be unable to for sensing the distance between aircraft and lower section barrier, so as to be brought to flight
Potential safety hazard.The embodiment of Fig. 5 will be devoted to the potential safety hazard for avoiding flying upside down from bringing so that the bat under flying upside down pattern
Taking the photograph to be carried out safely.
Fig. 5 is the indicative flowchart of the control method of the aircraft of another embodiment of the present invention.The control of the present embodiment
Method processed can apply to different aircraft.Aircraft for example can be the UAV of Fig. 1, and the control method for example can be by Fig. 1
Flight controller or carrier controller perform.As shown in figure 5, the control method includes following content.
510, determine the offline mode of aircraft.
520, when it is determined that offline mode is upright offline mode, the load of aircraft is controlled using the first upright control model
The motion of body.
530, when it is determined that offline mode is flying upside down pattern, the fortune of carrier is controlled using the first handstand control model
It is dynamic.
It should be understood that 510 to 530 is similar with the 210 to 230 of Fig. 2, to avoid repeating, will not be repeated here.It should also be understood that
520 and 530 is optional.If for example, need not be entered to carrier using different control models under different offline mode
Row control, or the non-carrying carrier of aircraft, in such a case, it is possible to omit 520 and 530.
540, when it is determined that offline mode is upright offline mode, the height of aircraft is controlled using the second upright control model
Degree.
550, when it is determined that offline mode is flying upside down pattern, the height of aircraft is controlled using the second handstand control model
Degree, wherein the range information that the distance measuring sensor carried according to aircraft is sensed, the second upright control model control aircraft
The condition of highly desirable satisfaction is different from the condition of the highly desirable satisfaction of the second handstand control model control aircraft.
In an embodiment according to the present invention, can correspond to fly for the different control models for controlling the height of aircraft
The different offline mode of row device.When aircraft switches between different offline mode, the control to the height of aircraft
Correspondingly switch between different control models.For example, when controller determines that aircraft is in upright offline mode, using just
The height of vertical control model control aircraft meets first condition, when controller determines that aircraft is in flying upside down pattern,
Height using handstand control model control aircraft meets the second conditions different from first condition.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, using different control moulds
Formula controls the height of aircraft so that when the offline mode of aircraft changes, and remains able to ensure the safety of flight.
Embodiments in accordance with the present invention, the above-mentioned height using the second handstand control model control aircraft can include：
Between the first distance measuring sensor measurement aircraft carried using aircraft and the first object object above aircraft
Distance；According to the flying height of the distance between aircraft and first object object control aircraft, to cause aircraft and the
The distance between one destination object is less than the first preset value, wherein the first distance measuring sensor is located at the bottom of aircraft.In other words
Say, control the aircraft altitude condition to be met to include under the second handstand control model：First distance measuring sensor is surveyed
The distance between aircraft and first object object of amount are less than the first preset value.
Alternatively, as another embodiment, the above-mentioned height for using the second handstand control model to control aircraft can be with
Including：Using aircraft carry the second distance measuring sensor measurement aircraft be located at aircraft below the second destination object it
Between distance, and according to the distance between aircraft and the second destination object control aircraft flying height, with cause flight
The distance between device and the second destination object are more than the second preset value, wherein the second distance measuring sensor is located at the top of aircraft.
In other words, the aircraft altitude condition to be met is controlled under the second handstand control model can also be included：Second range finding
The distance between aircraft and the second destination object of sensor sensing are more than the second preset value.
Embodiments in accordance with the present invention, the above-mentioned height using the second upright control model control aircraft can include：
Between the first distance measuring sensor measurement aircraft carried using aircraft and the 3rd destination object below aircraft
Distance, and according to the distance between aircraft and the 3rd destination object control aircraft flying height, with cause aircraft with
The distance between 3rd destination object is more than the 3rd preset value.In other words, aircraft is controlled under the second upright control model
The height condition to be met includes that the distance between aircraft and the 3rd destination object that the first distance measuring sensor is sensed are more than
3rd preset value.
Above-mentioned distance measuring sensor can be ultrasonic sensor or vision sensor, or both combinations, for example,
Can be combined using two kinds of sensors and be found range, or one of the first distance measuring sensor and the second distance measuring sensor are ultrasonic wave
Sensor, and another is vision sensor, embodiments of the invention are not limited to this, and above-mentioned distance measuring sensor can also be
Other any sensors that can be used in measurement distance.
It should be understood that first object object for example can be the barrier or reference object above aircraft.Second target pair
As be can be the same or different with the 3rd destination object, for example, can for ground or the barrier below aircraft or
Reference object.It should also be understood that above-mentioned second preset value can be with identical with the 3rd preset value, it is also possible to different.People in the art
Member can set above-mentioned first preset value, the second preset value and the 3rd preset value according to the need for aircraft security flight.
The embodiment of Fig. 5 is further illustrated by taking ultrasonic sensor as an example below.
The fuselage bottom of aircraft can typically set ultrasonic sensor (hereinafter referred to as bottom ultrasonic sensor), be used for
The distance of aircraft and lower section barrier (for example, ground, aerial barrage thing etc.) is obtained, so that controller can be according to this
Distance controlling aircraft keeps default distance with the barrier of lower section.For example, when the upright flight of aircraft, flight controller
The aircraft and the distance on ground sensed according to bottom ultrasonic sensor, and the distance is controlled more than certain preset value, to keep away
The flying height for exempting from aircraft is too low, causes security incident.When aircraft flying upside down, flight controller is according to bottom ultrasound
The aircraft of wave sensor sensing and the distance of top destination object (for example, barrier or reference object), control this apart from small
In certain preset value, to avoid aircraft from encountering the barrier of lower section.Therefore, by the switching of control mode so that aircraft
Can keep certain height flight under two kinds of offline mode, so as to ensure the security of flight.Alternatively, as another reality
Example is applied, controller can also further control the distance between aircraft and top destination object more than the 4th preset value, to keep away
Exempt from Fei Hang Qi Touch to the destination object of top, so as to be further ensured that the security of flight.
In the present embodiment, aircraft can also carry top ultrasound in addition to carrying above-mentioned bottom ultrasonic sensor
Wave sensor.So, when aircraft flying upside down, bottom ultrasonic sensor is located at the top of aircraft, and top is ultrasonic
Wave sensor is located at the lower section of aircraft.In such a case, it is possible to using bottom ultrasonic sensor obtain aircraft with it is upper
The distance between square destination object, and top ultrasonic sensor is used to measure between aircraft and ground or lower section barrier
Distance, so as to further improve security of the aircraft in flying upside down.
Fig. 6 is the indicative flowchart of the control method of aircraft according to another embodiment of the present invention.The present embodiment
Control method can apply to different aircraft.Aircraft for example can be the UAV of Fig. 1, and the control method for example can be with
Performed by the flight controller of Fig. 1.As shown in fig. 6, the control method includes following content.
610, determine the offline mode of aircraft.With Fig. 2 210 are similar, to avoid repeating, will not be repeated here.
620, when it is determined that offline mode is upright offline mode, the appearance of aircraft is controlled using the first upright control model
State.
For example, the control model of aircraft can have two kinds, including：First upright control model and the first handstand control mould
Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down pattern,
First upright control model is used for the attitude of the control aircraft when aircraft is in upright offline mode, and first stands upside down controls mould
Formula is used for the attitude of the control aircraft when aircraft is in flying upside down pattern.For example, the attitude of aircraft is included as follows extremely
A kind of few attitude angle：Course angle, roll angle and the angle of pitch.Controlling the variation pattern of the attitude of aircraft includes following at least one
Kind：The size of control attitude angle change and the direction of control attitude angle change.
630, when it is determined that offline mode is flying upside down pattern, the appearance of aircraft is controlled using the first handstand control model
State, wherein, according to identical control instruction, control the variation pattern of the attitude of aircraft different under the first upright control model
In the variation pattern of the attitude that aircraft is controlled under the first handstand control model.
Specifically, the different control models of the attitude of aircraft can correspond to the different offline mode of aircraft, when winged
When row device switches between different offline mode, to the control of the attitude of aircraft also correspondingly different control models it
Between switch.When flight controller determines that aircraft is in upright offline mode, and receive the control of the attitude of control aircraft
During instruction, control the attitude of aircraft to change in a way, for example, control aircraft is moved in one direction, work as flight
When the controller of device determines that aircraft is in flying upside down pattern, and when receiving identical control instruction, the appearance of aircraft is controlled
State alternatively variation pattern, for example, control aircraft is moved in another direction.It should be understood that above-mentioned control instruction can
The control instruction of the attitude of the control aircraft being input into by commanding apparatus with the user for being aircraft.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the attitude using different control model control aircraft changes in a different manner so that in the offline mode of aircraft
During change, without changing manipulation custom of the user to aircraft, so as to improve Consumer's Experience.
It is described below in detail when offline mode is switched over, how the control model of aircraft switches.
In certain embodiments, the variation pattern of the attitude of above-mentioned control aircraft can include control attitude angle change
Direction, and according to identical control instruction, the change direction of the attitude angle of aircraft is controlled under the first upright control model
With changing in the opposite direction for the attitude angle that aircraft is controlled under the first handstand control model.
Specifically, the above-mentioned attitude using the first upright control model control aircraft can include：Control instruction is turned
Multiple First Speed Regulate signals are changed to, respectively to adjust multiple rotors of aircraft by multiple First Speed Regulate signals
Rotating speed so that aircraft is rotated in a first direction around rotary shaft；It is above-mentioned that aircraft is controlled using the first handstand control model
Attitude, including：Control instruction is converted into multiple second speed Regulate signals, with respectively by multiple second speed Regulate signals
The rotating speed of the multiple rotors of regulation so that aircraft is rotated in a second direction around rotary shaft.For example, above-mentioned rotary shaft can include
It is following at least one：Roll axle, translation shaft and pitch axis.
Alternatively, as another embodiment, the method for Fig. 6 can also include：It is determined that offline mode is upright flight mould
During formula, multiple rotor wing rotations of the second upright control model control aircraft are used to produce third direction with relative to aircraft
Thrust；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with phase
For the thrust that aircraft produces fourth direction, third direction is opposite with fourth direction.
For example, it is assumed that multiple rotors are located at the top of aircraft, under upright offline mode, multiple rotors of aircraft are produced
The raw pulling force away from aircraft (i.e. upward), under flying upside down mould, multiple rotors of aircraft produce towards aircraft (i.e. to
On) pulling force.Assuming that multiple rotors are located at the bottom of aircraft, under upright offline mode, multiple rotors of aircraft are produced
Towards the pulling force of aircraft (i.e. upward), under flying upside down mould, multiple rotors of aircraft produce away from aircraft (i.e. to
On) pulling force.
Specifically, can by change rotor power (electronic or surge) applying mode come control third direction with
Fourth direction is opposite.For example, in the case where the power of rotor is electronic, controller can be corresponding with multiple rotors by changing
The direction of rotation of motor control the third direction opposite with fourth direction.
For example, in the case where the corresponding motor of multiple rotors is alternating current generator, under upright offline mode, will can use
The control instruction of upward pulling force is produced to be converted to the first drive signal in control aircraft, with the motor edge of drive shaft mechanism
First direction rotates, and under flying upside down pattern, identical control instruction can be converted into the second drive signal, to drive
Motor is rotated in a second direction, and both of these case can produce the lift for promoting aircraft upward.First drive signal and second
Drive signal can be Three-phase alternating current signal, and the first drive signal is opposite with the phase sequence of the second drive signal.For example, can
To set switching switch on the main circuit of motor, when aircraft is in upright offline mode, switched by controlling the switching
So that the Three-phase alternating current signal motor on main circuit is rotated forward, and under flying upside down pattern, can be by controlling to switch
Switch changes the phase sequence of any two-phase of the Three-phase alternating current signal on main circuit, so that motor is inverted.Furthermore it is also possible to
Alternating current generator is controlled to rotate and reverse by switching main circuit with the connection of start-up capacitance.It is direct current generator in the motor of carrier
In the case of, the first drive signal and the second drive signal can be DC signal, and the first drive signal and second drives
The sense of current of dynamic signal is opposite.
Alternatively, as another embodiment, the embodiment of Fig. 6 can also be combined with the embodiment of Fig. 1.Alternatively, as
Another embodiment, the embodiment of Fig. 6 can also be combined with the embodiment of Fig. 5.It should be understood that the above-mentioned description for Fig. 1 to Fig. 5
The restriction to the embodiment of Fig. 6 is used equally to, to avoid repeating, be will not be repeated here.
Below by taking the quadrotor of Fig. 7 A to Fig. 7 D as an example, rotor when the upright flight of aircraft and flying upside down is illustrated
Direction of rotation, and how by the attitude that adjusts the speed of rotor to control aircraft.
Schematic diagram when Fig. 7 A are flight upright according to the aircraft of another embodiment of the present invention.Fig. 7 B are according to this hair
Schematic diagram during the aircraft flying upside down of bright another embodiment.
It is the direction of advance of aircraft along x-axis positive direction referring to Fig. 7 A and Fig. 7 B, upward arrow represents that rotor is in water
The upward direction of pull produced when prosposition is put is opposite with the gravity direction of aircraft.Assuming that the rotor of quadrotor is divided into
Two groups：First group of rotor 71 for including front and the rotor 72 at rear；Rotor 73 and right of second group of rotor including left
Rotor 74.While the motor rotate counterclockwise of the motor of rotor 71 and rotor 72, the motor of rotor 73 and the motor of rotor 74
Turn clockwise, to offset gyroscopic effect and air force moment of torsion effect.Referring to Fig. 7 A, when the upright flight of aircraft, the
One group of rotor rotate counterclockwise, second group of rotor turns clockwise；Referring to Fig. 7 B, when aircraft flying upside down, first group of rotation
The wing turns clockwise, second group of rotor rotate counterclockwise.
Embodiments in accordance with the present invention, under upright offline mode or flying upside down pattern, can be by controlling aircraft
The rotating speed of rotor can adjust the flight attitude of aircraft.
Referring to Fig. 7 A, under upright offline mode, when wishing that aircraft is in vertical motion upwards, can increase simultaneously
Four power outputs of motor, to increase the rotating speed of rotor, so that total pulling force increase, when total pulling force is enough to overcome whole machine
Weight when, aircraft just vertical ascent.When wishing that aircraft carries out elevating movement, the rotating speed of rotor 71 can be lifted, dropped
The rotating speed of the rotating speed of low rotor 72, rotor 73 and rotor 74 keeps constant so that aircraft around pitch axis in the counterclockwise direction
Rotation, similarly, can lift the rotating speed of rotor 72, reduce the rotating speed of rotor 71, and the rotating speed holding of rotor 73 and rotor 74 is constant,
So that aircraft is rotated in a clockwise direction around pitch axis.When wishing that aircraft carries out roll motion, rotor can be lifted
74 rotating speed, reduces the rotating speed of rotor 73, and the rotating speed holding of rotor 71 and rotor 72 is constant so that aircraft is around roll axle edge
Counterclockwise rotates, similarly, can lift the rotating speed of rotor 73, reduce the rotating speed of rotor 74, and rotor 71 and rotor 72 turn
Speed keeps constant so that aircraft is rotated in a clockwise direction around roll axle.When wishing that aircraft carries out translational motion, can
To lift the rotating speed of rotor 71 and rotor 72, the rotating speed of rotor 73 and rotor 74 is reduced so that aircraft is around translation shaft along inverse
Clockwise rotates, and similarly, can lift the rotating speed of rotor 73 and rotor 74, reduces the rotating speed of rotor 71 and rotor 72 so that
Aircraft is rotated in a clockwise direction around roll axle.
For example, with reference to Fig. 7 B, under flying upside down pattern, when wishing that aircraft is in vertical motion upwards, due to
Under the control of handstand control model, motor has been inverted, and therefore, it can increase by four power outputs of motor simultaneously, to increase
The rotating speed of rotor, so that the increase of total pulling force, when total pulling force is enough to overcome the weight of whole machine, on aircraft is just vertical
Rise.When wishing that aircraft carries out elevating movement, the rotating speed of rotor 71 can be lifted, reduce the rotating speed of rotor 72, the He of rotor 73
The rotating speed of rotor 74 keeps constant so that aircraft is rotated in a clockwise direction around pitch axis, similarly, can lift rotor 72
Rotating speed, reduce the rotating speed of rotor 71, the rotating speed of rotor 73 and rotor 74 keeps constant so that aircraft is around pitch axis along inverse
Clockwise rotates.When wishing that aircraft carries out roll motion, the rotating speed of rotor 74 can be lifted, reduce turning for rotor 73
The rotating speed of speed, rotor 71 and rotor 72 keeps constant so that aircraft is rotated in a clockwise direction around roll axle, similarly, can
To lift the rotating speed of rotor 73, the rotating speed of rotor 74 is reduced, the rotating speed holding of rotor 71 and rotor 72 is constant so that aircraft encloses
Rotated in the counterclockwise direction around roll axle.When wishing that aircraft carries out translational motion, rotor 71 and rotor 72 can be lifted
Rotating speed, reduces the rotating speed of rotor 73 and rotor 74 so that aircraft is rotated in a clockwise direction around translation shaft, similarly, can be with
The rotating speed of lifting rotor 73 and rotor 74, reduces the rotating speed of rotor 71 and rotor 72 so that aircraft is around roll axle along the inverse time
Pin direction rotates.
It should be understood that the method for embodiments of the invention can according to actual needs be applied to the above three rotation to aircraft
The control of at least one of rotating shaft rotary shaft.For example, when aircraft realizes left and right upset, the i.e. constant situation of head and tail
Under, can only for roll axle using two kinds of control models methods, and when upset before and after aircraft is realized, can be only for
Pitch axis is using two kinds of methods of control model.
It should be understood that moving forward and backward for aircraft can be by so that aircraft carries out rotation around pitch axis causes aircraft
Generation is leaned forward and is swung back and realizes；The lateral movement of aircraft can cause flight by causing that aircraft rotates around roll axle
Device produces left-leaning and Right deviation to realize.
Schematic diagram when Fig. 7 C are flight upright according to the aircraft of another embodiment of the present invention.Fig. 7 D are according to this hair
Schematic diagram during the aircraft flying upside down of bright another embodiment.
Referring to Fig. 7 C and Fig. 7 D, it is assumed that the rotor of quadrotor is divided into two groups：First group of rotor can include left front
The rotor 75 of side and the rotor 76 of right back；Second group of rotor 77 that can include right front and the rotor 78 of left back.Rotor
While the motor rotate counterclockwise of 75 motor and rotor 76, the motor of rotor 77 and the motor of rotor 78 turn clockwise,
To offset gyroscopic effect and air force moment of torsion effect.It is direction of advance along x-axis positive direction, upward arrow represents rotor water
The direction of pull for usually producing is opposite with gravity direction.Flying for aircraft can be adjusted by controlling the rotating speed of the rotor of aircraft
Row attitude.Referring to Fig. 7 C, when the upright flight of aircraft, first group of rotor turns clockwise, second group of rotor rotate counterclockwise.
Referring to Fig. 7 D, when aircraft flying upside down, first group of rotor rotate counterclockwise, second group of rotor turns clockwise.
The flight attitude of the aircraft of the embodiment of Fig. 7 C and Fig. 7 D control respectively with the embodiment of Fig. 7 A and Fig. 7 B
The control of the flight attitude of aircraft is similar to, and will not be described here.
Fig. 8 is the indicative flowchart of the control method of aircraft according to another embodiment of the present invention.The present embodiment
Control method can apply to different aircraft.Aircraft for example can be the UAV of Fig. 1, and the control method for example can be with
Performed by the controller of the commanding apparatus of Fig. 1.As shown in figure 8, the control method includes following content.
810, the commanding apparatus of aircraft determines the offline mode of aircraft.For example, commanding apparatus can receive user leading to
Cross the offline mode of commanding apparatus input, it is also possible to know offline mode from flight controller.
820, commanding apparatus it is determined that offline mode be upright offline mode and receive user input first control refer to
When making, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control the attitude of aircraft
Change or carrier motion state change.
The attitude of aircraft is similar with the corresponding description in the embodiment of Fig. 1 to Fig. 7 to the description of the motion state of carrier,
Or else repeating.
830, commanding apparatus is it is determined that the offline mode of aircraft is flying upside down pattern and receives the phase of user input
With the first control instruction when, the first control instruction is converted into the second control instruction, and to aircraft or the carrier of aircraft
The second control instruction is sent, wherein, the variation pattern or the motion state of carrier of the attitude of the first control instruction control aircraft
Variation pattern and the second control instruction control aircraft attitude variation pattern or carrier movement state variation pattern not
With (for example, opposite).
Specifically, when aircraft is in upright offline mode and receives attitude for controlling aircraft or carrier
During the first control instruction of motion state, first control instruction is sent to aircraft, to control the attitude or carrier of aircraft
Motion state changes in a way, for example, control aircraft or carrier are moved in one direction, is stood upside down when aircraft is in
During offline mode and when receiving identical control instruction, send second controls different from the first control instruction to aircraft and refer to
Order, to control the attitude of aircraft or the motion state alternatively variation pattern of carrier, for example, control aircraft or
Carrier is moved in another direction.It should be understood that the control that the user that above-mentioned control instruction can be aircraft is input into by commanding apparatus
The control instruction of the attitude of aircraft processed.
It should be understood that after the controller of flight controller or carrier receives the control instruction of commanding apparatus transmission, can be with root
Motion according to the control instruction to the attitude or carrier of aircraft is controlled, in specific control method and above-described embodiment just
The control method of the motion of the attitude or carrier of aircraft is similar under vertical offline mode, will not be repeated here.
Embodiments in accordance with the present invention, by that when aircraft is in different offline mode, will be used at commanding apparatus
The identical control instruction of family input is converted to different control instructions so that when the offline mode of aircraft changes, without changing
Become manipulation custom of the user to aircraft, so as to improve Consumer's Experience.And, the present embodiment is big without being carried out to aircraft
Transformation, design is simple, it is easier to realize.
Alternatively, as another embodiment, the offline mode that commanding apparatus can receive aircraft transmission is indicated, wherein,
Offline mode is indicated for indicating offline mode for upright offline mode or flying upside down pattern, wherein, the manipulation of aircraft sets
The standby offline mode for determining aircraft can include：Commanding apparatus indicates to determine offline mode according to offline mode.
Specifically, commanding apparatus can receive offline mode and indicate using wireless mode from aircraft, for example, offline mode
The upright offline mode of 1 expression is designated as, is 0 expression flying upside down pattern, or conversely.Furthermore it is also possible to pass through to judge whether
Receive the flying upside down pattern that aircraft sends to indicate to represent, for example, receive flying upside down pattern to indicate to represent flight
Device is in flying upside down pattern, otherwise represents that aircraft is in upright offline mode.In this case, aircraft can basis
The attitude information of the sensor measurement of carrying determines offline mode, and indicates to grasp current flight pattern notification by offline mode
It is longitudinally set with standby.The method phase of offline mode is determined in the specific method for determining offline mode and above-described embodiment according to attitude information
Together, will not be repeated here.
Alternately, as another embodiment, the offline mode that commanding apparatus can also receive user input is indicated.
Control method according to embodiments of the present invention is the foregoing described, Fig. 9 to Figure 17 descriptions are combined separately below according to this
The control device of inventive embodiments, control system, carrier, aircraft and commanding apparatus.
Fig. 9 is the structural representation of control device according to an embodiment of the invention 900.Control device 900 is for example
Can be the flight controller of Fig. 1 or the controller of carrier.Control device 900 includes determining module 910 and control module 920.
Determining module 910 is used to determine the offline mode of aircraft.Control module 920 is used to determine in determining module 910
When offline mode is upright offline mode, using the motion of the carrier of the first upright control model control aircraft, it is determined that mould
When block 910 determines offline mode for flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, root
According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different from first under the first upright control model
The variation pattern of the motion state of carrier, carrier are controlled under handstand control model is used for carry load.For example, the motion shape of carrier
State can include following at least one：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.In addition, carrier
May be located at the top or bottom of aircraft.
Embodiments in accordance with the present invention, the motion state of carrier can include the direction of motion of carrier, wherein, according to identical
Control instruction, under the first upright control model control carrier the direction of motion with the first handstand control model control carry
The direction of motion of body is opposite.
Embodiments in accordance with the present invention, carrier can include one or more rotating shaft mechanisms, and control module 920 can be true
When cover half block 910 determines offline mode for upright offline mode, rotating shaft mechanism is controlled around turning engine according to the first control instruction
The rotary shaft of structure is rotated in a first direction, and when it is flying upside down pattern that determining module 910 determines offline mode, according to the
One control instruction control rotating shaft mechanism is rotated in a second direction around rotary shaft, and wherein first direction is opposite with second direction.Turn
Axis mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.
Embodiments in accordance with the present invention, control module 920 can determine that offline mode is upright flight in determining module 910
During pattern, the first control instruction is converted into the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and
And when it is flying upside down pattern that determining module 910 determines offline mode, the first control instruction is converted into the second drive signal,
Rotated in a second direction with motor.
According to inventive embodiment, determining module 910 can obtain the attitude information of aircraft, and according to aircraft
Attitude information, determines the offline mode of aircraft.What the sensor sensing that attitude information can be carried by aircraft was obtained.Example
Such as, sensor can include following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Attitude is believed
Breath can include at least one of the angle of pitch of aircraft and the roll angle of aircraft.
Specifically, it is determined that module 910 can determine offline mode when the angle of pitch or roll angle are in default angular range
It is flying upside down pattern.
Embodiments in accordance with the present invention, determining module 910 can receive the offline mode that the commanding apparatus of aircraft sends
Indicate, and indicated to determine offline mode according to offline mode, wherein, offline mode indicates to fly to stand upside down for indicating offline mode
Row mode or upright offline mode.
Alternatively, as another embodiment, control module 920 can be also used for it is determined that offline mode is upright flight mould
During formula, the height of aircraft is controlled using the second upright control model, and when it is determined that offline mode is flying upside down pattern,
The height of aircraft is controlled using the second handstand control model, wherein the distance that the distance measuring sensor carried according to aircraft is sensed
Information, controls the condition of the highly desirable satisfaction of aircraft to be different from the second handstand control mould under the second upright control model
The condition of the highly desirable satisfaction of aircraft is controlled under formula.
Specifically, control module 920 can utilize the first distance measuring sensor sensing aircraft that aircraft is carried and be located at
The distance between first object object above aircraft, and flown according to the control of the distance between aircraft and first object object
The flying height of row device, to cause that the distance between aircraft and first object object are less than the first preset value, wherein first surveys
The bottom of aircraft is located at away from sensor.
Alternatively, as another embodiment, control module 920 can also utilize the second distance measuring sensor that aircraft is carried
The distance between sensing aircraft and the second destination object below aircraft, and according to aircraft and the second destination object
The distance between control aircraft flying height, to cause that it is pre- that the distance between aircraft and second destination object are more than second
If value, wherein the second distance measuring sensor is located at the top of aircraft.
Specifically, control module 920 can utilize the first distance measuring sensor sensing aircraft that aircraft is carried and be located at
The distance between the 3rd destination object below aircraft, and controlled according to the distance between aircraft and the 3rd destination object
The flying height of aircraft, to cause that the distance between aircraft and the 3rd destination object are more than the 3rd preset value.
Above-mentioned distance measuring sensor can be ultrasonic sensor and/or vision sensor.Above-mentioned carrier can set for head
Standby, above-mentioned load can be capture apparatus.
Alternatively, as another embodiment, control device 900 can also include：Receiver module 930, the and of processing module 940
Sending module 950.Receiver module 930 is used to receive the image of capture apparatus shooting.Processing module 940 is used for it is determined that flight mould
When formula is flying upside down pattern, the image that capture apparatus shoot is carried out into handstand treatment.Sending module 950 is used to process handstand
Image afterwards is sent to display and is shown.
The method that the operation of the modules of control device 900 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating,
Will not be repeated here.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the motion state using different control model control carriers changes in a different manner so that in the flight mould of aircraft
When formula changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.
Figure 10 is the structural representation of control device 1000 according to another embodiment of the present invention.Control device 1000
It such as can be the flight controller of Fig. 1.Control device 1000 includes determining module 1010 and control module 1020.
Determining module 1010 is used to determine the offline mode of aircraft.Control module 1020 is used for true in determining module 1010
When determining offline mode for upright offline mode, the attitude of aircraft is controlled using the first upright control model, and it is determined that mould
When block 1010 determines offline mode for flying upside down pattern, the attitude of aircraft is controlled using the first handstand control model, wherein
Control the variation pattern of the attitude of aircraft to be different from the first handstand control model under the first upright control model and control flight
The variation pattern of the attitude of device.For example, the attitude of aircraft can include following at least one：Course angle, roll angle and pitching
Angle.
Specifically, the variation pattern of the attitude of above-mentioned control aircraft includes following at least one：Control attitude angle change
Size and control attitude angle change direction.The variation pattern of the attitude of aircraft can include the side of control attitude angle change
To, wherein, according to identical control instruction, controlled under the first upright control model aircraft attitude angle change direction with
The attitude angle of control aircraft changes in the opposite direction under the first handstand control model.
Embodiments in accordance with the present invention, control module 1020 determines that offline mode is upright flight mould in determining module 1010
During formula, control instruction is converted into multiple First Speed Regulate signals, to be adjusted by multiple First Speed Regulate signals respectively
The rotating speed of multiple rotors of aircraft so that the attitude angle of aircraft is altered along a first direction, wherein control module 1020 is true
When cover half block 1010 determines offline mode for flying upside down pattern, control instruction is converted into multiple second speed Regulate signals,
So that the rotating speed of multiple rotors is adjusted by multiple second speed Regulate signals respectively so that the attitude angle of aircraft is in a second direction
Change.
Alternatively, as another embodiment, control module 1020 is additionally operable to it is determined that offline mode is upright offline mode
When, use multiple rotor wing rotations of the second upright control model control aircraft to produce pushing away for third direction with relative to aircraft
Power；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with relative
The thrust of fourth direction is produced in aircraft, third direction is opposite with fourth direction.
Specifically, control module 1020 controls third party by changing the direction of rotation of motor corresponding with multiple rotors
To opposite with fourth direction.
The method that the operation of the modules of control device 1000 and function may be referred to above-mentioned Fig. 6, in order to avoid repeating,
Will not be repeated here.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the attitude using different control model control aircraft changes in a different manner so that in the offline mode of aircraft
During change, without changing manipulation custom of the user to aircraft, so as to improve the experience of user.
Figure 11 is the structural representation of control device 1100 according to another embodiment of the present invention.Control device 1100
It such as can be the commanding apparatus of Fig. 1.Control device 1100 includes determining module 1110, sending module 1120 and modular converter
1130。
Determining module 1110 is used to determine the offline mode of aircraft.Sending module 1120 is used for true in determining module 1110
When to determine offline mode be upright offline mode and the first control instruction of the user input for receiving commanding apparatus, to aircraft or
The carrier of aircraft sends the first control instruction.Modular converter 1130 is used to determine in determining module 1110 the flight mould of aircraft
When formula is flying upside down pattern and the first control instruction of the user input for receiving commanding apparatus, by the conversion of the first control instruction
It is the second control instruction, wherein sending module 1120 is additionally operable to send the second control instruction to the carrier of aircraft or aircraft,
First control instruction is used for change or the motion state of carrier of the attitude for controlling aircraft, the first control instruction control aircraft
Attitude variation pattern or carrier motion state variation pattern and the second control instruction control aircraft attitude change
The variation pattern of change mode or carrier movement state is different, and carrier is used for carry load.For example, the attitude of aircraft is including as follows
It is at least one：Course angle, roll angle and the angle of pitch.
Alternatively, as another embodiment, control device 1100 can also include：Receiver module 1140.Receiver module
1140 offline mode for being used to receive aircraft transmission are indicated, wherein, it is upright that offline mode is indicated for indicating offline mode
Offline mode or flying upside down pattern, wherein determining module 1110 indicate to determine offline mode according to offline mode.
The method that the operation of the modules of control device 1100 and function may be referred to above-mentioned Fig. 8, in order to avoid repeating,
Will not be repeated here.
Embodiments in accordance with the present invention, by that when aircraft is in different offline mode, will be used at commanding apparatus
The identical control instruction of family input is converted to different control instructions so that when the offline mode of aircraft changes, without changing
Become manipulation custom of the user to aircraft, so as to improve Consumer's Experience.
Figure 12 is the structural representation of flight control system according to an embodiment of the invention 1200.Flight control system
System 1200 for example can be the flight control system of Fig. 1.Flight control system 1200 can include processor 1210 and memory
1220, wherein memory 1220 is used to store instruction cause that processor 1210 is used to select phase according to the offline mode of aircraft
The control model answered.Processor 1210 is communicated to connect by bus 1270 with memory 1220.
Specifically, when it is determined that offline mode is upright offline mode, using the first upright control model control aircraft
Carrier motion, it is determined that offline mode be flying upside down pattern when, using the first handstand control model control carrier fortune
It is dynamic, wherein, according to identical control instruction, the variation pattern of motion state of carrier is controlled under the first upright control model not
The variation pattern of the motion state of control carrier under the first handstand control model is same as, carrier is used for carry load.Carrier can
With positioned at the top or bottom of aircraft.
Embodiments in accordance with the present invention, the motion state of carrier can include the direction of motion of carrier；Wherein, according to identical
Control instruction, under the first upright control model control carrier the direction of motion with the first handstand control model control carry
The direction of motion of body is opposite.
Embodiments in accordance with the present invention, carrier can include one or more rotating shaft mechanisms, processor 1210 specifically for
When it is determined that offline mode is upright offline mode, rotating shaft mechanism is controlled around the rotation of rotating shaft mechanism according to the first control instruction
Axle is rotated in a first direction, and when it is determined that offline mode is flying upside down pattern, rotating shaft is controlled according to the first control instruction
Mechanism rotates in a second direction around rotary shaft, and wherein first direction is opposite with second direction.
Embodiments in accordance with the present invention, processor 1210 specifically for it is determined that offline mode be upright offline mode when,
First control instruction is converted into the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and true
When determining offline mode for flying upside down pattern, the first control instruction is converted into the second drive signal, with motor along second
Direction rotates.
Rotating shaft mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carrier
Motion state includes following at least one：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.
Embodiments in accordance with the present invention, processor 1210 specifically for obtain aircraft attitude information, and according to fly
The attitude information of row device, determines the offline mode of aircraft.
Alternatively, as another embodiment, flight control system can also include：Sensor 1230.Sensor 1230, with
Processor 1210 is communicated to connect, and for sensing attitude information, wherein processor 1210 receives the attitude information of sensor sensing.Pass
Sensor 1210 includes following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Attitude information bag
Include at least one of the angle of pitch of aircraft and the roll angle of aircraft.Processor 1210 is specifically for when the angle of pitch or roll
Angle determines that offline mode is flying upside down pattern in default angular range.
Alternatively, as another embodiment, flight control system 1200 can also include：Transceiver 1240, with processor
1210 communication connections, the offline mode that the commanding apparatus for receiving aircraft sends is indicated, and wherein processor 1210 is specifically used
In determination offline mode is indicated according to offline mode, it is flying upside down pattern that wherein offline mode is indicated for indicating offline mode
Or upright offline mode.
Alternatively, as another embodiment, processor 1210 is additionally operable to when it is determined that offline mode is upright offline mode,
The height of aircraft is controlled using the second upright control model；When it is determined that offline mode is flying upside down pattern, using second
Handstand control model controls the height of aircraft, wherein the range information that the distance measuring sensor carried according to aircraft is sensed,
The condition of the highly desirable satisfaction of aircraft is controlled to be different from being controlled under the second handstand control model under second upright control model
The condition of the highly desirable satisfaction of aircraft processed.
Alternatively, as another embodiment, flight control is that 1200 can also include：First distance measuring sensor 1250, with
Processor 1210 is communicated to connect, for sensing the distance between aircraft and the first object object above aircraft, its
Middle processor 1210 specifically for when it is determined that offline mode is flying upside down pattern, according to aircraft and first object object it
Between distance controlling aircraft flying height, to cause that the distance between aircraft and first object object are preset less than first
Value, wherein the first distance measuring sensor 1250 is located at the bottom of aircraft.
Alternatively, as another embodiment, also include：Second distance measuring sensor 1260, communicates to connect with processor 1210,
For sensing the distance between aircraft and the second destination object below aircraft, wherein processor 1210 is additionally operable to
When determining offline mode for flying upside down pattern, flying for aircraft is controlled according to the distance between aircraft and the second destination object
Row height, to cause that the distance between aircraft and the second destination object are more than the second preset value, wherein the second distance measuring sensor
1260 tops for being located at aircraft.
Alternatively, as another embodiment, the first distance measuring sensor 1250 is additionally operable to sensing aircraft and is located at aircraft
The distance between the 3rd destination object of lower section, processor 1210 is specifically for it is determined that offline mode is upright offline mode
When, the flying height of aircraft is controlled according to the distance between aircraft and the 3rd destination object, to cause aircraft and the 3rd
The distance between destination object is more than the 3rd preset value.
Above-mentioned distance measuring sensor is ultrasonic sensor and/or vision sensor.Above-mentioned carrier is tripod head equipment, above-mentioned negative
It is capture apparatus to carry.
Alternatively, as another embodiment, transceiver 1240 is additionally operable to receive the image that capture apparatus shoot, wherein processing
Device 1210 is additionally operable to when it is determined that offline mode is flying upside down pattern, the image that capture apparatus shoot be carried out into handstand treatment,
And the image after handstand is processed by second transceiver is sent to display and is shown.
The method that the operation of flight control system 1200 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating, herein not
Repeat again.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the motion state using different control model control carriers changes in a different manner so that in the flight mould of aircraft
When formula changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.
Figure 13 is the structural representation of the control system 1300 of carrier according to an embodiment of the invention.Control system
1300 for example can be with the control system of the carrier of Fig. 1.Control system 1300 can include processor 1310 and memory 1320, its
Middle memory 1320 is used to store instruction cause that processor 1310 is used for according to the corresponding control of the offline mode of aircraft selection
Molding formula.Processor 1310 is communicated to connect by bus 1350 with memory 1320.
Specifically, when it is determined that offline mode is upright offline mode, using the first upright control model control carrier
Motion, when it is determined that offline mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein,
According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different from the under the first upright control model
The variation pattern of the motion state of carrier, carrier are controlled under one handstand control model is used for carry load.For example, carrier can be
Tripod head equipment, load can be capture apparatus.
Embodiments in accordance with the present invention, the motion state of carrier can include the direction of motion of carrier；Wherein, according to identical
Control instruction, under the first upright control model control carrier the direction of motion with the first handstand control model control carry
The direction of motion of body is opposite.
Embodiments in accordance with the present invention, carrier can include one or more rotating shaft mechanisms, processor 1310 specifically for
When it is determined that offline mode is upright offline mode, rotating shaft mechanism is controlled around the rotation of rotating shaft mechanism according to the first control instruction
Axle is rotated in a first direction, and when it is determined that offline mode is flying upside down pattern, rotating shaft is controlled according to the first control instruction
Mechanism rotates in a second direction around rotary shaft, and wherein first direction is opposite with second direction.
Embodiments in accordance with the present invention, processor 1310 specifically for it is determined that offline mode be upright offline mode when,
First control instruction is converted into the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and true
When determining offline mode for flying upside down pattern, the first control instruction is converted into the second drive signal, with motor along second
Direction rotates.Rotating shaft mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carrier
Motion state include it is following at least one：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.Treatment
Device obtains the attitude information of aircraft, and according to the attitude information of aircraft, determines the offline mode of aircraft.
Alternatively, as another embodiment, control system 1300 also includes：Sensor 1330, is connected with processor communication,
For sensing attitude information, wherein processor 1310 can receive the attitude information of the sensing of sensor 1330.Sensor 1330 can
With including following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Attitude information can include
At least one of the angle of pitch of aircraft and the roll angle of aircraft.
Embodiments in accordance with the present invention, processor 1310 is specifically for when the angle of pitch or roll angle are in default angular range
When, determine that offline mode is flying upside down pattern.
Embodiments in accordance with the present invention, control system 1300 can also include：1340 transceivers, communicate with processor 1310
Connection, the offline mode that the controller of commanding apparatus or aircraft for receiving aircraft sends is indicated, wherein processor
1310 according to offline mode specifically for being indicated to determine offline mode, and wherein offline mode is indicated for indicating offline mode to fall
Vertical offline mode or upright offline mode.
Alternatively, as another embodiment, transceiver 1340 is additionally operable to receive the image that capture apparatus shoot, wherein processing
Device is additionally operable to when it is determined that offline mode is flying upside down pattern, the image that capture apparatus shoot be carried out into handstand treatment, and by
Image after second transceiver processes handstand is sent to display and is shown.
The method that the operation of flight control system 1300 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating, herein not
Repeat again.
Embodiments in accordance with the present invention, by when aircraft is in different offline mode, being referred to according to identical control
Order, the motion state using different control model control carriers changes in a different manner so that in the flight mould of aircraft
When formula changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.
Figure 14 is the structural representation of flight control system 1400 according to another embodiment of the present invention.Flight control system
System 1400 for example can be with the flight control system of Fig. 1.Flight control system 1400 can include processor 1410 and memory
1420, wherein memory 1420 is used to store instruction cause that processor 1410 is used to select phase according to the offline mode of aircraft
The control model answered.Processor 1410 is communicated to connect by bus 1430 with memory 1420.
Specifically, when it is determined that offline mode is upright offline mode, using the first upright control model control aircraft
Attitude, it is determined that offline mode be flying upside down pattern when, using the first handstand control model control aircraft attitude, its
In, according to identical control instruction, control the variation pattern of the attitude of aircraft to be different under the first upright control model
The variation pattern of the attitude of aircraft is controlled under first handstand control model.For example, the attitude of aircraft includes following at least one
Kind：Course angle, roll angle and the angle of pitch.For example, the variation pattern of the attitude of control aircraft includes following at least one：Control
The size of attitude angle change and the direction of control attitude angle change.
Embodiments in accordance with the present invention, controlling the variation pattern of the attitude of aircraft can include control attitude angle change
Direction, wherein, according to identical control instruction, the change direction of the attitude angle of aircraft is controlled under the first upright control model
With changing in the opposite direction for the attitude angle that aircraft is controlled under the first handstand control model.
Embodiments in accordance with the present invention, processor 1410 specifically for it is determined that offline mode be upright offline mode when,
Control instruction is converted into multiple First Speed Regulate signals, to adjust aircraft by multiple First Speed Regulate signals respectively
Multiple rotors rotating speed so that aircraft is rotated in a first direction around rotary shaft, and it is determined that offline mode for stand upside down
During offline mode, control instruction is converted into multiple second speed Regulate signals, to adjust letter by multiple second speeds respectively
The rotating speed of number multiple rotors of regulation so that aircraft is rotated in a second direction around rotary shaft.For example, rotary shaft can be included such as
Lower at least one：Roll axle, translation shaft and pitch axis.
Alternatively, as another embodiment, processor 1410 is additionally operable to：It is determined that offline mode is upright offline mode
When, use multiple rotor wing rotations of the second upright control model control aircraft to produce pushing away for third direction with relative to aircraft
Power；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with relative
The thrust of fourth direction is produced in aircraft, third direction is opposite with fourth direction.
Embodiments in accordance with the present invention, processor 1410 is specifically for the rotation by changing motor corresponding with multiple rotors
Turn direction to control third direction opposite with fourth direction.
The method that the operation of control device 1400 and function may be referred to above-mentioned Fig. 6, in order to avoid repeating, no longer goes to live in the household of one's in-laws on getting married herein
State.
Embodiments in accordance with the present invention, by that when aircraft is in different offline mode, will be used at commanding apparatus
The identical control instruction of family input is converted to different control instructions so that when the offline mode of aircraft changes, without changing
Become manipulation custom of the user to aircraft, so as to improve Consumer's Experience.
Figure 15 is the structural representation of manipulation device according to an embodiment of the invention 1500.Manipulation device 1500
It such as can be the manipulation device in Fig. 1.Manipulation device 1500 includes：Processor 1510 and memory 1520, wherein memory
1520 are used to store instruction cause that processor 1510 is used to export corresponding control instruction according to the offline mode of aircraft.Place
Reason device 1510 is communicated to connect by bus 1550 with memory 1520.
Transceiver 1530 is used to determine that offline mode is upright offline mode and receives operator's input in controller
During the first control instruction, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control to fly
The change of the attitude of row device or the change of the motion state of carrier.Processor 1510 is used for it is determined that the offline mode of aircraft is
Flying upside down pattern and when receiving the first control instruction of user input, is converted to the first control instruction the second control and refers to
Order, transceiver 1530 is additionally operable to send the second control instruction to the carrier of aircraft or aircraft, wherein, the first control instruction control
Variation pattern and the second control instruction the control aircraft of the variation pattern of the attitude of aircraft processed or the motion state of carrier
The variation pattern of attitude or the variation pattern of carrier movement state are different.For example, the attitude of aircraft includes following at least one：
Course angle, roll angle and the angle of pitch.
Alternatively, as another embodiment, transceiver 1530 is additionally operable to receive the offline mode instruction that aircraft sends, its
In, offline mode is indicated for indicating offline mode for upright offline mode or flying upside down pattern, wherein processor 1510
Indicate to determine offline mode according to offline mode.
The method that the operation of manipulation device 1500 and function may be referred to above-mentioned Fig. 8, in order to avoid repeating, no longer goes to live in the household of one's in-laws on getting married herein
State.
Embodiments in accordance with the present invention, by that when aircraft is in different offline mode, will be used at commanding apparatus
The identical control instruction of family input is converted to different control instructions so that when the offline mode of aircraft changes, without changing
Become manipulation custom of the user to aircraft, so as to improve Consumer's Experience.
Figure 16 is the structural representation of aircraft 1600 according to one embodiment of present invention.Aircraft can be with 1600
Including：Flight control system 1610 and multiple propulsion plants 1620.Flight control system 1610 can be such as above-mentioned embodiment institute
The flight control system stated.Multiple propulsion plants 1620 are used to be supplied to the flying power of aircraft；Wherein, flight control system
1610 communicate to connect with multiple propulsion plants 1620, for controlling multiple propulsion plants 1620 to work, to realize required attitude.
Figure 17 is the structural representation of carrier according to an embodiment of the invention 1700.Carrier can include：Control
System 1710 and one or more rotating shaft mechanisms 1720.Control system 1710 can be control system as described above described in embodiment
System.Rotating shaft mechanism can include the power set that rotating shaft and drive shaft are rotated；Wherein, control system 1710 and power set
Communication connection, for controlling power set to work, to realize required motion state.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text means relevant with embodiment
Special characteristic, structure or characteristic are included at least one embodiment of the present invention.Therefore, occur everywhere in entire disclosure
" in one embodiment " or " in one embodiment " not necessarily refers to identical embodiment.Additionally, in the case where not conflicting,
Specific feature, structure or characteristic can be combined in one or more realities in any suitable manner in these embodiments and embodiment
In applying example.
It should be understood that in various embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to that execution is suitable
The priority of sequence, the execution sequence of each process should be determined with its function and internal logic, without the implementation of the reply embodiment of the present invention
Process constitutes any restriction.
It should be understood that in embodiments of the present invention, " B corresponding with A " represents that B is associated with A, and B can be determined according to A.But
It should also be understood that determining that B is not meant to determine B only according to A according to A, B can also be determined according to A and/or other information.
It should be understood that the terms "and/or", a kind of only incidence relation for describing affiliated partner, expression can be deposited
In three kinds of relations, for example, A and/or B, can represent：Individualism A, while there is A and B, individualism B these three situations.
In addition, character "/" herein, typicallys represent forward-backward correlation pair as if a kind of relation of "or".
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Unit and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function, but this realization can be realized it is not considered that exceeding using distinct methods to each specific application
The scope of the present invention.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component
Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (66)
1. a kind of control method, it is characterised in that including：
Determine the offline mode of aircraft；
When it is determined that the offline mode is upright offline mode, the load of the aircraft is controlled using the first upright control model
The motion of body；
When it is determined that the offline mode is flying upside down pattern, the fortune of the carrier is controlled using the first handstand control model
It is dynamic, wherein, according to identical control instruction, the change of the motion state of the carrier is controlled under the described first upright control model
Change mode is different from the variation pattern of the motion state that the carrier is controlled under the first handstand control model, the carrier
For carry load.
2. control method according to claim 1, it is characterised in that the motion state of the carrier includes the carrier
The direction of motion；
Wherein, according to identical control instruction, controlled under the described first upright control model the direction of motion of the carrier with
Control the direction of motion of the carrier opposite under the first handstand control model.
3. control method according to claim 2, it is characterised in that the carrier includes one or more rotating shaft mechanisms,
The motion of the carrier using the first upright control model control aircraft, including：
The rotating shaft mechanism is controlled to be rotated in a first direction around the rotary shaft of the rotating shaft mechanism according to the first control instruction,
The wherein described motion using the first handstand control model control carrier, including：
The rotating shaft mechanism is controlled to be rotated in a second direction around the rotary shaft according to first control instruction, wherein described
First direction is opposite with the second direction.
4. control method according to claim 3, it is characterised in that described that the rotating shaft is controlled according to the first control instruction
Mechanism is rotated in a first direction around the rotary shaft of the rotating shaft mechanism, including：
First control instruction is converted into the first drive signal, to drive the motor of the rotating shaft mechanism along the first party
To rotation,
Wherein, it is described to control the rotating shaft mechanism to be rotated in a second direction around the rotary shaft according to the first control instruction, wrap
Include：
First control instruction is converted into the second drive signal, to drive the motor to be rotated along the second direction.
5. the control method according to claim 3 or 4, it is characterised in that the rotating shaft mechanism includes following at least one：
Roll axis mechanism, translation axis mechanism and pitching axis mechanism.
6. control method according to claim 1, it is characterised in that the motion state of the carrier includes following at least
Kind：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.
7. according to the control method that any one of claim 1 to 6 is described, it is characterised in that the determination aircraft
Offline mode, including：
Obtain the attitude information of the aircraft；
According to the attitude information of the aircraft, the offline mode of the aircraft is determined.
8. control method according to claim 7, it is characterised in that the attitude information is carried by the aircraft
Sensor sensing is obtained.
9. control method according to claim 8, it is characterised in that the sensor includes following at least one：Gyro
Instrument, electronic compass, Inertial Measurement Unit and vision sensor.
10. according to the control method that any one of claim 7 to 9 is described, it is characterised in that the attitude information includes institute
State at least one of the angle of pitch of aircraft and the roll angle of the aircraft.
11. control methods according to claim 10, it is characterised in that the attitude information according to the aircraft,
Determine the offline mode of the aircraft, including：
When the angle of pitch or the roll angle are in default angular range, determine that the offline mode is the flying upside down
Pattern.
12. according to the described control method of any one of claim 1 to 6, it is characterised in that the determination aircraft
Offline mode, including：
The offline mode instruction that the commanding apparatus of the aircraft sends is received, the offline mode is indicated for indicating described flying
Row mode is the flying upside down pattern or the upright offline mode；
Indicated to determine the offline mode according to the offline mode.
13. according to the described control method of any one of claim 1 to 12, it is characterised in that also include：
When it is determined that the offline mode is the upright offline mode, the aircraft is controlled using the second upright control model
Height；
When it is determined that the offline mode is the flying upside down pattern, the aircraft is controlled using the second handstand control model
Height, wherein according to the aircraft carry distance measuring sensor sense range information, in the described second upright control mould
The condition of the highly desirable satisfaction of the aircraft is controlled to be different under the second handstand control model described in control under formula
The condition of the highly desirable satisfaction of aircraft.
14. control methods according to claim 13, it is characterised in that described that institute is controlled using the second handstand control model
The height of aircraft is stated, including：
The first distance measuring sensor carried using the aircraft senses the aircraft be located above the aircraft the
The distance between one destination object；
According to the flying height of the distance between the aircraft and described first object object control aircraft, to cause
The distance between the aircraft and described first object object are less than the first preset value, wherein first distance measuring sensor position
In the bottom of the aircraft.
15. control methods according to claim 14, it is characterised in that described that institute is controlled using the second handstand control model
The height of aircraft is stated, is also included：
The second distance measuring sensor carried using the aircraft senses the aircraft be located at below the aircraft the
The distance between two destination objects；
According to the flying height of the distance between the aircraft and described second destination object control aircraft, to cause
The distance between the aircraft and described second destination object are more than the second preset value, wherein second distance measuring sensor position
In the top of the aircraft.
16. control method according to claims 14 or 15, it is characterised in that described to use the second upright control model control
The height of the aircraft is made, including：
The first distance measuring sensor carried using the aircraft senses the aircraft be located at below the aircraft the
The distance between three destination objects；
According to the flying height of the distance between the aircraft and described 3rd destination object control aircraft, to cause
The distance between the aircraft and described 3rd destination object are more than the 3rd preset value.
17. according to the described control method of any one of claim 13 to 16, it is characterised in that the distance measuring sensor is
Ultrasonic sensor and/or vision sensor.
18. according to the described control method of any one of claim 1 to 17, it is characterised in that the carrier sets for head
Standby, the load is capture apparatus.
19. control methods according to claim 18, it is characterised in that the control method also includes：
Receive the image that the capture apparatus shoot；
When it is determined that the offline mode is the flying upside down pattern, the image that the capture apparatus shoot is carried out at handstand
Reason；
Image after handstand is processed is sent to display and is shown.
20. according to the described control method of any one of claim 1 to 19, it is characterised in that the carrier is located at described
The top or bottom of aircraft.
21. according to the described control method of any one of claim 1 to 20, and methods described is by the aircraft or the load
The controller of body is performed.
A kind of 22. control methods, it is characterised in that including：
Determine the offline mode of aircraft；
When it is determined that the offline mode is upright offline mode, the appearance of the aircraft is controlled using the first upright control model
State；
When it is determined that the offline mode is flying upside down pattern, the appearance of the aircraft is controlled using the first handstand control model
State, wherein, according to identical control instruction, the change of the attitude of the aircraft is controlled under the described first upright control model
Mode is different from the variation pattern of the attitude that the aircraft is controlled under the first handstand control model.
23. control methods according to claim 22, it is characterised in that the change of the attitude of the control aircraft
Mode includes following at least one：The size of control attitude angle change and the direction of control attitude angle change.
24. control methods according to claim 23, it is characterised in that the variation pattern of the attitude of the control aircraft
Direction including control attitude angle change；
Wherein, according to identical control instruction, the attitude angle of the aircraft is controlled under the described first upright control model
Change direction changes in the opposite direction with the attitude angle that the aircraft is controlled under the first handstand control model.
25. control methods according to claim 24, it is characterised in that described using the first upright control model control institute
The attitude of aircraft is stated, including：
The control instruction is converted into multiple First Speed Regulate signals, letter is adjusted to pass through the multiple First Speed respectively
The rotating speed of multiple rotors of number regulation aircraft so that the aircraft is rotated in a first direction around the rotary shaft,
The wherein described attitude using the first handstand control model control aircraft, including：
The control instruction is converted into multiple second speed Regulate signals, is believed with being adjusted by the multiple second speed respectively
The rotating speed of number the multiple rotor of regulation so that the aircraft is rotated in a second direction around the rotary shaft.
26. control methods according to claim 25, it is characterised in that the rotary shaft includes following at least one：It is horizontal
Roller bearing, translation shaft and pitch axis.
27. according to the described control method of any one of claim 22 to 26, it is characterised in that also include：
When it is determined that the offline mode is the upright offline mode, the aircraft is controlled using the second upright control model
Multiple rotor wing rotations with relative to the aircraft produce third direction thrust；
When it is determined that the offline mode is the flying upside down pattern, the multiple rotation is controlled using the second handstand control model
Wing rotation is with the thrust relative to aircraft generation fourth direction, and the third direction is opposite with the fourth direction.
28. control methods according to claim 26, it is characterised in that by changing electricity corresponding with the multiple rotor
The direction of rotation of machine controls the third direction opposite with the fourth direction.
29. control method according to any one of claim 22 to 27, it is characterised in that the attitude of the aircraft includes
It is following at least one：Course angle, roll angle and the angle of pitch.
A kind of 30. control methods, it is characterised in that including：
The commanding apparatus of aircraft determines the offline mode of the aircraft；
The commanding apparatus it is determined that the offline mode be upright offline mode and receive user input first control refer to
When making, first control instruction is sent to the carrier of the aircraft or the aircraft, first control instruction is used for
Control the change of the attitude of the aircraft or the change of the motion state of the carrier；
The commanding apparatus it is determined that the aircraft offline mode is for flying upside down pattern and receives the institute of user input
When stating the first control instruction, first control instruction is converted into the second control instruction, and to the aircraft or described winged
The carrier of row device sends second control instruction, wherein, first control instruction controls the change of the attitude of the aircraft
The variation pattern of the motion state of change mode or the carrier and the attitude of second control instruction control aircraft
The variation pattern of variation pattern or the carrier movement state is different.
31. control methods according to claim 30, it is characterised in that also include：
The commanding apparatus receives the offline mode instruction that the aircraft sends, wherein, the offline mode is indicated for referring to
Show the offline mode for the upright offline mode or the flying upside down pattern,
Wherein, the commanding apparatus of the aircraft determines the offline mode of the aircraft, including：
The commanding apparatus indicates to determine the offline mode according to the offline mode.
A kind of 32. control devices, it is characterised in that including：
Determining module, the offline mode for determining aircraft；
Control module, it is upright using first for when it is upright offline mode that the determining module determines the offline mode
Control model controls the motion of the carrier of the aircraft, determines that the offline mode is flying upside down mould in the determining module
During formula, the motion of the carrier is controlled using the first handstand control model, wherein, according to identical control instruction, described the
The variation pattern of the motion state of the carrier is controlled to be different from the first handstand control model under one upright control model
The variation pattern of the motion state of the lower control carrier, the carrier is used for carry load.
A kind of 33. control devices, it is characterised in that including：
Determining module, the offline mode for determining aircraft；
Control module, it is upright using first for when it is upright offline mode that the determining module determines the offline mode
Control model controls the attitude of the aircraft, and determines that the offline mode is flying upside down pattern in the determining module
When, the attitude of the aircraft is controlled using the first handstand control model, wherein being controlled under the described first upright control model
The variation pattern of the attitude of the aircraft is different from being controlled under the first handstand control model the attitude of the aircraft
Variation pattern.
A kind of 34. flight control systems, it is characterised in that including：Processor and memory, wherein the memory is used to store
Instruction is with so that the processor is used to select corresponding control model according to the offline mode of the aircraft；
Wherein when it is determined that the offline mode is upright offline mode, the aircraft is controlled using the first upright control model
Carrier motion, it is described using the control of the first handstand control model when it is determined that the offline mode is flying upside down pattern
The motion of carrier, wherein, according to identical control instruction, the motion of the carrier is controlled under the described first upright control model
The variation pattern of state is different from the variation pattern of the motion state that the carrier is controlled under the first handstand control model,
The carrier is used for carry load.
35. flight control systems according to claim 34, it is characterised in that the motion state of the carrier includes described
The direction of motion of carrier；Wherein, according to identical control instruction, the carrier is controlled under the described first upright control model
The direction of motion controls the direction of motion of the carrier opposite with the first handstand control model.
36. flight control systems according to claim 35, it is characterised in that the carrier includes one or more rotating shafts
Mechanism, the processor according to the first control specifically for when it is determined that the offline mode is the upright offline mode, referring to
The order control rotating shaft mechanism is rotated in a first direction around the rotary shaft of the rotating shaft mechanism, and it is determined that the flight mould
When formula is the flying upside down pattern, control the rotating shaft mechanism around the rotary shaft along the according to first control instruction
Two directions rotate, wherein the first direction is opposite with the second direction.
37. flight control systems according to claim 36, it is characterised in that the processor is specifically for it is determined that institute
When stating offline mode for the upright offline mode, first control instruction is converted into the first drive signal, to drive
The motor for stating rotating shaft mechanism rotates along the first direction, and it is determined that the offline mode is the flying upside down pattern
When, first control instruction is converted into the second drive signal, to drive the motor to be rotated along the second direction.
38. flight control system according to claim 36 or 37, it is characterised in that the rotating shaft mechanism is included as follows extremely
Few one kind：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.
39. flight control systems according to claim 34, it is characterised in that the motion state of the carrier includes as follows
It is at least one：The direction of the angle of rotation, the direction for rotating, the distance of translation and translation.
40. according to the described flight control system of any one of claim 34 to 39, it is characterised in that the processor is obtained
The attitude information of the aircraft is taken, and according to the attitude information of the aircraft, determines the offline mode of the aircraft.
41. flight control systems according to claim 40, it is characterised in that the flight control system also includes：
Sensor, is connected with the processor communication, for sensing the attitude information, wherein the processor receives the biography
The attitude information of sensor sensing.
42. flight control systems according to claim 41, it is characterised in that the sensor includes following at least one
Kind：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.
43. according to the described flight control system of any one of claim 40 to 42, it is characterised in that the attitude information
At least one of roll angle of the angle of pitch and the aircraft including the aircraft.
44. flight control systems according to claim 43, it is characterised in that the processor when described specifically for bowing
The elevation angle or the roll angle determine that the offline mode is the flying upside down pattern in default angular range.
45. according to the described flight control system of any one of claim 34 to 37, it is characterised in that the flight control
System also includes：
First transceiver, is connected with the processor communication, the flight mould that the commanding apparatus for receiving the aircraft sends
Formula is indicated, wherein the processor according to the offline mode specifically for indicating to determine the offline mode, wherein described fly
It is the flying upside down pattern or the upright offline mode that row mode is indicated for indicating the offline mode.
46. according to the described flight control system of any one of claim 34 to 45, it is characterised in that the processor is also
For when it is determined that the offline mode is the upright offline mode, the aircraft being controlled using the second upright control model
Height；When it is determined that the offline mode is the flying upside down pattern, fly using the control of the second handstand control model is described
The height of row device, wherein the range information that the distance measuring sensor carried according to the aircraft is sensed, in the described second upright control
The condition of the highly desirable satisfaction of the aircraft is controlled to be different from being controlled under the second handstand control model under molding formula
The condition of the highly desirable satisfaction of the aircraft.
47. flight control systems according to claim 46, it is characterised in that the flight control system also includes：
First distance measuring sensor, is connected with the processor communication, for sensing the aircraft and being located at the aircraft
The distance between first object object of side, wherein the processor is specifically for it is determined that the offline mode is the handstand
During offline mode, the flight according to the distance between the aircraft and described first object object control aircraft is high
Degree, to cause that the distance between the aircraft and described first object object are less than the first preset value, wherein described first surveys
The bottom of the aircraft is located at away from sensor.
48. flight control systems according to claim 47, it is characterised in that the flight control system also includes：
Second distance measuring sensor, is connected with the processor communication, for sensing the aircraft and being located under the aircraft
The distance between second destination object of side, wherein the processor is additionally operable to it is determined that the offline mode flies for described handstand
During row mode, according to the flying height of the distance between the aircraft and described second destination object control aircraft,
To cause that the distance between the aircraft and described second destination object are more than the second preset value, wherein second range finding is passed
Sensor is located at the top of the aircraft.
49. flight control system according to claim 47 or 48, it is characterised in that first distance measuring sensor is also used
In the distance between the 3rd destination object for sensing the aircraft and being located at below the aircraft, the treatment implement body is used
In when it is determined that the offline mode is the upright offline mode, according between the aircraft and the 3rd destination object
Distance controlling described in aircraft flying height, to cause that the distance between the aircraft and described 3rd destination object are big
In the 3rd preset value.
50. according to the described flight control system of any one of claim 46 to 49, it is characterised in that the range finding sensing
Device is ultrasonic sensor and/or vision sensor.
51. according to the described flight control system of any one of claim 34 to 50, it is characterised in that the carrier is cloud
Platform equipment, the load is capture apparatus.
52. flight control systems according to claim 51, it is characterised in that the flight control system also includes：
Second transceiver, is connected with the processor communication, for receiving the image that the capture apparatus shoot, wherein the place
Reason device is additionally operable to when it is determined that the offline mode is the flying upside down pattern, the image that the capture apparatus shoot be carried out
Handstand is processed, and image after handstand is processed by the second transceiver is sent to display and is shown.
53. according to the described flight control system of any one of claim 34 to 52, it is characterised in that the carrier is located at
The top or bottom of the aircraft.
A kind of 54. control systems of carrier, it is characterised in that including：Processor and memory, wherein, the memory is used for
Store instruction is with so that the processor is used to select corresponding control model according to the offline mode of the aircraft；
Wherein, when it is determined that the offline mode is upright offline mode, the carrier is controlled using the first upright control model
Motion, when it is determined that the offline mode is flying upside down pattern, the carrier is controlled using the first handstand control model
Motion, wherein, according to identical control instruction, the motion state of the carrier is controlled under the described first upright control model
Variation pattern is different from the variation pattern of the motion state that the carrier is controlled under the first handstand control model, the load
Body is used for carry load.
A kind of 55. flight control systems, it is characterised in that including：Processor and memory, wherein the memory is used to store
Instruct to cause that the processor is used to select corresponding control model according to the offline mode of the aircraft,
Wherein when it is determined that the offline mode is upright offline mode, the aircraft is controlled using the first upright control model
Attitude, when it is determined that the offline mode is flying upside down pattern, the aircraft is controlled using the first handstand control model
Attitude, wherein, according to identical control instruction, the attitude of the aircraft is controlled under the described first upright control model
Variation pattern is different from the variation pattern of the attitude that the aircraft is controlled under the first handstand control model.
56. flight control systems according to claim 55, it is characterised in that
The variation pattern of the attitude of the control aircraft includes following at least one：Control attitude angle change size and
The direction of control attitude angle change.
57. flight control systems according to claim 56, it is characterised in that the change of the attitude of the control aircraft
Mode includes the direction of control attitude angle change, wherein, according to identical control instruction, under the described first upright control model
Control the change direction and the appearance that the aircraft is controlled under the first handstand control model of the attitude angle of the aircraft
State angle changes in the opposite direction.
58. flight control systems according to claim 57, it is characterised in that the processor is specifically for it is determined that institute
When stating offline mode for upright offline mode, the control instruction is converted into multiple First Speed Regulate signals, to lead to respectively
Cross the rotating speed that the multiple First Speed Regulate signal adjusts multiple rotors of the aircraft so that the aircraft is around institute
Rotary shaft is stated to be rotated in a first direction, and when it is determined that the offline mode is flying upside down pattern, by the control instruction
Multiple second speed Regulate signals are converted to, to adjust the multiple rotor by the multiple second speed Regulate signal respectively
Rotating speed so that the aircraft is rotated in a second direction around the rotary shaft.
59. flight control systems according to claim 58, it is characterised in that the rotary shaft includes following at least one
Kind：Roll axle, translation shaft and pitch axis.
60. according to the described flight control system of any one of claim 55 to 59, it is characterised in that the processor is also
For：
When it is determined that the offline mode is the upright offline mode, the aircraft is controlled using the second upright control model
Multiple rotor wing rotations with relative to the aircraft produce third direction thrust；
When it is determined that the offline mode is the flying upside down pattern, the multiple rotation is controlled using the second handstand control model
Wing rotation is with the thrust relative to aircraft generation fourth direction, and the third direction is opposite with the fourth direction.
61. flight control systems according to claim 60, it is characterised in that the processor is specifically for by changing
The direction of rotation of motor corresponding with the multiple rotor controls the third direction opposite with the fourth direction.
62. flight control system according to any one of claim 55 to 61, it is characterised in that the attitude of the aircraft
Including following at least one：Course angle, roll angle and the angle of pitch.
A kind of 63. aircraft, it is characterised in that including：
Flight control system as described in any one of claim 34 to 53,55 to 62；And
Multiple propulsion plants, the flying power for being supplied to the aircraft；
Wherein, the flight control system is communicated to connect with the multiple propulsion plant, for controlling the multiple propulsion plant
Work, to realize the required attitude.
A kind of 64. carriers, it is characterised in that including：
Control system as claimed in claim 54；And
One or more rotating shaft mechanisms, the rotating shaft mechanism includes rotating shaft and drives the power set of the axis of rotation；
Wherein, the control system is communicated to connect with the power set, for controlling the power set to work, to realize
The motion state for needing.
A kind of 65. manipulation devices, it is characterised in that including：Processor and memory, wherein the memory is used for store instruction
To cause that the processor is used to export corresponding control instruction according to the offline mode of the aircraft：
Transceiver, for determining that the offline mode is upright offline mode and receives the of user input in the controller
During one control instruction, first control instruction, first control are sent to the carrier of the aircraft or the aircraft
The change of the motion state of the change or the carrier of attitude for controlling the aircraft is instructed,
Processor, for it is determined that the offline mode of the aircraft is flying upside down pattern and receives described in user input
During the first control instruction, first control instruction is converted into the second control instruction,
The transceiver is additionally operable to send second control instruction to the carrier of the aircraft or the aircraft, wherein,
First control instruction controls variation pattern and the institute of the motion state of the variation pattern or the carrier of the attitude of the aircraft
State the variation pattern of the attitude of the second control instruction control aircraft or the variation pattern difference of the carrier movement state.
66. manipulation devices according to claim 65, it is characterised in that the transceiver is additionally operable to receive the aircraft
The offline mode of transmission is indicated, wherein, it is the upright flight mould that the offline mode is indicated for indicating the offline mode
Formula or the flying upside down pattern, wherein the processor according to the offline mode specifically for indicating to determine the flight mould
Formula.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/097638 WO2018040006A1 (en) | 2016-08-31 | 2016-08-31 | Control method, device and system, aerial vehicle, carrier, and operating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106716284A true CN106716284A (en) | 2017-05-24 |
| CN106716284B CN106716284B (en) | 2019-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002473.2A Active CN106716284B (en) | 2016-08-31 | 2016-08-31 | Control method, device and system, aircraft, carrier and manipulation device |
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| Country | Link |
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| CN (1) | CN106716284B (en) |
| WO (1) | WO2018040006A1 (en) |
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| CN114063626B (en) * | 2021-09-18 | 2024-01-09 | 航天时代飞鹏有限公司 | Four-rotor freight unmanned aerial vehicle flight attitude control method based on gravity center detection |
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| Publication number | Publication date |
|---|---|
| CN106716284B (en) | 2019-09-24 |
| WO2018040006A1 (en) | 2018-03-08 |
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