CN106716284B - Control method, device and system, aircraft, carrier and manipulation device - Google Patents
Control method, device and system, aircraft, carrier and manipulation device Download PDFInfo
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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
Provide a kind of control method, device and system, aircraft, carrier and manipulation device.The control method comprises determining that the offline mode of aircraft；When determining offline mode is upright offline mode, using the movement of the carrier of the first upright control model control aircraft；When determining offline mode is flying upside down mode, using the movement of the first handstand control model control vector, wherein, according to identical control instruction, the variation pattern of the motion state of control vector is different from the variation pattern of the motion state of control vector under the first handstand control model under the first upright control model, so that being accustomed to without changing user the manipulation for the carrier that aircraft carries, when the offline mode of aircraft changes to improve the experience of user.
Description
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or should
Patent discloses.
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 technique
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 to it is more and more extensive civilian, for example, UAV plant protection, UAV aviation are clapped
It takes the photograph, UAV Forest Fire police commissioner control etc., and civil nature is also the trend of UAV future development.
Under some scenes, UAV can carry the load for executing particular task by carrier (carrier)
(payload).For example, UAV can carry capture apparatus by holder when carrying out Aerial photography using UAV.In some situations
Under, according to the difference of flight environment of vehicle, UAV may need flying upside down, for example, when carrying out Forest Fire police commissioner control, it may be necessary to
Shoot the target above aircraft.
However, when UAV flying upside down, since the flight attitude of UAV is overturn, so that the user of UAV has to
Change original manipulation habit to adapt to the overturning of the flight attitude of UAV, to bring to user to the manipulation of the equipment on UAV
Inconvenience.
User can be facilitated to manipulate the equipment on UAV in flying machine flying upside down it would therefore be highly desirable to provide one kind
Technical solution.
Summary 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 when flying machine flying upside down.
On the one hand, a kind of control method is provided.The control method comprises determining that the offline mode of aircraft；In determination
When offline mode is upright offline mode, using the movement of the carrier of the first upright control model control aircraft；Fly determining
When row mode is flying upside down mode, using the movement of the first handstand control model control vector, wherein according to identical control
Instruction, the variation pattern of the motion state of control vector is different from the first handstand control model under the first upright control model
The variation pattern of the motion state of lower control vector, carrier are used for carry load.
On the other hand, a kind of control method is provided.The control method comprises determining that the offline mode of aircraft；True
When to determine offline mode be upright offline mode, using the posture of the first upright control model control aircraft；Determining flight mould
When formula is flying upside down mode, using the posture of the first handstand control model control aircraft, wherein referred to according to identical control
It enables, the variation pattern that the posture of aircraft is controlled under the first upright control model is different from controlling under the first handstand control model
The variation pattern of the posture of aircraft processed.
On the other hand, a kind of control method is provided.The control method includes: that the commanding apparatus of aircraft determines aircraft
Offline mode；Commanding apparatus is determining that offline mode is upright offline mode and the first control instruction for receiving user's input
When, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control the posture of aircraft
The variation of the motion state of variation or carrier；Commanding apparatus is flying upside down mode and reception in the offline mode for determining aircraft
When the first control instruction inputted to user, 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 first control instruction controls the variation pattern or carrier of the posture of aircraft
The variation pattern of the posture of the variation pattern of motion state and the second control instruction control aircraft or the change of carrier movement state
Change mode is different.
On the other hand, a kind of control device is provided.The control device comprises determining that module, for determining aircraft
Offline mode；Control module, for determining module determine offline mode be upright offline mode when, using the first upright control
The movement of the carrier of scheme control aircraft is fallen when determining module determines that offline mode is flying upside down mode using first
The movement of vertical control model control vector, wherein according to identical control instruction, the control vector under the first upright control model
Motion state variation pattern be different under the first handstand control model the motion state of control vector variation pattern, carry
Body is used for carry load.
On the other hand, a kind of control device is provided.The control device comprises determining that module, for determining aircraft
Offline mode；Control module, for determining module determine offline mode be upright offline mode when, using the first upright control
The posture of scheme control aircraft, and when determining module determines that offline mode is flying upside down mode, it stands upside down using first
Control model controls the posture of aircraft, wherein controlling the variation pattern of the posture of aircraft under the first upright control model not
It is same as controlling the variation pattern of the posture of aircraft under the first handstand control model.
On the other hand, a kind of control device is provided.The control device comprises determining that module, determining module, for determining
The offline mode of aircraft；Sending module, for determining that offline mode is upright offline mode and receives use in determining module
When the first control instruction of family input, the first control instruction is sent to the carrier of aircraft or aircraft；Conversion module is used for
It, will when determining module determines that the offline mode of aircraft is flying upside down mode and receives the first control instruction of user's input
First control instruction is converted to the second control instruction, and wherein sending module is also used to send the to the carrier of aircraft or aircraft
Two control instructions, the first control instruction are used to control the variation of the posture of aircraft or the motion state of carrier, and the first control refers to
The variation pattern and the control of the second control instruction for enabling the variation pattern of the posture of control aircraft or the motion state of carrier fly
The variation pattern of the posture of device or the variation pattern of carrier movement state are different, and carrier is used for carry load.
On the other hand, a kind of flight control system is provided.The flight control system includes: processor and memory,
Middle memory is for storing instruction so that processor is used to select corresponding control model according to the offline mode of aircraft；
Wherein when determining offline mode is upright offline mode, using the load of the first upright control model control aircraft
The movement of body, when determining offline mode is flying upside down mode, using the movement of the first handstand control model control vector,
In, according to identical control instruction, the variation pattern of the motion state of control vector is different under the first upright control model
The variation pattern of the motion state of control vector under the first handstand control model, carrier are used for carry load.
On the other hand, a kind of control system of carrier is provided.The control system of the carrier includes: processor and storage
Device, wherein memory is for storing instruction so that processor is used to select corresponding control according to the offline mode of aircraft
Mode；Wherein, when determining offline mode is upright offline mode, using the movement of the first upright control model control vector,
When determining offline mode is flying upside down mode, using the movement of the first handstand control model control vector, wherein according to phase
Same control instruction, the variation pattern of the motion state of control vector is different from standing upside down first under the first upright control model
The variation pattern of the motion state of control vector under control model, carrier are used for carry load.
On the other hand, a kind of flight control system is provided.The flight control system includes: processor and memory,
Middle memory for storing instruction so that processor is used to select corresponding control model according to the offline mode of aircraft,
In when determining offline mode is upright offline mode, using the posture of the first upright control model control aircraft, in determination
When offline mode is flying upside down mode, using the posture of the first handstand control model control aircraft, wherein according to identical
Control instruction, the variation pattern that the posture of aircraft is controlled under the first upright control model, which is different from standing upside down first, controls mould
The variation pattern of the posture of aircraft is controlled under formula.
On the other hand, a kind of aircraft is provided.The aircraft includes the flight control system of above-mentioned aspect；And it is multiple
Propulsion device, for being supplied to the flying power of aircraft, wherein flight control system and multiple propulsion devices communicate to connect,
For controlling multiple propulsion device work, to realize required posture.
On the other hand, a kind of carrier is provided.The carrier includes: such as the control system in terms of above-mentioned；And one or more
A rotating shaft mechanism, rotating shaft mechanism include the power device of shaft and drive shaft rotation；Wherein, control system and power device
Communication connection, for controlling power device work, to realize required motion state.
On the other hand, a kind of manipulation device is provided.The manipulation device includes: processor and memory, wherein memory
For storing instruction so that processor is used to export corresponding control instruction: transceiver according to the offline mode of aircraft, use
In controller determine offline mode be upright offline mode and receive user input the first control instruction when, to aircraft
Or the carrier of aircraft sends the first control instruction, first control instruction is used to control variation or the carrier of the posture of aircraft
The variation of motion state, processor, for being flying upside down mode in the offline mode for determining aircraft and to receive user defeated
When the first control instruction entered, the first control instruction is converted into the second control instruction, transceiver is also used to aircraft or flies
The carrier of row device sends the second control instruction, wherein the first control instruction controls the variation pattern or carrier of the posture of aircraft
Motion state variation pattern and the second control instruction control aircraft posture variation pattern or carrier movement state
Variation pattern is different.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the motion state using different control model control vectors changes in different ways, so that in the flight mould of aircraft
When formula changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, so that the user experience is improved.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached 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, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 of embodiment according to the present invention.
Fig. 2 is the schematic flow chart of the control method of aircraft according to an embodiment of the invention.
Fig. 3 A is according to the direction of rotation of the rotary shaft of holder under the upright offline mode of one embodiment of the present of invention
Schematic diagram.
Fig. 3 B be one embodiment according to the present invention flying upside down mode under holder rotary shaft direction of rotation
Schematic diagram.
Schematic diagram when Fig. 4 A is flight upright according to the aircraft of one embodiment of the present of invention.
Schematic diagram when Fig. 4 B is the aircraft flying upside down according to one embodiment of the present of invention.
Fig. 5 is the schematic flow chart of the control method of the aircraft of another embodiment of the present invention.
Fig. 6 is the schematic flow chart of the control method of aircraft according to another embodiment of the present invention.
Schematic diagram when Fig. 7 A is flight upright according to the aircraft of another embodiment of the present invention.
Schematic diagram when Fig. 7 B is the aircraft flying upside down according to another embodiment of the present invention.
Schematic diagram when Fig. 7 C is flight upright according to the aircraft of another embodiment of the present invention.
Schematic diagram when Fig. 7 D is the aircraft flying upside down according to another embodiment of the present invention.
Fig. 8 is the schematic flow chart of the control method of aircraft according to another embodiment of the present invention.
Fig. 9 is the structural schematic diagram of control device according to an embodiment of the invention.
Figure 10 is the structural schematic diagram of control device according to another embodiment of the present invention.
Figure 11 is the structural schematic diagram of control device according to another embodiment of the present invention.
Figure 12 is the structural schematic diagram of flight control system according to an embodiment of the invention.
Figure 13 is the structural schematic diagram of the control system of carrier according to an embodiment of the invention.
Figure 14 is the structural schematic diagram of flight control system according to another embodiment of the present invention.
Figure 15 is the structural schematic diagram of manipulation device according to an embodiment of the invention.
Figure 16 is the structural schematic diagram of aircraft according to one embodiment of present invention.
Figure 17 is the structural schematic diagram of carrier according to an embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
The embodiment provides the method and systems controlled the equipment on UAV.The embodiment of the present invention
It can be applied to various types of UAV.For example, UAV can be small-sized UAV.In certain embodiments, UAV can be rotor
Aircraft (rotorcraft), for example, passing through air-driven multi-rotor aerocraft, implementation of the invention by multiple pushing meanss
Example is not limited to this, and UAV is also possible to other types of UAV or movable fixture.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 of embodiment according to the present invention.The present embodiment is with rotor
It is illustrated for aircraft.
Unmanned flight's system 100 may include UAV 110, carrier 12 0, display equipment 130 and commanding apparatus 140.Wherein,
UAV 110 may include dynamical system 150, flight control system 160 and rack 170.UAV 110 can be with commanding apparatus 140
It is carried out wireless communication with display equipment 130.
Rack 170 may include fuselage and foot prop (also referred to as undercarriage).Fuselage may include centre frame and and center
One or more horns of frame connection, one or more horns radially extend from centre frame.Foot prop is connect with fuselage, is used
It plays a supportive role in when UAV 110 lands.
Dynamical system 150 may include electron speed regulator (referred to as electricity adjust) 151, one or more rotors 153 and with
The corresponding one or more motors 152 of one or more rotors 153, wherein motor 152 is connected to electron speed regulator 151 and rotation
Between the wing 153, motor 152 and rotor 153 are arranged on corresponding horn；Electron speed regulator 151 is for receiving flight controller
160 driving signals generated, and driving current is provided to motor 152, to control the revolving speed of motor 152 according to driving signal.Electricity
Machine 152 is for driving rotor wing rotation, so that the flight for UAV 110 provides power, which makes UAV 110 can be realized one
The movement of a or multiple freedom degrees.In certain embodiments, UAV 110 can be around one or more rotary shaft rotations.For example,
Above-mentioned rotary shaft may include roll axis, translation shaft and pitch axis.It should be understood that motor 152 can be direct current generator, can also hand over
Galvanic electricity machine.In addition, motor 152 can be brushless motor, it can also be with brush motor.
Flight control system 160 may include flight controller 161 and sensor-based system 162.Sensor-based system 162 is for measuring
The posture information of UAV, i.e. UAV 110 space location 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 for example may include gyroscope, electronic compass, IMU (inertia
Measuring unit, Inertial Measurement, Unit), visual sensor, GPS (global positioning system, Global
At least one of Positioning System) and the sensors such as barometer.Flight controller 161 is for controlling UAV 110
Flight, for example, can according to sensor-based system 162 measure posture information control UAV 110 flight.It should be understood that flight control
Device 161 processed can control UAV 110 according to the program instruction finished in advance, can also come from commanding apparatus by response
140 one or more control instructions control UAV 110.
Carrier 12 0 may include that electricity adjusts 121 and motor 122.Carrier 12 0 can be used to carry load 123.For example, when carrying
When body 120 is tripod head equipment, load 123 can be capture apparatus (for example, according to machine, video camera etc.), and the embodiment of the present invention is simultaneously
It is without being limited thereto, for example, carrier is also possible to the load bearing equipment for carrying weapon or other loads.Flight controller 161 can be with
The movement of 121 and 122 control vector 120 of motor is adjusted by electricity.Optionally, as an another embodiment, carrier 12 0 can also be wrapped
Controller is included, for by controlling electricity tune 121 and motor 122 come the movement of control vector 120.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 can also be with alternating current
Machine.In addition, motor 122 can be brushless motor, it can also be with brush motor.It should also be understood that carrier can be located at the top of aircraft
Portion can also be located at the bottom of aircraft.
Display equipment 130 is located at the ground surface end of unmanned flight's system 100, can be led to wirelessly with UAV110
Letter, and it is displayed for the posture information of UAV 110.In addition, can also shown when load 123 is capture apparatus
The image of capture apparatus shooting is shown in equipment 130.It should be understood that display equipment 130 can be independent equipment, also can be 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 wirelessly with UAV110
Letter, for carrying out remote control to UAV 110.Commanding apparatus for example can be remote controler or the APP for being equipped with control UAV
The terminal device of (application program, Application), for example, smart phone, tablet computer etc..In the embodiment of the present invention, lead to
Cross commanding apparatus receive user input, can refer to by remote controler pull out the input units such as wheel, button, key, rocking bar or
User interface (UI) on person's terminal device manipulates UAV.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, is changed in different ways using the motion state of different control model control vectors or the posture of aircraft, so that
When the offline mode of aircraft changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, to improve use
Family experience.
It should be understood that the above-mentioned name for unmanned flight's system components is only the purpose for mark, do not answer
It is interpreted as the limitation to the embodiment of the present invention.
Fig. 2 is the schematic flow chart of the control method of aircraft according to an embodiment of the invention.The present embodiment
Control method can be applied to different aircraft.Aircraft for example can be the UAV of Fig. 1, which for example can be with
It is executed by the flight controller of Fig. 1 or the controller of carrier.It is such as 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 may include upright offline mode and flying upside down
Mode.Upright offline mode can refer to aircraft be in or corresponding to upright flight state, flying upside down mode can refer to
Aircraft is in or corresponding to handstand or the state of wing-over.
The embodiment of the present invention can be flown for determining that the mode of the offline mode of aircraft is not construed as limiting by measurement
The posture information of device determines the offline mode of aircraft, and the offline mode instruction that can also be issued according to commanding apparatus determine
The offline mode of aircraft.
220, when determining offline mode is upright offline mode, using the load of the first upright control model control aircraft
The movement of body.
For example, the control model of carrier can there are two types of, comprising: the first upright control model and first stand upside down control mould
Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down mode,
Movement of the i.e. first upright control model for the control vector when aircraft is in upright offline mode, first, which stands upside down, controls mould
Movement of the formula for the control vector when aircraft is in flying upside down mode.
230, when determining offline mode is flying upside down mode, using the fortune of the first handstand control model control vector
It is dynamic.According to identical control instruction, the variation pattern of the motion state of control vector is different under the first upright control model
The variation pattern of the motion state of control vector under the first handstand control model.Carrier is used for carry load.
For example, the motion state of carrier may include the direction of motion and/or motion amplitude, motion state may include as follows
It is at least one: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.When the movement of above-mentioned carrier is rotation
When, the direction of motion and motion amplitude are respectively the direction rotated and the angle of rotation, when the movement of above-mentioned carrier is translation, fortune
Dynamic direction and motion amplitude are respectively the direction translated and the distance of translation.Correspondingly, the variation pattern difference of the direction of motion can
To refer to the contrary of movement, for example, translation is contrary or rotation contrary.The variation pattern of motion amplitude is not
With that can refer to the of different sizes of motion amplitude, for example, the distance difference of translation or the angle of rotation 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 of carry-on carrier is also correspondingly cut between different control models
It changes.When the controller of aircraft determines that aircraft is in upright offline mode, and receive the control instruction of control vector movement
When, the motion state of control vector changes in a way, for example, control vector moves in one direction, when aircraft
When controller determines that aircraft is in flying upside down mode, and when receiving identical control instruction, the motion state of control vector
Alternatively variation pattern, for example, control vector moves in another direction.It should be understood that above-mentioned control instruction can be it is winged
The control instruction for the control vector movement that the user of row device is inputted by commanding apparatus.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the motion state using different control model control vectors changes in different ways, so that in the flight mould of aircraft
When formula changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, so that the user experience is improved.
It is described below in detail when offline mode switches over, how the control model of carrier switches.
In certain embodiments, according to identical control instruction, the movement of control vector under the first upright control model
Direction under the first handstand control model the direction of motion of control vector it is opposite.
Specifically, under upright offline mode, when receiving the control instruction that control vector is rotated in a first direction,
Control vector is moved along first direction under first upright control model, under flying upside down mode, is referred to when receiving identical control
When enabling, control vector is moved along the second direction opposite with first direction under the first handstand control model.For example, first direction
For clockwise, second direction is counterclockwise that vice versa.For another example, first direction is to stretch out direction, and second direction is
Shrinkage direction, vice versa.It should be understood that the clockwise and counterclockwise of some object refers to face in the embodiment of the present invention
The direction determined when to the same surface of the object.
According to an embodiment of the invention, being referred to by when aircraft is in opposite offline mode according to identical control
It enables, is moved in opposite direction using opposite control model control vector, so that when the offline mode of aircraft changes, nothing
User need to be changed to be accustomed to the manipulation for the carrier that aircraft carries, so that the user experience is improved.
According to an embodiment of the invention, carrier may include one or more rotating shaft mechanisms.For example, the rotating shaft mechanism of carrier
It may include following at least one: roll axis mechanism, translation axis mechanism and pitching axis mechanism.Using the first upright control model
When controlling the movement of the carrier of aircraft, the rotary shaft that rotating shaft mechanism surrounds rotating shaft mechanism can be controlled according to the first control instruction
It is rotated in a first direction, and in the movement of the carrier using the first handstand control model control aircraft, according to identical control
Instruction control rotating shaft mechanism is rotated in the second direction opposite to the first direction around rotary shaft.The embodiment of the present invention can divide
Not Kong Zhi each rotating shaft mechanism in above three rotating shaft mechanism rotated around corresponding rotary shaft, for example, control roll axis machine
Structure is rotated around roll axis, and control translation axis mechanism is rotated around translation shaft, and control pitching axis mechanism is rotated around pitch axis.
It specifically, can be by the first control in the movement of the carrier using the first upright control model control aircraft
Instruction is converted to the first driving signal, is rotated in a first direction with the motor of drive shaft mechanism, and stands upside down using first
When control model controls the movement of the carrier of aircraft, identical first control instruction can be converted into the second driving signal, with
Driving motor rotates in a second direction.
For example, the first driving signal and the second driving signal can be in the case where the motor of carrier is alternating current generator
Three-phase alternating current signal, and the first driving signal is opposite with the phase sequence of the second driving signal.For example, can be in the main electricity of motor
Road setting switching switch, when aircraft is in upright offline mode, by controlling the switching switch so that on main circuit
Three-phase alternating current signal driving motor rotates forward, and under flying upside down mode, main electricity can be changed by controlling switching switch
The phase sequence of any two-phase of the Three-phase alternating current signal of road, so that driving motor inverts.Furthermore it is also possible to by switching main electricity
The connection of road and start-up capacitance rotates and reverse to control alternating current generator.In the case where the motor of carrier is direct current generator, the
One driving signal and the second driving signal can be DC signal, and the electric current of the first driving signal and the second driving signal
It is contrary.
Alternatively, as another embodiment, carrier may include one or more telescoping mechanisms.Using upright control
When the movement of scheme control carrier, telescoping mechanism can be controlled according to the first control instruction and stretch out first distance along first direction,
When using the movement of handstand control model control vector, telescoping mechanism edge and first party can be controlled according to identical control instruction
Second distance is shunk to opposite second direction, first distance can be greater than or equal to second distance.For example, first distance with
In the case that second distance is equal, under upright offline mode, which stretches out, and under flying upside down mode, this is stretched
Original position is retracted by contracting mechanism.First direction and second direction can be with the fuselages of aircraft at preset angle, for example, and aircraft
Fuselage top surface or bottom surface it is parallel or vertical.For example, the first control instruction can be in the finger of camera site for control vector
It enables.It should be understood that first direction and second direction can be for along the directions of the expansion rail of telescoping mechanism.
According to an embodiment of the invention, when aircraft is in upright offline mode, in order to hold carrier (for example, holder)
The load (for example, camera) of load obtains bigger visual angle, can control carrier and is in stretching state；And it is in and stands upside down in aircraft
When offline mode, in order to keep the center of gravity of aircraft lower and smooth flight, it can control carrier and be in contraction state, thus
Better 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, for example, the following two kinds mode can be used: according to winged
The posture information of row device determines offline mode or determines offline mode according to the instruction of commanding apparatus.
According to an embodiment of the invention, in 210, the posture information of the available aircraft of controller, and according to flight
The posture information of device determines the offline mode of aircraft.
Specifically, posture information can be sensed to obtain by the sensor that aircraft carries, for example, posture information may include
At least one of pitch angle and the roll angle of aircraft of aircraft, sensor may include following at least one: gyroscope,
Electronic compass, Inertial Measurement Unit and visual sensor, the embodiment of the present invention are not limited to this, also can use it is other can
Measure the sensor of the posture information of aircraft.For example, if the pitch angle or roll angle of aircraft in preset angular range,
It can then determine that offline mode is flying upside down mode.Above-mentioned preset angular range can be the angular area centered on 180 degree
Between, for example, above-mentioned preset angular range can be 90 degree to 270 degree of angular interval.It is above-mentioned preset in some embodiments
Angular range can be 180 degree, i.e., when the horizontal position when aircraft is from upright flight overturns 180 degree, it is believed that flight
Device is in flying upside down mode.Correspondingly, if the angular interval of the pitch angle or roll angle of aircraft centered on 0 degree, example
Such as, the angular interval of -90 degree to 90 degree, it may be considered that aircraft is in upright offline mode.It should be understood that above-mentioned preset range
It only illustrates, also can be set according to actual needs other preset angular ranges.
Alternatively, as another embodiment, in 210, what the commanding apparatus that controller can receive aircraft was sent
Offline mode instruction, offline mode instruction are used to indicate offline mode as flying upside down mode or upright offline mode, and according to
Offline mode indicates to determine offline mode.
Specifically, user can use commanding apparatus input offline mode instruction, is used to indicate aircraft and is in upright winged
Row mode or flying upside down mode.In this way, user can flexibly decide whether to use two kinds of control models according to actual needs
Carry out the movement of control vector.For example, offline mode is designated as the upright offline mode of 1 expression, flying upside down mode is indicated for 0, or
Person is opposite.Furthermore it is also possible to be indicated by the flying upside down mode for judging whether to receive commanding apparatus sending instruction, example
Such as, receiving the instruction of flying upside down mode indicates that aircraft is in flying upside down mode, otherwise indicates that aircraft is in upright and flies
Row mode.
Optionally, as another embodiment, in the case where the control method of Fig. 2 is executed 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 is in upright offline mode, using the movement of the first upright control model control vector, and in flying upside down mould
When formula, using the movement of the first handstand control model control vector.
Further, flight controller can also send offline mode instruction to the controller of carrier, which refers to
Show that being used to indicate offline mode is upright offline mode or flying upside down mode.
Optionally, as another embodiment, in the case where the control method of Fig. 2 is executed by the controller of carrier, carrier
Controller can receive the offline mode instruction that flight controller or commanding apparatus are sent, offline mode instruction is used to indicate
Offline mode is flying upside down mode or upright offline mode, and is indicated to determine offline mode according to the offline mode.
Optionally, as another embodiment, in the case where the control method of Fig. 2 is executed by the controller of carrier, carrier
Controller can use the sensor on carrier, determine the attitude angle of aircraft, and in attitude angle in preset angle model
When enclosing interior, determine that offline mode is flying upside down mode；Otherwise, it determines offline mode is upright offline mode.
Specifically, the sensor of carrier may include gyroscope, and the embodiment of the present invention is not limited to this, and also can use
The sensor of other posture informations that can measure aircraft.If the pitch angle or roll angle of sensor are in preset angle model
It encloses, then can determine that offline mode is flying upside down mode.Above-mentioned preset angular range can be the angle centered on 180 degree
Section, for example, above-mentioned preset 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 pitch angle or roll angle of aircraft centered on 0 degree,
For example, angular interval of -90 degree to 90 degree, it may be considered that aircraft is in upright offline mode.It should be understood that above-mentioned default model
It encloses and only illustrates, also can be set according to actual needs other preset angular ranges.
Optionally, as another embodiment, in the case where the control method of Fig. 2 is executed by the controller of carrier, carrier
Controller can also receive the above-mentioned control instruction that flight controller or commanding apparatus are sent.
For convenience, the embodiment of the present invention is illustrated by taking Aerial photography as an example below.In this case,
Carrier is tripod head equipment, is loaded as capture apparatus.Tripod head equipment is used to capture apparatus (for example, camera) being carried on aircraft
On fuselage (for example, horn), to play the role of increasing surely and adjust the visual angle of capture apparatus.
Fig. 3 A is according to the direction of rotation of the rotary shaft of holder under the upright offline mode of one embodiment of the present of invention
Schematic diagram.Fig. 3 B is the direction of rotation of the rotary shaft of holder under the flying upside down mode of one embodiment according to the present invention
Schematic diagram.The rotating shaft mechanism of the present embodiment can be applied in different carriers, in the present embodiment, be said by taking holder as an example
It is bright.
Illustrate the embodiment of the present invention by taking three axis holders as an example below.It should be understood that the tripod head equipment of the embodiment of the present invention
It can also be uniaxial holder or two axle The Cloud Terraces.
The rotating shaft mechanism of three axis holders may include pitching axis mechanism, roll axis mechanism and translation axis mechanism, wrap respectively
The rotary shafts such as pitch axis, roll axis and translation shaft and corresponding motor are included, the motor of each rotating shaft mechanism is corresponding for driving
Rotating shaft mechanism around corresponding rotary shaft rotate.Each motor can be connected by support arm with corresponding rotary shaft.When
When the coverage to the capture apparatus on holder being needed to be adjusted, it can be issued by commanding apparatus (for example, remote controler)
Three motors are respectively started in control instruction, controlled accordingly roll axis mechanism, pitching axis mechanism and lateral axis mechanism
Or adjustment, so that capture apparatus obtains maximum coverage.For example, when the rotation of the motor of pitching axis mechanism, driving
Pitching axis mechanism is rotated around pitch axis, and when the rotation of the motor of roll axis mechanism, driving roll axis mechanism is revolved around roll axis
Turn, when translating the motor rotation of axis mechanism, driving translation axis mechanism is 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 and rotates around corresponding rotary shaft along sequence clockwise.Referring to Fig. 3 B, flying
When device is in flying upside down mode, controller controls corresponding rotating shaft mechanism and revolves in the counterclockwise direction around corresponding rotary shaft
Turn.
Schematic diagram when Fig. 4 A is flight upright according to the aircraft of one embodiment of the present of invention.Fig. 4 B is according to this hair
Schematic diagram when the aircraft flying upside down of bright one embodiment.
A referring to fig. 4, aircraft may include four rotors: rotor 41, rotor 42, rotor 43 and rotor 44.Wherein rotor
41 are located at the front of aircraft, and rotor 42 is located at the rear of aircraft, and rotor 43 is located at the right of aircraft, and rotor 44, which is located at, to fly
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
When vertical offline mode, tripod head equipment is located at the lower section of aircraft.B referring to fig. 4, when aircraft is in flying upside down mode, 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 inputted by commanding apparatus so that cloud
Platform equipment surrounds the control instruction that pitch axis is rotated in a clockwise direction, for example, user can rotate clockwise on commanding apparatus
Some pull out wheel, then controller can be revolved along clockwise direction using upright control model control tripod head equipment around pitch axis
Turn, so that fuselage of the capture apparatus far from aircraft is used to be directed toward the reference object on ground, and under flying upside down mode
Family still can be issued according to habit so that tripod head equipment surrounds the control instruction that is rotated in a clockwise direction of pitch axis, for example,
Some rotated clockwise on commanding apparatus pulls out wheel, and at this moment, controller is using handstand control model control tripod head equipment along the inverse time
Needle direction rotates, so that capture apparatus is directed toward the reference object on ground close to the fuselage of aircraft.
For example, when capture apparatus needs to shoot towards ground direction, needing the thumb wheel by remote controler in upright flight
The direction that capture apparatus on control tripod head equipment is directed away from fuselage rotates predetermined angle, for example, rotating clockwise remote controler
Thumb wheel, the direction that the capture apparatus on tripod head equipment is directed away from fuselage rotates.In flying upside down, capture apparatus needs court
When direction is shot to the ground, need to control the capture apparatus direction on tripod head equipment by the thumb wheel of remote controler close to the side of fuselage
To rotation predetermined angle, for example, rotating clockwise the thumb wheel of remote controler, the capture apparatus on tripod head equipment is towards close to fuselage
Direction rotates.In other words, under upright offline mode and flying upside down mode, the identical control that the thumb wheel of remote controler issues refers to
Control tripod head equipment is enabled to rotate in opposite direction around pitch axis.Therefore, according to an embodiment of the invention, no matter aircraft just
Vertical flight or flying upside down, user can easily manipulate the rotation of tripod head equipment, without changing manipulation habit.
Optionally, as another embodiment, the control method of Fig. 2 can also include: the image for receiving capture apparatus shooting,
When determining offline mode is flying upside down mode, the image that capture apparatus is shot is subjected to handstand processing, and handstand is handled
Image afterwards is sent to display and is shown.
Specifically, handstand processing can be carried out by the image that the controller of aircraft shoots capture apparatus, and will be stood upside down
Treated, and image is sent to ground surface end (for example, commanding apparatus).It alternatively, can also be by nobody as another embodiment
The figure that the controller (for example, controller in commanding apparatus or display equipment) of the ground surface end of flight system shoots capture apparatus
As carrying out handstand processing.In this way, although the image that aircraft flying upside down causes capture apparatus to shoot is to stand upside down, by falling
After vertical processing, the image shown on the display of ground surface end is still upright, so that the user experience is improved.
It should be understood that can also be applied similarly to the description of the control of tripod head equipment to other carriers in the present embodiment
Control.
Aircraft usually carries distance measuring sensor below fuselage, for measuring the flying height of aircraft, and controls
The flying height of aircraft, in case the barrier with lower section collides.For example, controller can be sensed according to the ranging of lower section
The distance between aircraft and lower section barrier of device sensing control the distance greater than preset value.However, flying when aircraft stands upside down
When row, which be will be unable to for sensing the distance between aircraft and lower section barrier, to bring to flight
Security risk.The embodiment of Fig. 5 will be devoted to avoid flying upside down bring security risk, so that the bat under flying upside down mode
Taking the photograph to carry out safely.
Fig. 5 is the schematic flow chart of the control method of the aircraft of another embodiment of the present invention.The control of the present embodiment
Method processed can be applied to different aircraft.Aircraft for example can be the UAV of Fig. 1, which for example can be by Fig. 1
Flight controller or carrier controller execute.As shown in figure 5, the control method includes following content.
510, determine the offline mode of aircraft.
520, when determining offline mode is upright offline mode, using the load of the first upright control model control aircraft
The movement of body.
530, when determining offline mode is flying upside down mode, using the fortune of the first handstand control model control vector
It is dynamic.
It should be understood that 510 to 530 is similar with the 210 to 230 of Fig. 2, to avoid repeating, details are not described herein.It should also be understood that
520 and 530 be optional.For example, if you do not need under different offline mode using different control models to carrier into
Row control or the non-carrying carrier of aircraft, in such a case, it is possible to omit 520 and 530.
540, when determining offline mode is upright offline mode, using the height of the second upright control model control aircraft
Degree.
550, when determining offline mode is flying upside down mode, using the height of the second handstand control model control aircraft
Degree, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying, the second upright control model control aircraft
The condition met is highly needed to be different from the condition that the height of the second handstand control model control aircraft needs to meet.
In an embodiment according to the present invention, it can correspond to fly for controlling the different control models of the height of aircraft
The different offline mode of row device.Control when aircraft switches between different offline mode, 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 mode,
Height using handstand control model control aircraft meets the second condition different from first condition.
According to an embodiment of the invention, by when aircraft is in different offline mode, using different control moulds
Formula controls the height of aircraft, so that still being able to guarantee the safety of flight when the offline mode of aircraft changes.
According to an embodiment of the invention, the above-mentioned height using the second handstand control model control aircraft may include:
Using between the first distance measuring sensor measurement aircraft of aircraft carrying and the first object object above aircraft
Distance；The flying height of aircraft is controlled according to the distance between aircraft and first object object, so that aircraft and the
The distance between one target object is less than the first preset value, wherein the first distance measuring sensor is located at the bottom of aircraft.In other words
It says, it may include: that the first distance measuring sensor is surveyed that the aircraft altitude condition to be met is controlled under the second handstand control model
The distance between aircraft and first object object of amount are less than the first preset value.
Optionally, as another embodiment, the above-mentioned height for using the second handstand control model control aircraft can be with
Include: using aircraft carrying the second distance measuring sensor measurement aircraft be located at aircraft below the second target object it
Between distance, and according to the distance between aircraft and the second target object control aircraft flying height so that flight
The distance between device and the second target object are greater 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 being controlled under the second handstand control model can also include: the second ranging
The distance between aircraft and the second target object of sensor sensing are greater than the second preset value.
According to an embodiment of the invention, the above-mentioned height using the second upright control model control aircraft may include:
Using between the first distance measuring sensor measurement aircraft of aircraft carrying and the third target object below aircraft
Distance, and according to the distance between aircraft and third target object control aircraft flying height so that aircraft with
The distance between third target object is greater than third preset value.In other words, aircraft is controlled under the second upright control model
The height condition to be met includes that the first distance measuring sensor the distance between aircraft and the third target object that sense are greater than
Third preset value.
Above-mentioned distance measuring sensor can be ultrasonic sensor or visual sensor, or the combination of the two, for example,
It can use two kinds of sensor joints and carry out ranging or one of the first distance measuring sensor and the second distance measuring sensor as ultrasonic wave
Sensor, and another is visual sensor, the embodiment of the present invention is not limited to this, and above-mentioned distance measuring sensor may be
Other any sensors that can be used in measuring distance.
It should be understood that first object object can be for example the barrier or reference object above aircraft.Second target pair
As can be the same or different with third target object, for example, can for ground or barrier below aircraft or
Reference object.It should also be understood that above-mentioned second preset value may be the same or different with third preset value.Those skilled in the art
Above-mentioned first preset value, the second preset value and third preset value can be arranged according to the needs that aircraft security flies in member.
The embodiment of Fig. 5 is further illustrated by taking ultrasonic sensor as an example below.
Ultrasonic sensor (hereinafter referred to as bottom ultrasonic sensor) can be generally arranged in the fuselage bottom of aircraft, be used for
Aircraft is obtained at a distance from lower section barrier (for example, ground, aerial barrage object etc.), so that controller can be according to this
Distance controlling aircraft and the barrier of lower section keep preset distance.For example, when the upright flight of aircraft, flight controller
According to the aircraft of bottom ultrasonic sensor sensing at a distance from ground, and the distance is controlled greater than some preset value, to keep away
The flying height for exempting from aircraft is too low, causes safety accident.When aircraft flying upside down, flight controller is according to bottom ultrasound
The aircraft of wave sensor sensing controls this apart from small at a distance from top target object (for example, barrier or reference object)
In some preset value, the barrier of lower section is encountered to avoid aircraft.Therefore, by the switching of control mode, so that aircraft
Can keep certain height flight under two kinds of offline mode, to guarantee the safety of flight.Optionally, as another reality
Example is applied, controller can also further control the distance between aircraft and top target object greater than the 4th preset value, to keep away
Exempt from Fei Hang Qi Touch to top target object, to be further ensured that the safety of flight.
In the present embodiment, aircraft can also carry top ultrasound other than carrying above-mentioned bottom ultrasonic sensor
Wave sensor.In this way, bottom ultrasonic sensor is located at the top of aircraft, and top is ultrasonic when aircraft flying upside down
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 target object, and top ultrasonic sensor is for measuring between aircraft and ground or lower section barrier
Distance, to further increase safety of the aircraft in flying upside down.
Fig. 6 is the schematic flow chart of the control method of aircraft according to another embodiment of the present invention.The present embodiment
Control method can be applied to different aircraft.Aircraft for example can be the UAV of Fig. 1, which for example can be with
It is executed 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.Similar with the 210 of Fig. 2, to avoid repeating, details are not described herein.
620, when determining offline mode is upright offline mode, using the appearance of the first upright control model control aircraft
State.
For example, the control model of aircraft can there are two types of, comprising: the first upright control model and first stand upside down control mould
Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down mode,
For first upright control model for controlling the posture of aircraft when aircraft is in upright offline mode, first, which stands upside down, controls mould
Formula is for controlling the posture of aircraft when aircraft is in flying upside down mode.For example, the posture of aircraft include such as down toward
Few a kind of attitude angle: course angle, roll angle and pitch angle.The variation pattern for controlling the posture of aircraft includes following at least one
Kind: the size of control attitude angle variation and the direction of control attitude angle variation.
630, when determining offline mode is flying upside down mode, using the appearance of the first handstand control model control aircraft
State, wherein according to identical control instruction, the variation pattern that the posture of aircraft is controlled under the first upright control model is different
In the variation pattern for the posture for controlling aircraft under the first handstand control model.
Specifically, the different control models of the posture 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 posture 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 posture of control aircraft
When instruction, the posture for controlling aircraft changes in a way, for example, control aircraft moves in one direction, works as flight
When the controller of device determines that aircraft is in flying upside down mode, and when receiving identical control instruction, the appearance of aircraft is controlled
State alternatively variation pattern, for example, control aircraft moves in another direction.It should be understood that above-mentioned control instruction can
To be the control instruction for the posture for controlling aircraft that the user of aircraft is inputted by commanding apparatus.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the posture using different control model control aircraft changes in different ways, so that in the offline mode of aircraft
When change, the manipulation of aircraft is accustomed to without changing user, so that the user experience is improved.
It is described below in detail when offline mode switches over, how the control model of aircraft switches.
In certain embodiments, the variation pattern of the posture of above-mentioned control aircraft may include that control attitude angle changes
Direction, and according to identical control instruction, the change direction of the attitude angle of aircraft is controlled under the first upright control model
It changes in the opposite direction with the attitude angle for controlling aircraft under the first handstand control model.
Specifically, the above-mentioned posture using the first upright control model control aircraft may include: to turn control instruction
Multiple First Speed adjustment signals are changed to, to pass through multiple rotors of multiple First Speed adjustment signals adjusting aircraft respectively
Revolving 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
Posture, comprising: control instruction is converted into multiple second speed adjustment signals, to pass through multiple second speed adjustment signals respectively
The revolving speed of multiple rotors is adjusted, so that aircraft is rotated in a second direction around rotary shaft.For example, above-mentioned rotary shaft may include
It is following at least one: roll axis, translation shaft and pitch axis.
Optionally, as another embodiment, the method for Fig. 6 can also include: to determine that offline mode is upright flight mould
When formula, use multiple rotor wing rotations of the second upright control model control aircraft to generate third direction relative to aircraft
Thrust；When determining offline mode is flying upside down mode, the second handstand control model is used to control multiple rotor wing rotations with phase
The thrust of fourth direction is generated for aircraft, 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 far from aircraft (i.e. upwards), under flying upside down mould, multiple rotors of aircraft generate 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 generated
Pulling force towards aircraft (i.e. upwards), under flying upside down mould, multiple rotors of aircraft generate far 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, controller can be corresponding with multiple rotors by changing in the case where the power of rotor is electronic
Motor direction of rotation it is opposite with fourth direction to control third direction.
For example, under upright offline mode, can will be used in the case where the corresponding motor of multiple rotors is alternating current generator
The first driving signal is converted in the control instruction that control aircraft generates upward pulling force, with the motor edge of drive shaft mechanism
First direction rotation, and under flying upside down mode, identical control instruction can be converted into the second driving signal, with driving
Motor rotates in a second direction, and both of these case can generate the lift for pushing aircraft upward.First driving signal and second
Driving signal can be Three-phase alternating current signal, and the first driving signal is opposite with the phase sequence of the second driving signal.For example, can
Switching switch to be arranged on the main circuit of motor, when aircraft is in upright offline mode, by controlling switching switch
So that the Three-phase alternating current signal driving motor on main circuit rotates forward, and under flying upside down mode, it can be switched by control
Switch changes the phase sequence of any two-phase of the Three-phase alternating current signal on main circuit, so that driving motor inverts.Furthermore it is also possible to
It is rotated and reverse by the connection of switching main circuit and start-up capacitance to control alternating current generator.It is direct current generator in the motor of carrier
In the case where, the first driving signal and the second driving signal can be DC signal, and the first driving signal and second is driven
The current direction of dynamic signal is opposite.
Optionally, as another embodiment, the embodiment of Fig. 6 can also be in conjunction with the embodiment of Fig. 1.Optionally, as
The embodiment of another embodiment, 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
It is used equally for the restriction to the embodiment of Fig. 6, to avoid repeating, details are not described herein.
Below by taking the quadrotor of Fig. 7 A to Fig. 7 D as an example, illustrate rotor when the upright flight of aircraft and flying upside down
Direction of rotation, and the posture of aircraft how is controlled by adjusting the speed of rotor.
Schematic diagram when Fig. 7 A is flight upright according to the aircraft of another embodiment of the present invention.Fig. 7 B is according to this hair
Schematic diagram when the aircraft flying upside down of bright another embodiment.
It is the direction of advance of aircraft along positive direction of the x-axis referring to Fig. 7 A and Fig. 7 B, upward arrow indicates that rotor is in water
The upward direction of pull generated when prosposition is set is opposite with the gravity direction of aircraft.Assuming that the rotor of quadrotor is divided into
Two groups: first groups include the rotor 71 in front and the rotor 72 at rear；Second group of rotor includes rotor 73 and the right of left
Rotor 74.While the motor of rotor 71 and the motor of rotor 72 rotate counterclockwise, the motor of rotor 73 and the motor of rotor 74
It rotates clockwise, to offset gyroscopic effect and air force torque effect.Referring to Fig. 7 A, when the upright flight of aircraft, the
One group of rotor rotates counterclockwise, and second group of rotor rotates clockwise；Referring to Fig. 7 B, when aircraft flying upside down, first group of rotation
The wing rotates clockwise, and second group of rotor rotates counterclockwise.
According to an embodiment of the invention, under upright offline mode or flying upside down mode, it can be by controlling aircraft
Rotor the adjustable aircraft of revolving speed flight attitude.
Referring to Fig. 7 A, under upright offline mode, when wishing that aircraft is in vertical motion upwards, can increase simultaneously
The output power of four motors, to increase the revolving speed of rotor, so that total pulling force increases, when total pulling force is enough to overcome complete machine
Weight when, aircraft just vertical ascent.When wishing that aircraft carries out pitching movement, the revolving speed of rotor 71 can be promoted, is dropped
The revolving speed of the revolving speed of low rotor 72, rotor 73 and rotor 74 remains unchanged, so that aircraft surrounds pitch axis in the counterclockwise direction
Rotation similarly can promote the revolving speed of rotor 72, reduce the revolving speed of rotor 71, and the revolving speed of rotor 73 and rotor 74 remains unchanged,
So that aircraft is rotated in a clockwise direction around pitch axis.When wishing that aircraft carries out roll motion, rotor can be promoted
The revolving speed of 74 revolving speed, the revolving speed of reduction rotor 73, rotor 71 and rotor 72 remains unchanged, so that aircraft surrounds roll axis edge
It rotates counterclockwise, similarly, the revolving speed of rotor 73 can be promoted, reduce the revolving speed of rotor 74, turn of rotor 71 and rotor 72
Speed remains unchanged, so that aircraft is rotated in a clockwise direction around roll axis.It, can when wishing that aircraft carries out translational motion
To promote the revolving speed of rotor 71 and rotor 72, the revolving speed of rotor 73 and rotor 74 is reduced, so that aircraft is around translation shaft along inverse
Clockwise rotation similarly can promote the revolving speed of rotor 73 and rotor 74, reduce the revolving speed of rotor 71 and rotor 72, so that
Aircraft is rotated in a clockwise direction around roll axis.
For example, with reference to Fig. 7 B, under flying upside down mode, when wishing that aircraft is in vertical motion upwards, due to
Under the control of handstand control model, motor has been inverted, and therefore, can increase the output power of four motors simultaneously, to increase
The revolving speed of rotor, so that total pulling force increases, when total pulling force is enough to overcome the weight of complete machine, on aircraft is just vertical
It rises.When wishing that aircraft carries out pitching movement, the revolving speed of rotor 71 can be promoted, reduces the revolving speed of rotor 72,73 He of rotor
The revolving speed of rotor 74 remains unchanged, so that aircraft is rotated in a clockwise direction around pitch axis, similarly, can promote rotor 72
Revolving speed, reduce the revolving speed of rotor 71, the revolving speed of rotor 73 and rotor 74 remains unchanged, so that aircraft is around pitch axis along inverse
Clockwise rotation.When wishing that aircraft carries out roll motion, the revolving speed of rotor 74 can be promoted, reduces turning for rotor 73
The revolving speed of speed, rotor 71 and rotor 72 remains unchanged, so that aircraft is rotated in a clockwise direction around roll axis, it similarly, can
To promote the revolving speed of rotor 73, the revolving speed of rotor 74 is reduced, the revolving speed of rotor 71 and rotor 72 remains unchanged, so that aircraft encloses
It is rotated in the counterclockwise direction around roll axis.When wishing that aircraft carries out translational motion, rotor 71 and rotor 72 can be promoted
Revolving speed reduces the revolving speed of rotor 73 and rotor 74, similarly, can be with so that aircraft is rotated in a clockwise direction around translation shaft
The revolving speed of rotor 73 and rotor 74 is promoted, the revolving speed of rotor 71 and rotor 72 is reduced, so that aircraft is around roll axis along the inverse time
Needle direction rotates.
It should be understood that the method for the embodiment of the present invention can be applied to revolve the above three of aircraft according to actual needs
The control of at least one rotary shaft in shaft.For example, when aircraft realizes left and right overturning, the i.e. constant situation of head and tail
Under, the method that two kinds of control models can be used only for roll axis, and when aircraft realizes front and back overturning, it can be only for
The method that pitch axis uses two kinds of control models.
It should be understood that moving forward and backward for aircraft can be by rotating aircraft so that aircraft around pitch axis
Generation leans forward and swings back to realize；The lateral movement of aircraft can be rotated around roll axis by making aircraft so that flying
Device generates left-leaning and Right deviation to realize.
Schematic diagram when Fig. 7 C is flight upright according to the aircraft of another embodiment of the present invention.Fig. 7 D is according to this hair
Schematic diagram when the aircraft flying upside down of bright another embodiment.
Referring to Fig. 7 C and Fig. 7 D, it is assumed that it may include left front that the rotor of quadrotor, which is divided into two groups: a first group rotors,
The rotor 75 of side and the rotor 76 of right back；Second group may include the rotor 77 of right front and the rotor 78 of left back.Rotor
While 75 motor and the motor of rotor 76 rotate counterclockwise, the motor of rotor 77 and the motor of rotor 78 are rotated clockwise,
To offset gyroscopic effect and air force torque effect.It is direction of advance along positive direction of the x-axis, upward arrow indicates rotor water
The direction of pull usually generated is opposite with gravity direction.By control aircraft rotor the adjustable aircraft of revolving speed fly
Row posture.Referring to Fig. 7 C, when the upright flight of aircraft, first group of rotor is rotated clockwise, and second group of rotor rotates counterclockwise.
Referring to Fig. 7 D, when aircraft flying upside down, first group of rotor rotates counterclockwise, and second group of rotor rotates 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, and this will not be repeated here.
Fig. 8 is the schematic flow chart of the control method of aircraft according to another embodiment of the present invention.The present embodiment
Control method can be applied to different aircraft.Aircraft for example can be the UAV of Fig. 1, which for example can be with
It is executed 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.Lead to for example, commanding apparatus can receive user
The offline mode for crossing commanding apparatus input, can also know offline mode from flight controller.
820, commanding apparatus determine offline mode be upright offline mode and receive user input first control refer to
When enabling, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control the posture of aircraft
Variation or carrier motion state variation.
The description of the motion state of the posture and carrier of aircraft is similar with the corresponding description in the embodiment of Fig. 1 to Fig. 7,
Or else it is repeating.
830, commanding apparatus is flying upside down mode and the phase for receiving user's input in the offline mode for determining aircraft
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
Send the second control instruction, wherein the first control instruction controls the variation pattern of the posture of aircraft or the motion state of carrier
Variation pattern and the second control instruction control aircraft posture variation pattern or carrier movement state variation pattern not
With (for example, opposite).
Specifically, when aircraft is in upright offline mode and receives posture for controlling aircraft or carrier
When the first control instruction of motion state, first control instruction is sent to aircraft, to control the posture or carrier of aircraft
Motion state changes in a way, for example, control aircraft or carrier move in one direction, stands upside down when aircraft is in
When offline mode and when receiving identical control instruction, second control different from the first control instruction is sent to aircraft and is referred to
Enable, to control the posture of aircraft or the motion state alternatively variation pattern of carrier, for example, control aircraft or
Carrier moves in another direction.It should be understood that above-mentioned control instruction can be the control that the user of aircraft is inputted by commanding apparatus
The control instruction of the posture of aircraft processed.
It should be understood that after the controller of flight controller or carrier receives the control instruction that commanding apparatus is sent, Ke Yigen
The posture of aircraft or the movement of carrier are controlled according to the control instruction, in specific control method and above-described embodiment just
The control method of the movement of the posture or carrier of aircraft is similar under vertical offline mode, and details are not described herein.
According to an embodiment of the invention, will be used at commanding apparatus by when aircraft is in different offline mode
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 user to be accustomed to the manipulation of aircraft, so that the user experience is improved.Moreover, the present embodiment is not necessarily to carry out big to aircraft
Transformation, design are simple, it is easier to realize.
Optionally, as another embodiment, commanding apparatus can receive the offline mode instruction of aircraft transmission, wherein
It is upright offline mode or flying upside down mode that offline mode instruction, which is used to indicate offline mode, wherein the manipulation of aircraft is set
The standby offline mode for determining aircraft may include: that commanding apparatus indicates to determine offline mode according to offline mode.
Specifically, commanding apparatus can receive offline mode instruction from aircraft using wireless mode, for example, offline mode
It is designated as the upright offline mode of 1 expression, indicates flying upside down mode for 0, or opposite.Furthermore it is also possible to by judging whether
The flying upside down mode for receiving aircraft sending indicates to indicate, for example, receiving the instruction of flying upside down mode indicates flight
Device is in flying upside down mode, otherwise indicates that aircraft is in upright offline mode.In this case, aircraft can basis
The posture 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 specific method for determining offline mode and the method phase for determining offline mode in above-described embodiment according to posture information
Together, details are not described herein.
Alternatively, as another embodiment, commanding apparatus can also receive the offline mode instruction of user's input.
The foregoing describe control methods according to an embodiment of the present invention, combine Fig. 9 to Figure 17 description according to this separately below
Control device, control system, carrier, aircraft and the commanding apparatus of inventive embodiments.
Fig. 9 is the structural schematic diagram of control device 900 according to an embodiment of the invention.Control device 900 is for example
It 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 movement of the carrier of the first upright control model control aircraft, mould is being determined
When block 910 determines that offline mode is flying upside down mode, using the movement of the first handstand control model control vector, wherein root
According to identical control instruction, the variation pattern of the motion state of control vector is different from first under the first upright control model
The variation pattern of the motion state of control vector under handstand control model, carrier are used for carry load.For example, the movement shape of carrier
State may include following at least one: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.In addition, carrier
The top or bottom of aircraft can be located at.
According to an embodiment of the invention, the motion state of carrier may include the direction of motion of carrier, wherein according to identical
Control instruction, under the first upright control model the direction of motion of control vector under the first handstand control model control carry
The direction of motion of body is opposite.
According to an embodiment of the invention, carrier may include one or more rotating shaft mechanisms, control module 920 can be true
When cover half block 910 determines that offline mode is upright offline mode, rotating shaft mechanism is controlled according to the first control instruction and surrounds turning engine
The rotary shaft of structure is rotated in a first direction, and when determining module 910 determines that offline mode is flying upside down 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 may include following at least one: roll axis mechanism, translation axis mechanism and pitching axis mechanism.
According to an embodiment of the invention, control module 920 can determine that offline mode is upright flight in determining module 910
When mode, the first control instruction is converted into the first driving signal, is rotated in a first direction with the motor of drive shaft mechanism, and
And when determining module 910 determines that offline mode is flying upside down mode, the first control instruction is converted into the second driving signal,
It is rotated in a second direction with driving motor.
According to the embodiment of invention, the posture information of the available aircraft of determining module 910, and according to aircraft
Posture information determines the offline mode of aircraft.What posture information can be sensed by the sensor that aircraft carries.Example
Such as, sensor may include following at least one: gyroscope, electronic compass, Inertial Measurement Unit and visual sensor.Posture letter
Breath may include at least one of the pitch angle of aircraft and the roll angle of aircraft.
Specifically, it is determined that module 910 can determine offline mode in pitch angle or roll angle in preset angular range
For flying upside down mode.
According to an embodiment of the invention, determining module 910 can receive the offline mode that the commanding apparatus of aircraft is sent
Instruction, and indicated to determine offline mode according to offline mode, wherein offline mode instruction is used to indicate offline mode and flies to stand upside down
Row mode or upright offline mode.
Optionally, as another embodiment, control module 920 can be also used for determining that offline mode is upright flight mould
When formula, using the height of the second upright control model control aircraft, and when determining offline mode is flying upside down mode,
Using the height of the second handstand control model control aircraft, wherein according to the distance of the distance measuring sensor sensing of aircraft carrying
Information, the condition that the height of control aircraft needs to meet under the second upright control model, which is different from standing upside down second, controls mould
The condition that the height of aircraft needs to meet is controlled under formula.
Specifically, the first distance measuring sensor that control module 920 can use aircraft carrying senses aircraft and is located at
The distance between first object object above aircraft, and controlled and flown according to the distance between aircraft and first object object
The flying height of row device, so that the distance between aircraft and first object object be less than the first preset value, wherein first surveys
It is located at the bottom of aircraft away from sensor.
Optionally, as another embodiment, control module 920 can also utilize the second distance measuring sensor of aircraft carrying
The distance between the second target object for sensing aircraft and being located at below aircraft, and according to aircraft and the second target object
The distance between control aircraft flying height so that the distance between aircraft and the second target object be greater than second in advance
If value, wherein the second distance measuring sensor is located at the top of aircraft.
Specifically, the first distance measuring sensor that control module 920 can use aircraft carrying senses aircraft and is located at
The distance between third target object below aircraft, and controlled according to the distance between aircraft and third target object
The flying height of aircraft, so that the distance between aircraft and third target object are greater than third preset value.
Above-mentioned distance measuring sensor can be ultrasonic sensor and/or visual sensor.Above-mentioned carrier can set for holder
Standby, above-mentioned load can be capture apparatus.
Optionally, as another embodiment, control device 900 can also include: receiving module 930,940 and of processing module
Sending module 950.Receiving module 930 is used to receive the image of capture apparatus shooting.Processing module 940 is for determining flight mould
When formula is flying upside down mode, the image that capture apparatus is shot is subjected to handstand processing.Sending module 950 is for handling handstand
Image afterwards is sent to display and is shown.
The method that the operations and functions of the modules of control device 900 can refer to above-mentioned Fig. 2, in order to avoid repeating,
Details are not described herein.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the motion state using different control model control vectors changes in different ways, so that in the flight mould of aircraft
When formula changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, so that the user experience is improved.
Figure 10 is the structural schematic diagram 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 to determine offline mode be upright offline mode, using the posture of the first upright control model control aircraft, and mould is being determined
When block 1010 determines that offline mode is flying upside down mode, using the posture of the first handstand control model control aircraft, wherein
The variation pattern that the posture of aircraft is controlled under the first upright control model is different from the control flight of the first handstand control model
The variation pattern of the posture of device.For example, the posture of aircraft may include following at least one: course angle, roll angle and pitching
Angle.
Specifically, the variation pattern of the posture of above-mentioned control aircraft includes following at least one: control attitude angle variation
Size and control attitude angle variation direction.The variation pattern of the posture of aircraft may include the side for controlling attitude angle variation
To, wherein according to identical control instruction, controlled under the first upright control model the change direction of the attitude angle of aircraft with
Changing in the opposite direction for the attitude angle of aircraft is controlled under the first handstand control model.
According to an embodiment of the invention, control module 1020 determines that offline mode is upright flight mould in determining module 1010
When formula, control instruction is converted into multiple First Speed adjustment signals, to adjust respectively by multiple First Speed adjustment signals
The revolving 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 that offline mode is flying upside down mode, control instruction is converted into multiple second speed adjustment signals,
To adjust the revolving speed of multiple rotors by multiple second speed adjustment signals respectively, so that the attitude angle of aircraft is in a second direction
Variation.
Optionally, as another embodiment, control module 1020 is also used to determining that offline mode is upright offline mode
When, use multiple rotor wing rotations of the second upright control model control aircraft to generate pushing away for third direction relative to aircraft
Power；When determining offline mode is flying upside down mode, the second handstand control model is used to control multiple rotor wing rotations with opposite
The thrust of fourth direction is generated 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 operations and functions of the modules of control device 1000 can refer to above-mentioned Fig. 6, in order to avoid repeating,
Details are not described herein.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the posture using different control model control aircraft changes in different ways, so that in the offline mode of aircraft
When change, the manipulation of aircraft is accustomed to without changing user, to improve the experience of user.
Figure 11 is the structural schematic diagram 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 conversion module
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 user's input for receiving commanding apparatus, to aircraft or
The carrier of aircraft sends the first control instruction.Conversion module 1130 is used to determine the flight mould of aircraft in determining module 1110
When formula is flying upside down mode and the first control instruction of user's input for receiving commanding apparatus, the first control instruction is converted
For the second control instruction, wherein sending module 1120 is also used to send the second control instruction to the carrier of aircraft or aircraft,
First control instruction is used to control the variation of the posture of aircraft or the motion state of carrier, and the first control instruction controls aircraft
Posture variation pattern or carrier motion state variation pattern and the second control instruction control aircraft posture change
The variation pattern of change mode or carrier movement state is different, and carrier is used for carry load.For example, the posture of aircraft includes as follows
It is at least one: course angle, roll angle and pitch angle.
Optionally, as another embodiment, control device 1100 can also include: receiving module 1140.Receiving module
1140 for receiving the offline mode instruction of aircraft transmission, wherein it is upright that offline mode instruction, which is used to indicate offline mode,
Offline mode or flying upside down mode, wherein determining module 1110 indicates to determine offline mode according to offline mode.
The method that the operations and functions of the modules of control device 1100 can refer to above-mentioned Fig. 8, in order to avoid repeating,
Details are not described herein.
According to an embodiment of the invention, will be used at commanding apparatus by when aircraft is in different offline mode
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 user to be accustomed to the manipulation of aircraft, so that the user experience is improved.
Figure 12 is the structural schematic diagram of flight control system 1200 according to an embodiment of the invention.Flight control system
System 1200 for example can be the flight control system of Fig. 1.Flight control system 1200 may include processor 1210 and memory
1220, wherein memory 1220 is for storing instruction so 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 and memory 1220.
Specifically, when determining offline mode is upright offline mode, aircraft is controlled using the first upright control model
Carrier movement, determine offline mode be flying upside down mode when, using the fortune of the first handstand control model control vector
It is dynamic, wherein according to identical control instruction, the variation pattern of the motion state of control vector is not under the first upright control model
It is same as the variation pattern of the motion state of control vector under the first handstand control model, carrier is used for carry load.Carrier can
To be located at the top or bottom of aircraft.
According to an embodiment of the invention, the motion state of carrier may include the direction of motion of carrier；Wherein, according to identical
Control instruction, under the first upright control model the direction of motion of control vector under the first handstand control model control carry
The direction of motion of body is opposite.
According to an embodiment of the invention, carrier may include one or more rotating shaft mechanisms, processor 1210 is specifically used for
When determining offline mode is upright offline mode, the rotation that rotating shaft mechanism surrounds rotating shaft mechanism is controlled according to the first control instruction
Axis is rotated in a first direction, and when determining offline mode is flying upside down mode, controls shaft according to the first control instruction
Mechanism is rotated in a second direction around rotary shaft, and wherein first direction is opposite with second direction.
According to an embodiment of the invention, processor 1210 is specifically used for when determining offline mode is upright offline mode,
First control instruction is converted into the first driving signal, is rotated in a first direction with the motor of drive shaft mechanism, and true
Determine offline mode be flying upside down mode when, the first control instruction is converted into the second driving signal, with driving motor along second
Direction rotates.
Rotating shaft mechanism may include following at least one: roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carrier
Motion state includes following at least one: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.
According to an embodiment of the invention, processor 1210 is specifically used for obtaining the posture information of aircraft, and according to winged
The posture information of row device determines the offline mode of aircraft.
Optionally, as another embodiment, flight control system can also include: sensor 1230.Sensor 1230, with
Processor 1210 communicate to connect, for sensing posture information, wherein 1210 receiving sensor of processor sensing posture information.It passes
Sensor 1210 includes following at least one: gyroscope, electronic compass, Inertial Measurement Unit and visual sensor.Posture information packet
Include at least one of the pitch angle of aircraft and the roll angle of aircraft.Processor 1210 is specifically used for working as pitch angle or roll
Angle determines that offline mode is flying upside down mode in preset angular range.
Optionally, as another embodiment, flight control system 1200 can also include: transceiver 1240, with processor
1210 communication connections, the offline mode instruction that the commanding apparatus for receiving aircraft is sent, wherein processor 1210 is specifically used
In indicating determining offline mode according to offline mode, it is flying upside down mode that wherein offline mode instruction, which is used to indicate offline mode,
Or upright offline mode.
Optionally, as another embodiment, processor 1210 is also used to when determining offline mode is upright offline mode,
Using the height of the second upright control model control aircraft；When determining offline mode is flying upside down mode, using second
Handstand control model controls the height of aircraft, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying,
The height that aircraft is controlled under second upright control model needs the condition met to be different from controlling under the second handstand control model
The height of aircraft processed needs the condition met.
Optionally, as another embodiment, it can also include: the first distance measuring sensor 1250 that flight control, which is 1200, with
Processor 1210 communicates to connect, the distance between the first object object for sensing aircraft with being located above aircraft,
Middle processor 1210 is specifically used for when determining offline mode is flying upside down mode, according to aircraft and first object object it
Between distance controlling aircraft flying height so that the distance between aircraft and first object object are default less than first
Value, wherein the first distance measuring sensor 1250 is located at the bottom of aircraft.
Optionally, as another embodiment, further includes: the second distance measuring sensor 1260 is communicated to connect with processor 1210,
The distance between the second target object for sensing aircraft with being located at below aircraft, wherein processor 1210 is also used to
When determining that offline mode is flying upside down mode, flying for aircraft is controlled according to the distance between aircraft and the second target object
Row height, so that the distance between aircraft and the second target object are greater than the second preset value, wherein the second distance measuring sensor
1260 are located at the top of aircraft.
Optionally, as another embodiment, the first distance measuring sensor 1250 is also used to sense aircraft and is located at aircraft
The distance between third target object of lower section, processor 1210 are specifically used for determining that offline mode is upright offline mode
When, the flying height of aircraft is controlled according to the distance between aircraft and third target object, so that aircraft and third
The distance between target object is greater than third preset value.
Above-mentioned distance measuring sensor is ultrasonic sensor and/or visual sensor.Above-mentioned carrier is tripod head equipment, above-mentioned negative
Carrying is capture apparatus.
Optionally, as another embodiment, transceiver 1240 is also used to receive the image of capture apparatus shooting, wherein handling
Device 1210 is also used to when determining offline mode is flying upside down mode, and the image that capture apparatus is shot is carried out handstand processing,
And it will be stood upside down that treated by second transceiver image is sent to display and shown.
The method that the operations and functions of flight control system 1200 can refer to above-mentioned Fig. 2, in order to avoid repeating, herein not
It repeats again.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the motion state using different control model control vectors changes in different ways, so that in the flight mould of aircraft
When formula changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, so that the user experience is improved.
Figure 13 is the structural schematic diagram 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 may include processor 1310 and memory 1320,
Middle memory 1320 is for storing instruction so that processor 1310 is used to select corresponding control according to the offline mode of aircraft
Molding formula.Processor 1310 is communicated to connect by bus 1350 and memory 1320.
Specifically, when determining offline mode is upright offline mode, using the first upright control model control vector
Movement, when determining offline mode is flying upside down mode, using the movement of the first handstand control model control vector, wherein
According to identical control instruction, the variation pattern of the motion state of control vector is different from the under the first upright control model
The variation pattern of the motion state of control vector under one handstand control model, carrier are used for carry load.For example, carrier can be
Tripod head equipment, load can be capture apparatus.
According to an embodiment of the invention, the motion state of carrier may include the direction of motion of carrier；Wherein, according to identical
Control instruction, under the first upright control model the direction of motion of control vector under the first handstand control model control carry
The direction of motion of body is opposite.
According to an embodiment of the invention, carrier may include one or more rotating shaft mechanisms, processor 1310 is specifically used for
When determining offline mode is upright offline mode, the rotation that rotating shaft mechanism surrounds rotating shaft mechanism is controlled according to the first control instruction
Axis is rotated in a first direction, and when determining offline mode is flying upside down mode, controls shaft according to the first control instruction
Mechanism is rotated in a second direction around rotary shaft, and wherein first direction is opposite with second direction.
According to an embodiment of the invention, processor 1310 is specifically used for when determining offline mode is upright offline mode,
First control instruction is converted into the first driving signal, is rotated in a first direction with the motor of drive shaft mechanism, and true
Determine offline mode be flying upside down mode when, the first control instruction is converted into the second driving signal, with driving motor along second
Direction rotates.Rotating shaft mechanism may include following at least one: roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carrier
Motion state include following at least one: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.Processing
Device obtains the posture information of aircraft, and according to the posture information of aircraft, determines the offline mode of aircraft.
Optionally, as another embodiment, control system 1300 further include: sensor 1330 is connect with processor communication,
For sensing posture information, wherein processor 1310 can receive the posture information of the sensing of sensor 1330.Sensor 1330 can
To include following at least one: gyroscope, electronic compass, Inertial Measurement Unit and visual sensor.Posture information may include
At least one of pitch angle and the roll angle of aircraft of aircraft.
According to an embodiment of the invention, processor 1310 is specifically used for working as pitch angle or roll angle in preset angular range
When, determine that offline mode is flying upside down mode.
According to an embodiment of the invention, control system 1300 can also include: 1340 transceivers, communicated with processor 1310
It connects, the offline mode instruction that the controller for the commanding apparatus or aircraft that receive aircraft is sent, wherein processor
1310 are specifically used for being indicated to determine offline mode according to offline mode, and it is to fall that wherein offline mode instruction, which is used to indicate offline mode,
Vertical offline mode or upright offline mode.
Optionally, as another embodiment, transceiver 1340 is also used to receive the image of capture apparatus shooting, wherein handling
Device is also used to when determining offline mode is flying upside down mode, and the image that capture apparatus is shot is carried out handstand processing, and by
Second transceiver, which will stand upside down that treated image is sent to display, to be shown.
The method that the operations and functions of flight control system 1300 can refer to above-mentioned Fig. 2, in order to avoid repeating, herein not
It repeats again.
According to an embodiment of the invention, being referred to by when aircraft is in different offline mode according to identical control
It enables, the motion state using different control model control vectors changes in different ways, so that in the flight mould of aircraft
When formula changes, the manipulation for the carrier that aircraft carries is accustomed to without changing user, so that the user experience is improved.
Figure 14 is the structural schematic diagram 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 may include processor 1410 and memory
1420, wherein memory 1420 is for storing instruction so 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 and memory 1420.
Specifically, when determining offline mode is upright offline mode, aircraft is controlled using the first upright control model
Posture, determine offline mode be flying upside down mode when, using the first handstand control model control aircraft posture,
In, according to identical control instruction, the variation pattern that the posture of aircraft is controlled under the first upright control model is different from
The variation pattern of the posture of aircraft is controlled under first handstand control model.For example, the posture of aircraft includes following at least one
Kind: course angle, roll angle and pitch angle.For example, the variation pattern of the posture of control aircraft includes following at least one: control
The size of attitude angle variation and the direction of control attitude angle variation.
According to an embodiment of the invention, the variation pattern of the posture of control aircraft may include that control attitude angle changes
Direction, wherein according to identical control instruction, the change direction of the attitude angle of aircraft is controlled under the first upright control model
It changes in the opposite direction with the attitude angle for controlling aircraft under the first handstand control model.
According to an embodiment of the invention, processor 1410 is specifically used for when determining offline mode is upright offline mode,
Control instruction is converted into multiple First Speed adjustment signals, to adjust aircraft by multiple First Speed adjustment signals respectively
Multiple rotors revolving speed so that aircraft is rotated in a first direction around rotary shaft, and determining offline mode to stand upside down
When offline mode, control instruction is converted into multiple second speed adjustment signals, is believed with being adjusted respectively by multiple second speeds
The revolving speed for number adjusting multiple rotors, so that aircraft is rotated in a second direction around rotary shaft.For example, rotary shaft may include as
Lower at least one: roll axis, translation shaft and pitch axis.
Optionally, as another embodiment, processor 1410 is also used to: determining that offline mode is upright offline mode
When, use multiple rotor wing rotations of the second upright control model control aircraft to generate pushing away for third direction relative to aircraft
Power；When determining offline mode is flying upside down mode, the second handstand control model is used to control multiple rotor wing rotations with opposite
The thrust of fourth direction is generated in aircraft, third direction is opposite with fourth direction.
According to an embodiment of the invention, processor 1410 is specifically used for the rotation by changing motor corresponding with multiple rotors
It is opposite with fourth direction to control third direction to turn direction.
The method that the operations and functions of control device 1400 can refer to above-mentioned Fig. 6, it is no longer superfluous herein in order to avoid repeating
It states.
According to an embodiment of the invention, will be used at commanding apparatus by when aircraft is in different offline mode
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 user to be accustomed to the manipulation of aircraft, so that the user experience is improved.
Figure 15 is the structural schematic diagram of manipulation device 1500 according to an embodiment of the invention.Manipulation device 1500
It can be such as the manipulation device in Fig. 1.Manipulation device 1500 includes: processor 1510 and memory 1520, wherein memory
1520 for storing instruction so that processor 1510 is used to export corresponding control instruction according to the offline mode of aircraft.Place
Device 1510 is managed to communicate to connect by bus 1550 and memory 1520.
Transceiver 1530 is used to determine that offline mode is upright offline mode and receives operator's input in controller
When the first control instruction, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is winged for controlling
The variation of the motion state of the variation or carrier of the posture of row device.Processor 1510 is used in the offline mode for determining aircraft
Flying upside down mode and receive user input the first control instruction when, the first control instruction is converted into the second control and is referred to
It enables, transceiver 1530 is also used to send the second control instruction to the carrier of aircraft or aircraft, wherein the first control instruction control
The variation pattern of the motion state of the variation pattern or carrier of the posture of aircraft processed and the second control instruction control aircraft
The variation pattern of posture or the variation pattern of carrier movement state are different.For example, the posture of aircraft includes following at least one:
Course angle, roll angle and pitch angle.
Optionally, as another embodiment, transceiver 1530 is also used to receive the offline mode instruction of aircraft transmission,
In, it is upright offline mode or flying upside down mode, wherein processor 1510 that offline mode instruction, which is used to indicate offline mode,
It indicates to determine offline mode according to offline mode.
The method that the operations and functions of manipulation device 1500 can refer to above-mentioned Fig. 8, it is no longer superfluous herein in order to avoid repeating
It states.
According to an embodiment of the invention, will be used at commanding apparatus by when aircraft is in different offline mode
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 user to be accustomed to the manipulation of aircraft, so that the user experience is improved.
Figure 16 is the structural schematic diagram of aircraft 1600 according to one embodiment of present invention.Aircraft can be with 1600
It include: flight control system 1610 and multiple propulsion devices 1620.Flight control system 1610 can be such as above-described embodiment institute
The flight control system stated.Multiple propulsion devices 1620 are used to be supplied to the flying power of aircraft；Wherein, flight control system
1610 communicate to connect with multiple propulsion devices 1620, work for controlling multiple propulsion devices 1620, to realize required posture.
Figure 17 is the structural schematic diagram of carrier 1700 according to an embodiment of the invention.Carrier may include: control
System 1710 and one or more rotating shaft mechanisms 1720.Control system 1710 can be as above to state control system described in embodiment
System.Rotating shaft mechanism may include the power device of shaft and drive shaft rotation；Wherein, control system 1710 and power device
Communication connection, for controlling power device work, to realize required motion state.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, in the absence of conflict,
Specific feature, structure or characteristic can be incorporated in one or more real in any suitable manner in these embodiments and embodiment
It applies in example.
It should be understood that in various embodiments of the present invention, magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Sequence it is successive, the execution of each process sequence should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Process constitutes any restriction.
It should be understood that in embodiments of the present invention, " B corresponding with A " indicates that B is associated with A, 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", only a kind of incidence relation for describing affiliated partner, expression can deposit
In three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.
In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
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, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is 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 (64)
1. a kind of control method characterized by comprising
Determine the offline mode of aircraft；
When determining the offline mode is upright offline mode, the load of the aircraft is controlled using the first upright control model
The movement of body；
When determining the offline mode is flying upside down mode, 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 controlling the variation pattern of the motion state of the carrier, the carrier under the first handstand control model
For carry load；
The method also includes:
When determining the offline mode is the upright offline mode, the aircraft is controlled using the second upright control model
Height；
When determining the offline mode is the flying upside down mode, the aircraft is controlled using the second handstand control model
Height, wherein according to the aircraft carrying distance measuring sensor sensing range information, in the described second upright control mould
The height that the aircraft is controlled under formula needs the condition met to be different under the second handstand control model described in control
The height of aircraft needs the condition met.
2. control method according to claim 1, which is characterized 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
The direction of motion that the carrier is controlled under the first handstand control model is opposite.
3. control method according to claim 2, which is characterized in that the carrier includes one or more rotating shaft mechanisms,
The movement of the carrier that the aircraft is controlled using the first upright control model, comprising:
The rotating shaft mechanism is controlled according to the first control instruction to be rotated in a first direction around the rotary shaft of the rotating shaft mechanism,
The wherein movement that the carrier is controlled using the first handstand control model, comprising:
It controls the rotating shaft mechanism according to first control instruction to rotate in a second direction around the rotary shaft, wherein described
First direction is opposite with the second direction.
4. control method according to claim 3, which is characterized in that described to control the shaft according to the first control instruction
Mechanism is rotated in a first direction around the rotary shaft of the rotating shaft mechanism, comprising:
First control instruction is converted into the first driving signal, to drive the motor of the rotating shaft mechanism along the first party
To rotation,
Wherein, described to be rotated in a second direction according to the first control instruction control rotating shaft mechanism around the rotary shaft, it wraps
It includes:
First control instruction is converted into the second driving signal, to drive the motor to rotate along the second direction.
5. control method according to claim 3 or 4, which is characterized 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, which is characterized in that the motion state of the carrier includes following at least one
Kind: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.
7. control method according to any one of claims 1 to 4, which is characterized in that the determining aircraft flies
Row mode, comprising:
Obtain the posture information of the aircraft；
According to the posture information of the aircraft, the offline mode of the aircraft is determined.
8. control method according to claim 7, which is characterized in that the posture information is carried by the aircraft
What sensor sensed.
9. control method according to claim 8, which is characterized in that the sensor includes following at least one: gyro
Instrument, electronic compass and visual sensor.
10. control method according to claim 7, which is characterized in that the posture information includes bowing for the aircraft
At least one of the elevation angle and the roll angle of the aircraft.
11. control method according to claim 10, which is characterized in that the posture information according to the aircraft,
Determine the offline mode of the aircraft, comprising:
In the pitch angle or the roll angle in preset angular range, determine that the offline mode is the flying upside down
Mode.
12. control method according to any one of claims 1 to 4, which is characterized in that the determining aircraft flies
Row mode, comprising:
The offline mode instruction that the commanding apparatus of the aircraft is sent is received, the offline mode instruction is used to indicate described fly
Row mode is the flying upside down mode or the upright offline mode；
The offline mode is determined according to offline mode instruction.
13. control method according to claim 1, which is characterized in that described to control institute using the second handstand control model
State the height of aircraft, comprising:
Using the first distance measuring sensor that the aircraft carries sense the aircraft be located above the aircraft the
The distance between one target object；
The flying height of the aircraft is controlled according to the distance between the aircraft and the first object object, so that
The distance between the aircraft and the first object object are less than the first preset value, wherein first distance measuring sensor position
In the bottom of the aircraft.
14. control method according to claim 13, which is characterized in that described to control institute using the second handstand control model
State the height of aircraft, further includes:
Using the second distance measuring sensor that the aircraft carries sense the aircraft be located at below the aircraft the
The distance between two target objects；
The flying height of the aircraft is controlled according to the distance between the aircraft and second target object, so that
The distance between the aircraft and second target object are greater than the second preset value, wherein second distance measuring sensor position
In the top of the aircraft.
15. control method described in 3 or 14 according to claim 1, which is characterized in that described to use the second upright control model control
Make the height of the aircraft, comprising:
Using the first distance measuring sensor that the aircraft carries sense the aircraft be located at below the aircraft the
The distance between three target objects；
The flying height of the aircraft is controlled according to the distance between the aircraft and the third target object, so that
The distance between the aircraft and the third target object are greater than third preset value.
16. control method according to claim 1, which is characterized in that the distance measuring sensor be ultrasonic sensor and/
Or visual sensor.
17. control method according to any one of claims 1 to 4, which is characterized in that the carrier sets for holder
Standby, the load is capture apparatus.
18. control method according to claim 17, which is characterized in that the control method further include:
Receive the image of the capture apparatus shooting；
When determining the offline mode is the flying upside down mode, the image that the capture apparatus is shot is carried out at handstand
Reason；
It standing upside down treated, image is sent to display and show.
19. control method according to any one of claims 1 to 4, which is characterized in that the carrier is located at described fly
The top or bottom of row device.
20. control method according to any one of claims 1 to 4, the method is by the aircraft or the load
The controller of body executes.
21. a kind of control method characterized by comprising
Determine the offline mode of aircraft；
When determining the offline mode is upright offline mode, the appearance of the aircraft is controlled using the first upright control model
State；
When determining the offline mode is flying upside down mode, the appearance of the aircraft is controlled using the first handstand control model
State, wherein according to identical control instruction, the variation of the posture of the aircraft is controlled under the described first upright control model
Mode is different from controlling the variation pattern of the posture of the aircraft under the first handstand control model；
The method also includes:
When determining the offline mode is the upright offline mode, the aircraft is controlled using the second upright control model
Height；
When determining the offline mode is the flying upside down mode, the aircraft is controlled using the second handstand control model
Height, wherein according to the aircraft carrying distance measuring sensor sensing range information, in the described second upright control mould
The height that the aircraft is controlled under formula needs the condition met to be different under the second handstand control model described in control
The height of aircraft needs the condition met.
22. control method according to claim 21, which is characterized in that the variation of the posture of the control aircraft
Mode includes following at least one: the size of control attitude angle variation and the direction of control attitude angle variation.
23. control method according to claim 22, which is characterized in that the variation of the posture of the control aircraft
Mode includes controlling the direction of attitude angle variation；
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 controls the aircraft under the first handstand control model.
24. control method according to claim 23, which is characterized in that described to control institute using the first upright control model
State the posture of aircraft, comprising:
The control instruction is converted into multiple First Speed adjustment signals, adjusts letter to pass through the multiple First Speed respectively
The revolving speed of multiple rotors of the aircraft number is adjusted, so that the aircraft is rotated in a first direction around rotary shaft,
The wherein posture that the aircraft is controlled using the first handstand control model, comprising:
The control instruction is converted into multiple second speed adjustment signals, is believed with being adjusted respectively by the multiple second speed
The revolving speed for number adjusting the multiple rotor, so that the aircraft is rotated in a second direction around the rotary shaft.
25. control method according to claim 24, which is characterized in that the rotary shaft includes following at least one: horizontal
Roller bearing, translation shaft and pitch axis.
26. the control method according to any one of claim 21 to 25, which is characterized in that further include:
When determining 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 generate third direction thrust；
When determining the offline mode is the flying upside down mode, the multiple rotation is controlled using the second handstand control model
With the thrust relative to aircraft generation fourth direction, the third direction is opposite with the fourth direction for wing rotation.
27. control method according to claim 26, which is characterized in that by changing electricity corresponding with the multiple rotor
The direction of rotation of machine is opposite with the fourth direction to control the third direction.
28. according to the described in any item control methods of claim 21 to 25, which is characterized in that the posture of the aircraft includes
It is following at least one: course angle, roll angle and pitch angle.
29. a kind of control method characterized by comprising
The commanding apparatus of aircraft determines the offline mode of the aircraft；
The commanding apparatus determine the offline mode be upright offline mode and receive user input first control refer to
When enabling, the carrier of Xiang Suoshu aircraft or the aircraft sends first control instruction, and first control instruction is used for
Control the variation of the variation of the posture of the aircraft or the motion state of the carrier；
The commanding apparatus determine the offline mode of the aircraft for flying upside down mode and receive user input institute
When stating the first control instruction, first control instruction is converted into the second control instruction, and to the aircraft or described is flown
The carrier of row device sends second control instruction, wherein first control instruction controls the change of the posture of the aircraft
The variation pattern of change mode or the motion state of the carrier and second control instruction control the posture of the aircraft
Variation pattern or the variation pattern of the carrier movement state are different；
The method also includes:
The commanding apparatus is when determining the offline mode is the upright offline mode, using the second upright control model control
Make the height of the aircraft；
The commanding apparatus is when determining the offline mode is the flying upside down mode, using the second handstand control model control
The height of the aircraft is made, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying, described the
The height that the aircraft is controlled under two upright control models needs the condition that meets to be different from standing upside down control mould described second
The condition that the height of the aircraft needs to meet is controlled under formula.
30. control method according to claim 29, which is characterized in that further include:
The commanding apparatus receives the offline mode instruction that the aircraft is sent, wherein the offline mode instruction is for referring to
Show the offline mode be the upright offline mode or the flying upside down mode,
Wherein, the commanding apparatus of the aircraft determines the offline mode of the aircraft, comprising:
The commanding apparatus determines the offline mode according to offline mode instruction.
31. a kind of control device characterized by comprising
Determining module, for determining the offline mode of aircraft；
Control module, for the determining module determine the offline mode be upright offline mode when, it is upright using first
Control model controls the movement of the carrier of the aircraft, determines that the offline mode is flying upside down mould in the determining module
When formula, the movement of the carrier is controlled using the first handstand control model, wherein according to identical control instruction, described
The variation pattern that the motion state of the carrier is controlled under one upright control model is different from the first handstand control model
The variation pattern of the motion state of the lower control carrier, the carrier are used for carry load；
The control module is also used to when determining the offline mode is the upright offline mode, using the second upright control
The height of aircraft described in scheme control is stood upside down when determining the offline mode is the flying upside down mode using second
Control model controls the height of the aircraft, wherein being believed according to the distance of the distance measuring sensor sensing of aircraft carrying
Breath, the height that the aircraft is controlled under the described second upright control model need the condition met to be different from described second
The condition that the height of the aircraft needs to meet is controlled under handstand control model.
32. a kind of control device characterized by comprising
Determining module, for determining the offline mode of aircraft；
Control module, for the determining module determine the offline mode be upright offline mode when, it is upright using first
Control model controls the posture of the aircraft, and determines that the offline mode is flying upside down mode in the determining module
When, the posture of the aircraft is controlled using the first handstand control model, wherein controlling under the described first upright control model
The variation pattern of the posture of the aircraft is different from controlling the posture of the aircraft under the first handstand control model
Variation pattern；
The control module is also used to when determining the offline mode is the upright offline mode, using the second upright control
The height of aircraft described in scheme control；When determining the offline mode is the flying upside down mode, stand upside down using second
Control model controls the height of the aircraft, wherein being believed according to the distance of the distance measuring sensor sensing of aircraft carrying
Breath, the height that the aircraft is controlled under the described second upright control model need the condition met to be different from described second
The condition that the height of the aircraft needs to meet is controlled under handstand control model.
33. a kind of flight control system characterized by comprising processor and memory, wherein the memory is for storing
Instruction is so that the processor is used to select corresponding control model according to the offline mode of aircraft；
Wherein when determining the offline mode is upright offline mode, the aircraft is controlled using the first upright control model
Carrier movement, determine the offline mode be flying upside down mode when, using the first handstand control model control described in
The movement of carrier, wherein according to identical control instruction, the movement of the carrier is controlled under the described first upright control model
The variation pattern of state is different from controlling the variation pattern of the motion state of the carrier under the first handstand control model,
The carrier is used for carry load；
The processor is also used to when determining the offline mode is the upright offline mode, using the second upright control mould
Formula controls the height of the aircraft；When determining the offline mode is the flying upside down mode, stands upside down and control using second
The height of aircraft described in scheme control processed, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying,
The height that the aircraft is controlled under the described second upright control model needs the condition met to be different from falling described second
The condition that the height of the aircraft needs to meet is controlled under vertical control model.
34. flight control system according to claim 33, which is characterized 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 is opposite with the direction of motion of the carrier is controlled under the first handstand control model.
35. flight control system according to claim 34, which is characterized in that the carrier includes one or more shafts
Mechanism, the processor are specifically used for when determining the offline mode is the upright offline mode, are referred to according to the first control
It enables the control rotating shaft mechanism be rotated in a first direction around the rotary shaft of the rotating shaft mechanism, and is determining the flight mould
When formula is the flying upside down mode, the rotating shaft mechanism is controlled around the rotary shaft along the according to first control instruction
Two directions rotate, wherein the first direction is opposite with the second direction.
36. flight control system according to claim 35, which is characterized in that the processor is specifically used for determining
State offline mode be the upright offline mode when, first control instruction is converted into the first driving signal, to drive
The motor for stating rotating shaft mechanism is rotated along the first direction, and is determining that the offline mode is the flying upside down mode
When, first control instruction is converted into the second driving signal, to drive the motor to rotate along the second direction.
37. the flight control system according to claim 35 or 36, which is characterized in that the rotating shaft mechanism include such as down toward
Few one kind: roll axis mechanism, translation axis mechanism and pitching axis mechanism.
38. flight control system according to claim 33, which is characterized in that the motion state of the carrier includes as follows
It is at least one: the angle of rotation, the direction of rotation, the distance of translation and the direction of translation.
39. the flight control system according to any one of claim 33 to 36, which is characterized in that the processor obtains
The posture information of the aircraft is taken, and according to the posture information of the aircraft, determines the offline mode of the aircraft.
40. flight control system according to claim 39, which is characterized in that the flight control system further include:
Sensor is connect with the processor communication, for sensing the posture information, wherein the processor receives the biography
The posture information of sensor sensing.
41. flight control system according to claim 40, which is characterized in that the sensor includes following at least one
Kind: gyroscope, electronic compass and visual sensor.
42. flight control system according to claim 39, which is characterized in that the posture information includes the aircraft
Pitch angle and at least one of the roll angle of the aircraft.
43. flight control system according to claim 42, which is characterized in that the processor is specifically used for bowing when described
The elevation angle or the roll angle determine that the offline mode is the flying upside down mode in preset angular range.
44. the flight control system according to any one of claim 33 to 36, which is characterized in that the flight control
System further include:
First transceiver is connect with the processor communication, the flight mould that the commanding apparatus for receiving the aircraft is sent
Formula instruction, wherein the processor is specifically used for determining the offline mode according to offline mode instruction, wherein described fly
It is the flying upside down mode or the upright offline mode that the instruction of row mode, which is used to indicate the offline mode,.
45. flight control system according to claim 33, which is characterized in that the flight control system further include:
First distance measuring sensor is connect with the processor communication, for sensing the aircraft and being located at the aircraft
The distance between the first object object of side, wherein the processor is specifically used for determining that the offline mode is the handstand
When offline mode, the flight for controlling the aircraft according to the distance between the aircraft and the first object object is high
Degree, so that the distance between the aircraft and the first object object be less than the first preset value, wherein first survey
It is located at the bottom of the aircraft away from sensor.
46. flight control system according to claim 45, which is characterized in that the flight control system further include:
Second distance measuring sensor is connect with the processor communication, for sensing the aircraft and being located under the aircraft
The distance between the second target object of side, wherein the processor is also used to determining that the offline mode is that described stand upside down flies
When row mode, the flying height of the aircraft is controlled according to the distance between the aircraft and second target object,
So that the distance between the aircraft and second target object are greater than the second preset value, wherein second ranging passes
Sensor is located at the top of the aircraft.
47. the flight control system according to claim 45 or 46, which is characterized in that first distance measuring sensor is also used
In the distance between the third target object for sensing the aircraft with being located at below the aircraft, the processing implement body is used
In determine the offline mode be the upright offline mode when, according between the aircraft and the third target object
Distance controlling described in aircraft flying height so that the distance between the aircraft and the third target object are big
In third preset value.
48. flight control system according to claim 33, which is characterized in that the distance measuring sensor is supersonic sensing
Device and/or visual sensor.
49. the flight control system according to any one of claim 33 to 36, which is characterized in that the carrier is cloud
Platform equipment, the load are capture apparatus.
50. flight control system according to claim 49, which is characterized in that the flight control system further include:
Second transceiver is connect with the processor communication, for receiving the image of the capture apparatus shooting, wherein the place
The image that reason device is also used to, when determining the offline mode is the flying upside down mode, the capture apparatus be shot carries out
Handstand processing, and will be stood upside down that treated by the second transceiver image is sent to display and shown.
51. the flight control system according to any one of claim 33 to 36, which is characterized in that the carrier is located at
The top or bottom of the aircraft.
52. a kind of control system of carrier characterized by comprising processor and memory, wherein the memory is used for
Store instruction is so that the processor is used to select corresponding control model according to the offline mode of aircraft；
Wherein, when determining the offline mode is upright offline mode, the carrier is controlled using the first upright control model
Movement, determine the offline mode be flying upside down mode when, the carrier is controlled using the first handstand control model
Movement, 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 controlling the variation pattern of the motion state of the carrier, the load under the first handstand control model
Body is used for carry load；
The processor is also used to when determining the offline mode is the upright offline mode, using the second upright control mould
Formula controls the height of the aircraft；When determining the offline mode is the flying upside down mode, stands upside down and control using second
The height of aircraft described in scheme control processed, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying,
The height that the aircraft is controlled under the described second upright control model needs the condition met to be different from falling described second
The condition that the height of the aircraft needs to meet is controlled under vertical control model.
53. a kind of flight control system characterized by comprising processor and memory, wherein the memory is for storing
Instruction so that the processor is used to select corresponding control model according to the offline mode of aircraft,
Wherein when determining the offline mode is upright offline mode, the aircraft is controlled using the first upright control model
Posture the aircraft is controlled using the first handstand control model when determining the offline mode is flying upside down mode
Posture, wherein according to identical control instruction, the posture of the aircraft is controlled under the described first upright control model
Variation pattern is different from controlling the variation pattern of the posture of the aircraft under the first handstand control model；
The processor is also used to when determining the offline mode is the upright offline mode, using the second upright control mould
Formula controls the height of the aircraft；When determining the offline mode is the flying upside down mode, stands upside down and control using second
The height of aircraft described in scheme control processed, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying,
The height that the aircraft is controlled under the described second upright control model needs the condition met to be different from falling described second
The condition that the height of the aircraft needs to meet is controlled under vertical control model.
54. flight control system according to claim 53, which is characterized in that
The variation pattern of the posture of the control aircraft includes following at least one: the size of control attitude angle variation and
Control the direction of attitude angle variation.
55. flight control system according to claim 54, which is characterized in that the posture of the control aircraft
Variation pattern includes the direction for controlling attitude angle variation, wherein according to identical control instruction, in the described first upright control mould
The change direction of the attitude angle of the aircraft is controlled under formula and controls the aircraft under the first handstand control model
Attitude angle change in the opposite direction.
56. flight control system according to claim 55, which is characterized in that the processor is specifically used for determining
State offline mode be upright offline mode when, the control instruction is converted into multiple First Speed adjustment signals, to lead to respectively
The revolving speed that the multiple First Speed adjustment signal adjusts multiple rotors of the aircraft is crossed, so that the aircraft is around rotation
Shaft is rotated in a first direction, and when determining the offline mode is flying upside down mode, the control instruction is converted
For multiple second speed adjustment signals, to adjust turning for the multiple rotor by the multiple second speed adjustment signal respectively
Speed, so that the aircraft is rotated in a second direction around the rotary shaft.
57. flight control system according to claim 56, which is characterized in that the rotary shaft includes following at least one
Kind: roll axis, translation shaft and pitch axis.
58. the flight control system according to any one of claim 53 to 57, which is characterized in that the processor is also
For:
When determining 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 generate third direction thrust；
When determining the offline mode is the flying upside down mode, the multiple rotation is controlled using the second handstand control model
With the thrust relative to aircraft generation fourth direction, the third direction is opposite with the fourth direction for wing rotation.
59. flight control system according to claim 58, which is characterized in that the processor is specifically used for passing through change
The direction of rotation of motor corresponding with the multiple rotor is opposite with the fourth direction to control the third direction.
60. according to the described in any item flight control systems of claim 53 to 57, which is characterized in that the posture of the aircraft
Including following at least one: course angle, roll angle and pitch angle.
61. a kind of aircraft characterized by comprising
Flight control system as described in any one of claim 33 to 51,53 to 60；And
Multiple propulsion devices, for being supplied to the flying power of the aircraft；
Wherein, the flight control system and the multiple propulsion device communicate to connect, for controlling the multiple propulsion device
Work, to realize required posture.
62. a kind of carrier characterized by comprising
Control system as claimed in claim 52；And
One or more rotating shaft mechanisms, the rotating shaft mechanism include the power device of shaft and the driving shaft rotation；
Wherein, the control system and the power device communicate to connect, for controlling the power device work, to realize
The motion state needed.
63. a kind of manipulation device characterized by comprising processor and memory, wherein the memory is for storing instruction
So that the processor is used to export corresponding control instruction according to the offline mode of aircraft:
Transceiver, for determining that the offline mode is upright offline mode and the first control for receiving user's input in controller
When system instruction, the carrier of Xiang Suoshu aircraft or the aircraft sends first control instruction, first control instruction
For controlling the variation of the variation of the posture of the aircraft or the motion state of the carrier,
Processor, for being flying upside down mode in the offline mode for determining the aircraft and receiving described in user's input
When the first control instruction, first control instruction is converted into the second control instruction,
The transceiver is also used 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 variation pattern of the posture of the aircraft or the motion state of the carrier
State the second control instruction control the aircraft posture variation pattern or the carrier movement state variation pattern it is different；
The processor is also used to when determining the offline mode is the upright offline mode, using the second upright control mould
Formula controls the height of the aircraft；When determining the offline mode is the flying upside down mode, stands upside down and control using second
The height of aircraft described in scheme control processed, wherein according to the range information of the distance measuring sensor sensing of aircraft carrying,
The height that the aircraft is controlled under the described second upright control model needs the condition met to be different from falling described second
The condition that the height of the aircraft needs to meet is controlled under vertical control model.
64. manipulation device according to claim 63, which is characterized in that the transceiver is also used to receive the aircraft
The offline mode of transmission indicates, wherein it is the upright flight mould that the offline mode instruction, which is used to indicate the offline mode,
Formula or the flying upside down mode, wherein the processor is specifically used for determining the flight mould according to offline mode instruction
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 |
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| Publication Number | Publication Date |
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| CN106716284A CN106716284A (en) | 2017-05-24 |
| CN106716284B true CN106716284B (en) | 2019-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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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| WO (1) | WO2018040006A1 (en) |
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| CN107272733A (en) * | 2017-06-13 | 2017-10-20 | 深圳市伊特利网络科技有限公司 | The unmanned aerial vehicle (UAV) control method and system of terminal positioning |
| CN109213211B (en) | 2017-06-29 | 2021-09-21 | 京东方科技集团股份有限公司 | Method and device for stabilizing photographic equipment |
| CN107589761B (en) * | 2017-09-11 | 2020-07-17 | 成都中科唯实仪器有限责任公司 | Position indicator control apparatus and position indicating system |
| CN108146636B (en) * | 2017-12-27 | 2020-11-24 | 深迪半导体(上海)有限公司 | Multi-purpose aircraft suitable for multi-carrier environment and assembly thereof |
| CN110832419A (en) * | 2018-07-25 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and system and unmanned aerial vehicle |
| WO2020062163A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Method for controlling pan-tilt, and handheld pan-tilt and handheld device |
| CN112640423A (en) * | 2020-04-28 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Control method, control device and movable platform |
| 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 |
| CN114063648A (en) * | 2021-11-17 | 2022-02-18 | 中国商用飞机有限责任公司 | Aircraft control mode switching method and system, storage medium and electronic equipment |
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| CN103914075A (en) * | 2013-12-13 | 2014-07-09 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
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| CN106716284A (en) | 2017-05-24 |
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