CN111247496A

CN111247496A - External load control method and device, unmanned aerial vehicle and terminal device

Info

Publication number: CN111247496A
Application number: CN201980005067.5A
Authority: CN
Inventors: 刘启明; 陈超彬
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-01-28
Filing date: 2019-01-28
Publication date: 2020-06-05
Also published as: WO2020154834A1

Abstract

A method of controlling an external load (13) communicatively coupled to an unmanned aerial vehicle (12), the method comprising: acquiring a flight route of the unmanned aerial vehicle, wherein the flight route comprises an action position point; acquiring action data of the external load corresponding to the action position point; and in the process that the unmanned aerial vehicle flies on the flight route, when the unmanned aerial vehicle is determined to reach the action position point, the action data is transmitted to the external load, so that the external load executes an action task indicated by the action data. Also relates to a control device for the external load, an unmanned aerial vehicle, a terminal and a storage medium. The method and the equipment realize the automatic execution of the action task by the external load of the unmanned aerial vehicle, and improve the efficiency of the external load in executing the action task.

Description

External load control method and device, unmanned aerial vehicle and terminal device

Technical Field

The invention relates to the technical field of control, in particular to a method and equipment for controlling an external load, an unmanned aerial vehicle and terminal equipment.

Background

In the application field of the unmanned aerial vehicle industry, task execution is often based on external loads, and the external loads refer to devices which are not possessed by the unmanned aerial vehicle but can be mounted on the unmanned aerial vehicle to realize specific functions. For the application field of the unmanned aircraft industry, effective support and convenient use of external loads often determine whether the unmanned aircraft can meet the needs of the industry.

At present, in the application field of the unmanned aerial vehicle industry, the use of the external load still depends on manual operation and control, and the automatic execution of the task of the external load cannot be realized by means of the unmanned aerial vehicle ground station system, so that the task execution efficiency is not high. Therefore, how to more effectively improve the efficiency of the unmanned aerial vehicle in performing tasks is of great significance.

Disclosure of Invention

The embodiment of the invention provides a control method and device for an external load, an unmanned aerial vehicle and a terminal device, which realize automatic task execution of the unmanned aerial vehicle and improve the task execution efficiency of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a method for controlling an external load, where the external load is in communication connection with an unmanned aerial vehicle and is applied to the unmanned aerial vehicle, and the method includes:

acquiring a flight route of the unmanned aerial vehicle, wherein the flight route comprises an action position point;

acquiring action data of the external load corresponding to the action position point;

and in the process that the unmanned aerial vehicle flies on the flight route, when the unmanned aerial vehicle is determined to reach the action position point, the action data is transmitted to the external load, so that the external load executes an action task indicated by the action data.

In a second aspect, an embodiment of the present invention provides another method for controlling an external load, which is applied to a terminal device in communication connection with an unmanned aerial vehicle, where the unmanned aerial vehicle is in communication connection with the external load, and a flight path is determined by detecting a flight path planning operation of a user, where the flight path includes an action location point;

determining action data of the external load corresponding to the action position point by detecting action configuration operation of a user;

and sending the flight route and the action data to the unmanned aerial vehicle so as to transmit the action data to the external load when the unmanned aerial vehicle is determined to reach the action position point in the process of flying on the flight route.

In a third aspect, an embodiment of the present invention provides a control device for an external load, where the external load is communicatively connected to an unmanned aerial vehicle and applied to the unmanned aerial vehicle, and the device includes a memory and a processor;

the memory to store program instructions;

the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:

In a fourth aspect, an embodiment of the present invention provides another external load control device, which is applied to a terminal device communicatively connected to an unmanned aerial vehicle, where the unmanned aerial vehicle is communicatively connected to an external load, and the device includes: a memory and a processor;

the memory to store program instructions;

the processor calls the program instructions stored in the memory and is used for executing the following steps:

determining a flight path by detecting flight path planning operation of a user, wherein the flight path comprises an action position point;

In a fifth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:

the fuselage: the power system is arranged on the fuselage and used for providing flight power for the unmanned aerial vehicle;

the power system comprises: the paddle and the motor are used for driving the paddle to rotate;

the processor is used for acquiring a flight path of the unmanned aerial vehicle, and the flight path comprises an action position point; acquiring action data of the external load corresponding to the action position point; and in the process that the unmanned aerial vehicle flies on the flight route, when the unmanned aerial vehicle is determined to reach the action position point, the action data is transmitted to the external load, so that the external load executes an action task indicated by the action data.

In a sixth aspect, an embodiment of the present invention provides a terminal device, including: a memory and a processor;

the processor is used for determining a flight path by detecting flight path planning operation of a user, wherein the flight path comprises an action position point; determining action data of the external load corresponding to the action position point by detecting action configuration operation of a user; and sending the flight route and the action data to the unmanned aerial vehicle so as to transmit the action data to the external load when the unmanned aerial vehicle is determined to reach the action position point in the process of flying on the flight route.

In a seventh aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first or second aspect.

In the embodiment of the invention, the control device of the external load can acquire the flight path of the unmanned aerial vehicle and the action data of the external load corresponding to the action position point in the flight path, so that when the unmanned aerial vehicle is determined to fly on the flight path to reach the action position point, the action data is transmitted to the external load, and the external load executes the action task indicated by the action data. By the aid of the implementation mode, the automatic execution of the action task by the external load of the unmanned aerial vehicle is realized, and the efficiency of executing the action task by the external load is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a control system for an external load according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a method for controlling an external load according to an embodiment of the present invention;

fig. 3 is a block diagram of a control system for an external load according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a method for controlling an external load according to an embodiment of the present invention;

FIG. 5 is a diagram of an interaction interface for configuring action data according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a control device of an external load according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another external load control device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The control method of the external load provided by the embodiment of the invention can be executed by a control system of the external load, the control system of the external load comprises the external load, the terminal device and the unmanned aerial vehicle can be in communication connection for bidirectional communication, and the external load can be in communication connection with the unmanned aerial vehicle. In some embodiments, the external load may be a third party load, a manufacturer of the third party load is different from a manufacturer of the unmanned aerial vehicle, and common external loads include: cameras, sprinklers, etc. In certain embodiments, the external load may be a fixed load of the unmanned aerial vehicle. In certain embodiments, the external load may be mounted on the UAV. In some embodiments, the terminal device may be mounted on the UAV, in some embodiments, the terminal device may be spatially independent of the UAV, and in some embodiments, the terminal device may be a component of the UAV, i.e., the UAV includes the terminal device.

A control system for an external load according to an embodiment of the present invention will be schematically described with reference to fig. 1.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system of an external load according to an embodiment of the present invention. The control system of the external load includes: terminal equipment 11, unmanned aerial vehicle 12, external load 13. Wherein, the communication connection can be established between the unmanned aerial vehicle 12 and the terminal device 11 through a wireless communication connection mode. In some specific scenarios, the communication connection between the unmanned aerial vehicle 12 and the terminal device 11 may also be established by a wired communication connection. The unmanned aerial vehicle 12 may be a rotary wing aircraft, such as a four-rotor aircraft, a six-rotor aircraft, an eight-rotor aircraft, or a fixed wing aircraft. The UAV 12 includes a power system 121, and the power system 121 is configured to provide power for flight of the UAV 12. The external load 13 may establish a communication connection with the unmanned aerial vehicle 12, and in some embodiments, the external load 13 may be a device mounted on the unmanned aerial vehicle 12 and capable of performing a specific behavior, which includes but is not limited to camera shooting, video recording, zooming, pan-tilt rotation, pesticide spraying by a spraying device, and the like.

In the embodiment of the present invention, the terminal device 11 may detect a flight path planning operation of a user, and determine a flight path according to the detected flight path planning operation of the user, where the flight path includes an action location point. In some embodiments, the flight path planning operations may include, but are not limited to, clicking, sliding, etc. user operations for planning a flight path. The terminal device 11 may send the determined flight path to the unmanned aerial vehicle 12, so that the unmanned aerial vehicle 12 may acquire the flight path of the unmanned aerial vehicle 12 from the terminal device 11. The terminal device 11 may detect a motion configuration operation of a user to determine motion data of the external load 13 corresponding to a motion location point on the flight path according to the motion configuration operation. The unmanned aerial vehicle 12 may acquire the operation data of the external load 13, which is sent by the terminal device 11 and corresponds to the operation position point. When it is determined that the unmanned aerial vehicle 12 reaches the action position point during the flight of the unmanned aerial vehicle 12 on the flight route, the action data may be transmitted to the external load 13, so that the external load 13 performs the action task indicated by the action data.

A method for controlling an external load according to an embodiment of the present invention will be schematically described with reference to the drawings.

Referring to fig. 2 in detail, fig. 2 is a schematic flowchart of a method for controlling an external load according to an embodiment of the present invention, where the method may be executed by a control device of the external load, and the control device of the external load is disposed on an unmanned aerial vehicle, where a detailed explanation of the unmanned aerial vehicle is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S201: the method comprises the steps of obtaining a flight path of the unmanned aerial vehicle, wherein the flight path comprises an action position point.

In the embodiment of the invention, the control device of the external load can acquire the flight path of the unmanned aerial vehicle from the terminal device which establishes communication connection with the unmanned aerial vehicle, wherein the flight path comprises an action position point.

In some embodiments, the action location point is a user-configured location point on a flight path of the unmanned aerial vehicle. In some embodiments, the action location point may be any one or more waypoints configured by a user in the flight path. In some embodiments, the action position point may be determined according to a waypoint in the flight path, for example, the action position point may be a point of inflection in the flight path preset by a user, and the point of inflection is a point at which the flight offset angle of the unmanned aerial vehicle is greater than a preset angle threshold value. In some embodiments, the action location point may be determined according to a flight time in the flight route, for example, the action location point may be a waypoint preset by a user that an unmanned aerial vehicle has reached at a preset time in the flight route. In other embodiments, the action position point may also be determined according to other manners such as a flight speed and a flight acceleration, and the embodiment of the present invention is not particularly limited. By the implementation mode, the user can configure the action position point independently, the flexibility of configuring the action position is improved, and the user experience is improved.

In some embodiments, the flight path is determined by a terminal device establishing a communication connection with the unmanned aerial vehicle according to a flight path planning operation of a user on the terminal device. In some embodiments, an application program for setting a flight path may be included on the terminal device, and the flight path may be determined according to a flight path planning operation of a user on the application program of the terminal device. By the implementation mode, the user can independently plan the flight route, the flexibility of the flight route planning is improved, and the user experience is improved.

In one embodiment, when the flight state parameter of the unmanned aerial vehicle meets a preset flight state condition, the unmanned aerial vehicle reaches the action position point. In certain embodiments, the flight status parameters include, but are not limited to, any one or more of a flight speed of the unmanned aerial vehicle, an acceleration of the unmanned aerial vehicle, an attitude of a load of the unmanned aerial vehicle. For example, assuming that the flight state parameter is the flight speed of the unmanned aerial vehicle, when the flight speed of the unmanned aerial vehicle is greater than or equal to a preset speed threshold value, it may be determined that the unmanned aerial vehicle reaches the action position point.

S202: and acquiring action data of the external load corresponding to the action position point.

In the embodiment of the present invention, the control device of the external load may acquire the action data, corresponding to the action location point, of the external load sent by the terminal device that establishes a communication connection with the unmanned aerial vehicle, where the action data is interpreted as described above. In some embodiments, the external load may include any one or more of a camera, a spray device, or a device that implements a particular behavioral action.

In an embodiment, the control device of the external load may further obtain index information of the external load sent by a terminal device, and when the control device of the external load transparently transmits the action data to the external load, the control device of the external load may transparently transmit the action data to the external load indicated by the index information. By the implementation mode, different action data can be transmitted to different external loads indicated by the index information, so that a plurality of external loads on the same unmanned aerial vehicle can automatically execute the action tasks indicated by the action data, and the efficiency of executing the action tasks by the external loads is improved.

In some embodiments, the index information of the external load may include identification information of the external load and/or port index information of a communication port between the unmanned aerial vehicle and the external load.

In some embodiments, the identification information of the external load is used to identify some information of a specific load, and is composed of a part or all of the load information, each item of information is an identification item, and the more identification items, the narrower the identification range, and the less the corresponding load. In some embodiments, the identification information may include any one or more of a type of load, a name of the load, a manufacturer, a model number, a function, and a serial number. For example, assume that the existing identification information is: the load type is as follows: cloud platform, manufacturer: XXX, then the load corresponding to the identification information is: tripod head manufactured by XXX manufacturer.

In certain embodiments, the index information of the external load includes, but is not limited to, as shown in table 1:

TABLE 1

In some embodiments, the port index information may include one or more of a port number of a port on the UAV connected to the external load, a port number of a port on the UAV connected to an expansion board, a port number of a port on the expansion board connected to the external load, a number of an expansion board, and a port number of a port on the expansion board connected to another expansion board, wherein the expansion board is configured to connect to at least two of the UAV, the external load, and the another expansion board.

In some embodiments, the expansion board includes a master expansion board and several slave expansion boards, wherein the master expansion board can be connected with the unmanned aerial vehicle by using a standard interface, the master expansion board can be connected with one slave expansion board, the slave expansion boards can be connected with other slave expansion boards, and the slave expansion boards are connected in turn by a bus. Each expansion board is provided with a plurality of load interfaces, and the load interfaces are connected with corresponding external loads. In some embodiments, the number of ports of the external load can be arbitrarily expanded through the expansion board without increasing ports of the unmanned aerial vehicle, so that the flexibility of expanding the ports of the external load is improved, and a plurality of external loads on one unmanned aerial vehicle can automatically execute respective action tasks at the same or different action position points, thereby improving the efficiency of executing the action tasks by the external load.

Specifically, it can be described by taking fig. 3 as an example, fig. 3 is a composition diagram of a control system of an external load according to an embodiment of the present invention, and as shown in fig. 3, the control system of the external load includes a terminal device 31, an unmanned aerial vehicle 32, a master expansion board 331, and a slave expansion board 332, where a communication connection is established between the terminal device 31 and the unmanned aerial vehicle 32, the unmanned aerial vehicle 32 and the master expansion board 331 establish a communication connection through a standard interface, and the master expansion board 331 establishes a communication connection with the slave expansion board 332 through a port connected to the slave expansion board 332 by using a bus. The main expansion board 331 includes one or more ports for connecting to external loads, and each port is connectable to an external load. The master expansion board 331 includes at least one port connected to the slave expansion board 332. The slave expansion board 332 includes one or more ports for connection to other slave expansion boards.

In an embodiment, the control device of the external load may obtain index information sent by the external load, and send the index information to a terminal device, so that the terminal device displays the index information. The index information of the external load is as described above, and is not described herein again.

In an embodiment, after acquiring the index information sent by the external load, the control device of the external load may compare the acquired index information of the external load with locally stored index information, and if the acquired index information of the external load is matched with the locally stored index information, the control device of the external load may send the index information to a terminal device, so that the terminal device displays the index information; if the obtained index information of the external load is not matched with the locally stored index information, prompt information can be sent to the terminal device to prompt that the index information of the user is not matched. In some embodiments, the index information may be displayed in an application program of the terminal device, and the embodiments of the present invention are not limited in particular.

In an embodiment, before acquiring the action data of the external load corresponding to the action location point, the control device of the external load may further acquire identification information sent by the external load, and send the identification information to the terminal device, so that the terminal device displays an action data configuration interactive interface matched with the identification information of the external load, where the action data is generated by the terminal device through detecting an action configuration operation of a user on the action data configuration interactive interface. In some embodiments, the action data configuration interactive interface includes, but is not limited to, any one or more of downloading a function profile, configuring a flight path of the UAV, configuring action data of an external load, performing inspection and feedback of user configuration items, uploading and downloading user configurations, and the like.

For example, assuming that the identification information acquired by the control device of the external load is a shooting device, the control device of the external load may send the identification information shooting device to the terminal device, so that the terminal device displays an action data configuration interactive interface matched with the shooting device.

In one embodiment, the action data may be obtained by packaging the terminal device according to a data structure indicated by the identification information. In some embodiments, the action data is obtained by packaging, by the terminal device, the description format (i.e., data structure) in the load function description file of the external load corresponding to the identification information. In some embodiments, the load function description file stores the interactive interface configuration parameters of each external load, and the interactive interface configuration parameters may be displayed on the action data configuration interactive interface in the form of a function control, so that a user may determine the interactive interface configuration parameters by selecting the function control on the action data configuration interactive interface.

In one embodiment, after acquiring the action data, corresponding to the action location point, of the external load sent by the terminal device that establishes communication connection with the unmanned aerial vehicle, the control device of the external load may detect whether the action data is legal, and if so, execute step S203. In some embodiments, when detecting whether the action data is legal, the control device of the external load may detect whether the identification information matches with an external load actually connected, whether a detection port is legal, whether the action data is valid, or the like. By the implementation, the action data can be prevented from being matched with invalid external loads, so that the efficiency of executing the action data by the external loads is improved.

S203: and in the process that the unmanned aerial vehicle flies on the flight route, when the unmanned aerial vehicle is determined to reach the action position point, the action data is transmitted to the external load, so that the external load executes the action task indicated by the action data.

In this embodiment of the present invention, the control device of the external load may transmit the motion data to the external load when it is determined that the unmanned aerial vehicle reaches the motion position point in the process that the unmanned aerial vehicle is flying on the flight route, so that the external load executes the motion task indicated by the motion data.

For example, assuming that the external load is a tripod head, if the motion data is a pitch angle of 50 ° in a downward rotation, in the process that the unmanned aerial vehicle flies on the flight route, when it is determined that the unmanned aerial vehicle reaches the motion position point, the motion data is transmitted to the tripod head, so that the tripod head performs a motion task of 50 ° in a downward rotation indicated by the motion data.

In one embodiment, if the control device of the external load acquires port index information of a communication port between the unmanned aerial vehicle and the external load, when it is determined that the unmanned aerial vehicle reaches the action position point during the flight of the unmanned aerial vehicle on the flight route, the control device of the external load may transmit the action data to the external load corresponding to the port index information, so that the external load corresponding to the port index information executes the action task indicated by the action data.

For example, assuming that port index information of a communication port between the unmanned aerial vehicle and the external load, which is acquired by the control device of the external load, is port number 2, when it is determined that the unmanned aerial vehicle reaches the action location point in the process that the unmanned aerial vehicle is flying on the flight route, the control device of the external load may pass action data corresponding to port number 2 through to the external load corresponding to port number 2, so that the external load corresponding to port number 2 executes an action task indicated by the action data. If the external load corresponding to the port number 2 is a shooting device and the action task indicated by the action data is a video recording, the shooting device may execute the video recording action task.

In one embodiment, if the control device of the external load acquires the identification information of the external load, when it is determined that the unmanned aerial vehicle reaches the action position point during the process that the unmanned aerial vehicle flies on the flight route, the control device of the external load may transmit the action data to the external load corresponding to the identification information, so that the external load corresponding to the identification information executes the action task indicated by the action data.

For example, assuming that the identification information of the external load acquired by the control device of the external load is a spraying device, when it is determined that the unmanned aerial vehicle reaches the action position point during the flight of the unmanned aerial vehicle on the flight route, the control device of the external load may transmit action data corresponding to the spraying device to the spraying devices of all the expansion boards, so that the action tasks indicated by the action data are executed by the spraying devices. If the action task indicated by the action data corresponding to the spraying device is pesticide spraying, the spraying device can execute the action task of pesticide spraying.

In one embodiment, if the control device of the external load acquires the identification information of the external load and the port index information of the communication port between the unmanned aerial vehicle and the external load, when it is determined that the unmanned aerial vehicle reaches the action position point during the flight of the unmanned aerial vehicle on the flight route, the control device of the external load may pass action data corresponding to the identification information and the port index information through to the external load corresponding to the port index information, so that the external load corresponding to the identification information and the port index information executes the action task indicated by the action data.

For example, assuming that the identification information of the external load acquired by the control device of the external load and the port index information of the communication port between the unmanned aerial vehicle and the external load are extension board 1-port number 2-holders, when it is determined that the unmanned aerial vehicle reaches the action position point in the process of flying on the flight route, the control device of the external load may pass action data corresponding to the extension board 1-port number 2-holders through to a-holder corresponding to the extension board 1-port number 2, so that the-holder corresponding to the extension board 1-port number 2 performs the action task indicated by the action data. If the expansion board1-port number 2-the action task indicated by the action data of the cradle head is that the pitch angle rotates downwards by 30^oThen the pan/tilt head can perform the action task of rotating 30 ° downward from the pitch angle.

In one embodiment, when the external load is a third-party load, when it is determined that the unmanned aerial vehicle reaches the action location point, the control device of the external load on the unmanned aerial vehicle does not need to parse the action data, and only needs to send the action data to the external load, so that the external load parses the action data and executes an action task indicated by the action data.

In one embodiment, when the external load is an intrinsic load on the unmanned aerial vehicle, upon determining that the unmanned aerial vehicle reaches the action location point, the control device of the external load on the unmanned aerial vehicle may parse the action data and call the parsed action data to control the external load to perform an action task indicated by the parsed action data.

In the embodiment of the invention, the control device of the external load can acquire the flight path of the unmanned aerial vehicle and the action data of the external load corresponding to the action position point in the flight path, so that when the unmanned aerial vehicle is determined to fly on the flight path to reach the action position point, the action data is transmitted to the external load, and the external load executes the action task indicated by the action data. By the aid of the implementation mode, the external load of the unmanned aerial vehicle can automatically execute the action task, and the efficiency of executing the action task by the external load is improved.

Referring to fig. 4 in detail, fig. 4 is a flowchart illustrating a method for controlling an external load according to an embodiment of the present invention, where the method may be executed by a control device of the external load, and the control device of the external load is disposed on a terminal device communicatively connected to an unmanned aerial vehicle, where a specific explanation of the terminal device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S401: determining a flight path by detecting a flight path planning operation of a user, wherein the flight path comprises an action position point.

In the embodiment of the invention, the control equipment of the external load can determine the flight path by detecting the flight path planning operation of a user, wherein the flight path comprises an action position point. In some embodiments, an application for planning a flight path may be included in the control device for the external load, and the control device for the external load may determine the flight path by detecting a flight path planning operation by a user on the application for planning the flight path.

S402: and determining action data of the external load corresponding to the action position point by detecting action configuration operation of a user.

In the embodiment of the present invention, the control device of the external load may determine the action data of the external load corresponding to the action location point by detecting an action configuration operation of a user. In some embodiments, the external load includes any one or more of a camera, a spray device, or a device that implements a particular behavioral action.

In some embodiments, the action location point may be determined from a waypoint in the flight path. In some embodiments, the action location point is a waypoint in the flight path. The specific embodiment of determining the action location point is described above, and is not described herein again.

In one embodiment, the control device of the external load may transmit index information of the external load to the unmanned aerial vehicle. In certain embodiments, the index information of the external load may include identification information of the external load and/or port index information of a communication port between the UAV and the external load. In some embodiments, the identification information includes any one or more of a type of the load, a name of the load, a manufacturer, a model, a function, and a serial number, and specific embodiments are as described above and are not described herein again. In some embodiments, the port index information includes one or more of a port number of a port on the unmanned aerial vehicle connected to the external load, a port number of a port on the unmanned aerial vehicle connected to an expansion board, a port number of a port on the expansion board connected to the external load, a number of the expansion board, and a port number of a port on the expansion board connected to another expansion board, where the expansion board is used for connecting to at least two of the unmanned aerial vehicle, the external load, and the another expansion board, and specific embodiments are as described above, and details are not repeated here.

In one embodiment, before determining the action data of the external load corresponding to the action location point, the control device of the external load may acquire identification information of the external load, display an action data configuration interactive interface matching the identification information of the external load according to the identification information, and determine the action data by detecting an action configuration operation of a user on the action data configuration interactive interface.

In an embodiment, when the control device of the external load displays the action data configuration interactive interface matched with the identification information of the external load according to the identification information, the control device of the external load may obtain the interactive interface configuration parameter matched with the identification information according to the identification information, and generate and display the action data configuration interactive interface according to the interactive interface configuration parameter.

In an embodiment, when the control device of the external load obtains the interactive interface configuration parameter matched with the identification information according to the identification information, the control device of the external load may obtain the interactive interface configuration parameter from a local storage device of the terminal device according to the identification information; or requesting a server in communication connection with the terminal equipment to acquire the interactive interface configuration parameters according to the identification information.

In some embodiments, the control device of the external load may obtain the configuration parameters of the interactive interface from the local storage device of the terminal device, and display the configuration parameters of the interactive interface in a form of a function control, so that a user may determine the configuration parameters of the interactive interface by selecting the function control on the action data configuration interactive interface.

Specifically, it can be illustrated by taking fig. 5 as an example, fig. 5 is a schematic diagram of an action data configuration interactive interface provided in an embodiment of the present invention, and as shown in fig. 5, the interface includes three interface configuration parameters, i.e., a function 51, a parameter 52, and a range 53, a user can select a function control of photographing 511, recording 512, and focusing 513 in the function 51, select a function control of number 521, time 522, and focal length 523 in the parameter 52, and set a number range 531, a time range 532, and a focal length range 533 in the range 53. The shooting corresponds to the number of the pictures, the recording corresponds to the time, and the focusing corresponds to the focal length.

In one embodiment, the control device of the external load may package the action data according to a data structure indicated by the identification information, and transmit the flight path and the packaged action data to the unmanned aerial vehicle when transmitting the flight path and the action data to the unmanned aerial vehicle. In some embodiments, the data structure indicated by the identification information refers to a data structure of the interactive interface configuration parameters acquired from a local storage device of the terminal device according to the identification information.

In some embodiments, a load function description file is stored in the local storage of the terminal device, and the interactive interface configuration parameters may be stored in the load function description file local to the terminal device. When the control device of the external load obtains the interactive interface configuration parameter matched with the identification information according to the identification information, the control device of the external load can obtain the interactive interface configuration parameter corresponding to the identification information from the load function description file in the local storage device of the terminal device according to the identification information. In some embodiments, the data structure of the interactive interface configuration parameters is determined according to a description format in the load function description file.

S403: and sending the flight route and the action data to the unmanned aerial vehicle so as to transmit the action data to the external load when the unmanned aerial vehicle is determined to reach the action position point in the process of flying on the flight route.

In the embodiment of the present invention, the control device of the external load may send the flight path and the motion data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle determines to reach the motion position point in the process of flying on the flight path, the motion data is transmitted to the external load.

In one embodiment, the control device of the external load may send index information of the external load to the unmanned aerial vehicle, and send the flight path and the action data to the unmanned aerial vehicle, so that the unmanned aerial vehicle transmits the action data to the external load indicated by the index information when determining that the action position point is reached during the flight on the flight path.

In one embodiment, when the flight state parameter of the unmanned aerial vehicle meets a preset flight state condition, the unmanned aerial vehicle reaches the action position point. In some embodiments, the flight status parameters may include, but are not limited to, any one or more of a flight speed of the unmanned aerial vehicle, a flight acceleration of the unmanned aerial vehicle, an attitude of a load of the unmanned aerial vehicle.

In the embodiment of the invention, the control equipment of the external load can determine a flight path through detecting the flight path planning operation of a user, determine the action data of the external load corresponding to the action position point on the flight path through detecting the action configuration operation of the user, and send the flight path and the action data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle is determined to reach the action position point in the flight path, the action data is transmitted to the external load, and the external load executes the action task corresponding to the action data. By the implementation mode, the external load can automatically execute the action task, and the efficiency of executing the action task by the external load is improved.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a control device for an external load according to an embodiment of the present invention, where the control device includes a memory 601, a processor 602, and a data interface 603;

the memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also comprise a combination of memories of the kind described above. The processor 602 may be a Central Processing Unit (CPU). The processor 602 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The processor 602 is configured to invoke the program instructions, and when the program instructions are executed, the processor is configured to:

Further, the processor 602 is further configured to:

acquiring index information of the external load sent by the terminal equipment;

when the processor 602 transparently transmits the action data to the external load, the processor is specifically configured to:

and transmitting the action data to an external load indicated by the index information.

Further, the processor 602 is further configured to:

acquiring index information sent by the external load;

and sending the index information to terminal equipment so that the terminal equipment displays the index information.

Further, the index information of the external load includes identification information of the external load and/or port index information of a communication port between the unmanned aerial vehicle and the external load.

Further, before the processor 602 acquires the action data of the external load corresponding to the action position point, it is further configured to:

acquiring identification information sent by the external load;

and sending the identification information to the terminal equipment so as to enable the terminal equipment to display an action data configuration interactive interface matched with the identification information of the external load, wherein the action data is generated by the terminal equipment through detecting action configuration operation of a user on the action data configuration interactive interface.

Further, the action data is obtained by packaging the terminal device according to a data structure indicated by the identification information.

Further, the identification information includes any one or more of a type of the load, a name of the load, a manufacturer, a model, a function, and a serial number.

Further, the port index information includes one or more of a port number of a port on the unmanned aerial vehicle connected to the external load, a port number of a port on the unmanned aerial vehicle connected to an expansion board, a port number of a port on the expansion board connected to the external load, a number of the expansion board, and a port number of a port on the expansion board connected to another expansion board, where the expansion board is configured to be connected to at least two of the unmanned aerial vehicle, the external load, and the another expansion board.

Further, the processor 602 is further configured to:

comparing the acquired index information of the external load with locally stored index information;

if the acquired index information of the external load is matched with the locally stored index information, the index information is sent to the terminal equipment so that the terminal equipment can display the index information;

and if the acquired index information of the external load is not matched with the locally stored index information, sending prompt information to the terminal equipment to prompt that the index information of the user is not matched.

Further, the action location point is determined from a waypoint in the flight path.

Further, the action position point is a waypoint in the flight path.

Further, when the flight state parameter of the unmanned aerial vehicle meets a preset flight state condition, the unmanned aerial vehicle reaches the action position point.

Further, the external load includes any one or more of a photographing device and a spraying device to implement a specific behavior action.

Referring to fig. 7, fig. 7 is a schematic structural diagram of another external load control device according to an embodiment of the present invention, where the device includes a memory 701, a processor 702, and a data interface 703;

the memory 701 may include a volatile memory (volatile memory); the memory 701 may also include a non-volatile memory (non-volatile memory); the memory 701 may also comprise a combination of memories of the kind described above. The processor 702 may be a Central Processing Unit (CPU). The processor 702 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The processor 702 is configured to invoke the program instructions, and when the program instructions are executed, to:

Further, the processor 702 is further configured to:

sending the index information of the external load to the unmanned aerial vehicle;

the processor 702 sends the flight path and the motion data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle determines to reach the motion position point in the process of flying on the flight path, the processor is specifically configured to:

and sending the flight route and the action data to the unmanned aerial vehicle so as to transmit the action data to an external load indicated by the index information when the unmanned aerial vehicle is determined to reach the action position point in the process of flying on the flight route.

Further, before the processor 702 determines the action data of the external load corresponding to the action position point, it is further configured to:

acquiring identification information of the external load;

displaying an interaction interface configured by action data matched with the identification information of the external load according to the identification information;

and determining the action data by detecting action configuration operation of a user on the action data configuration interactive interface.

Further, when the processor 702 displays the action data matched with the identification information of the external load according to the identification information to configure the interaction interface, the processor is specifically configured to:

acquiring interactive interface configuration parameters matched with the identification information according to the identification information;

and generating and displaying the action data configuration interactive interface according to the interactive interface configuration parameters.

Further, when the processor 702 obtains the configuration parameters of the interactive interface matched with the identification information according to the identification information, the processor is specifically configured to:

acquiring the interactive interface configuration parameters from a local storage device of the terminal equipment according to the identification information; alternatively, the first and second electrodes may be,

and requesting a server in communication connection with the terminal equipment to acquire the interactive interface configuration parameters according to the identification information.

Further, the processor 702 is further configured to:

packaging the action data according to a data structure indicated by the identification information;

when the processor 702 sends the flight path and the motion data to the unmanned aerial vehicle, the processor is specifically configured to:

and sending the flight path and the packaged action data to the unmanned aerial vehicle.

Further, the action position point is a waypoint in the flight path.

In the embodiment of the invention, the control equipment of the external load can determine a flight path through detecting the flight path planning operation of a user, determine the action data of the external load corresponding to the action position point on the flight path through detecting the action configuration operation of the user, and send the flight path and the action data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle is determined to reach the action position point in the flight path, the action data is transmitted to the external load, and the external load executes the action task corresponding to the action data. By the implementation mode, the external load can automatically execute the action task, and the efficiency of the external load for executing the action task is improved

An embodiment of the present invention further provides an unmanned aerial vehicle, including: the fuselage: the power system is arranged on the fuselage and used for providing flight power for the unmanned aerial vehicle; the power system comprises: the paddle and the motor are used for driving the paddle to rotate; the processor is used for acquiring a flight path of the unmanned aerial vehicle, and the flight path comprises an action position point; acquiring action data of the external load corresponding to the action position point; and in the process that the unmanned aerial vehicle flies on the flight route, when the unmanned aerial vehicle is determined to reach the action position point, the action data is transmitted to the external load, so that the external load executes an action task indicated by the action data.

Further, the processor is further configured to:

when the processor passes the motion data through to the external load, the processor is specifically configured to:

Further, the processor is further configured to:

acquiring index information sent by the external load;

Further, before the processor obtains the action data of the external load corresponding to the action position point, the processor is further configured to:

acquiring identification information sent by the external load;

Further, the processor is further configured to:

Further, the action position point is a waypoint in the flight path.

In the embodiment of the invention, the unmanned aerial vehicle can acquire the flight path of the unmanned aerial vehicle and the action data of the external load corresponding to the action position point in the flight path, so that when the unmanned aerial vehicle is determined to fly on the flight path to reach the action position point, the action data is transmitted to the external load, and the external load executes the action task indicated by the action data. By the aid of the implementation mode, the external load of the unmanned aerial vehicle can automatically execute the action task, and the efficiency of executing the action task by the external load is improved.

The embodiment of the invention also provides terminal equipment, which comprises a processor, a processor and a control module, wherein the processor is used for determining a flight path through detecting the flight path planning operation of a user, and the flight path comprises an action position point; determining action data of the external load corresponding to the action position point by detecting action configuration operation of a user; and sending the flight route and the action data to the unmanned aerial vehicle so as to transmit the action data to the external load when the unmanned aerial vehicle is determined to reach the action position point in the process of flying on the flight route.

Further, the processor is further configured to:

the processor sends the flight path and the action data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle determines to reach the action position point in the process of flying on the flight path, the action data is transmitted to the external load, and the processor is specifically used for:

Further, before determining the action data of the external load corresponding to the action position point, the processor is further configured to:

acquiring identification information of the external load;

Further, when the processor displays the action data matched with the identification information of the external load according to the identification information to configure the interaction interface, the processor is specifically configured to:

Further, when the processor acquires the configuration parameters of the interactive interface matched with the identification information according to the identification information, the processor is specifically configured to:

Further, the processor is further configured to:

when the processor sends the flight path and the action data to the unmanned aerial vehicle, the processor is specifically configured to:

Further, the action position point is a waypoint in the flight path.

In the embodiment of the invention, the terminal equipment can determine a flight route by detecting flight route planning operation of a user, determine action data of the external load, which corresponds to an action position point on the flight route, by detecting action configuration operation of the user, and send the flight route and the action data to the unmanned aerial vehicle, so that when the unmanned aerial vehicle is determined to reach the action position point in the flight route, the action data is transmitted to the external load, and the external load executes an action task corresponding to the action data. By the implementation mode, the external load can automatically execute the action task, and the efficiency of executing the action task by the external load is improved.

The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and also the device corresponding to the embodiment of the present invention may be implemented, which is not described herein again.

The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. A method for controlling an external load, wherein the external load is communicatively connected to an unmanned aerial vehicle, the method comprising:

2. The method of claim 1, further comprising:

the transparent transmission of the motion data to the external load comprises:

3. The method of claim 1, further comprising:

acquiring index information sent by the external load;

4. The method according to claim 2 or 3,

the index information of the external load includes identification information of the external load and/or port index information of a communication port between the unmanned aerial vehicle and the external load.

5. The method of claim 4, wherein prior to obtaining the action data of the external load corresponding to the action location point, further comprising:

acquiring identification information sent by the external load;

6. The method of claim 5, wherein the action data is packaged by the terminal device according to a data structure indicated by the identification information.

7. The method according to any one of claims 4-6, wherein the identification information comprises any one or more of a type of the load, a name of the load, a manufacturer, a model number, a function, and a serial number.

8. The method of claim 4,

the port index information includes one or more of a port number of a port on the unmanned aerial vehicle connected to the external load, a port number of a port on the unmanned aerial vehicle connected to an expansion board, a port number of a port on the expansion board connected to the external load, a number of the expansion board, and a port number of a port on the expansion board connected to another expansion board, wherein the expansion board is configured to be connected to at least two of the unmanned aerial vehicle, the external load, and the another expansion board.

9. A method according to claim 2 or 3, characterized in that the method further comprises:

10. The method of claim 1, wherein the action location point is determined from a waypoint in the flight path.

11. The method of claim 1, wherein the action location point is a waypoint in the flight path.

12. The method according to claim 10 or 11,

and when the flight state parameters of the unmanned aerial vehicle meet the preset flight state conditions, the unmanned aerial vehicle reaches the action position point.

13. The method of any one of claims 1-9, wherein the external load comprises any one or more of a camera, a sprinkler, or a device that implements a specific behavioral action.

14. A control method of an external load is applied to a terminal device which is in communication connection with an unmanned aerial vehicle, and the unmanned aerial vehicle is in communication connection with the external load, and is characterized by comprising the following steps:

15. The method of claim 14, further comprising:

the sending the flight path and the action data to the unmanned aerial vehicle so that the unmanned aerial vehicle can transmit the action data to the external load when the action position point is determined to be reached in the process of flying on the flight path comprises:

16. The method of claim 15,

17. The method of claim 16, wherein prior to determining the action data for the external load corresponding to the action location point, further comprising:

acquiring identification information of the external load;

18. The method of claim 17, wherein the configuring an interactive interface according to the action data matched with the identification information of the external load by displaying the identification information comprises:

19. The method of claim 18, wherein the obtaining of the configuration parameters of the interactive interface matching with the identification information according to the identification information comprises:

20. The method of claim 17, further comprising:

the sending the flight path and the motion data to the unmanned aerial vehicle includes:

21. A method according to any of claims 17-20, wherein the identification information comprises any one or more of a type of load, a name of the load, a manufacturer, a model number, a function, a serial number.

22. The method of claim 16,

23. The method of claim 14, wherein the action location point is determined from a waypoint in the flight path.

24. The method of claim 14, wherein the action location point is a waypoint in the flight path.

25. The method of claim 23 or 24,

26. The method of any one of claims 14-22, wherein the external load comprises any one or more of a camera, a spray device, or a device that implements a specific behavioral action.

27. A control device for an external load, wherein the external load is communicatively connected to an unmanned aerial vehicle, wherein, in application to an unmanned aerial vehicle, the device comprises a memory and a processor;

the memory to store program instructions;

28. The apparatus of claim 27, wherein the processor is further configured to:

29. The apparatus of claim 27, wherein the processor is further configured to:

acquiring index information sent by the external load;

30. The apparatus of claim 28 or 29,

31. The device of claim 30, wherein before the processor obtains the motion data of the external load corresponding to the motion location point, the processor is further configured to:

acquiring identification information sent by the external load;

32. The device of claim 31, wherein the action data is packaged by the terminal device according to a data structure indicated by the identification information.

33. An apparatus according to any of claims 30-32, wherein the identification information comprises any one or more of a type of load, a name of the load, a manufacturer, a model number, a function, a serial number.

34. The apparatus of claim 30,

35. The apparatus of claim 28 or 29, wherein the processor is further configured to:

36. The apparatus of claim 27, wherein the action location point is determined from a waypoint in the flight path.

37. The apparatus of claim 27, wherein the action location point is a waypoint in the flight path.

38. The apparatus of claim 36 or 37,

39. The apparatus of any one of claims 27-35, wherein the external load comprises any one or more of a camera, a spray device, or a device that implements a specific behavioral action.

40. A control device for an external load, for use in a terminal device in communicative connection with an unmanned aerial vehicle, the unmanned aerial vehicle being communicatively connected to the external load, the device comprising: a memory and a processor;

the memory to store program instructions;

41. The device of claim 40, wherein the processor is further configured to:

42. The apparatus of claim 41,

43. The device of claim 42, wherein the processor, prior to determining the motion data for the external load corresponding to the motion location point, is further configured to:

acquiring identification information of the external load;

44. The device according to claim 43, wherein the processor, when configuring the interactive interface according to the action data matched with the identification information of the external load displayed by the identification information, is specifically configured to:

45. The device according to claim 44, wherein the processor, when obtaining the configuration parameter of the interactive interface matching with the identification information according to the identification information, is specifically configured to:

46. The device of claim 43, wherein the processor is further configured to:

47. An apparatus according to any of claims 43-46, wherein the identification information comprises any one or more of a type of load, a name of the load, a manufacturer, a model number, a function, a serial number.

48. The apparatus of claim 42,

49. The apparatus of claim 40, wherein the action location point is determined from a waypoint in the flight path.

50. The apparatus of claim 40, wherein the action location point is a waypoint in the flight path.

51. The apparatus of claim 49 or 50,

52. The apparatus of any one of claims 40-48, wherein the external load comprises any one or more of a camera, a spray device, or a device that implements a specific behavioral action.

53. An unmanned aerial vehicle, comprising:

54. The aircraft of claim 53, wherein the processor is further configured to:

55. The aircraft of claim 53, wherein the processor is further configured to:

acquiring index information sent by the external load;

56. The aircraft of claim 54 or 55,

57. The aircraft of claim 56, wherein prior to the processor obtaining the motion data for the external load corresponding to the motion location point, further configured to:

acquiring identification information sent by the external load;

58. The aircraft of claim 57, wherein the action data is packaged by the terminal device according to a data structure indicated by the identification information.

59. The aircraft of any one of claims 54-58, wherein the identification information comprises any one or more of a type of load, a name of the load, a manufacturer, a model number, a function, a serial number.

60. The aircraft of claim 54,

61. The aircraft of claim 54 or 55, wherein the processor is further configured to:

62. The aircraft of claim 53 wherein the action location point is determined from a waypoint in the flight path.

63. The aircraft of claim 53 wherein the action location point is a waypoint in the flight path.

64. The aircraft of claim 62 or 63,

65. The aircraft of any one of claims 53 to 61, wherein the external load comprises any one or more of a camera, a sprinkler, or a device that implements a specific behavioral action.

66. A terminal device, comprising: a memory and a processor;

67. The terminal device of claim 66, wherein the processor is further configured to:

68. The terminal device of claim 67,

69. The terminal device of claim 68, wherein the processor, prior to determining the action data corresponding to the action location point for the external load, is further configured to:

acquiring identification information of the external load;

70. The terminal device of claim 69, wherein the processor, when configuring the interactive interface according to the action data matched with the identification information of the external load displayed by the identification information, is specifically configured to:

71. The terminal device of claim 70, wherein when the processor obtains the configuration parameters of the interactive interface matched with the identification information according to the identification information, the processor is specifically configured to:

72. The terminal device of claim 69, wherein the processor is further configured to:

73. A terminal device according to any of claims 69-72, wherein the identification information comprises any one or more of the type of load, the name of the load, the manufacturer, the model number, the function, the serial number.

74. The terminal device of claim 68,

75. The terminal device of claim 66, wherein the action location point is determined from a waypoint in the flight path.

76. The terminal device of claim 66, wherein the action location point is a waypoint in the flight path.

77. The terminal device of claim 75 or 76,

78. The terminal device of any of claims 66-74, wherein the external load comprises any one or more of a camera, a sprinkler, or a device that implements a specific behavioral action.

79. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 26.