CN116643584A - Unmanned aerial vehicle control method and device, unmanned aerial vehicle remote controller, medium and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method and device, unmanned aerial vehicle remote controller, medium and unmanned aerial vehicle 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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Abstract
The disclosure relates to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle remote controller, a medium and an unmanned aerial vehicle. The method is applied to the unmanned aerial vehicle or the server, and comprises the following steps: detecting whether the unmanned aerial vehicle is in a flight state, wherein a safety switch is arranged on the unmanned aerial vehicle; under the condition that the unmanned aerial vehicle is in a flight state, determining whether a remote controller for controlling the unmanned aerial vehicle is in an unlocking state; and under the condition that the remote controller is in the unlocking state, closing a control function of a safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle. So, can guarantee that unmanned aerial vehicle carries out safe flight by the control of remote controller, can also avoid in unmanned aerial vehicle flight process, because of the button of the last safety switch of unmanned aerial vehicle is touched or the drawback of unmanned aerial vehicle mistake crash that button function is unusual to lead to, reduced unmanned aerial vehicle's air crash's possibility effectively, avoid unmanned aerial vehicle unnecessary damage, extension unmanned aerial vehicle's life.
Description
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle remote controller, a medium and an unmanned aerial vehicle.
Background
Unmanned aerial vehicle refers to unmanned aerial vehicles that are operated using a radio remote control device and a self-contained programming device. In recent years, unmanned aerial vehicles develop faster, and have extremely wide application prospects in the fields of aerial photography, geological survey, high-voltage transmission line inspection, logistics distribution and the like because unmanned aerial vehicles have the advantages of relatively low cost, risk of casualties of unmanned aerial vehicles, good maneuvering performance, convenience in use and the like. The existing unmanned aerial vehicle control mode is mostly remote control, namely, a flight crew realizes the control of the unmanned aerial vehicle by operating a remote controller matched with the unmanned aerial vehicle.
The unmanned aerial vehicle is provided with a safety switch which is a key control device for determining whether the unmanned aerial vehicle can perform other flight operations or execute tasks. Unmanned aerial vehicle safety switch generally realizes through the button on the unmanned aerial vehicle, presses this button and then opens unmanned aerial vehicle, and unmanned aerial vehicle can be controlled by the remote controller and carry out other flight operations, presses this button again and then closes unmanned aerial vehicle, and unmanned aerial vehicle just does not receive the control of remote controller. When unmanned aerial vehicle is in the flight, if safety switch's button is touched by other objects, unmanned aerial vehicle will lose power, and then leads to unmanned aerial vehicle to crash by mistake.
Disclosure of Invention
The purpose of the present disclosure is to provide an unmanned aerial vehicle control method, device, unmanned aerial vehicle remote controller, medium and unmanned aerial vehicle to avoid unmanned aerial vehicle to fall down the emergence of machine accident by mistake.
In order to achieve the above object, a first aspect of the present disclosure provides a control method of an unmanned aerial vehicle, applied to an unmanned aerial vehicle or a server, including:
detecting whether the unmanned aerial vehicle is in a flight state or not, wherein a safety switch is arranged on the unmanned aerial vehicle;
determining whether a remote controller for controlling the unmanned aerial vehicle is in an unlocking state under the condition that the unmanned aerial vehicle is in a flight state;
and under the condition that the remote controller is in the unlocking state, closing the control function of the safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle.
Optionally, the method further comprises:
and enabling the safety switch to control the unmanned aerial vehicle when the unmanned aerial vehicle is detected to land successfully and the remote controller is in a locking state.
Optionally, the method further comprises:
detecting whether a frying function of the remote controller is in an on state or not under the condition that the remote controller is not in the unlocking state;
and unlocking the remote controller under the condition that the frying machine function is not in the starting state.
Optionally, after the closing of the control function of the safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle, the method further comprises:
acquiring flight related information of the unmanned aerial vehicle, wherein the flight related information comprises flight environment information and/or flight state information;
and under the condition that abnormal information exists in the flight related information, starting the frying machine function so as to control the unmanned aerial vehicle to fry.
Optionally, the remote controller is provided with a frying switch, and the gear of the frying switch comprises a first gear, a second gear and a third gear;
and under the condition that abnormal information exists in the flight related information, starting the frying machine function, wherein the method comprises the following steps:
determining whether the gear of the fryer switch is switched from the first gear to the third gear through the second gear in a preset duration under the condition that abnormal information exists in the flight related information;
and when the gear of the frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time, starting the frying function.
Optionally, the number of the fryer switches is multiple, and the gear of the fryer switch comprises a first gear;
The detecting whether the frying machine function of the remote controller is in an on state comprises the following steps:
detecting whether the gear of each frying switch is the first gear;
and under the condition that the gear of each frying machine switch is the first gear, determining that the frying machine function is not in an on state.
Optionally, the starting the fryer function when the abnormal information exists in the flight related information includes:
determining whether the gear of each frying switch is switched from the first gear to the third gear through the second gear within a preset duration under the condition that abnormal information exists in the flight related information;
and when the gear of each frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time period, starting the frying function.
The second aspect of the present disclosure also provides an unmanned aerial vehicle control device, applied to an unmanned aerial vehicle or a server, comprising:
the unmanned aerial vehicle is provided with a safety switch;
the determining module is used for determining whether a remote controller for controlling the unmanned aerial vehicle is in an unlocking state or not under the condition that the unmanned aerial vehicle is in a flight state;
And the closing module is used for closing the control function of the safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle under the condition that the remote controller is in the unlocking state.
Optionally, the apparatus further comprises:
and the enabling module is used for enabling the safety switch to control the unmanned aerial vehicle when the unmanned aerial vehicle is detected to land successfully and the remote controller is in a locking state.
Optionally, the apparatus further comprises:
the second detection module is used for detecting whether the frying machine function of the remote controller is in an on state or not under the condition that the remote controller is not in the unlocking state;
and the unlocking module is used for unlocking the remote controller under the condition that the frying machine function is not in the starting state.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring flight related information of the unmanned aerial vehicle, wherein the flight related information comprises flight environment information and/or flight state information;
and the starting module is used for starting the frying machine function under the condition that the flight related information contains abnormal information so as to control the unmanned aerial vehicle frying machine.
Optionally, the remote controller is provided with a frying switch, and the gear of the frying switch comprises a first gear, a second gear and a third gear;
The opening module comprises:
the first determining submodule is used for determining whether the gear of the frying switch is switched from the first gear to the third gear through the second gear in a preset duration or not under the condition that abnormal information exists in the flight related information;
the first starting sub-module is used for starting the frying function under the condition that the gear of the frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset duration.
Optionally, the number of the fryer switches is multiple, and the gear of the fryer switch comprises a first gear; the second detection module includes:
the detection submodule is used for detecting whether the gear of each frying machine switch is the first gear or not;
and the second determining submodule is used for determining that the frying machine function is not in an on state under the condition that the gear of each frying machine switch is the first gear.
Optionally, the opening module includes:
a third determining submodule, configured to determine whether a gear of each of the fryer switches is shifted from the first gear to the third gear via the second gear within a preset duration in case that abnormal information exists in the flight-related information;
And the second starting sub-module is used for starting the frying function under the condition that the gear of each frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset duration.
The third aspect of the present disclosure further provides an unmanned aerial vehicle remote controller, comprising at least one fryer switch, each of the gears of the fryer switch comprising at least three gears, the unmanned aerial vehicle remote controller being configured to transmit a fryer signal when at least one of the fryer switches is detected to be in a gear-crossing state, the fryer signal being configured to control the unmanned aerial vehicle remote controller to remotely control the unmanned aerial vehicle fryer.
The fourth aspect of the present disclosure further provides an unmanned aerial vehicle remote controller, including a plurality of fryer switches, the unmanned aerial vehicle remote controller is used for sending the fryer signal when detecting that a plurality of fryer switches all appear the gear change, the fryer signal is used for controlling unmanned aerial vehicle remote controller remote control's unmanned aerial vehicle fryer.
The fifth aspect of the present disclosure also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the method provided by the first aspect of the present disclosure.
The sixth aspect of the present disclosure also provides a unmanned aerial vehicle, comprising:
A memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the disclosure.
Through above-mentioned technical scheme, detect unmanned aerial vehicle and be in the flight state, and be in under the circumstances that the unmanned aerial vehicle was in the flight state, and be used for controlling this unmanned aerial vehicle's remote controller and be in the unblock state, close unmanned aerial vehicle's safety switch to unmanned aerial vehicle's control function, so, can guarantee that unmanned aerial vehicle carries out safe flight by the control of remote controller, can also avoid in unmanned aerial vehicle flight process, because of the button of safety switch on the unmanned aerial vehicle is touched or the drawback of unmanned aerial vehicle miss-crash that button function is unusual leads to, unmanned aerial vehicle's possibility of falling down has been reduced effectively, avoid unmanned aerial vehicle unnecessary damage, unmanned aerial vehicle's life is prolonged.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
Fig. 1 is a schematic diagram of an application scenario shown according to an example embodiment.
Fig. 2 is a flow chart illustrating a method of controlling a drone, according to an example embodiment.
Fig. 3 is a flow chart illustrating another method of drone control according to an example embodiment.
Fig. 4 is a flow chart illustrating another method of drone control according to an example embodiment.
Fig. 5 is a block diagram illustrating a drone control device according to an example embodiment.
Fig. 6 is a block diagram of an electronic device, according to an example embodiment.
Fig. 7 is a block diagram of an electronic device, according to an example embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In the related art, the button setting of safety switch is on the unmanned aerial vehicle surface to the fly hand is through this button realization to unmanned aerial vehicle start and the control of closing. Before the key is not pressed, the unmanned aerial vehicle is completely in an off-line state, any subsequent operation cannot be performed, and when the key is pressed, the unmanned aerial vehicle can perform flight tasks, including being controlled by a remote controller. However, if the key is pressed and flies normally, and external interference touches the key again or the unmanned aerial vehicle vibrates to cause abnormal functions of the key, the unmanned aerial vehicle is completely offline as before the key is not pressed, and no direct crash exists in power.
The unmanned aerial vehicle control method in the related art comprises the following specific implementation modes: when the unmanned aerial vehicle is started, the fly hand presses a button of a safety switch on the unmanned aerial vehicle, and unlocks a remote controller matched with the unmanned aerial vehicle, so that the fly hand controls the remote controller to control the unmanned aerial vehicle to fly or execute tasks. When the flight crew recognizes an emergency, for example, when other flying objects exist in the flight range of the unmanned aerial vehicle or the unmanned aerial vehicle has insufficient power, the unmanned aerial vehicle is controlled by operating a fryer channel in the remote controller. Therefore, in the flying process of the unmanned aerial vehicle in the air, if the unmanned aerial vehicle touches the button of the safety switch again or the unmanned aerial vehicle vibrates to cause abnormal functions of the button, the unmanned aerial vehicle can be caused to crash by mistake, and unnecessary damage is caused. It is worth noting that in the present disclosure, controlling the drone fryer refers to controlling the drone to fall to the ground, rather than controlling the drone to explode.
In view of this, this disclosure provides an unmanned aerial vehicle control method, device, unmanned aerial vehicle remote controller, medium and unmanned aerial vehicle to avoid unmanned aerial vehicle to fall the emergence of machine accident, effectively prevent unmanned aerial vehicle damage's problem.
Before describing in detail the unmanned aerial vehicle control method, device, unmanned aerial vehicle remote controller, medium and unmanned aerial vehicle provided by the present disclosure, first a description is made of an application scenario related to the present disclosure. In a first implementation scenario, the scenario may include a drone and a remote control, where the remote control communicates with the drone. When the fly operates the corresponding function key in the remote controller, the remote controller sends a corresponding control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can execute the action corresponding to the control instruction. In a second implementation scenario, fig. 1 is a schematic diagram of an application scenario illustrated according to an exemplary embodiment. As shown in fig. 1, the application scenario may include a remote controller 10, a drone 20, and a server 30, wherein the remote controller 10 and the drone 20 communicate through the server 30. For example, when the flight crew operates the corresponding function keys in the remote controller 10, the remote controller 10 sends corresponding control instructions to the server 30, and the server 30 forwards the control instructions to the unmanned aerial vehicle 20 to execute actions corresponding to the control instructions by the unmanned aerial vehicle 20. Illustratively, when the fly-hand operates the acceleration function button in the remote controller 10, the remote controller 10 generates an acceleration control command and transmits the acceleration control command to the server 30. The server 30 forwards the acceleration control command to the unmanned aerial vehicle 20, and the unmanned aerial vehicle 20 executes the acceleration action when receiving the acceleration control command.
Fig. 2 is a flowchart illustrating a drone control method according to an exemplary embodiment, which may be applied to a drone in the first implementation scenario described above or a server in the second implementation scenario described above (e.g., server 30 in fig. 1). As shown in fig. 2, the unmanned aerial vehicle control method may include the following steps.
In step 201, it is detected whether the unmanned aerial vehicle is in a flight state, and a safety switch is provided on the unmanned aerial vehicle.
Wherein, can adopt the detection method in the correlation technique, detect unmanned aerial vehicle and be in the flight state, this disclosure does not specifically limit.
In step 202, it is determined whether a remote control for controlling the drone is in an unlocked state in the case where the drone is in a flight state.
Be provided with safety switch on the unmanned aerial vehicle, when unmanned aerial vehicle was located on the land, in order to ensure that the flight hand can be based on safety switch realization to unmanned aerial vehicle start-up and the control of closing, the function of safety switch is not restricted this moment. And when the unmanned aerial vehicle flies in the air, the risk of crash can possibly occur because of the button of the safety switch is touched by mistake, therefore, when the unmanned aerial vehicle flies in the air, the function of the safety switch is limited, so as to prevent the unmanned aerial vehicle from crashing by mistake.
In the present disclosure, the unmanned aerial vehicle being in a flight state includes: the state that the unmanned aerial vehicle starts the flight function by pressing a button of a safety switch of the unmanned aerial vehicle, or the state that the unmanned aerial vehicle is currently flying. In either of the above states, the button of the safety switch of the unmanned aerial vehicle is pressed.
It should be noted that, when the unmanned aerial vehicle is started or is flying, the remote controller is required to control the unmanned aerial vehicle to ensure safe flying of the unmanned aerial vehicle, and therefore, in the present disclosure, in order to ensure safe flying of the unmanned aerial vehicle, before limiting the functions of the safety switch, it is required to determine whether the remote controller for controlling the unmanned aerial vehicle is already capable of controlling the unmanned aerial vehicle. The remote controller is in an unlocking state, and the remote controller is characterized in that the remote controller can control the unmanned aerial vehicle.
In one possible manner, it may be determined whether the remote control is in the unlocked state by detecting the unlocked switch state of the remote control. For example, an unlock switch key is provided on the remote controller, when the unlock switch key is in a pressed state, the remote controller is considered to be in an unlocked state, and when the unlock switch key is in a lifted state, the remote controller is considered to be in an unlocked state.
In another possible way, it may be determined whether the remote control is in an unlocked state by detecting whether the drone is capable of performing actions corresponding to operations of the fly hand on the remote control. For example, when it is determined that the drone is able to perform an action corresponding to the operation of the fly hand on the remote control, the remote control is considered to be in an unlocked state, at which time the remote control is already able to control the drone. When the unmanned aerial vehicle is determined to be incapable of executing the action corresponding to the operation of the flying hand on the remote controller, the remote controller is considered to be not unlocked yet, and the unmanned aerial vehicle cannot be controlled temporarily.
It should be noted that, the disclosure only shows the two ways of determining whether the remote controller is in the unlocked state, and in practical application, it is also possible to determine whether the remote controller is in the unlocked state by using other ways, which is not specifically limited in this disclosure.
In step 203, if it is determined that the remote controller is in the unlocked state, a control function of the safety switch of the unmanned aerial vehicle to the unmanned aerial vehicle is turned off.
When the remote controller is in an unlocking state, the unmanned aerial vehicle is controlled by the remote controller to safely fly. Therefore, in the present disclosure, after determining that the remote controller is in the unlock state according to any mode, in order to avoid the problem that if there is external interference to touch the button of the safety switch again or the vibration of the unmanned aerial vehicle causes abnormal functions of the button and the unmanned aerial vehicle crashes, the safety switch of the unmanned aerial vehicle can be controlled to be in an invalid state, that is, the control function of the safety switch of the unmanned aerial vehicle to the unmanned aerial vehicle is closed. Like this, after closing unmanned aerial vehicle's safety switch to unmanned aerial vehicle's control function, whether unmanned aerial vehicle's safety switch's button is touched by mistake or unmanned aerial vehicle vibration leads to button function abnormality, can not produce any influence to unmanned aerial vehicle, and then can avoid leading to unmanned aerial vehicle mistake crash's drawback because of safety switch's button is touched by mistake or unusual.
By adopting the technical scheme, under the condition that the unmanned aerial vehicle is in a flight state and the remote controller used for controlling the unmanned aerial vehicle is in an unlocking state, the control function of the unmanned aerial vehicle to the unmanned aerial vehicle is closed by the safety switch of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be controlled by the remote controller to fly safely, the defect that the unmanned aerial vehicle is mistakenly dropped down due to the fact that the keys of the safety switch on the unmanned aerial vehicle are touched or the functions of the keys are abnormal in the flight process of the unmanned aerial vehicle can be avoided, the possibility of dropping down of the unmanned aerial vehicle is effectively reduced, unnecessary damage of the unmanned aerial vehicle is avoided, and the service life of the unmanned aerial vehicle is prolonged.
In addition, in order to reduce unmanned aerial vehicle consumption, need close unmanned aerial vehicle after unmanned aerial vehicle accomplishes the flight and confirms the task. And the unmanned aerial vehicle is closed and then needs to be realized through unmanned aerial vehicle's safety switch, consequently, in an embodiment, after detecting that unmanned aerial vehicle accomplishes the flight mission, the safety switch who needs control unmanned aerial vehicle is effective, promptly, enables the control function of safety switch to unmanned aerial vehicle.
In practical application, after unmanned aerial vehicle accomplishes the thinking, the flight crew can control unmanned aerial vehicle landing and close the remote controller, therefore, the server is when detecting unmanned aerial vehicle and the remote controller is in the locked state, enables the control function of safety switch to unmanned aerial vehicle, so, the flight crew can manual control safety switch in order to close unmanned aerial vehicle after unmanned aerial vehicle lands of being convenient for to reduce unnecessary consumption. And when the unmanned aerial vehicle needs to fly again, the safety switch can be controlled manually by the fly hand to turn on the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly normally under the control of the remote controller.
By adopting the technical scheme, the occurrence of the accident of the unmanned aerial vehicle falling by mistake can be effectively avoided, and the unmanned aerial vehicle can be normally opened and closed to continue executing tasks.
Fig. 3 is a flow chart illustrating another method of drone control according to an example embodiment. As shown in fig. 3, the method may include the following steps.
In step 301 (202), in case the drone is in flight, it is determined whether a remote control for controlling the drone is in an unlocked state.
In step 302, in the case that the remote controller is not in the unlocked state, it is detected whether the fryer function of the remote controller is in the on state.
In step 303, the remote control is unlocked in case the fryer function is not in an on state.
In step 304 (203), if it is determined that the remote controller is in the unlocked state, a control function of the safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle is turned off.
In practical application, in order to avoid collision between the unmanned aerial vehicle and an external object or collision to a building when the unmanned aerial vehicle crashes abnormally, a frying channel is usually arranged on the remote controller, so that a flying hand controls the unmanned aerial vehicle frying machine by operating corresponding keys on the remote controller.
In the present disclosure, in order to avoid the disadvantage that the unmanned aerial vehicle is caused to fry once the remote controller is unlocked, it is necessary to determine whether the fry function of the remote controller is in an on state before unlocking the remote controller. Wherein, can confirm whether the frying machine function of the remote control is in the on state through detecting the state or the position of the button that can control the unmanned aerial vehicle frying machine.
For example, it is preset that when a key for controlling the unmanned aerial vehicle fryer is in a pressed state, the fryer function of the remote controller is in an on state, and when the key is in a lifted state, the fryer function of the remote controller is in an off state. In this embodiment, it may be determined whether the fryer function of the remote control is in an on state by detecting the state of the key. For example, when a key is detected to be in a pressed state, the fryer function of the remote controller is considered to be in an on state. When the key is detected to be in a lifting state, the frying machine function of the remote controller is considered to be in a closing state
As another example, when the button for controlling the unmanned aerial vehicle fryer is in the first position, the fryer function of the remote controller is in an on state, and when the button is in the second position, the fryer function of the remote controller is in an off state. In this embodiment, it may be determined whether the fryer function of the remote control is in an on state by detecting the current position of the key. For example, upon detecting that the key is in the first position, the fryer function of the remote control is considered to be in an on state. And when the key is detected to be in the second position, the frying function of the remote controller is considered to be in a closed state.
In the case that it is determined that the frying function of the remote controller is not in the on state, the unmanned aerial vehicle is not fried even if the remote controller is unlocked, and therefore, the remote controller can be directly unlocked at this time. In order to avoid the problem of having the unmanned aerial vehicle fry-in once the remote control is unlocked, in the case where it is determined that the fry-in function of the remote control is in an on state, the fry-in function of the remote control may be turned off first, and then the remote control may be unlocked. And finally, closing the control function of the safety switch of the unmanned aerial vehicle on the unmanned aerial vehicle.
In addition, after the control function of the unmanned aerial vehicle by the safety switch of the unmanned aerial vehicle is turned off, as shown in fig. 3, the unmanned aerial vehicle control method further includes step 305 and step 306.
In step 305, flight related information of the drone is acquired, the flight related information including flight environment information and/or flight status information.
In the present disclosure, the flight environment information refers to various environmental factors within a certain range that may affect the normal flight of the unmanned aerial vehicle, and the certain range may be a range smaller than, equal to, or larger than the flight range as long as the certain range includes the flight range, and the flight environment information may include, but is not limited to: information about the temperature, humidity, barometric pressure, topographical conditions, meteorological conditions, or whether the flight range of the unmanned aerial vehicle at least partially coincides with the flight range of other flying objects. The flight status information refers to information characterizing whether the drone is flying normally, which may include, but is not limited to: the information is used for reflecting whether the unmanned aerial vehicle can fly normally according to the remote control of the remote controller, the electric quantity information of the unmanned aerial vehicle and the like.
In step 306, in the event that there is abnormal information in the flight related information, the fryer function is turned on to control the unmanned fryer.
In the present disclosure, the abnormal information refers to information affecting normal flight of the unmanned aerial vehicle or affecting the unmanned aerial vehicle to perform a task. By way of example, the above unmanned aerial vehicle control method is executed by a server. The above-mentioned abnormality information may be preset by the fly and stored in the server. For example, the anomaly information may include, but is not limited to: the temperature of the flying environment is smaller than the preset temperature, the humidity is larger than the preset humidity, the air pressure is larger than the preset air pressure value, the flying range of the unmanned aerial vehicle is at least partially overlapped with the flying ranges of other flying objects, and the like. The anomaly information may also include, but is not limited to: the flight action of the unmanned aerial vehicle is not matched with the operation of the fly hand on the remote controller, and the electric quantity of the unmanned aerial vehicle is lower than the preset electric quantity.
In one embodiment, whether abnormal information exists is determined in the acquired flight related information, and if so, in order to avoid collision of the unmanned aerial vehicle with other flying objects or collision to a building when the unmanned aerial vehicle crashes abnormally, the server can directly start a frying function so as to control the unmanned aerial vehicle to fry. Therefore, on one hand, the problem that the unmanned aerial vehicle collides with other flying objects can be avoided, on the other hand, the problem that the unmanned aerial vehicle collides with a building when the unmanned aerial vehicle crashes abnormally can be avoided, and the damage of the unmanned aerial vehicle is aggravated.
In another embodiment, the unmanned aerial vehicle frying machine can be controlled through a frying machine switch arranged on the remote controller in the embodiment, so that the unmanned aerial vehicle frying machine can be controlled when the unmanned aerial vehicle collides with a building or a tree when falling to the ground under the condition that the server controls the unmanned aerial vehicle frying machine when abnormal information is determined. In the related art, the fryer switch (e.g., the fryer lever) is usually located between the ring finger and the index finger of the flying hand, and the ring finger of the flying hand and the fryer lever are usually in a semi-contact state, so that the flying hand often unintentionally touches the fryer switch when operating the remote controller, and although the flying hand does not wave the fryer lever on the surface, the semi-contact touch is likely to cause the fluctuation of a fryer signal, and therefore, the unmanned aerial vehicle may misexplode.
In order to solve the problem of mislanding of the unmanned aerial vehicle due to mistouching of the fryer switch by the fly hand, in the present disclosure, the unmanned aerial vehicle fryer may be controlled in the following manner.
For example, the preset gear of the fryer switch includes a first gear, a second gear, and a third gear. The first gear is located at 0% of the gear range, the second gear is located at 50% of the gear range, the third gear is located at 100% of the gear range, and the second gear is needed to be passed through in the process of switching from the first gear to the third gear and in the process of switching from the third gear to the first gear.
The specific implementation of the function of starting the fryer in the step 306 is as follows: under the condition that abnormal information exists in the flight related information, determining whether the gear of the frying switch is switched from the first gear to the third gear through the second gear in a preset time period; and when the gear of the frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time period, starting the frying function. The preset duration may be factory set or set by the user, and may be, for example, 2s, 5s, or the like.
In practical applications, when the flywheel inadvertently touches the fryer switch, the fluctuation range of the fryer switch is not obvious, for example, the flywheel inadvertently touches the fryer switch, so that the gear of the fryer switch is only switched from the position of 0% of the gear range to the position of 50% of the gear range. When the fly hand really needs to control the unmanned aerial vehicle frying machine, the fluctuation range of the frying machine switch is obvious, for example, the fly hand fluctuates the frying machine switch to switch the gear of the frying machine switch from the position of 0% of the gear range to the position of 100% of the gear range. Therefore, when the gear of the fryer switch is determined to be switched from the first gear to the third gear through the second gear within the preset time period, it can be determined that the unmanned aerial vehicle really wants to control the fryer, and the unmanned aerial vehicle does not touch the fryer switch by mistake, and at the moment, the fryer function can be started to control the unmanned aerial vehicle to fry according to the desire of the unmanned aerial vehicle.
The number of the frying switches arranged on the remote controller can be one or more. In one embodiment, the number of the fryer switches is one, and the gear of the fryer switch is controlled to be in the first gear before the remote controller is unlocked, and the fryer switch is controlled to be switched from the first gear to the third gear through the second gear within a preset time period when abnormal information exists in the flight related information, namely the fryer function is started.
In another embodiment, the number of fryer switches is a plurality and the number of fryer switches includes a first gear.
The embodiment of step 302 in fig. 3 to detect whether the fryer function of the remote control is in an on state may include:
firstly, detecting whether the gear of each frying switch is in a first gear; for example, it may be detected whether the gear of each fryer switch is located at 0% of the range of gears, and if the gear of a fryer switch is located at 0% of the range of gears, then the gear of the fryer switch is determined to be in the first gear.
Then, in the case that the gear of each fryer switch is the first gear, it is determined that the fryer function is not in an on state.
Accordingly, the specific implementation of the start-up fryer function of step 306 in fig. 3 is: under the condition that abnormal information exists in the flight related information, determining whether the gear of each fryer switch is switched from the first gear to the third gear through the second gear within a preset duration; and starting the frying function under the condition that the gear of each frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time period. In this embodiment, when all the fryer switches meet the condition that the gear is switched from the first gear to the third gear through the second gear within the preset duration, the fryer function of the remote controller can be controlled to be started, so that compared with the related art, the problem that the unmanned aerial vehicle is mislanded due to the fact that the flight hand is in mislanding with the fryer switches can be effectively avoided, the possibility of mislanding is reduced, and the flight safety of the unmanned aerial vehicle is improved.
By way of example, two fryer switches are used, whose gear changes and corresponding functions are described. The correspondence between gear change conditions and functions of the two fryer switches, fryer switch SC and fryer switch SD, respectively, are assumed to be shown in table 1.
Table 1 relation of gear change of fryer switch and corresponding function
| Switch state of double frying machine | Function of |
| SC, SD first gear>SC, SD third gear | The frying machine function is started |
| SC, SD third gear>SC, SD first gear | Function of frying machine is closed |
| SC, SD first gear>SC, SD second gear | Invalidation operation |
| SC, SD second gear>SC, SD third gear | Invalidation operation |
| SC, SD third gear>SC, SD second gear | Invalidation operation |
| SC, SD second gear>SC, SD first gear | Invalidation operation |
The first gear- > SC and third gear of the SC and the SD represent the gears of the SC and the gears of the SD are switched from the first gear to the third gear. Other similarities, which are not described in detail herein. The inactive operation in table 1 is that the fryer function of the remote controller is not changed when the gear is shifted from the first gear to the second gear, or from the second gear to the third gear, or from the third gear to the second gear, or from the second gear to the first gear. If the fryer function was previously in an on state, the fryer function is kept in an on state, and if the fryer function was previously in an off state, the fryer function is kept in an off state. In addition, since a typical fly hand operates a plurality of fryer switches simultaneously, table 1 only shows a case where two fryer switches are in the same gear at the same time.
So, adopt this mode, only the fender position of all frying machine switches is in the time length of predetermineeing under the circumstances that is switched to the third fender position by first fender position via the second fender position, just can control the frying machine function and open, under other circumstances, all do not open the frying machine function, effectively avoided unmanned aerial vehicle mistake to fry the emergence of machine accident, improved unmanned aerial vehicle's flight safety.
It should be noted that, when the gear of each fryer switch is switched from the first gear to the third gear through the second gear within the preset time period, the control logic of the fryer function is started, which is just one embodiment for controlling the start of the fryer function. In practical application, according to actual demands, the server can also start the frying function when detecting that a preset number of frying switches exist in the frying switches and the preset number of the frying switches are switched from the first gear to the third gear from the second gear within a preset time period. Alternatively, the server may also distinguish whether the fly hands inadvertently touch the fryer switch or intentionally touch the fryer switch according to the distance traveled by the fryer switch. For example, when the distance that the fryer switch moves along the designated direction is greater than the preset distance within the preset time period, the user considers that the user intentionally touches the fryer switch, and the user wants to truly control the unmanned plane to crash, and at the moment, the fryer function is controlled to be started.
Fig. 4 is a flow chart illustrating another method of drone control according to an example embodiment. As shown in fig. 4, the method may include the following steps.
In step 401, it is detected whether a safety switch on the drone is pressed. When the safety switch is pressed, the drone is started, step 402 is performed.
In step 402, it is detected whether the fryer function of the remote control is in an on state. If in the on state, the fryer function is automatically turned off, and if in the unopened state, step 403 is performed.
In step 403, a remote control for controlling the drone is unlocked.
In step 404, the control function of the unmanned aerial vehicle by the safety switch of the unmanned aerial vehicle is turned off.
In step 405, flight related information of the unmanned aerial vehicle is acquired, and it is determined whether abnormal information exists in the flight related information. If there is abnormality information, step 406 is executed, and step 407 is not executed.
In step 406, the fryer function is turned on.
In step 407, when a successful landing of the drone is detected and the remote control is in a locked state, the control function of the safety switch to the drone is enabled.
The specific embodiments of the steps in fig. 4 are described above, and will not be repeated here.
Based on the same inventive concept, the disclosure also provides an unmanned aerial vehicle control device. Fig. 5 is a block diagram of a drone control apparatus, applied to a drone or server, according to an example embodiment. As shown in fig. 5, the unmanned aerial vehicle control apparatus 500 may include:
the first detection module 501 is configured to detect whether the unmanned aerial vehicle is in a flight state, and a safety switch is disposed on the unmanned aerial vehicle;
a determining module 502, configured to determine, when the unmanned aerial vehicle is in a flight state, whether a remote controller for controlling the unmanned aerial vehicle is in an unlocked state;
and a closing module 503, configured to close a control function of the safety switch of the unmanned aerial vehicle to the unmanned aerial vehicle when it is determined that the remote controller is in the unlocking state.
Optionally, the apparatus further comprises:
and the enabling module is used for enabling the safety switch to control the unmanned aerial vehicle when the unmanned aerial vehicle is detected to land successfully and the remote controller is in a locking state.
Optionally, the apparatus further comprises:
the second detection module is used for detecting whether the frying machine function of the remote controller is in an on state or not under the condition that the remote controller is not in the unlocking state;
And the unlocking module is used for unlocking the remote controller under the condition that the frying machine function is not in the starting state.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring flight related information of the unmanned aerial vehicle, wherein the flight related information comprises flight environment information and/or flight state information;
and the starting module is used for starting the frying machine function under the condition that the flight related information contains abnormal information so as to control the unmanned aerial vehicle frying machine.
Optionally, the remote controller is provided with a frying switch, and the gear of the frying switch comprises a first gear, a second gear and a third gear;
the opening module comprises:
the first determining submodule is used for determining whether the gear of the frying switch is switched from the first gear to the third gear through the second gear in a preset duration or not under the condition that abnormal information exists in the flight related information;
the first starting sub-module is used for starting the frying function under the condition that the gear of the frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset duration.
Optionally, the number of the fryer switches is multiple, and the gear of the fryer switch comprises a first gear; the second detection module includes:
The detection submodule is used for detecting whether the gear of each frying machine switch is the first gear or not;
and the second determining submodule is used for determining that the frying machine function is not in an on state under the condition that the gear of each frying machine switch is the first gear.
Optionally, the opening module includes:
a third determining submodule, configured to determine whether a gear of each of the fryer switches is shifted from the first gear to the third gear via the second gear within a preset duration in case that abnormal information exists in the flight-related information;
and the second starting sub-module is used for starting the frying function under the condition that the gear of each frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset duration.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Based on the same inventive concept, the disclosure further provides an unmanned aerial vehicle remote controller, comprising at least one fryer switch, wherein each gear of the fryer switch comprises at least three gears, the unmanned aerial vehicle remote controller is used for sending a fryer signal when at least one fryer switch is detected to cross gears, and the fryer signal is used for controlling unmanned aerial vehicle fryers remotely controlled by the unmanned aerial vehicle remote controller.
For example, the gear of each fryer switch includes three gears, namely a first gear, a second gear and a third gear, and when the gear of at least one fryer switch is detected to be switched from the first gear to the third gear through the second gear, a fryer signal is generated and sent to the unmanned aerial vehicle, or the fryer signal is sent to the unmanned aerial vehicle through the server.
Based on the same inventive concept, the disclosure further provides an unmanned aerial vehicle remote controller comprising a plurality of fryer switches, wherein the unmanned aerial vehicle remote controller is used for sending a fryer signal when detecting that the plurality of fryer switches all have gear changes, and the fryer signal is used for controlling unmanned aerial vehicle fryers remotely controlled by the unmanned aerial vehicle remote controller.
Fig. 6 is a block diagram of an electronic device, for example, that may be provided as a drone, shown in accordance with an example embodiment. As shown in fig. 6, the electronic device may include: a processor 601, a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communication component 605.
The processor 601 is configured to control the overall operation of the electronic device 600, so as to complete all or part of the steps in the unmanned aerial vehicle control method described above. The memory 602 is used to store various types of data to support operations at the electronic device 600, which may include, for example, instructions for any application or method operating on the electronic device 600, as well as application-related data, such as contact data, transceived messages, pictures, audio, video, and the like. The Memory 602 may be implemented by any type or combination of volatile or nonvolatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 603 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 602 or transmitted through the communication component 605. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The corresponding communication component 605 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 600 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), digital signal processors (Digital Signal Processor, abbreviated as DSP), digital signal processing devices (Digital Signal Processing Device, abbreviated as DSPD), programmable logic devices (Programmable Logic Device, abbreviated as PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described drone control method.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the drone control method described above. For example, the computer readable storage medium may be the memory 602 including program instructions described above, which are executable by the processor 601 of the electronic device 600 to perform the drone control method described above.
Fig. 7 is a block diagram of an electronic device, according to an example embodiment. For example, electronic device 1900 may be provided as a server. Referring to fig. 7, the electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the drone control method described above.
In addition, the electronic device 1900 may further include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication of the electronic device 1900, e.g., wired or wireless communication. In addition, the electronic device 1900 may also include an input/output (I/O) interface 1958. The electronic device 1900 may operate an operating system based on a memory 1932, such as Windows Server TM ，Mac OS X TM ，Unix TM ，Linux TM Etc.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the drone control method described above. For example, the computer readable storage medium may be the memory 1932 including program instructions described above that are executable by the processor 1922 of the electronic device 1900 to perform the drone control method described above.
In another exemplary embodiment, a computer program product is also provided, which computer program product comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned drone control method when being executed by the programmable apparatus.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. The unmanned aerial vehicle control method is characterized by being applied to an unmanned aerial vehicle remote controller and comprising the following steps:
controlling the unmanned aerial vehicle to be in a flight state;
under the condition that abnormal information exists in flight related information of the unmanned aerial vehicle, a frying machine function is started to control the unmanned aerial vehicle to fry, wherein the flight related information comprises flight environment information and/or flight state information, a frying machine switch is arranged on a remote controller of the unmanned aerial vehicle, and the frying machine function is started by carrying out operation of a preset distance and/or a preset duration on the frying machine switch.
2. The method of claim 1, wherein the gear of the fryer switch comprises a first gear, a second gear, and a third gear;
under the condition that abnormal information exists in the flight related information, starting a frying machine function, wherein the method comprises the following steps:
determining whether the gear of the fryer switch is switched from the first gear to the third gear through the second gear in the preset duration under the condition that abnormal information exists in the flight related information;
and when the gear of the frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time, starting the frying function.
3. The method of claim 2, wherein the first gear is located at a 0% position of a gear range of the drone remote control and the third gear is located at a 100% position of the gear range.
4. The method according to claim 1, wherein the number of fryer switches is a plurality, and the fryer function is turned on by operating the fryer switches for a preset distance and/or a preset duration, comprising:
and when gear changes occur to all the plurality of fryer switches, starting the fryer function, wherein the gear changes are obtained through the operation of the preset distance and/or the preset duration.
5. The method of claim 4, wherein said turning on said fryer function in the presence of anomaly information in said flight-related information comprises:
determining whether the gear of each fryer switch is switched from the first gear to the third gear through the second gear within the preset duration under the condition that abnormal information exists in the flight related information;
and when the gear of each frying switch is determined to be switched from the first gear to the third gear through the second gear within the preset time period, starting the frying function.
6. The method of claim 1, wherein the flight-related information is obtained by the drone or a server in communicative connection with the drone.
7. The method of claim 1, wherein the flight environment information includes environmental factors that affect a flight range of normal flight of the drone; the flight status information includes information characterizing whether the unmanned aerial vehicle is flying normally.
8. The method of claim 1, wherein the anomaly information is pre-set in the drone or in a server communicatively coupled to the drone.
9. The method of claim 1, wherein the predetermined duration is 2 seconds or 5 seconds.
10. An unmanned aerial vehicle remote control, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1-9.
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