EP3374835A1

EP3374835A1 - Control and remote control for an unmanned flying object, and method for controlling the flying object

Info

Publication number: EP3374835A1
Application number: EP16791373.0A
Authority: EP
Inventors: Antony Pfoertzsch
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-11-09
Filing date: 2016-11-02
Publication date: 2018-09-19
Also published as: WO2017080888A1; US20180253091A1; DE102015119279A1

Abstract

The invention relates to a control for an unmanned flying object and to a method for controlling a flying object, in particular for a drone or a multicopter, said control comprising an assistance circuit. The control is designed to receive control commands in order to control the flying object, to change the received control commands using the assistance circuit on the basis of a configuration of the assistance circuit, and to transmit the changed control commands. The assistance circuit has an interface, and the configuration of the assistance circuit can be reconfigured using the interface.

Description

CONTROL AND REMOTE CONTROL FOR AN UNMANAGED

FLIGHT OBJECT AND METHOD FOR CONTROLLING THE FLIGHT OBJECT

The invention relates to unmanned aerial vehicles which are in particular drones or copters, for example quadrocopters or multicopters. Such unmanned aerial vehicles are now used in a variety of areas to z. B. photo and video recordings from the air. Accordingly, unmanned flying objects are known which have on their underside a receptacle, in particular a gimbal, on which a camera or a video camera can be fastened.

In the film industry, the unmanned flying objects are often used to waive camera cranes or other elaborate constructions to guide the camera in elaborate film scenes, for example, a rise on a house facade or tracking a vehicle to be recorded.

However, maneuvers to carry out the said elaborate scenes can only be performed by very experienced pilots, since the control for such maneuvers requires a precise knowledge of the flying object and its behavior during flight. Assistance systems are known which are integrated in the unmanned flying objects and support an operator in the operation and control. Nevertheless, despite these assistance systems a precise knowledge of the flight behavior is necessary because the weight of the flying object, z. B. after a lens change in a camera connected to the unmanned flying object camera, and this also affects the flight behavior, so that a pilot must take into account the changed flight behavior.

Further, depending on the visibility conditions, weather conditions, e.g. Wind and rain, and / or preferences of a pilot or user demanded different interaction patterns with the environment as well as with obstacles.

Starting from the prior art, it is an object of the present invention to develop an unmanned flying object or to find a method for its control that even less experienced pilots can control an unmanned flying object in substantially any situation, the risk of destruction or damage of the unmanned flying object should be reduced as much as possible. For this purpose, a control and a method for controlling an unmanned flying object is proposed, which in particular for a drone or copter, such. B. a quadrocopter or octocopter, is suitable.

The controller is set up to receive control commands for controlling the flying object, in particular via a radio interface. Furthermore, the controller has an assistance circuit and is set up to modify the received control commands with the assistance circuit as a function of the configuration of the assistance circuit. Furthermore, the control device is set up to send out the corrected control commands.

According to the invention, the assistance circuit has an interface, which can also be called a reconfiguration interface, via which the configuration of the assistance circuit can be reconfigured.

The control according to the invention is therefore z. B. part of the flying object and set up to receive control commands from a user who may also be called pilot or operator. For this purpose, the control commands are transmitted, for example, from the user via a radio remote control, received via a radio interface of the controller and fed to the controller.

The received control commands are then supplied to the assistance circuit, which modifies the control commands depending on their configuration, ie corrects, manipulates or the like. Accordingly, the control commands in the assistance circuit are modified as dictated by the configuration of the assistance circuit.

An example is that the user specifies the control command that the flying object should stop after a straight flight, for example in front of an obstacle, for example by bringing the position of a joystick of the remote control from a forward position to a neutral position. Here, depending on the configuration of the assistant circuit, in addition to the commands for flying straight ahead and stopping the straight-ahead flight, a command for the backward flight is generated for a short duration and intensity. This ensures that the flying object is stopped in spite of its straight-ahead pulse as specified by the user essentially instantaneously. The duration and intensity of the command for the backward flying are determined by the assistant circuit depending on the configuration. According to the invention, the assistance circuit is now equipped with an interface for reconfiguring, via which new configurations for the assistance circuit can be predetermined by a user, so that a previously existing configuration is replaced by a current configuration. Accordingly, z. B. for different cameras or lenses that are carried with the flying object with the controller and have different masses, different configurations provided, these different configurations are each predetermined for the assistant circuit by a user.

In order to supplement the aforementioned example of stopping after a straight fly, changing the configuration also changes, for example, the time duration and / or the intensity for the backward flying for faster stopping. For example, if a heavier lens is used, then the straight-ahead momentum of the flying object after a straight flight is greater than with a lighter lens. Therefore, the time duration and / or intensity for the opposite control command, e.g. fly backwards, longer with a heavier lens than with a lighter lens. This adaptation of the different durations and / or intensities to different lenses now takes place by simply changing the current configuration of the assistance circuit.

Advantageously, a user who has a z. For example, replace a lightweight lens with a heavy lens, just make sure that the assistant circuit returns to the configuration that corresponds to the configuration for the current lens when the lens is changed. Thus, despite different cameras or lenses, an identical flight behavior of the flying object can be achieved by adjusting the configuration of the assistance circuit, so that the operation of the flying object is significantly simplified for a user.

According to one embodiment, each configuration of the assistance system consists of a group, that is to say several, of configuration modules which, in particular, can be assigned to different categories. For example, a first category concerns the behavior when starting and landing, another category concerns stopping before or behaving towards obstacles. In addition, categories are conceivable which include the departure of predefined flying figures with regard to detected objects or obstacles, for example including the entire environment or environment around the flying object. Furthermore, according to this embodiment, the controller comprises a memory, wherein a plurality of different configuration modules for the configuration of the assistance circuit can be stored in the memory. Alternatively or additionally, the controller also includes a port for a computer and / or a storage media reader to receive additional configuration modules from an external data source.

Accordingly, configuration modules for the configuration of the assistance circuit are stored in a memory. The configuration modules can therefore be used directly from the memory of the assistance circuit or loaded into the assistance circuit for use. Additionally or alternatively, a reading device for storage media, for. B. for SD cards, available, with the other, z. B. stored in memory, configuration modules can be received from an external data source or from a computer. These configuration modules provided by a memory card or a computer can also be stored in memory so that they are available for later use without a computer. For example, it is conceivable that configuration modules for a camera or a lens to be used with the renamed flying object are provided on a storage medium or via the Internet. Thus, the corresponding configuration module can then be provided in a simple manner for the assistance circuit when using the corresponding camera or the objective according to the last-mentioned embodiment.

According to a further embodiment, the controller has selection means for selecting one or more configuration modules which are loaded from the memory, the reading device or a computer into the assistance circuit or made available to the assistance circuit. The selection means thus determine or determine the current configuration of the assistance circuit, that is to say the configuration which uses the assistance circuit until the next selection of other configuration modules.

The selection means thus make it possible for a user to easily exchange the configuration modules during the use of the unmanned flying object, ie to reconfigure the configuration, ie to modify or adapt it. According to a further embodiment, the memory comprises a non-rewritable or non-erasable memory area or memory module for non-erasable configuration mode, which can be protected by access rights or by a hardware realization. dule, which are specified for example by a manufacturer. Accordingly, therefore, a part of the memory or a memory module of the memory is provided which can be protected with access rights or realized as non-rewritable and non-erasable memory in which non-removable configuration modules can only be stored by a manufacturer or service personnel. The user therefore only has read access rights to these memory areas or this memory block and the configuration modules contained therein.

Additionally or alternatively, a memory area or a separate memory module is provided in the memory, in which further configuration modules can be stored by the user and can also be erased or overwritten. Accordingly, in the rewritable memory area or the rewritable memory module configuration modules that z. B. generated by a user or transferred via a memory card or a computer, in this memory area hinterleg bar. Due to the protectable or non-erasable memory area, it is possible to store configuration modules in this memory area, which enable a fundamental correction of flight commands independently of the equipment or of the flight maneuver. These configuration modules are thus predetermined for example by a manufacturer and protected against accidental deletion by a user, so that even when operating the flying object at least one basic functionality of the assistance circuit is maintained. Further, the rewritable storage area is for the user to deposit user-specific configuration modules.

According to a further embodiment, the controller comprises a sensor interface for connecting at least one sensor of an unmanned flying object to the controller. Furthermore, the assistance circuit is set up to take into account sensor data received from the sensor interface when modifying the received control commands depending on the current configuration.

The sensor interface is particularly adapted to be connected to radar sensors, imaging sensors such as cameras, in particular a stereoscopic camera, a laser scanner or a lidar sensor, such as a solid-state lidar sensor. Accordingly, z. B. distance measuring sensors, such as radar sensors or a stereoscopic camera, provided in the flying object, the z. B. operate on the transit time principle and, for example, radar sensors or sound sensors and distance measurement of the unmanned flying object and an obstacle, such. As a wall or a tree serve. The sensor signals of the sensors are received by the controller and can be taken into account differently when changing the control commands in the assistance circuit depending on different configurations.

If, for example, a film recording is to be carried out with the unmanned flying object and a camera attached to it, with which the flying object approaches an obstacle at maximum speed and stops at a distance of only a few meters or centimeters in front of the obstacle, then this is an option Timely stopping of the flying object necessary to avoid a collision with the obstacle. The right time to find the distance and / or a dynamic braking curve for stopping is only possible for a professional user or operator. A brake curve is z. B. any dynamic braking sequence, in which the braking force, ie a negative acceleration, z. B. is increased or decreased gradually or continuously.

Another example is that the user wants to fly the drone inside a tunnel behind a car. Here, the drone must keep in the right lane at a fixed distance from the tunnel wall, so as not to endanger oncoming traffic. At the same time, the drone must maintain a fixed distance to the car and be able to brake in an emergency before impacting the car.

This scenario, which is anyway only flyable by experienced pilots, is made even more difficult by the failure of the GPS inside the tunnel. At least two configuration modules in a profile are now used here, ie configured as a configuration to execute the maneuver. The first configuration module corresponds, for example, to a control loop which maintains a fixed distance orthogonal to the flight direction to the right tunnel wall, and the second configuration module corresponds, for example, to a control loop with which a minimum distance to the preceding vehicle is maintained, wherein the user optionally sets the desired distance via a control command zoom in or zoom out to the minimum distance. However, according to the embodiment, a configuration module may now be provided to or loaded into the assistance circuit by user selection, the brake commands adapted to the desired exposure, taking into account the desired speed and distance to the obstacle and taking into account the mass of the selected camera generated.

After loading or providing a user of the unmanned flying object can now rely on the assistance circuit, even if the user continues - driven by a control command from the user - at full speed on the obstacle, the received control commands in stop commands or braking commands converted or modified when the desired distance to the obstacle is reached. Difficult flight maneuvers are thus possible even with little or even no flight experience.

Another example is that the user issues the control command for a straight-line flight, but does not notice an obstacle. Depending on the configuration of the assistance circuit, despite the command for the forward flight, a brake deposited by the user with a configuration module for such situations is executed so that the flying object comes to a standstill with a distance likewise set by the or another configuration module. Here, for example, a dynamic braking according to a braking ramp is possible. Accordingly, the user has, for example via the current configuration of the assistance circuit, the possibility of determining from which measured distance or at which angle to an obstacle, which is determined by a sensor connected via the sensor interface, the assistance circuit intervenes in the control commands of the user. In addition, the type of engagement, namely the type of a braking curve or a maximum speed when approaching an obstacle is vorggebar.

In addition, the user is allowed to fly along or within structures such as tunnels, forests or buildings without risking the risk of collision. Since the structures all have different dimensions, such as heights, widths, lengths or shapes, the user can easily generate a suitable configuration module, for example a beamforming, by slowly flying ahead with the drone and by measuring with the connected sensors , the pressure angle and the minimum distances of the drone to all existing objects in relation to the flight or sensor orientation includes. By means of the sensor interface, sensor data can therefore be received and the control command of the user is converted in the assistance circuit as a function of the sensor data and the configuration.

In the case of the undetected obstacle, for example, depending on the configuration of the assistance circuit, the obstacle - in spite of the user's straight-flight command - is flipped or switched to a reverse flight in front of the obstacle so that the flying object begins to initiate controlled braking.

Accordingly, it is also possible, for example, to recognize patterns or objects with a camera connected via the sensor interface and to adapt the flight behavior with the assistance circuit to these recognized patterns or objects. The trajectories can therefore be based on the configuration of recognized patterns or objects and z. B. even in the case that the patterns or objects move, do not fall below a predetermined distance, even if a control command is given, which would lead to falling below the distance without the assistance circuit.

According to a further embodiment, the controller comprises at least one control output for outputting control commands to at least one actuator of a flying object or its control. An actuator is here z. As a motor or its control for a propeller of the flying object. The modified control commands thus correspond directly to the drive signals or serve for the determination of drive signals in order to generate speed specifications for the rotational speed of a propeller of the flying object.

According to a further embodiment, the controller comprises automatic selection means for automatically selecting, in dependence on sensor data obtained from a further sensor interface from a further sensor, correction modules which are used by the assistance circuit as current configuration or in the assistance circuit as current Configuration to be loaded.

The automatic selection means are therefore z. B. connected to a sensor that can measure the attached to a suspension of the unmanned flying object weight and select depending on this weight for the weight of appropriate configuration modules. Thus, even without intervention of a user can automatically an up-to-date configuration is selected that allows precise flight control of the unmanned aerial object.

Furthermore, the invention relates to a remote control for controlling an unmanned flying object with a controller according to one of the aforementioned embodiments. The remote controller is arranged to send selection commands to the control selection means for selecting configuration modules for the assistance circuit configuration and / or to generate configuration modules and to transmit the generated configuration modules to the controller.

Accordingly, the remote control is used in addition to the normal flight control of an unmanned flying object transmitted by control commands and selection commands to the control of the flying object to select configuration modules for the assistance circuit. Thus, the remote control is used to allow remote reconfiguration of the assistance circuit and thus adapt the configuration of the assistance circuit for different maneuvers. It is Z. B. conceivable that a first configuration module provides that the flying object basically comes in a distance of a few centimeters in front of an object to a halt. Now, if a movie scene in which this distance was desired terminated and another scene in which a different behavior of the unmanned flying object is desired, begun, then the current configuration of the assistant circuit can be remotely changed by means of the remote control without a Landing and connecting the unmanned flying object to a computer is necessary. Accordingly, a reconfiguration of the assistance circuit is possible from a distance during operation or flight operation.

According to a further embodiment, the remote control comprises input means and a screen, wherein the screen z. B. may be connected via a data connection smartphone, tablet PC or the like. In the case of a screen designed as a smartphone or tablet PC, the input means also comprise the touch-sensitive screen of the smartphone or of the tablet PC. With the input means are several combinations of different configuration modules, with the screen z. B. can be displayed as groups, and / or individual configuration modules selectable. The screen is used, for example, to display further information depending on the loaded configurations, such. B. currently recorded distance values of distance sensors or information of an image processing. Data is advantageously transmitted from the controller to the remote control and processed by this for display on the screen.

The remote control therefore offers, for example, grouped configuration modules of different categories for different desired flight situations. Accordingly, selection of configuration modules takes place, for example, by selecting a group which is displayed on the screen for example. Eg as a hotkey or quick selection key.

A quick change of the configuration of the assistance circuit with a plurality of configuration modules is thus possible by an input with the input means in a simple manner.

According to a further embodiment, configuration modules can be generated with the user interface and / or the screen of the remote control by trajectories, which are related to obstacles, for example, and which are actually flown with the input means of the remote control and simultaneously recorded or which are graphically specified on the screen by a user be converted in the remote control with a computational logic in one or more configuration modules. These can then be transmitted to the control of an unmanned flying object and / or stored in the remote control.

Thus, for example, in the case of an obstacle-oriented pre-fly, the control commands of the user who flies forward and the sensor data that reflects the obstruction are recorded and converted into a configuration module. Thus, the same trajectory can later be flown automatically through the assistance system upon the occurrence of an obstacle detected with a sensor, even if other flight commands are given by the user or operator.

Thus, in the event that the stored configuration modules are not suitable for an unexpected situation, new configuration modules adapted to the unexpected situation can also be generated during the use of the unmanned aerial object with the remote control. In addition, the invention comprises a method for controlling an unmanned flying object, in particular with a controller according to one of the preceding embodiments, wherein the controller receives flight commands for controlling the flying object and the received control commands are modified with an assistance circuit of the control in dependence on a configuration of the assistance circuit , The modified control commands are sent by the controller to an actuator. According to the inventive method, the configuration of the assistant circuit is configured or reconfigured by a user or automatically.

According to one embodiment of the method, with a sensor interface of the controller, sensor data of a sensor, e.g. B. a distance sensor, in particular for measuring the distance according to the transit time principle, or a stereoscopic camera, received and taken into account the sensor data when modifying the received control commands depending on the current configuration.

According to one embodiment of the method, control commands for controlling the flying object are transmitted by the remote control with a remote control, in particular according to one of the aforementioned embodiments, for example in a learning mode of the remote control. The control commands are recorded in the remote control or the control of the unmanned flying object and converted the recorded commands in the remote control or the controller in one or more configuration modules and stored in the memory of the controller or remote control. Alternatively or additionally, sensor data from the sensors of the flying object resulting from the control commands are recorded in the remote control or the control of the unmanned flying object and taken into account in the conversion of the commands.

Thus, for example, it is possible for the user to hover the drone in front of a scene and to mark objects for a respective configuration module. For example, if the drone hovers in front of a tunnel entrance, the user marks this entrance and depth sensors measure the entrance. Finally, the user defines the behavior in a menu, for example dodging, flying in, highlighting in color, plus a viewing angle of the sensor on the object and the reference system (relative to the drone or relative to the direction of flight).

The drone can now use a hotkey to highlight the tunnel entrance on the screen and the user automatically flies into the tunnel entrance by controlling the drone in one direction. In the tunnel itself, the assistance system would then have a configuration module of the configuration for the tunnel from the current profile, ie the current configuration. The generated configuration modules can later serve for the configuration of the assistance circuit.

Accordingly, configuration modules are generated by simply flying past by a user and can thereafter be reused as often as desired. For example, an experienced pilot can fly through certain maneuvers, which can then be flown by a layman by using the generated by the flying forward configuration modules for configuring the assistance circuit so to speak.

According to a further embodiment, one or more configuration modules stored in the remote control with remote control input means are selected with the remote control and the selected configuration modules are transmitted to the controller. The configuration modules received by the controller are stored in a memory or loaded into the assistance circuit as the current configuration. Accordingly, it is also possible to transfer with the remote control stored in the remote control configuration modules to the controller, which can then be used for further use in the controller, which is located in the flying object.

According to a further embodiment, fast selection keys, ie hotkeys, are made available with the input means and / or the screen and, by selecting one of the quick selection keys, a group of configuration modules, ie several configuration modules, for example different categories, are selected. The selected group of configuration modules is then used by sending a selection command to the controller and processing the selection commands with the selection means as the current configuration of the assistant circuit or loaded as the current configuration in the assistant circuit. According to a further embodiment of the method, after a system start of the controller, the configuration module selected last with the remote control and the last configuration of the assistant circuit that is the last configuration module are compared. An error signal is output from the remote control or the system as soon as the compared configuration modules do not match. Alternatively or additionally, the actual configuration of the assistance circuit defined by the configuration modules automatically becomes competing properties checked and in the case of existing competing properties also issued an error signal.

This is not just a memory check in the classical sense, but the detection of possible errors of reason on the part of the pilot. If, for example, a drone has two configuration modules with two targets, one configuration module should maintain a distance to a wall while the other should maintain a distance to a moving car. As soon as the car no longer runs parallel to the wall, the configuration modules compete. The user would be advised to assign a higher priority to one of the configuration modules so that the configuration module with the highest priority is activated in case of contradictions.

Further, the invention comprises a flying object with a controller according to one of the aforementioned embodiments and a system with a flying object and a remote control according to one of the aforementioned embodiments, in particular for carrying out the method according to one of the aforementioned embodiments.

Furthermore, the invention comprises a system with a controller according to one of the aforementioned embodiments and with a remote control according to one of the aforementioned embodiments.

Further advantageous embodiments of the invention are explained below with reference to the drawings.

1 shows an unmanned flying object,

2 shows a control for an unmanned flying object as a block diagram,

3 shows a remote control,

4 shows a method for controlling an unmanned flying object

5 shows the learning of a configuration module by flying ahead,

Fig. 6 shows a representation on the screen of the remote control and Fig. 7 shows an additional or alternative representation on the screen.

1 shows an unmanned flying object 10. The flying object 10 comprises a controller 12 and a plurality of actuators 14, to each of which a propeller 16 is connected. On the underside of the unmanned aerial object 10, which here corresponds to a quadrocopter, a camera suspension 18 is arranged, which is also called gimbal. At the lower end of the camera suspension 18, a video camera 20 is mounted.

The unmanned aerial object 10 also has an antenna 22 with which it can receive control commands for controlling the flying object 10. A user thus generates control commands with a remote control and transmits them to the antenna 22 via radio. The control commands are supplied to the controller 12 and used with the controller for controlling the actuators 14. Control commands for the unmanned aerial object 10 are z. Lifting, lowering, forward flying, reverse flying and / or sideways flying. These control commands are converted into drive signals by means of a motor controller, the drive signals serving to actuate the actuators 14.

Accordingly, the control commands are converted into signals, for example, let the propeller 16 rotate by means of the actuators 14 each with a certain speed.

If z. For example, if the control command to ascend the unmanned aerial object 10 is received by the controller 12, the control command with the engine control is converted into drive signals which entail an increase in the speed of the actuators 14 and thus the propeller 16, causing the unmanned aerial object 10 to lift , Furthermore, the controller comprises an assistance circuit, not shown, whose function is explained with FIG.

Fig. 2 shows an embodiment of the controller 12 as a schematic block diagram. The controller 12 receives via an antenna 22 and a receiver 24 control commands 26, z. B. from a remote control of a user. The control commands 26 are supplied to an assistance circuit 28. Furthermore, the assistance circuit 28 is supplied with sensor signals 32 received from sensors 30 by means of a sensor interface 33 of the controller 12. Depending on a configuration and the sensor signals 32, the assistance circuit 28 changes the received control commands 26 and outputs them as modified Control commands 34 off. The modified control commands 34 are fed via a control output 35 of the controller 12 to a converter 36, which is a motor control 36 or control 36. The control 36 converts the modified control commands 36 into control signals 38, the control signals 38 serving to actuate actuators 14 5.

The assistance circuit 28 accordingly has a configuration for modifying the control commands 26. The configuration here includes several configuration modules, each z. As tables or functions, wherein the tables or functions as input value, the control commands 26 and as output value, the modified control commands) le 34 include. As another variable of z. B. illustrated as tables or functions configuration modules of the assistant circuit 28 values of the sensor signals 32 are also considered in the present example.

Accordingly, the received control command 26 is changed in dependence on the configuration and the sensor signal 32 or its values with the assistance circuit 28 in modified 15 control commands 34. Depending on the current configuration, therefore, 26 different modified control commands 34 result from the same control command.

Furthermore, the controller 12 comprises a memory 40 with a non-rewritable memory module 41 and a rewritable memory module 42. In the non-rewritable memory module 41, various configuration modules for the configuration are stored, which represent basic functions for a configuration and should therefore not be modified by a user. In rewritable memory 42 are generated by a user configuration modules for certain applications and can be changed or deleted at any time by a user.

The memory 40 is connected to an interface 43 of the assistance circuit 28 by means of a data connection 44 and comprises a plurality of configuration modules for the configuration of the assistance circuit 28. Via the data connection 44 between the memory 40 and the assistance circuit 28, different configuration modules for the configurations for the assistance circuit 28 can be specified. in the

In the present example, a configuration to be used by the assist circuitry 28 is loaded from the memory 40 into the assist circuitry 28. Accordingly, an unillustrated memory is also present in the assistance circuit in order to select configuration modules selected therein, which were previously loaded from the memory 40, to save and use this as the current configuration of the assistant circuit.

The configuration currently loaded in the assistance circuit 28 is therefore also referred to below as the current configuration. Alternatively, however, it is also possible according to the invention for the assistance circuit 28 to access memory locations in the memory 40 via the data connection 44 as a function of a selected configuration, which contain the configuration modules of a selected configuration. Accordingly, the current configuration is not loaded into the assistance circuit, but the assistance circuit 28 accesses the current configuration in the memory 40.

In addition, the memory 40 is connected to a reader terminal 45 or a computer for reading data from memory cards or the computer to load new configuration modules into the memory 40.

To control loading or selecting the current configuration of the assist circuitry 28, selection means 46 are provided. The selection means 46 serve to determine the configuration modules of a current configuration to be used by the assistance circuit 28.

For this purpose, the selection means 46 are likewise connected to the antenna 22 and to the receiver 24, so that selection commands 47 which are transmitted by a user with the remote control can be received by the controller 12 and supplied to the selection means 46. In accordance with the received selection command, a current configuration for the assistance circuit 28 is then selected with the selection means 46. In addition, an automatic circuit 48 is provided to automatically select configuration modules with the selection means. Furthermore, the controller 12 includes a test circuit 48, wherein the test circuit 48 is used to test the configuration of the assistance circuit 28 and recognize configuration modules that would competitively cause control commands 26 in modified control commands 34. A message is then output by the controller 12 if such competing configuration modules are selected as the current configuration for the assertion circuit 28. FIG. 3 shows a remote control 50, with which control commands 26 and selection commands 47 are generated and can be sent to the controller 12. The remote control 50 has a screen 52 which here comprises a touch-sensitive display 54 and corresponds to a tablet PC. The tablet PC is connected via a cable connection 56 to the other part of the remote control 50. The remote control 50 comprises input means 58, 60, which consist on the one hand of joysticks 58 for generating control commands and on the other hand of the graphically displayed quick select button 60 on the touch-sensitive display 54.

In particular, selection commands 47 can be generated with the keys 60 shown graphically, which are quick selection keys here. For example, a plurality of profiles 62, each comprising different sets of configuration modules 64, are displayed on the touch screen. By tapping a button 60 of a profile 62, the configuration modules contained are then sent as selection command 47 to the selection means 46 of the controller 12. This then causes the assistant circuit 28 to reconfigure so that it accepts the configuration modules selected with the button 60 as the current configuration. For this purpose, the selected configuration modules, for example, from the memory 40 or in the case that they are stored in the remote control 50, loaded from the remote control 50 in the assistant circuit 28. With the touch screen, a user may continue to create their own profiles 62 by selecting configuration modules 64 stored in memory 40 and sorted into different categories 66 and merging them into a profile 62.

The remote control 50 shown in Fig. 3 also serves to generate configuration modules by z. B. by means of the joysticks 58 predefined flight maneuvers are performed directly and recorded and then the flight maneuver is stored as a configuration module in the remote control 50 or in the memory 40 of the controller 12. These configuration modules 64, in the case that they are stored in the remote control 50, can also be transmitted to the controller 12 at a later time. Finally, FIG. 4 shows the basic steps of a method for controlling an unmanned aerial object 10, in particular with an exemplary embodiment of the controller 12 according to the invention. In this case, firstly the assistance circuit 28 is reconfigured 70. One or more configuration modules are reconfigured 64 selected by a user with a remote control 50 72 and the selected configuration modules corresponding selection commands 47 sent to selection means 46 of the control 74. The control means 46 then load 76 the selected configuration modules 64 in the assistance circuit 28 as a current configuration. Then, the remote control 50 generates control commands 78 from a user 78, transmits them to the controller 12 80, and receives them from the controller 12. The received control commands 26 are modified 84 with an assistance circuit 28 of the controller 12 in response to a configuration of the assistance circuit 28 84 and Figs modified control commands 34 sent by the controller 12 86 to actuators 14 to control.

FIG. 5 shows the unmanned aerial object 10, which has four environmental sensors (not shown). At a first position 88, the flying object 10 is switched to a mode for learning a new configuration module by flying ahead. For this purpose, a basic configuration module is loaded as a configuration in which the areas 90a to 90d, which are monitored by the four sensors, not shown, indicate distances that the flying object 10 has to comply with obstacles.

Now, the flying object 10 is directed in the direction 92 through the gap between two obstacles 94 and 96. After the flying object 10 has flown through between the obstacles 94, 96, this assumes that the distance to the obstacles 94, 96 given by the flight will continue to suffice in the future for such a flight between obstacles 94, 96 or past obstacles 94, 96 is and thus adjusts the monitored by the distance sensors areas 90a to 90d as shown at position 98.

The flying object 10 then passes through the obstacles 100, 102, 104, whereby in turn the regions 90a to 90d are adapted as shown at position 106. These areas 90a to 90d are now stored as a configuration module and can later be loaded directly into the assistance circuit 28 as a configuration.

FIG. 6 now shows the regions 90a to 90d resulting from the preflight according to FIG. 5 on the screen 54 of the remote control 50. Hereby, the user can now define the regions 90a to 90d or further parameters of the configuration module, in particular by means of graphics User interface, to be customized. FIG. 7 shows a further representation on the screen 54 of the remote control 50, by means of which further parameters can be adapted directly by numerical inputs.

Claims

claims

A controller (12) for an unmanned aerial object (10), in particular for a drone or a copter, such as a multicopter or a quadrocopter, wherein the controller (12) comprises an assistance circuit (28) and the controller (12) is equipped. tet is to receive control commands (26) for controlling the flying object (10), in particular via a radio interface (25), and to modify the received control commands (26) with the assistance circuit (28) as a function of a configuration of the assistance circuit (28) and modified control commands (34) to send, wherein the assistance circuit (28) has an interface (43) and the configuration of the assistance circuit (28) by a user with the interface (43) is reconfigurable.

2. The controller of claim 1, wherein the controller (12) comprises a memory (40), wherein in the memory (40) a plurality of different configuration modules for configuring the assistance circuit (28) are deposited and / or the controller (12) has a port (45 ) for a computer and / or a storage media reader to receive configuration modules from an external data source and / or

the controller (12) comprises an interface for downloading suitable configuration modules from the Internet directly or via a connected device, such as a remote control (50) connected to the Internet, of the flying object (10).

3. The controller of claim 1 or 2, wherein the controller (12) comprises selection means (46) and the selection means (46) one or more configuration modules are selectable from the memory (40) or the terminal (45) in the assistance circuit ( 28) can be loaded as the current configuration or accessed by the assistance circuit (28) as the current configuration.

The controller of claim 1 or 2, wherein the memory (40) comprises an access-protectable or non-erasable memory portion (41) for non-erasable configuration modules and / or a rewritable memory portion (43), generated by a user Configuration modules in the rewritable memory area or memory module (43) can be stored.

5. Control according to one of the preceding claims, wherein the controller (12) has a sensor interface (33) for connecting at least one sensor (30), for. B. a distance sensor, z. A radar sensor and / or a solid state lidar sensor, in particular for measuring the distance according to the transit time principle, or a stereoscopic camera, and for receiving sensor signals (32), in particular for detecting the surroundings and / or obstacles, wherein the assistance circuit (28) is set up by the sensor interface (33 ) to take into account received sensor data when modifying the received control commands (26) in dependence of the current configuration, ie in particular to generate from the sensor data dependent changed control commands.

6. Control according to one of the preceding claims, wherein the controller (12) has at least one control output (35) to output modified control commands (34) to at least one actuator (14) of the flying object (10) or its control (36).

7. Control according to one of the preceding claims, wherein the controller (12) comprises automatic selection means (48) depending on the sensor interface (33) received sensor signals (32) automatically stored in the memory (40) correction modules for the current configuration of Assistance circuit (28) to select.

8. A remote control, in particular a radio remote control (50), for controlling an unmanned aerial object (10) with a controller (12) according to one of claims 1 to 7, wherein the remote control (50) is arranged, selection commands (47) to the controller ( 12) for selecting configuration modules with a selection means (46) and / or to generate configuration modules and / or to the controller (12), in particular a memory (40) of the controller (12) to transmit.

The remote control of claim 8, wherein the remote control (50) includes input means (58, 60) and a display (54), wherein the input means (58, 60) include a plurality of combinations of different configuration modules associated with the display (54) Groups in profiles can be displayed, and / or individual configuration modules with the input means (58, 60) are selectable, wherein selection commands are generated with the remote control to provide the selected configuration modules for a configuration of the assistance circuit (28).

10. The remote control of claim 8 or 9, wherein with the user interface (58, 60) of the remote control (50) configuration modules are generated by trajectories that are flown and recorded during input with input means (58, 60) or by trajectories on the Screen (54) using the input means (58, 60) can be graphically specified by a user, can be predetermined by a user and the remote control (50) comprises a computing logic that is configured to convert the generated trajectories into at least one configuration module and transmit them to the controller or in the remote control (FIG. 50).

A method for controlling an unmanned aerial vehicle (10), in particular comprising a controller according to any one of claims 1 to 7, wherein the controller (12) receives control commands (26) for controlling the aircraft (10) and receives the received control commands (26). with an assistance circuit (28) of the controller (12) depending on a configuration of the assistance circuit (28) are changed and the modified control commands (34) from the controller (12) are sent, the configuration of the assistance circuit (28) by a user or automatically reconfigured.

The method of claim 1 1, wherein the controller (12) includes a sensor interface (33) for connecting at least one sensor (30), e.g. a distance sensor, in particular for measuring the distance according to the transit time principle, or a stereoscopic camera, and for receiving sensor signals (32), wherein the assistance circuit (28) receives sensor data from the sensor interface (33) and when modifying the received control commands ( 26) is taken into account as a function of the current configuration, ie in particular generates modified control commands that depend on the sensor data.

13. The method of claim 1 1 or 12, wherein with a remote control (50), in particular according to one of claims 8 to 10, in a learning mode of the controller (12) and the remote control (50) control commands (26) for controlling the flying object ( 10) from the remote control (50) to the controller (12) and the control commands (26) and / or from the control commands (26) resulting sensor data of the sensors (30) of the flying object (10) in the remote control (50) or the Control (12) are recorded, wherein the recorded commands and / or sensor data in the remote control (50) or the controller (12) converted into one or more configuration modules and in the memory (40) of the controller (12) or the remote control (50) be deposited or loaded into the assistance circuit (28).

14. The method according to any one of claims 1 1 to 13, wherein with the remote control (50) one or more stored in a remote control (50) configuration modules selected by means of input (58, 60), transmit the selected configuration modules to the controller (12) and the configuration received from the controller (12) onsmodule stored in a memory (40) or loaded into the assistance circuit (28).

The method of any one of claims 11 to 14, wherein the input means (58,60) provides quick select keys (60), and by selecting one of the quick select keys (60) individual configuration modules or groups of configuration modules are selected and as a select command (47) are transmitted to the selection means (46) of a controller (12), so that the selected configuration modules of the assistance circuit (28) are provided as current configuration.

16. The method according to claim 1, wherein after a system start of the unmanned flying object and / or the remote control, the configuration modules selected with the remote control and the current configuration of the assistance circuit defined by the configuration modules ), wherein an error signal is output in the event of a difference and / or the configuration of the assistance circuit (28) defined by the configuration modules is automatically checked for competing properties, and an error signal and / or an indication signal is output in case of existing competing properties.

17. flying object with a controller according to one of claims 1 to 8 and at least one actuator (14) and a sensor (30), in particular for carrying out a method according to any one of claims 1 1 to 16.