WO2017215269A1 - Method and apparatus for acquiring control signal - Google Patents

Abstract

A method and an apparatus for acquiring a control signal, the method comprising: acquiring position information of a device to be controlled (101); acquiring preset path information of the device to be controlled (102); on the basis of the position information and preset path information of the device to be controlled, obtaining control parameter information (103); analysing the control parameter information to obtain a first control signal, and sending the first control signal to the device to be controlled, such that the device to be controlled obtains a second control signal on the basis of the first control signal, and control of the device to be controlled is implemented using the second control signal (104).

Description

Control signal acquisition method and device Technical field

The present invention relates to signal control technologies in the field of communications, and in particular, to a control signal acquisition method and apparatus.

Background technique

With the acceleration of the development of the unmanned aerial vehicle industry, the use of unmanned aerial vehicles is becoming more and more extensive, such as aerial photography and express delivery. At the same time, the intelligent mobile terminal technology of the communication industry is also developing rapidly, and the intelligent mobile terminal is updated. The speed is very fast; based on the intelligent mobile terminal has access to the Internet to obtain the coordinates of the Global Position System (GPS) coordinates, some smart mobile terminals with geomagnetic sensors also have a compass function; in order to make better use of intelligence In the mobile terminal, there is a technical solution for controlling an unmanned aerial vehicle by using an intelligent mobile terminal in the prior art: one solution is to use a mobile phone remote control to send a control command to the drone, thereby controlling the drone to transmit the courier. Another solution is to use the voice recognition function of the intelligent mobile terminal to send the user's instructions to the drone, thereby implementing the control of the drone.

However, the solutions in the prior art all require the drone to acquire its own location information, speed information, etc., and the acquisition of the above information needs to integrate the corresponding sensor module in the drone, and the drone needs to be targeted. The design causes the internal structure of the drone to be more complicated, which increases the design cost; moreover, the maintenance is more difficult and the maintenance cost is increased.

Summary of the invention

In order to solve the above technical problem, the embodiment of the present invention is to provide a control signal acquisition method and device, which solves the problem that the internal structure of the UAV is complicated in the prior art, reduces design cost and maintenance cost, and reduces maintenance difficulty.

To achieve the above objective, the technical solution of the embodiment of the present invention is implemented as follows:

A control signal acquisition method, the method comprising:

Obtaining location information of the device to be controlled;

Obtaining preset path information of the device to be controlled;

Obtaining control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled;

Performing analysis processing on the control parameter information to obtain a first control signal, and transmitting the first control signal to the device to be controlled, so that the device to be controlled obtains a second control signal based on the first control signal And controlling the device to be controlled by using the second control signal.

Optionally, the obtaining, according to the location information of the to-be-controlled device and the preset path information of the device to be controlled, obtaining control parameter information, including:

Analyzing the location information of the device to be controlled, and obtaining a current running speed, a current running direction, and a current height of the device to be controlled;

Analyzing the preset path information, and obtaining a path point that the device to be controlled currently needs to travel in the preset path information;

Comparing the current running speed, the current running direction, and the current height of the device to be controlled with the information of the path point currently required to travel, the control parameter information is obtained.

Optionally, the analyzing the location information of the device to be controlled, and obtaining the current running speed, the current running direction, and the current height of the device to be controlled, including:

The location information of the device to be controlled is obtained, and the current running direction, the current height, and the first location information of the device to be controlled are obtained; wherein the first location information is current location information of the device to be controlled;

Acquiring the second location information of the device to be controlled; wherein the second location information is located before the first location on the travel path of the device to be controlled, and the device to be controlled is separated by a preset time Information on the location;

And determining, according to the first location information and the second location information, a current running speed of the device to be controlled.

Optionally, the analyzing the preset path information to obtain a path point that the device to be controlled needs to travel in the preset path information, including:

Obtaining an actual running path of the device to be controlled;

Comparing the actual running path with the preset path in the preset path information to obtain a path point that the device to be controlled currently needs to travel.

Optionally, the analyzing the control parameter information to obtain a first control signal, and sending the first control signal to the device to be controlled, includes:

Converting the control parameter information into the first control signal that can be identified by the signal output interface of the terminal device;

And transmitting, by the signal output interface, the first control signal to the device to be controlled.

A control signal acquisition method, the method comprising:

Receiving a first control signal sent by the terminal device;

Performing analysis processing on the first control signal to obtain a second control signal;

An operation corresponding to the second control signal is performed in response to the second control signal.

Optionally, the analyzing, processing the first control signal to obtain the second control signal includes:

Performing filtering and amplitude extraction processing on the first control signal to acquire a voltage signal matched with the device to be controlled, to obtain the second control signal.

A terminal device includes: a first acquiring unit, a second acquiring unit, a first processing unit, and a second processing unit; wherein:

The first acquiring unit is configured to acquire location information of the device to be controlled;

The second obtaining unit is configured to acquire preset path information of the device to be controlled;

The first processing unit is configured to obtain control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled;

The second processing unit is configured to perform analysis processing on the control parameter information to obtain a first control signal, and send the first control signal to the device to be controlled, so that the device to be controlled is based on the The first control signal obtains a second control signal and uses the second control signal to implement control of the device to be controlled.

Optionally, the first processing unit includes: a first analysis module, a second analysis module, and a first processing module; wherein:

The first analysis module is configured to analyze location information of the device to be controlled, and obtain a current running speed, a current running direction, and a current height of the device to be controlled;

The second analysis module is configured to analyze the preset path information, and obtain a path point that the device to be controlled needs to travel in the preset path information;

The first processing module is configured to compare information about a current running speed, a current running direction, and a current height of the device to be controlled with the path point currently required to travel, to obtain the control parameter information.

Optionally, the first analysis module is configured to:

The location information of the device to be controlled is obtained, and the current running direction, the current height, and the first location information of the device to be controlled are obtained; wherein the first location information is current location information of the device to be controlled;

Acquiring the second location information of the device to be controlled; wherein the second location information is located before the first location on the travel path of the device to be controlled, and the device to be controlled is separated by a preset time Information on the location;

And determining, according to the first location information and the second location information, a current running speed of the device to be controlled.

Optionally, the second analysis module is configured to:

Obtaining an actual running path of the device to be controlled;

Comparing the actual running path with the preset path in the preset path information to obtain a path point that the device to be controlled currently needs to travel.

Optionally, the second processing unit includes: a second processing module and a sending module; wherein:

The second processing module is configured to convert the control parameter information into the first control signal that can be identified by a signal output interface of the terminal device;

The sending module is configured to send the first control signal to the device to be controlled through the signal output interface.

A device to be controlled, the device to be controlled includes: a receiving unit, a third processing unit, and a fourth processing unit; wherein:

The receiving unit is configured to receive a first control signal sent by the terminal device;

The third processing unit is configured to perform analysis processing on the first control signal to obtain a second control signal;

The fourth processing unit is configured to perform an operation corresponding to the second control signal in response to the second control signal.

Optionally, the third processing unit is configured to:

Performing filtering and amplitude extraction processing on the first control signal to acquire a voltage signal matched with the device to be controlled, to obtain the second control signal.

The method and device for acquiring a control signal provided by the embodiment of the present invention can obtain the location information of the device to be controlled and the preset path information of the device to be controlled by the terminal device, based on the location information of the device to be controlled and the preset path of the device to be controlled. The information is obtained, and the control parameter information is obtained, and then the control parameter information is analyzed and processed to obtain a first control signal, and the first control signal is sent to the device to be controlled, and the control device receives the first control signal sent by the terminal device, and then performs processing and analysis. a second control signal, the device to be processed is responsive to the second control signal, and performs an operation corresponding to the second control signal, so that the terminal device can directly obtain control information related to the operation of the drone and send the control information to the unmanned The drone receives and recognizes the control information sent by the terminal device, obtains the corresponding control signal, realizes the flight control of the drone, solves the complicated internal structure of the drone, and reduces the design cost and maintenance cost. At the same time, it reduces the difficulty of maintenance.

DRAWINGS

FIG. 1 is a schematic flowchart of a method for acquiring a control signal according to an embodiment of the present invention;

2 is a schematic flowchart of another method for acquiring a control signal according to an embodiment of the present invention;

FIG. 3 is a schematic flowchart of still another method for acquiring a control signal according to an embodiment of the present disclosure;

4 is a schematic flowchart of still another method for acquiring a control signal according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of calculating a heading correction angle according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of calculating a corrected pitch angle according to an embodiment of the present invention; FIG.

FIG. 7 is a schematic structural diagram of a system structure of a smart phone and a drone according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of another terminal device according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of still another terminal device according to an embodiment of the present disclosure;

FIG. 11 is a schematic structural diagram of a device to be controlled according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings.

An embodiment of the present invention provides a method for acquiring a control signal. Referring to FIG. 1, the method includes the following steps:

Step 101: Obtain location information of the device to be controlled.

Specifically, obtaining the location information of the device to be controlled in step 101 can be implemented by the terminal device. The location information obtained by the terminal device is the current location information of the device to be controlled, and the location information may specifically include information about the current location coordinate information, the current motion direction, the current running speed, and the like of the device to be controlled.

Step 102: Obtain preset path information of the device to be controlled.

Specifically, obtaining the preset path information of the device to be controlled in step 102 can be implemented by the terminal device. The preset path information of the device to be controlled may be set by the user according to the route that the device to be controlled needs to travel, the departure place and the destination of the device to be controlled, and the preset path information may be different according to the specific implementation scenario; The information of each path point in the preset path.

Step 103: Obtain control parameter information based on location information of the device to be controlled and preset path information of the device to be controlled.

Specifically, step 103 is based on the location information of the device to be controlled and the preset path information of the device to be controlled, and the obtained control parameter information may be implemented by the terminal device. The terminal device can obtain specific location information of the device to be controlled according to the obtained location information of the device to be controlled, and then compare the specific location information of the device to be controlled with the preset path information that is preset, to obtain control parameters capable of controlling the device to be controlled. information.

Step 104: Perform analysis processing on the control parameter information to obtain a first control signal, and send the first control signal to the device to be controlled, so that the device to be controlled obtains the second control signal based on the first control signal and implements the second control signal. Control of the device to be controlled.

Specifically, in step 104, the control parameter information is analyzed and processed to obtain a first control signal, and the first control signal is sent to the device to be controlled, which may be implemented by the terminal device. The terminal device parses the control parameter information, converts the control parameter information into a signal that can be recognized by the signal output interface of the terminal device, and transmits the obtained signal to the device to be controlled through the signal output interface.

The method for acquiring control signals provided by the embodiment of the present invention obtains control parameter information based on location information and preset path information by acquiring location information of the device to be controlled and preset path information of the device to be controlled, and then performing control parameter information on the control parameter information. The analyzing process obtains the first control signal, and sends the first control signal to the device to be controlled, so that the device to be controlled obtains the second control signal based on the first control signal and uses the second control signal to implement control of the device to be controlled, such that The terminal device can directly obtain the control information related to the operation of the drone and send the control information to the drone, so that the drone operates based on the obtained control information, solving the complicated internal structure of the drone and reducing the design. Cost and maintenance costs while reducing maintenance.

An embodiment of the present invention provides a method for acquiring a control signal. Referring to FIG. 2, the method includes the following steps:

Step 201: Receive a first control signal sent by the terminal device.

Specifically, the first control signal sent by the terminal device in step 201 can be implemented by the device to be controlled; the first control signal in the embodiment of the present invention is the same as the first control signal in the foregoing embodiment, and the description thereof can be referred to The description in the embodiments is not described here.

Step 202: Perform analysis processing on the first control signal to obtain a second control signal.

Specifically, step 202 analyzes the first control signal to obtain a second control signal that can be controlled by The device is implemented; the second control signal is a signal that can be recognized by the device to be controlled, and can be directly processed by the device to be controlled; the device to be controlled can perform signal extraction on the first control signal, and obtain the required information from the first control signal. The signal of its operation can be directly manipulated to obtain a second control signal.

Step 203: Perform an operation corresponding to the second control signal in response to the second control signal.

Specifically, in step 203, in response to the second control signal, performing an operation corresponding to the second control signal may be implemented by the device to be controlled. The device to be controlled may perform an operation corresponding to the second control signal according to the manipulation instruction of the second control signal to implement control of the specific operation of the device to be controlled.

The control signal acquiring method provided by the embodiment of the present invention receives the first control signal sent by the terminal device, analyzes and processes the first control signal to obtain a second control signal, and then executes the second control signal in response to the second control signal. Corresponding operation, in this way, the terminal device can directly obtain the control information related to the operation of the drone and send the control information to the drone, so that the drone operates based on the obtained control information, thereby solving the complicated internal structure of the drone The problem is reduced design and maintenance costs, while reducing maintenance.

An embodiment of the present invention provides a method for acquiring a control signal. Referring to FIG. 3, the method includes the following steps:

Step 301: The terminal device acquires location information of the device to be controlled.

Specifically, the terminal device may be fixed to the device to be controlled, and the terminal device and the device to be controlled are connected to each other, for example, may be connected to the device to be controlled through a connection line; in this case, the device to be controlled and the terminal device may be considered as Integrated, so the location information of the device to be controlled can be obtained by acquiring the location information of the terminal device; wherein the terminal control device can have a barometer, a gravity sensor, a GPS, a gyroscope compass, etc.; the location information of the device to be controlled can pass The terminal device's barometer, gravity sensor, GPS, gyroscope compass, etc. are obtained.

Step 302: The terminal device acquires preset path information of the device to be controlled.

Specifically, the terminal device may further include a path planning module, which may preset the running path of the device to be controlled according to the departure point and the destination of the device to be controlled, and determine that the device to be controlled is in the preset path. Location information for each waypoint. The path point location information may include information such as azimuth coordinates of the path point, an operating speed of the device to be controlled, and a running height of the device to be controlled.

Step 303: The terminal device obtains control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled.

Specifically, the terminal device may include a flight control module, and the flight control module may acquire preset path information from the path planning module, and obtain location information of the device to be controlled from the barometer, the gravity sensor, the GPS, and the gyroscope compass. Then, the location information of the device to be controlled and the preset path information are compared, and finally the control parameter information capable of controlling the device to be controlled is obtained.

Step 304: The terminal device analyzes the control parameter information to obtain a first control signal, and sends the first control signal to the device to be controlled.

Specifically, the terminal device further includes a signal output module, and the signal output module may be an audio signal output interface in the terminal device, and the signal output module may convert the control parameter information into an interface with the audio signal output interface. The sinusoidal signal having a plurality of frequencies and amplitudes is the first control signal, and the obtained sinusoidal signal is sent to the device to be controlled through the audio signal output interface.

Step 305: The device to be controlled receives the first control signal sent by the terminal device.

Specifically, the device to be controlled includes a signal processing device, and the signal processing device can receive the sinusoidal signal sent by the terminal device.

Step 306: The device to be controlled analyzes the first control signal to obtain a second control signal.

Specifically, the signal processing device in the device to be controlled performs filtering and amplitude extraction on the received sinusoidal signal having multiple frequencies and amplitudes to obtain a second control signal capable of directly controlling the device to be controlled.

Step 307: The device to be controlled performs an operation corresponding to the second control signal in response to the second control signal.

It should be noted that the description of the same steps or concepts in the other embodiments may be referred to in other embodiments, and details are not described herein again.

The method for acquiring a control signal provided by the embodiment of the present invention, the terminal device acquires location information of the device to be controlled and preset path information of the device to be controlled, and obtains control parameter information based on the location information and the preset path information, and then the control parameter information Performing an analysis process to obtain a first control signal, and transmitting the first control signal to the device to be controlled, the device to be controlled receiving the first control signal and performing analysis processing to obtain a second control signal, and then responding to and executing the corresponding to the second control signal Operation, in this way, the terminal device can directly obtain the control information related to the operation of the drone and send the control information to the drone, so that the drone operates based on the obtained control information, thereby solving the problem that the internal structure of the drone is complicated. Reduces design and maintenance costs while reducing maintenance.

An embodiment of the present invention provides a method for acquiring a control signal. Referring to FIG. 4, the method includes the following steps:

Step 401: The terminal device acquires location information of the device to be controlled.

Step 402: The terminal device acquires preset path information of the device to be controlled.

Step 403: The terminal device analyzes the location information of the device to be controlled, and obtains a current running speed, a current running direction, and a current height of the device to be controlled.

Specifically, the step 403 analyzes the location information of the device to be controlled, and obtains the current running speed, the current running direction, and the current height of the device to be controlled by using the following manners:

Step 403a: The terminal device analyzes location information of the device to be controlled, and obtains a current running direction, a current height, and first location information of the device to be controlled.

The first location information is current location information of the device to be controlled.

Specifically, the device to be controlled is a drone, and the terminal device is a smart phone as an example. The location information may specifically include: a current position coordinate of the drone, a current heading angle, a current pitch angle, a current running speed, and a current flight. Altitude. The current heading of the drone can be obtained by the gyroscope compass in the smartphone. The current pitch angle of the drone can be obtained by the gravity sensor in the smartphone. The current flight altitude of the drone can be measured by the air pressure in the smartphone. The current position coordinates of the drone can be obtained by GPS in the smartphone.

Step 403b: The terminal device acquires second location information of the device to be controlled.

The second location information is information that is located before the first location on the travel path of the device to be controlled, and that is located at a preset time interval.

Specifically, the path information of the drone that has flowed during the flight according to the preset path is saved in the smart phone, and includes information of each path point with a preset time interval, and the current location of the drone is obtained. The position of the previous path point of the preset time is the second position information of the drone.

Step 403c: The terminal device obtains a current running speed of the device to be controlled based on the first location information and the second location information.

Specifically, according to the first position information and the second position information of the drone, the flight distance of the drone can be determined within a preset time, and then the current flight speed of the drone can be obtained according to the speed and displacement formula.

Step 404: The terminal device analyzes the preset path information, and obtains a path point that the device to be controlled currently needs to travel in the preset path information.

Specifically, the step 404 analyzes the preset path information, and the path point that the device to be controlled needs to travel in the preset path information can be implemented by:

Step 404a: The terminal device acquires an actual running path of the device to be controlled.

Specifically, the actual running path of the drone may be stored in the smart phone.

Step 404b: The terminal device compares the actual running path with the preset path in the preset path information, and obtains a path point that the device to be controlled currently needs to travel.

Specifically, all the path points in the actual path that the UAV currently flies can be obtained, and compared with the preset path points in the preset path information, to obtain the current actual flight of the UAV in the preset path point. The last path point determines that the first path point that the drone has not yet flown after the last path point in the preset path is the path point that the drone will fly.

Step 405: The terminal device compares the current running speed, the current running direction, and the current height of the to-be-controlled device with the information of the path point currently required to travel, to obtain control parameter information.

Specifically, the target path point to be reached by the drone is mapped to the unmanned aerial vehicle as the origin as shown in FIG. 5, the abscissa is the east-west direction, and the ordinate is the north-south coordinate system; To calculate the heading correction angle of the drone: point B is the point at which the drone will fly to map to the point in the coordinate system, and the OA direction is the current heading of the drone, which is obtained by the gyroscope compass in the smartphone. The current heading angle of the man-machine is ∠YOA; the heading coordinate of the point B and the trigonometric function can obtain the heading angle of the drone at the target path point to be reached as ∠YOB; control the heading correction angle of the drone rudder For ∠A0B, ∠A0B can be calculated using the formula ∠AOB=∠YOB-∠YOA.

At the same time, the target path point to be reached by the drone is mapped to the three-dimensional coordinates of the UAV as the origin, the X-axis is the east-west direction, the Y-axis is the north-south direction, and the Z-axis is the vertical height direction as shown in FIG. In the system; the pitch correction angle of the drone can be calculated according to Fig. 6: point B is the point at which the target path point to be reached by the drone is mapped to the point in the coordinate system, and the OA direction is the current heading of the drone, point C It is the vertical projection point of point B in the plane of flight height of the drone, and OC is the projection point of point B in the plane of the flying height of the drone to the point O of the drone. The shadow distance can be converted into a preset altitude according to the terrain information stored in the preset path module or the terrain information acquired from the cloud, and then the target path point to be reached by the drone The altitude is subtracted from the current altitude of the drone, and the altitude at which the drone reaches the target path point needs to be corrected; therefore, according to the formula ∠BOC=arc(tan(BC/OC)), the drone reaches the target from the O point. The pitch angle of the path point B is ∠BOC, and then the pitch correction angle ∠BOA is calculated according to ∠BOA=∠BOC-∠AOC, and ∠AOC is the current pitch angle of the drone. The UAV propeller speed can be calculated from the preset flight speed and current flight speed at the path point in the path planning module.

Step 406: The terminal device converts the control parameter information into a first control signal that can be identified by the signal output interface of the terminal device.

Specifically, the signal output interface may be a headphone interface in the smart phone, and the control parameter information may be converted according to a control signal frequency corresponding to each effector in the drone; for example, as shown in Table 1, each The effector can use a control signal of one or two frequencies to make a corresponding operation. Among them, the control signal with a frequency of 2khz can be used to control the elevator to make the drone fly upwards, and the control signal with the frequency of 3khz is used to control the elevator to make the drone fly downward; the control signal with the frequency of 4khz can be used to control the rudder to make the drone Flying to the left, using a control signal with a frequency of 5khz to control the rudder to fly the drone to the right; the control signal with a frequency of 6khz can be used to control the left aileron of the left aileron to rotate upward, using a control signal with a frequency of 7khz Controlling the left aileron rotates the left aileron of the drone downward; the right aileron can be controlled to rotate the right aileron of the drone upward using a control signal with a frequency of 8khz, and the right aileron is controlled by a control signal with a frequency of 9khz. The right aileron of the drone is rotated downward; the drone is controlled by a control signal of one frequency, and the control signal of the frequency of 10 khz can be used to control the propeller speed of the drone, and the flight speed of the drone is performed. control.

Table 1

After each effector is assigned a corresponding control signal frequency, the control signal corresponding to each effector is converted by the control signal frequency to obtain a sine wave signal, which is a first control signal that can be directly used by the drone. Take the drone rudder as an example: Assume that the maximum rotation angle of the UAV rudder is 40°, and the maximum output voltage of the headphone interface of the smartphone is 2v, then the segmentation function in the formula (1) can be used to represent the headphone interface. The output of a single frequency signal used to control the rudder of the drone.

Where α is the heading correction angle calculated by the terminal device, when the heading of the drone is turned left, α<0; when the heading of the drone is turning right, α≥0; wherein, in Table 1, The control signal frequency of each effector is for example only Explain, do not make any restrictions.

The method of converting the control parameters of the elevator, the aileron and the propeller can be referred to the method of converting the rudder control parameters, and will not be described here. Among them, the maximum rotation angle of the elevator and the aileron up or down and the maximum rotation speed of the propeller are determined by the mechanism of the drone itself, and the maximum output voltage of the earphone interface of the smartphone is determined by the smartphone itself.

Step 407: The terminal device sends the first control signal to the device to be controlled through the signal output interface.

Specifically, the smart phone directly uses its own earphone interface to transmit a sine wave signal that the drone can directly use to the drone.

Step 408: The device to be controlled receives the first control signal sent by the terminal device.

The signal processing device carried by the drone and the earphone port of the smart phone can be connected by wires.

Step 409: The device to be controlled performs filtering and amplitude extraction processing on the first control signal, and acquires a voltage signal matched with the device to be controlled to obtain a second control signal.

Specifically, the signal processing device of the UAV can filter and receive the sine wave signal received by the filter to obtain a voltage signal matching the effector of the UAV, that is, the second control signal. For example, a narrowband filter bank can be used to filter and amplitude extract the sine wave information to obtain a control signal corresponding to each effector in the drone. The effector of the drone can include: a rudder, an elevator, an aileron, Propellers, etc.

Step 410: The device to be controlled responds to the second control signal, and performs an operation corresponding to the second control signal.

Specifically, the control signal corresponding to each effector is sent to the motor, and the motor controls the steering gear and the propeller of the drone to perform corresponding response actions; wherein the steering gear can control the rotation of the rudder, the elevator, and the aileron Angle, the ultimate control of the flight path and flight speed of the drone.

The first control signal and the second control signal in the above embodiments are both analog signals; the first control signal and the second control signal in the present invention may also be digital signals. Specifically, the signal output module in the terminal device can also convert the control parameter information into a sinusoidal signal, and then use a frequency shift keying (FSK) technology to process the corresponding frequency shift obtained through the earphone interface of the terminal device. The keying signal is sent to the signal processing device of the device to be controlled, and the second control signal of the device to be controlled is demodulated. The remaining steps are the same as those in the above embodiment, and are not described here.

The device to be controlled in the present invention is not limited to a drone, but may be a device that requires navigation control, such as an unmanned aerial vehicle or a remote control car. The terminal device in the embodiment of the present invention may be a smart phone after the user is updated, thereby greatly saving production cost and maximizing resource utilization.

In the above embodiment, the connection structure between the terminal device and the device to be controlled is as shown in FIG. 7. The flight control module in the smart phone receives control parameter information obtained by the GPS, the gravity sensor, the barometer, the gyroscope compass, and the path planning module. And processing is sent to the signal output module, and then the signal output module converts the control parameter information into a sinusoidal signal and sends it to the signal processing device of the drone, and the signal processing device extracts the second control signal corresponding to each effector and sends it to each Effector, then each effector responds and performs a second control signal pair The operation should be.

It should be noted that the description of the same steps or concepts in the other embodiments may be referred to in other embodiments, and details are not described herein again.

The method for acquiring a control signal provided by the embodiment of the present invention, the terminal device acquires location information of the device to be controlled and preset path information of the device to be controlled, and obtains control parameter information based on the location information and the preset path information, and then the control parameter information Performing an analysis process to obtain a first control signal, and transmitting the first control signal to the device to be controlled, the device to be controlled receiving the first control signal and performing analysis processing to obtain a second control signal, and then responding to and executing the corresponding to the second control signal Operation, in this way, the terminal device can directly obtain the control information related to the operation of the drone and send the control information to the drone, so that the drone operates based on the obtained control information, thereby solving the problem that the internal structure of the drone is complicated. Reduces design and maintenance costs while reducing maintenance.

The embodiment of the present invention provides a terminal device 5, which can be applied to a method for acquiring a control signal according to the embodiment of the present invention. Referring to FIG. 8, the terminal device includes: a first acquiring unit 51, The second obtaining unit 52, the first processing unit 53, and the second processing unit 54, wherein:

The first obtaining unit 51 is configured to acquire location information of the device to be controlled.

The second obtaining unit 52 is configured to acquire preset path information of the device to be controlled.

The first processing unit 53 is configured to obtain control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled.

The second processing unit 54 is configured to perform analysis processing on the control parameter information to obtain a first control signal, and send the first control signal to the device to be controlled, so that the device to be controlled obtains the second control signal based on the first control signal and adopts The second control signal effects control of the device to be controlled.

Specifically, referring to FIG. 9, the first processing unit 51 includes: a first analysis module 511, a second analysis module 512, and a first processing module 513, where:

The first analysis module 511 is configured to analyze location information of the device to be controlled, and obtain a current running speed, a current running direction, and a current height of the device to be controlled.

Further, the first analysis module 511 is specifically configured to perform the following steps:

The location information of the device to be controlled is analyzed, and the current running direction, current height, and first location information of the device to be controlled are obtained.

The first location information is current location information of the device to be controlled.

Obtain second location information of the device to be controlled.

The second location information is information that is located before the first location on the travel path of the device to be controlled, and that is located at a preset time interval.

The current running speed of the device to be controlled is obtained based on the first location information and the second location information.

The second analysis module 512 is configured to analyze the preset path information, and obtain a path point that the device to be controlled currently needs to travel in the preset path information.

Specifically, the second analyzing module 512 is specifically configured to perform the following steps:

Obtain the actual running path of the device to be controlled.

Compare the actual running path with the preset path in the preset path information to obtain the path point that the device to be controlled currently needs to travel.

The first processing module 513 is configured to compare information about a current running speed, a current running direction, and a current height of the device to be controlled with a path point currently required to travel, to obtain control parameter information.

Specifically, referring to FIG. 10, the second processing unit 54 includes: a second processing module 541 and a sending module 542, where:

The second processing module 541 is configured to convert the control parameter information into a first control signal that can be identified by the signal output interface of the terminal device.

The sending module 542 is configured to send the first control signal to the device to be controlled through the signal output interface.

It should be noted that, in the process of the interaction between the units and the modules in this embodiment, the interaction process in the control signal acquisition method provided by the embodiment corresponding to FIG. 1 and FIG. 3 is not described herein.

The terminal device provided by the embodiment of the present invention obtains control parameter information based on location information and preset path information by acquiring location information of the device to be controlled and preset path information of the device to be controlled, and then analyzing and processing the control parameter information. Obtaining a first control signal, and sending the first control signal to the device to be controlled, so that the device to be controlled obtains the second control signal based on the first control signal and uses the second control signal to implement control of the device to be controlled, such that the terminal device The control information related to the operation of the drone can be directly obtained and sent to the drone, so that the drone operates based on the obtained control information, solving the complicated internal structure of the drone, reducing the design cost and Maintenance costs while reducing maintenance.

The embodiment of the present invention provides a device to be controlled, which can be applied to a method for acquiring a control signal according to the embodiment of the present invention. Referring to FIG. 11, the terminal device includes: a receiving unit 61, and a third processing. Unit 62 and fourth processing unit 63, wherein:

The receiving unit 61 is configured to receive a first control signal sent by the terminal device.

The third processing unit 62 is configured to perform an analysis process on the first control signal to obtain a second control signal.

The fourth processing unit 63 is configured to control, in response to the second control signal, the device to be controlled to perform an operation corresponding to the second control signal.

Specifically, the third processing unit 62 is further configured to perform the following steps:

The first control signal is filtered and amplitude extracted, and a voltage signal matched with the device to be controlled is obtained to obtain a second control signal.

It should be noted that, in the interaction process between the units in this embodiment, the interaction process in the control signal acquisition method provided by the embodiment corresponding to FIG. 2 to FIG. 4 may be referred to, and details are not described herein again.

The device to be controlled provided by the embodiment of the present invention receives the first control signal sent by the terminal device, performs processing analysis to obtain a second control signal, and then responds to and performs an operation corresponding to the second control signal, so that the UAV pair terminal The control information sent by the device is received and recognized, and the corresponding control signal is obtained, which realizes the flight control of the drone, solves the problem that the internal structure of the drone is complicated and difficult to maintain, and reduces the design cost and maintenance. Cost, while reducing maintenance difficulty.

In an actual application, the first acquiring unit 51, the second obtaining unit 52, the first processing unit 53, the first analyzing module 511, the second analyzing module 512, the first processing module 513, the second processing unit 54, and the first processing unit The two processing modules 541, the transmitting module 542, the receiving unit 61, the third processing unit 62, and the fourth processing unit 63 may each be a central processing unit (CPU) or a microprocessor (Micro Processor) located in the wireless data transmitting device. Unit, MPU), Digital Signal Processor (DSP) or Field Programmable Gate Array (FPGA).

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

Industrial applicability

The invention is applicable to the field of communication, and is used for realizing flight control of the drone, solving the complicated internal structure of the drone, reducing the design cost and the maintenance cost, and reducing the maintenance difficulty.

Claims (14)

1. A control signal acquisition method, the method comprising:

   Obtaining location information of the device to be controlled;

   Obtaining preset path information of the device to be controlled;

   Obtaining control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled;

   Performing analysis processing on the control parameter information to obtain a first control signal, and transmitting the first control signal to the device to be controlled, so that the device to be controlled obtains a second control signal based on the first control signal And controlling the device to be controlled by using the second control signal.
2. The method according to claim 1, wherein the obtaining the control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled includes:

   Analyzing the location information of the device to be controlled, and obtaining a current running speed, a current running direction, and a current height of the device to be controlled;

   Analyzing the preset path information, and obtaining a path point that the device to be controlled currently needs to travel in the preset path information;

   Comparing the current running speed, the current running direction, and the current height of the device to be controlled with the information of the path point currently required to travel, the control parameter information is obtained.
3. The method according to claim 2, wherein the analyzing the location information of the device to be controlled, obtaining the current running speed, the current running direction and the current height of the device to be controlled, including:

   The location information of the device to be controlled is obtained, and the current running direction, the current height, and the first location information of the device to be controlled are obtained; wherein the first location information is current location information of the device to be controlled;

   Acquiring the second location information of the device to be controlled; wherein the second location information is located before the first location on the travel path of the device to be controlled, and the device to be controlled is separated by a preset time Information on the location;

   And determining, according to the first location information and the second location information, a current running speed of the device to be controlled.
4. The method according to claim 2, wherein the analyzing the preset path information to obtain a path point that the device to be controlled currently needs to travel in the preset path information includes:

   Obtaining an actual running path of the device to be controlled;

   Comparing the actual running path with the preset path in the preset path information to obtain a path point that the device to be controlled currently needs to travel.
5. The method according to claim 1, wherein the analyzing and processing the control parameter information to obtain a first control signal, and transmitting the first control signal to the device to be controlled comprises:

   Converting the control parameter information into the first control signal that can be identified by the signal output interface of the terminal device;

   And transmitting, by the signal output interface, the first control signal to the device to be controlled.
6. A control signal acquisition method, the method comprising:

   Receiving a first control signal sent by the terminal device;

   Performing analysis processing on the first control signal to obtain a second control signal;

   An operation corresponding to the second control signal is performed in response to the second control signal.
7. The method according to claim 6, wherein the analyzing the first control signal to obtain a second control signal comprises:

   Performing filtering and amplitude extraction processing on the first control signal to acquire a voltage signal matched with the device to be controlled, to obtain the second control signal.
8. A terminal device includes: a first acquiring unit, a second acquiring unit, a first processing unit, and a second processing unit; wherein:

   The first acquiring unit is configured to acquire location information of the device to be controlled;

   The second obtaining unit is configured to acquire preset path information of the device to be controlled;

   The first processing unit is configured to obtain control parameter information based on the location information of the device to be controlled and the preset path information of the device to be controlled;

   The second processing unit is configured to perform analysis processing on the control parameter information to obtain a first control signal, and send the first control signal to the device to be controlled, so that the device to be controlled is based on the The first control signal obtains a second control signal and uses the second control signal to implement control of the device to be controlled.
9. The device according to claim 8, wherein the first processing unit comprises: a first analysis module, a second analysis module, and a first processing module; wherein:

   The first analysis module is configured to analyze location information of the device to be controlled, and obtain a current running speed, a current running direction, and a current height of the device to be controlled;

   The second analysis module is configured to analyze the preset path information, and obtain a path point that the device to be controlled needs to travel in the preset path information;

   The first processing module is configured to compare information about a current running speed, a current running direction, and a current height of the device to be controlled with the path point currently required to travel, to obtain the control parameter information.
10. The device of claim 9, wherein the first analysis module is configured to:

    The location information of the device to be controlled is obtained, and the current running direction, the current height, and the first location information of the device to be controlled are obtained; wherein the first location information is current location information of the device to be controlled;

    Acquiring the second location information of the device to be controlled; wherein the second location information is located before the first location on the travel path of the device to be controlled, and the device to be controlled is separated by a preset time Information on the location;

    And determining, according to the first location information and the second location information, a current running speed of the device to be controlled.
11. The apparatus of claim 9, wherein the second analysis module is configured to:

    Obtaining an actual running path of the device to be controlled;

    Comparing the actual running path with the preset path in the preset path information to obtain a path point that the device to be controlled currently needs to travel.
12. The device of claim 8, wherein the second processing unit comprises: a second processing module and a transmitting module; wherein:

    The second processing module is configured to convert the control parameter information into the first control signal that can be identified by a signal output interface of the terminal device;

    The sending module is configured to send the first control signal to the device to be controlled through the signal output interface.
13. A device to be controlled, the device to be controlled includes: a receiving unit, a third processing unit, and a fourth processing unit; wherein:

    The receiving unit is configured to receive a first control signal sent by the terminal device;

    The third processing unit is configured to perform analysis processing on the first control signal to obtain a second control signal;

    The fourth processing unit is configured to perform an operation corresponding to the second control signal in response to the second control signal.
14. The apparatus of claim 13 wherein said third processing unit is configured to:

    Performing filtering and amplitude extraction processing on the first control signal to acquire a voltage signal matched with the device to be controlled, to obtain the second control signal.

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