WO2018018632A1 - Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote - Google Patents

Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote Download PDF

Info

Publication number
WO2018018632A1
WO2018018632A1 PCT/CN2016/092423 CN2016092423W WO2018018632A1 WO 2018018632 A1 WO2018018632 A1 WO 2018018632A1 CN 2016092423 W CN2016092423 W CN 2016092423W WO 2018018632 A1 WO2018018632 A1 WO 2018018632A1
Authority
WO
WIPO (PCT)
Prior art keywords
input signal
power system
uav
control
controlling
Prior art date
Application number
PCT/CN2016/092423
Other languages
English (en)
Chinese (zh)
Inventor
罗昊
陈朝兵
郑大阳
王文韬
王雷
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680002538.3A priority Critical patent/CN106687375B/zh
Priority to CN202010629785.4A priority patent/CN111736630B/zh
Priority to PCT/CN2016/092423 priority patent/WO2018018632A1/fr
Publication of WO2018018632A1 publication Critical patent/WO2018018632A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, and particularly relates to a control method, device, storage medium and unmanned aerial vehicle of an unmanned aerial vehicle.
  • Unmanned aerial vehicles are automatic control, unmanned aerial vehicles with automatic navigation and special missions. With the continuous advancement of science and technology, there are more and more types of unmanned aerial vehicles, such as fixed-wing drones, unmanned helicopters, and more. Rotor drones, deformable aircraft, etc.
  • a deformable aircraft For a deformable aircraft, it has different flight states, such as a packed state, a take-off state, a landing state, etc., wherein the deformable aircraft often needs to set the aircraft into a packaged state while transporting the aircraft into control.
  • a separate control device such as a remote controller
  • the packing instruction is often required to send the packing instruction, the operation process is complicated, and the dependence of the aircraft on the control device is strong.
  • the present invention provides a control method, device, storage medium and unmanned aerial vehicle of an unmanned aerial vehicle, which has a simple operation process and is easy to implement, and reduces the dependence strength of the UAV on the control device.
  • a first aspect of the present invention is to provide a method of controlling an unmanned aerial vehicle, including:
  • a corresponding control mode is selected from a plurality of control modes, wherein the control mode includes controlling the UAV to enter/exit the packaging mode.
  • a second aspect of the present invention is to provide a control device for an unmanned aerial vehicle, the control device comprising:
  • processors working together or separately, the processor being used to:
  • a corresponding control mode is selected from a plurality of control modes, wherein the control mode includes controlling the UAV to enter/exit the packaging mode.
  • a third aspect of the present invention is to provide a storage medium, in which a program code is stored, and when the program code is executed, a control method of the unmanned aerial vehicle is executed, and the method specifically includes:
  • a corresponding control mode is selected from a plurality of control modes, wherein the control mode includes controlling the UAV to enter/exit the packaging mode.
  • a fourth aspect of the present invention is to provide an unmanned aerial vehicle comprising:
  • a fuselage having a plurality of deformed states, and the deformed state includes a packed state
  • control device is mounted on the body.
  • the control method, device, storage medium and unmanned aerial vehicle provided by the invention can control the unmanned aerial vehicle from various control modes by obtaining characteristic information of the input signal of the power operation switch and analyzing and judging the characteristic information. Selecting the corresponding control mode effectively realizes the one-button multi-function function of the power operation switch, and the operation is simple and easy to implement.
  • the control mode also includes controlling the UAV entry/exit package mode, thereby effectively overcoming the prior art. In the control of the aircraft entering/exiting the packed state, the operation process is more complicated, and the aircraft has a strong dependence on the control device, which improves the practicability of the control method and is beneficial to the promotion and application of the market.
  • Embodiment 1 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present invention
  • FIG. 4 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 6 of the present invention.
  • FIG. 7 is a schematic structural diagram of a method for controlling an unmanned aerial vehicle according to Embodiment 7 of the present invention.
  • Embodiment 8 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 8 of the present invention.
  • Embodiment 9 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 9 of the present invention.
  • FIG. 10 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 10 of the present invention.
  • FIG. 11 is a first schematic flowchart of a state of use of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 12 is a second schematic diagram of a flow of a state of use of a control method for an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a control device for an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • FIG. 14 is a schematic structural diagram of an unmanned aerial vehicle in a flight state according to Embodiment 1 of the present invention.
  • FIG. 15 is a schematic structural diagram of an unmanned aerial vehicle in a landing state according to Embodiment 1 of the present invention.
  • FIG. 16 is a schematic structural diagram of an unmanned aerial vehicle in a packed state according to Embodiment 1 of the present invention.
  • FIG. 1 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to a first embodiment of the present invention.
  • the present embodiment provides a control method for an unmanned aerial vehicle, and the control method is used to control an unmanned aerial vehicle.
  • Control mode specifically, the method includes:
  • S101 Acquire characteristic information of an input signal of the power operation switch
  • the power operation switch can receive the input signal of the user, and can also control the power system to be turned on or off according to the input signal of the user, and the power operation switch in this embodiment further
  • the reference factor of the corresponding control mode can be selected as the unmanned aerial vehicle, thereby expanding the use range of the power operation switch; in this embodiment, the specific structure type of the power operation switch is not limited, and those skilled in the art can according to specific design requirements. Setting is made, wherein, preferably, the power operation switch can be set to include at least one of the following: a button, a dial, a touch screen, and a pulley.
  • the feature information when the user inputs different signals to the power operation switch, different feature information can be acquired.
  • the feature information when the user inputs the power operation switch for a plurality of consecutive short press operations, the feature information may include the interval time of the user input signal. And the number of times of inputting the signal; when the user inputs a long press operation on the power operation switch, the feature information may include: a duration of the user input signal and the number of times of the input signal, etc., wherein, preferably, the feature information is set to include At least one of the following: the duration of the input signal, the interval of the input signal, the number of input signals, the frequency of the input signal, and the magnitude of the input signal.
  • the above characteristic information can be applied to different signals input by the user under different conditions. It ensures accurate and efficient analysis of various input signals, thus ensuring the accuracy and reliability of the method.
  • S102 Select a corresponding control mode from the plurality of control modes according to the feature information, wherein the control mode comprises controlling the UAV to enter/exit the packaging mode.
  • the UAV 100 it has various control modes, and various control modules are used for the UAV 100 to adjust the flight state under different conditions.
  • This mode can effectively reduce the occupied space of the UAV, as shown in Figure 16 for the unpacked state of the UAV.
  • the unmanned aerial vehicle The arm 102 and the body 101 form a "one" structure, which can effectively facilitate the transportation and shipment of the UAV; in addition, the various control modes of the UAV 100 can be set to include at least the following One: control the unmanned aerial vehicle to display the current remaining power, control the power system of the unmanned aerial vehicle to turn on/off, control the power system of the unmanned aerial vehicle to enter/exit the charging state, and control
  • the unmanned aerial vehicle enters a self-test state, and the above control modes can be selected and analyzed by analyzing the characteristic information of the obtained power operation switch input signal, that is, the power operation switch in this embodiment can not only control the entry into the non-aircraft.
  • Human aircraft power system on/off The mode can also control the UAV 100 to enter other control modes, thereby increasing the use function of the power operation switch, and realizing the one-button multi-function function of the power operation switch.
  • the control method of the unmanned aerial vehicle can obtain the characteristic information of the input signal of the power operation switch, and after analyzing and judging the characteristic information, the unmanned aerial vehicle can be controlled to select a corresponding control mode from the plurality of control modes, thereby effectively implementing
  • the one-button multi-function function of the power operation switch is simple and easy to implement.
  • the control mode also includes controlling the UAV entry/exit package mode, thereby effectively overcoming the prior art entry in the control aircraft.
  • the control device such as the remote controller
  • the control device is often required to send the packing instruction, the operation process is complicated, and the aircraft has a strong dependence on the control device, thereby improving the practicability of the control method. Conducive to the promotion and application of the market.
  • FIG. 2 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 2 of the present invention; on the basis of the foregoing embodiment, referring to FIG. 2, the feature information may be according to different operations input by the user on the power operation switch. However, when the feature information includes the number of input signals and the interval time of the input signal; controlling the UAV to enter/exit the packaging mode, specifically includes:
  • the first threshold number and the first preset interval time are preset parameters, and the specific numerical range may be differently set according to different user requirements, and details are not described herein; when the number of input signals is greater than the first
  • the threshold it can be explained that the user performs the action on the power operation switch multiple times, and the interval time of the input signal is less than the first preset interval time, indicating that the user operates the power operation switch in a short time. Multiple operations, for example, can be connected for short press operation, continuous sliding screen or continuous swing operation, etc.
  • the specific action is related to the specific structure type of the power operation switch. At this time, it can be controlled according to the preset control strategy.
  • the UAV enters/exits the packing mode, effectively controlling the UAV to enter or exit the packing mode under certain circumstances to facilitate effective management and control of the UAV.
  • FIG. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 3 of the present invention; on the basis of the foregoing embodiment, with reference to FIG. 3, the specific embodiment of the present invention is for controlling the entry/exit of the unmanned aerial vehicle.
  • the implementation process is not limited, and those skilled in the art can set according to specific design requirements. Among them, more preferably, the UAV is controlled to enter/exit the packaging mode, and the specific settings include:
  • S201 Acquire current flight state information of the unmanned aerial vehicle
  • the current flight status information can determine the control mode in which the UAV is located.
  • the UAV When the current flight state of the UAV is in the packaging mode, then the UAV at this time is already in a state of convenient transportation and shipment. When the UAV is transported and shipped, the UAV can be controlled. Exiting the packaging mode, specifically, according to the preset control strategy, when receiving the control command, the UAV can be controlled to exit the packaging mode, so that the UAV enters other modes, so that the UAV can achieve better flight. Operation, etc.
  • the unmanned aerial vehicle When the current flight state of the UAV is other states in a plurality of control modes, and at this time, for the operation of transporting or shipping the UAV, in order to ensure convenient and reliable transportation of the UAV, it is required Controlling the unmanned aerial vehicle to enter the packing mode. Specifically, according to the preset control strategy, when receiving the control command, the unmanned aerial vehicle can be controlled to enter the packing mode, and at this time, the occupied space of the unmanned aerial vehicle can be reduced, and The stability and reliability of the UAV transportation are effectively guaranteed, thereby ensuring the practicability of the control method.
  • the feature information may be according to different operations input by the user on the power operation switch. And different, therefore, when the feature information includes the input letter The number of times and the duration of the input signal; the method also includes:
  • S1022 If the number of times of inputting the signal is less than or equal to a preset second threshold number of times, and the duration of the input signal is greater than or equal to the preset time threshold, then controlling the power system of the UAV to be turned on/off.
  • the second threshold number and the preset time threshold are both set in advance, and the specific value range may be set by the user according to specific design requirements.
  • the second threshold number may be set to be smaller than the first threshold. Number of times, and setting the second threshold number to be greater than 1; thus, when the number of times of the input signal is less than or equal to the second threshold number of times, and the second threshold number is again greater than 1, and less than the first threshold number of times, and the duration of the input signal If the threshold is greater than or equal to the preset time, the continuity of the input signal is high.
  • the action when the user performs the action on the power operation switch input, the action may be: first press the power operation switch once, Then, in the preset time period, the power operation switch is pressed once; at this time, according to the preset control strategy, the power system of the unmanned aerial vehicle is controlled to be turned on/off; it is noted that the second threshold is set. It is greater than 1 in order to prevent the power system from being touched when controlling the power system of the unmanned aerial vehicle to be turned on/off.
  • the second threshold number is 1, it means that the input signal for the power operation switch is 1 time, then the power system may be turned on or off due to the wrong contact of the power system;
  • the second threshold number is set to be greater than 1, if the power supply system needs to be turned on or off, the user needs to perform at least two consecutive actions to implement, which effectively improves the stability of the control method. reliability.
  • FIG. 5 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 5 of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 5, the present embodiment controls on/off of a power system for controlling an unmanned aerial vehicle.
  • the specific implementation process is not limited, and can be set by a person skilled in the art according to specific design requirements.
  • the power system for controlling the unmanned aerial vehicle is turned on/off.
  • the specific implementation manner of obtaining the current state information of the power system is not limited, and those skilled in the art may set according to specific design requirements, for example, the power supply voltage and/or the power supply current of the power system may be collected, and the power supply voltage is The current state of the power system can be obtained after analysis and judgment of the supply current.
  • the power system at this time provides power for the unmanned aerial vehicle to enable the unmanned aircraft to perform flight or other operations, and when the power system needs to be turned off, for example, no one needs to be When the aircraft is in the non-working state, the power system needs to be turned off at this time. Specifically, when the preset control strategy is met when the control command is received, the control power system is turned off to adjust the unmanned aircraft to the non-working state. .
  • the power system When the current state of the power system is turned off, it indicates that the power system at this time does not provide power for the unmanned aerial vehicle, and the unmanned aircraft is in a non-working state; when the user needs to adjust the unmanned aerial vehicle to the working state, The power system needs to be turned on. Specifically, when the preset control strategy is met when the control command is received, the power system is turned on to adjust the unmanned aircraft to the working state to realize the flight or tracking of the unmanned aerial vehicle. Operation, etc.
  • FIG. 6 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to Embodiment 6 of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 6, when the UAV power system is controlled to be turned on/off, it may be required. Controlling the UAV entering/exiting the packing mode, therefore, the power system that controls the UAV is turned on/off, and is set to further include:
  • the power system When the power system is turned on/off in association with the entry/exit of the packaging mode, then when the power system is turned on, the power system needs to be turned off, and when the package mode needs to be entered/exited, the unmanned aircraft must be controlled to enter/ After exiting the packaging mode, after turning off the power system; at this time, if it is necessary to control the UAV to enter or exit the packaging mode, the power system needs to be turned on first, and then the UAV is controlled to enter or exit according to the preset operation.
  • Packing mode for example: the current state of the power system is on, and the UAV is in the packed mode state, then according to the characteristics Information, firstly control the UAV to exit the packing mode.
  • the control power system When the UAV exits the packing mode, the control power system is turned off, and the UAV is in a non-working state; when it is necessary to adjust the UAV to enter the packing mode again, First, the power system needs to be turned on. After the power is turned on, the unmanned aerial vehicle enters the packing mode according to the characteristic information.
  • S305 If the current state of the power system is off state, control the power system to be turned on according to the feature information, and control the UAV to enter/exit the packaging mode.
  • the power system When the power system is turned on/off in association with the entry/exit of the packaging mode, then when the power system is in the off state and the unmanned aircraft needs to be controlled to enter/exit the packaging mode, the power system needs to be turned on, and then The feature information controls the UAV entry/exit package mode; when the user needs to control the UAV entry/exit package mode again, the UAV can be directly controlled according to the feature information, or the UAV can also be entered/ After the packet mode is exited, the power system is controlled to return to the shutdown state, etc., and the specific control strategy can be set according to the design requirements, and will not be described again.
  • step S305 and step S304, step S303, and step S302 have no execution order, and step 305, step 304, and step S303, step S302 may represent different control modes, that is, steps S305 and S304 may indicate that the power system is turned on. / Control mode associated with entry/exit of the packing mode is turned off; and steps S303 and S302 may indicate a control mode in which the power system is turned on/off and the entry/exit of the packing mode is independent.
  • FIG. 7 is a schematic structural diagram of a method for controlling an unmanned aerial vehicle according to Embodiment 7 of the present invention; on the basis of the foregoing embodiment, with continued reference to FIG. 7, when the feature information includes the duration of the input signal and the number of input signals
  • the method also includes:
  • the third threshold number is preset, and the specific numerical range may be set by the user according to specific design requirements.
  • the third threshold number is set to be less than the second threshold number; when the duration of the input signal is less than or Equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number, indicating that the number of input to the power operation switch is small at this time, and
  • the duration is short, for example: short press once or short-time sliding screen, etc., at this time, the unmanned aerial vehicle is controlled to display the current remaining power according to the characteristic information, thereby effectively avoiding the occurrence of a false touch situation, that is, when the user If the power operation switch is accidentally touched, it will only control the UAV to display the current remaining power according to the accidental touch operation, without causing the UAV to perform other substantial operations (for example, the power system is turned on/off, or The UAV chooses to enter the corresponding control mode, etc., thus effectively ensuring the normal operation state of the UAV, and further improving the
  • the feature information includes an input signal.
  • the duration and the number of times the signal is input may also include:
  • S1024 If the duration of the input signal is less than or equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number, determine whether to control the UAV to display the current remaining power according to the current state of the power system.
  • the third threshold number of times in the embodiment is the same as the third threshold number in the seventh embodiment; when the duration of the input signal is less than or equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number of times , indicating that the number of input to the power operation switch is small at this time, and the duration is short, for example, short press once or short time sliding screen, etc., at this time, according to the current state of the power system, it is judged whether to control no one.
  • the aircraft displays the current remaining power. Since the power system has an open state and a closed state, whether to control the UAV to display the current remaining power needs to be based on the current state of the power system. Specifically, it may be based on the current power system.
  • the status judges whether to control the UAV to display the current remaining power setting to include:
  • the unmanned aerial vehicle When the current state information of the power system is off state, when the characteristic information of the power operation input signal of the user satisfies a preset control strategy (for example, short press or short time sliding screen, etc.), the unmanned aerial vehicle is controlled. The current remaining power is displayed, which effectively avoids the occurrence of a false touch of the power operation switch.
  • a preset control strategy for example, short press or short time sliding screen, etc.
  • S10242 If the current status information of the power system is on, control the power system. The LED light flashes.
  • the LED light in the control power system blinks.
  • a preset control strategy for example, short press or short time sliding, etc.
  • the characteristic information of the input signal is analyzed whether the power system is in the on state or the off state. Judging, effectively avoiding the occurrence of user's accidental touch, ensuring the normal operation state of the unmanned aerial vehicle, and further improving the stability and reliability of the control method.
  • the feature information further includes an interval time of the input signal, according to the power system.
  • the method further includes:
  • the time interval between the subsequent input signals is a time interval between the operation of the input signal after determining whether to control the display of the current remaining power, and whether the operation of displaying the current remaining power is performed.
  • the control result is that the unmanned aerial vehicle is controlled to display the current remaining power
  • the interval between the subsequent input signals is the interval between the current remaining power of the UAV and the input signal after the operation
  • the second preset interval is The preset value range is set by the user according to specific design requirements.
  • the second preset interval time is set to be greater than the first preset interval time, and the first preset interval time is less than or equal to 1s; thus, when the interval time of the subsequent input signal is greater than or equal to the second preset interval time, and the number of times of the input signal is less than or equal to the third threshold number, it indicates that the subsequent input signal is consistent with the previous input signal Poor sex, including the user's mistakes in the power operation switch Case, therefore, the current remaining power control turn off the display power supply system, which effectively avoids inadvertently caused by other substantive operations, thereby affecting the normal operation of unmanned aircraft.
  • the interval time of the subsequent input signal is greater than or equal to the second preset interval time, and the number of times of the input signal is less than or equal to the third threshold number, it indicates that the subsequent input signal is consistent with the previous input signal. Poor performance, this time includes the user's misunderstanding of the power operation switch, therefore, the current remaining power of the power system is displayed, thus effectively avoiding the misuse and causing other substantial operations, thereby affecting the normal operation of the UAV Work effectively improves the practicality of the control method and is conducive to the promotion and application of the market.
  • FIG. 10 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to Embodiment 10 of the present invention.
  • the feature information in this embodiment may also be set to include an input signal.
  • Interval time after determining whether to control the UAV to display the current remaining power according to the current state of the power system, the method further includes:
  • the interval between the subsequent input signals has the same meaning as the interval time in the foregoing embodiment. For details, refer to the foregoing description, and details are not described herein.
  • the interval between subsequent input signals is less than the second preset interval, It indicates that the subsequent input signal is more consistent with the previous input signal, and then the characteristic information of the subsequent input signal is analyzed and processed, and the analysis result is controlled according to the preset control strategy to control the unmanned aerial vehicle to select the corresponding control mode.
  • the utility model further improves the one-key multi-function function of the power operation switch, and solves the defects that the operation process existing in the prior art is complicated, and the aircraft has strong dependence on the control device, and effectively expands the absence.
  • the scope of application of the human aircraft further enhances the practicability of the control method and is beneficial to the promotion and application of the market.
  • the LED light source in the power system is controlled.
  • Total power information of the system (the total power information at this time is the power system
  • the preset time interval may be set to 3s.
  • the LED light is turned off, that is, the display of the total power amount information of the power system is turned off; if it exists, the characteristic information of the re-input signal needs to be performed.
  • the power system After analyzing and judging, after analyzing and judging the characteristic information, confirming that the input signal is a long press operation on the power operation switch, and long pressing until the LED lights in the power system are sequentially lit, the power system is turned on; After the characteristic information analysis and judgment, it is confirmed that the input signal is a continuous short press of the power operation switch (where, it can be assumed that the time interval between each case is not shorter than 1 s is short press) 4 times, and the power is controlled according to the above input signal The system is turned on, and the UAV is controlled to enter or exit the packaging mode. At this point, the power system is turned on. Associated with controlling the UAV entry/exit package mode.
  • the LED lights in the power system are controlled to blink, wherein The number of LED lights can be set to 4 or 5, etc., at this time, to remind the user whether to perform the next operation, after the LED light flashes, it is detected whether the user operates the power operation switch within a preset time interval. Enter the signal again. At this time, you can set the preset time interval to 1s, that is, whether there is an input signal to the power operation switch again within 1s. If it does not exist, the control LED light displays the total power information of the power system.
  • the total power information is the remaining power information of the power system; if it exists, the characteristic information of the re-input signal needs to be analyzed and judged. If the characteristic information is analyzed and judged, it is confirmed that the input signal is the length of the power operation switch.
  • the unmanned aerial vehicle is controlled according to the above input signal Entering or exiting the packing mode, and controlling the power system to be turned off, the power system is turned off and the associated operation of controlling the UAV to enter/exit the packing mode is completed.
  • FIG. 13 is a schematic structural diagram of a control device for an unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • the present embodiment provides a control device for an unmanned aerial vehicle.
  • the control mode of the unmanned aerial vehicle is controlled.
  • the control device comprises:
  • processor 2 working together or separately, processor 2 is used to:
  • a corresponding control mode is selected from a plurality of control modes, wherein the control mode includes controlling the UAV to enter/exit the packing mode.
  • the feature information is closely related to the input signal of the power operation switch. If the input signal is different, different feature information may be acquired.
  • the feature information may be set to include at least one of the following: the duration of the input signal Time, the interval of the input signal, the number of input signals, the frequency of the input signal, the value of the input signal; in addition, since the UAV has many different application scenarios, the UAV may have different application scenarios.
  • control mode may be set to include at least one of the following: controlling the unmanned aerial vehicle to display the current remaining power, controlling the power system on/off of the unmanned aerial vehicle, The power system of the unmanned aerial vehicle is controlled to enter/exit the charging state, and the unmanned aerial vehicle is controlled to enter the self-checking state.
  • the specific number of the processor 2 is not limited, and those skilled in the art can set according to specific design requirements. For example, it can be set to work independently for one processor 2, or can be set to two or three. Or the four processors 2 work together, and the like, as long as the above technical effects can be achieved; in addition, the specific structure of the processor 2 is not limited, and those skilled in the art can arbitrarily set them according to the functions they implement. , will not repeat them here.
  • the control device for the UAV obtained by the embodiment obtains the characteristic information of the input signal of the power operation switch by the processor 2, and after analyzing and judging the feature information, the UAV can be controlled to select a corresponding control mode from the plurality of control modes.
  • the utility model effectively realizes the one-key multi-function function of the power operation switch, and is simple and easy to implement.
  • the control mode further includes controlling the UAV entry/exit package mode, thereby effectively overcoming the existing technology.
  • the control device such as the remote controller
  • the control device is often required to send the packing instruction, the operation process is complicated, and the aircraft has a strong dependence on the control device, thereby improving the utility of the control device. Sexuality is conducive to the promotion and application of the market.
  • control device is further configured to further include: a power operation switch 1 communicatively coupled to the processor 2 for receiving an input signal of the user.
  • the specific structure of the power operation switch 1 is not limited, and those skilled in the art can set according to specific design requirements.
  • the power operation switch can be set to include at least one of the following: a button, a dial The touch screen and the pulley; the different power operation switches provided by the utility device effectively improve the applicable range of the control device, thereby improving the stability and reliability of the control device for controlling the working state of the UAV.
  • processor 2 is used to:
  • the UAV is controlled to enter/exit the packing mode.
  • the specific implementation process of the processor 2 for controlling the entry/exit of the unmanned aerial vehicle is not limited, and those skilled in the art can perform according to specific design requirements.
  • the UAV is controlled to exit the packaging mode
  • the UAV can be accurately controlled to enter or exit the packaging mode.
  • the occupied space of the UAV can be reduced, and It effectively guarantees the stable reliability of UAV transportation; when the UAV exits the packing mode, it can guarantee the flight or tracking operation of the UAV, thus ensuring the practicability of the control device.
  • the processor 2 is further configured to:
  • the second threshold number is set to Less than the first threshold number of times, and the second threshold number is greater than one.
  • the processor 2 of the embodiment does not limit the specific implementation process of controlling the power system on/off of the unmanned aerial vehicle, and those skilled in the art can according to specific design requirements. Setting is made, wherein, more preferably, the processor 2 is set to be specifically used for:
  • the current state of the power system is obtained by the processor 2, and then the working state of the power system is adjusted, thereby effectively switching between the on and off states of the unmanned aircraft power system, and ensuring the control mode of the unmanned aircraft.
  • the stable reliability further improves the stable reliability of the use of the control device.
  • the processor 2 controls the unmanned aerial vehicle power system to be turned on/off, it may also be necessary to control the UAV to enter/exit the packaging mode. Therefore, the processor 2 is set. Also used for:
  • the UAV is controlled to enter/exit the packaging mode according to the feature information, and the power system is controlled to be turned off;
  • the power system is turned on according to the characteristic information, and the UAV is controlled to enter/exit the packaging mode.
  • the processor 2 is further configured to:
  • the UAV is controlled to display the current remaining power according to the feature information.
  • the third threshold number is preset, and the specific numerical range may be set by the user according to specific design requirements.
  • the third threshold number is set to be less than the second threshold number; when the duration of the input signal is less than or Equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number, indicating that the number of times of inputting to the power operation switch is small and the duration is short, for example, short press or short time slide Etc.
  • the UAV will be controlled to display the current remaining power according to the feature information, thus effectively avoiding the accidental touch.
  • the accidental touch operation only controls the UAV to display the current remaining power without causing the UAV to perform other substantial operations (for example, the power system is turned on). / off, or the UAV chooses to enter the corresponding control mode, etc., which effectively ensures the normal operation state of the UAV, and further improves the stability and reliability of the use of the control device.
  • the processor 2 can also be used to:
  • the duration of the input signal is less than or equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number of times, it is determined whether to control the UAV to display the current remaining power according to the current state of the power system.
  • the third threshold number of times in the embodiment is the same as the third threshold number in the eighteenth embodiment; when the duration of the input signal is less than or equal to the preset time threshold, and the number of input signals is less than or equal to the third threshold
  • the number of times indicates that the number of input to the power operation switch is small at this time, and the duration is short, for example, short press once or short time slides, etc., at this time, it is judged according to the current state of the power system whether or not the control is not performed.
  • the human aircraft displays the current remaining power. Since the power system has an open state and a closed state, whether to control the unmanned aerial vehicle to display the current remaining power needs to be based on the current state of the power system.
  • the processor 2 can be set to Specifically used for:
  • the unmanned aerial vehicle is controlled to display the current remaining power
  • the unmanned aerial vehicle When the current state information of the power system is off state, when the characteristic information of the power operation input signal of the user satisfies a preset control strategy (for example, short press or short time sliding screen, etc.), the unmanned aerial vehicle is controlled. The current remaining power is displayed, which effectively avoids the occurrence of a false touch of the power operation switch.
  • a preset control strategy for example, short press or short time sliding screen, etc.
  • the LED in the control power system flashes.
  • the characteristic information of the user input signal to the power supply is satisfied.
  • the preset control strategy for example, short press or short-time sliding screen, etc.
  • the LED light in the control power system flashes to remind the user to perform the operation on the power operation switch, which also effectively avoids the power supply.
  • the operation switch is accidentally touched; therefore, when the power system is turned on or off, the characteristic information of the input signal is analyzed and judged, thereby effectively preventing the user from accidentally touching the situation, and ensuring the unmanned aerial vehicle.
  • the normal operating state further improves the stability and reliability of the use of the control device.
  • the feature information further includes an interval time of the input signal
  • the processor 2 is further configured to:
  • the unmanned aerial vehicle After determining whether to control the unmanned aerial vehicle to display the current remaining power according to the current state of the power system, if the interval time of the subsequent input signal is greater than or equal to the second preset interval time, and the number of times of the input signal is less than or equal to the third threshold number of times When the LED light in the control power system flashes, the current remaining power of the power system is displayed.
  • the second preset interval time in this embodiment is preset, and more preferably, the second preset interval time is set to be greater than the first preset interval time, and the first preset interval is The time is less than or equal to 1 s; in addition, the specific implementation process and the tangible functional effects that the processor 2 can implement in the embodiment and the specific implementation process of the step S1025-1026 in the above-mentioned Embodiment 9 and the achievable The functional effects are the same. For details, refer to the above statement, and details are not described herein.
  • the feature information in this embodiment may also be set to include an interval of input signals, and the processor 2 is further configured to:
  • the unmanned aerial vehicle After determining whether to control the unmanned aerial vehicle to display the current remaining power according to the current state of the power system, if the interval of the subsequent input signals is less than the second preset interval time, according to the subsequent The characteristic information of the input signal controls the UAV to select the corresponding control mode.
  • the interval between the subsequent input signals has the same meaning as the interval time in the foregoing embodiment. For details, refer to the foregoing description, and details are not described herein.
  • the interval between subsequent input signals is less than the second preset interval, It indicates that the subsequent input signal is more consistent with the previous input signal, and then the characteristic information of the subsequent input signal is analyzed and processed, and the analysis result is controlled according to the preset control strategy to control the unmanned aerial vehicle to select the corresponding control mode.
  • the utility model further improves the one-key multi-function function of the power operation switch, and solves the defects that the operation process existing in the prior art is complicated, and the aircraft has strong dependence on the control device, and effectively expands the absence.
  • the scope of application of the human aircraft further enhances the practicability of the control device and is beneficial to the promotion and application of the market.
  • a further aspect of the present invention provides a storage medium, where the program code is stored, and when the program code is running, the control method of the unmanned aerial vehicle is executed, and the method specifically includes:
  • the power operation switch can receive the input signal of the user, and can also control the opening or closing of the power system according to the input signal of the user.
  • the power operation switch can also serve as a reference for selecting the corresponding control mode for the unmanned aerial vehicle.
  • the factor, which further expands the use range of the power operation switch; in this embodiment, the specific structure type of the power operation switch is not limited, and those skilled in the art can set according to specific design requirements, wherein, preferably, it can be
  • the power operation switch is set to include at least one of the following: a button, a dial, a touch screen, and a pulley;
  • the feature information when the user inputs different signals to the power operation switch, different feature information can be acquired.
  • the feature information when the user inputs the power operation switch for a plurality of consecutive short press operations, the feature information may include the interval time of the user input signal. And the number of times of inputting the signal; when the user inputs a long press operation on the power operation switch, the feature information may include: a duration of the user input signal and the number of times of the input signal, etc., wherein, preferably, the feature information is set to include At least one of the following: the duration of the input signal, the interval of the input signal, the number of input signals, the frequency of the input signal, and the magnitude of the input signal.
  • the above characteristic information can be applied to different signals input by the user under different conditions. It ensures accurate and efficient analysis of various input signals, thus ensuring the accurate reliability of the storage medium.
  • a corresponding control mode is selected from a plurality of control modes, wherein the control mode includes controlling the UAV to enter/exit the packing mode.
  • the unmanned aerial vehicle has multiple control modes, and various control modules are used for the adjustment of the flight state of the unmanned aircraft under different conditions, for example, the take-off state of the unmanned aerial vehicle, at this time, in order to ensure
  • the UAV can quickly enter the flight state, and the UAV's arm and the UAV's fuselage will be of a "human-flying structure; when the UAV is in a landing state, the UAV's arm and The unmanned aerial vehicle's fuselage will be inverted "human flying structure, and for the unmanned aerial vehicle packaging mode, it is used to facilitate the transportation and shipment of the unmanned aerial vehicle. This mode can effectively reduce the unmanned aerial vehicle.
  • the control mode is set to further include at least one of: controlling the unmanned aerial vehicle to display the current remaining power, controlling the power system on/off of the unmanned aerial vehicle, and controlling The power system of the unmanned aerial vehicle enters/exits the charging state and controls the unmanned aerial vehicle to enter the self-checking state.
  • the above control modes can be selected and entered by analyzing the characteristic information of the obtained power operation switch input signal, that is, this
  • the power operation switch in the embodiment can not only control the opening/closing mode of the UAV power system, but also control the UAV to enter other control modes, thereby increasing the use function of the power operation switch and realizing the power operation switch.
  • One-click multi-function can be selected and entered by analyzing the characteristic information of the obtained power operation switch input signal, that is, this
  • the power operation switch in the embodiment can not only control the opening/closing mode of the UAV power system, but also control the UAV to enter other control modes, thereby increasing the use function of the power operation switch and realizing the power operation switch.
  • One-click multi-function One-click multi-function.
  • the storage medium provided by the embodiment implements acquiring the feature information of the input signal of the power operation switch by executing the program code, and after analyzing and judging the feature information, the UAV can be controlled to select a corresponding control mode from the plurality of control modes, which is effective.
  • the utility model realizes a one-button multi-function function for the power operation switch, and is simple and easy to implement.
  • the control mode further includes controlling the UAV entry/exit package mode, thereby effectively overcoming the existing control aircraft in the prior art.
  • the control device such as a remote controller
  • the control device is often required to send a packing instruction, the operation process is complicated, and the aircraft has a strong dependence on the control device, thereby improving the practicability of the storage medium. Conducive to the promotion and application of the market.
  • the UAV is controlled to enter/exit the packing mode, which specifically includes:
  • the UAV is controlled to enter/exit the packing mode.
  • the specific implementation process of controlling the unmanned aircraft entering/exiting the packaging mode performed by the storage medium is not limited, and, preferably, the unmanned aerial vehicle is controlled to enter/exit the packaging mode.
  • the setting is specifically included: a person skilled in the art can set according to specific design requirements, and preferably, the unmanned aircraft is controlled to enter/exit the packaging mode, and the setting specifically includes:
  • the UAV is controlled to exit the packaging mode
  • the UAV is controlled to enter the packing mode.
  • the storage medium executes The methods also include:
  • the number of times of the input signal is less than or equal to the preset second threshold number of times, and the duration of the input signal is greater than or equal to the preset time threshold, controlling the power system of the UAV to be turned on/off, wherein the second threshold number is less than the first The threshold number of times, and the second threshold number is greater than one.
  • the specific implementation process of controlling the power system on/off of the unmanned aerial vehicle is not limited when the program code is executed on the storage medium, and the person skilled in the art can design according to the specific design.
  • the requirement is set, wherein, preferably, the power system for controlling the unmanned aerial vehicle is turned on/off, and the setting specifically includes:
  • the current state of the power system is obtained, and then the working state of the power system is adjusted, thereby effectively switching between the on and off states of the unmanned aircraft power system, thereby ensuring the unmanned
  • the stable reliability of the aircraft operating mode control further improves the practicality of the storage medium.
  • the method when controlling the unmanned aerial vehicle power system to be turned on/off, it may also be necessary to control the UAV entry/exit package mode, and therefore, the method is set to include
  • the UAV is controlled to enter/exit the packaging mode according to the feature information, and the power system is controlled to be turned off;
  • the power system is turned on according to the characteristic information, and the UAV is controlled to enter/exit the packaging mode.
  • the method further includes:
  • the UAV is controlled to display the current remaining power according to the feature information.
  • the third threshold number is preset, and the specific numerical range may be set by the user according to specific design requirements.
  • the third threshold number is set to be less than the second threshold number; when the duration of the input signal is less than or Equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number, indicating that the number of times of inputting to the power operation switch is small and the duration is short, for example, short press or short time slide Wait, at this time, according to the characteristic information, the UAV displays the current remaining power, which effectively avoids the occurrence of the false touch situation, that is, when the user accidentally touches the power operation switch, the operation according to the accidental touch will only Controlling the UAV to display the current remaining capacity without causing the UAV to perform other substantial operations (eg, power system on/off, or UAV selection to enter the appropriate control mode, etc.), thus effectively Ensure the normal operation of the UAV and further improve the use of the storage medium. Given reliability.
  • the embodiment is in parallel with the twenty-eighth embodiment.
  • the method may further include:
  • the duration of the input signal is less than or equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number of times, it is determined whether to control the UAV to display the current remaining power according to the current state of the power system.
  • the third threshold number of times in the embodiment is the same as the third threshold number in the seventh embodiment; when the duration of the input signal is less than or equal to the preset time threshold, and the number of times of the input signal is less than or equal to the third threshold number of times , indicating that the number of inputs to the power operation switch is small at this time, and
  • the duration is short, for example: short press once or short-time sliding screen, etc., at this time, according to the current state of the power system, it is judged whether to control the unmanned aerial vehicle to display the current remaining power, because the power system has an open state and a closed state. Therefore, whether to control the unmanned aerial vehicle to display the current remaining power needs to be based on the current state of the power system. Specifically, whether to control whether the UAV displays the current remaining power according to the current state of the power system may be specifically included. :
  • the unmanned aerial vehicle is controlled to display the current remaining power
  • the unmanned aerial vehicle When the current state information of the power system is off state, when the characteristic information of the power operation input signal of the user satisfies a preset control strategy (for example, short press or short time sliding screen, etc.), the unmanned aerial vehicle is controlled. The current remaining power is displayed, which effectively avoids the occurrence of a false touch of the power operation switch.
  • a preset control strategy for example, short press or short time sliding screen, etc.
  • the LED in the control power system flashes.
  • the LED light in the control power system blinks.
  • a preset control strategy for example, short press or short time sliding, etc.
  • the characteristic information of the input signal is analyzed whether the power system is in the on state or the off state. Judging, effectively avoiding the occurrence of user's accidental touch, ensuring the normal operation state of the unmanned aerial vehicle, and further improving the stability and reliability of the use of the storage medium.
  • the feature information may further include an interval time of the input signal.
  • interval time of the subsequent input signal is greater than or equal to the second preset interval time, and the number of times of the input signal is less than or equal to the third threshold number of times, after the current remaining power of the power system is displayed, the current remaining power of the power system is turned off. Display; or,
  • the LED light in the control power system flashes After that, the current remaining power of the power system is displayed;
  • the second preset interval time is greater than the first preset interval time, and the first preset interval time is less than or equal to 1 s.
  • the feature information in the embodiment may further include an interval time of the input signal.
  • the unmanned aerial vehicle is controlled to select a corresponding control mode according to the characteristic information of the subsequent input signal.
  • the interval between the subsequent input signals has the same meaning as the interval time in the foregoing embodiment. For details, refer to the foregoing description, and details are not described herein.
  • the interval between subsequent input signals is less than the second preset interval, It indicates that the subsequent input signal is more consistent with the previous input signal, and then the characteristic information of the subsequent input signal is analyzed and processed, and the analysis result is controlled according to the preset control strategy to control the unmanned aerial vehicle to select the corresponding control mode.
  • the utility model further improves the one-key multi-function function of the power operation switch, and solves the defects that the operation process existing in the prior art is complicated, and the aircraft has strong dependence on the control device, and effectively expands the absence.
  • the scope of application of the human aircraft further enhances the practicability of the storage medium and is beneficial to the promotion and application of the market.
  • the embodiment provides an unmanned aerial vehicle, which can have automatic control, has the capability of automatic navigation, and can be used to perform special tasks.
  • the unmanned aerial vehicle includes:
  • a fuselage having a plurality of deformed states, and the deformed state includes a packed state;
  • the specific structure of the airframe is not limited, and those skilled in the art can arbitrarily set the airframe according to the effect that can be achieved.
  • the fuselage has multiple deformation states for being used with the unmanned aerial vehicle.
  • Corresponding control modes under different control modes, the UAV has different deformation states to ensure the working efficiency of the UAV in each working mode; in addition, the specific implementation of the control device installed on the fuselage It is not limited, and those skilled in the art set according to specific design requirements, and details are not described herein again.
  • the unmanned aerial vehicle provided by the embodiment can effectively obtain the characteristic information of the input signal of the power operation switch by setting the control device, and after analyzing and judging the characteristic information, the unmanned aerial vehicle can be controlled to select corresponding from the plurality of control modes.
  • the control mode effectively realizes the one-key multi-function function of the power operation switch, and is simple and easy to implement.
  • the control mode also includes controlling the UAV entry/exit package mode, thereby effectively overcoming the prior art.
  • a control device such as a remote controller
  • the practicality of human aircraft is conducive to the promotion and application of the market.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

La présente invention se rapporte à un procédé de commande d'un véhicule aérien sans pilote (100), qui consiste : à acquérir des informations caractéristiques d'un signal d'entrée d'un commutateur d'opération d'alimentation (1) (S101) ; à sélectionner un mode de commande correspondant parmi une pluralité de modes de commande en fonction des informations caractéristiques, le mode de commande comprenant la commande du véhicule aérien sans pilote (100) afin qu'il entre dans un mode d'emballage/qu'il en sorte. La présente invention a trait également à un dispositif de commande, à un support d'informations, et à un véhicule aérien sans pilote (100). Le procédé de commande susmentionné peut surmonter efficacement le problème de l'état de la technique, où le processus de fonctionnement est complexe lors de la commande dudit véhicule aérien sans pilote (100) afin qu'il entre dans l'état d'emballage/qu'il en sorte, et où le véhicule aérien sans pilote (100) dépend davantage du dispositif de commande, et, en même temps, le procédé de commande exécute efficacement une fonction polyvalente par une seule touche du commutateur d'opération d'alimentation (1). Le procédé de commande a pour avantages un fonctionnement simple, une réalisation facile ainsi que de meilleures possibilités de mise en œuvre, et il est susceptible de se propager sur le marché et d'être aisément mis en application.
PCT/CN2016/092423 2016-07-29 2016-07-29 Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote WO2018018632A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680002538.3A CN106687375B (zh) 2016-07-29 2016-07-29 无人飞行器的控制方法、装置、存储介质及无人飞行器
CN202010629785.4A CN111736630B (zh) 2016-07-29 2016-07-29 无人飞行器的控制方法、装置、存储介质及无人飞行器
PCT/CN2016/092423 WO2018018632A1 (fr) 2016-07-29 2016-07-29 Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092423 WO2018018632A1 (fr) 2016-07-29 2016-07-29 Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote

Publications (1)

Publication Number Publication Date
WO2018018632A1 true WO2018018632A1 (fr) 2018-02-01

Family

ID=58849611

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/092423 WO2018018632A1 (fr) 2016-07-29 2016-07-29 Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote

Country Status (2)

Country Link
CN (2) CN106687375B (fr)
WO (1) WO2018018632A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021081830A1 (fr) * 2019-10-30 2021-05-06 SZ DJI Technology Co., Ltd. Répartition de charge de calcul

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107438827A (zh) * 2016-10-25 2017-12-05 深圳市大疆创新科技有限公司 模式控制方法、装置及无人机
CN213585576U (zh) * 2020-11-05 2021-06-29 深圳市大疆创新科技有限公司 开关控制装置及无人机

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008056359A2 (fr) * 2006-11-09 2008-05-15 Israel Aerospace Industries Ltd. Appareil de station opérateur d'instructeur pour centre d'entraînement aux missions et procédé utile associé
CN205022863U (zh) * 2015-10-10 2016-02-10 山西大学 新型三轴飞行器
CN105416578A (zh) * 2015-12-10 2016-03-23 江苏唯天智能无人机研发有限公司 可穿戴无人机
CN105551850A (zh) * 2016-01-22 2016-05-04 无锡觅睿恪科技有限公司 无人机用开关按键装置
CN105620778A (zh) * 2016-04-07 2016-06-01 天津航天中为数据系统科技有限公司 一种无人飞行器的挂载平台
CN105678990A (zh) * 2015-12-31 2016-06-15 赵旭 一种遥控器及其检测、控制方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8052081B2 (en) * 2008-08-22 2011-11-08 Draganfly Innovations Inc. Dual rotor helicopter with tilted rotational axes
CN103921933A (zh) * 2013-01-10 2014-07-16 深圳市大疆创新科技有限公司 飞行器变形结构及微型飞行器
CN204998786U (zh) * 2015-08-06 2016-01-27 广州极飞电子科技有限公司 电源模组和具有该电源模组的无人机
CN105129082B (zh) * 2015-09-01 2018-07-27 湖南云顶智能科技有限公司 用于无人机的螺旋桨收折装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008056359A2 (fr) * 2006-11-09 2008-05-15 Israel Aerospace Industries Ltd. Appareil de station opérateur d'instructeur pour centre d'entraînement aux missions et procédé utile associé
CN205022863U (zh) * 2015-10-10 2016-02-10 山西大学 新型三轴飞行器
CN105416578A (zh) * 2015-12-10 2016-03-23 江苏唯天智能无人机研发有限公司 可穿戴无人机
CN105678990A (zh) * 2015-12-31 2016-06-15 赵旭 一种遥控器及其检测、控制方法
CN105551850A (zh) * 2016-01-22 2016-05-04 无锡觅睿恪科技有限公司 无人机用开关按键装置
CN105620778A (zh) * 2016-04-07 2016-06-01 天津航天中为数据系统科技有限公司 一种无人飞行器的挂载平台

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021081830A1 (fr) * 2019-10-30 2021-05-06 SZ DJI Technology Co., Ltd. Répartition de charge de calcul

Also Published As

Publication number Publication date
CN106687375A (zh) 2017-05-17
CN111736630A (zh) 2020-10-02
CN106687375B (zh) 2020-08-04
CN111736630B (zh) 2024-01-12

Similar Documents

Publication Publication Date Title
WO2018018632A1 (fr) Procédé de commande de véhicule aérien sans pilote, dispositif, support d'informations, et véhicule aérien sans pilote
EP2738478A3 (fr) Gestion de confort intelligent utilisant un traitement du langage naturel pour servir d'interface avec un contrôleur de système de confort
CN104950695B (zh) 一种通用的无人机视觉仿真平台
EP2592510A3 (fr) Système de modèle de commande agile et procédé
WO2017008752A1 (fr) Procédé et dispositif de traitement d'instructions pour robot, et robot
JP2016003005A5 (fr)
EP2439899A3 (fr) Systèmes et procédés de gestion de systèmes de communications de liaison de données de pilote de contrôleur non intégré sur un avion
WO2013126415A3 (fr) Procédé et système pour programmer des demandes dans un dispositif informatique portable
US20140121863A1 (en) Flight Envelope Display
SI2825961T1 (en) Sampling conducted by the instrumentation of the time of implementation
CN202802771U (zh) 模型飞机、遥控设备及模型飞机的遥控系统
CN110262539A (zh) 无人机起降控制方法、飞行控制器及无人机
CN110033764A (zh) 无人机的语音控制方法、装置、系统及可读存储介质
WO2015076884A3 (fr) Commande de rotor arrière à rotation automatique
CN108379843A (zh) 虚拟对象控制方法与装置
CN109815405A (zh) 灰度分流方法与系统
CN204719540U (zh) 多旋翼飞行器
CN111859528A (zh) 自动驾驶策略控制模块的仿真测试方法、设备及存储介质
CN108628693B (zh) 处理器调试方法和系统
CN104890861A (zh) 多旋翼飞行器的控制方法及多旋翼飞行器
US8907587B2 (en) Stand-alone synchronization for a runway light
CN104123123A (zh) 一种非相似三余度飞控软件开发方法
CN104123122A (zh) 一种非相似三余度飞控计算机的非相似余度软件开发方法
CN110345945A (zh) 一种参考航点数据的传输方法、装置及无人机
CN109992539A (zh) 双主机协同工作装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16910212

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16910212

Country of ref document: EP

Kind code of ref document: A1