WO2018076171A1

WO2018076171A1 - Mode control method and device, and unmanned aerial vehicle

Info

Publication number: WO2018076171A1
Application number: PCT/CN2016/103221
Authority: WO
Inventors: 罗昊; 欧迪; 陈朝兵; 郑大阳; 王文韬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-10-25
Filing date: 2016-10-25
Publication date: 2018-05-03
Also published as: CN107438827A

Abstract

A mode control method and device, and an unmanned aerial vehicle. The method comprises: detecting an event of continuous clicks on a preset key arranged on an unmanned aerial vehicle, and counting the number of times of clicks comprised in the event of continuous clicks (101); and when the number of times of clicks satisfies a preset mode change condition, controlling to change a mode of the unmanned aerial vehicle (102). By using the method, the mode selection efficiency of an unmanned aerial vehicle can be improved without depending on an external component.

Description

Mode control method, device and drone

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

The present invention relates to the field of communications technologies, and in particular, to a mode control method, device, and drone.

Background technique

With the continuous development of flight technology and terminal technology, drones have been widely used in such fields as investigation, disaster relief, observation of wildlife, surveying and mapping, news reporting, and power inspection. Currently, drones often need to be set to a packing mode for flight control when transporting. However, it is generally controlled by an external device such as a remote controller to control the drone to enter or exit the packing mode, that is, the external device must be relied upon to implement the packing mode, the dependency is strong, and the mode selection efficiency is low.

Summary of the invention

The embodiment of the invention provides a mode control method, a device and a drone, which can improve the mode selection efficiency of the drone without relying on external devices.

In a first aspect, an embodiment of the present invention provides a mode control method, including:

Detecting a continuous click event of a preset button set on the drone, and counting the number of clicks included in the continuous click event;

When the number of clicks satisfies a preset mode change condition, the control changes the mode of the drone.

In a second aspect, an embodiment of the present invention further provides a mode control apparatus, including:

a detecting module, configured to detect a continuous click event of a preset button set on the drone, and count the number of clicks included in the continuous click event;

And a control module, configured to control, when the number of clicks meets a preset mode change condition, to change a mode of the drone.

In a third aspect, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores a program, and the program includes some or all of the steps of the mode control method of the first aspect.

In a fourth aspect, an embodiment of the present invention further provides a drone, including: a memory, a processor, and a communication interface, where the processor is respectively connected to the memory and the communication interface;

The memory is configured to store program instructions;

The processor is configured to invoke a program instruction stored in the memory to execute:

Detecting a continuous click event of a preset button set on the drone through the communication interface, and counting the number of clicks included in the continuous click event;

Embodiments of the present invention have the following beneficial effects:

In the embodiment of the present invention, the number of clicks included in the continuous click event can be statistically obtained by detecting a continuous click event of the preset button set on the drone, thereby automatically determining when the click number meets the preset mode change condition. Ground, intelligent control of the mode of changing the drone, thus enabling the control of the flying drone mode through the body button without relying on external components, which improves the mode selection efficiency of the drone.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present disclosure, and other drawings may be obtained from those skilled in the art without any inventive effort.

1 is a schematic flowchart of a mode control method according to an embodiment of the present invention;

2 is a schematic flowchart diagram of another mode control method according to an embodiment of the present invention;

3 is a schematic flowchart of a manner of determining whether a mode change condition is met according to an embodiment of the present invention;

4 is a schematic flowchart of another manner for determining whether a mode change condition is met according to an embodiment of the present invention;

FIG. 5 is a schematic flowchart of still another manner for determining whether a mode change condition is met according to an embodiment of the present disclosure;

6 is a schematic structural diagram of a mode control apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present disclosure.

The embodiment of the invention discloses a mode control method, a device and a drone, which can improve the mode selection efficiency of the drone without relying on external devices. The details are explained below.

Referring to FIG. 1, FIG. 1 is a schematic flowchart diagram of a mode control method according to an embodiment of the present invention. Specifically, the method of the embodiment of the present invention may be specifically applied to a drone. The UAV can be an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle. The present embodiment is described by taking an unmanned aerial vehicle as an example. As shown in FIG. 1, the mode control method in the embodiment of the present invention may include the following steps:

101. Detect a continuous click event on a preset button set on the drone, and count the number of clicks included in the continuous click event.

The preset button may be an original button disposed on the drone, such as a power button; in addition, the preset button may also be other buttons that are additionally set. Further, the continuous click event may include at least two click operations on the preset button. Alternatively, the click operation of the preset button and the click event between the last click operation of the preset button may be detected as a continuous click event for the first time. The last click operation may be determined by determining that the preset time range after a click operation is not detected within 1 s, and the click operation may be the last click operation. Embodiments of the present invention trigger a drone mode change by detecting a continuous click event on the preset button.

102. Control, when the number of clicks meets a preset mode change condition, to change a mode of the drone.

Optionally, the preset mode change condition may include the number of clicks corresponding to the continuous click event. Exceeding the preset number threshold and/or the duration corresponding to the number of clicks is lower than a preset first time threshold and/or the interval between each two adjacent click operations in the continuous click event is lower than a preset number The second time threshold and the like are not limited in the embodiment of the present invention. The first time threshold is greater than the second time threshold.

If the result of the judgment is that the number of clicks included in the continuous click event satisfies the preset mode change condition, it may indicate that the mode of the drone needs to be changed, thereby changing the packaging mode of the drone, such as controlling the drone entry. Or exit the packaging mode. Wherein, the packaging mode can be used to control the fuselage components of the folding drone, and the fuselage components include a landing gear, an arm, a rotor, and the like. Specifically, controlling the drone into the packaging mode may include controlling a process of folding (or lowering) the fuselage components such as the landing gear, the arm, the rotor, etc., so as to place the packaged drone, for example, the package may be A good drone is placed in a placement box that matches the shape of the packaged drone. Accordingly, controlling the drone to exit the packaging mode may include the process of unfolding (or lifting) the fuselage components such as the landing gear, the arm, and the rotor.

In the embodiment of the present invention, the number of clicks included in the continuous click event can be statistically obtained by detecting a continuous click event of the preset button set on the drone, so that when the number of clicks is determined to satisfy the mode change condition Automatically and intelligently control the mode of changing the drone, thereby realizing the control of the drone mode through the body button without relying on external devices, which improves the mode selection efficiency of the drone.

Further, please refer to FIG. 2. FIG. 2 is a schematic flowchart diagram of another mode control method according to an embodiment of the present invention. Specifically, as shown in FIG. 2, the mode control method in the embodiment of the present invention may include the following steps:

201. The receiving user clicks a control command triggered by a preset button set on the drone.

202. responsive to the control instruction, detecting whether there is a continuous click event for the preset button within a preset time range after receiving the control command.

Optionally, the preset button may be a power button or other button disposed on the drone. After receiving the control command triggered by the operation of the preset button on the body of the drone, such as the power button, the click event may be detected according to the preset time window to detect whether there is a preset in the time window. Continuous click event. The preset time window may be a preset time period after receiving a control command triggered by the power button, such as 2 s.

Optionally, the detecting whether there is a pair within a preset time range after receiving the control instruction The continuous click event of the preset button may be specifically: detecting a switch state of the drone, the switch state includes a power on state and a power off state; and when detecting that the drone is in a power on state, detecting a preset Whether there is a continuous click event for the preset button in the first time window corresponding to the power-on state; when detecting that the drone is in a power-off state, detecting a preset corresponding to the shutdown state Whether there is a continuous click event for the preset button in the second time window. Specifically, the time window for detecting whether there is a continuous click event may be separately preset according to different states of the drone, for example, the time window in which the drone is in the power-on state may be set to be smaller than the time in the shutdown state. Window to increase the response sensitivity of the drone when it is turned on.

203. Count the number of clicks included in the continuous click event.

204. Determine whether the click number meets a preset mode change condition.

As an optional implementation manner, referring to FIG. 3, the manner of determining whether the number of clicks meets a preset mode change condition may be specifically as follows:

2041. Determine whether the number of clicks exceeds a preset number threshold;

2042. If the number of clicks exceeds the threshold, determine that the number of clicks meets a preset mode change condition.

Specifically, a number threshold may be preset. Therefore, when the number of clicks included in the click event of the preset button, such as the power button, is detected to exceed (equal to or greater than) the threshold, for example, 4 times, it is determined that the click event included in the click event satisfies a preset mode change condition. . Optionally, in order to improve the accuracy of the mode change, it may also be determined that the number of clicks is the same as the number threshold, and then it is determined that the mode change condition is satisfied. The threshold of the number may be obtained by the system, or may be obtained by a user-defined setting, which is not limited by the embodiment of the present invention.

As an optional implementation manner, refer to FIG. 4, the determining whether the number of clicks meets a preset mode change condition may also be specifically:

2043. Obtain a duration corresponding to the number of clicks included in the continuous click event;

2044. Determine whether the duration is lower than a preset first time threshold.

2045. If the duration is lower than the first time threshold, determine that the number of clicks meets a preset mode change condition.

Specifically, a first time threshold, such as 2 s, may also be preset. Thus, by detecting the duration of the number of clicks included in the click event of the power button, that is, the total duration of the click event, and The duration is compared with the set first time threshold, such as 2s. When the duration is less than 2s, it can be determined that the number of clicks included in the click event satisfies the mode change condition. Further, the steps 2041-2042 and the steps 2043-2045 may be combined for determining whether the mode change condition is met, that is, the number of clicks that may be included in the continuous click event exceeds the number threshold, and the duration thereof is lower than the first At the time threshold, it is determined that the continuous click event satisfies the mode change condition, and the mode control (change) of the drone can be performed, thereby further improving the accuracy of the mode change operation.

As an optional implementation manner, referring to FIG. 5, the determining whether the number of clicks meets a preset mode change condition may also be specifically:

2046. Obtain a time interval between each two adjacent click operations in the continuous click event.

2047. Determine whether the time interval between each two adjacent click operations is lower than a preset second time threshold.

2048. If the time interval between two adjacent click operations is lower than the second time threshold, determine that the number of clicks meets a preset mode change condition.

Specifically, a second time threshold may be preset, and the second time threshold is smaller than the first time threshold. Therefore, by comparing the time interval between each adjacent two click operations among the clicks included in the click event of the power button, the time interval is compared with the second time threshold such as 0.3s, when any phase When the time interval between the two points of the neighbor, that is, the operation, is lower than the second time threshold, it can be determined that the click event included in the click event satisfies the mode change condition. Further, the steps 2041-2042, steps 2043-2045, and steps 2046-2048 may be combined in combination or all in combination to determine whether the mode change condition is satisfied. That is, the continuous click event may be determined to satisfy the mode change condition when the number of clicks included in the continuous click event exceeds the number threshold and the duration thereof is lower than the first time threshold; or the number of clicks that may be included in the continuous click event When the time interval exceeding the number threshold and the interval between any two adjacent click operations corresponding to the number of clicks is lower than the second time threshold, determining that the continuous click event satisfies the mode change condition; or may be included in the continuous click event When the duration corresponding to the number of clicks is lower than the first time threshold and the time interval between any two adjacent click operations corresponding to the number of clicks is lower than the second time threshold, it is determined that the continuous click event satisfies the mode change condition Or may be that the number of clicks included in the continuous click event exceeds the threshold, the duration corresponding to the number of clicks is lower than the first time threshold, and the time interval between any two adjacent click operations corresponding to the number of clicks is When the second time threshold is lower, it is determined that the continuous click event satisfies the mode change condition. This allows mode control (change) of the drone, further improving the accuracy of the mode change operation.

205. When the number of clicks satisfies the mode change condition, detect whether the current mode of the drone is a packed mode.

Optionally, if it is detected that the continuous click event of the power button meets the preset mode change condition, the current mode of the drone can be changed to a preset mode corresponding to the mode change condition, such as controlling the The human machine enters or exits the packing mode.

206. When the current mode of the drone is a packaging mode, control the drone to exit the packaging mode.

207. When the current mode of the drone is not in a packaging mode, control the drone to enter the packaging mode.

Further optionally, after detecting the switch state of the drone, and before detecting the change of the mode of the drone, when detecting that the drone is in a power on state, The unmanned computer can be controlled; when the drone is detected to be in a shutdown state, the drone can be controlled to be powered on.

For example, it is assumed that the threshold is set to 4 in advance, the first time threshold is 2 s, the second time threshold is 0.3 s, the first time window is 1 s, and the second time window is 3 s. When the drone is turned on, if it receives a control command triggered by clicking the power button (after receiving the control command, it can issue a prompt, such as controlling multiple LEDs on the drone to flash at the same time), then it can be detected within 1 s. Whether there is a click event on the power button in the first time window, if yes, the type of the click event can be further determined, when a continuous short press is detected (the time between each adjacent click operation of the power button twice) When the interval is lower than 0.3s or the second time threshold, the power button is pressed 4 times to enter the packing mode, control the stacking of the fuselage components, and shut down. When the drone is in the off state, if it receives a control command triggered by clicking the power button (after receiving the control command, it can issue a prompt, such as controlling the LED on the drone to indicate the total power of the system), then it can be detected within 3s. Whether there is a click event on the power button in the second time window, if yes, the type of the click event can be further determined. When the continuous short press of the power button is detected 4 times, the packing mode can be exited, and the control is expanded. Body parts and can be turned on. In addition, before entering or exiting the packaging mode, the duration of the click event may be further detected, that is, the total time of the short press of the power button 4 times, and the duration is less than 2 s (first time threshold) When the mode is triggered to enter or exit, it will not be described here.

In the embodiment of the present invention, by detecting a continuous click event of a preset button set on the drone, the number of clicks included in the continuous click event is counted, and whether the number of clicks corresponding to the continuous click event exceeds the pre-determination Deciding whether the number threshold and/or the duration corresponding to the number of clicks is lower than a preset first time threshold and/or whether the time interval between each two adjacent click operations in the consecutive click event is lower than a preset number a second time threshold or the like to determine whether the continuous click event satisfies a preset mode change condition, and automatically, intelligently, and quickly control the mode of changing the drone when determining that the number of clicks satisfies the mode change condition, The utility model realizes the control of the drone mode through the button of the body without relying on an external device such as a remote controller, thereby improving the mode selection efficiency of the drone and the operation is simple.

Referring to FIG. 6, FIG. 6 is a schematic structural diagram of a mode control apparatus according to an embodiment of the present invention. The mode control apparatus 10 of the embodiment of the present invention may be disposed in a drone. Specifically, the apparatus 10 includes The module 11 and the control module 12 are detected. among them,

The detecting module 11 is configured to detect a continuous click event of a preset button set on the drone, and count the number of clicks included in the continuous click event.

The preset button may be an original button disposed on the drone, such as a power button; in addition, the preset button may also be other buttons that are additionally set. Further, the continuous click event may include at least two click operations on the preset button.

The control module 12 is configured to control a change of a mode of the drone when the number of clicks satisfies a preset mode change condition.

Optionally, the preset mode change condition may include that the number of clicks corresponding to the continuous click event exceeds a preset number threshold and/or the duration corresponding to the number of clicks is lower than a preset first time threshold and/or the continuous The time interval between the two adjacent click operations in the click event is lower than the preset second time threshold and the like, which is not limited in the embodiment of the present invention. The first time threshold is greater than the second time threshold.

Optionally, the control module 12 is further configured to: when the number of clicks exceeds a preset number threshold, determine that the number of clicks meets a preset mode change condition.

Optionally, the control module 12 is further configured to obtain a duration corresponding to the number of clicks included in the continuous click event; and when the duration is lower than a preset first time threshold, determine the The number of clicks meets the preset mode change conditions.

Optionally, the control module 12 is further configured to obtain a time interval between each two consecutive click operations in the continuous click event; when the interval between any two adjacent click operations is lower than the pre- When the second time threshold is set, it is determined that the number of clicks satisfies a preset mode change condition.

Specifically, when the control module 12 detects that the number of clicks corresponding to the click event of the preset button, such as the power button, exceeds the threshold, and/or the duration corresponding to the click is lower than the first time threshold and/or the continuous When the time interval between each two adjacent click operations in the click event is lower than the second time threshold, it can be determined that the click event includes the number of clicks satisfying the preset mode change condition.

Further, the detecting module 11 may be specifically configured to: when detecting a continuous click event of a preset button disposed on the drone:

Receiving a control command triggered by a user to click on a preset button set on the drone;

In response to the control instruction, detecting whether there is a continuous click event for the preset button within a preset time range after receiving the control command.

Specifically, after receiving the control command triggered by the operation of the preset button on the body of the drone, such as the power button, the detecting module 11 can perform the detection of the click event according to the preset time window, and detect the time window. Whether there is a preset continuous click event within. The preset time window may be a preset time period after receiving a control command triggered by the power button.

Further, the detecting module 11 may be specifically configured to: when detecting a continuous click event of the preset button within a preset time range after receiving the control command,

Detecting a switch state of the drone, the switch state including a power on state and a power off state;

When detecting that the drone is in a power-on state, detecting whether there is a continuous click event for the preset button in a preset first time window corresponding to the power-on state;

When it is detected that the drone is in a shutdown state, detecting whether there is a continuous click event for the preset button in a second time window corresponding to the shutdown state.

The first time window and the second time window may be set to be the same or may be set differently, for example, the first time window is set to be smaller than the second time window to improve the sensitivity of the command response in the power-on state.

Further optionally, the control module 12 may be specifically configured to meet the stated number of clicks. When the mode changes the condition, detecting whether the current mode of the drone is a packing mode; when the current mode of the drone is a packing mode, controlling the drone to exit the packing mode; when the unmanned When the current mode of the machine is not the packing mode, the drone is controlled to enter the packing mode.

Wherein, the packaging mode can be used to control a fuselage component of the folding drone, and the fuselage component can include at least one of a landing gear, an arm, and a rotor.

Further optionally, the control module 12 is further configured to: after detecting the switch state of the drone, and before detecting the change of the mode of the drone, when detecting the When the drone is in the power-on state, the unmanned computer is controlled; when the drone is detected to be in the power-off state, the drone is controlled to be turned on.

The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, where the computer storage medium stores program instructions, and the program execution may include the corresponding embodiments of FIG. 1 to FIG. Part or all of the steps of the mode control method.

Referring to FIG. 7, FIG. 7 is a schematic structural diagram of a UAV according to an embodiment of the present invention. The UAV 1 in the embodiment of the present invention may include: a communication interface 300, a memory 200, and a processor 100. The processor 100 is connected to the communication interface 300 and the memory 200, respectively. Further, the drone 1 of the embodiment of the present invention may further include a body, an arm that can be raised or lowered relative to the body (ie, the arm can be deformed), a rotor disposed on the arm, and a power supply. Body parts such as landing gear, etc., are not described here. The drone can be an unmanned aerial vehicle (UAV) that can be remotely controlled by a user to perform special tasks. For example, the UAV can be mounted with a shooting device. Through the shooting device, the user can monitor the flight area, which can be effectively applied to disaster relief, geological monitoring and the like. The UAV can also be mounted on a container including a tank for containing a mixed liquid of pesticides, water, and a spray mechanism, and is applied to the agricultural field. In addition, the UAV can also be equipped with a radar device, an infrared device, etc., and may also include a firepower system in the military field.

The communication interface 300 can include various standard buttons, a touch screen, a camera, a speaker, and the like. It may also include a wired interface, a wireless interface, and the like. The communication interface 300 can also be coupled to a remote control at the ground end for receiving data from the ground end. Based on the communication interface 300, flight control commands to the drone can be triggered to achieve control of the drone.

The memory 200 may include a volatile memory such as a random-access memory (RAM); the memory 200 may also include a non-volatile memory such as a flash. A flash memory or the like; the memory 200 may further include a combination of the above types of memories.

The processor 100 can be a central processing unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD) or a field-programmable gate array (FPGA).

Optionally, the memory 200 is further configured to store program instructions. The processor 100 can invoke the program instructions to implement a mode control method as shown in the embodiments of FIGS. 1 through 5 of the present application.

Specifically, the processor 100 may invoke a program instruction stored in the memory 200 to execute:

Detecting a continuous click event of a preset button set on the drone through the communication interface 300, and counting the number of clicks included in the continuous click event;

Optionally, the processor 100 further performs the following steps:

When the number of clicks exceeds a preset number threshold, it is determined that the number of clicks satisfies a preset mode change condition.

Optionally, the processor 100 further performs the following steps:

Obtaining a duration corresponding to the number of clicks included in the continuous click event;

When the duration is lower than a preset first time threshold, it is determined that the number of clicks satisfies a preset mode change condition.

Optionally, the processor 100 further performs the following steps:

Obtaining a time interval between each two adjacent click operations in the continuous click event;

When the time interval between any two adjacent click operations is lower than a preset second time threshold, it is determined that the number of clicks satisfies a preset mode change condition.

Further, optionally, the processor 100 performs the following steps when performing the detecting a continuous click event on a preset button set on the drone:

Receiving, by the communication interface 300, a control command triggered by the user to click on a preset button set on the drone;

Further, optionally, when the processor 100 performs a continuous click event on the preset button within a preset time range after detecting the receiving the control command, performing the following steps:

Further optionally, when the processor 100 performs the control to change the mode of the drone, the processor 100 specifically performs the following steps:

Detecting whether the current mode of the drone is a packed mode;

Controlling the drone to exit the packaging mode when the current mode of the drone is a packaging mode;

When the current mode of the drone is not in the packaging mode, the drone is controlled to enter the packaging mode.

Optionally, the packaging mode can be used to control a fuselage component of the folding drone, the fuselage component can include at least one of a landing gear, an arm, and a rotor.

Further optionally, the processor 100 performs the following steps after performing the detecting the switch state of the drone and before performing the control to change the mode of the drone:

Controlling the unmanned office machine when detecting that the drone is in a power on state;

When the drone is detected to be in a shutdown state, the drone is controlled to be turned on.

Further optionally, the preset button may be a power button disposed on the drone.

In the above embodiments, the descriptions of the various embodiments are different, and the details that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be another division manner, for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, 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 module, and may be electrical, mechanical or otherwise.

The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network modules. . Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of hardware plus software function modules.

The above-described integrated modules implemented in the form of software function modules can be stored in a computer readable storage medium. The software function modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile 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 code. .

A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, reference may be made to the foregoing Corresponding processes in the method embodiments are not described herein again.

It should be noted that the above embodiments are merely illustrative of the technical solutions of the present disclosure, and are not intended to be limiting; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present disclosure. range.

Claims

A mode control method, comprising:

Detecting a continuous click event of a preset button set on the drone, and counting the number of clicks included in the continuous click event;

When the number of clicks satisfies a preset mode change condition, the control changes the mode of the drone.
The method of claim 1 further comprising:

When the number of clicks exceeds a preset number threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The method according to claim 1 or 2, wherein the method further comprises:

Obtaining a duration corresponding to the number of clicks included in the continuous click event;

When the duration is lower than a preset first time threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The method according to claim 1 or 2, wherein the method further comprises:

Obtaining a time interval between each two adjacent click operations in the continuous click event;

When the time interval between any two adjacent click operations is lower than a preset second time threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The method according to any one of claims 1 to 4, wherein the detecting a continuous click event on a preset button provided on the drone includes:

Receiving a control command triggered by a user to click on a preset button set on the drone;

In response to the control instruction, detecting whether there is a continuous click event for the preset button within a preset time range after receiving the control command.
The method of claim 5 wherein said detecting receives said control Whether there are consecutive click events for the preset button within the preset time range after the command, including:

Detecting a switch state of the drone, the switch state including a power on state and a power off state;

When detecting that the drone is in a power-on state, detecting whether there is a continuous click event for the preset button in a preset first time window corresponding to the power-on state;

When it is detected that the drone is in a shutdown state, detecting whether there is a continuous click event for the preset button in a second time window corresponding to the shutdown state.
The method according to any one of claims 1 to 6, wherein the controlling changes to the mode of the drone include:

Detecting whether the current mode of the drone is a packed mode;

Controlling the drone to exit the packaging mode when the current mode of the drone is a packaging mode;

When the current mode of the drone is not in the packaging mode, the drone is controlled to enter the packaging mode.
The method of claim 7, wherein the packing mode is for controlling a fuselage component of the folding drone, the fuselage component comprising at least one of a landing gear, an arm, and a rotor.
The method according to claim 6, wherein after the detecting the switch state of the drone, and before the controlling changes the mode of the drone, the method further comprises:

Controlling the unmanned office machine when detecting that the drone is in a power on state;

When the drone is detected to be in a shutdown state, the drone is controlled to be turned on.
The method according to any one of claims 1 to 9, wherein the preset button is a power button provided on the drone.
A mode control device, comprising:

a detection module for detecting continuous click events on preset buttons set on the drone Counting the number of clicks included in the continuous click event;

And a control module, configured to control, when the number of clicks meets a preset mode change condition, to change a mode of the drone.
The device of claim 11 wherein:

The control module is further configured to: when the number of clicks exceeds a preset number threshold, determine that the number of clicks meets a preset mode change condition.
Device according to claim 11 or 12, characterized in that

The control module is further configured to acquire a duration corresponding to the number of clicks included in the continuous click event; and when the duration is lower than a preset first time threshold, determining that the click times meet a preset mode change condition.
Device according to claim 11 or 12, characterized in that

The control module is further configured to acquire a time interval between each two adjacent click operations in the continuous click event; when the interval between any two adjacent click operations is lower than a preset second time At the threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The device according to any one of claims 11 to 14, wherein the detecting module is specifically configured to: when detecting a continuous click event of a preset button provided on the drone:

Receiving a control command triggered by a user to click on a preset button set on the drone;

In response to the control instruction, detecting whether there is a continuous click event for the preset button within a preset time range after receiving the control command.
The device according to claim 15, wherein the detecting module is specifically configured to: when detecting a continuous click event of the preset button within a preset time range after receiving the control command:

Detecting a switch state of the drone, the switch state including a power on state and a power off state;

When it is detected that the drone is in a power on state, detecting a preset corresponding to the boot state Whether there is a continuous click event for the preset button in the first time window;

When it is detected that the drone is in a shutdown state, detecting whether there is a continuous click event for the preset button in a second time window corresponding to the shutdown state.
Apparatus according to any of claims 11-16, wherein

The control module is configured to: when the number of clicks meets the mode change condition, detect whether a current mode of the drone is a packed mode; and when a current mode of the drone is a packed mode, control The drone exits the packing mode; when the current mode of the drone is not the packing mode, the drone is controlled to enter the packing mode.
The apparatus according to claim 17, wherein said packing mode is for controlling a fuselage component of a folding drone, said fuselage component comprising at least one of a landing gear, an arm, and a rotor.
The device of claim 16 wherein:

The control module is further configured to: after detecting the switch state of the drone, and before detecting that the mode of the drone is changed, when detecting that the drone is powered on And controlling the unmanned aerial vehicle; when detecting that the drone is in a shutdown state, controlling the drone to be powered on.
The device according to any one of claims 11 to 19, wherein the preset button is a power button provided on the drone.
An unmanned aerial vehicle, comprising: a memory, a processor, and a communication interface, wherein the processor is respectively connected to the memory and the communication interface; wherein

The memory is configured to store program instructions;

The processor is configured to invoke a program instruction stored in the memory to execute:

Detecting a continuous click event of a preset button set on the drone through the communication interface, and counting the number of clicks included in the continuous click event;

Controlling the mode of the drone when the number of clicks satisfies a preset mode change condition Line changes.
The drone according to claim 21, wherein said processor further performs the following steps:

When the number of clicks exceeds a preset number threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The drone according to claim 21 or 22, wherein the processor further performs the following steps:

Obtaining a duration corresponding to the number of clicks included in the continuous click event;

When the duration is lower than a preset first time threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The drone according to claim 21 or 22, wherein the processor further performs the following steps:

Obtaining a time interval between each two adjacent click operations in the continuous click event;

When the time interval between any two adjacent click operations is lower than a preset second time threshold, it is determined that the number of clicks satisfies a preset mode change condition.
The unmanned aerial vehicle according to any one of claims 21 to 24, wherein the processor performs the following steps when performing the detecting of a continuous click event of a preset button provided on the drone:

Receiving, by the communication interface, a control instruction triggered by a user to click on a preset button set on the drone;

In response to the control instruction, detecting whether there is a continuous click event for the preset button within a preset time range after receiving the control command.
The drone according to claim 25, wherein the processor has the presence of the preset button within a preset time range after detecting the detection of receiving the control command When you continuously click on an event, perform the following steps:

Detecting a switch state of the drone, the switch state including a power on state and a power off state;

When detecting that the drone is in a power-on state, detecting whether there is a continuous click event for the preset button in a preset first time window corresponding to the power-on state;

When it is detected that the drone is in a shutdown state, detecting whether there is a continuous click event for the preset button in a second time window corresponding to the shutdown state.
The drone according to any one of claims 21 to 26, wherein the processor performs the following steps when performing the control to change the mode of the drone:

Detecting whether the current mode of the drone is a packed mode;

Controlling the drone to exit the packaging mode when the current mode of the drone is a packaging mode;

When the current mode of the drone is not in the packaging mode, the drone is controlled to enter the packaging mode.
The drone according to claim 27, wherein said packing mode is for controlling a fuselage component of the folding drone, said fuselage component comprising at least one of a landing gear, an arm, and a rotor .
The drone according to claim 26, wherein said processor changes said mode of said drone after said detecting said switch state of said drone and performing said control Previously, the following steps were also performed:

Controlling the unmanned office machine when detecting that the drone is in a power on state;

When the drone is detected to be in a shutdown state, the drone is controlled to be turned on.
The drone according to any one of claims 21 to 29, wherein the preset button is a power button provided on the drone.