WO2018103017A1

WO2018103017A1 - Unmanned aerial vehicle control method and unmanned aerial vehicle

Info

Publication number: WO2018103017A1
Application number: PCT/CN2016/108896
Authority: WO
Inventors: 陈超彬; 刘启明; 王磊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-12-07
Filing date: 2016-12-07
Publication date: 2018-06-14
Also published as: CN107077506A

Abstract

Provided are an Unmanned Aerial Vehicle (UAV) (100) and a control method therefor, the control method comprises: receiving a data request from an external device (200) via a data interface, wherein the data request comprises a data tag (S1); recording a flight data, wherein the flight data comprises at least one type of data (S2); and associating the data tag with the flight data based on the data request (S3).

Description

UAV control method and drone

Technical field

The invention relates to the field of drones, in particular to a control method of a drone and a drone.

Background technique

UAVs are increasingly used in scenarios where external equipment is used to fly to assist external equipment in collecting data. For example, an air quality inspection device is mounted on a drone to orbit the city to monitor air quality throughout the urban area. . After the drone carries the external equipment and collects the data, the researcher will extract the collected data from the external equipment for research and analysis, and the flight data recorded by the drone during the flight can also be extracted. However, the flight data in the drone is disordered and does not correlate the associated flight data. It is difficult for the R&D personnel to combine the collected data with the unordered flight data for subsequent analysis.

Summary of the invention

Embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. To this end, embodiments of the present invention need to provide a control method for a drone and a drone.

The present invention provides a control method for a drone, the control method comprising: receiving a data request from an external device through a data interface, the data request including a data tag; recording flight data, the flight data including at least one type of data; And associating the data tag and the flight data according to the data request.

The invention provides a drone, which comprises a memory, a communication unit and a processor. The memory is for recording flight data, the flight data including at least one type of data. The communication unit is configured to receive a data request from an external device through a data interface, the data request including a data tag; and the processor to associate the data tag and the flight data according to the data request.

The control method of the UAV according to the embodiment of the present invention and the UAV can correlate the flight data related to each other according to the data request after receiving the data request including the data tag, thereby realizing the ordering. It is beneficial for R&D personnel to combine the collected data with the orderly flight data for subsequent analysis.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

FIG. 1 is a schematic diagram of a physical object of a drone carrying an external device according to some embodiments of the present invention.

2 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

3 is a schematic diagram of functional modules of a drone according to some embodiments of the present invention.

4 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

FIG. 5 is a schematic flow chart of a control method of a drone according to some embodiments of the present invention.

6 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

7 is a schematic flow chart of a control method of a drone according to some embodiments of the present invention.

FIG. 8 is a schematic flow chart of a control method of a drone according to some embodiments of the present invention.

9 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

10 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

11 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

12 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

Figure 13 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

14 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

15 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

16 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

17 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

18 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

19 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

20 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

21 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

22 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

23 is a flow chart showing a method of controlling a drone according to some embodiments of the present invention.

24 is a schematic diagram showing the principle of a control method of a drone according to some embodiments of the present invention.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, "multiple The meaning of "a" is two or more unless specifically and specifically defined.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1 , a control method of a drone according to an embodiment of the present invention is used to control a drone 100. The drone 100 may be a rotary wing drone, a fixed wing drone, or a fixed wing-rotor hybrid. The drone can also be a manned rotor, fixed wing or fixed wing-rotor hybrid aircraft.

The drone 100 can carry the external device 200, for example, by hanging on the drone 100 through the pan/tilt, directly in the nacelle of the drone 100, or on the fuselage of the drone 100. The external device 200 may be any one or more of a photographing device, an air quality detecting device, a spectrum analyzer, and a thermal infrared sensor. The external device 200 can also be provided separately from the drone 100, such as on the ground. In the embodiment, the drone 100 is a rotor drone, and the number of the external devices 200 is one, and is exemplified by an air quality detecting device. The external device 200 is carried by the drone 100 and assisted by the drone 100. Monitor air quality in specific areas (eg, cities, villages, etc.). The external device 200 can communicate with the drone 100 through any one or more of wired, wireless, or shared storage.

Referring to FIG. 2, the control method of the drone includes the following steps:

S1, receiving a data request from the external device 200 through a data interface, where the data request includes a data label;

S2, recording flight data, the flight data including at least one type of data;

S3, correlating data tags and flight data according to the data request.

The drone 100 may receive a data request from the external device 200 during the initialization phase; it may also be that the drone 100 receives a data request from the external device 200 during the flight. The data tag in the data request includes an icon or a character capable of identifying a data request event. For example, if the data request event is sent in a rainy day, the data tag is an icon with a rainy day pattern or a character capable of representing a rainy day; the data request event If it occurs on a sunny day, the data label is an icon with a sunny pattern or a character that can indicate a sunny day; if the data request event is issued in the mountains, The data tag is an icon with a mountain pattern or a character that can represent a mountain. The form of the character can be various, for example, it can be an Arabic numeral number, a Roman numeral number, a letter number, a Chinese character, an English word, and the like, and the data label of the embodiment is a character having a sequential meaning, if it is in a sunny day. Requests for data are indicated by the Arabic numerals "1", "2", "3", "4", etc., if the data request is sent in rainy days, the Roman numerals "I", "II", "III", "IV" and the like indicate that if a request for data is issued in cloudy weather, the letters "A", "B", "C", "D", etc. are used.

The at least one type of data may be of one or more of the position, altitude, speed, drone attitude, and pan/tilt attitude of the drone 100. The drone 100 is capable of enabling and/or disabling the data interface to allow and/or inhibit the external device 200 from accessing at least one of the flight data of the drone 100.

Step S2 may be that the drone 100 records flight data when a flight event occurs, such as recording flight data when the aircraft takes off, land, turns, accelerates, or decelerates. Alternatively, the data request includes a data recording frequency, and the step S2 may be to record the flight data according to the data recording frequency, the recording frequency may be one flight data recorded in one hour, one flight data recorded in one hour, or one flight data recorded in one day, etc. The recording frequency may be set when the external device 200 is shipped from the factory, or the user may input the external device 200 according to his own needs.

Referring to FIG. 3, a drone 100 according to an embodiment of the present invention includes a communication unit 111, a memory 112, and a processor 113, which can be used to implement S1, S2, and S3, respectively. That is, the communication unit 111 is configured to receive a data request from the external device 200 through a data interface, the data request including a data tag. The memory 112 is for recording flight data, and the flight data includes at least one type of data. The processor 113 is configured to associate the data tag and the flight data according to the data request. Correspondingly, the memory 112 records flight data when a flight event occurs in the drone 100; or, the data request includes a data recording frequency, and the memory 112 records flight data based on the data recording frequency.

For example, referring to FIG. 4, the memory 112 in the drone 100 records flight data, including altitude, speed, and the like, which are stored in the memory 112 in an unordered manner (as shown in the left image). ). The drone 100 receives a data request including a data tag from the external device 200 through the data interface. The processor 113 associates the data tag and the flight data according to the data request. As shown on the right side of FIG. 4, the data tag is associated with the flight data of the same group, and the flight data of each group is the flight data at the same time, for example: The flight data of a group indicates that the speed of the drone 100 is 10 m/s when the height of the drone 100 is 500 m at a certain time; the flight data of the second group indicates that the drone 100 at another time When the height is 600 m, the speed of the drone 100 is 15 m/s, and so on. After the processor 113 performs the association, the data tag associated with the first set of flight data (height 500 meters, speed 10 m/s, etc.) is "1", and the second set of flight data (height is 600 meters, The speed is 15m/s, etc.) The associated data label is "2", and the data label associated with the third set of flight data (height 800 meters, speed 13m/s, etc.) is "3". With the fourth set of flight data (height is 1000 meters, the speed is 14m/s, etc.) The associated data tag is "4". At this time, all types of flight data recorded by the memory 112 of the drone 100 are associated, for example, if the memory 112 of the drone 100 records five types of position, altitude, speed, drone attitude, and pan/tilt attitude. For the flight data, each group of associated flight data includes five types: position, altitude, speed, drone attitude, and pan/tilt attitude; if the memory 112 of the drone 100 records position, altitude, speed, and three types For the flight data of the type, each group of associated flight data includes three types: position, altitude, and speed; if the memory 112 of the drone 100 only records the altitude type of flight data, each group of associated flights The data only includes the height type. In this embodiment, there is only one external device 200, so each set of flight data is associated with one data tag, such as an Arabic numeral number "1", "2", "3", "4", etc., if the number of external devices 200 is multiple In the case of each group of flight data, a plurality of data tags may be associated, and the form of the data tags may be as described above, and will not be described herein.

The control method of the unmanned aerial vehicle and the unmanned aerial vehicle 100 according to the embodiment of the present invention can correlate the flight data related to each other by ordering the data tags and the flight data according to the data request after receiving the data request including the data tag, thereby realizing the ordering It is beneficial for R&D personnel to combine the collected data with the orderly flight data for subsequent analysis.

Referring to FIG. 5, in some embodiments, the data request includes a data identifier, and the step of associating the data label and the flight data according to the data request includes:

S301. Associate the data label and the flight data corresponding to the data identifier according to the data request.

Correspondingly, in conjunction with FIG. 3, the processor 113 is further configured to associate a data tag and flight data corresponding to the data identifier according to the data request.

The data identifier is a character (such as a character), a graphic, or the like that can indicate the type of the flight data. For example, the data identifier is a character that can indicate a position, a height, a speed, a drone posture, a gimbal posture, and the like. When the request data includes a data identifier, the processor 113 associates the data tag and the flight data corresponding to the data identifier according to the data request, instead of associating the data tag with all types of flight data. For example, referring to FIG. 6, if the memory 112 of the drone 100 records five types of flight data of position, altitude, speed, drone attitude, and pan/tilt attitude, and the data identifier includes only height and speed, then Each group of associated flight data includes only two types of altitude and speed. Specifically, the data tag associated with the flight data at a height and speed of the first group (height 500 meters, speed 10 m/s) is "1", and the flight data of the second group at height and speed (The height is 600 meters, the speed is 15m / s) The associated data label is "2", associated with the third group of flight data at altitude and speed (height 800 meters, speed 13m / s) The data label is "3", and the data label associated with the fourth group of flight data at height and speed (height 1000 meters, speed 14 m/s) is "4".

Since the drone 100 may receive a data request from the external device 200 during the initialization phase; it may also be that the drone 100 receives a data request from the external device 200 during the flight. Correspondingly, the data identifier can be unmanned The machine 100 is received from the external device 200 during the initialization phase; it may also be that the drone 100 receives a data request from the external device 200 during the flight. When the data identification is received by the drone 100 from the external device 200 in the initialization phase, the flight data to be recorded is determined before the drone 100 carries the external device 200 to perform the task, and is not required to be transmitted by the external device 200 during the flight. Then define which types of data need to be associated, reduce the data exchange, save the communication link transmission space, and use the saved space to transmit other data. When the data identifier is received by the drone 100 from the external device 200 during the flight, the drone 100 can change the required data type at any time during the execution of the task by the external device 200, and is flexible.

The control method of the UAV and the UAV 100 according to the embodiment of the present invention make the flight data related to each other by receiving the data tag and the flight data corresponding to the data identifier according to the data request after receiving the data request including the data tag and the data identifier. Being able to correlate and achieve ordering is beneficial for R&D personnel to combine collected data with ordered flight data for subsequent analysis. Moreover, the flight data corresponding to the data identifier is associated in a targeted manner, and all types of flight data are not associated with each other, and the amount of association is reduced, which also saves time for the processor 113 to perform data processing, speeds up the association efficiency, and reduces energy. Consumption.

Referring to FIG. 7 and FIG. 8 , in some embodiments, the control method further includes:

S4. Acquire identity information of the external device 200.

Correspondingly, in conjunction with FIG. 3, step S4 can be performed by the communication unit 111, that is, the communication unit 111 is further configured to acquire identity information of the external device 200.

Referring to FIG. 9 and FIG. 10, in some embodiments, the control method further includes:

S5. Match the first data set and the second data set according to the identity information and the data label.

Correspondingly, in conjunction with FIG. 3, step S5 may be performed by the processor 113. That is, the processor 113 is further configured to match the first data set and the second data set according to the identity information and the data label. The first data set is acquired by the drone 100, and the first data set includes a data tag and flight data. The second data set is acquired by the external device 200, and the second data set includes the data tag and the collected data of the external device 200.

For example, when monitoring urban air quality, the external device 200 detects some collected data, such as air humidity, temperature, PM2.5 value, and the like. The collected data of the external device 200 itself also carries a data label, as shown in FIG. 11, and the first set of collected data (the meaning of the group here is the same as the meaning of the group in the previous "flight data", the temperature in the air is 15 degrees. The humidity is 70%. The corresponding data label is "1". The data label corresponding to the second group of collected data (the temperature in the air is 18 degrees and the humidity is 65%) is "2", and the data is collected with the third group. (The temperature in the air is 20 degrees, the humidity is 60%.) The corresponding data label is "3". The data label corresponding to the fourth group of collected data (the temperature in the air is 25 degrees and the humidity is 50%) is "4". ".

The processor 113 performs the step S5 based on the identity information and the data label. The situation is divided into two types. Case 1: Referring to FIG. 11, only one external device 200, only the identity 1, the processor 113 will be the drone 100. The first data set with the data tag of "1" matches the second data set of the external device 200 with the data tag of "1", and the first data set of the UAV 100 with the data tag of "2" and the external device The second data set of the data tag labeled "2" in 200 matches, and the first data set of the data tag labeled "3" in the drone 100 matches the second data set of the external device 200 with the data tag of "3". The first data set in which the data tag of the drone 100 is "4" is matched with the second data set of the external device 200 whose data tag is "4".

Case 2: Referring to FIG. 12, there are multiple external devices 200, for example, three, and the identity information is Identity 1, Identity 2, and Identity 3. Each external device 200 sends a data label, and the data label corresponds to the identity information. . For example, the identity information sends the first set of data tags for the external device 200 of the identity 1, the external device 200 whose identity information is the identity 2 sends the second set of data tags, and the external device 200 whose identity information is the identity 3 sends the third set of data tags. The form of each set of data labels may be the same or different. The present embodiment is described by taking the same data label of each group as an example. When the first data set and the second data set are matched, the identity information of the external device 200 is first identified, and if the identity is 1, the flight data corresponding to the first group of data tags and the data tag in the external device 200 of the identity 1 are used. The corresponding collected data matches, that is, the first set of flight data (the height is 500 meters, the speed is 10 m/s) and the identity information is the identity 1 of the first group of data tags in the drone 100. The first set of collected data of the device 200 with the data tag of "1" (the temperature in the air is 10 degrees, the humidity is 75%) matches, and the second set of data tags in the drone 100 is the second of the "2". Group flight data (height 600 meters, speed 15m/s) and the second set of data collected by the external device 200 whose identity information is identity 1 is "2" (the temperature in the air is 18 degrees, the humidity is 60) %) matches, followed by analogy.

If the identity is 2, the flight data corresponding to the second set of data tags is matched with the collected data corresponding to the data tag in the external device 200 of the identity 2, that is, the second set of data tags in the drone 100 is The second set of flight data of "1" (height is 600 meters, speed is 15m/s) and the first set of data collected by the external device 200 whose identity information is identity 2 is "1" (the temperature in the air is 15 degrees, humidity is 70%) matching, the third group of flight data (the height is 800 meters, the speed is 13m/s) and the identity information is the identity 1 in the second group of data tags in the drone 100. The data of the external device 200 is matched with the second set of data of "2" (the temperature in the air is 18 degrees, the humidity is 65%), and so on.

If the identity is 3, the flight data corresponding to the third set of data tags is matched with the collected data corresponding to the data tag in the external device 200 of the identity 3, that is, the third set of data tags in the drone 100 is The third set of flight data of "1" (height is 800 meters, speed is 13m/s) and the first set of data collected by the external device 200 whose identity information is identity 3 is "1" (the temperature in the air is 17 degrees, humidity is 65%) matching, the fourth group of flight data (the height is 1000 meters, the speed is 14m/s) and the identity information is the identity 3 in the third group of data tags in the drone 100. The data set of the external device 200 is "2" and the second set of collected data (the temperature in the air is 20 degrees, the humidity is 50%) matches, and so on.

The control method of the UAV and the UAV 100 according to the embodiment of the present invention make the flight data related to each other by receiving the data tag and the flight data corresponding to the data identifier according to the data request after receiving the data request including the data tag and the data identifier. Being able to correlate and achieve ordering is beneficial for R&D personnel to combine collected data with ordered flight data for subsequent analysis. Moreover, the control method of the drone and the drone 100 can also match the first data set and the second data set according to the identity information and the data tag, so that the collected data of the external device 200 and the drone 100 can be The flight data in the correspondence is matched, and the research and development personnel can use the flight data of the drone 100 to perform accurate analysis and collect data.

Referring to FIG. 13, in some embodiments, the data request further includes a user message, and the step of associating the data tag and the flight data according to the data request includes:

S302. Associate data tags, user messages, and flight data according to the data request. Correspondingly, in conjunction with FIG. 3, the processor 113 is further configured to associate a data tag, a user message, and flight data according to the data request.

The user message may be a serial number of the collected data of the external device 200, or may be a text description, and the text description may be in various forms, which may serve as a prompting user. For example, in this embodiment, please refer to FIG. 14 , the user message is the serial number “1”, “2”, “3”, “4”, etc. of the collected data of the external device 200, and the data label is the English letter “A”. , "B", "C", "D", etc.

When the processor 113 associates the data tag, the user message, and the flight data according to the data request, as shown on the right side of FIG. 14 , specifically, with the first set of flight data (the height is 500 meters, the speed is 10 m/s, etc.) The associated data tag is "A", the associated user message is "1", and the data tag associated with the second set of flight data (height 600 meters, speed 15 m/s, etc.) is "B" The associated user message is "2", the data tag associated with the third set of flight data (height 800 meters, speed 13 m/s, etc.) is "C" and the associated user message is "3" The data tag associated with the fourth set of flight data (height 1000 meters, speed 14 m/s, etc.) is "D" and the associated user message is "4". At this time, all types of flight data recorded by the memory 112 of the drone 100 are associated, for example, if the memory 112 of the drone 100 records five types of position, altitude, speed, drone attitude, and pan/tilt attitude. For the flight data, each group of associated flight data includes five types: position, altitude, speed, drone attitude, and pan/tilt attitude; if the memory 112 of the drone 100 records position, altitude, speed, and three types For the flight data of the type, each group of associated flight data includes three types: position, altitude, and speed; if the memory 112 of the drone 100 only records the altitude type of flight data, each group of associated flights The data only includes the height type.

The control method of the drone according to the embodiment of the present invention and the drone 100 can associate the flight data related to each other by correlating the data tag, the user message, and the flight data according to the data request after receiving the data request including the data tag. The orderly realization is beneficial for the R&D personnel to combine the collected data with the ordered flight data for subsequent analysis. Moreover, user messages are added to the associated flight data to alert the user The role of the user experience.

Referring to FIG. 15, in some embodiments, the data request further includes a user message and a data identifier, and the step of associating the data tag and the flight data according to the data request includes:

S302. Associate the data label, the user message, and the flight data corresponding to the data identifier according to the data request.

Correspondingly, in conjunction with FIG. 3, the processor 113 is further configured to associate a data tag, a user message, and flight data corresponding to the data identifier according to the data request.

The user message may be a serial number of the collected data of the external device 200, or may be a text description, and the text description may be in various forms, which may serve as a prompting user. The data is identified as a character, a graphic, or the like indicating the type of the flight data. For example, referring to FIG. 16, the user message is the serial number "1", "2", "3", "4", etc. of the collected data of the external device 200. . The data is identified as words that indicate position, altitude, speed, drone attitude, pan/tilt attitude, and the like.

When the processor 113 associates the data tag, the user message, and the flight data corresponding to the data identifier according to the data request, as shown on the right side of FIG. 16, the memory 112 of the drone 100 records the position, altitude, speed, and drone posture. 5 types of flight data for the PTZ attitude, and the data identification only includes altitude and speed. Specifically, the data tag associated with the first set of flight data (500 meters in height and 10 m/s in speed) is "A". The associated user message is "1", and the data tag associated with the second group of flight data (height 600 meters, speed 15 m/s) is "B", and the associated user message is "2". The data tag associated with the third set of flight data (height 800 meters, speed 13 m/s) is "C", the associated user message is "3", and the fourth set of flight data (height is 1000 meters, The speed is 14m/s) the associated data tag is "D" and the associated user message is "4".

The control method of the drone according to the embodiment of the present invention and the drone 100 can associate the flight data related to each other by correlating the data tag, the user message, and the flight data according to the data request after receiving the data request including the data tag. The orderly realization is beneficial for the R&D personnel to combine the collected data with the ordered flight data for subsequent analysis. Moreover, the addition of user messages to the associated flight data can serve as a reminder to the user and enhance the user experience. In addition, the control method of the unmanned aerial vehicle according to the embodiment of the present invention and the drone 100 are targeted data associated with the data corresponding to the identification data, and are not associated with all types of flight data, and the associated amount is reduced. The time for the processor 113 to save data is saved, the correlation efficiency is accelerated, and the energy consumption is reduced.

Referring to FIG. 17-18, in some embodiments, the control method further includes:

S4. Acquire identity information of the external device 200.

Correspondingly, in conjunction with FIG. 3, steps S4 and S5 may be performed by the communication unit 111 and the processor 113, respectively, that is, the communication unit 111 is further configured to acquire identity information of the external device 200. The processor 113 It is further configured to match the first data set and the second data set according to the identity information and the data label. Wherein, as shown in FIG. 19, the first data set is acquired by the drone 100, and the first data set includes a data tag, a user message, and flight data. The second data set is acquired by the external device 200, and the second data set includes a data tag, a serial number associated with the user message, and collected data of the external device.

Referring to FIG. 20, the control method may further include:

S7, obtaining the receiving time of the data request; and

S8, associating the receiving time with the data tag of the same data request.

Correspondingly, in conjunction with FIG. 3, steps S7 and S8 may be performed by the communication unit 111 and the processor 113, respectively, that is, the communication unit 111 is further configured to acquire the reception time of the data request. The processor 113 is further configured to associate the receiving time with a data tag of the same data request.

As shown in FIG. 21, the receiving time corresponding to the first group of flight data is 6:00, the receiving time corresponding to the second group of flight data is 8:00, and the receiving time corresponding to the third group of flight data is 10:00. The receiving time corresponding to the fourth set of flight data is 12:00. After the processor 113 executes S8, the data tag associated with the first set of flight data (height 500 meters, speed 10 m/s, etc.) is "1", and the associated receiving time is 6:00; The second set of flight data (height 600 meters, speed 15m/s, etc.) associated data tag is "2", associated reception time is 8:00; and third group flight data (height is 800 Meter, speed is 13m/s, etc.) The associated data tag is "3", the associated receiving time is 10:00; and the fourth group of flight data (height is 1000 meters, speed is 14m/s, etc.) Etc.) The associated data tag is "4" and the associated receive time is 12:00.

Referring to FIG. 22, the control method may further include:

S9. Generate a first data set according to the receiving time, the data label, and the flight data.

Correspondingly, in conjunction with FIG. 3, step S9 may be performed by the processor 113. That is, the processor 113 is further configured to generate a first data set according to the receiving time, the data tag, and the flight data. As shown in FIG. 21, the first data set includes reception time, data tags, and flight data.

Referring to FIG. 23, the external device 200 acquires a second data set, where the first data set includes a first timestamp, a data label, and flight data, the second data set includes a second timestamp and the collected data, and the first timestamp is associated with the receiving Time, the second timestamp is associated with the sending time of the data request, and the control method further includes:

S10. Match the first data set and the second data set according to the first timestamp and the second timestamp.

Correspondingly, in conjunction with FIG. 3, step S10 may be performed by the processor 113, that is, the processor 113 is further configured to match the first data set and the second data set according to the first timestamp and the second timestamp. .

The acquisition time interval of the first data set is the same as the acquisition time interval of the second data set and/or the acquisition time interval of the data request is the same as the acquisition time interval of the second data set. For example, see Figure 24, External The sending time (second timestamp) of the data request of the device 200 is the same as the receiving time (first timestamp) of the data request of the drone 100, specifically, the data collected in the first group (the temperature in the air is 15 degrees, the humidity) 70%) corresponding second timestamp is 6:00, and the second set of data corresponding to the second set of collected data (the temperature in the air is 18 degrees, the humidity is 65%) is 8:00, and the third group The second time stamp corresponding to the collected data (the temperature in the air is 20 degrees and the humidity is 60%) is 10:00, which corresponds to the fourth set of collected data (the temperature in the air is 25 degrees and the humidity is 50%). The second timestamp is 12:00.

When the processor 113 executes S10, the first data set with the first time stamp of 6:00 in the drone 100 is matched with the second data set with the second time stamp of 6:00 in the external device 200; The first data set with the first timestamp of 8:00 in 100 matches the second data set with the second timestamp of 8:00 in the external device 200; the first timestamp in the drone 100 is 10:00. The first data set is matched with the second data set with the second timestamp of 10:00 in the external device 200; the first data set of the first time stamp of the drone 100 is 12:00 and the second data set of the external device 200 The second data set with a timestamp of 12:00 matches.

For the control method of the unmanned aerial vehicle according to the embodiment of the present invention and other parts of the unmanned aerial vehicle 100 that are not deployed, reference may be made to the control method of the unmanned aerial vehicle of the above embodiment and the corresponding portion of the unmanned aerial vehicle 100, and the details of the unmanned aerial vehicle 100 are not further developed here. .

In the description of the present specification, reference is made to the terms "some embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific examples", or "some examples", etc. The descriptions of the specific features, structures, materials or features described in connection with the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. A more specific example (non-exhaustive list) of computer readable media includes the following: electrical connections having one or more wirings Connector (electronic device), portable computer disk cartridge (magnetic device), random access memory (RAM), read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic device, And a portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A control method for a drone, characterized in that the control method comprises:

Receiving a data request from an external device through a data interface, the data request including a data tag;

Recording flight data, the flight data including at least one type of data;

The data tag and the flight data are associated according to the data request.
The control method according to claim 1, wherein the connection mode of the drone with the external device is a wired connection and/or a wireless connection.
The control method according to claim 1, wherein said drone is capable of enabling and/or disabling said data interface to allow and/or prohibit said external device from accessing at least one of said flight data .
The control method according to claim 1, wherein the at least one type of data comprises one or more of a position, a height, a speed, a drone attitude, and a head attitude of the drone.
The control method according to claim 1, wherein said step of recording flight data is that said drone records flight data when a flight event occurs; or

The data request includes a data recording frequency, and the step of recording flight data is to record flight data based on the data recording frequency.
The control method according to claim 1, wherein the data request comprises a data identifier, and the step of associating the data tag and the flight data according to the data request comprises:

Correlating the data tag and the flight data corresponding to the data identifier according to the data request.
The control method of claim 6 wherein said data tag comprises an icon or character capable of identifying a data request event, said data request comprising at least two data tags.
The control method according to claim 1 or 6, wherein the control method further comprises:

Obtain identity information of the external device.
The control method according to claim 8, wherein the control method further comprises:

Matching the first data set and the second data set according to the identity information and the data tag;

The first data set is acquired by the drone, and the first data set includes the data tag and the flight data;

The second data set is acquired by the external device, and the second data set includes the data tag and the collected data of the external device.
The control method according to claim 1, wherein the data request further comprises a user message, and the step of associating the data tag and the flight data according to the data request comprises:

The data tag, the user message, and the flight data are associated according to the data request.
The control method according to claim 1, wherein the data request further comprises a user message and a data identifier, and the step of associating the data tag and the flight data according to the data request comprises:

And associating the data tag, the user message, and the flight data corresponding to the data identifier according to the data request.
The control method according to claim 10 or 11, wherein the control method further comprises:

Obtaining identity information of the external device;

Matching the first data set and the second data set according to the identity information and the data tag;

The first data set is acquired by the drone, and the first data set includes the data tag, the user message, and the flight data;

The second data set is acquired by the external device, and the second data set includes the data label, a serial number associated with the user message, and collected data of the external device.
The control method according to claim 1, 6 or 11, wherein said drone receives said data request from said external device during an initialization phase; or

The drone receives the data request from the external device during flight.
The control method according to claim 1, wherein the control method further comprises:

Obtaining the receiving time of the data request; and

The receiving time is associated with the data tag of the same data request.
The control method according to claim 14, wherein the control method further comprises:

Generating a first data set based on the reception time, the data tag, and the flight data.
The control method according to claim 15, wherein the external device acquires a second data set, the first data set includes a first timestamp, and the second data set includes a second timestamp and collected data, The first timestamp is associated with the receiving time, and the second timestamp is associated with the sending time of the data request, the control method further includes:

Matching the first data set and the second data set according to the first timestamp and the second timestamp.
The control method according to claim 16, wherein the acquisition time interval of the first data set is the same as the acquisition time interval of the second data set and/or the acquisition time interval of the data request is The acquisition time interval of the second data set is the same.
A drone, characterized in that the drone includes:

a memory for recording flight data, the flight data including at least one type of data;

a communication unit, configured to receive a data request from an external device through a data interface, where the data request includes a data tag;

a processor, configured to associate the data tag and the flight data according to the data request.
The drone according to claim 18, wherein the connection mode of the drone to the external device is a wired connection or a wireless connection.
The drone of claim 18, wherein said drone is capable of enabling and/or disabling said data interface to allow and/or inhibit said external device from accessing at least one of said flight data data.
The drone according to claim 18, wherein said at least one type of data comprises one or more of a position, a height, a speed, a drone attitude, and a head attitude of said drone.
The control method according to claim 18, wherein said memory records flight data when a flight event occurs in said drone; or

The data request includes a data recording frequency, and the memory records flight data based on the data recording frequency.
The drone of claim 18, wherein said data request includes a data identification, said The processor is also used to:

Correlating the data tag and the flight data corresponding to the data identifier according to the data request.
The drone of claim 23 wherein said data tag comprises an icon or character capable of identifying a data request event, said data request comprising at least two data tags.
The drone according to claim 18 or 23, wherein the communication unit is further configured to:

Obtain identity information of the external device.
The drone of claim 25, the processor is further configured to:

Matching the first data set and the second data set according to the identity information and the data tag;

The first data set is acquired by the drone, and the first data set includes the data tag and the flight data;

The second data set is acquired by the external device, and the second data set includes the data tag and the collected data of the external device.
The drone of claim 18, wherein the data request further comprises a user message, the processor further configured to:

The data tag, the user message, and the flight data are associated according to the data request.
The drone according to claim 18, wherein the data request further comprises a user message and a data identifier, and the processor is further configured to:

And associating the data tag, the user message, and the flight data corresponding to the data identifier according to the data request.
The drone according to claim 27 or 28, wherein the communication unit is further configured to:

Obtaining identity information of the external device;

The processor is further configured to match the first data set and the second data set according to the identity information and the data label;

The first data set is acquired by the drone, and the first data set includes the data tag, the user message, and the flight data;

The second data set is acquired by the external device, and the second data set includes the data label, a serial number associated with the user message, and collected data of the external device.
A drone according to claim 18, 23 or 28, wherein said communication unit receives said data request from said external device during said drone initialization phase; or

The communication unit receives the data request from the external device during flight of the drone.
The drone of claim 18, wherein the processor is further configured to:

Obtaining the receiving time of the data request; and

The receiving time is associated with the data tag of the same data request.
The drone of claim 31, wherein the processor is further configured to:

Generating a first data set based on the reception time, the data tag, and the flight data.
The drone according to claim 32, wherein the external device acquires a second data set, the first data set includes a first time stamp, and the second data set includes a second time stamp and collected data, The first timestamp is associated with the receiving time, the second timestamp is associated with a sending time of the data request, and the processor is further configured to:

Matching the first data set and the second data set according to the first timestamp and the second timestamp.
The drone according to claim 33, wherein the acquisition time interval of the first data set is the same as the acquisition time interval of the second data set and/or the acquisition time interval of the data request The acquisition time interval of the second data set is the same