WO2018133041A1 - Control method for unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle (100) and a control method for an unmanned aerial vehicle. The control method comprises: (S1) establishing a location mapping relationship with an external device; (S2) acquiring current location information about the external device; (S3) calculating target position information about the unmanned aerial vehicle according to the current position information and the position mapping relationship; and (S4) controlling the flight of the unmanned aerial vehicle (100) according to the target position information.

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

At present, most of the control is to control the position of the drone on the six degrees of freedom such as lifting, moving forward, moving left and right, left and right turning, pitching, and rolling by controlling the remote lever on the remote controller. However, using the remote control's joystick to control the drone's operation is difficult and the accuracy is low. The user needs a lot of time to learn and familiarize with the operation of the joystick, so as to more and more accurately control the position of the drone.

Summary of the invention

Embodiments of the present invention provide a control method for a drone and a drone.

The invention provides a control method for a drone, and the control method comprises:

Establish a location mapping relationship with an external device;

Obtaining current location information of the external device;

Calculating target location information of the drone according to the current location information and the location mapping relationship; and

The drone flight is controlled according to the target position information.

The invention provides a drone, the drone comprising:

a first establishing module, configured to establish a location mapping relationship with an external device;

a first acquiring module, configured to acquire current location information of the external device;

a first calculating module, configured to calculate target location information of the drone according to the current location information and the location mapping relationship; and

And a first control module, configured to control the flight of the drone according to the target location information.

The present invention provides a drone, including a casing, a processor, a memory, a circuit board, and a power supply circuit, wherein the circuit board is disposed in a space enclosed by the casing, the processor and the The memory is electrically connected to the circuit board; the power circuit is configured to supply power to each circuit or device of the drone; the memory is configured to store executable program code; and the processor reads the The executable program code stored in the memory runs a program corresponding to the executable program code for executing the control method of any of the above embodiments.

The present invention provides a computer readable storage medium having instructions stored therein that, when executed by a drone processor, perform the control method of any of the above embodiments.

The control method of the UAV provided by the present invention and the UAV establish a position mapping relationship with an external device, and acquire After the current location information of the external device, the target location information of the drone is calculated according to the current location information and the location mapping relationship, and then the drone is controlled according to the target location information. The control mode of the drone is very intuitive and simple, and no user cost is required. A lot of time to learn and familiar with the operation of the joystick can accurately control the position of the drone.

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

1 is a schematic diagram of a physical object of an unmanned aerial vehicle and 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 flow chart of a control method of a drone according to some embodiments of the present invention.

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

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

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

8 is a schematic diagram of functional modules of an external device in accordance with 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 schematic diagram of functional modules of a drone according to some embodiments of the present invention.

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

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

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

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

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

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

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

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

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

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

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

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

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

28 is a schematic diagram of functional modules 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, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

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 communicate with the external device 200, and the user controls the flight parameters, flight speed, flight altitude and the like of the flight parameters, routes, and the like of the drone 100 by operating the external device 200. The external device 200 may be one or more of a mobile phone, a remote controller, a smart watch, smart glasses, a smart helmet, other virtual reality wearable devices, other augmented reality wearable devices, and the like. In the present embodiment, the external device 200 is taken as an example of a remote controller.

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

S1, establishing a location mapping relationship with the external device 200;

S2. Acquire current location information of the external device 200.

S3. Calculate target location information of the drone 100 according to the current location information and the location mapping relationship; and

S4, controlling the drone 100 to fly according to the target position information.

Referring to FIG. 3, the control method of the above-mentioned drone can be performed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the drone 100 includes a first establishing module 11 and a first The obtaining module 12, the first calculating module 13, and the first control module 14 are respectively configured to perform steps S1, S2, S3, and S4. That is, the first establishing module 11 is configured to establish a location mapping relationship with the external device 200. The first obtaining module 12 is configured to acquire current location information of the external device 200. The first calculating module 13 is configured to calculate target location information of the drone 100 according to the current location information and the location mapping relationship. The first control module 14 is configured to control the drone 100 to fly according to the target position information.

The step of establishing a location mapping relationship with the external device 200 may be performed by using a first user input. For example, before the drone 100 flies, the user may operate a physical button or a virtual button on the drone 100 to release the message. The drone 100 establishes a position mapping relationship with the external device 200.

The control method of the UAV and the UAV 100 establish a position mapping relationship with the external device 200, and after acquiring the current location information of the external device 200, calculate the target of the UAV based on the current location information and the location mapping relationship. The position information is then controlled to fly by the drone 100 according to the target position information. The control mode of the drone is very intuitive and simple, and the drone 100 can be accurately controlled without requiring the user to spend a lot of time learning and familiar with the operation of the joystick. position.

Referring to FIG. 4, in some embodiments, the step of establishing a location mapping relationship with the external device 200 includes the following steps:

S11. Acquire initial location information that the external device 200 is located in a three-dimensional space coordinate system.

S12. Obtain original location information of the drone 100 in the same three-dimensional space coordinate system; and

S13. Establish a location mapping relationship according to the initial location information and the original location information.

Referring to FIG. 5, the control method of the above-mentioned drone can be performed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the first establishing module 11 of the drone 100 can include the first An obtaining sub-module 111, a second obtaining sub-module 112, and a first establishing sub-module 113 are respectively configured to perform steps S11, S12, and S13. That is, the first acquisition sub-module 111 is configured to acquire initial location information of the external device 200 in a three-dimensional space coordinate system. The second obtaining sub-module 112 is configured to acquire original position information of the drone 100 in the same three-dimensional space coordinate system. The first establishing submodule 113 is configured to establish a location mapping relationship according to the initial location information and the original location information.

Referring to FIG. 6, in some embodiments, the step of acquiring initial location information of the external device 200 in the three-dimensional space coordinate system may include the following sub-steps:

S111. Acquire three mobile degree of freedom values (x ₁ , y ₁ , z ₁ ) when the external device 200 is in the initial position.

S112. Acquire three rotational freedom values of the external device 200 in the initial position (ψ ₁ ,

θ ₁ ); and

S113, the freedom of movement associated with three values _{(x 1, y 1, z} 1) and three rotational degrees of freedom values (ψ _1,

θ ₁ ) to obtain initial position information (x ₁ , y ₁ , z ₁ , ψ ₁ ,

θ ₁ ).

Referring to FIG. 7, the control method of the above-mentioned drone can be executed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the first establishing module 11 of the drone 100 An obtaining sub-module 111 may include: a first obtaining unit 1111, a second obtaining unit 1112, and a first associating unit 1113, which may be used to perform steps S111, S112, and S113, respectively. That is, the first obtaining unit 1111 is configured to acquire three moving degree of freedom values (x ₁ , y ₁ , z ₁ ) when the external device 200 is in the initial position. Second acquisition unit configured to acquire external device 1112 freedom of rotation value (ψ ₁ at the initial position in the three,

θ ₁ ). The first associating unit 1113 is configured to associate three mobile degree of freedom values (x ₁ , y ₁ , z ₁ ) and three rotational degrees of freedom values (ψ ₁ ,

θ ₁ ) to obtain initial position information (x ₁ , y ₁ , z ₁ , ψ ₁ ,

θ ₁ ).

The first obtaining unit 1111 may be a down-view camera mounted on the drone 100; or may be a communication unit on the drone 100. When the first acquiring unit 1111 is a communication unit on the drone 100, The three degrees of freedom of movement (x ₁ , y ₁ , z ₁ ) of the external device 200 at the initial position are carried by a Global Positioning System (GPS) mounted on the external device 200 or mounted on the external device 200. The Vision Positioning System (VPS) determines that the first acquisition unit 1111 of the drone 100 further obtains the three movement degree of freedom values (x ₁ , y ₁ , z ₁ ) by communicating with the external device 200.

The second obtaining unit 1112 may be a front view camera mounted on the drone 100; or may be a communication unit on the drone 100. When the second obtaining unit 1112 is a communication unit on the drone 100, the external device 200 degrees of rotational freedom in the initial position of 200 (ψ ₁

θ ₁ ) is measured by an inertial measurement unit (IMU) mounted on the external device 200, and the second acquisition unit 1112 of the drone 100 further obtains the three rotational freedom values by communicating with the external device 200 ( ψ ₁ ,

θ ₁ ).

It can be understood that the three moving degree of freedom values (x ₁ , y ₁ , z ₁ ) obtained in step S111 and the three rotational degrees of freedom values obtained in step S112 (ψ ₁ ,

θ ₁ ), and initial position information (x ₁ , y ₁ , z ₁ , ψ ₁ , obtained in step S113)

θ ₁ ) may be performed by elements on the external device 200, and finally the external device 200 sets initial position information (x ₁ , y ₁ , z ₁ , ψ ₁ by the communication unit disposed thereon).

θ ₁ ) is sent to the drone 100. Correspondingly, the drone 100 only needs the communication unit to complete the initial position information (x ₁ , y ₁ , z ₁ of the external device 200 in the three-dimensional space coordinate system in step S11. ψ ₁ ,

The acquisition of θ ₁ ), in other words, the first acquisition sub-module 111 is the communication module on the drone 100. At this time, referring to FIG. 8, the external device 200 includes a camera 201, an IMU 202, a trigger button 203, and a GPS 204. The camera 201 or GPS 204 is used to observe the underlay texture to obtain three degrees of freedom of movement (x ₁ , y ₁ , z ₁ ) of the external device 200 in the initial position. The IMU 302 is configured to acquire three rotational degrees of freedom values of the external device 200 in the initial position (ψ ₁ ,

θ _1). The trigger button 203 is triggered for establishing or disconnecting the mapping relationship with the drone 100, that is, the step of establishing or disconnecting the position mapping relationship between the external device 200 and the drone 100 may be the first user input by touching the trigger button 203. To perform.

Referring to FIG. 9, in some embodiments, the step of acquiring the original location information of the drone 100 in the same three-dimensional space coordinate system may include the following sub-steps:

S121, obtaining three movement degree of freedom values (X ₁ , Y ₁ , Z ₁ ) when the drone 100 is in the original position;

S122. Acquire three rotational freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) of the drone 100 in the original position; and

S123, correlating three moving degree of freedom values (X ₁ , Y ₁ , Z ₁ ) and three rotational degrees of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) to obtain original position information (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ).

10 and 11, the control method of the unmanned aerial vehicle 100 can be performed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the first establishing module 11 of the drone 100 The second obtaining sub-module 112 may include: a third obtaining unit 1121, a fourth obtaining unit 1122, and a second associating unit 1123, which may be used to perform steps S121, S122, and S123, respectively. That is, the third obtaining unit 1121 is configured to acquire three moving degree of freedom values (X ₁ , Y ₁ , Z ₁ ) when the drone 100 is in the original position. The fourth obtaining unit 1122 is configured to acquire three rotational degree of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) when the drone 100 is in the original position. The second associating unit 1123 is configured to associate three moving degree of freedom values (X ₁ , Y ₁ , Z ₁ ) and three rotational degree of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) to obtain original position information (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ).

The third acquisition unit 1121 may be a GPS mounted on the drone 100 or a VPS mounted on the drone 100. The fourth acquisition unit 1122 may be an IMU mounted on the drone 100.

Referring to FIG. 12, in some embodiments, the step of acquiring current location information of the external device 200 may include the following sub-steps:

S21: Obtain three mobile degree of freedom values (x ₂ , y ₂ , z ₂ ) when the external device 200 is in the current position;

S22. Acquire three rotational freedom values of the external device 200 at the current position (ψ ₂ ,

θ ₂ ); and

S23, correlating three moving degrees of freedom values (x ₂ , y ₂ , z ₂ ) and three rotational degrees of freedom values (ψ ₂ ,

θ ₂ ) to obtain current position information (x ₂ , y ₂ , z ₂ , ψ ₂ ,

θ ₂ ).

Referring to FIG. 13 to FIG. 16, the control method of the above-mentioned UAV can be performed by the UAV 100. Specifically, in the UAV 100 according to an embodiment of the present invention, the first acquisition module 12 of the UAV 100 The third obtaining sub-module 121, the fourth obtaining sub-module 122, and the associated sub-module 123 may be used to perform steps S21, S22, and S23, respectively. That is, the third acquisition sub-module 121 is configured to acquire three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) of the external device 200 at the current position. The fourth obtaining sub-module 122 is configured to acquire three rotational degrees of freedom values of the external device 200 at the current position (ψ ₂ ,

θ ₂ ). The correlation sub-module 123 is configured to associate three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) and three rotational degrees of freedom values (ψ ₂ ,

θ ₂ ) to obtain current position information (x ₂ , y ₂ , z ₂ , ψ ₂ ,

θ ₂ ).

The third obtaining sub-module 121 may be a down-view camera mounted on the drone 100; or may be a communication unit on the drone 100, and the third acquiring sub-module 121 is a communication unit on the drone 100. At the time, the three degrees of freedom of movement (x ₂ , y ₂ , z ₂ ) of the external device 200 at the current position are measured by the GPS mounted on the external device 200 or the VPS mounted on the external device 200, the drone The third acquisition sub-module 121 of 100 then obtains the three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) by communicating with the external device 200.

The fourth acquisition sub-module 122 may be a front-view camera mounted on the drone 100; or may be a communication unit on the drone 100. When the fourth acquisition sub-module 122 is a communication unit on the drone 100, Three rotational degrees of freedom values of the external device 200 at the current position (ψ ₂ ,

θ ₂ ) is measured by the IMU mounted on the external device 200, and the fourth acquisition sub-module 122 of the drone 100 further obtains the three rotational degrees of freedom values by communicating with the external device 200 (ψ ₂ ,

θ ₂ ).

It can be understood that the three moving degree of freedom values (x ₂ , y ₂ , z ₂ ) obtained in step S21 and the three rotational degrees of freedom values obtained in step S22 (ψ ₂ ,

θ ₂ ), and the current position information obtained in step S23 (x ₂ , y ₂ , z ₂ , ψ ₂ ,

θ ₂ ) may be performed by elements on the external device 200, and finally the external device 200 will present the current position information (x ₂ , y ₂ , z ₂ , ψ ₂ by the communication unit disposed thereon).

θ ₂ ) is sent to the drone 100. Correspondingly, the drone 100 only needs the communication unit to complete the current position information (x ₂ , y ₂ , z ₂ , ψ _{2 of the} external device 200 obtained in step S2.

The acquisition of θ ₂ ), in other words, the first acquisition module 12 is the communication module on the drone 100. At this time, referring to FIG. 8, the camera 201 or GPS 204 of the external device 200 can be used to observe the bottom texture to obtain three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) of the external device 200 at the current position. The IMU 302 can be used to obtain three rotational degrees of freedom values of the external device 200 at the current location (ψ ₂ ,

θ ₂ ).

As can be seen from the above, the position information includes three moving degrees of freedom values and three rotational degrees of freedom values, and the initial position information is (x ₁ , y ₁ , z ₁ , ψ ₁ ,

θ ₁ ), the original position information is (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ), and the current position information is (x ₂ , y ₂ , z ₂ , ψ ₂ ,

θ ₂ ), the target position information is (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ). Wherein, the three rotational degrees of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) of the drone 100 at its original position and the three rotational degrees of freedom of the external device 200 at its initial position (ψ ₁ ,

θ ₁ ) is the same, the position mapping relationship can be:

Ψ ₂ = ψ ₂ , Φ ₂ = φ ₂ , Θ ₂ = θ ₂ , where

After the target position information (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ) of the drone 100 is calculated by the above formula, the target position information (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ) Control the drone 100 to fly, for example, control the drone 100 to fly to the target position (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ).

Referring to FIG. 17, in some embodiments, the control method further includes the following steps:

S5. Acquire a current speed of the external device 200.

S6, calculating a target speed of the drone 100 according to the current speed and position mapping relationship; and

S7, controlling the drone 100 to fly at the target speed.

Referring to FIG. 18, the control method of the above-mentioned UAV can be performed by the UAV 100. Specifically, in the UAV 100 according to an embodiment of the present invention, the UAV 100 further includes a second acquisition module 15 and a The second calculation module 16 and the second control module 17 can be used to perform steps S5, S6 and S7, respectively. That is, the second acquisition module 15 is configured to acquire the current speed of the external device 200. The second calculation module 16 is configured to calculate the target speed of the drone 100 according to the current speed and position mapping relationship. The second control module 17 is for controlling the drone 100 to fly at the target speed.

The second obtaining module 15 may be a communication unit on the drone 100. After the current speed of the external device 200 is measured by the IMU, the drone 100 communicates with the external device 200 through the second acquiring module 15 to obtain the current speed. The three degrees of freedom of movement of the drone 100 at its original position are (X ₁ , Y ₁ , Z ₁ ), and the values of three degrees of freedom of the external device 200 at its original position are (x ₁ , y ₁ , z _1), the target speed V, the current velocity is v, the target speed V and the current speed v satisfies the following relation:

among them,

The control method of the UAV and the UAV 100 establish a position mapping relationship with the external device 200, and after acquiring the current location information of the external device 200, calculate the target of the UAV based on the current location information and the location mapping relationship. The location information, and after obtaining the current speed of the external device 200, calculate the target speed of the drone 100 according to the current speed and position mapping relationship, and then control the drone 100 to fly and control the drone 100 to fly according to the target speed according to the target position information. The drone's control method is very intuitive and simple, and the position of the drone 100 can be accurately controlled without requiring the user to spend a lot of time learning and familiar with the operation of the joystick.

Referring to FIG. 19, in some embodiments, the control method further includes the following steps:

S5, establishing a speed mapping relationship with the external device 200;

S6. Acquire a current speed of the external device 200.

S7, calculating a target speed of the drone 100 according to the current speed and speed mapping relationship; and

S8, controlling the drone 100 to fly at the target speed.

Referring to FIG. 20, the control method of the above-mentioned drone can be performed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the drone 100 further includes a second establishing module 15, The second obtaining module 16, the second calculating module 17, and the second control module 18 can be respectively used to perform steps S5, S6, S7 and S8. That is, the second establishing module 15 is configured to establish a speed mapping relationship with the external device 200. The second acquisition module 16 is configured to acquire the current speed of the external device 200. The second calculation module 17 is configured to calculate the target speed of the drone 100 according to the current speed and speed mapping relationship. The second control module 18 is for controlling the drone 100 to fly at the target speed.

The step of establishing a speed mapping relationship with the external device 200 may be performed by the first user input. The second acquisition module 16 can be a communication unit on the drone 100. After the current speed of the external device 200 is measured by the IMU, the drone 100 communicates with the external device 200 through the second acquisition module 16 to obtain the current speed. The three degrees of freedom of movement of the drone 100 at its original position are (X ₁ , Y ₁ , Z ₁ ), and the values of three degrees of freedom of the external device 200 at its original position are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

among them,

The control method of the UAV and the UAV 100 establish a position mapping relationship and a speed mapping relationship with the external device 200, and after calculating the current location information of the external device 200, calculate the current location information and the location mapping relationship. The target position information of the human machine, and after obtaining the current speed of the external device 200, calculate the target speed of the drone 100 according to the current speed and speed mapping relationship, and then control the drone 100 to fly and control the drone 100 according to the target position information. Flying at the target speed, the drone's control method is very intuitive and simple, and the position of the drone 100 can be accurately controlled without requiring the user to spend a lot of time learning and familiar with the operation of the joystick.

Referring to FIG. 21, in some embodiments, the control method further includes the following steps:

S5. Acquire a current speed of the external device 200.

S6, calculating a target speed of the drone 100 according to the current speed and position mapping relationship;

S7, comparing the target speed with a preset speed preset by the drone 100;

S8, when the target speed is greater than or equal to the limited speed, controlling the drone 100 to fly at a limited speed;

S9, when the target speed is less than the limited speed, the drone 100 is controlled to fly at the target speed.

Referring to FIG. 22, the control method of the above-mentioned UAV can be performed by the UAV 100. Specifically, in the UAV 100 according to an embodiment of the present invention, the UAV 100 further includes a second acquisition module 15, The second calculation module 16, the comparison module 17, the second control module 18, and the third control module 19 can be used to perform steps S5, S6, S7, S8, and S9, respectively. That is, the second acquisition module 15 is configured to acquire the current speed of the external device 200. The second calculation module 16 is configured to calculate the target speed of the drone 100 according to the current speed and position mapping relationship. The comparison module 17 is for comparing the target speed with a defined speed preset by the drone 100. The second control module 18 is configured to control the drone 100 to fly at a defined speed when the target speed is greater than or equal to the defined speed. The third control module 19 is configured to control the drone 100 to fly at the target speed when the target speed is less than the limited speed.

The second obtaining module 15 may be a communication unit on the drone 100. After the current speed of the external device 200 is measured by the IMU, the drone 100 communicates with the external device 200 through the second acquiring module 15 to obtain the current speed. The preset speed of the drone 100 may be predetermined when the drone 100 is shipped from the factory, or may be defined by the operator before using the drone 100. The three degrees of freedom of movement of the drone 100 at its original position are (X ₁ , Y ₁ , Z ₁ ), and the values of three degrees of freedom of the external device 200 at its original position are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

among them,

Referring to FIG. 23, in some embodiments, the control method further includes the following steps:

S5, establishing a speed mapping relationship with the external device 200;

S6. Acquire a current speed of the external device 200.

S7, calculating a target speed of the drone 100 according to the current speed and speed mapping relationship;

S8, comparing the target speed with a preset speed preset by the drone 100;

S9, when the target speed is greater than or equal to the limited speed, controlling the drone 100 to fly at a limited speed;

S10, when the target speed is less than the limited speed, the drone 100 is controlled to fly at the target speed.

Referring to FIG. 24, the control method of the above-mentioned drone can be performed by the drone 100. Specifically, in the drone 100 according to an embodiment of the present invention, the drone 100 further includes a second establishing module 15, The second obtaining module 16, the second calculating module 17, the comparing module 18, the second control module 19, and the third control module 20 are respectively configured to perform steps S5, S6, S7, S8, S9, and S10. That is, the second establishing module 15 is configured to establish a speed mapping relationship with the external device 200. The second acquisition module 16 is configured to acquire the current speed of the external device 200. The second calculation module 17 is configured to calculate the target speed of the drone 100 according to the current speed and speed mapping relationship. The comparison module 18 is for comparing the target speed with a defined speed preset by the drone 100. The second control module 19 is configured to control the drone 100 to fly at a defined speed when the target speed is greater than or equal to the defined speed. The third control module 20 is configured to control the drone 100 to fly at the target speed when the target speed is less than the limited speed.

The step of establishing a speed mapping relationship with the external device 200 may be performed by the first user input. The second acquisition module 16 can be a communication unit on the drone 100. After the current speed of the external device 200 is measured by the IMU, the drone 100 communicates with the external device 200 through the second acquisition module 16 to obtain the current speed. The preset speed of the drone 100 may be predetermined when the drone 100 is shipped from the factory, or may be defined by the operator before using the drone 100. The three movement degrees of freedom of the drone 100 in its original position are (X1, Y1, Z1), and the three movement degrees of freedom of the external device 200 at its original position are (x1, y1, z1), and the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

among them,

Referring to FIG. 25 and FIG. 26, in some embodiments, the control method further includes the following steps:

S11, disconnecting the location mapping relationship and the speed mapping relationship according to the second user input; and

S12. Control the drone 100 to hover after the location mapping relationship and the speed mapping relationship are disconnected.

Referring to FIG. 27 and FIG. 28, the control method of the above-mentioned UAV can be performed by the UAV 100. Specifically, in the UAV 100 according to an embodiment of the present invention, the UAV 100 further includes a fourth control module. 21 and fifth control Module 22 can be used to perform steps S11 and S12, respectively. That is, the fourth control module 21 is configured to disconnect the location mapping relationship and the speed mapping relationship according to the second user input. The fifth control module 22 is configured to control the drone 100 to hover after the position mapping relationship and the speed mapping relationship are disconnected.

Certain embodiments of the present invention also provide a drone that includes a housing, a processor, a memory, a circuit board, and a power supply circuit. The circuit board is placed inside the space enclosed by the housing, and the processor and the memory are disposed on the circuit board. a power circuit for powering various circuits or devices of the drone; a memory for storing executable program code; and a processor for executing a program corresponding to the executable program code by reading executable program code stored in the memory A drone control method for performing any of the above embodiments.

The embodiment of the present invention further provides a computer readable storage medium having instructions stored therein, and when the drone processor executes an instruction, the drone performs the drone control method of any of the above embodiments. 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. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable optical 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 (38)

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

   Establish a location mapping relationship with an external device;

   Obtaining current location information of the external device;

   Calculating target location information of the drone according to the current location information and the location mapping relationship; and

   The drone flight is controlled according to the target position information.
2. The control method according to claim 1, wherein said external device comprises at least one of a remote controller, a drone, smart glasses, and a mobile phone.
3. The control method according to claim 1, wherein the step of establishing a location mapping relationship with the external device comprises the following substeps:

   Obtaining initial location information of the external device in a three-dimensional space coordinate system;

   Obtaining original location information of the drone in the same three-dimensional space coordinate system; and

   And establishing the location mapping relationship according to the initial location information and the original location information.
4. The control method according to claim 3, wherein the step of acquiring the initial position information of the external device in the three-dimensional space coordinate system comprises:

   Obtaining three movement degree of freedom values (x ₁ , y ₁ , z ₁ ) of the external device in an initial position;

   Obtaining three rotational freedom values of the external device in the initial position

   

   and

   Correlating the three moving degrees of freedom values (x ₁ , y ₁ , z ₁ ) and the three rotational degrees of freedom values

   

   To obtain the initial position information

   
5. The control method according to claim 3, wherein the step of acquiring the original position information of the drone located in the same three-dimensional space coordinate system comprises:

   Obtaining three movement degree of freedom values (X ₁ , Y ₁ , Z ₁ ) of the drone when in the original position;

   Obtaining three rotational degrees of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) of the drone at the original position;

   Correlating the three moving degree of freedom values (X ₁ , Y ₁ , Z ₁ ) and the three rotational degree of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) to obtain the original position information (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ).
6. The control method according to claim 1, wherein the step of acquiring current location information of the external device comprises:

   Obtaining three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) of the external device at the current position;

   Obtaining three rotational degrees of freedom values of the external device at the current position

   

   and

   Correlating the three movement degree of freedom values (x ₂ , y ₂ , z ₂ ) and the three rotational degrees of freedom values

   

   To obtain the current location information

   
7. The control method according to claim 3, wherein said position information comprises three degrees of freedom of movement and three values of rotational degrees of freedom, and three degrees of rotational freedom of said drone at its original position ( Ψ ₁ , Φ ₁ , Θ ₁ ) three rotational degrees of freedom with the external device at its initial position

   

   the same.
8. The control method according to claim 7, wherein said initial position information is

   

   

   The original location information is (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ), and the current location information is

   

   The target location information is (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ), and the location mapping relationship is as follows:

   

   Ψ ₂ = ψ ₂ , Φ ₂ = φ ₂ , Θ ₂ = θ ₂ , where

   
9. The control method according to any one of claims 1 to 8, wherein the control method further comprises:

   Obtaining a current speed of the external device;

   Calculating a target speed of the drone according to the current speed and the position mapping relationship; and

   The drone is controlled to fly at the target speed.
10. The control method according to claim 9, wherein said mobile robot has three degrees of freedom of movement in its original position (X ₁ , Y ₁ , Z ₁ ), and said external device is in its initial position. The three moving degrees of freedom are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

    

    among them,

    
11. The control method according to any one of claims 1 to 8, wherein the control method further comprises:

    Establish a speed mapping relationship with an external device;

    Obtaining a current speed of the external device;

    Calculating a target speed of the drone according to the current speed and the speed mapping relationship; and

    The drone is controlled to fly at the target speed.
12. The control method according to any one of claims 1 to 8, wherein the control method further comprises:

    Obtaining a current speed of the external device;

    Calculating a target speed of the drone according to the current speed and the position mapping relationship;

    Comparing the target speed with a preset speed of the drone; and

    Controlling the drone to fly at the defined speed when the target speed is greater than or equal to the defined speed;

    When the target speed is less than the defined speed, the drone is controlled to fly at the target speed.
13. The control method according to claim 12, wherein said mobile robot has three degrees of freedom of movement in its original position (X ₁ , Y ₁ , Z ₁ ), and said external device is in its initial position. The three moving degrees of freedom are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

    

    among them,

    
14. The control method according to any one of claims 1 to 8, wherein the control method further comprises:

    Establish a speed mapping relationship with an external device;

    Obtaining a current speed of the external device;

    Calculating a target speed of the drone according to the current speed and the speed mapping relationship;

    Comparing the target speed with a preset speed of the drone;

    Controlling the drone to fly at the defined speed when the target speed is greater than or equal to the defined speed; and

    When the target speed is less than the defined speed, the drone is controlled to fly at the target speed.
15. The control method according to claim 9, 10, 12 or 13, wherein the step of establishing a position mapping relationship with the external device is performed by the first user input.
16. The control method according to claim 15, wherein the control method further comprises:

    Disconnecting the location mapping relationship according to the second user input; and

    Controlling the drone to hover after the location mapping relationship is disconnected.
17. The control method according to claim 11 or 14, wherein the step of establishing a position mapping relationship with the external device and the step of establishing a speed mapping relationship with the external device are performed by the first user input.
18. The control method according to claim 17, wherein the control method further comprises:

    Disconnecting the location mapping relationship and the speed mapping relationship according to a second user input; and

    Controlling the drone to hover after the location mapping relationship and the speed mapping relationship are disconnected.
19. A drone, characterized in that the drone includes:

    a first establishing module, configured to establish a location mapping relationship with an external device;

    a first acquiring module, configured to acquire current location information of the external device;

    a first calculating module, configured to calculate target location information of the drone according to the current location information and the location mapping relationship; and

    And a first control module, configured to control the flight of the drone according to the target location information.
20. The drone according to claim 19, wherein said external device comprises at least one of an external device, a drone, smart glasses, and a mobile phone.
21. The drone of claim 19, wherein the first establishing module comprises:

    a first acquiring submodule, configured to acquire initial location information of the external device in a three-dimensional space coordinate system;

    a second obtaining submodule, configured to acquire original location information of the drone in the same three-dimensional space coordinate system; and

    a first establishing submodule, configured to establish the location mapping relationship according to the initial location information and the original location information.
22. The drone of claim 21, wherein the first acquisition sub-module comprises:

    a first acquiring unit, configured to acquire three mobile degree of freedom values (x ₁ , y ₁ , z ₁ ) when the external device is in an initial position;

    a second acquiring unit, configured to acquire three rotational degrees of freedom values of the external device in the initial position

    

    

    and

    a first association unit, configured to associate the three mobile degree of freedom values (x ₁ , y ₁ , z ₁ ) and the three rotational degrees of freedom values

    

    To obtain the initial position information

    
23. The drone of claim 21, wherein the second acquisition sub-module comprises:

    a third acquiring unit, configured to acquire three movement degree of freedom values (X ₁ , Y ₁ , Z ₁ ) when the drone is in an original position;

    a fourth acquiring unit, configured to acquire three rotational freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) of the drone when the original position is in the original position;

    a second associating unit, configured to associate the three moving degree of freedom values (X ₁ , Y ₁ , Z ₁ ) and the three rotational degree of freedom values (Ψ ₁ , Φ ₁ , Θ ₁ ) to obtain the original Position information (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ).
24. The drone of claim 19, wherein the first acquisition module comprises:

    a third obtaining submodule, configured to acquire three mobile degree of freedom values (x ₂ , y ₂ , z ₂ ) of the external device when the current position is in a current position;

    a fourth obtaining submodule, configured to acquire three rotational degrees of freedom values of the external device when the current position is

    

    

    and

    An association submodule for associating the three moving degree of freedom values (x ₂ , y ₂ , z ₂ ) and the three rotational degrees of freedom values

    

    

    To obtain the current location information

    
25. The drone according to claim 21, wherein said position information comprises three degrees of freedom of movement and three values of rotational freedom, three degrees of rotational freedom of said drone at its original position (Ψ ₁ , Φ ₁ , Θ ₁ ) and the three rotational degrees of freedom of the external device at its initial position

    

    the same.
26. The drone according to claim 25, wherein said initial position information is

    

    

    The original location information is (X ₁ , Y ₁ , Z ₁ , Ψ ₁ , Φ ₁ , Θ ₁ ), and the current location information is

    

    The target location information is (X ₂ , Y ₂ , Z ₂ , Ψ ₂ , Φ ₂ , Θ ₂ ), and the location mapping relationship is as follows:

    

    Ψ ₂ = ψ ₂ , Φ ₂ = φ ₂ , Θ ₂ = θ ₂ , where

    
27. The drone according to any one of claims 19 to 26, wherein the drone further comprises:

    a second acquiring module, configured to acquire a current speed of the external device;

    a second calculating module, configured to calculate a target speed of the drone according to the current speed and the position mapping relationship; and

    And a second control module, configured to control the drone to fly according to the target speed.
28. The drone according to claim 27, wherein said drone has three degrees of freedom of movement in its original position (X ₁ , Y ₁ , Z ₁ ), said external device being at its initial The three moving degrees of freedom values of the position are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

    

    among them,

    
29. The drone according to any one of claims 19 to 26, wherein the drone comprises:

    a second establishing module, configured to establish a speed mapping relationship with an external device;

    a second acquiring module, configured to acquire a current speed of the external device;

    a second calculating module, configured to calculate a target speed of the drone according to the current speed and the speed mapping relationship; and

    And a second control module, configured to control the drone to fly according to the target speed.
30. The drone according to any one of claims 19 to 26, wherein the drone comprises:

    a second acquiring module, configured to acquire a current speed of the external device;

    a second calculating module, configured to calculate a target speed of the drone according to the current speed and the position mapping relationship;

    a comparison module, configured to compare the target speed with a preset speed of the drone; and

    a second control module, configured to control the drone to fly according to the defined speed when the target speed is greater than or equal to the defined speed;

    And a third control module, configured to control the drone to fly according to the target speed when the target speed is less than the limited speed.
31. UAV according to claim 30, wherein said three freedom of movement of the UAV is its original position _{(X 1, Y 1, Z} 1), the external device in its initial The three moving degrees of freedom values of the position are (x ₁ , y ₁ , z ₁ ), the target speed is V, the current speed is v, and the target speed V and the current speed v satisfy the following relationship:

    

    among them,

    
32. The drone according to any one of claims 19 to 26, wherein the drone comprises:

    a second establishing module, configured to establish a speed mapping relationship with an external device;

    a second acquiring module, configured to acquire a current speed of the external device;

    a second calculating module, configured to calculate a target speed of the drone according to the current speed and the speed mapping relationship;

    a comparison module, configured to compare the target speed with a preset speed of the drone;

    a second control module, configured to control the drone to fly according to the limited speed when the target speed is greater than or equal to the defined speed; and

    a third control module, configured to: when the target speed is less than the limited speed, control the drone according to the Target speed flight.
33. The drone according to claim 27, 28, 30 or 31, wherein said first establishing module performs a position mapping relationship with an external device by means of a first user input.
34. The drone of claim 33, wherein the drone further comprises:

    a fourth control module, configured to disconnect the location mapping relationship according to the second user input; and

    And a fifth control module, configured to control the drone to hover after the location mapping relationship is disconnected.
35. The drone according to claim 29 or 32, wherein the step of establishing a position mapping relationship with the external device and the step of establishing a speed mapping relationship with the external device are performed by the first user input.
36. The drone of claim 35, wherein said drone comprises:

    a fourth control module, configured to disconnect the location mapping relationship and the speed mapping relationship according to the second user input; and

    And a fifth control module, configured to control the drone to hover after the location mapping relationship and the speed mapping relationship are disconnected.
37. An unmanned aerial vehicle includes a casing, a processor, a memory, a circuit board, and a power supply circuit, wherein the circuit board is disposed in a space surrounded by the casing, and the processor and the memory are The circuit board is electrically connected; the power circuit is configured to supply power to each circuit or device of the drone; the memory is configured to store executable program code; and the processor reads the memory by reading the memory The executable program code runs a program corresponding to the executable program code for performing the control method according to any one of claims 1 to 18.
38. A computer readable storage medium having instructions stored therein, the drone performing the control method of any one of claims 1 to 18 when the drone processor executes the instructions.

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