WO2018187934A1 - Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote - Google Patents

Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote Download PDF

Info

Publication number
WO2018187934A1
WO2018187934A1 PCT/CN2017/080062 CN2017080062W WO2018187934A1 WO 2018187934 A1 WO2018187934 A1 WO 2018187934A1 CN 2017080062 W CN2017080062 W CN 2017080062W WO 2018187934 A1 WO2018187934 A1 WO 2018187934A1
Authority
WO
WIPO (PCT)
Prior art keywords
power output
threshold
uav
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2017/080062
Other languages
English (en)
Chinese (zh)
Inventor
高翔
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780018415.3A priority Critical patent/CN109074088B/zh
Priority to PCT/CN2017/080062 priority patent/WO2018187934A1/fr
Publication of WO2018187934A1 publication Critical patent/WO2018187934A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a method, device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle.
  • the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle. For example, acceleration, speed, altitude relative to the ground, etc., the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air.
  • sensors such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc.
  • the UAV when the UAV is in some special circumstances, such as an object carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines based on the measured value of the ultrasonic sensor.
  • the height of the unmanned aerial vehicle relative to the ground is small.
  • the flight controller determines that the UAV is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the UAV, that is, the phenomenon that the UAV is misjudged; for example, the UAV is provided with a barometer but no The ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the height of the UAV relative to the current ground cannot be measured. If the flight controller determines the state of the UAV based on the measured value of the barometer, it may be There will also be unmanned aerial vehicles. State misjudgment of the phenomenon.
  • Embodiments of the present invention provide a method, a device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle to improve the accuracy of detecting the state of the unmanned aerial vehicle.
  • An aspect of an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, including:
  • Another aspect of an embodiment of the present invention is to provide a state detecting device for an unmanned aerial vehicle comprising one or more processors operating separately or in cooperation, the processor being configured to:
  • a power system mounted to the fuselage for providing flight power
  • the state detecting method, device and unmanned aerial vehicle of the unmanned aerial vehicle obtained by the embodiment obtain the flight state parameters of the unmanned aerial vehicle, and adjust the power output of the unmanned aerial vehicle according to the flight state parameter, in the process of adjusting the power output And continue to obtain the flight state parameters of the unmanned aerial vehicle, and further determine the state of the unmanned aerial vehicle according to the flight state parameters of the unmanned aerial vehicle during the process of adjusting the power output, compared to the current flight state of the unmanned aerial vehicle only in the prior art.
  • the parameters determine the state of the unmanned aerial vehicle, improve the accuracy of detecting the state of the unmanned aerial vehicle, and effectively avoid the phenomenon of misjudgment of the state of the unmanned aerial vehicle.
  • FIG. 1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a graph of flight state parameters of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a graph showing vertical acceleration of an unmanned aerial vehicle in a process of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle.
  • sensors such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc.
  • the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air.
  • the first case the object carried under the UAV or some objects blocking the ultrasonic wave emitted by the ultrasonic sensor when the UAV is flying in the air, the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor. small. If the user quickly and flexibly operates the joystick or button on the remote controller, such as a crossbar or a scroll button, the remote controller will generate a larger amount of joystick or rollbar control lever, flight controller After the communication system of the unmanned aerial vehicle receives the amount of the joystick of the large shaker or the horizontal scroll button sent by the remote controller, the speed of each motor of the unmanned aerial vehicle is controlled according to the amount of the control rod, so that the unmanned aerial vehicle is controlled by the unmanned aerial vehicle.
  • the body rotates with the roll axis as the rotation axis. Since the amount of the control rod of the roll bar or the roll button is large, in order to control the roll angle of the UAV, the amount of the control bar changes with the amount of the control bar.
  • the flight controller needs to increase the power output of the unmanned aerial vehicle while controlling the rotational speed of each motor, thereby causing the lift of the propeller to be increased. If the user quickly operates the horizontal scroll bar or the horizontal scroll button, the remote controller is also operated.
  • the throttle stick or the throttle button for example, lowers the throttle lever to a low position, and the remote controller generates a smaller throttle lever or a throttle button control lever to control the unmanned aerial vehicle landing, Propeller lift increase, could lead to unmanned aircraft could not land properly located the air.
  • the flight state parameters of the UAV will satisfy the following conditions: the angular velocity of the aircraft is small, the descending speed is close to 0, the amount of the throttle stick or the throttle button is small, and the acceleration in the vertical direction is small, plus Objects carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines that the height of the UAV relative to the ground is small, because these flight state parameters are consistent with none.
  • the flight controller When the human aircraft is located on the ground, the flight controller will determine that the flight controller is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the unmanned aerial vehicle, that is, the state of the UAV is misjudged. .
  • the second case the UAV is equipped with a barometer but no ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the altitude of the UAV relative to the current ground cannot be measured, if the flight controller is based on When the measured value of the barometer determines the height of the UAV relative to the ground, and other flight state parameters determine the state of the UAV, the state of the UAV may also be misjudged.
  • an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, which will be described below in conjunction with a specific embodiment.
  • FIG. 1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Acquire flight state parameters of the UAV.
  • the flight state parameters of the UAV include at least one of: acceleration, speed, angular velocity of the UAV, altitude of the UAV relative to the ground, and control terminal for controlling the UAV The amount of control rod output.
  • the height of the UAV relative to the ground may be the current position of the UAV from the ground below it.
  • the height of the UAV measured relative to the ground by the ultrasonic sensor is actually the object of the UAV relative to it or its The height of some objects below.
  • the acceleration of the unmanned aerial vehicle may specifically be the acceleration of the unmanned aerial vehicle in the vertical direction; the speed of the unmanned aerial vehicle may specifically be the speed of the unmanned aerial vehicle in the vertical direction; the angular velocity of the unmanned aerial vehicle may specifically be the unmanned aerial vehicle
  • the angular velocity of the pitch direction, the angular velocity of the roll direction, and the angular velocity of the heading direction; the amount of the control lever of the control terminal includes at least one of: controlling the amount of the throttle stick of the terminal or the throttle button; and controlling the pitch or pitch button of the terminal
  • the execution body of this embodiment may be a flight controller of an unmanned aerial vehicle, or may be His general purpose or dedicated processor is schematically illustrated by the flight controller in this embodiment.
  • the flight controller can acquire data output by the sensor system configured by the UAV, and is used for detecting the position, vertical acceleration, angular acceleration, angular velocity, vertical velocity, pitch angle, roll angle, and heading angle of the unmanned aerial vehicle, wherein the sensor system Motion sensors and/or vision sensors may be included, and the motion sensors include a gyroscope, an accelerometer, an inertial measurement unit, a Global Positioning System (GPS), and the like.
  • GPS Global Positioning System
  • the sensor system of the UAV may further include an ultrasonic sensor and/or a barometer, and the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor.
  • the flight controller can also acquire the amount of joystick sent by the control terminal through the communication system configured by the unmanned aerial vehicle.
  • Step S102 Adjust a power output of the UAV according to the flight state parameter.
  • the flight state parameters of the UAV may also meet the following table.
  • the power output of the unmanned aerial vehicle may be adjusted according to the flight state parameter, which may be specifically classified into the following achievable modes:
  • One achievable manner is to adjust the power output of the UAV to attenuate the power output of the UAV if the flight state parameter is less than a threshold.
  • the flight state parameter of the unmanned aerial vehicle acquired according to step S101 is, for example, none.
  • the acceleration of the human aircraft specifically the acceleration in the vertical direction
  • the speed specifically the speed in the vertical direction
  • the angular velocity the height of the UAV relative to the ground
  • the amount of the rod determine whether each parameter satisfies the characteristics shown in Table 1, when the acceleration of the unmanned aerial vehicle (specifically, the acceleration in the vertical direction), the speed (specifically, the speed in the vertical direction), the angular velocity, and the unmanned aerial vehicle relative to the ground
  • the flight controller may adjust the power output of the unmanned aerial vehicle to attenuate the power output of the unmanned aerial vehicle, at least one of the height and the control lever amount of the control terminal satisfying the characteristics shown in Table 1.
  • the flight controller can adjust the power output of the UAV, such as lowering each Speed of the motor to the power output of the unmanned aircraft attenuation.
  • Another achievable manner is: if the flight state parameter is less than a threshold, and the duration of the flight state parameter is less than the threshold reaches a first preset time, adjusting the power output of the UAV to The power output attenuation of the unmanned aerial vehicle.
  • the flight controller can adjust the UAV Power output, for example, reducing the rotational speed of each motor to attenuate the power output of the unmanned aerial vehicle, and continuing to acquire the flight state parameters of the unmanned aerial vehicle while the flight controller adjusts the power output of the unmanned aerial vehicle, and according to The flight state parameters of the unmanned aerial vehicle during the power output are adjusted to further determine the state of the unmanned aerial vehicle.
  • adjusting the power output of the UAV to attenuate the power output of the UAV may specifically: limiting the power output of the UAV by using a power output threshold To attenuate the power output of the UAV. Specifically, comparing the power output of the UAV with the power output threshold; if the power output of the UAV is greater than the power output threshold, adjusting the power output of the UAV to the power Output threshold.
  • the ordinate represents the ratio of the current power output of the UAV to its maximum power output
  • the abscissa represents time
  • the time unit is seconds
  • the line 201 represents when the user operates the throttle lever or the throttle button of the remote controller.
  • the curve 202 represents the actual power output of the unmanned aerial vehicle, and the actual power output of the unmanned aerial vehicle is maintained at about 20%, which is only a schematic description, and is not specific. limit.
  • the reason why the actual power output of the UAV is not maintained at 0% with the line 201 is that if the actual power output of the UAV is maintained at 0% with the line 201, the flight controller cannot control the attitude of the UAV.
  • the flight controller needs to redistribute the power output of the unmanned aerial vehicle, for example, the speed of the redistribution motor, and the curve 202 is after the flight controller reallocates the power output of the unmanned aerial vehicle, The actual power output of the human aircraft.
  • Curve 203 represents the judgment of the state of the UAV, as shown in FIG. 2, when the ordinate of the curve 203 is 30%, it indicates that the flight state parameter of the UAV conforms to the feature of the UAV located on the ground, or The flight state parameters of the aircraft all meet the characteristics shown in Table 1.
  • the ordinate of the curve 203 When the ordinate of the curve 203 is 40%, it indicates the stage of active testing of the state of the unmanned aerial vehicle, assuming that the flight of the unmanned aerial vehicle is before the time of 462.2 seconds. When the state parameter satisfies the characteristic shown in Table 1 for the duration of 1 second, the ordinate of the curve 203 becomes 40% from the time of 462.2 seconds, and the ordinate of the curve 203 continues for 40%.
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202. Specifically, the power output threshold is attenuated with time, and a form of the power output threshold decay with time is a diagonal line as shown in FIG. 2 .
  • the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 decays with time;
  • another form of the power output threshold decay with time is: the power output threshold is always available Exponential decay, i.e., the power output of the threshold value changes with time is an ordinate of a curve of the exponential decay, particularly, the power output of the threshold f decay with time t satisfies the following formula (1)
  • a ⁇ (t) represents a function that decays with time
  • t represents time, which can be a discrete time point
  • a is the attenuation coefficient
  • k is the initial value of the attenuation.
  • a takes the value 0.98.
  • the power output threshold f is equal to k*a
  • the power output threshold f is equal to k*a*a, and so on.
  • the embodiment does not limit the specific form of the power output threshold decay with time.
  • other forms that attenuate with time may be used, and details are not described herein again.
  • the power output threshold decays with time as shown in Figure 2.
  • the oblique line 204 is taken as an example to describe the process of using the oblique line 204 to limit the actual power output of the UAV, that is, the curve 202.
  • the actual power output of the UAV that is, the curve 202 is limited by the oblique line 204.
  • the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 is attenuated with time.
  • the longitudinal slant of the oblique line 204 is marked as the power output threshold.
  • the specific limiting process is: in the curve 203
  • the actual power output of the UAV is compared with the ordinate of the curve 202 and the power output threshold, that is, the ordinate of the oblique line 204, if the actual power output of the UAV is the curve 202.
  • the ordinate is greater than the power output threshold, that is, the ordinate of the oblique line 204, and the actual power output of the UAV, that is, the ordinate of the curve 202 is adjusted to the power output threshold, that is, the ordinate of the oblique line 204, and the adjusted result is shown in FIG. 3.
  • the ordinate of the curve 203 continues to be 40%, if the ordinate of the curve 202 is smaller than the ordinate of the oblique line 204, the ordinate of the curve 202 is kept unchanged, such as a slash.
  • the ordinate of the oblique line 204 such as the dotted line portion of the curve 202 above the oblique line 204, whose ordinate is greater than the ordinate of the oblique line 204, takes its ordinate as the ordinate of the oblique line 204; thus making the unmanned aerial vehicle
  • the actual power output is attenuated from 20% to approximately 13%.
  • Step S103 Determine a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
  • the flight controller continuously adjusts the flight state parameter of the unmanned aerial vehicle while adjusting the power output of the unmanned aerial vehicle, and further determines the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle during the adjustment of the power output.
  • the flight state parameters of the UAV still satisfy the characteristics as shown in Table 1, and the flight state parameters of the UAV satisfy the table shown in Table 1 during the adjustment of the power output.
  • the duration of the feature reaches a certain preset time, for example 1.2 seconds, to determine that the UAV is located on the ground.
  • a certain preset time for example 1.2 seconds
  • curve 205 represents the change in the vertical acceleration of the UAV over time.
  • the vertical acceleration of the UAV is positively vertical and negative in the vertical direction.
  • the vertical acceleration of the human aircraft can also be negative in the vertical direction and positive in the vertical direction.
  • the vertical acceleration of the UAV fluctuated slightly, starting from the time of 462.2 seconds, there is an increasing trend, reaching the maximum at 463 seconds, from 462.2 seconds to nearly 463 seconds.
  • the power output threshold ie, the oblique line 204
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202, so that the actual power output of the UAV is attenuated from 20% to about 13%.
  • the limitation of the actual power output of the aircraft makes the vertical acceleration of the UAV significantly increase, so that the absolute value of the vertical acceleration of the UAV no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example, 1 m/s 2 , therefore, Make sure the UAV is in the air, not on the ground.
  • the present embodiment uses the vertical acceleration of the UAV to be monitored.
  • the vertical velocity, the angular velocity of the aircraft, and the unmanned aerial vehicle relative to the ground can also be used.
  • At least one of the height, the throttle lever or the throttle lever amount of the throttle button is monitored to further determine the state of the unmanned aerial vehicle based on the flight state parameters of the unmanned aerial vehicle during the limited power output.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • Embodiments of the present invention provide a method for detecting a state of an unmanned aerial vehicle.
  • FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include:
  • Step S501 Acquire flight state parameters of the UAV.
  • step S501 and step S101 are the same, and are not described here.
  • Step S502 Adjust a power output of the UAV according to the flight state parameter.
  • step S502 and step S102 are the same, and are not described here.
  • Step S503 If the flight state parameter is less than a threshold value during the adjustment of the power output, it is determined that the UAV is located on the ground.
  • the flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold; The height of the ground is less than a height threshold; the amount of the control rod of the control terminal is less than the control amount threshold.
  • the acceleration of the UAV (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the control terminal are each The characteristics shown in Table 1 are satisfied.
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202, assuming that the actual power output of the UAV is performed.
  • the flight state parameter is less than the threshold value, that is, the characteristics shown in Table 1 are still satisfied, it is determined that the UAV is located on the ground.
  • the flight state parameter is less than the threshold value, and the characteristics shown in Table 1 are still satisfied, and the time during which the flight state parameter is less than the threshold value reaches a certain preset time. For example, 1.2 seconds, it is determined that the UAV is located on the ground.
  • Step S504 If the flight state parameter is greater than or equal to the threshold value during the adjustment of the power output, it is determined that the UAV is located in the air.
  • the flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold.
  • the acceleration of the UAV specifically the acceleration in the vertical direction
  • the speed specifically the speed in the vertical direction
  • Table 1 are satisfied.
  • the vertical acceleration of the UAV gradually increases during the time limit of the actual power output of the UAV. For example, at 463 seconds, the vertical acceleration of the UAV is maximized. The value no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example 1 m/s 2 , therefore, it is determined that the UAV is in the air, not on the ground.
  • Step S505 If the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, stop adjusting the power output of the UAV.
  • the line 201 shown in FIG. 2, FIG. 3, and FIG. 4 indicates the amount of the throttle lever or the throttle lever generated by the remote controller when the user operates the throttle lever or the throttle button of the remote controller.
  • the throttle lever or The amount of the throttle button of the throttle button is 0.
  • the amount of the throttle lever or the throttle button may not be 0, for example, greater than 0, indicating that the user controls the unmanned aerial vehicle to rise through the remote controller, when the throttle lever or the throttle button
  • the flight controller stops adjusting the power output of the unmanned aerial vehicle to meet the user's need to control the unmanned aerial vehicle to rise through the remote controller.
  • the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
  • Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle.
  • the state detecting device may specifically be a flight controller of the unmanned aerial vehicle, and the state detecting device of the unmanned aerial vehicle includes one or more processors, which work separately or in cooperation, and the processor is configured to: acquire a flight state parameter of the unmanned aerial vehicle; Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter; determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
  • the flight state parameter of the UAV includes at least one of: acceleration, speed, angular velocity of the UAV, height of the UAV relative to the ground, and control of the UAV The amount of joystick that controls the terminal.
  • the control lever amount of the control terminal includes at least one of: a control lever amount of the throttle lever or the throttle button of the control terminal; a control lever amount of the pitch lever or the tilt button of the control terminal; and a horizontal direction of the control terminal The amount of the lever of the roller or the scroll button; the amount of the lever of the head of the control terminal or the heading button.
  • the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, adjusting a power output of the UAV, To attenuate the power output of the UAV.
  • the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, and the flight state parameter is less than a threshold, the duration reaches For a predetermined time, the power output of the UAV is adjusted to attenuate the power output of the UAV.
  • the processor adjusts the power output of the UAV to attenuate the power output of the UAV, and is specifically configured to: limit the power output of the UAV by using a power output threshold, Attenuating the power output of the UAV.
  • the processor uses a power output threshold to limit the power output of the UAV to attenuate the power output of the UAV, specifically for comparing the power output of the UAV with the power And outputting a threshold; if the power output of the unmanned aerial vehicle is greater than the power output threshold, adjusting a power output of the unmanned aerial vehicle to the power output threshold.
  • the power output threshold decays with time, for example, the power output threshold decays exponentially with time.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle.
  • the state detecting device may be specifically a flight controller of the unmanned aerial vehicle.
  • the processor determines the flight state parameter of the unmanned aerial vehicle in the power output process.
  • the state of the UAV is specifically configured to: if the flight state parameter is less than a threshold value during the adjustment of the power output, determine that the UAV is located on the ground; if the power output is adjusted The flight state parameter is greater than or equal to a threshold, It is then determined that the UAV is in the air.
  • the processor is configured to: when adjusting the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle in the power output process, specifically, if the power output is adjusted, If the flight state parameter is less than the threshold, and the duration of the flight state parameter is less than the threshold reaches a second preset time, determining that the UAV is located on the ground; if the power output is adjusted, the flight state parameter is greater than Or equal to the threshold, it is determined that the UAV is in the air.
  • the flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold;
  • the height of the aircraft relative to the ground is less than a height threshold; the amount of control of the control terminal is less than the control amount threshold.
  • the flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold.
  • the processor is further configured to: if the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to a power output threshold, stop adjusting the power output of the unmanned aerial vehicle.
  • the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
  • FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 600 includes: a fuselage, a power system, and a flight controller 618, and the power system includes at least one of the following: a motor 607, a propeller 606 and an electronic governor 617, wherein a power system is installed in the airframe for providing flight power; and a flight controller 618 is communicatively coupled to the power system for controlling the UAV flight;
  • Flight controller 618 includes an inertial measurement unit and a gyroscope. The inertial measurement sheet And the gyroscope is used to detect the acceleration, pitch angle, roll angle and heading angle of the drone.
  • the unmanned aerial vehicle 600 further includes: a sensing system 608, a communication system 610, a supporting device 602, and a photographing device 604.
  • the supporting device 602 may specifically be a pan/tilt, and the communication system 610 may specifically include receiving
  • the receiver is configured to receive a wireless signal transmitted by an antenna 614 of the ground station 612, and 616 represents an electromagnetic wave generated during communication between the receiver and the antenna 614.
  • the flight controller 618 may be specifically the state detecting device in the above embodiment, and the state detecting device may be used to detect the state of the unmanned aerial vehicle 600.
  • the specific principles and implementation manners are similar to the above embodiments, and are not described herein again.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or It is implemented in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un procédé de détection de l'état d'un aéronef sans pilote (600), un dispositif et un aéronef sans pilote (600), le procédé de détection de l'état consistant à : acquérir des paramètres d'état de vol d'un aéronef sans pilote (600) (S101) ; sur la base des paramètres d'état de vol, ajuster la puissance de sortie de l'aéronef sans pilote (600) (S102) ; et, sur la base des paramètres d'état de vol de l'aéronef sans pilote dans le processus d'ajustement de sortie de puissance, déterminer l'état de l'aéronef sans pilote (600) (S103). Au moyen de l'acquisition des paramètres d'état de vol de l'aéronef sans pilote (600) et l'ajustement de la puissance de sortie de l'aéronef sans pilote (600) sur la base des paramètres d'état de vol, la poursuite de l'acquisition des paramètres d'état de vol de l'aéronef sans pilote (600) pendant le processus d'ajustement de sortie de puissance et à déterminer en outre l'état de l'aéronef sans pilote (600) sur la base des paramètres d'état de vol de l'aéronef sans pilote (600) pendant le processus d'ajustement de sortie de puissance, par rapport à l'état de la technique, l'état d'un aéronef sans pilote (600) étant déterminé uniquement au moyen des paramètres d'état de vol actuels de l'aéronef sans pilote (600), la présente invention améliore la précision de détection de l'état d'un aéronef sans pilote (600), prévenant efficacement la survenue d'erreurs de jugement de l'état de l'aéronef sans pilote (600).
PCT/CN2017/080062 2017-04-11 2017-04-11 Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote WO2018187934A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780018415.3A CN109074088B (zh) 2017-04-11 2017-04-11 无人飞行器的状态检测方法、设备及无人飞行器
PCT/CN2017/080062 WO2018187934A1 (fr) 2017-04-11 2017-04-11 Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/080062 WO2018187934A1 (fr) 2017-04-11 2017-04-11 Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote

Publications (1)

Publication Number Publication Date
WO2018187934A1 true WO2018187934A1 (fr) 2018-10-18

Family

ID=63793034

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/080062 WO2018187934A1 (fr) 2017-04-11 2017-04-11 Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote

Country Status (2)

Country Link
CN (1) CN109074088B (fr)
WO (1) WO2018187934A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110658835B (zh) * 2019-09-19 2021-08-31 中国航空无线电电子研究所 一种无人机飞行控制方法和系统
WO2021128184A1 (fr) * 2019-12-26 2021-07-01 深圳市大疆创新科技有限公司 Procédé de commande et appareil de commande pour support mobile, et support de stockage lisible par ordinateur
CN113767350A (zh) * 2020-05-07 2021-12-07 深圳市大疆创新科技有限公司 无人机的动力输出检测方法和设备
CN115059549B (zh) * 2022-06-16 2024-01-02 中国航发沈阳发动机研究所 一种防止大马赫数误操作油门杆的控制方法及系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102495634A (zh) * 2011-12-07 2012-06-13 中国南方航空工业(集团)有限公司 无人机的控制方法和装置及无人机的操作装置
CN102591350A (zh) * 2011-01-06 2012-07-18 佛山市安尔康姆航拍科技有限公司 四旋翼无人飞行器的飞行控制方法和系统
US20140316616A1 (en) * 2013-03-11 2014-10-23 Airphrame, Inc. Unmanned aerial vehicle and methods for controlling same
CN104166355A (zh) * 2014-07-16 2014-11-26 深圳市大疆创新科技有限公司 电动无人机及其智能电量保护方法
CN105607516A (zh) * 2016-01-07 2016-05-25 谭圆圆 一种飞行监控装置及飞行状态监控方法
CN105867416A (zh) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 无人机的飞行控制方法、装置和无人机
CN106020220A (zh) * 2016-05-24 2016-10-12 零度智控（北京）智能科技有限公司 无人机、无人机飞行控制方法及装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20080100028A (ko) * 2007-05-11 2008-11-14 팅크웨어(주) 센서를 이용한 주행상태 판단 방법 및 장치
CN106508018B (zh) * 2010-03-18 2013-07-24 西北工业大学 基于飞机运动方程的飞行数据“野值”检测与剔除方法
CN101866180A (zh) * 2010-06-23 2010-10-20 清华大学 一种飞行控制系统
JP5633681B2 (ja) * 2010-09-06 2014-12-03 三菱ふそうトラック・バス株式会社 自動変速機の制御装置
WO2012096668A1 (fr) * 2011-01-14 2012-07-19 Bell Helicopter Textron Inc. Lois de commande de vol pour commande de trajectoire de vol vertical
FR2982062B1 (fr) * 2011-10-27 2013-12-13 Airbus Operations Sas Procede et un dispositif d'aide a la garantie de la precision et de l'integrite d'une position d'un aeronef au sol.
US9354635B2 (en) * 2012-06-05 2016-05-31 Textron Innovations Inc. Takeoff/landing touchdown protection management system
EP2881824A1 (fr) * 2013-12-06 2015-06-10 BAE Systems PLC Système et procédé d'imagerie
JP6133506B2 (ja) * 2014-04-17 2017-05-24 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 飛行制限区域に対する飛行制御
CN104049636B (zh) * 2014-05-27 2017-01-25 北京航空航天大学 一种融合相对高度和绝对高度获得导航高度的方法
CN105182986A (zh) * 2015-08-10 2015-12-23 北京零零无限科技有限公司 一种手持回收和放飞无人机的方法及装置
CN105700550B (zh) * 2016-01-26 2018-06-26 深圳市大疆创新科技有限公司 无人机及其飞行控制方法与系统
CN105700554A (zh) * 2016-03-31 2016-06-22 中晟启天（深圳）科技有限公司 一种固定翼无人机降落方法及系统
CN205844905U (zh) * 2016-07-26 2016-12-28 天津津宇凯创航空科技发展有限公司 一种无人飞行器飞行控制系统
CN205959073U (zh) * 2016-08-04 2017-02-15 安阳全丰航空植保科技股份有限公司 一种无人机飞行高度控制系统
CN106227234B (zh) * 2016-09-05 2019-09-17 天津远度科技有限公司 无人机、无人机起飞控制方法及装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102591350A (zh) * 2011-01-06 2012-07-18 佛山市安尔康姆航拍科技有限公司 四旋翼无人飞行器的飞行控制方法和系统
CN102495634A (zh) * 2011-12-07 2012-06-13 中国南方航空工业(集团)有限公司 无人机的控制方法和装置及无人机的操作装置
US20140316616A1 (en) * 2013-03-11 2014-10-23 Airphrame, Inc. Unmanned aerial vehicle and methods for controlling same
CN104166355A (zh) * 2014-07-16 2014-11-26 深圳市大疆创新科技有限公司 电动无人机及其智能电量保护方法
CN105607516A (zh) * 2016-01-07 2016-05-25 谭圆圆 一种飞行监控装置及飞行状态监控方法
CN105867416A (zh) * 2016-04-20 2016-08-17 北京博瑞爱飞科技发展有限公司 无人机的飞行控制方法、装置和无人机
CN106020220A (zh) * 2016-05-24 2016-10-12 零度智控（北京）智能科技有限公司 无人机、无人机飞行控制方法及装置

Also Published As

Publication number Publication date
CN109074088B (zh) 2021-12-03
CN109074088A (zh) 2018-12-21

Similar Documents

Publication Publication Date Title
US10824149B2 (en) System and method for automated aerial system operation
WO2018187934A1 (fr) Procédé de détection d'état d'aéronef sans pilote, dispositif et aéronef sans pilote
US20170336805A1 (en) Method an apparatus for controlling unmanned aerial vehicle to land on landing platform
RU2720389C1 (ru) Способ управления беспилотным летательным аппаратом и устройство управления беспилотным летательным аппаратом
EP2261120B1 (fr) Procédé d'atterrissage pour un hélicoptère sans occupant
US10809711B2 (en) Electronic device and method for controlling the same
US11041588B2 (en) Method and system for controlling a gimbal
WO2018094583A1 (fr) Procédé de commande d'évitement d'obstacle de véhicule aérien sans pilote, dispositif de commande de vol, et véhicule aérien sans pilote
US20170177004A1 (en) Method and device for retrieving unmanned aerial vehicle by hand and unmanned aerial vehicle
WO2018058320A1 (fr) Procédé et appareil de commande de véhicule aérien sans pilote
US20190018428A1 (en) Hover control
CN114967736A (zh) 风速测算方法、风速估算器及无人机
CN107438751B (zh) 用于检测飞行高度的方法、装置及无人机
US11512953B2 (en) Altitude estimation for aerial vehicles
WO2018094626A1 (fr) Procédé de commande d'évitement d'obstacle de véhicule aérien sans pilote, et véhicule aérien sans pilote
US11245848B2 (en) Method of controlling gimbal, gimbal and UAV
US11449076B2 (en) Method for controlling palm landing of unmanned aerial vehicle, control device, and unmanned aerial vehicle
WO2018187936A1 (fr) Aéronef sans pilote et procédé de commande d'évitement d'obstacles associé
WO2017181513A1 (fr) Procédé et dispositif de commande de vol pour véhicule aérien sans pilote
US20200366844A1 (en) Image stabilization control method, photographing device and mobile platform
JP2021511241A (ja) 無人航空機の発射方法およびシステム
WO2018090494A1 (fr) Procédé et dispositif permettant de commander une aire de trafic pour un véhicule aérien sans pilote
US20170336803A1 (en) Automated flight control system with altitude-based, automatically-adjusting rate of climb
WO2020014930A1 (fr) Procédé et dispositif de commande de véhicule aérien sans pilote, et véhicule aérien sans pilote
WO2021077306A1 (fr) Procédé de commande de retour de véhicule aérien sans pilote, terminal utilisateur et véhicule aérien sans pilote

Legal Events

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

Ref document number: 17905647

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17905647

Country of ref document: EP

Kind code of ref document: A1