WO2018223378A1

WO2018223378A1 - Unmanned aerial vehicle control method and device, and unmanned aerial vehicle

Info

Publication number: WO2018223378A1
Application number: PCT/CN2017/087741
Authority: WO
Inventors: 陈超彬; 刘启明
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-06-09
Filing date: 2017-06-09
Publication date: 2018-12-13
Also published as: CN108521810A

Abstract

An unmanned aerial vehicle control method and device, and an unmanned aerial vehicle. The method comprises: acquiring state information about an unmanned aerial vehicle (S101); determining a control instruction according to the state information about the unmanned aerial vehicle, wherein the control instruction is used for controlling the attitude of the unmanned aerial vehicle (S102); and transmitting the control instruction to a flight controller (S103). By means of the method, the attitude of the unmanned aerial vehicle can be controlled according to the state information about the unmanned aerial vehicle, the defects that the unified control by a flight controller cannot be applied to many scene requirements and the control mode is fixed and single are overcome; the defects of misoperation, operation leakage, etc. easily caused by the fact that a user performs control by means of a control terminal are overcome; and more scene requirements can be covered without requiring user participation, thereby improving the flexibility and intelligence degree of controlling the attitude of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle control method, equipment and unmanned aerial vehicle

Technical field

Embodiments of the present invention relate to the field of drones, and in particular, to a method, a device, and an unmanned aerial vehicle for controlling an unmanned aerial vehicle.

Background technique

In the prior art, the unmanned aerial vehicle is provided with a plurality of movable parts, such as a landing gear, a parachute, a spoiler, a machine arm, etc., by controlling these moving parts, changing the shape of the unmanned aerial vehicle to adapt to different scene requirements.

These moving parts are currently controlled by the flight controller of the UAV or by the user through the control terminal. However, the unified control by the flight controller cannot be applied to more scene requirements, and the control mode is fixed and single; the user may easily cause misoperation and leakage operation through the control terminal control, resulting in insufficient control of the shape of the unmanned aerial vehicle. Intelligent and inflexible.

Summary of the invention

Embodiments of the present invention provide a method, a device, and an unmanned aerial vehicle for controlling an unmanned aerial vehicle to improve the flexibility and intelligence of the morphological control of the unmanned aerial vehicle.

A first aspect of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Obtaining status information of the unmanned aerial vehicle;

Determining, according to status information of the unmanned aerial vehicle, a control command, the control command being used to control a form of the unmanned aerial vehicle;

The control command is sent to the flight controller.

A second aspect of the embodiments of the present invention provides a method for controlling an unmanned aerial vehicle, including:

Receiving a control command sent by the control device, where the control command is determined by the control device according to state information of the unmanned aerial vehicle;

The form of the UAV is controlled in accordance with the control command.

A third aspect of the embodiments of the present invention provides a control device, including: one or more processors, working alone or in cooperation, and a communication interface;

The communication interface is in communication with the processor;

The processor is used to:

Obtaining status information of the unmanned aerial vehicle;

The communication interface is used to:

The control command is sent to the flight controller.

A fourth aspect of the embodiments of the present invention provides a flight controller, including: a communication interface, one or more processors, working alone or in cooperation;

The communication interface is used to:

The processor is used to:

The form of the UAV is controlled in accordance with the control command.

A fifth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including:

body;

a power system mounted to the fuselage for providing flight power;

And the flight controller of the above fourth aspect.

A sixth aspect of the embodiments of the present invention provides an unmanned aerial vehicle system, including:

body;

a power system mounted to the fuselage for providing flight power;

The control device of the above third aspect;

And the flight controller of the above fourth aspect.

The control method, device and unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiment obtain the state information of the unmanned aerial vehicle through the control device, and determine the control command according to the state information of the unmanned aerial vehicle, and the control device sends the control command to the control device The flight controller controls the form of the unmanned aerial vehicle according to the control command. In this way, according to the state of the unmanned aerial vehicle The information is used to control the shape of the unmanned aerial vehicle, and overcomes the limitation that the unified control by the flight controller cannot be applied to more scenes, and the control mode is fixed and single, and overcomes the misoperation and leakage operation which is easily caused by the user to control through the control terminal. Defects can cover more scene requirements and require no user involvement, which increases the flexibility and intelligence of the UAV's shape control.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a schematic diagram of connection of a control device, an unmanned aerial vehicle, and a moving component according to an embodiment of the present invention;

3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention;

4 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention;

FIG. 5 is a structural diagram of a control device according to an embodiment of the present invention;

6 is a structural diagram of a flight controller according to an embodiment of the present invention;

FIG. 7 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention; FIG.

FIG. 8 is a structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention; FIG.

FIG. 9 is a structural diagram of an unmanned aerial vehicle system according to another embodiment of the present invention.

Reference mark:

21-Control Equipment 22-Flight Controller 23-Application Programming Interface

24-moving parts 25-moving parts 26-moving parts

27-Moving Parts 50-Control Equipment 51-Processor

52-communication interface 60-flight controller

61-Communication Interface 62-Processor 700-Unmanned Aerial Vehicle

707-motor 706-propeller 717-electronic governor

718-Flight Controller 708-Sensor System 710-Communication System

702-Supporting equipment 704-Photographing equipment 712-Ground station

714-antenna 716-electromagnetic wave 800-control device

900-control device

detailed description

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is 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.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for controlling 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: Obtain status information of the UAV.

The execution body of the method of this embodiment may be a control device, wherein the control device may be other devices than the flight controller, and the control device may be disposed on the unmanned aerial vehicle, or disposed on the ground end, or the control device One part is set on the unmanned aerial vehicle and the other part is set on the ground side. When the control device is provided in an unmanned aerial vehicle, the control device can be a device having a computing function and/or a processing function. When the control device is set at the ground end, the control device may be a control terminal or a part of the control terminal, and the control terminal may specifically be a remote controller, a smart phone, a tablet computer, a ground control station, and a laptop Brain, watch, bracelet, etc. and combinations thereof.

As shown in FIG. 2, the control device 21 is connected to the flight controller 22 of the UAV through an Application Programming Interface (API) 23. Specifically, when the control device is disposed in the UAV, the control device 21 and the flight controller 22 can be connected by wire, for example, by at least one of the following: Universal Asynchronous Receiver/Transmitter (UART), Universal Serial Bus (USB) Controller Area Network (CAN) bus connection.

When the control device is disposed at the ground end, the control device 21 and the flight controller 22 may be connected in a wireless manner, for example, by at least one of the following methods: Wireless-Fidelity (WI-FI), Bluetooth, Software defined radio (SDR) or other custom protocols.

Usually, a variety of sensors are provided on the unmanned aerial vehicle, such as a satellite positioning device (GNSS receiver), an inertial measurement unit, a visual sensor barometer, an ultrasonic sensor, a TOF sensor, an optical flow sensor, etc., to form an unmanned aerial vehicle. a sensor system, the sensor system measures a flight state parameter of the unmanned aerial vehicle, and the state information of the unmanned aerial vehicle may be a flight state parameter obtained by the sensor, such as position information, acceleration, speed, attitude, height relative to the ground, etc.; The state information of the unmanned aerial vehicle may also be that the flight controller may determine the state of the unmanned aerial vehicle according to the flight state parameters of the unmanned aerial vehicle, for example, the unmanned aerial vehicle is located on the ground or in the air, and is in a take-off state when flying in the air or Landing state.

In addition, the status information of the unmanned aerial vehicle also includes fault information of the unmanned aerial vehicle. Specifically, the unmanned aerial vehicle may further be provided with a signal monitoring circuit for monitoring a communication channel between the communication system of the UAV and the ground end; the flight controller may determine according to the signal transmitted on the communication channel. Whether the communication between the communication system and the ground terminal is faulty.

In addition, an unmanned aerial vehicle may be further provided with an electrical parameter detecting circuit for detecting electrical parameters of the power system of the unmanned aerial vehicle; and the flight controller may determine whether the power system is faulty according to electrical parameters of the power system. . Wherein, the power system comprises one or more of a power source, an electronic governor, a motor, and a propeller. For example, the flight controller may determine, according to an electrical parameter of the power source, whether the power source has a power failure; according to the electronic governor Determining whether the electronic governor outputs a correct pulse width modulation signal; determining whether the motor has a power failure according to the electrical parameter of the motor; determining whether the propeller is likely to appear according to the rotation speed of the propeller The failure of the propeller.

In the present embodiment, the flight controller 22 may take the flight state parameters of the UAV, such as position information, acceleration, speed, attitude, height relative to the ground, detected fault information, take-off state, or landing state, etc. as unmanned The status information of the aircraft is transmitted to the control device 21.

Step S102: Determine, according to status information of the UAV, a control instruction, where the control instruction is used to control a form of the UAV.

In this embodiment, the unmanned aerial vehicle is further provided with a movable component, which may be any movable component on the UAV that can change the shape of the unmanned aircraft by changing the installation position or the use position. This embodiment does not limit the number of moving parts provided on the UAV, nor the number of moving parts that the flight controller can control at the same time.

After receiving the status information of the unmanned aerial vehicle sent by the flight controller 22, the control device 21 determines a control command according to the state information of the unmanned aerial vehicle, and the control command is used to control the shape of the unmanned aerial vehicle, and the specific The control command is used to control the form of the UAV, including: the control command is used to control a moving component on the UAV, and specifically, the control command is used to indicate a flight controller control station. The movement of the moving parts of the unmanned aerial vehicle. The control device 21 transmits the control command to the flight controller 22, and the flight controller 22 controls the movement of the movable member in accordance with a control command sent from the control device 21 to control the form of the unmanned aerial vehicle.

In this embodiment, the movable component includes at least one of the following: a landing gear, a parachute, an arm, and a spoiler. The unmanned aerial vehicle may be provided with one or more of a landing gear, a parachute, an arm, and a spoiler. The unmanned aerial vehicle is provided with a landing gear, a parachute, an arm, and a spoiler, as shown in FIG. 2 . The flight controller 22 can control one or more of the movable component 24, the movable component 25, the movable component 26, and the movable component 27 according to the control instruction. Alternatively, the movable component 24 is a landing gear, and the movable component 25 is a parachute, activity. Component 26 is a boom and movable member 27 is a spoiler. In other embodiments, the UAV may also be provided with other moving parts. The flight controller 22 can simultaneously control a plurality of moving parts in the landing gear, the parachute, the arm, and the spoiler according to the control instruction, or can only control the landing gear, the parachute, the arm, and the disturbance at a time. A moving part in the flow board.

Taking the movable component as a landing gear as an example, according to the state information of the unmanned aerial vehicle, a control command is determined, and the control command is used to control the moving parts on the unmanned aerial vehicle, including at least one of the following:

Determining a control command for controlling the landing gear release according to a fault state in which the unmanned aerial vehicle is located; for example, when the unmanned aerial vehicle fails, the control device 21 is based on the fault of the unmanned aerial vehicle State, determining a control command for controlling the release of the landing gear, when the UAV completely loses power to fall or loses part of the power spin, causing the landing gear to land first, and the landing gear acts first to cushion To avoid the fuselage of the UAV, or the load of the UAV, such as the shooting equipment being broken.

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the UAV is located; for example, when the UAV is in the process of taking off or during the landing, the control device 21 determining a control command according to a take-off state or a landing state in which the unmanned aerial vehicle is located, the control command for controlling the landing gear release, preventing the UAV from being forced to be fast due to an emergency failure during take-off or during landing Landing causes the fuselage of the unmanned aerial vehicle, or the load of the unmanned aerial vehicle, such as a photographing device, to be broken.

Determining a control command for controlling the landing gear to be retracted according to a photographing state of the photographing device mounted on the UAV; for example, the photographing device mounted on the UAV is in the process of photographing, if not If the landing gear of the human aircraft is not stowed, the landing gear may enter the shooting range of the photographing device, thereby affecting the texture of the photographing screen of the photographing device. At this time, the control device 21 determines the control command according to the photographing state in which the photographing device is located. The control command is used to control the landing gear to be stowed to prevent the landing gear from entering the shooting range of the photographing device.

Determining a control command according to a preset working point at which the unmanned aerial vehicle is located, the control command is used to control the landing gear to be retracted; for example, the unmanned aerial vehicle takes off from the ground and gradually rises, and the positioning device of the unmanned aerial vehicle Continuously detecting the position information of the unmanned aerial vehicle, the flight controller 22 transmits the position information of the unmanned aerial vehicle to the control device 21, and the control device 21 compares the position information of the unmanned aerial vehicle with the position of the preset working point. Information, when the position information of the unmanned aerial vehicle matches the position information of the preset working point, for example, the position information of the unmanned aerial vehicle is consistent with the position information of the preset working point, or the position of the unmanned aerial vehicle When the distance between the location point of the information identification and the preset working point is less than the preset distance, the control device 21 determines The UAV is located at a preset working point, and determines a control command according to a preset working point where the UAV is located, and the control command is used to control the landing gear to be stowed. When the landing gear is retracted, the UAV enters a working state, for example, the shooting device starts aerial photography.

And determining, according to a preset landing point where the UAV is located, the control command for controlling the landing gear release. When the unmanned aerial vehicle performs the preset task, that is, after the operation is completed, the flight to the preset landing point, the positioning device of the unmanned aerial vehicle continuously detects the position information of the unmanned aerial vehicle, and the flight controller 22 will The position information of the aircraft is sent to the control device 21, and the control device 21 compares the position information of the unmanned aerial vehicle with the position information of the preset landing point, and when the position information of the unmanned aerial vehicle matches the position information of the preset landing point, For example, the position information of the unmanned aerial vehicle is consistent with the position information of the preset landing point, or the distance between the position point of the position information of the unmanned aerial vehicle and the preset landing point is less than the preset distance, and the control is performed. The device 21 determines that the UAV is at a preset landing point and determines a control command based on a preset landing point at which the UAV is located, the control command being used to control the landing gear release. When the landing gear is released, the UAV begins to land on the ground from the preset landing point.

Taking the movable component as a parachute as an example, the determining, according to the state information of the unmanned aerial vehicle, determining a control instruction, the control command for controlling the movable component on the unmanned aerial vehicle, including: according to the unmanned aerial vehicle At the fault state, a control command is determined, the control command being used to control the parachute opening. For example, when the UAV fails, the control device 21 determines a control command according to the fault state in which the UAV is located, the control command is used to control the parachute opening, and the UAV is prevented from being forced to fall quickly due to an emergency failure. The fuselage of the human aircraft, or the load of the unmanned aerial vehicle, such as a photographing device, is broken.

Taking the movable component as an example of the arm, the determining, according to the state information of the unmanned aerial vehicle, determining a control command, the control command for controlling the movable component on the unmanned aerial vehicle, comprising: according to the unmanned aerial vehicle The takeoff state or the landing state is determined, and a control command is used for controlling the arm to adjust a power output direction of the power system disposed on the arm. For example, when the UAV is in the take-off process, the control device 21 generates a control command for controlling the arm so that the thrust generated by the power system of the UAV is opposite to the direction of gravity, so that the UAV can take off. . When the UAV is in the process of landing, the control device 21 generates a control command for controlling the arm to make the UAV The thrust generated by the power system is the same as the direction of gravity, allowing the UAV to land.

For example, the active component is a spoiler, and according to the state information of the unmanned aerial vehicle, a control command is determined, where the control command is used to control the moving component on the unmanned aerial vehicle, including: according to the unmanned aerial vehicle The falling state in which it is determined determines a control command for controlling the spoiler to open. For example, when the UAV is in the process of landing, the control device 21 generates a control command for controlling the spoiler to open to decelerate the UAV during the landing process.

Step S103: Send the control command to the flight controller.

The control device 21 determines a control command according to the state information of the unmanned aerial vehicle, and transmits a control command to the flight controller 22, and the flight controller 22 controls the movement of the movable component according to the control instruction of the control device 21 to control the The shape of the human aircraft.

In this embodiment, the state information of the unmanned aerial vehicle is obtained by the control device, and the control command is determined according to the state information of the unmanned aerial vehicle, and the control device sends the control command to the flight controller, and the flight controller controls the unmanned aerial vehicle according to the control command. Shape. In this way, it is possible to control the shape of the unmanned aerial vehicle according to the state information of the unmanned aerial vehicle, overcome the defect that the unified control by the flight controller cannot be applied to more scenes, and the control mode is fixed and single, and overcome the control by the user. Terminal control is easy to cause defects such as misoperation and leakage operation, which can cover more scene requirements, and does not require user participation, and improves the flexibility and intelligence of the shape control of the UAV.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 3 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 3, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:

Step S301: Acquire status information of the UAV.

The execution body of the method of the embodiment may be a control device, and a feasible implementation manner of the control device acquiring the state information of the unmanned aerial vehicle is: receiving state information of the unmanned aerial vehicle sent by the flight controller. The specific process is the same as that of step S101, and details are not described herein again.

Step S302: Obtain status information of the active component.

In this embodiment, the control device may further acquire state information of the active component, and a feasible implementation manner of the control device acquiring state information of the active component is: receiving the fly Status information of the active component sent by the row controller. Specifically, the flight controller can monitor the status of the active component in real time and transmit the status information of the active component to the control device.

As shown in FIG. 2, the flight controller 22 transmits status information of the landing gear 24 to the control device 21, and the status information of the landing gear 24 includes a fully collapsed state, a fully released state, a fully collapsed state, and a fully released state. The state between. Alternatively, the flight controller 22 transmits the open state or the closed state of the parachute 25 to the control device 21. Alternatively, the flight controller 22 transmits status information such as the posture or position at which the arm 26 of the power system is currently provided to the control device 21. Alternatively, the flight controller 22 transmits the open state or the closed state of the spoiler 27 to the control device 21.

Step S303: Determine a control instruction according to the state information of the UAV and the state information of the moving component, where the control instruction is used to control the moving component.

In this embodiment, the control device 21 determines a control instruction according to the state information of the UAV and the state information of the moving component, where the control instruction is used to control the movement of the moving component, and the active component may be One or more of a landing gear, a parachute, an arm, and a spoiler.

Taking the movable component as a landing gear as an example, according to the state information of the unmanned aerial vehicle and the state information of the movable component, a control instruction is determined, and the control instruction is used to control the movable component, including at least one of the following:

Determining a control command for controlling the landing gear release according to a fault state in which the UAV is located, and a state of the landing gear; for example, when the UAV fails, the landing gear is at In a fully stowed state, or the landing gear is in a state between a fully stowed state and a fully released state, the control device 21 is in accordance with the fault state in which the unmanned aerial vehicle is located, and the fully stowed state in which the landing gear is located, or a state between the fully-retracted state and the fully-released state, determining a control command for controlling the landing gear release, causing the landing gear to advance when the UAV completely loses power to fall or loses part of the power spin Ground, the landing gear acts as a buffer to avoid the fuselage of the UAV, or the load of the UAV, such as the shooting equipment, is broken.

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the UAV is located, and a state of the landing gear; for example, when the UAV is in the take-off process Or during the landing, the landing gear is fully retracted. Alternatively, the landing gear is in a state between the fully-retracted state and the fully-released state, and the control device 21 is in accordance with the take-off state or the landing state in which the unmanned aerial vehicle is located, and the fully-retracted state in which the landing gear is located, or a state between the fully-retracted state and the fully-released state, determining a control command for controlling the landing gear release to prevent the UAV from being forced to land quickly due to an emergency failure during take-off or during landing The fuselage of the unmanned aerial vehicle, or the load of the unmanned aerial vehicle, such as a photographing device, is broken.

Determining a control command for controlling the landing gear to be retracted according to a photographing state in which the photographing device mounted on the UAV is located and a state of the landing gear; for example, photographing of an unmanned aerial vehicle During the shooting process, if the landing gear of the UAV is in a fully released state, or the landing gear is in a state between the fully-retracted state and the fully-released state, at this time, the control device 21 is in accordance with the shooting state of the shooting device. And a state of complete release of the landing gear, or a state between the fully-retracted state and the fully-released state, determining a control command for controlling the landing gear to be stowed, preventing the landing gear from entering the shooting The shooting range of the device.

Determining a control command according to a preset working point at which the UAV is located, and a state of the landing gear, the control command being used to control the landing gear to be retracted; for example, the UAV takes off from the ground, gradually Ascending, the positioning device of the unmanned aerial vehicle continuously detects the position information of the unmanned aerial vehicle, and the flight controller 22 transmits the position information of the unmanned aerial vehicle to the control device 21, and the control device 21 compares the position of the unmanned aerial vehicle Information and position information of the preset working point, when the position information of the unmanned aerial vehicle matches the position information of the preset working point, for example, the position information of the unmanned aerial vehicle is consistent with the position information of the preset working point, or When the distance between the location point of the location information of the UAV and the preset working point is less than the preset distance, the control device 21 determines that the UAV is located at a preset working point, if the landing gear of the UAV In a fully released state, or the landing gear is in a state between a fully stowed state and a fully released state, at this time, the control device 21 is a preset operating point at which the UAV is located, and a fully released state in which the landing gear is located, or a state between a fully collapsed state and a fully released state, determining a control command, the control command Controlling the landing gear to be stowed. When the landing gear is retracted, the UAV enters a working state, for example, the shooting device starts aerial photography.

According to the preset landing point where the UAV is located, and the state of the landing gear, A control command is used to control the landing gear release. When the unmanned aerial vehicle performs the preset task, that is, after the operation is completed, the flight to the preset landing point, the positioning device of the unmanned aerial vehicle continuously detects the position information of the unmanned aerial vehicle, and the flight controller 22 will The position information of the aircraft is sent to the control device 21, and the control device 21 compares the position information of the unmanned aerial vehicle with the position information of the preset landing point, and when the position information of the unmanned aerial vehicle matches the position information of the preset landing point, For example, the position information of the unmanned aerial vehicle is consistent with the position information of the preset landing point, or the distance between the position point of the position information of the unmanned aerial vehicle and the preset landing point is less than the preset distance, and the control is performed. The device 21 determines that the UAV is at a preset landing point, if the landing gear of the UAV is in a fully stowed state, or the landing gear is in a state between a fully stowed state and a fully released state, at this time, the control device 21 according to the preset landing point where the UAV is located, and the fully stowed state of the landing gear, or, in a completely folded state The state between the state and the fully released state determines a control command for controlling the landing gear release. When the landing gear is released, the UAV begins to land on the ground from the preset landing point.

The following takes the image acquisition equipment of the unmanned aerial vehicle as an example to introduce the control flow of the unmanned aerial vehicle:

1) In the initial state, the landing gear of the UAV is released, and the UAV is located on the ground. After the operator powers up the UAV, the flight controller performs a self-test.

2) After the flight controller self-test is completed, if all aspects of the UAV are normal, the operator controls the unmanned aerial vehicle to take off through the ground control device such as the remote control. During the take-off process, the control device does not need to send a control command to the flight controller. The landing gear of the UAV remains released.

3) During the take-off of the unmanned aerial vehicle, the flight controller continuously sends the status information of the landing gear to the control device. The control device continuously monitors the state of the landing gear according to the state information of the landing gear sent by the flight controller to ensure that no one is present. During the take-off of the aircraft, the landing gear is always released, preventing the UAV from being forced to land quickly due to an emergency failure during the take-off process, or the UAV's fuselage, or the unmanned aerial vehicle load, such as the photographing equipment, is broken.

4) When the unmanned aerial vehicle successfully takes off, it flies to a preset working point. When the unmanned aerial vehicle is at the preset working point, the control device sends a control command to the flight controller, and the control command is used to control the landing gear. Start.

5) The flight control device determines the flight state of the current unmanned aerial vehicle: the landing gear stowage operation is performed in the air and there is no take-off or landing mission being performed.

6) The control device continuously monitors the state of the landing gear according to the state information of the landing gear sent by the flight controller. When the landing gear is completely stowed, the unmanned aerial vehicle starts to work. For example, the photographing device carried by the unmanned aerial vehicle starts to collect images.

7) When the unmanned aerial vehicle is completed, the unmanned aerial vehicle flies to the preset landing point. When the unmanned aerial vehicle reaches the preset landing point, it does not land immediately, but controls the state of the landing gear sent by the flight controller according to the flight controller. Information, continuously monitoring the state of the landing gear, if the landing gear is in a fully stowed state, or the landing gear is in a state between a fully stowed state and a fully released state, the control device sends a control command to the flight controller, the control The command is used to control the landing gear release, and when the landing gear is released, the control device sends a landing command to the flight controller, so that the flight controller controls the unmanned aircraft to start landing to the ground at the preset landing point.

Taking the movable component as a parachute as an example, the determining, according to the state information of the unmanned aerial vehicle and the state information of the movable component, the control instruction, wherein the control instruction is used to control the movable component, including: according to the The fault state in which the UAV is located, and the state of the parachute, determines a control command for controlling the parachute to open. For example, when the UAV fails, the parachute is in a closed state, and the control device 21 determines a control command according to the fault state of the UAV and the state of the parachute, and the control command is used to control the parachute opening to avoid the UAV. The fuselage of the unmanned aerial vehicle, or the load of the unmanned aerial vehicle, such as the photographing equipment, is broken due to an emergency failure being forced to land quickly.

Taking the movable component as an example of the arm, the determining, according to the state information of the UAV and the state information of the moving component, determining a control instruction, where the control command is used to control the moving component, including: Determining a take-off state or a landing state in which the UAV is located, and a state of the arm, determining a control command for controlling the arm to adjust a power of a power system disposed on the arm Output direction.

Taking the moving part as a spoiler as an example, determining a control instruction according to the state information of the unmanned aerial vehicle and the state information of the moving part, the control instruction for controlling the moving part, including: according to the The landing state in which the UAV is located, and the state of the spoiler, determines a control command for controlling the spoiler to open.

Step S304: Send the control command to the flight controller.

Since there are more than one moving parts of the unmanned aerial vehicle, in order to distinguish the plurality of moving parts, an ID may be preset for each of the plurality of moving parts. For example, the landing gear may be identified by 0, and the parachute may be identified by 1. Use 2 to identify the arm and 3 to identify the spoiler.

Optionally, the control instruction includes: identifier information of the active component; and the control instruction is used to control the active component, where the control instruction is used to control an active component indicated by the identifier information. For example, the control command sent by the control device to the flight controller includes ID 0 to cause the flight controller to control the landing gear.

Further, the control instruction further includes: target state information of the active component; the control instruction is used to control the active component, and the control instruction is configured to control the movable component to move the activity The component moves to a target state indicated by the target state information. The so-called target state refers to the final state reached by the moving parts after the flight controller executes the control command. The target state of the landing gear 24 may include a fully collapsed state, a fully released state, a state between the fully collapsed state and the fully released state. In the present embodiment, the fully released state can be represented by 0, the fully-retracted state can be indicated by 100, and the state between the fully-retracted state and the fully-released state can also be represented by a number other than 0 and 100. For a parachute, its target state may include: an open state, a closed state, and a state between an open state and a closed state.

Further, the control instruction further includes: speed information for controlling movement of the movable component; the control instruction for controlling the movable component includes: the control instruction is used to indicate that the flight controller follows the speed The speed indicated by the information controls the moving parts. Alternatively, the speed may be a speed of motion or an angular velocity of rotation.

Taking the landing gear as an example, Table 1 shows an example of a control command:

Table 1

According to Table 1, when the flight controller receives the control command, the landing gear is controlled to be deformed and deformed at an angular velocity of 10 degrees/second, so that the landing gear is finally in a fully stowed state.

In this embodiment, the control device determines the control command according to the state information of the UAV and the state information of the moving component, and the control device sends the control command to the flight control. The flight controller controls the movement of the moving parts according to the control command to control the shape of the unmanned aerial vehicle, so that the flight controller can meet the specific scene requirements, and the difference of the unmanned aerial vehicles is controlled by different buttons of the remote controller in the prior art. Moving parts reduce the complexity of the remote control.

Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle. FIG. 4 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 4, the method in this embodiment may include:

Step S401: Receive a control instruction sent by the control device, where the control instruction is determined by the control device according to status information of the unmanned aerial vehicle.

In this embodiment, before the receiving the control command sent by the control device, the method further includes: sending the state information of the unmanned aerial vehicle to the control device. The specific principle and implementation manner of the flight controller transmitting the state information of the unmanned aerial vehicle to the control device are consistent with the foregoing embodiments, and details are not described herein again.

Further, before receiving the control instruction sent by the control device, the method further includes: sending, to the control device, status information of the UAV and status information of the active component; at this time, the control instruction is The control device is determined based on status information of the unmanned aerial vehicle and status information of the moving parts. The specific principle and implementation manner of the flight controller sending the status information of the active component to the control device are consistent with the foregoing embodiments, and details are not described herein again.

The execution body of the method of the embodiment may be a flight control device, and the flight control device may be a device for performing flight control on the unmanned aerial vehicle, and specifically may be a flight controller of the unmanned aerial vehicle. The flight controller receives the control command sent by the control device, and the control device determines the specific principle and implementation manner of the control command according to the state information of the unmanned aerial vehicle, which is consistent with the foregoing embodiment, and details are not described herein again.

The controlling the form of the UAV according to the control instruction comprises: controlling a moving component on the UAV according to the control instruction. The movable component includes at least one of the following: a landing gear, a parachute, an arm, and a spoiler.

The control instruction includes: identification information of the active component; and controlling the active component on the unmanned aerial vehicle according to the control instruction, comprising: controlling a movable component indicated by the identification information according to the control instruction.

Further, the control instruction further includes: target state information of the active component; and controlling the active component on the unmanned aerial vehicle according to the control instruction, comprising: controlling the motion of the movable component according to the control instruction And moving the moving part to a target state indicated by the target state information.

Further, the control instruction further includes: speed information for controlling movement of the movable component; and controlling the movable component on the unmanned aerial vehicle according to the control instruction, comprising: following speed information in the control instruction The indicated speed controls the moving parts. The specific principles and implementation manners of the control commands are consistent with the foregoing embodiments, and are not described herein again.

Step S402, controlling the form of the UAV according to the control instruction.

Specifically, the controlling the form of the unmanned aerial vehicle according to the control instruction comprises: performing legality detection on the control instruction; and if the control instruction is legal, controlling the unmanned aerial vehicle according to the control instruction Shape.

After the flight controller receives the control command sent by the control device, it checks the legality of the control command, which can be detected from the following aspects:

In one aspect, it is detected whether the identification information of the active component included in the control instruction is identification information of the active component supported by the UAV. Normally, the fixed-wing UAV is equipped with a spoiler, and the multi-rotor UAV has no spoiler. If the current UAV is a multi-rotor UAV, the control device sends the control command to the flight controller. Including the identification information of the spoiler, the flight controller determines that the control command is not applicable to the current model, and determines that the control command is illegal.

On the other hand, detecting whether the target state information of the active component included in the control instruction is the target state information supported by the active component, for example, the target state of the parachute may include: an open state, a closed state, and no open state The state between the closed state and the closed state. If the control command includes the identification information of the parachute, and also includes the state between the open state and the closed state, it is determined that the control command is illegal.

In still another aspect, detecting, by the control command, a speed at which the movement of the movable member is controlled is a deformation speed supported by the movable member, for example, a maximum deformation speed that the landing gear can support is 15 degrees/second, if the control command includes If the speed of the landing gear is controlled to be greater than 15 degrees/second, it is determined that the control command is illegal. Similarly, if the speed of the control landing gear included in the control command is less than the minimum deformation speed that the landing gear can support, then it is determined that the control command is illegal.

When the flight controller determines that the control command is invalid, the control command may be discarded, and the feedback information may be sent to the control device, where the feedback information is used to prompt the control command to be illegal.

When the control command is legal, the flight controller controls the movement of the moving part indicated by the control command to control the shape of the unmanned aerial vehicle.

It should be noted that when the control command is legal, the flight controller may not execute the control command, for example, the UAV is located on the ground, and the landing gear of the UAV is released, if the flight controller receives the control. The control command sent by the device is used to control the landing gear to be stowed, and the flight controller may not execute the control command.

In this embodiment, the flight controller receives a control command sent by the control device, where the control command is determined by the control device according to the state information of the unmanned aerial vehicle, and controls the form of the unmanned aerial vehicle according to the control command. In this way, it is possible to control the shape of the unmanned aerial vehicle according to the state information of the unmanned aerial vehicle, overcome the defect that the unified control by the flight controller cannot be applied to more scenes, and the control mode is fixed and single, and overcome the control by the user. Terminal control is easy to cause defects such as misoperation and leakage operation, which can cover more scene requirements, and does not require user participation, and improves the flexibility and intelligence of the shape control of the UAV.

Embodiments of the present invention provide a control device. The control device may specifically be the control device described in the above embodiments. FIG. 5 is a structural diagram of a control device according to an embodiment of the present invention. As shown in FIG. 5, the control device 50 includes: one or more processors 51 and a communication interface 52, and one or more processors 51 work separately or in cooperation. The processor 51 and the communication interface 52 are communicatively coupled; the processor 51 is configured to: acquire state information of the unmanned aerial vehicle; and determine a control instruction according to the state information of the unmanned aerial vehicle, where the control instruction is used to control the unmanned aerial vehicle The communication interface 52 is configured to: send the control command to the flight controller.

Specifically, the control instruction is used to control the form of the UAV, and the control instruction is used to control a moving component on the UAV.

The movable component includes at least one of the following: a landing gear, a parachute, an arm, and a spoiler.

Taking the landing gear as an example, the processor 51 determines a control command according to the state information of the unmanned aerial vehicle, and the control command is used to control the moving component, and is specifically used for at least one of the following:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle;

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the unmanned aerial vehicle is located;

Determining a control command for controlling the landing gear to be retracted according to a photographing state in which the photographing device mounted on the UAV is located;

Determining, according to a preset working point at which the UAV is located, a control command for controlling the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, the control command for controlling the landing gear release.

Taking the parachute as an example, the processor 51 determines a control command according to the state information of the UAV, and the control command is used to control the moving component, specifically for: according to the fault state of the UAV Determining a control command for controlling the parachute to open.

Taking the arm as an example, the processor 51 determines a control command according to the state information of the UAV, and the control command is used to control the moving component, specifically for: taking off according to the unmanned aerial vehicle The state or landing state determines a control command for controlling the arm to adjust a power output direction of a power system disposed on the arm.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and are not described herein again.

In this embodiment, the state information of the unmanned aerial vehicle is obtained by the control device, and the control command is determined according to the state information of the unmanned aerial vehicle, and the control device sends the control command to the flight controller, and the flight controller controls the unmanned aerial vehicle according to the control command. Shape. In this way, it is possible to control the shape of the unmanned aerial vehicle according to the state information of the unmanned aerial vehicle, overcome the defect that the unified control by the flight controller cannot be applied to more scenes, and the control mode is fixed and single, and overcome the control by the user. Terminal control is easy to cause defects such as misoperation and leakage operation, can cover more scene requirements, and does not require user participation, which improves the flexibility and intelligence of the shape control of the UAV.

Embodiments of the present invention provide a control device. On the basis of the technical solution provided by the embodiment shown in FIG. 5, the processor 51 is further configured to: acquire state information of the active component; and correspondingly, the processor 51 determines a control command according to the state information of the unmanned aerial vehicle. The control finger When used to control the moving component, the method is specifically configured to: determine a control instruction according to the state information of the UAV and the state information of the moving component, where the control instruction is used to control the moving component.

Taking the landing gear as an example, the processor 51 determines a control command according to the state information of the unmanned aerial vehicle and the state information of the moving component, and the control command is used to control the movable component, and is specifically used for at least the following One:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle and a state of the landing gear;

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the UAV is located, and a state of the landing gear;

Determining a control command according to a photographing state in which the photographing device mounted on the UAV is located, and a state of the landing gear, wherein the control command is used to control the landing gear to be retracted;

Determining, according to a preset working point at which the UAV is located, and a state of the landing gear, the control command is used to control the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, and a state of the landing gear, the control command is used to control the landing gear release.

Taking the parachute as an example, the processor 51 determines a control command according to the state information of the unmanned aerial vehicle and the state information of the moving component, and the control command is used to control the moving component, specifically for: Describe the fault state in which the UAV is located, and the state of the parachute, and determine a control command for controlling the parachute to open.

Taking the arm as an example, the processor 51 determines a control command according to the state information of the UAV and the state information of the moving component, and the control command is used to control the moving component, specifically for: a take-off state or a landing state in which the UAV is located, and a state of the arm, determining a control command for controlling the arm to adjust a power system disposed on the arm Power output direction.

In this embodiment, the control instruction includes: the identification information of the active component; the control instruction is used to control the active component, and the control instruction is used to control the active component indicated by the identifier information.

Further, the control instruction further includes: target status information of the active component; the control instruction is used to control the active component, and the control instruction is used to control the activity The component moves to move the movable component to a target state indicated by the target state information.

Further, the control instruction further includes: speed information for controlling movement of the movable component; the control instruction for controlling the movable component includes: the control instruction is used to indicate that the flight controller follows the speed The speed indicated by the information controls the moving parts.

In addition, the communication interface 52 is further configured to receive status information of the UAV transmitted by the flight controller, and send status information of the UAV to the processor 51.

Alternatively, the communication interface 52 is further configured to receive status information of the active component sent by the flight controller, and send status information of the active component to the processor 51.

The specific principles and implementations of the control device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 3, and details are not described herein again.

In this embodiment, the control device determines, according to the state information of the UAV and the state information of the moving component, the control instruction is used to control the activity of the active component, and the control device sends the control command to the flight. a controller, the flight controller controls the shape of the unmanned aerial vehicle by controlling the activity of the movable component, so that the flight controller can meet a specific scene requirement, and controls the unmanned aerial vehicle by using different buttons of the remote controller in the prior art. Different moving parts reduce the complexity of the remote control.

Embodiments of the present invention provide a flight controller. In this embodiment, the flight controller may be a flight controller of the unmanned aerial vehicle, or may be other general-purpose or dedicated processors, which are schematically illustrated by the flight controller in this embodiment. 6 is a structural diagram of a flight controller according to an embodiment of the present invention. As shown in FIG. 6, the flight controller 60 includes a communication interface 61, one or more processors 62, and one or more processors 62 alone or in cooperation. The communication interface 61 is configured to: receive a control command sent by the control device, where the control command is determined by the control device according to status information of the unmanned aerial vehicle; and the processor 62 is configured to: control the none according to the control command The shape of the human aircraft.

Specifically, when the processor controls the form of the UAV according to the control instruction, specifically, the processor controls the moving component on the UAV according to the control instruction. The movable component includes at least one of the following: a landing gear, a parachute, an arm, and a spoiler.

The control instruction includes: identification information of the active component; when the processor 62 controls the active component on the unmanned aerial vehicle according to the control instruction, specifically, according to the control The instruction controls the active component indicated by the identification information.

Further, the control instruction further includes: target state information of the active component; when the processor 62 controls the active component on the unmanned aerial vehicle according to the control instruction, the method is specifically configured to: control the location according to the control instruction The movable component moves to move the movable component to a target state indicated by the target state information.

Further, the control instruction further includes: speed information for controlling movement of the movable component; and when the processor 62 controls the movable component on the unmanned aerial vehicle according to the control instruction, specifically, according to the control instruction The speed information in the speed information indicates the moving part.

In addition, the processor 62 is further configured to: perform legality detection on the control instruction; if the control instruction is legal, control a form of the unmanned aerial vehicle according to the control instruction; if the control instruction is illegal, The control command is not executed.

In addition, the communication interface 61 is further configured to: send the status information of the unmanned aerial vehicle to the control device before receiving the control instruction sent by the control device.

Alternatively, the communication interface 61 is further configured to: before receiving the control instruction sent by the control device, send the state information of the UAV and the state information of the active component to the control device; the control command is the control The device is determined based on status information of the unmanned aerial vehicle and status information of the moving parts.

The specific principles and implementation manners of the flight controller provided by the embodiments of the present invention are similar to the embodiment shown in FIG. 4, and details are not described herein again.

Embodiments of the present invention provide an unmanned aerial vehicle. Figure 7 is an unmanned embodiment of the present invention The structure of the aircraft, as shown in FIG. 7, the unmanned aerial vehicle 700 includes: a fuselage, a power system, and a flight controller 718, the power system including at least one of the following: a motor 707, a propeller 706, and an electronic governor 717. A power system is mounted to the fuselage for providing flight power; a flight controller 718 is in communication with the power system for controlling the UAV flight; wherein the flight controller 718 includes an inertial measurement unit (Inertial Measurement) Unit, referred to as IMU), the inertial measurement unit generally includes a gyroscope and an accelerometer. The inertial measurement unit is configured to detect a pitch angle, a roll angle, a yaw angle, an acceleration, and the like of the unmanned aerial vehicle.

In addition, as shown in FIG. 7, the unmanned aerial vehicle 700 further includes: a sensing system 708, a communication system 710, a supporting device 702, and a photographing device 704. The supporting device 702 may specifically be a pan/tilt, and the communication system 710 may specifically include receiving The receiver is configured to receive a wireless signal transmitted by an antenna 714 of the

ground station

712, and 716 represents an electromagnetic wave generated during communication between the receiver and the antenna 714.

The specific principles and implementation manners of the flight controller 718 provided by the embodiments of the present invention are similar to the foregoing embodiments, and are not described herein again.

Embodiments of the present invention provide an unmanned aerial vehicle system. 8 is a structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention. As shown in FIG. 8, on the basis of the embodiment shown in FIG. 7, the unmanned aerial vehicle system includes: an unmanned aerial vehicle 700 and a control device 800, wherein The unmanned aerial vehicle 700 is specifically shown in FIG. 7 and will not be described here. The control device 800 is located at the ground end. In this embodiment, the control device 800 may specifically be a control terminal as described above.

FIG. 9 is a structural diagram of an unmanned aerial vehicle system according to another embodiment of the present invention. As shown in FIG. 9, on the basis of the embodiment shown in FIG. 7, the unmanned aerial vehicle 700 further includes a control device 900. The control device 900 is located on the unmanned aerial vehicle, and the control device 900 is in communication with the flight controller 718. The specific principles and implementations of the control device 900 are similar to the above embodiments, and are not described herein again.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, 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. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or 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.

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

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

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

Claims

A method for controlling an unmanned aerial vehicle, comprising:

Obtaining status information of the unmanned aerial vehicle;

Determining, according to status information of the unmanned aerial vehicle, a control command, the control command being used to control a form of the unmanned aerial vehicle;

The control command is sent to the flight controller.
The method according to claim 1, wherein said control command is used to control a form of said unmanned aerial vehicle, comprising:

The control command is for controlling a moving part on the unmanned aerial vehicle.
The method of claim 2 wherein said moving component comprises at least one of:

Landing gear, parachute, arm, spoiler.
The method according to claim 3, wherein said determining, based on said state information of said unmanned aerial vehicle, a control command for controlling a moving part on said unmanned aerial vehicle, comprising at least one of the following Kind:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle;

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the unmanned aerial vehicle is located;

Determining a control command for controlling the landing gear to be retracted according to a photographing state in which the photographing device mounted on the UAV is located;

Determining, according to a preset working point at which the UAV is located, a control command for controlling the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, the control command for controlling the landing gear release.
The method of claim 3, wherein the determining, based on the state information of the UAV, a control command, the control command for controlling a moving component on the UAV, comprising:

A control command is used to control the parachute opening based on a fault condition in which the UAV is located.
The method of claim 3, wherein the determining, based on the state information of the UAV, a control command, the control command for controlling a moving component on the UAV, comprising:

A control command is used to control the arm to adjust a power output direction of a power system disposed on the arm according to a take-off state or a landing state in which the UAV is located.
The method of any of claims 2-6, further comprising:

Obtaining status information of the active component;

Determining, according to the state information of the UAV, a control instruction, where the control instruction is used to control a moving component on the UAV, including:

And determining, according to the state information of the UAV and the state information of the moving component, the control command for controlling the moving component.
The method according to claim 7, wherein said determining, based on said state information of said unmanned aerial vehicle and said state information of said moving part, said control command for controlling said moving part, Including at least one of the following:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle and a state of the landing gear;

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the UAV is located, and a state of the landing gear;

Determining a control command according to a photographing state in which the photographing device mounted on the UAV is located, and a state of the landing gear, wherein the control command is used to control the landing gear to be retracted;

Determining, according to a preset working point at which the UAV is located, and a state of the landing gear, the control command is used to control the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, and a state of the landing gear, the control command is used to control the landing gear release.
The method according to claim 7, wherein said determining, based on said state information of said unmanned aerial vehicle and said state information of said moving part, said control command for controlling said moving part, include:

A control command is determined based on a fault condition in which the UAV is located, and a state of the parachute, the control command being used to control the parachute opening.
The method according to claim 7, wherein said determining, based on said state information of said unmanned aerial vehicle and said state information of said moving part, said control command for controlling said moving part, include:

Determining a control command for controlling the arm to adjust a power of a power system disposed on the arm according to a take-off state or a landing state in which the UAV is located, and a state of the arm Output direction.
The method according to any one of claims 2 to 10, wherein the control instruction comprises:

Identification information of the moving part;

The controlling instruction for controlling the moving component includes:

The control instruction is for controlling an active component indicated by the identification information.
The method according to any one of claims 2 to 11, wherein the control instruction further comprises:

Target status information of the active component;

The controlling instruction for controlling the moving component includes:

The control command is configured to control movement of the movable component to move the movable component to a target state indicated by the target state information.
The method according to any one of claims 2 to 12, wherein the control instruction further comprises:

Controlling speed information of movement of the moving part;

The controlling instruction for controlling the moving component includes:

The control command is for instructing the flight controller to control the moving component according to a speed indicated by the speed information.
The method according to any one of claims 1 to 13, wherein the acquiring state information of the unmanned aerial vehicle comprises:

Receiving status information of the unmanned aerial vehicle transmitted by the flight controller.
The method according to any one of claims 7 to 13, wherein the obtaining status information of the active component comprises:

Receiving status information of the active component sent by the flight controller.
A method for controlling an unmanned aerial vehicle, comprising:

Receiving a control command sent by the control device, where the control command is determined by the control device according to state information of the unmanned aerial vehicle;

The form of the UAV is controlled in accordance with the control command.
The method according to claim 16, wherein the controlling the form of the unmanned aerial vehicle according to the control instruction comprises:

The moving parts on the UAV are controlled in accordance with the control commands.
The method of claim 17, wherein the moving part comprises at least one of the following:

Landing gear, parachute, arm, spoiler.
The method of claim 17 or 18, wherein the control instructions comprise:

Identification information of the moving part;

The controlling the moving parts on the UAV according to the control instruction comprises:

Controlling the active component indicated by the identification information according to the control instruction.
The method according to any one of claims 17 to 19, wherein the control instruction further comprises:

Target status information of the active component;

The controlling the moving parts on the UAV according to the control instruction comprises:

The moving part motion is controlled according to the control command to move the moving part to a target state indicated by the target state information.
The method according to any one of claims 17 to 20, wherein the control instruction further comprises:

Controlling speed information of movement of the moving part;

The controlling the moving parts on the UAV according to the control instruction comprises:

The moving part is controlled in accordance with the speed indicated by the speed information in the control command.
The method according to any one of claims 16 to 21, wherein the controlling the form of the unmanned aerial vehicle according to the control instruction comprises:

Performing legality detection on the control instruction;

If the control command is legal, the form of the unmanned aerial vehicle is controlled according to the control command.
The method according to any one of claims 16 to 22, further comprising: before receiving the control instruction sent by the control device, the method further comprising:

Sending status information of the unmanned aerial vehicle to the control device.
The method according to any one of claims 17 to 22, further comprising: before receiving the control instruction sent by the control device, further comprising:

Transmitting, to the control device, status information of the UAV and status information of the active component;

The control command is determined by the control device according to status information of the unmanned aerial vehicle and status information of the active component.
A control device, comprising: one or more processors, working alone or in cooperation, and a communication interface;

The communication interface is in communication with the processor;

The processor is used to:

Obtaining status information of the unmanned aerial vehicle;

Determining, according to status information of the unmanned aerial vehicle, a control command, the control command being used to control a form of the unmanned aerial vehicle;

The communication interface is used to:

The control command is sent to the flight controller.
The control device according to claim 25, wherein said control command is for controlling a form of said unmanned aerial vehicle, comprising:

The control command is for controlling a moving part on the unmanned aerial vehicle.
The control device according to claim 26, wherein said moving part comprises at least one of the following:

Landing gear, parachute, arm, spoiler.
The control device according to claim 27, wherein the processor determines a control command according to the state information of the unmanned aerial vehicle, and the control command is used to control the movable component, and is specifically used for at least the following One:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle;

Determining a control command according to a take-off state or a landing state in which the unmanned aerial vehicle is located The control command is used to control the landing gear release;

Determining a control command for controlling the landing gear to be retracted according to a photographing state in which the photographing device mounted on the UAV is located;

Determining, according to a preset working point at which the UAV is located, a control command for controlling the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, the control command for controlling the landing gear release.
The control device according to claim 27, wherein the processor determines a control command according to the state information of the UAV, and the control command is used to: when the active component is controlled, specifically:

A control command is used to control the parachute opening based on a fault condition in which the UAV is located.
The control device according to claim 27, wherein the processor determines a control command according to the state information of the UAV, and the control command is used to: when the active component is controlled, specifically:

A control command is used to control the arm to adjust a power output direction of a power system disposed on the arm according to a take-off state or a landing state in which the UAV is located.
The control device according to any one of claims 26 to 30, wherein the processor is further configured to:

Obtaining status information of the active component;

The processor determines, according to the state information of the UAV, a control instruction, where the control instruction is used to control the active component, specifically for:

And determining, according to the state information of the UAV and the state information of the moving component, the control command for controlling the moving component.
The control device according to claim 31, wherein said processor determines a control command based on state information of said unmanned aerial vehicle and state information of said moving part, said control command for controlling said When moving parts, it is used for at least one of the following:

Determining a control command for controlling the landing gear release according to a fault state of the unmanned aerial vehicle and a state of the landing gear;

Determining a control command for controlling the landing gear release according to a take-off state or a landing state in which the UAV is located, and a state of the landing gear;

Determining a control command according to a photographing state in which the photographing device mounted on the UAV is located, and a state of the landing gear, wherein the control command is used to control the landing gear to be retracted;

Determining, according to a preset working point at which the UAV is located, and a state of the landing gear, the control command is used to control the landing gear to be retracted;

And determining, according to a preset landing point where the UAV is located, and a state of the landing gear, the control command is used to control the landing gear release.
The control device according to claim 31, wherein said processor determines a control command based on state information of said unmanned aerial vehicle and state information of said moving part, said control command for controlling said When moving parts, it is specifically used to:

A control command is determined based on a fault condition in which the UAV is located, and a state of the parachute, the control command being used to control the parachute opening.
The control device according to claim 31, wherein said processor determines a control command based on state information of said unmanned aerial vehicle and state information of said moving part, said control command for controlling said When moving parts, it is specifically used to:

Determining a control command for controlling the arm to adjust a power of a power system disposed on the arm according to a take-off state or a landing state in which the UAV is located, and a state of the arm Output direction.
The control device according to any one of claims 26 to 34, wherein the control instruction comprises:

Identification information of the moving part;

The controlling instruction for controlling the moving component includes:

The control instruction is for controlling an active component indicated by the identification information.
The control device according to any one of claims 26 to 35, wherein the control instruction further comprises:

Target status information of the active component;

The controlling instruction for controlling the moving component includes:

The control command is configured to control movement of the movable component to move the movable component to a target state indicated by the target state information.
The control device according to any one of claims 26 to 36, wherein the control instruction further comprises:

Controlling speed information of movement of the moving part;

The controlling instruction for controlling the moving component includes:

The control command is for instructing the flight controller to control the moving component according to a speed indicated by the speed information.
A control apparatus according to any one of claims 25 to 37, characterized in that

The communication interface is further configured to receive status information of the unmanned aerial vehicle sent by the flight controller, and send status information of the unmanned aerial vehicle to the processor.
A control apparatus according to any one of claims 31 to 37, characterized in that

The communication interface is further configured to receive status information of the active component sent by the flight controller, and send status information of the active component to the processor.
A flight controller, comprising: a communication interface, one or more processors, working alone or in cooperation;

The communication interface is used to:

Receiving a control command sent by the control device, where the control command is determined by the control device according to state information of the unmanned aerial vehicle;

The processor is used to:

The form of the UAV is controlled in accordance with the control command.
The flight controller according to claim 40, wherein when the processor controls the form of the unmanned aerial vehicle according to the control instruction, the method is specifically configured to:

The moving parts on the UAV are controlled in accordance with the control commands.
A flight controller according to claim 41, wherein

The moving part includes at least one of the following:

Landing gear, parachute, arm, spoiler.
The flight controller according to claim 41 or 42, wherein the control command comprises:

Identification information of the moving part;

When the processor controls the moving component on the UAV according to the control instruction, specifically, the processor is configured to:

Controlling the active component indicated by the identification information according to the control instruction.
The flight controller according to any one of claims 41 to 43, wherein the control instruction further comprises:

Target status information of the active component;

When the processor controls the moving component on the UAV according to the control instruction, specifically, the processor is configured to:

The moving part motion is controlled according to the control command to move the moving part to a target state indicated by the target state information.
The flight controller according to any one of claims 41 to 44, wherein the control instruction further comprises:

Controlling speed information of movement of the moving part;

When the processor controls the moving component on the UAV according to the control instruction, specifically, the processor is configured to:

The moving part is controlled in accordance with the speed indicated by the speed information in the control command.
The flight controller according to any one of claims 40 to 45, wherein when the processor controls the form of the unmanned aerial vehicle according to the control instruction, it is specifically used for:

Performing legality detection on the control instruction;

If the control command is legal, the form of the unmanned aerial vehicle is controlled according to the control command.
The flight controller according to any one of claims 40 to 46, wherein the communication interface is further configured to:

The state information of the unmanned aerial vehicle is transmitted to the control device before receiving the control command sent by the control device.
The flight controller according to any one of claims 41 to 46, wherein the communication interface is further configured to:

Sending status information of the unmanned aerial vehicle and status information of the active component to the control device before receiving the control command sent by the control device;

The control command is determined by the control device according to status information of the unmanned aerial vehicle and status information of the active component.
An unmanned aerial vehicle, comprising:

body;

a power system mounted to the fuselage for providing flight power;

And a flight controller according to any of claims 40-48.
An unmanned aerial vehicle system, comprising:

body;

a power system mounted to the fuselage for providing flight power;

A control device according to any of claims 25-39;

And a flight controller according to any of claims 40-48.