WO2019061022A1 - Procédé de simulation, dispositif terminal et contrôleur de vol destinés à un véhicule aérien sans pilote - Google Patents

Procédé de simulation, dispositif terminal et contrôleur de vol destinés à un véhicule aérien sans pilote Download PDF

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Publication number
WO2019061022A1
WO2019061022A1 PCT/CN2017/103424 CN2017103424W WO2019061022A1 WO 2019061022 A1 WO2019061022 A1 WO 2019061022A1 CN 2017103424 W CN2017103424 W CN 2017103424W WO 2019061022 A1 WO2019061022 A1 WO 2019061022A1
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WIPO (PCT)
Prior art keywords
physical model
terminal device
control data
flight controller
flight
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PCT/CN2017/103424
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English (en)
Chinese (zh)
Inventor
陈超彬
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.)
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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 CN201780015211.4A priority Critical patent/CN109074091A/zh
Priority to PCT/CN2017/103424 priority patent/WO2019061022A1/fr
Publication of WO2019061022A1 publication Critical patent/WO2019061022A1/fr

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    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of flight simulation of a drone, in particular to a simulation method, a terminal device and a flight controller of the drone.
  • the flight controller of the general drone will support the flight simulation function.
  • the flight simulation function of the drone is realized by the physical model of the drone built in the flight controller. Specifically, the flight controller enters the simulation mode through the terminal device, and after the flight controller enters the simulation mode, the flight controller runs its The built-in physical model responds to the external input, and simultaneously transmits the flight state data of the drone to the terminal device, and the terminal device displays the flight state data of the drone through the interaction device, for example, the interaction device displays the unmanned character representing the flight state data.
  • Machine animation since the physical model used for flight simulation is built into the flight controller, the user or developer cannot modify the physical model according to the actual situation (such as a specific application area or a specific model) or design a customized physical model according to their own needs. This results in a large difference between the simulated effect and the actual flight effect of the drone.
  • the embodiment of the invention provides a simulation method, a terminal device and a flight controller of the drone to improve the flexibility of physical model selection in the UAV simulation process.
  • the technical solution is as follows:
  • an embodiment of the present invention provides a simulation method, which is applied to a terminal device, and includes:
  • the flight status data is displayed.
  • an embodiment of the present invention provides a simulation method applied to a flight controller of a drone, including:
  • the embodiment of the present invention further provides a simulation method, which is applied to a terminal device, and includes:
  • the physical model selection information is used to indicate a target physical model for simulating a drone, and the target physical model is one of a physical model built in the flight controller and a physical model built in the terminal device.
  • an embodiment of the present invention provides a simulation method, which is applied to a flight controller of a drone, and includes:
  • the target physical model is one of a physical model built in the flight controller and a physical model built in the terminal device.
  • an embodiment of the present invention further provides a terminal device, including: a memory and a processor;
  • the memory is configured to store program code
  • the processor the program code is invoked, and when the program code is executed, is used to perform the following operations:
  • the flight status data is displayed.
  • an embodiment of the present invention further provides a flight controller of a drone, including: a memory and a processor;
  • the memory is configured to store program code
  • the processor the program code is invoked, and when the program code is executed, is used to perform the following operations:
  • the embodiment of the present invention further provides a terminal device, including: a memory and a processor;
  • the memory is configured to store program code
  • the processor the program code is invoked, and when the program code is executed, is used to perform the following operations:
  • the physical model selection information is used to indicate a target physical model for simulating a drone, and the target physical model is one of a physical model built in the flight controller and a physical model built in the terminal device.
  • an embodiment of the present invention further provides a flight controller of a drone, including: a memory and a processor;
  • the memory is configured to store program code
  • the processor the program code is invoked, and when the program code is executed, is used to perform the following operations:
  • the target physical model is one of a physical model built in the flight controller and a physical model built in the terminal device.
  • the simulation method, the terminal device and the flight controller of the drone provided by the embodiment of the invention can implement the flight simulation of the drone by using the physical model built in the terminal device, and overcome the simulation of the UAV in the prior art.
  • the defect of the physical model built into the flight controller in this way, can support the user or the developer to customize or develop a specific physical model to realize the flight simulation of the drone, so that the simulation effect can be more closely matched with the actual effect.
  • the user can select a physical model for performing flight simulation from the physical model built in the terminal device and the physical model built in the flight controller through the terminal device, which enables the user to flexibly select the physical model for simulation according to the actual application situation, enriching
  • the choice of physical model during the UAV simulation process improves the flexibility of flight simulation.
  • FIG. 1 is a schematic flowchart of a simulation method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an implementation method for performing simulation by using a physical model built in a terminal device according to an embodiment of the present invention
  • FIG. 3 is another schematic flowchart of a simulation method according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a method for implementing simulation by using a physical model built in a terminal device according to an embodiment of the present invention
  • FIG. 5 is another schematic flowchart of a method for implementing simulation by using a physical model built in a terminal device according to an embodiment of the present disclosure
  • FIG. 6 is another schematic flowchart of a simulation method according to an embodiment of the present disclosure.
  • FIG. 7 is another schematic flowchart of a simulation method according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic flowchart of an implementation process of implementing flight simulation of a drone based on a physical model selected by a user according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of an implementation method for performing simulation by using a physical model built in a terminal device according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an implementation method for performing simulation by using a physical model built in a flight controller according to an embodiment of the present invention.
  • FIG. 11 is still another schematic flowchart of an implementation process of implementing flight simulation of a drone based on a physical model selected by a user according to an embodiment of the present invention
  • FIG. 12 is still another flow of implementing a flight simulation of a drone based on a physical model selected by a user according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a terminal device or a flight controller 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 in the middle. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the embodiment of the present invention provides a simulation method, which is applied to a terminal device.
  • FIG. 1 it is a schematic flowchart of a simulation method according to an embodiment of the present invention. The method includes:
  • Step S101 Acquire control data output by the flight controller in the simulation mode.
  • the execution body of the simulation method is the terminal device 200.
  • the execution body may be a processor of the terminal device, where the processor may be one or more.
  • the terminal device can be any device capable of interacting with a user or a developer, wherein the terminal device can be specifically a remote controller, a smart phone, a tablet computer, a laptop computer, a desktop computer, a ground control station, a wearable device. One or more of (watches, bracelets, etc.).
  • the terminal device 200 receives the control data output by the flight controller 2011 of the drone 201.
  • the terminal device 200 may include a communication interface connected to the flight controller, and the processing of the terminal device 200 The device may control the communication interface to receive control data output by the flight controller 2011, and the processor acquires the control data from the communication interface, wherein the control data may be used to control any actuator on the drone Control data, further, the control data may include one of control data for the power system, control data for the pan/tilt, control data for the payload, control data for the tripod, and control data for the indicator light or A variety.
  • Step S102 Run a physical model built in the terminal device according to the control data.
  • the terminal device 200 may run the physical model 202 built in the terminal device according to the control data, and further, the processor of the terminal device runs the terminal according to the control number.
  • a physical model 202 built in the device wherein the processor can drive the operation of the physical model 202 by using the control data as an entry parameter of the physical model 202 built in the terminal device, where the physical model 202 built in the terminal device can be a program code.
  • the program code may be stored in a memory communicatively coupled to the processor, and after acquiring the control data, the processor may use the control data as an entry parameter, and call the program code stored in the memory to run the physical model.
  • the physical model 202 can include one or more of a power system model, a dynamics model, a kinematic model, and a sensor model.
  • Step S103 Send flight state data output by the physical model to the flight controller.
  • the exit parameter of the physical model 202 that is, the flight state data
  • the processor of the terminal device may control the flight controller 2011.
  • the connected communication interface transmits the flight status data to the flight controller 2011, and after receiving the flight status data, the flight controller 2011 provides the flight status data to an internal functional unit for driving the flight simulation operation, wherein
  • the flight state data may be sensor data or data obtained after merging sensor data.
  • the sensor data may be one or more of position data, acceleration data, angular acceleration data, orientation data, air pressure data, and power data.
  • Step S104 Display flight state data.
  • the terminal device may be configured with an interaction device that interacts with the user, where the interaction device may be a display device or a touch display device.
  • the interaction device may further include a button, a keyboard, a joystick, and a pulsator.
  • one or more of the display devices can display an interactive interface, and the processor of the terminal device can control the display device to display the flight state data in the interactive interface.
  • the display manner may be direct display or indirect display, and is not specifically limited herein.
  • step S103 and the step S104 may be performed sequentially, and the sequence may be interchanged.
  • step S103 and the step S104 may be performed simultaneously, which is not limited herein.
  • the displaying flight state data comprises displaying the flight state data in the form of a drone animation.
  • an interaction interface may be displayed on the interaction device of the terminal device, where the interaction interface may display the drone 204, wherein the drone 204 displayed in the interaction interface is a representation of the flight state data.
  • the drone 204 has the flight state indicated by the flight state data.
  • the terminal device can generate the environmental scenarios 205 and 206. By observing the state exhibited by the drone 204, the effect of the flight simulation can be achieved.
  • the flight state data may also be displayed on the interactive interface in the form of text, which is not specifically limited herein.
  • the simulation method further comprises transmitting simulation request information to the flight controller.
  • the terminal device may send the simulation request information to the flight controller, where the simulation request information is used to instruct the flight controller to enter the simulation mode, specifically,
  • the user can perform a simulation request operation on the interaction device on the terminal device, the processor of the terminal device can detect the simulation request operation, and determine the simulation request information according to the detected simulation request operation, and the processor controls the connection with the flight controller.
  • the communication interface sends the simulation request information to the flight controller, and the flight controller enters the simulation mode after receiving the simulation request information.
  • the simulation method provided by the embodiment of the present invention can implement the flight simulation of the UAV by using the physical model built in the terminal device, and overcome the defect that the simulation of the UAV in the prior art can only use the physical model built in the flight controller. In this way, the user or the developer can be customized or developed to implement a specific physical model to realize the flight simulation of the drone, so that the simulation effect can be more closely matched with the actual effect.
  • FIG. 3 is a simulation method provided by an embodiment of the present invention.
  • Schematic diagram of the process including:
  • Step S301 Send control data to the terminal device.
  • the execution body of the simulation method is a flight controller of the drone, and further, the execution body may be a processor of the flight controller, and the processor in the flight controller may control and the terminal device during the simulation process.
  • the connected communication interface sends control data to the terminal device.
  • Step S302 Receive flight state data sent by the terminal device, where the flight state data is obtained by the terminal device running the physical model built in the terminal device according to the control data.
  • the terminal device runs the physical model built in the terminal device according to the received control data, and then the terminal device outputs the flight state data of the physical model, that is, according to the flight control.
  • the flight state data obtained by the control data sent by the controller is sent to the flight controller, and after receiving the flight state data, the flight controller provides the flight state data to the internal functional unit to drive the operation of the flight simulation.
  • the emulation method further includes: receiving emulation request information sent by the terminal device, and entering the emulation mode after receiving the emulation request information. Specifically, after receiving the simulation request information sent by the terminal device, the flight controller enters an emulation mode, and after the flight controller enters the emulation mode, the flight controller sends control data to the terminal device.
  • the simulation method provided by the embodiment of the present invention can implement the flight simulation of the UAV by using the physical model built in the terminal device, and overcome the defect that the simulation of the UAV in the prior art can only use the physical model built in the flight controller. In this way, the user or the developer can be customized or developed to implement a specific physical model to realize the flight simulation of the drone, so that the simulation effect can be more closely matched with the actual effect.
  • a schematic diagram of a process for implementing a physical model for simulation, the method may include:
  • Step S401 The terminal device sends the simulation request information to the flight controller.
  • step S401 For the specific method and principle of step S401, refer to the foregoing part, and details are not described herein again.
  • Step S402 After receiving the simulation request information, the flight controller enters the simulation mode.
  • step S402 For the specific method and principle of step S402, refer to the foregoing part, and details are not described herein again.
  • Step S403 The terminal device sends the first physical model selection information to the flight controller.
  • the user may perform a first physical model selection operation on the interaction device of the terminal device to select a physical model built in the terminal device to implement a simulation process of the drone, or the user may perform a second on the interaction device of the terminal device.
  • the physical model selection operation selects the physical model built into the flight controller of the drone to implement the simulation process of the drone.
  • the processor of the terminal device may detect the first physical model selection operation, and determine the first physical model according to the detected first physical model selection operation. Selecting information and transmitting the first physical model selection information to the flight controller, the first physical model selection information being used to indicate to the flight controller that the simulation is performed based on a physical model built into the terminal device.
  • the processor of the terminal device may detect the second physical model selection operation, and determine the second physical model according to the detected second physical model selection operation. The information is selected, and the second physical model selection information is sent to the flight controller, and the second physical model selection information is used to indicate to the flight controller that the simulation is performed based on a physical model built into the flight controller.
  • Step S404 The flight controller sends the control data to the terminal device when receiving the first physical model selection information sent by the terminal device.
  • the flight controller when receiving the first physical model selection information, can learn that the physical model used in the simulation is a physical model built in the terminal device by using the first physical model selection information, and at this time, the flight controller can The control data is sent to the terminal device.
  • the simulation method provided by the embodiment of the present invention may further include: receiving a control instruction sent by the control terminal or the terminal device, and generating control data according to the control instruction.
  • the user can operate the control terminal of the drone, and the control terminal generates a control command according to the user operation, and the control terminal sends the control command to the flight controller, and the flight controller
  • the control command sent by the control terminal may be received, or the user may operate the terminal device, and the terminal device generates a control command according to the user operation, and the terminal device sends the control command to the flight controller.
  • the flight controller receives the control command and generates control data based on the control command.
  • the control terminal may be any device that can perform data interaction with the flight controller.
  • the control terminal may include a remote controller, a smart phone, a tablet computer, a laptop computer, a ground control station, One or more of wearable devices (watches, bracelets, etc.).
  • Step S405 After receiving the control data, the terminal device runs the built-in physical model according to the control data.
  • step S405 and step S102 are the same, and are not described herein again.
  • Step S406 The terminal device transmits the flight state data output by the physical model to the flight controller.
  • step S406 and step S103 are the same, and are not described here.
  • Step S407 The terminal device displays the flight state data.
  • step S407 and step S104 are the same, and are not described here.
  • the terminal device and the flight controller are connected through a preset communication interface, wherein the communication interface may be a wired interface or a wireless interface, wherein the wired interface may be a USB interface, a PCIE interface,
  • the WLAN interface and the Ethernet interface may be any one of the WIFI, the Bluetooth, and the zigbee interface, and are not specifically limited herein.
  • the terminal device may send the first physical model selection information to the flight controller to indicate to the flight controller that the physical model built in the terminal device is used for simulation, and the flight controller is obtained by using the terminal device.
  • the control data is sent to the terminal device, and the terminal device runs its built-in physical model according to the control data, and sends the flight state data output by the physical model to the flight controller, thereby completing the flight simulation of the drone.
  • the simulation method provided by the embodiment of the present invention can adopt the physical model built in the terminal to perform flight simulation of the drone, and the physical model built in the terminal device can be based on actual conditions such as a specific application domain or a specific machine by the user or the developer. Type construction, that is, the user can flexibly customize his own physical model according to the actual situation and can modify his own customized physical model. Therefore, the effect simulated by the physical model built into the terminal device is consistent with the actual flight effect of the drone.
  • Step S501 The terminal device sends the simulation request information to the flight controller.
  • step S501 For the specific method and principle of step S501, refer to the foregoing part, and details are not described herein again.
  • Step S502 After receiving the simulation request information, the flight controller enters the simulation mode.
  • step S502 For the specific method and principle of step S502, refer to the foregoing part, and details are not described herein again.
  • Step S503 The terminal device detects a first physical model selection operation of the user
  • Step S504 Determine first physical model selection information according to the detected first physical model selection operation.
  • step S503 and step S504 For the specific methods and principles of step S503 and step S504, refer to the foregoing part, and details are not described herein again.
  • Step S505 The terminal device sends the first physical model selection information to the flight controller.
  • step S505 and step S403 are the same, and are not described here.
  • Step S506 The flight controller sends the number of controls to the terminal device when receiving the first physical model selection information sent by the terminal device. according to.
  • step S506 and step S404 are the same, and are not described here.
  • Step S507 The terminal device detects a configuration information setting operation of the user.
  • Step S508 The terminal device determines configuration information of the physical model according to the detected configuration information setting operation.
  • the physical model includes some configurable items
  • the user may perform a configuration information setting operation on the terminal device to configure one or more configuration items of the physical model
  • the terminal device detects the configuration information setting operation of the user, when the configuration is detected.
  • the terminal device may determine the configuration information of the physical model according to the detected configuration information setting operation, where the configuration information may be an environment in which the drone is located, a failure of the drone, and a drone. Any information describing one or more of the mechanical configurations and the like.
  • the configuration information of the physical model may include one or more of failure information of the drone, wind speed, wind direction, weight of the drone, and rack type of the drone.
  • Step S509 The terminal device runs the built-in physical model according to the control data and the configuration information.
  • the processor of the terminal device may set a corresponding configuration item in the physical model according to the configuration information, and run the set physical model according to the control data.
  • the user can set the physical model by using the configuration information at any time. In this way, the flight state data of the drone under different environmental states, fault states, and mechanical configurations can be obtained, and the difference is achieved under different conditions. Simulation of man-machine. .
  • Step S510 The terminal device sends the flight state data output by the physical model to the flight controller.
  • step S510 and step S103 are the same, and are not described here.
  • Step S511 The terminal device displays the flight state data.
  • step S511 and step S104 are the same, and are not described here.
  • the simulation method provided by the embodiment of the present invention may further include: after receiving the simulation request information, the flight controller determines whether the preset simulation requirement is met, and if the flight controller determines that the preset simulation requirement is met, Enter the simulation mode. Specifically, after receiving the simulation request information, the flight controller first needs to detect its own state to determine whether the preset simulation requirements are met, for example, whether the motor of the drone is turned off, whether the drone is in the air, and whether the terminal device is The legal controller or the like, when it is determined that the preset requirement is met, the flight controller enters the simulation mode, and at this time, the flight controller can transmit the control data to the terminal device.
  • the simulation method provided by the embodiment of the present invention may further include: the terminal device sends the simulation end request information to the flight controller, and when the flight controller receives the simulation end request information, exits the simulation mode, that is, the flight controller.
  • the control data is no longer sent to the terminal device, and the flight state data sent by the terminal device is no longer received.
  • the terminal device it stops running the built-in physical model, that is, the control data of the flight controller is no longer received, and the control data is no longer received.
  • the flight controller sends flight status data.
  • the flight controller receives the simulation request information sent by the terminal device, if the real sensor is being received (such as Sensor data of one or more of position sensor, acceleration sensor, angular velocity sensor, gyroscope, barometer, or data fusion of the sensor data, and transmitting control data to the real actuator, then, at this time The reception of the sensor data or the fusion of the sensor data is stopped, and the control data is no longer sent to the real actuator, but enters the simulation mode.
  • the control data can be sent to the real actuator of the drone, and the sensor data of the real sensor or the data of the sensor data can be received.
  • the terminal device may determine the first physical model selection information based on the detected first physical model selection operation of the user, that is, the user may independently select the physical model built in the terminal to perform the simulation, and the flight controller After receiving the first physical model selection information, it is learned that the physical model used in the simulation is a physical model built in the terminal device, and the control data is sent thereto, and the terminal device may also determine the physics based on the detected configuration information of the user. The configuration information of the model, so that the built-in physical model can be run according to the control data and the configuration information, thereby completing the flight simulation of the drone.
  • the simulation method provided by the embodiment of the present invention can adopt the physical model built in the terminal to perform flight simulation of the drone, and the physical model built in the terminal device can be based on actual conditions such as a specific application domain or a specific machine by the user or the developer.
  • Type construction that is, the user can flexibly customize his own physical model according to the actual situation and modify the customized model. Therefore, the effect simulated by the physical model built into the terminal device is consistent with the actual flight effect of the drone.
  • the embodiment of the present invention further provides a simulation method, which is applied to a terminal device.
  • FIG. 6 it is a schematic flowchart of a simulation method according to an embodiment of the present disclosure, where the method includes:
  • Step S601 Detecting a physical model selection operation of the user.
  • the user can select a physical model of the drone simulation on the terminal device, that is, the target physical model, for example, the user can select to use the physical model built in the flight controller, or the user can select to use
  • the physical model built in the terminal device allows the user to select a physical model by performing a physical model selection operation on the terminal device.
  • the terminal device can detect the physical model selection operation of the user, and different physical model selection operations can represent different physical models.
  • the physical model selection operation may include a first physical model selection operation for selecting a physical model built in the terminal device, and a second physical model selection operation for selecting the flight controller Built-in physical model.
  • Step S602 Determine physical model selection information according to the detected physical model selection operation of the user.
  • the terminal device may determine physical model selection information according to the detected physical model selection operation, where the physical model selection information is used to indicate a target physical model for simulating the drone, and the target physical model is the flight One of a physical model built into the controller and a physical model built into the terminal device.
  • the processor of the terminal device may detect the first physical model selection operation, and determine the first physical model according to the detected first physical model selection operation. Selecting information and transmitting the first physical model selection information to the flight controller, the first physical model selection The information is used to indicate to the flight controller that the simulation is based on a physical model built into the terminal device.
  • the processor of the terminal device may detect the second physical model selection operation, and determine the second physical model according to the detected second physical model selection operation. The information is selected, and the second physical model selection information is sent to the flight controller, and the second physical model selection information is used to indicate to the flight controller that the simulation is performed based on a physical model built into the flight controller.
  • Step S603 transmitting physical model selection information to the flight controller of the drone.
  • the terminal device transmits the physical model selection information to the flight controller through a communication interface with the flight controller, and the terminal device sends the physical model selection information to the flight controller to indicate to the flight controller which current user chooses to use.
  • the physical model is used to simulate the drone.
  • the simulation method provided by the embodiment of the invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can flexibly based on the actual application situation. Selecting the physical model used in the simulation enriches the choice of the physical model during the UAV simulation process and improves the flexibility of flight simulation.
  • FIG. 7 is a simulation method according to an embodiment of the present invention.
  • Schematic diagram of the process including:
  • Step S701 Receive physical model selection information sent by the terminal device.
  • the flight controller receives physical model selection information sent by the terminal device through a communication interface with the terminal device, wherein the physical model selection information is used to indicate a physical model used for flight simulation of the drone.
  • Step S702 Determine a target physical model for simulating the drone according to the physical model selection information.
  • the flight controller may identify and determine the physical model selection information, and determine a target physical model indicated by the physical model selection information, where the target physical model is a built-in flight controller.
  • the target physical model is a built-in flight controller.
  • the physical model may include one or more of a dynamic system model, a dynamic model, a kinematic model, and a sensor model.
  • the simulation method provided by the embodiment of the invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can flexibly based on the actual application situation. Selecting the physical model used in the simulation enriches the choice of the physical model during the UAV simulation process and improves the flexibility of flight simulation.
  • a schematic flowchart of an implementation process of implementing a flight simulation of a drone based on a physical model selected by a user may be performed, which may include:
  • Step S801 The terminal device detects a physical model selection operation of the user.
  • step S801 and step S601 are the same, and are not described here.
  • Step S802 The terminal device determines physical model selection information according to the detected physical model selection operation of the user.
  • step S802 and step S602 are the same, and are not described here.
  • Step S803 The terminal device sends physical model selection information to the flight controller of the drone.
  • step S803 and step S603 are the same, and are not described here.
  • Step S804 When receiving the physical model selection information sent by the terminal device, the flight controller determines a target physical model for simulating the UAV according to the physical model selection information.
  • step S804 and step S601 and step S602 are the same, and are not described here.
  • the terminal device When the terminal device detects the first physical model selection operation, the terminal device sends the first physical model selection information to the flight controller, that is, when the target physical model indicated by the physical model selection information indicates the physical model built in the terminal device Steps S805a-S807a are executed, and step S808 is further executed.
  • the target physical model is a physical model built in the terminal device, with reference to FIG.
  • Step S805a The flight controller sends control data to the terminal device when determining that the target physical model is a physical model built in the terminal device.
  • the flight controller may transmit the control data to the terminal device, and before transmitting the control data, the flight controller generates control data, and further, As described above, the flight controller can receive the control command sent by the terminal device or the control terminal, and generate the control data according to the control command.
  • the flight controller may transmit the control data to the terminal device, and before transmitting the control data, the flight controller generates control data, and further, As described above, the flight controller can receive the control command sent by the terminal device or the control terminal, and generate the control data according to the control command.
  • Step S806a After receiving the control data, the terminal device runs the built-in physical model according to the control data.
  • Step S807a The terminal device transmits the flight state data output by the physical model to the flight controller.
  • Step S808 The terminal device displays the flight state data.
  • steps S806a-S807a please refer to the foregoing section, and details are not described herein again.
  • the terminal device When the terminal device detects the second physical model selection operation, the terminal device sends the second physical model selection information to the flight controller, when the target physical model indicated by the physical model selection information indicates the physical model built in the flight controller Steps S805b-S807b are executed, and step S808 is further executed.
  • the target physical model is a physical model built in the flight controller, with reference to FIG.
  • Step S805b The flight controller generates control data when determining that the target physical model is a physical model built in the flight controller.
  • the flight controller determines that the target model is a physical model built in the flight controller
  • the flight controller generates control data.
  • the flight controller may receive the control command sent by the terminal device or the control terminal.
  • the control instruction Generate control data.
  • Step S806b The flight controller runs the built-in physical model according to the control data.
  • the drone 1000 includes a flight controller 1001, the flight controller includes a physical model 10011 for flight simulation, and the flight controller transmits the generated control data as an entry parameter to the physical model 10011, and The physical model is run in accordance with the control data.
  • Step S807b The flight controller transmits the flight state data output by the physical model to the terminal device.
  • the flight state data is output, and the flight controller 1001 transmits the flight state data to the terminal device while providing the flight state data to each internal unit of the flight controller. Drive the simulation.
  • the terminal device may determine a target physical model for simulating the unmanned aerial vehicle based on the physical model selection operation of the user.
  • the flight controller may The terminal device sends control data, and the terminal device runs the built-in physical model according to the control data, and sends the flight control data output by the physical model to the flight controller.
  • the flight controller may The control data is generated, the built-in physical model is run according to the control data, and the flight state data output by the physical model is transmitted to the terminal device.
  • the simulation method provided by the embodiment of the present invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can be based on the actual application.
  • the physical model used in the simulation is flexibly selected, and then the selected model is used for simulation.
  • FIG. 11 another flow diagram of an implementation process of implementing flight simulation of a drone based on a physical model selected by a user is illustrated, which may include:
  • Step S1101 The terminal device detects a physical model selection operation of the user.
  • Step S1102 The terminal device determines physical model selection information according to the detected physical model selection operation of the user.
  • Step S1103 The terminal device sends physical model selection information to the flight controller of the drone.
  • Step S1104 When receiving the physical model selection information sent by the terminal device, the flight controller determines a target physical model for simulating the UAV according to the physical model selection information.
  • the terminal device When the terminal device detects the first physical model selection operation, the terminal device sends the first physical model selection information to the flight controller, when the target physical model indicated by the physical model selection information indicates the physical model built in the terminal device, Steps S1105a-S1109a are executed, and step S1110 is further executed.
  • the target physical model is a physical model built in the terminal device, with reference to FIG.
  • Step S1105a The flight controller sends control data to the terminal device when determining that the target physical model is a physical model built in the terminal device.
  • Step S1106a The terminal device detects a configuration information setting operation of the user.
  • Step S1107a The terminal device determines configuration information of the physical model according to the detected configuration information setting operation.
  • Step S1108a The terminal device runs the built-in physical model according to the received control data and the determined configuration information.
  • Step S1109a The terminal device transmits the flight state data output by the physical model to the flight controller.
  • Step S1110 The terminal device displays the flight state data.
  • step S1110 The specific principle and explanation of the step S1110 are the same as the step S104, and details are not described herein again.
  • the terminal device When the terminal device detects the second physical model selection operation, the terminal device sends the second physical model selection information to the flight controller, that is, when the target physical model indicated by the physical model selection information indicates the physical model built in the terminal device Steps S1105b-S1109b are run, and step S1110 is further executed.
  • the target physical model is a physical model built in the terminal device, with reference to FIG. 12:
  • Step S1105b The flight controller generates control data when determining that the target physical model is a physical model built into the flight controller.
  • Step S1106b The terminal device detects a configuration information setting operation of the user, and determines configuration information of the physical model according to the detected configuration information setting operation.
  • Step S1107b The terminal device transmits the determined configuration information to the flight controller.
  • Step S1108b The flight controller runs the built-in physical model according to the generated control data and the received configuration information.
  • Step S1109b The flight controller transmits the flight state data output by the physical model to the terminal device.
  • the terminal device may determine a target physical model for simulating the unmanned aerial vehicle based on the physical model selection operation of the user.
  • the target physical model is a physical model built in the terminal device
  • the flight controller may The terminal device sends control data, and the terminal device may further determine configuration information of the physical model based on the configuration information setting operation of the user, and then execute the built-in physical model according to the received control data and the determined configuration information, and output flight control data of the physical model.
  • the flight controller may generate control data, and may also receive configuration information determined by the terminal device based on the configuration information setting operation, and further generate the control data according to The received configuration information runs the built-in physical model and transmits the flight state data output by the physical model to the terminal device.
  • the simulation method provided by the embodiment of the present invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can be based on the actual application.
  • the physical model used in the simulation is flexibly selected, and then the selected model is used for simulation.
  • An embodiment of the present invention provides a terminal device.
  • a terminal device 13 may include: a memory 1301 and a processor 1302.
  • the memory 1301 may be a volatile memory, such as a random-access memory (RAM); the memory 1301 may also be a non-volatile memory, such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 1301 may also include a combination of the above types of memories.
  • RAM random-access memory
  • flash memory flash memory
  • HDD hard disk drive
  • SSD solid-state drive
  • the processor 1302 may be a central processing unit (CPU).
  • the processor 1102 can also further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 1301 is configured to store program code.
  • the processor 1302 calls the program code stored in the memory 1301, and when the program code is executed, is used to perform the following operations:
  • control data of the flight controller output in the simulation mode running a physical model built in the terminal device according to the control data; transmitting flight state data output by the physical model to the flight controller; displaying flight state data.
  • the physical model includes one or more of a dynamic system model, a dynamic model, a kinematic model, and a sensor model.
  • the control data includes one or more of control data of the power system, control data for the pan/tilt, control data for the payload, control data for the tripod, and control data for the indicator light.
  • the processor 1302 is further configured to send simulation request information to the flight controller to instruct the flight controller to enter the simulation mode.
  • the processor 1302 is further configured to send the first physical model selection information to the flight controller to indicate to the flight controller that the simulation is performed based on a physical model built in the terminal device.
  • the processor 1302 acquires the control data output by the flight controller in the simulation mode
  • the processor 1302 is configured to: after transmitting the first physical model selection information, acquire control data output by the flight controller in the simulation mode.
  • the processor 1302 is further configured to detect a first physical model selection operation of the user, and determine the first physical model selection information according to the detected first physical model selection operation.
  • the processor 1302 is further configured to detect a configuration information setting operation of the user, and determine configuration information of the physical model according to the detected configuration information setting operation.
  • the processor 1302 runs the physical model built in the terminal device according to the control data
  • the processor 1302 is specifically configured to: run the physical model built in the terminal device according to the control data and the configuration information.
  • the configuration information includes one or more of a failure information of the drone, a wind speed, a wind direction, a weight of the drone, and a rack type of the drone.
  • the terminal device provided by the embodiment of the present invention can use the built-in physical model to perform flight simulation of the drone.
  • the physical model built in the terminal device can be constructed by the user or the developer according to actual conditions, such as a specific application domain or a specific model, that is, the user.
  • the physical model can be flexibly customized according to the actual situation and the customized model can be modified. Therefore, the effect simulated by the physical model built into the terminal device is consistent with the actual flight effect of the drone.
  • the embodiment of the present invention further provides a flight controller of the drone.
  • a schematic structural diagram of the flight controller 13 is illustrated, which may include: a memory 1301 and a processor 1302.
  • the memory 1301 may be a volatile memory, such as a random-access memory (RAM); the memory 1301 may also be a non-volatile memory, such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 1301 may also be a combination of the above types of memories.
  • RAM random-access memory
  • flash memory flash memory
  • HDD hard disk drive
  • SSD solid-state drive
  • the processor 1302 may be a central processing unit (CPU).
  • the processor 1302 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 1301 is configured to store program code.
  • the processor 1302 calls the program code stored in the memory 1301, and when the program code is executed, is used to perform the following operations:
  • the physical model may include one or more of a dynamic system model, a dynamic model, a kinematic model, and a sensor model.
  • the control data may include one or more of control data of the power system, control data for the pan/tilt, control data for the payload, control data for the tripod, and control data for the indicator light.
  • the processor 1302 is further configured to receive the simulation request information sent by the terminal device, and enter the simulation mode after receiving the simulation request information.
  • the processor 1302 is further configured to receive first physical model selection information sent by the terminal device.
  • the processor 1302 sends the control data to the terminal device, specifically, when the first physical model selection information is received, the processor 1302 sends the control data to the terminal device.
  • the flight state data is obtained by the terminal device running the physical model built in the terminal device according to the control data and the configuration information of the physical model, wherein the configuration information of the physical model is determined by the terminal device based on the detected operation of the user. .
  • the configuration information may include one or more of a failure information of the drone, a wind speed, a wind direction, a weight of the drone, and a rack type of the drone.
  • the processor 1302 is further configured to receive a control instruction sent by the control terminal or the terminal device, and generate control data according to the control instruction.
  • the flight controller provided by the embodiment of the invention enables the terminal device to adopt the built-in physical model to perform flight simulation of the drone, and the physical model built in the terminal device can be based on actual conditions such as a specific application domain or a specific machine by the user or the developer.
  • Type construction that is, the user can flexibly customize his own physical model according to the actual situation and modify the customized model. Therefore, the effect simulated by the physical model built into the terminal device is consistent with the actual flight effect of the drone.
  • the embodiment of the present invention further provides a terminal device.
  • a terminal device Referring to FIG. 13, a schematic structural diagram of the terminal device 13 is shown, which may include: a memory 1301 and a processor 1302.
  • the memory 1301 may be a volatile memory, such as a random-access memory (RAM); the memory 1301 may also be a non-volatile memory, such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the memory 1301 may also include a combination of the above types of memories.
  • RAM random-access memory
  • flash memory flash memory
  • HDD hard disk drive
  • SSD solid-state drive
  • the processor 1302 may be a central processing unit (CPU).
  • the processor 1302 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 1301 is configured to store program code.
  • the processor 1302 calls the program code stored in the memory 1301, and when the program code is executed, is used to perform the following operations:
  • the target physical model of the machine is simulated.
  • the target physical model is one of a physical model built into the flight controller and a physical model built into the terminal device.
  • the physical model may include one or more of a dynamic system model, a dynamic model, a kinematic model, and a sensor model.
  • control data may include control data for the power system, control data for the pan/tilt, control data for the payload, and One or more of the control data of the tripod and the control data of the indicator light.
  • the processor 1302 is further configured to: when the target physical model is a physical model built in the terminal device, receive control data sent by the flight controller, and run a physical model built in the terminal device according to the control data to obtain flight state data. Send flight status data to the flight controller to display flight status data.
  • the processor 1302 is further configured to receive flight state data sent by the flight controller when the target physical model is a physical model built in the flight controller, where the flight state data is that the flight controller runs according to the control data. Obtained by the physical model built into the flight controller; displays flight status data.
  • the processor 1302 when the processor 1302 displays the status data, it is specifically used to display the flight status data in the form of a drone animation.
  • the processor 1302 is further configured to detect a configuration information setting operation of the user, and determine configuration information of the physical model according to the detected configuration information setting operation.
  • the processor 1302 runs the physical model built in the terminal device to obtain the flight state data according to the control data
  • the processor 1302 is configured to: run the physical model built in the terminal device according to the control data and the configuration information to obtain the flight state data.
  • the processor 1302 is further configured to detect a configuration information setting operation of the user, determine configuration information of the physical model according to the detected configuration information setting operation, and send the determined configuration information to the flight controller; the flight state data. It is obtained by the flight controller running the physical model built into the flight controller based on the control data and configuration information.
  • the configuration information may include one or more of a failure information of the drone, a wind speed, a wind direction, a weight of the drone, and a rack type of the drone.
  • the processor 1302 is further configured to detect a user's simulation request operation, determine simulation request information according to the detected simulation request operation, and send simulation request information to the flight controller to instruct the flight controller to determine whether the preset is met. Simulation requirements.
  • the processor 1302 sends the physical model selection information to the flight controller of the drone the method is specifically configured to: when the flight controller determines that the preset simulation requirement is met, send the physical model selection information to the flight controller of the drone.
  • the terminal device provided by the embodiment of the invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can flexibly based on the actual application situation. Select the physical model used for the simulation.
  • the embodiment of the present invention further provides a flight controller of the drone.
  • a schematic structural diagram of the flight controller 13 is illustrated, which may include: a memory 1301 and a processor 1302.
  • the memory 1301 may be a volatile memory, such as a random-access memory (RAM); the memory 1301 may also be a non-volatile memory, such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); memory 1301 can also be A combination of the types of memory described.
  • RAM random-access memory
  • flash memory flash memory
  • HDD hard disk drive
  • SSD solid-state drive
  • the processor 1302 may be a central processing unit (CPU).
  • the processor 1302 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 1301 is configured to store program code.
  • the processor 1302 calls the program code stored in the memory 1301, and when the program code is executed, is used to perform the following operations:
  • the physical model may include one or more of a dynamic system model, a dynamic model, a kinematic model, and a sensor model.
  • the control data may include one or more of control data of the power system, control data for the pan/tilt, control data for the payload, control data for the tripod, and control data for the indicator light.
  • the processor 1302 is further configured to: when the target physical model is a physical model built in the terminal device, send control data to the terminal device, and receive flight state data sent by the terminal device, where the flight state data is a terminal device. Obtained based on the physical model built into the terminal device based on the control data.
  • the processor 1302 is further configured to: when the target physical model is a physical model built in the flight controller, generate control data, and run a physical model built in the flight controller according to the control data to obtain flight state data; The flight status data is sent to the terminal device.
  • the processor 1302 is further configured to receive a control instruction sent by the control terminal.
  • the processor 1402 When the processor 1402 generates the control data, it is specifically configured to: generate the control data according to the received control instruction.
  • the processor 1302 is further configured to receive a control instruction sent by the terminal device.
  • the processor 1402 When the processor 1402 generates the control data, it is specifically configured to: generate the control data according to the received control instruction.
  • the processor 1302 is further configured to receive the simulation request information sent by the terminal device, and after receiving the simulation request information, determine whether the flight controller meets the preset simulation requirement.
  • the processor 1302 receives the physical model selection information sent by the terminal device, the processor 1302 is specifically configured to: after determining that the flight controller meets the preset simulation requirement, receive the physical model selection information sent by the terminal device.
  • the flight state data is obtained by the terminal device running the physical model built in the terminal device according to the control data and the configuration information of the physical model, and the configuration information of the physical model is determined by the terminal device based on the detected operation of the user.
  • the processor 1302 is further configured to receive configuration information of a physical model sent by the terminal device, where the physical model The configuration information is determined by the terminal device based on the detected user's operation. Then, when the processor 1302 runs the physical model built in the flight controller according to the control data to obtain the flight state data, the processor 1302 is specifically configured to: run the physical model built in the flight controller according to the control data and the configuration information of the physical model to obtain the flight state data.
  • the configuration information may include one or more of a failure information of the drone, a wind speed, a wind direction, a weight of the drone, and a rack type of the drone.
  • the flight controller provided by the embodiment of the invention enables the user to select a physical model for the flight simulation of the drone from the physical model built in the terminal device and the physical model built in the flight controller, that is, the user can be based on the actual application situation. Flexibly select the physical model used for the simulation.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)

Abstract

La présente invention porte sur un procédé de simulation consistant : à obtenir des données de commande fournies par un contrôleur de vol (2011) en mode simulation ; à mettre en œuvre un modèle physique (202) intégré dans un dispositif terminal (200) conformément aux données de commande ; à envoyer, au contrôleur de vol (2011), des données d'état de vol fournies par le modèle physique (202) ; et à afficher les données d'état de vol. Dans le procédé, une simulation est réalisée à l'aide du modèle physique (202) intégré dans le dispositif terminal (200). La présente invention porte également sur le dispositif terminal (200) et sur un contrôleur de vol (2011) destinés à un véhicule aérien sans pilote. Étant donné que le modèle physique (202) intégré dans le dispositif terminal (200) peut être construit et modifié par un utilisateur en fonction de l'état réel, des effets simulés par le modèle sont conformes à des effets de vol réels du véhicule aérien sans pilote, ce qui permet d'améliorer l'effet de simulation du véhicule aérien sans pilote.
PCT/CN2017/103424 2017-09-26 2017-09-26 Procédé de simulation, dispositif terminal et contrôleur de vol destinés à un véhicule aérien sans pilote WO2019061022A1 (fr)

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PCT/CN2017/103424 WO2019061022A1 (fr) 2017-09-26 2017-09-26 Procédé de simulation, dispositif terminal et contrôleur de vol destinés à un véhicule aérien sans pilote

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