WO2019062127A1 - Procédé et appareil de commande pour un aéronef sans pilote - Google Patents

Procédé et appareil de commande pour un aéronef sans pilote Download PDF

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Publication number
WO2019062127A1
WO2019062127A1 PCT/CN2018/086074 CN2018086074W WO2019062127A1 WO 2019062127 A1 WO2019062127 A1 WO 2019062127A1 CN 2018086074 W CN2018086074 W CN 2018086074W WO 2019062127 A1 WO2019062127 A1 WO 2019062127A1
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WIPO (PCT)
Prior art keywords
load
working state
abnormal
control device
aerial vehicle
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Application number
PCT/CN2018/086074
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English (en)
Chinese (zh)
Inventor
周峰安
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深圳市道通智能航空技术有限公司
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Publication of WO2019062127A1 publication Critical patent/WO2019062127A1/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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the present application relates to unmanned aerial vehicle technology, and more particularly to a control method and apparatus for an unmanned aerial vehicle.
  • the unmanned aerial vehicle loses balance and falls during the flight, and the phenomenon of the bomber appears.
  • the unmanned aerial vehicle of the application (APP, Application) on the remote control device can be found. Go back to the function to try to locate and retrieve the UAV.
  • the load carried by the UAV such as a camera
  • the load is fixed by the PTZ and the UAV, and the load is connected to the PTZ through a deformable rubber collar, which is deflected or rapidly turned during the flight. It may cause the gimbal and load to fall off the unmanned aerial vehicle, resulting in loss of load.
  • the UAV does not have a bomber, so it is impossible to find the function to search for the load through the UAV.
  • the embodiment of the invention provides a control method and device for an unmanned aerial vehicle, which can estimate the geographical position of the load in case the detachment of the unmanned aerial vehicle occurs when the load is abnormal, so as to facilitate the user to find the load.
  • Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle, including:
  • the remote control device determines that the working state of the load carried by the unmanned aerial vehicle is abnormal
  • the request to the unmanned aerial vehicle to obtain the flight state information of the unmanned aerial vehicle when the working state of the load is abnormal is transmitted to the unmanned aerial vehicle
  • the remote control device receives flight status information from the unmanned aerial vehicle and estimates the geographic location of the load based on the flight status information.
  • the remote control device determines that an abnormality occurs in an operating state of the load carried by the UAV, before the request to the UAV to transmit the flight state information of the UAV when the working state of the acquired load is abnormal, the method also includes:
  • the remote control device displays prompt information that the working state of the load is abnormal, and asks the user whether to estimate the geographical position of the load, and continues to execute when receiving an instruction from the user to estimate the geographical position of the load. And the step of transmitting, to the unmanned aerial vehicle, a request for obtaining flight state information of the unmanned aerial vehicle when an abnormality occurs in an operating state of the load.
  • the remote control device determines that the abnormal working state of the load includes:
  • the remote control device receives a message that an abnormality occurs in an operating state of the load from the unmanned aerial vehicle, and determines that an abnormality occurs in an operating state of the load;
  • the remote control device establishes a two-way communication mechanism with the load, and when the feedback signal of the load is not received for a predetermined time, it is determined that the working state of the load is abnormal.
  • the estimating the geographic location of the load according to the flight status information includes:
  • the geographical position of the load when the abnormality occurs in the working state is estimated according to the flight state information.
  • the estimating the geographic location of the load according to the flight status information includes:
  • the geographic location information is used to estimate the geographic location where the load eventually falls after an abnormality occurs in the working state.
  • the geographic location that predicts that the load eventually falls after an abnormality in the working state according to the flight state information includes:
  • the flight state information includes: geographic location information, flight speed, and flight altitude of the unmanned aerial vehicle when an abnormality occurs in an operating state of the load;
  • the falling trajectory for generating a load according to the flight state information includes:
  • the embodiment of the invention provides a control method for an unmanned aerial vehicle, comprising:
  • the unmanned aerial vehicle receives the request for the flight state information of the unmanned aerial vehicle when the working state of the acquired load from the remote control device is abnormal, and acquires the flight state information corresponding to the abnormal working state of the load;
  • the UAV sends the flight status information obtained to the remote control device.
  • the method also includes:
  • the UAV determines that an abnormality occurs in the working state of the load, and sends a message to the remote control device that the working state of the load is abnormal.
  • the UAV determines that an abnormality of the working state of the load includes:
  • the UAV establishes a two-way communication mechanism with the load, and when a feedback signal of the load is not received for a predetermined time, it is determined that an abnormality occurs in an operating state of the load.
  • the embodiment of the invention provides a control method for an unmanned aerial vehicle, comprising:
  • the unmanned aerial vehicle When the remote control device determines that the working state of the load is abnormal, the unmanned aerial vehicle sends a message that the working state of the load is abnormal, so that the unmanned aircraft predicts the load of the flight state information of the unmanned aircraft according to the working state of the load. Geographic location.
  • the remote control device determines that the abnormal working state of the load includes:
  • the remote control device establishes a two-way communication mechanism with the load, and when the feedback signal of the load is not received for a predetermined time, it is determined that the working state of the load is abnormal.
  • the embodiment of the invention provides a control method for an unmanned aerial vehicle, comprising:
  • the UAV receives a message that the working state of the load sent by the remote control device is abnormal, or determines that the working state of the load is abnormal, and acquires the flight state information of the UAV when the working state of the load is abnormal;
  • the UAV estimates the geographic location of the load based on flight status information.
  • the UAV determines that an abnormality of the working state of the load includes:
  • the UAV establishes a two-way communication mechanism with the load, and when a feedback signal of the load is not received for a predetermined time, it is determined that an abnormality occurs in an operating state of the load.
  • the estimating the geographic location of the load according to the flight status information includes:
  • the geographical position of the load when the abnormality occurs in the working state is estimated according to the flight state information.
  • the geographical location of the estimated load according to the flight state information includes:
  • the geographic location information is used to estimate the geographic location where the load eventually falls after an abnormality occurs in the working state.
  • the geographic location that predicts that the load eventually falls after an abnormality in the working state according to the flight state information includes:
  • the embodiment of the invention provides a remote control device, including:
  • a first determining module configured to send a first notification message to the first acquiring module when it is determined that an abnormality occurs in a working state of the load carried by the unmanned aerial vehicle;
  • a first acquiring module configured to receive a first notification message, send a request to the unmanned aerial vehicle to acquire flight state information of the unmanned aircraft when an abnormal working state of the load occurs; and receive flight state information from the unmanned aerial vehicle;
  • the first estimating module is configured to estimate the geographical location of the load according to the flight state information.
  • the first determining module is specifically configured to:
  • an error message indicating that the working state of the load is abnormal is displayed, and the user is inquired whether to estimate the geographical position of the load, and when the estimated load is received from the user
  • the first notification module sends a first notification message to the first acquisition module.
  • the first determining module is specifically configured to implement, by using the following manner, that the working state of the load is abnormal:
  • a two-way communication mechanism with the load is established, and when a feedback signal of the load is not received for a predetermined time, it is determined that an abnormality occurs in an operating state of the load.
  • the first estimating module is specifically configured to implement the estimated geographic location of the load according to the flight state information in the following manner:
  • An embodiment of the present invention provides an unmanned aerial vehicle, including:
  • a second acquiring module configured to receive a request for the flight state information of the unmanned aerial vehicle when the working state of the acquired load from the remote control device is abnormal, and obtain the flight state information corresponding to the abnormal working state of the load;
  • the first sending module is configured to send the obtained flight state information to the remote control device.
  • it also includes:
  • the second determining module is configured to determine that an abnormality occurs in the working state of the load, and send a message that the working state of the load is abnormal to the remote control device.
  • the embodiment of the invention provides a remote control device, including:
  • a third determining module configured to send a second notification message to the second sending module when it is determined that the working state of the load is abnormal
  • the second sending module is configured to receive the second notification message, and send a message to the unmanned aerial vehicle that the working state of the load is abnormal, so that the unmanned aerial vehicle is estimated to be abnormal when the unmanned aircraft is abnormal according to the working state of the load The geographical location of the load.
  • An embodiment of the present invention provides an unmanned aerial vehicle, including:
  • the third obtaining module is configured to receive a message that the working state of the load sent by the remote control device is abnormal, or determine that the working state of the load is abnormal, and obtain the flight state information of the unmanned aerial vehicle when the working state of the load is abnormal;
  • the second estimating module is configured to estimate the geographical location of the load according to the flight state information.
  • An embodiment of the present invention provides a remote control device including a first processor and a first computer readable storage medium, wherein the first computer readable storage medium stores a first instruction when the first instruction is When the first processor executes, the control method of any of the above-described unmanned aerial vehicles is implemented.
  • Embodiments of the present invention provide a computer readable storage medium having stored thereon a first computer program, the first computer program being executed by a processor to implement the steps of any of the above-described methods of controlling an unmanned aerial vehicle.
  • Embodiments of the present invention provide a remote control device including a second processor and a second computer readable storage medium, wherein the second computer readable storage medium stores a second instruction when the second instruction is When the second processor executes, the control method of any of the above unmanned aerial vehicles is implemented.
  • Embodiments of the present invention provide a computer readable storage medium having stored thereon a second computer program, the second computer program being executed by a processor to implement the steps of any of the above-described methods of controlling an unmanned aerial vehicle.
  • the embodiment of the present invention includes: when the remote control device determines that the working state of the load carried by the unmanned aerial vehicle is abnormal, and sends the flight state information of the unmanned aerial vehicle to the unmanned aerial vehicle that the working state of the acquired load is abnormal.
  • the request the remote control device receives flight status information from the unmanned aerial vehicle, and estimates the geographic location of the load based on the flight status information.
  • the geographical position of the load is estimated according to the flight state information of the unmanned aerial vehicle, and the geographical position of the estimated load when the load is abnormal is realized to find the load.
  • FIG. 1 is a flow chart showing a control method of an unmanned aerial vehicle according to a first embodiment of the present invention
  • FIG. 2 is a flow chart showing a control method of an unmanned aerial vehicle according to a second embodiment of the present invention
  • FIG. 3 is a flow chart showing a control method of an unmanned aerial vehicle according to a third embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for controlling an unmanned aerial vehicle according to a fourth embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a remote control device according to a fifth embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a UAV according to a sixth embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a remote control device according to a seventh embodiment of the present invention.
  • FIG. 8 is a schematic structural view of an unmanned aerial vehicle according to an eighth embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a remote control device according to a ninth embodiment of the present invention.
  • Figure 10 is a schematic view showing the structural composition of an unmanned aerial vehicle according to an eleventh embodiment of the present invention.
  • a first embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:
  • Step 100 When the remote control device determines that the working state of the load carried by the UAV is abnormal, the UAV sends a request for acquiring the flight state information of the UAV when the working state of the load is abnormal.
  • the remote control device may first establish a two-way communication mechanism with the load, or the load establishes a one-way communication mechanism to the remote control device.
  • the feedback signal of the load is not received within a predetermined time, it is determined that the working state of the load is abnormal.
  • the communication link between the load and the remote control device is interrupted, thereby causing the communication between the load and the remote control device to stop, and therefore, the two-way communication mechanism can be adopted.
  • the two-way communication mechanism can be adopted.
  • a real-time heartbeat is established between the remote control device and the load, that is, the sender periodically sends a heartbeat request to the receiver, and the receiver sends a heartbeat response to the sender within a predetermined time after receiving the heartbeat request.
  • the receiver's heartbeat is considered to be stopped, that is, the receiver's working state is abnormal; if the sender is within the predetermined time after sending the heartbeat request Upon receiving the heartbeat response sent by the receiver, the receiver's heartbeat is considered normal, that is, the receiver's working state is normal.
  • the sender is the load
  • the receiver is the remote control device
  • the sender is the remote control device
  • the receiver is the load
  • the first preset time after the remote control device sends the heartbeat request to the load the heartbeat response from the load is not received; after the second preset time, the heartbeat request is resent to the load, and after the heartbeat request is resent Within a preset time, no heartbeat response from the load is received, and a real-time heartbeat stop established with the load is determined.
  • the request for the flight state information of the UAV when the working state of the load is abnormal includes the time when the working state of the load is abnormal, and the time when the working state of the load is abnormal may be the working state of the remote device determining the load.
  • the time when the abnormality occurs may also be a preset time period before the time when the remote control device determines that the working state of the load is abnormal.
  • the remote control device may further determine whether the specific abnormal condition of the load is detached from the unmanned aerial vehicle.
  • the sensor on the unmanned aerial vehicle can be used to know whether the load is changed relative to the position of the unmanned aerial vehicle, and whether the abnormal condition of the load is off the load from the unmanned aerial vehicle. If the position of the load changes relative to the unmanned aerial vehicle, and further, the degree of change is greater than the preset threshold, it is determined that the abnormal condition of the load is off from the unmanned aerial vehicle, and the remote control device can perform the following steps.
  • Step 101 The unmanned aerial vehicle receives the request for the flight state information of the unmanned aerial vehicle when the working state of the acquired load from the remote control device is abnormal, and acquires the flight state information corresponding to the abnormal working state of the load; the flight state information to be obtained Send to remote control device.
  • the unmanned aerial vehicle determines that the remote control device sends the flight state information corresponding to the time when the working state of the load is abnormal.
  • the flight status information includes: time, geographic location information when the UAV is abnormal in the working state of the load, flight speed and flight altitude, and the like.
  • the geographic location information of the unmanned aerial vehicle when the working state of the load is abnormal includes latitude and longitude
  • the flying speed includes the magnitude and direction of the flying speed
  • Step 102 The remote control device receives flight state information from the unmanned aerial vehicle, and estimates a geographic location of the load according to the flight state information.
  • the remote control device estimates the geographical position when the load is abnormal in the working state according to the flight state information; and/or, the remote control device estimates the geographical position where the load finally falls after the abnormality occurs in the working state according to the flight state information.
  • the falling trajectory of the load may be generated according to the flight state information, and the address position of the load that finally falls after the abnormality of the working state is estimated according to the falling trajectory.
  • the geographical position information of the unmanned aerial vehicle is the starting point of the falling trajectory
  • the geographical position where the load finally falls after the abnormality of the working state is the end point of the falling trajectory
  • the method is before the request to the unmanned aerial vehicle to obtain the flight state information of the unmanned aerial vehicle when the working state of the obtained load is abnormal. Also includes:
  • the remote control device displays prompt information that the working state of the load is abnormal, and asks the user whether to estimate the geographical position of the load, and continues to execute when receiving an instruction from the user to estimate the geographical position of the load. And the step of transmitting, to the unmanned aerial vehicle, a request for obtaining flight state information of the unmanned aerial vehicle when an abnormality occurs in an operating state of the load.
  • the process ends when an instruction from the user not estimating the geographic location of the load is received.
  • a second embodiment of the present invention further provides a control method for an unmanned aerial vehicle, including:
  • Step 200 The UAV determines that the working state of the load is abnormal, and sends a message that the working state of the load is abnormal to the remote control device.
  • the unmanned aerial vehicle may first establish a two-way communication mechanism with the load, and when the feedback signal of the load is not received for a predetermined time, it is determined that the working state of the load is abnormal.
  • the communication link between the load and the UAV is interrupted, causing the communication between the load and the UAV to stop, so The communication mechanism determines whether the working state of the load is normal.
  • a real-time heartbeat is established between the unmanned aerial vehicle and the load, that is, the sender periodically sends a heartbeat request to the receiver, and the receiver sends a heartbeat response to the sender within a predetermined time after receiving the heartbeat request.
  • the receiver's heartbeat is considered to be stopped, that is, the receiver's working state is abnormal; if the sender is within the predetermined time after sending the heartbeat request Upon receiving the heartbeat response sent by the receiver, the receiver's heartbeat is considered normal, that is, the receiver's working state is normal.
  • the sender is the load
  • the receiver is the unmanned aircraft
  • the sender is the unmanned aircraft
  • the receiver is the load
  • the first preset time after the unmanned aerial vehicle sends the heartbeat request to the load the heartbeat response from the load is not received; after the second preset time, the heartbeat request is resent to the load, after the heartbeat request is resent During the first preset time, the heartbeat response from the load is not received, and the real-time heartbeat stop established with the load is determined.
  • Step 201 The remote control device receives a message that the working state of the load sent by the unmanned aerial vehicle is abnormal, and sends a request to the unmanned aerial vehicle to acquire the flight state information of the unmanned aerial vehicle when the working state of the load is abnormal.
  • the request for the flight state information of the UAV when the working state of the load is abnormal includes the time when the working state of the load is abnormal, and the time when the working state of the load is abnormal may be the working state of the remote device determining the load.
  • the time when the abnormality occurs may also be a preset time period before the time when the remote control device determines that the working state of the load is abnormal.
  • Step 202 The unmanned aerial vehicle receives the request for the flight state information of the unmanned aerial vehicle when the working state of the acquired load from the remote control device is abnormal, and acquires the flight state information corresponding to the abnormal working state of the load, and obtains the flight state information that is obtained. Send to remote control device.
  • the unmanned aerial vehicle determines that the remote control device sends the flight state information corresponding to the time when the working state of the load is abnormal.
  • the flight status information includes: time, geographic location information when the UAV is abnormal in the working state of the load, flight speed, and flight altitude.
  • the geographic location information of the unmanned aerial vehicle when the working state of the load is abnormal includes latitude and longitude
  • the flying speed includes the magnitude and direction of the flying speed
  • Step 203 The remote control device receives the flight state information from the unmanned aerial vehicle, and estimates the geographic location of the load according to the flight state information.
  • the remote control device estimates the geographical position when the load is abnormal in the working state according to the flight state information; or the remote control device estimates the geographical position where the load finally falls after the abnormality occurs in the working state according to the flight state information.
  • the falling trajectory of the load may be generated according to the flight state information, and the address position of the load that finally falls after the abnormality of the working state is estimated according to the falling trajectory.
  • the geographical position information of the unmanned aerial vehicle is the starting point of the falling trajectory
  • the geographical position where the load finally falls after the abnormality of the working state is the end point of the falling trajectory
  • the method is before the request to the unmanned aerial vehicle to obtain the flight state information of the unmanned aerial vehicle when the working state of the obtained load is abnormal. Also includes:
  • the remote control device displays prompt information that the working state of the load is abnormal, and asks the user whether to estimate the geographical position of the load, and continues to execute when receiving an instruction from the user to estimate the geographical position of the load. And the step of transmitting, to the unmanned aerial vehicle, a request for obtaining flight state information of the unmanned aerial vehicle when an abnormality occurs in an operating state of the load.
  • the process ends when an instruction from the user not estimating the geographic location of the load is received.
  • a third embodiment of the present invention provides a control method for an unmanned aerial vehicle, including:
  • Step 300 When the remote control device determines that the working state of the load is abnormal, sending a message to the unmanned aerial vehicle that the working state of the load is abnormal, so that the unmanned aerial vehicle is in an abnormal state when the unmanned aircraft is in an abnormal state according to the working state of the load. Estimate the geographic location of the load.
  • the remote control device may first establish a two-way communication mechanism with the load, and when the feedback signal of the load is not received for a predetermined time, it is determined that the working state of the load is abnormal.
  • the communication link between the load and the remote control device is interrupted, thereby causing the communication between the load and the remote control device to stop, and therefore, the two-way communication mechanism can be adopted.
  • the two-way communication mechanism can be adopted.
  • a real-time heartbeat is established between the remote control device and the load, that is, the sender periodically sends a heartbeat request to the receiver, and the receiver sends a heartbeat response to the sender within a predetermined time after receiving the heartbeat request.
  • the receiver's heartbeat is considered to be stopped, that is, the receiver's working state is abnormal; if the sender is within the predetermined time after sending the heartbeat request Upon receiving the heartbeat response sent by the receiver, the receiver's heartbeat is considered normal, that is, the receiver's working state is normal.
  • the sender is the load
  • the receiver is the remote control device
  • the sender is the remote control device
  • the receiver is the load
  • the first preset time after the remote control device sends the heartbeat request to the load the heartbeat response from the load is not received; after the second preset time, the heartbeat request is resent to the load, and after the heartbeat request is resent Within a preset time, no heartbeat response from the load is received, and a real-time heartbeat stop established with the load is determined.
  • the request for the flight state information of the UAV when the working state of the load is abnormal includes the time when the working state of the load is abnormal, and the time when the working state of the load is abnormal may be the working state of the remote device determining the load.
  • the time when the abnormality occurs may also be a preset time period before the time when the remote control device determines that the working state of the load is abnormal.
  • Step 301 The UAV receives a message that the working state of the load from the remote control device is abnormal, and acquires flight state information of the UAV when the working state of the load is abnormal.
  • the unmanned aerial vehicle determines that the remote control device sends the flight state information corresponding to the time when the working state of the load is abnormal.
  • the flight status information includes: time, geographic location information when the UAV is abnormal in the working state of the load, flight speed, and flight altitude.
  • the geographic location information of the unmanned aerial vehicle when the working state of the load is abnormal includes latitude and longitude
  • the flying speed includes the magnitude and direction of the flying speed
  • Step 302 The unmanned aerial vehicle estimates the geographic location of the load according to the flight state information.
  • the remote control device estimates the geographical position when the load is abnormal in the working state according to the flight state information; or the remote control device estimates the geographical position where the load finally falls after the abnormality occurs in the working state according to the flight state information.
  • the falling trajectory of the load may be generated according to the flight state information, and the address position of the load that finally falls after the abnormality of the working state is estimated according to the falling trajectory.
  • the geographical position information of the unmanned aerial vehicle is the starting point of the falling trajectory
  • the geographical position where the load finally falls after the abnormality of the working state is the end point of the falling trajectory
  • the method further includes:
  • the remote control device displays prompt information that the working state of the load is abnormal, and asks the user whether to estimate the geographical position of the load, and continues to execute when receiving an instruction from the user to estimate the geographical position of the load. And the step of transmitting, to the unmanned aerial vehicle, a request for obtaining flight state information of the unmanned aerial vehicle when an abnormality occurs in an operating state of the load.
  • the process ends when an instruction from the user not estimating the geographic location of the load is received.
  • a fourth embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, including:
  • Step 400 The UAV determines that the working state of the load is abnormal, and obtains flight state information of the UAV when the working state of the load is abnormal.
  • the unmanned aerial vehicle may first establish a two-way communication mechanism with the load, and when the feedback signal of the load is not received for a predetermined time, it is determined that the working state of the load is abnormal.
  • the communication link between the load and the UAV is interrupted, causing the communication between the load and the UAV to stop, so The communication mechanism determines whether the working state of the load is normal.
  • a real-time heartbeat is established between the unmanned aerial vehicle and the load, that is, the sender periodically sends a heartbeat request to the receiver, and the receiver sends a heartbeat response to the sender within a predetermined time after receiving the heartbeat request.
  • the receiver's heartbeat is considered to be stopped, that is, the receiver's working state is abnormal; if the sender is within the predetermined time after sending the heartbeat request Upon receiving the heartbeat response sent by the receiver, the receiver's heartbeat is considered normal, that is, the receiver's working state is normal.
  • the sender is the load
  • the receiver is the unmanned aircraft
  • the sender is the unmanned aircraft
  • the receiver is the load
  • the first preset time after the unmanned aerial vehicle sends the heartbeat request to the load the heartbeat response from the load is not received; after the second preset time, the heartbeat request is resent to the load, after the heartbeat request is resent During the first preset time, the heartbeat response from the load is not received, and the real-time heartbeat stop established with the load is determined.
  • the abnormal time of the working state of the load may be the time when the remote control device determines that the working state of the load is abnormal, or may be the preset time period before the time when the remote control device determines that the working state of the load is abnormal.
  • the unmanned aerial vehicle transmits the flight state information corresponding to the time when the remote control device determines that the working state of the load is abnormal to the remote control device;
  • the flight status information includes: time, geographic location information when the UAV is abnormal in the working state of the load, flight speed, and flight altitude.
  • the geographic location information of the unmanned aerial vehicle when the working state of the load is abnormal includes latitude and longitude
  • the flying speed includes the magnitude and direction of the flying speed
  • Step 401 The unmanned aerial vehicle estimates the geographic location of the load according to the flight state information.
  • the remote control device estimates the geographical position of the load when the working state is abnormal according to the flight state information; or the remote control device estimates the geographical position where the load finally falls after the abnormality of the working state according to the flight state information.
  • the falling trajectory of the load may be generated according to the flight state information, and the address position of the load that finally falls after the abnormality of the working state is estimated according to the falling trajectory.
  • the geographical position information of the unmanned aerial vehicle is the starting point of the falling trajectory
  • the geographical position where the load finally falls after the abnormality of the working state is the end point of the falling trajectory
  • the geographical position of the load is estimated according to the flight state information of the unmanned aerial vehicle, and the geographical position of the estimated load when the load is abnormal is realized to find the load.
  • a fifth embodiment of the present invention provides a remote control device, including:
  • a first determining module configured to send a first notification message to the first acquiring module when it is determined that an abnormality occurs in a working state of the load carried by the unmanned aerial vehicle;
  • a first acquiring module configured to receive a first notification message, send a request to the unmanned aerial vehicle to acquire flight state information of the unmanned aircraft when an abnormal working state of the load occurs; and receive flight state information from the unmanned aerial vehicle;
  • the first estimating module is configured to estimate the geographical location of the load according to the flight state information.
  • the first determining module is specifically configured to:
  • an error message indicating that the working state of the load is abnormal is displayed, and the user is inquired whether to estimate the geographical position of the load, and when the estimated load is received from the user
  • the first notification module sends a first notification message to the first acquisition module.
  • the first determining module is specifically configured to implement, by using the following manner, that the working state of the load is abnormal:
  • a two-way communication mechanism with the load is established, and when a feedback signal of the load is not received for a predetermined time, it is determined that an abnormality occurs in an operating state of the load.
  • the first estimating module is specifically configured to implement the estimated geographic location of the load according to the flight state information in the following manner:
  • a sixth embodiment of the present invention provides an unmanned aerial vehicle, including:
  • a second acquiring module configured to receive a request for the flight state information of the unmanned aerial vehicle when the working state of the acquired load from the remote control device is abnormal, and obtain the flight state information corresponding to the abnormal working state of the load;
  • the first sending module is configured to send the obtained flight state information to the remote control device.
  • it also includes:
  • the second determining module is configured to determine that an abnormality occurs in the working state of the load, and send a message that the working state of the load is abnormal to the remote control device.
  • a seventh embodiment of the present invention provides a remote control device, including:
  • a third determining module configured to send a second notification message to the second sending module when it is determined that the working state of the load is abnormal
  • the second sending module is configured to receive the second notification message, and send a message to the unmanned aerial vehicle that the working state of the load is abnormal, so that the unmanned aerial vehicle is estimated to be abnormal when the unmanned aircraft is abnormal according to the working state of the load The geographical location of the load.
  • an eighth embodiment of the present invention provides an unmanned aerial vehicle, including:
  • the third obtaining module is configured to receive a message that the working state of the load sent by the remote control device is abnormal, or determine that the working state of the load is abnormal, and obtain the flight state information of the unmanned aerial vehicle when the working state of the load is abnormal;
  • the second estimating module is configured to estimate the geographical location of the load according to the flight state information.
  • a ninth embodiment of the present invention provides a remote control device including a first processor and a first computer readable storage medium, wherein the first computer readable storage medium stores a first instruction when When the first instruction is executed by the first processor, a control method of any of the above-described unmanned aerial vehicles is implemented.
  • the remote control device may include a user terminal installed with an application for controlling the unmanned aerial vehicle, such as a mobile phone, a tablet computer, or the like, or a remote controller for controlling the unmanned aerial vehicle, or a combination of the above devices, which is not limited herein.
  • the first processor and the first computer readable storage medium may be connected by a communication bus.
  • the remote control device may further include a universal interface such as a communication interface, an input/output device, and the like.
  • a universal interface such as a communication interface, an input/output device, and the like.
  • the communication bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus.
  • PCI peripheral component interconnect
  • EISA extended industry standard architecture
  • the communication bus 802 can be divided into an address bus, a data bus, a control bus, and the like.
  • the first computer readable storage medium may include a volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM), such as static random access memory (English: static Random-access memory (abbreviation: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation: DDR SDRAM), etc.; the first computer readable storage medium may also include non Volatile memory (English: non-volatile memory), such as flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviation: HDD) or solid state drive (English: solid-state drive, abbreviation: SSD).
  • the first computer readable storage medium may also include a combination of the above types of memory.
  • the first computer readable storage medium may be a stand-alone memory, or may be a memory internal to a chip (such as a processor chip) or a module having a storage function.
  • a computer program (such as an application, a function module), computer instructions, an operating system, data, and the like may be stored in the first computer readable storage medium.
  • the first computer readable storage medium can partition store the same.
  • the first processor may be a central processing unit (English: central processing unit, abbreviated: CPU), a network processor (English: network processor, abbreviation: NP), a data processor, an image processor, a task processor, etc.
  • CPU central processing unit
  • NP network processor
  • a data processor an image processor
  • a task processor etc.
  • processors One or a combination of processors.
  • the first processor may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (abbreviated as PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above PLD can be a complex programmable logic device (English: complex programmable logic device, abbreviation: CPLD), field-programmable gate array (English: field-programmable gate array, abbreviation: FPGA), general array logic (English: generic array Logic, abbreviation: GAL) or any combination thereof.
  • the first processor may also include hardware devices such as a single chip microcomputer.
  • a tenth embodiment of the present invention proposes a computer readable storage medium having stored thereon a first computer program, the first computer program being executed by a processor to implement the steps of any of the above-described methods of controlling an unmanned aerial vehicle.
  • an eleventh embodiment of the present invention provides a remote control device including a second processor and a second computer readable storage medium, where the second computer readable storage medium stores a second instruction.
  • the second instruction is executed by the second processor, the control method of any of the above unmanned aerial vehicles is implemented.
  • the second processor and the second computer readable storage medium in the UAV can be connected through a communication bus.
  • the UAV may also include communication devices such as communication interfaces, power systems, flight control systems, vision systems, sensors (such as distance sensors, attitude sensors), and are not specifically described herein.
  • communication devices such as communication interfaces, power systems, flight control systems, vision systems, sensors (such as distance sensors, attitude sensors), and are not specifically described herein.
  • the second processor and the second computer readable storage medium of the UAV can be referred to the description in the above embodiments, which is not limited herein.
  • a twelfth embodiment of the present invention provides a computer readable storage medium having stored thereon a second computer program, wherein the second computer program is executed by a processor to implement any of the above-described unmanned aerial vehicles The steps of the control method.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande pour un aéronef sans pilote. Le procédé de commande comprend les étapes suivantes : lors de la détermination du fait qu'un état de fonctionnement d'une charge transportée sur un aéronef sans pilote est anormal, un dispositif de commande à distance envoie, à l'aéronef sans pilote, une demande d'acquisition d'informations d'état de vol concernant l'aéronef sans pilote lorsque l'état de fonctionnement de la charge est anormal ; et le dispositif de commande à distance reçoit les informations d'état de vol à partir de l'aéronef sans pilote, et estime la position géographique de la charge selon les informations d'état de vol. Au moyen de la solution des modes de réalisation de la présente invention, lorsqu'une charge est anormale, la position géographique de la charge est estimée en fonction d'informations d'état de vol concernant un aéronef sans pilote, de telle sorte que la position géographique de la charge est estimée lorsque la charge est anormale de façon à rechercher la charge.
PCT/CN2018/086074 2017-09-28 2018-05-08 Procédé et appareil de commande pour un aéronef sans pilote WO2019062127A1 (fr)

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CN109283943A (zh) * 2018-11-20 2019-01-29 深圳市道通智能航空技术有限公司 一种无人机失联时的搜寻方法和搜寻装置
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