WO2020233607A1 - Unmanned aerial vehicle control method and apparatus and computer-readable storage medium - Google Patents

Abstract

Disclosed are an unmanned aerial vehicle control method and apparatus and an unmanned aerial vehicle (1000). The method comprises: determining that an unmanned aerial vehicle passively enters an attitude mode (201), wherein the unmanned aerial vehicle is in a hovering self-detect state after the unmanned aerial vehicle enters the attitude mode; detecting whether the drift speed of the unmanned aerial vehicle at that time is greater than or equal to a preset drift speed threshold value or not (202); if so, generating a virtual nose, wherein the orientation of the virtual nose faces away from a control terminal and is located on the connecting line of the unmanned aerial vehicle and the control terminal (203); and controlling the direction of the unmanned aerial vehicle according to the orientation of the virtual nose and a control instruction of the control terminal (204). When the unmanned aerial vehicle is passively switched to the attitude mode and the drift speed thereof is greater than or equal to the drift speed threshold value, the virtual nose is generated and the target flight direction of the unmanned aerial vehicle is controlled according to the orientation of the virtual nose, avoiding the problem that under the circumstance of urgent danger prevention, a controller cannot take the physical nose orientation into account and subconsciously gives the wrong control commands according to his or her own sense of direction to avoid the danger and increasing flight safety.

Description

UAV control method and device, and computer readable storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 20, 2019, the application number is 201910418981.4, and the application name is "a drone control method and device, computer-readable storage medium", all of which The content is incorporated in this application by reference.

Technical field

This application relates to, but is not limited to, the field of intelligent control technology, and in particular to a drone control method and device, and a computer-readable storage medium.

Background technique

The unmanned aircraft is abbreviated as Unmanned Aerial Vehicle (UAV), which is an unmanned aircraft that uses radio remote control equipment and self-provided programs to control the terminal. It involves sensor technology, communication technology, information processing technology, intelligent control technology and power propulsion technology, etc. It is a product of high technology content in the information age.

The simplification and intelligence of operation and use have made the popularity of consumer drones increasing. At present, the most common consumer drone application scenarios are mainly aerial photography, because these consumer drones are mostly rotorcraft , Its control characteristics and Global Positioning System (Global Positioning System, GPS) signal reception characteristics determine that these UAV products are best to fly in a wide open area with no obstruction and good GPS signals, but in fact, in tall buildings It is also possible to fly near objects or encounter poor GPS signals during the flight. Tall buildings will affect the GPS signal quality nearby, and when the GPS signal quality is not enough to support the stable positioning of the drone and enter the attitude mode, the drone is prone to position drift, and then it will move from height after colliding with obstacles. Fall. When this kind of emergency situation occurs, most of the operators will subconsciously manipulate the joystick of the remote control in their own direction. In fact, the control of the drone by the remote control is based on the front and rear direction of the drone. When an emergency accident occurs, if the nose of the aircraft faces the controller, if the controller uses his own front, back, left, and right to perform emergency avoidance maneuvers on the UAV, the front, back, left, and right directions of the two are exactly opposite. The original intention is to operate away from obstacles. In fact, it becomes faster to hit the obstacle. In fact, in an emergency, it is difficult for the manipulator to consider the direction of the nose of the aircraft. Basically, he will subconsciously make judgments and avoid danger with his own front, back, left, and right, and this is often the main reason for the novice "explosion".

Summary of the invention

The embodiments of the present invention provide a drone control method and device, and a computer-readable storage medium, which can improve flight safety and user ease of use.

The embodiment of the present invention provides a drone control method, including:

Determining that the drone passively enters the attitude mode, wherein after the drone enters the attitude mode, the drone is in a hovering self-check state;

Detecting whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold;

When the drift speed of the drone is greater than or equal to the preset drift speed threshold, a virtual machine head is generated, wherein the virtual machine head faces away from the control terminal and is located between the drone and the control terminal. On the connection of the control terminal;

The direction of the drone is controlled according to the direction of the virtual machine head and the control instruction of the control terminal.

Optionally, the detecting whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold includes:

The vision sensor of the drone detects whether the drift speed of the drone at this time is greater than or equal to the preset drift speed threshold.

Optionally, the generating the virtual nose when the drift speed of the drone is greater than or equal to the preset drift speed threshold includes:

Determine the orientation of the physical nose of the drone;

According to the orientation of the physical nose of the drone, the orientation of the virtual nose is determined to generate the virtual nose.

Optionally, the determining the orientation of the physical nose of the drone includes:

The orientation of the physical nose of the drone is determined by the inertial measurement device of the drone.

Optionally, the determining the orientation of the physical nose of the drone and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone includes:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If yes, determine whether the physical nose of the drone is facing away from the control terminal;

If yes, then:

It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.

Optionally, the determining the orientation of the physical nose of the drone and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone includes:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If yes, determine whether the physical nose of the drone is facing away from the control terminal;

If not, then:

It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.

Optionally, the determining the orientation of the physical nose of the drone and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone includes:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If not,

Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

If yes, then:

Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal;

It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.

Optionally, the determining the orientation of the physical nose of the drone, and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone, further includes:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If not,

Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

If not,

Controlling the physical nose of the drone to rotate to the connection between the drone and the control terminal and facing away from the control terminal;

It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.

The embodiment of the present invention provides a computer-readable storage medium having one or more programs stored on the computer-readable storage medium, and the one or more programs may be executed by one or more processors to realize The drone control method described in any one of the above.

The embodiment of the present invention provides a drone control device, including:

The determining module is used to determine that the drone passively enters the attitude mode, wherein when the drone enters the attitude mode, the drone is in a hovering self-check state;

The detection module is used to detect whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold;

The virtual nose generating module is used to generate a virtual nose when the drift speed of the drone is greater than or equal to the preset drift speed threshold, wherein the virtual nose is facing away from the control terminal, and Located on the connection between the drone and the control terminal; and

The control module is used to control the direction of the drone according to the direction of the virtual machine head and the control instruction of the control terminal.

Optionally, the detection module is configured to detect whether the drift speed of the drone at this time is greater than or equal to the preset drift speed threshold through the vision sensor of the drone.

Optionally, the virtual machine head generation module is used to:

Determine the orientation of the physical nose of the drone;

According to the orientation of the physical nose of the drone, the orientation of the virtual nose is determined to generate the virtual nose.

Optionally, the virtual nose generating module is used to determine the orientation of the physical nose of the drone through the inertial measurement device of the drone.

Optionally, the virtual machine head generation module is specifically configured to:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If yes, determine whether the physical nose of the drone is facing away from the control terminal;

If yes, then:

It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.

Optionally, the virtual machine head generation module is specifically configured to:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If not,

Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

If yes, then:

Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal;

It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.

Optionally, the virtual machine head generation module is specifically configured to:

Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

If not,

Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

If not,

Controlling the physical nose of the drone to rotate to the connection between the drone and the control terminal and facing away from the control terminal;

It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.

The embodiment of the present invention provides an unmanned aerial vehicle, which is characterized in that it includes:

body;

An arm, connected to the fuselage;

A power device arranged on the arm, the power device is used to provide power for the drone to fly; and

The flight control chip is located in the fuselage;

Wherein, the flight control chip is used to execute the drone control method described in any one of the above.

The UAV control method and device, and computer-readable storage medium provided by the embodiments of the present invention generate a virtual machine head parallel when the UAV passively switches to the attitude mode and the drift speed of the UAV is greater than or equal to the drift speed threshold. The target flight direction of the drone is manipulated according to the orientation of the virtual nose, which avoids that the controller cannot take into account the orientation of the physical nose in emergency avoidance situations, and the wrong control commands given when subconsciously using their own sense of direction to avoid danger lead to failure. The situation of man-machine bombing improves flight safety and user ease of use.

Description of the drawings

The drawings described here are used to provide a further understanding of the embodiments of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Figure 1 is a three-dimensional structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a schematic flowchart of a method for controlling drones according to an embodiment of the present invention;

3 is a schematic diagram of a process of generating a virtual machine head according to an embodiment of the present invention;

4 is a schematic diagram of a situation where the physical nose of the drone according to an embodiment of the present invention is located on the connection between the drone and the control terminal, and the physical nose of the drone is facing away from the control terminal;

5 is a schematic diagram of a situation where the physical nose of the drone according to an embodiment of the present invention is located on the connection between the drone and the control terminal, and the physical nose of the drone faces the control terminal;

Figure 6 shows that the orientation of the physical nose of the drone according to the embodiment of the present invention is not on the connection between the drone and the control terminal, and the orientation of the physical nose of the drone is in line with the connection between the drone and the control terminal. Schematic diagram of the acute angle included;

Figure 7 shows that the orientation of the physical nose of the drone according to an embodiment of the present invention is not on the connection between the drone and the control terminal, and the orientation of the physical nose of the drone is in line with the connection between the drone and the control terminal. Schematic diagram of obtuse or right angles;

Fig. 8 is a schematic structural diagram of a drone control device according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily if there is no conflict. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the module division in the schematic diagram of the device may be different from the module division in the schematic diagram, or the sequence in the flowchart may be executed. Steps shown or described.

The embodiment of the present invention provides a four-rotor drone. Please refer to FIG. 1. The drone 1000 includes a fuselage 200, four arms 300 extending from the fuselage 200, and are respectively installed on each arm 300. The power unit 400 and the flight control chip (not shown in the figure) arranged on the fuselage 200. The illustrated UAV 1000 is a four-rotor unmanned aerial vehicle, and the number of power units 400 is four. In other possible embodiments, the drone 1000 may be any other suitable type of unmanned aerial vehicle, such as a fixed-wing unmanned aerial vehicle. When the power plant 400 is applied to other types of unmanned aerial vehicles, the number of the power plant 400 can be changed according to actual needs, which is not limited in the present invention.

In an embodiment of the invention, the arm 300 and the body 200 are fixedly connected. Preferably, the arm 300 and the body 200 are integrally formed. In other possible embodiments, the arm 300 may also be connected to the body 200 in a manner that can be expanded or folded relative to the body 200. For example, the arm 300 may be connected to the main body 200 through a rotating shaft mechanism, so that the arm 300 can be expanded or folded relative to the main body 200.

In an embodiment of the present invention, the power device 400 includes a driving device 40 and a propeller assembly 80 driven by the driving device 40. The propeller assembly 80 is installed on the output shaft of the driving device 40. The propeller assembly 80 is driven by the driving device 40. Rotate downward to generate the lift or thrust that makes the drone 1000 fly. The driving device 40 may be any suitable type of motor, such as a brush motor, a brushless motor, a DC motor, a stepping motor, an AC induction motor, and so on. The smart battery provides power for the drone, and the driving device 40 drives the propeller assembly 80 to rotate.

In other possible embodiments, the drone 1000 may also include a pan/tilt (not shown), the pan/tilt is installed at the bottom of the fuselage 200, and the pan/tilt is used to carry a high-definition digital camera or other camera device to eliminate high-definition digital The disturbance of the camera or other imaging devices ensures the clarity and stability of the video captured by the camera or other imaging devices. Under normal circumstances, the gimbal is set on the front or back of the drone. At this time, the left and right sides of the drone are blind spots. When novices control left and right in the blind spots, they are prone to danger. Existing drone control terminals all use the orientation of the drone's physical nose as a reference to manipulate the target flight direction of the drone. Therefore, the operator may not be able to take into account the physical aircraft in emergency avoidance situations. The orientation of the head. In the embodiment provided by the present invention, by changing the orientation of the generated virtual nose to the orientation of the physical nose or the opposite direction to the orientation of the physical nose, the front and rear flight instructions of the existing drone control terminal can be simply executed. Translation is convenient for the operator to control in emergency situations.

In an embodiment of the present invention, the drone 1000 may further include a flight control chip (flight control chip), which is arranged on the fuselage 200. The flight control chip senses the surrounding environment of the drone through various sensors and controls the flight of the drone. The flight control chip may include a flight control module, and the flight control module may be a processing unit (processing unit), an application specific integrated circuit (ASIC) or a field programmable gate array (Field Programmable Gate Array, FPGA) . When the user inputs instructions to control the flight attitude of the drone through the control terminal, the flight control module of the drone sends a throttle signal to the ESC, and the ESC receives the throttle signal, generates and sends to the motor for control The motor performs control signals for starting and controlling the rotation speed of the motor.

The flight control chip periodically (or non-periodically) checks the quality of the GPS signal received by the drone and the motion control mode of the drone. When the GPS signal received by the drone is poor, it may cause the drone to passively enter the attitude mode. The so-called "passive" means that the drone enters the attitude mode without receiving a control command from the control terminal. It should be noted that the attitude mode of the UAV is different from the position mode. Attitude mode refers to a flight mode in which only the aircraft barometer, IMU and other sensors are used to maintain the flight altitude and basic attitude. Position mode (including GPS mode), in this mode, the drone can be positioned and altitude. Attitude mode is suitable for flying environments with no GPS signal or poor GPS signal, because it does not enable the navigation system and only relies on the accelerator and gyroscope to control the aircraft attitude. The attitude of the aircraft itself can remain stable. In actual operation, the drone will obviously drift and cannot hover, and the position of the drone needs to be corrected manually. In the attitude mode, the drone control terminal (for example, the drone remote control) only stabilizes the attitude of the drone, and cannot control the position and flight speed. To put it simply, in the attitude mode, the drone control terminal can ensure that the drone's attitude will not roll over on its own, but it cannot guarantee the speed and position changes. It has a certain initial speed and the speed changes constantly under the action of external forces. Gives an illusion of uncontrollable. In the absence of a lever, the drone will move horizontally. In a windy or narrow space environment, flying in attitude mode is more dangerous, which is also the main reason for many novices. There are many reasons for the unmanned aerial vehicle to passively switch to the attitude mode, including: poor GPS satellite signals, the vision sensor system cannot meet the positioning conditions, and the compass is severely interfered. In these cases, the UAV may passively switch to the attitude mode.

It should be noted that the drone control method and device and computer readable storage medium of this application are only for the drone passively switch to the attitude mode, that is, when the drone passively switches to the attitude mode, the drone will automatically Enter the hovering self-check state, and the drift speed of the drone is greater than or equal to the preset drift speed threshold for discussion. In this case, a virtual nose facing the drone control terminal is generated, and the virtual nose The nose is a reference to manipulate the target flight direction of the UAV, so as to ensure that in an emergency, the manipulator can get the correct intentional response to the hazard avoidance command issued in his own direction when the direction of the physical nose is not taken into consideration. In other cases, for example, the drone is flying in the position mode, and the drone is manually switched to the attitude mode to fly (some drones support manual switching to the attitude mode, but to prevent accidental touches, the factory default does not allow manual Switch to the attitude mode, you can make relevant settings in the control software of the drone control terminal), etc., all use the physical nose of the drone as a reference to manipulate the target flight direction of the drone, which is not the focus of the present invention. Content.

After the flight control chip determines that the drone passively enters the attitude mode, the vision sensor of the drone detects whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold. Wherein, the preset drift speed threshold is mainly determined according to the error of the sensor and the actual demand. For example, if the sensor error is large, the preset drift speed threshold is correspondingly small, and at the same time, according to the actual demand, the program writer Determined according to actual debugging results.

When the drift speed of the drone is greater than or equal to the preset drift speed threshold, a virtual machine head is generated, wherein the virtual machine head faces away from the control terminal and is located between the drone and the control terminal. The connection of the control terminal. Fig. 3 shows a flowchart of a specific process of generating the virtual machine head.

Because the orientation of the virtual nose of the drone is determined based on the orientation of the physical nose of the drone, the orientation of the physical nose of the drone must first be determined.

The physical nose of the drone refers to the actual, physical nose of the drone. The orientation of the physical nose of the drone is determined by the inertial measurement device of the drone. The inertial measurement device includes a gyroscope and an accelerometer on the drone. The heading angle data fusion module running inside the UAV provides heading estimation for the flight control system. The estimation of the heading angle is mainly related to the sensor data of the built-in gyroscope and accelerometer of the drone. The bad GPS signal mainly affects the position coordinates of the drone, and the estimation of the heading angle is weak. Therefore, the physical of the drone The orientation judgment of the nose is accurate and reliable.

Judging the orientation of the physical nose of the drone includes: judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal.

In this embodiment, the connection between the drone and the control terminal refers to the connection between the position coordinates of the drone and the position coordinates of the control terminal. The location coordinates may be GPS coordinates. In addition to GPS positioning, the location coordinates of the drone can also be located in other ways, such as base station positioning, WiFi AP positioning, and Bluetooth positioning (iBeacon). The position coordinates of the drone refer to the position coordinates obtained by the last positioning of the drone before switching to the attitude mode. Since the state self-check is carried out in real time, and the processor executes the code very fast, the time from determining that the drone passively switches to the attitude mode and drifts out of control, to generating the virtual nose and manipulating it according to the orientation of the virtual nose Short, the drift distance of the drone is very limited at this time, so it is still credible to determine the position coordinates obtained from the last positioning before drifting.

If the orientation of the physical nose of the drone is on the connection line between the drone and the control terminal, there are the following two situations. 1) When the physical nose of the drone faces away from the control terminal, it is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone. In this case, the positional relationship between the physical nose and the virtual nose of the drone is shown in Figure 4. 2) When the orientation of the physical nose of the drone faces the control terminal, it is determined that the orientation of the virtual nose is the opposite direction of the orientation of the physical nose of the drone. In this case, the positional relationship between the physical nose and the virtual nose of the drone is shown in Figure 5.

If the orientation of the physical nose of the drone is not on the connection between the drone and the control terminal, there are the following two situations. 1) When the orientation of the physical nose of the drone is at an acute angle with the connection between the drone and the control terminal, it is first necessary to control the physical nose of the drone to rotate to the The drone is connected to the control terminal and faces the control terminal, and then it is determined that the direction of the virtual nose is opposite to the direction of the physical nose of the drone. In this case, the positional relationship between the physical nose and the virtual nose of the drone is shown in Figure 6. 2) When the orientation of the physical nose of the drone is at an obtuse or right angle to the connection between the drone and the control terminal, it is first necessary to control the physical nose of the drone to rotate to the The drone is connected to the control terminal and faces away from the control terminal, and then the orientation of the virtual nose is determined to be the orientation of the physical nose of the drone. In this case, the positional relationship between the physical nose and the virtual nose of the drone is shown in Figure 7. When the orientation of the physical nose and the connection are at an angle, the purpose of first controlling the rotation of the physical nose of the drone to the connection is to simplify the calculations inside the drone and improve the response speed of the drone. This is because the physical nose is rotated to the connection, the drone can directly determine that the virtual nose can be a mirror image of the physical nose or the physical nose itself, without requiring complex calculations. It is understandable that in this case, it is not necessary to control the drone to rotate to the connection line. The drone can obtain the position of the virtual nose through a specific rotation matrix according to the position of the physical nose at this time. And orientation.

After the virtual machine head is generated, the flight control chip controls the direction of the drone according to the orientation of the virtual machine head and the control instruction of the control terminal.

When it is determined that the UAV passively enters the attitude mode, and it is detected that the drift speed of the UAV is greater than or equal to the preset drift speed threshold, a virtual nose is generated, thereby controlling the orientation of the virtual nose. State the direction of the drone. At this time, the operator of the drone uses the control terminal to control the actual direction of the drone by controlling the direction of the virtual nose with the direction of the virtual nose as a reference. In this way, a simple translation of the front and back flight instructions of the existing drone control terminal is realized, from taking the physical nose of the drone as the reference to the virtual nose of the drone as the reference, which is convenient The manipulator responded urgently. This allows the operator to more easily judge and control the flight direction of the UAV to face emergency avoidance situations, thereby avoiding dangerous situations caused by operational errors.

Please refer to FIG. 2. FIG. 2 is a flowchart of a drone control method according to an embodiment of the present invention. The method is executed by the flight control chip of the drone. The method includes:

Step 201: Determine that the drone passively enters the attitude mode.

In the embodiment of the present invention, after entering the attitude mode, the drone is in a hovering self-checking state. There are many reasons why the UAV passively switches to the attitude mode, including: poor GPS satellite signal, the vision sensor system cannot meet the positioning conditions, and the compass is severely interfered. Under these circumstances, the UAV may be passive. Switch to attitude mode. The attitude mode does not enable the navigation system, and only relies on the accelerator and gyroscope to control the attitude of the aircraft. To put it simply, in the attitude mode, the drone control device controls the terminal to ensure that the drone's attitude will not roll over on its own, but it cannot guarantee the speed and position (fixed-point hovering) changes.

Step 202: Detect whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold.

In an embodiment of the present invention, the drift speed of the drone is detected by a vision sensor of the drone, and the preset drift speed threshold is mainly determined according to the error of the sensor.

Step 203: When the drift speed of the drone is greater than or equal to the preset drift speed threshold, generate a virtual nose, where the virtual nose faces away from the control terminal and is located in the unmanned aircraft. The connection between the computer and the control terminal. Refer to Figure 3 for the specific process of generating the virtual machine head.

Step 204: Control the direction of the drone according to the direction of the virtual machine head and the control instruction of the control terminal.

In the embodiment of the present invention, in the attitude mode, the operator of the drone uses the control terminal to control the actual direction of the drone by controlling the direction of the virtual nose as a reference.

Figure 3 shows a specific flow chart of one embodiment of step 203 of the present invention. In an embodiment of the present invention, step 203 may further include:

Step 2031: Determine the orientation of the physical nose of the drone.

In this embodiment, the physical nose of the drone is the actual, physical nose of the drone. The orientation of the physical nose of the drone is determined by the inertial measurement device of the drone. The inertial measurement device includes a gyroscope and an accelerometer on the drone. The estimation of the heading angle is mainly related to the sensor data of the built-in gyroscope and accelerometer of the UAV. The bad GPS signal mainly affects the position coordinates of the UAV, and the estimation of the heading angle is weak.

Step 2032: Determine whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal.

In this embodiment, the connection between the drone and the control terminal refers to the connection between the position coordinates of the drone and the position coordinates of the control terminal, and the position coordinates may be GPS coordinates. The position coordinates of the drone are the position coordinates obtained from the last positioning of the drone before switching to the attitude mode. Since the state self-check is carried out in real time, and the processor executes the code very fast, the time from determining that the drone passively switches to the attitude mode and drifts out of control, to generating the virtual nose and manipulating it according to the orientation of the virtual nose Short, the drift distance of the drone is very limited at this time, so it is still credible to determine the position coordinates obtained from the last positioning before drifting.

If yes, the method proceeds to step 2033.

If not, the method proceeds to step 2034.

Step 2033: Determine whether the physical nose of the drone is facing away from the control terminal.

If yes, the method proceeds to step 2035.

If not, the method proceeds to step 2036.

Step 2035: Determine the orientation of the virtual nose as the orientation of the physical nose of the drone. In this case, see Fig. 4 for the relationship between the orientation of the physical nose of the drone and the orientation of the virtual nose.

Step 2036: Determine that the direction of the virtual nose is the opposite of the direction of the physical nose of the drone. In this case, refer to Figure 5 for the relationship between the orientation of the physical nose of the drone and the orientation of the virtual nose.

When it is determined that the orientation of the physical nose of the drone is not on the connection between the drone and the control terminal, the method proceeds to step 2034.

Step 2034: Determine whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal.

If yes, the method proceeds to step 2037.

Step 2037: Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal; determine that the direction of the virtual nose is the drone The opposite direction of the physical head. In this case, see Figure 6 for the orientation and rotation direction of the physical nose of the drone.

If not, the method proceeds to step 2038.

Step 2038: Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face away from the control terminal; determine that the direction of the virtual nose is the unmanned The orientation of the physical head of the machine. See Figure 7 for the orientation and rotation direction of the physical nose of the drone in this case.

In an embodiment of the present invention, by judging the angle between the orientation of the physical nose of the drone and the coordinate connection between the drone and the drone control terminal, the orientation of the physical nose is controlled to rotate to the desired position. The drone is connected to the control terminal and faces or faces away from the control terminal. The purpose is to make the physical nose complete the steering at the fastest speed, thereby judging the direction of the virtual nose to quickly and easily generate virtual Nose.

The embodiment of the present invention also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the processes in the method of the above-mentioned embodiments can be completed by instructing relevant hardware by a computer program. The program may be stored in the computer readable storage medium, and when the one or more programs can be executed by one or more processors, the program may include the processes of the foregoing embodiments. The storage medium may be a magnetic disk, an optical disc, a read only memory (ROM, Read Only Memory), or a random access memory (RAM, Random Access Memory), etc.

As shown in FIG. 8, an embodiment of the present invention also provides a drone control device, which includes a determination module 801, a detection module 802, a virtual machine head generation module 803, and a control module 804.

The determining module 801 is configured to determine that the drone passively enters the attitude mode, wherein when the drone enters the attitude mode, the drone is in a hovering self-check state.

The detection module 802 is configured to detect whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold. The detection module 802 detects the drift speed of the drone through the vision sensor of the drone, and the preset drift threshold is set according to the error of the sensor.

The virtual nose generating module 803 is configured to determine the direction of the physical nose of the drone when the drift speed of the drone is greater than or equal to the preset drift speed threshold, according to the drone The orientation of the physical nose of the drone is determined to determine the orientation of the virtual nose to generate a virtual nose, where the virtual nose is facing away from the control terminal and is located on the connection line between the drone and the control terminal on.

In an embodiment of the present invention, the virtual nose generating module 803 is used to determine the orientation of the physical nose of the drone through the inertial measurement device of the drone. The inertial measurement device of the drone includes an accelerometer and a gyroscope. The connection between the drone and the control terminal refers to the connection between the position coordinates of the drone and the position coordinates of the control terminal, and the position coordinates may be GPS coordinates. The position coordinates of the drone are the position coordinates obtained from the last positioning of the drone before switching to the attitude mode.

In an embodiment of the present invention, the virtual nose generating module 803 is used to determine whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal.

If yes, 1) when the physical nose of the drone is facing away from the control terminal, the virtual nose generating module 803 determines that the orientation of the virtual nose is the physical machine of the drone. Head orientation; 2) when the physical nose of the drone faces the control terminal, the virtual nose generating module 803 determines that the virtual nose is the physical orientation of the drone The opposite direction of the nose.

If not, 1) When the orientation of the physical nose of the drone is at an acute angle with the connection between the drone and the control terminal, as shown in FIG. 6, the virtual nose generating module 803 controls the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal; determine that the orientation of the virtual nose is the physical drone of the drone The head is facing in the opposite direction. 2) When the orientation of the physical nose of the drone is at an obtuse or right angle to the connection between the drone and the control terminal, as shown in FIG. 7, the virtual nose generating module 803 Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face away from the control terminal; determine the orientation of the virtual nose as the physical drone The orientation of the head.

In the embodiment of the present invention, the virtual nose generating module 803 is used to determine the angle between the orientation of the physical nose of the drone and the coordinate line connecting the drone to the drone control terminal. Control the orientation of the physical nose to rotate to the connection between the drone and the control terminal and face or back to the control terminal. The purpose of this is to enable the physical head to complete the steering at the fastest speed, so as to determine the direction of the virtual head to quickly and easily generate the virtual head.

The control module 804 is configured to control the direction of the drone according to the direction of the virtual machine head and the control instruction of the control terminal.

It should be noted that the determination module 801, the detection module 802, and the virtual nose generation module 803 are generally set on the drone and executed by the flight control chip of the drone, and the control module 804 can be set on the drone. The drone can also be set on the drone control terminal. The control module 804 sends a flight control instruction to the existing drone control terminal (the flight control instruction is based on the physical nose of the drone. The direction of the drone is the reference object) after a translation process (that is, it is transformed into the direction of the generated virtual nose as the reference object), and then the target flight direction of the drone is manipulated. When the determination module 801, the detection module 802, the virtual machine head generation module 803, and the control module 804 are installed on different physical devices, data communication can be performed through the communication modules on the physical devices where they are located.

This application proposes an adaptive mirroring operation mode for drone drifting out of control. When the built-in determination module in the drone program determines that the drone passively switches to the attitude mode, and the detection module uses vision and other sensors to determine that it should be hovering When the drone has a relatively large drift speed, the virtual nose generation module generates a virtual nose, and the control module controls the target flight direction of the drone according to the direction of the virtual nose, so that the drone is controlled like a mirror opposite In general, they move along the controller’s sense of direction to prevent the controller from being unable to take into account the orientation of the physical nose in emergency avoidance situations, and subconsciously use their sense of direction to give wrong control commands when avoiding danger. The situation of the bomber; further, by checking the orientation of the physical nose of the drone in real time, if necessary, rotate the orientation of the physical nose to the connection between the drone and the control terminal. The control terminal of the man-machine can simplify the various possibilities of generating the orientation of the virtual nose to only two directions, that is, the orientation of the physical nose of the drone is the same or opposite, which simplifies the algorithm and compares the existing The front and back flight instructions of the drone control terminal are simply translated.

Those of ordinary skill in the art can understand that all or part of the steps in the above method can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium, such as a read-only memory, a magnetic disk, or an optical disk. Optionally, all or part of the steps of the foregoing embodiments can also be implemented by using one or more integrated circuits. Accordingly, each module/unit in the foregoing embodiments can be implemented in the form of hardware or software functional modules. Form realization. The present invention is not limited to the combination of any specific form of hardware and software.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (17)

1. An unmanned aerial vehicle control method, characterized in that it comprises:

   Determining that the drone passively enters the attitude mode, wherein after the drone enters the attitude mode, the drone is in a hovering self-check state;

   Detecting whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold;

   When the drift speed of the drone is greater than or equal to the preset drift speed threshold, a virtual machine head is generated, wherein the virtual machine head faces away from the control terminal and is located between the drone and the control terminal. On the connection of the control terminal;

   The direction of the drone is controlled according to the direction of the virtual machine head and the control instruction of the control terminal.
2. The method according to claim 1, wherein the detecting whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold comprises:

   The vision sensor of the drone detects whether the drift speed of the drone at this time is greater than or equal to the preset drift speed threshold.
3. The method of claim 1 or 2, wherein the generating the virtual nose when the drift speed of the drone is greater than or equal to the preset drift speed threshold comprises:

   Determine the orientation of the physical nose of the drone;

   According to the orientation of the physical nose of the drone, the orientation of the virtual nose is determined to generate the virtual nose.
4. The method according to claim 3, wherein the determining the orientation of the physical nose of the drone comprises:

   The orientation of the physical nose of the drone is determined by the inertial measurement device of the drone.
5. The method according to claim 3 or 4, wherein the judging the orientation of the physical nose of the drone, and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone Orientation, including:

   Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

   If yes, determine whether the physical nose of the drone is facing away from the control terminal;

   If yes, then:

   It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.
6. The method according to claim 3 or 4, wherein the judging the orientation of the physical nose of the drone, and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone Orientation, including:

   Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

   If yes, determine whether the physical nose of the drone is facing away from the control terminal;

   If not, then:

   It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.
7. The method according to claim 3 or 4, wherein the judging the orientation of the physical nose of the drone, and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone Orientation, including:

   Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

   If not,

   Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

   If yes, then:

   Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal;

   It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.
8. The method according to claim 3 or 4, wherein the judging the orientation of the physical nose of the drone, and determining the orientation of the virtual nose according to the orientation of the physical nose of the drone Orientation, also includes:

   Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

   If not,

   Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

   If not,

   Controlling the physical nose of the drone to rotate to the connection between the drone and the control terminal and facing away from the control terminal;

   It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.
9. A computer-readable storage medium, characterized in that one or more programs are stored on the computer-readable storage medium, and the one or more programs can be executed by one or more processors to realize The drone control method according to any one of 1 to claim 8.
10. An unmanned aerial vehicle control device, characterized in that it comprises:

    The determining module is used to determine that the drone passively enters the attitude mode, wherein when the drone enters the attitude mode, the drone is in a hovering self-check state;

    The detection module is used to detect whether the drift speed of the drone at this time is greater than or equal to a preset drift speed threshold;

    The virtual nose generating module is used to generate a virtual nose when the drift speed of the drone is greater than or equal to the preset drift speed threshold, wherein the virtual nose is facing away from the control terminal, and Located on the connection between the drone and the control terminal; and

    The control module is used to control the direction of the drone according to the direction of the virtual machine head and the control instruction of the control terminal.
11. The device according to claim 10, wherein the detection module is configured to detect whether the drift speed of the drone at this time is greater than or equal to the preset drift speed through the vision sensor of the drone Threshold.
12. The device according to claim 10 or 11, wherein the virtual machine head generation module is used for:

    Determine the orientation of the physical nose of the drone;

    According to the orientation of the physical nose of the drone, the orientation of the virtual nose is determined to generate the virtual nose.
13. The device according to claim 12, wherein the virtual nose generating module is used to determine the orientation of the physical nose of the drone through an inertial measurement device of the drone.
14. The device according to claim 12 or 13, wherein the virtual head generation module is specifically configured to:

    Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

    If yes, determine whether the physical nose of the drone is facing away from the control terminal;

    If yes, then:

    It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.
15. The device according to claim 12 or 13, wherein the virtual head generation module is specifically configured to:

    Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

    If not,

    Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

    If yes, then:

    Control the physical nose of the drone to rotate to the connection between the drone and the control terminal and face the control terminal;

    It is determined that the orientation of the virtual nose is the opposite of the orientation of the physical nose of the drone.
16. The device according to claim 12 or 13, wherein the virtual head generation module is specifically configured to:

    Judging whether the orientation of the physical nose of the drone is located on the connection line between the drone and the control terminal;

    If not,

    Determining whether the orientation of the physical nose of the drone is at an acute angle with the connection line between the drone and the control terminal;

    If not,

    Controlling the physical nose of the drone to rotate to the connection between the drone and the control terminal and facing away from the control terminal;

    It is determined that the orientation of the virtual nose is the orientation of the physical nose of the drone.
17. An unmanned aerial vehicle, characterized in that it includes:

    body;

    An arm, connected to the fuselage;

    A power device arranged on the arm, the power device is used to provide power for the drone to fly; and

    The flight control chip is located in the fuselage;

    Wherein, the flight control chip is used to execute the drone control method according to any one of claims 1-8.

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