WO2020233607A1 - Procédé et appareil de commande de véhicule aérien sans pilote et support d'informations lisible par ordinateur - Google Patents

Procédé et appareil de commande de véhicule aérien sans pilote et support d'informations lisible par ordinateur Download PDF

Info

Publication number
WO2020233607A1
WO2020233607A1 PCT/CN2020/091345 CN2020091345W WO2020233607A1 WO 2020233607 A1 WO2020233607 A1 WO 2020233607A1 CN 2020091345 W CN2020091345 W CN 2020091345W WO 2020233607 A1 WO2020233607 A1 WO 2020233607A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
nose
orientation
physical
control terminal
Prior art date
Application number
PCT/CN2020/091345
Other languages
English (en)
Chinese (zh)
Inventor
钟自鸣
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2020233607A1 publication Critical patent/WO2020233607A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • 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.
  • Unmanned Aerial Vehicle 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 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:
  • 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 direction of the drone is controlled according to the direction of the virtual machine head and the control instruction of the control terminal.
  • 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.
  • the generating the virtual nose when the drift speed of the drone is greater than or equal to the preset drift speed threshold includes:
  • the orientation of the virtual nose is determined to generate the virtual nose.
  • 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.
  • 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:
  • the orientation of the virtual nose is the orientation of the physical nose of the drone.
  • 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:
  • 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:
  • 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:
  • 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;
  • 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.
  • 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.
  • the virtual machine head generation module is used to:
  • the orientation of the virtual nose is determined to generate the virtual nose.
  • 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.
  • the virtual machine head generation module is specifically configured to:
  • the orientation of the virtual nose is the orientation of the physical nose of the drone.
  • the virtual machine head generation module is specifically configured to:
  • the virtual machine head generation module is specifically configured to:
  • 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:
  • 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;
  • the flight control chip is located in the fuselage
  • 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.
  • Figure 1 is a three-dimensional structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a method for controlling drones according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a process of generating a virtual machine head according to an embodiment of the present invention.
  • FIG. 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;
  • FIG. 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.
  • 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.
  • Fig. 8 is a schematic structural diagram of a drone control device according to an embodiment of the present invention.
  • 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.
  • the drone 1000 may be any other suitable type of unmanned aerial vehicle, such as a fixed-wing unmanned aerial vehicle.
  • 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.
  • the arm 300 and the body 200 are fixedly connected.
  • the arm 300 and the body 200 are integrally formed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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) .
  • 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.
  • the drone control terminal for example, the drone remote control
  • the drone control terminal only stabilizes the attitude of the drone, and cannot control the position and flight speed.
  • 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.
  • the drone 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Fig. 3 shows a flowchart of a specific process of generating the virtual machine head.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a virtual nose is generated, thereby controlling the orientation of the virtual nose. State the direction of the drone.
  • 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.
  • 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.
  • 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.
  • the drone after entering the attitude mode, the drone is in a hovering self-checking state.
  • 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.
  • 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.
  • 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.
  • step 203 may further include:
  • Step 2031 Determine the orientation of the physical nose of the drone.
  • 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.
  • 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.
  • step 2033 If yes, the method proceeds to step 2033.
  • step 2034 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.
  • step 2035 If yes, the method proceeds to step 2035.
  • step 2036 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.
  • step 2034 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.
  • step 2037 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.
  • step 2038 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the virtual nose generation module generates a virtual nose
  • 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
  • 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.

Landscapes

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

Abstract

La présente invention concerne un procédé et un appareil de commande de véhicule aérien sans pilote et un véhicule aérien sans pilote (1000). Le procédé consiste : à déterminer qu'un véhicule aérien sans pilote entre passivement en mode d'attitude (201), le véhicule aérien sans pilote étant en état d'auto-détection de vol stationnaire après que le véhicule aérien sans pilote entre en mode d'attitude ; à détecter si la vitesse de dérive du véhicule aérien sans pilote à ce moment est supérieure ou égale à une valeur seuil de vitesse de dérive prédéfinie ou non (202) ; si tel est le cas, à générer un nez virtuel, l'orientation du nez virtuel étant tournée à l'opposé d'un terminal de commande et étant située sur la ligne de connexion du véhicule aérien sans pilote et du terminal de commande (203) ; et à commander la direction du véhicule aérien sans pilote selon l'orientation du nez virtuel et une instruction de commande du terminal de commande (204). Lorsque le véhicule aérien sans pilote est commuté passivement vers le mode d'attitude et que sa vitesse de dérive est supérieure ou égale à la valeur seuil de vitesse de dérive, le nez virtuel est généré et la direction de vol cible du véhicule aérien sans pilote est commandée en fonction de l'orientation du nez virtuel, en évitant le problème selon lequel, dans le cas d'une prévention de danger imminent, un dispositif de commande ne peut pas prendre en compte l'orientation physique du nez et donne inconsciemment les mauvaises instructions de commande selon son propre sens d'orientation afin d'éviter le danger et augmenter la sécurité du vol.
PCT/CN2020/091345 2019-05-20 2020-05-20 Procédé et appareil de commande de véhicule aérien sans pilote et support d'informations lisible par ordinateur WO2020233607A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910418981.4A CN110109475A (zh) 2019-05-20 2019-05-20 一种无人机控制方法与装置、计算机可读存储介质
CN201910418981.4 2019-05-20

Publications (1)

Publication Number Publication Date
WO2020233607A1 true WO2020233607A1 (fr) 2020-11-26

Family

ID=67491188

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/091345 WO2020233607A1 (fr) 2019-05-20 2020-05-20 Procédé et appareil de commande de véhicule aérien sans pilote et support d'informations lisible par ordinateur

Country Status (2)

Country Link
CN (1) CN110109475A (fr)
WO (1) WO2020233607A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110109475A (zh) * 2019-05-20 2019-08-09 深圳市道通智能航空技术有限公司 一种无人机控制方法与装置、计算机可读存储介质
CN110687927A (zh) * 2019-09-05 2020-01-14 深圳市道通智能航空技术有限公司 一种飞行控制方法、飞行器及飞行系统
CN110866989A (zh) * 2019-12-09 2020-03-06 浙江顿悟科技有限公司 一种基于无人机的电力系统巡检方法
CN111103898A (zh) * 2019-12-25 2020-05-05 深圳市道通智能航空技术有限公司 无人机保护方法及装置、无人机

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898697A (zh) * 2015-05-18 2015-09-09 国家电网公司 一种无人机的三维动态模型及控制方法
CN107943083A (zh) * 2017-12-11 2018-04-20 梁金凤 一种控制准确的飞行系统
WO2018110848A1 (fr) * 2016-12-14 2018-06-21 Samsung Electronics Co., Ltd. Procédé de fonctionnement de véhicule aérien sans pilote et dispositif electronique pour sa prise en charge
CN108646770A (zh) * 2018-03-28 2018-10-12 深圳臻迪信息技术有限公司 一种无人机飞行控制方法、装置及系统
CN109270941A (zh) * 2017-07-18 2019-01-25 李保文 一种空中无人机超视距遥控方法
CN110109475A (zh) * 2019-05-20 2019-08-09 深圳市道通智能航空技术有限公司 一种无人机控制方法与装置、计算机可读存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3020169A1 (fr) * 2014-04-16 2015-10-23 Parrot Drone a voilure tournante muni d'une camera video delivrant des sequences d'images stabilisees
CN105700548A (zh) * 2016-01-20 2016-06-22 杭州米为科技有限公司 无人机以及无人机的控制方法
CN106023554A (zh) * 2016-06-17 2016-10-12 深圳市元征科技股份有限公司 遥控方法及遥控器
CN106483953B (zh) * 2016-10-28 2019-03-15 深圳市道通智能航空技术有限公司 一种调整无人机的飞行方向的方法、装置及无人机
CN106444848B (zh) * 2016-11-28 2018-11-30 广州极飞科技有限公司 控制无人机飞行的方法及装置
CN108122553B (zh) * 2017-12-20 2020-12-08 深圳市道通智能航空技术有限公司 一种无人机控制方法、装置、遥控设备和无人机系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898697A (zh) * 2015-05-18 2015-09-09 国家电网公司 一种无人机的三维动态模型及控制方法
WO2018110848A1 (fr) * 2016-12-14 2018-06-21 Samsung Electronics Co., Ltd. Procédé de fonctionnement de véhicule aérien sans pilote et dispositif electronique pour sa prise en charge
CN109270941A (zh) * 2017-07-18 2019-01-25 李保文 一种空中无人机超视距遥控方法
CN107943083A (zh) * 2017-12-11 2018-04-20 梁金凤 一种控制准确的飞行系统
CN108646770A (zh) * 2018-03-28 2018-10-12 深圳臻迪信息技术有限公司 一种无人机飞行控制方法、装置及系统
CN110109475A (zh) * 2019-05-20 2019-08-09 深圳市道通智能航空技术有限公司 一种无人机控制方法与装置、计算机可读存储介质

Also Published As

Publication number Publication date
CN110109475A (zh) 2019-08-09

Similar Documents

Publication Publication Date Title
WO2020233607A1 (fr) Procédé et appareil de commande de véhicule aérien sans pilote et support d'informations lisible par ordinateur
US11693401B2 (en) Method, device, and system for redundancy control
US11874656B2 (en) Unmanned aerial vehicle modular command priority determination and filtering system
US20200019189A1 (en) Systems and methods for operating unmanned aerial vehicle
WO2018218516A1 (fr) Procédé et appareil de planification d'itinéraire de retour de véhicule aérien sans pilote
JP6671375B2 (ja) 無人機の飛行補助方法
WO2018072133A1 (fr) Procédé de commande de dispositif mobile, système de commande et dispositif mobile
CN108701362B (zh) 目标跟踪期间的障碍避免
WO2019144271A1 (fr) Procédé et dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote
US20220244746A1 (en) Method of controlling an aircraft, flight control device for an aircraft, and aircraft with such flight control device
WO2019119201A1 (fr) Procédé de commande de cardan, véhicule aérien sans pilote, cardan et support d'informations
WO2018107419A1 (fr) Procédé, dispositif et appareil de commande, et plateforme mobile
EP3771956B1 (fr) Systèmes et procédés pour générer des trajectoires de vol pour la navigation d'un aéronef
US11383834B2 (en) Unmanned flying object and method of controlling unmanned flying object
US20200169666A1 (en) Target observation method, related device and system
WO2023025200A1 (fr) Procédé et appareil de commande pour l'atterrissage forcé d'un engin volant sans pilote embarqué, appareil de commande à distance et support de stockage
WO2018187936A1 (fr) Aéronef sans pilote et procédé de commande d'évitement d'obstacles associé
WO2021168819A1 (fr) Procédé et dispositif de commande de retour d'un véhicule aérien sans pilote
WO2017166080A1 (fr) Procédé et dispositif d'indication d'état d'exécution, et véhicule aérien sans pilote
KR20170090888A (ko) Hmd를 이용한 무인기 조종 장치
KR20190000771A (ko) 모바일 플랫폼 기반 ahrs 비행제어 장치
WO2019000328A1 (fr) Procédé de commande de véhicule aérien sans pilote, terminal de commande, et véhicule aérien sans pilote
WO2020237529A1 (fr) Procédé et appareil e de commande de vol pour engin volant sans pilote embarqué, et engin volant sans pilote embarqué
WO2021238743A1 (fr) Procédé et appareil de commande de vol pour véhicule aérien sans pilote, et véhicule aérien sans pilote
EP3288828B1 (fr) Système de véhicule aérien sans pilote et son procédé de commande

Legal Events

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

Ref document number: 20809365

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20809365

Country of ref document: EP

Kind code of ref document: A1