WO2021078163A1 - Procédé, appareil et dispositif de commande d'engin volant sans pilote embarqué et support de stockage - Google Patents

Procédé, appareil et dispositif de commande d'engin volant sans pilote embarqué et support de stockage Download PDF

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Publication number
WO2021078163A1
WO2021078163A1 PCT/CN2020/122540 CN2020122540W WO2021078163A1 WO 2021078163 A1 WO2021078163 A1 WO 2021078163A1 CN 2020122540 W CN2020122540 W CN 2020122540W WO 2021078163 A1 WO2021078163 A1 WO 2021078163A1
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Prior art keywords
module
drone
power saving
instruction
mode
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PCT/CN2020/122540
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English (en)
Chinese (zh)
Inventor
彭志坤
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深圳市道通智能航空技术有限公司
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Publication of WO2021078163A1 publication Critical patent/WO2021078163A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle control method, device, equipment and storage medium.
  • the general flight time of drones is about 30 minutes.
  • the drone's battery will gradually wear out and the endurance time will gradually decrease. Therefore, it will be difficult to control the use of the battery. If the battery power is severely insufficient during the flight of the UAV, or even insufficient to support the UAV to fly back to the home point, the risk of crash will be greatly increased.
  • the existing technical solutions generally adopt: set low battery to return home automatically; use the remote control or mobile phone application software to alert the sound; set the maximum flight distance, etc.
  • the disadvantage of the prior art is that when the drone returns to home, or during any flight that has nothing to do with the mission performed by the drone, there are still some additional conditions that consume the battery power of the drone. This consumption is relative to The task currently performed by the UAV is a kind of ineffective loss.
  • the embodiments of the present invention provide a drone control method, device, equipment, and storage medium, so as to realize that the functional modules on the drone that are not related to maintaining the normal flight of the drone are turned off.
  • an embodiment of the present invention provides a drone control method, which includes:
  • the module to be turned off is an unnecessary function of the drone when flying in the current flight state
  • the module closing instruction is used to control the closing of each module to be closed, so that each module to be closed stops working.
  • an embodiment of the present invention also provides a drone control device, which includes:
  • the mode switching module is configured to receive the mode switching instruction sent by the first control terminal, and control the drone to enter the power saving flight mode corresponding to the mode switching instruction;
  • the module to be shut down is used to determine the module to be shut down corresponding to the power-saving flight mode of the drone, and to generate a corresponding module shut down instruction, the module to be shut down is the current flight state of the drone Non-essential functional modules during the next flight;
  • the control shutdown module is used to control the shutdown of each module to be shut down through the module shutdown instruction, so that each module to be shut down stops working.
  • an embodiment of the present invention also provides an unmanned aerial vehicle, the unmanned aerial vehicle including:
  • One or more processors are One or more processors;
  • Storage device for storing one or more programs
  • the one or more programs are executed by the one or more processors, so that the one or more processors implement the drone control method according to the first aspect of the embodiment of the present invention.
  • an embodiment of the present invention also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the drone control method as described in the first aspect of the embodiment of the present invention is implemented.
  • Embodiments of the present invention provide a drone control method, device, equipment, and storage medium.
  • the drone By receiving a mode switching instruction sent by a first control terminal, the drone is controlled to enter the corresponding power-saving flight mode; and then the drone is determined
  • the corresponding module to be closed is generated, and a corresponding module closing instruction is generated, and each module to be closed is controlled to be closed by the module closing instruction, so that each module to be closed stops working.
  • the functional modules on the drone that are not related to maintaining the normal flight of the drone can be turned off, thereby reducing the ineffective loss of battery power, extending battery life, and reducing the inability of the drone to return or even crash due to insufficient battery power. Machine risk.
  • FIG. 1 is a schematic flowchart of a drone control method according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flowchart of a drone control method provided by Embodiment 2 of the present invention.
  • FIG. 3 is a schematic structural diagram of a drone control device provided by Embodiment 3 of the present invention.
  • Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle provided in the fourth embodiment of the present invention.
  • FIG. 1 is a schematic flow chart of a drone control method provided in the first embodiment of the present invention.
  • This embodiment can be adapted to turn off functional modules on the drone that are not related to maintaining the normal flight of the drone to reduce the inefficiency of battery power
  • this method can be executed by the drone control device, which can be implemented by hardware and/or software, and is generally integrated on the drone.
  • the method specifically includes the following steps:
  • the drone control method provided by the embodiments of the present invention is mainly to add a power-saving flight mode on the basis of the original flight mode of the drone, and the power-saving flight mode is not specific to certain models or models. That is, the embodiment of the present invention does not limit the model of the drone.
  • Step S101 Receive a mode switching instruction sent by the first control terminal, and control the drone to enter a power saving flight mode corresponding to the mode switching instruction.
  • the first control terminal refers to a controller used to remotely control drones to perform various flight actions; optionally, the first control terminal is a drone remote control or a smart mobile terminal.
  • the mode switching instruction refers to an instruction generated by the first control terminal and sent to the drone to switch the drone from the current flight mode to the flight mode corresponding to the mode switching instruction.
  • the flight mode corresponding to the mode switching instruction is a power saving flight mode.
  • the power-saving flight mode refers to a flight mode that allows the drone to reduce power consumption unnecessary related to the tasks performed; optionally, the power-saving flight mode can be used to turn off the drone when flying in the current flight state.
  • the non-essential function module is implemented by reducing the communication frequency with the first control terminal, reducing unnecessary parameters in the communication data packet transmitted to the first control terminal, etc.; optionally, the flight power saving mode can be Set to multiple according to the specific power saving mode.
  • the mode switching instruction is received, and according to the mode switching instruction, the drone is switched from the current flight mode to the power saving flight mode specified by the mode switching instruction .
  • the drone keeps flying in the current flight mode if the current flight mode of the drone is already the power saving flight mode corresponding to the mode switching instruction.
  • the power-saving flight mode is preset on the flight controller of the drone and the first control terminal, and the corresponding flight controller is sent to the flight controller of the drone through the first control terminal.
  • the mode switching command can make the drone switch to the corresponding power-saving flight mode.
  • the mode switching instruction corresponding to the electric flight mode is sent to the drone, and the flight controller of the drone receives the mode switching instruction and switches the drone from the current flight mode to the power-saving flight according to the instruction mode.
  • Step S102 Determine the module to be turned off corresponding to the UAV in the power-saving flight mode, and generate a corresponding module shutdown instruction, where the module to be turned off is when the UAV is flying in the current flight state.
  • Non-essential function modules are not limited to:
  • the module to be turned off refers to the functional module that the drone is designated to stop working in the corresponding power-saving flight mode; optionally, the module to be turned off means that the drone is flying in the current flight state.
  • the power-saving flight mode can be divided into different power-saving levels according to the number of modules to be turned off corresponding to the power-saving flight mode, so as to distinguish the power saving degree of different power-saving flight modes.
  • the module closing instruction refers to an instruction generated by a drone flight controller to perform a closing operation on the module to be closed.
  • the module to be turned off corresponding to the power-saving flight mode is confirmed, and a module closing instruction corresponding to each of the modules to be turned off is generated .
  • Step S103 controlling each of the modules to be closed to be closed through the module closing instruction, so that each of the modules to be closed stops working.
  • each module closing instruction is sent to each corresponding module to be closed, so that each module to be closed stops working.
  • any module to be closed when any module to be closed receives a module closing instruction, if there is an operation or program in progress, it may respond to the module closing instruction after completing the operation or program; optionally, the The module closing instruction can also be an instruction for forcing the module to be closed to close immediately.
  • the module to be closed is closed even if the module to be closed stops working.
  • closing the hardware device is equivalent to putting the hardware device on the drone into a sleep state and closing the software module That is, close the function corresponding to the software module on the drone.
  • the embodiment of the present invention provides a drone control method.
  • the above-mentioned technical solution of this embodiment controls the drone to enter the corresponding power-saving flight mode by receiving the mode switching instruction sent by the first control terminal; then the drone is determined In the power saving flight mode, the corresponding module to be closed is generated, and a corresponding module closing instruction is generated, and each module to be closed is controlled to be closed by the module closing instruction, so that each module to be closed stops working.
  • the functional modules on the drone that are not related to maintaining the normal flight of the drone can be turned off, thereby reducing the ineffective loss of battery power, extending battery life, and reducing the inability of the drone to return or even crash due to insufficient battery power. Machine risk.
  • the first embodiment also optimizes the monitoring server to:
  • the module shutdown response message refers to a feedback message that responds to a module shutdown instruction sent by each module to be shut down, and enters a non-working state; optionally, the module shutdown response message can be used by each module to be shut down when it is about to or is ready Send when you want to close the module function, and complete the closing of the module function after sending.
  • the module function can be immediately closed according to the priority of the module closing instruction, and the work can be stopped, in response to the module closing instruction, or after the execution is complete. Respond to the module closing instruction after the operation or program in progress.
  • FIG. 2 is a schematic flowchart of a drone control method provided in Embodiment 2 of the present invention. This embodiment is further optimized on the basis of Embodiment 1.
  • controlling the drone to enter the power saving flight mode corresponding to the mode switching instruction is embodied as: analyzing and determining the power saving level corresponding to the mode switching instruction; looking up the preset power saving mode information table , Obtain the corresponding power-saving flight mode at the power-saving level; switch the drone to the power-saving flight mode; wherein the power-saving level includes: light power-saving level, medium power-saving level And the extreme power saving level.
  • This embodiment also optimizes and adds: sending a communication transmission adjustment instruction to the communication transmission module of the drone; controlling the communication transmission module through the communication transmission adjustment instruction to reduce the communication frequency with the first control terminal, and/or Reduce unnecessary parameters in the communication data packet transmitted to the first control terminal.
  • the drone control method provided in this embodiment specifically includes the following steps:
  • Step S201 Receive a mode switching instruction sent by the first control terminal.
  • Step S202 Analyze and determine the power saving level corresponding to the mode switching instruction.
  • the power saving level refers to the power saving level determined by dividing the power saving degree of the power saving flight mode according to the percentage of the number of non-essential functional modules when the drone is flying in the current flight state.
  • the percentages of the light power saving level, the medium power saving level, and the extreme power saving level corresponding to the number of closed non-essential function modules can be set to 30%, 60%, and 100%, respectively.
  • the mode switching instruction is analyzed, thereby determining the power saving level corresponding to the mode switching instruction.
  • Step S203 Look up the preset power saving mode information table, and obtain the corresponding power saving flight mode under the power saving level.
  • the power-saving mode information table refers to a table of mapping relationships between power-saving levels and power-saving flight modes pre-stored in the flight controller of the drone, and one power-saving level corresponds to one power-saving flight mode.
  • the power saving flight mode corresponding to the power saving level is searched from the preset power saving mode information table.
  • Step S204 Switch the drone to the power saving flight mode.
  • the flight controller of the drone controls the drone to switch the current flight mode to the power saving flight mode corresponding to the power saving level.
  • Step S205 Determine the module to be turned off corresponding to the drone in the power-saving flight mode, and generate a corresponding module closing instruction, where the module to be turned off is when the drone is flying in the current flight state.
  • Non-essential function modules are not limited to:
  • the corresponding number of non-essential functional modules can be turned off randomly; the average power loss ranking of each functional module of the drone can also be performed in advance to determine the average power loss ranking table.
  • the corresponding number of non-essential function modules can be turned off according to the average power loss ranking table from high to low.
  • the non-essential function module that has been turned off can be performed. Turn it back on.
  • Step S206 Control each of the modules to be closed to be closed through the module closing instruction, so that each of the modules to be closed stops working.
  • Step S207 Send a communication transmission adjustment instruction to the communication transmission module of the drone.
  • the communication transmission module refers to a functional module on the drone that is responsible for data communication with the first control terminal.
  • the communication transmission adjustment instruction refers to a data communication frequency and/or data communication frequency between the communication transmission module and the first control terminal generated by the flight controller of the drone and sent to the communication transmission module. Instructions for adjusting communication data.
  • Step S208 Control the communication transmission module to reduce the communication frequency with the first control terminal through the communication transmission adjustment instruction, and/or reduce unnecessary parameters in the communication data packet transmitted to the first control terminal.
  • the communication frequency refers to the number of communication within a unit time.
  • the communication data packet refers to a data packet for communication between the drone and the first control terminal; optionally, the communication data packet includes various control instructions sent by the first control terminal to the drone, Inquiry instructions, as well as various response messages and flight parameters sent by the drone to the first control terminal, such as the current pitch angle, rotation angle, flight speed, flight height, latitude and longitude coordinates, flight mode, battery Electricity etc.
  • the non-essential parameters refer to communication parameters that are unnecessary for the drone to maintain normal flight in the current flight state.
  • the communication transmission module can reduce the original communication frequency with the first control terminal after receiving the communication transmission adjustment instruction.
  • the original UAV communication transmission module originally sent a communication to the first control terminal every 50ms
  • the data can be reduced to be sent every 2s; and the flight parameters in the original communication data packet can be reduced.
  • the drone’s battery power is severely insufficient and it is expected that the drone’s communication transmission module can not return. Only send the latitude and longitude coordinates of the landing point of the drone to the first control terminal so that the drone can be retrieved.
  • Step S209 Receive a module closing response message fed back by each module to be closed before the function is closed, to determine that each module to be closed is in a non-working state.
  • the embodiment of the present invention provides a drone control method.
  • the above-mentioned technical solution of this embodiment controls the drone to enter the corresponding power-saving flight mode by receiving the mode switching instruction sent by the first control terminal; then the drone is determined In the power saving flight mode, the corresponding module to be closed is generated, and a corresponding module closing instruction is generated, and each module to be closed is controlled to be closed by the module closing instruction, so that each module to be closed stops working.
  • the functional modules on the drone that are not related to maintaining the normal flight of the drone can be turned off, thereby reducing the ineffective loss of battery power, extending battery life, and reducing the inability of the drone to return or even crash due to insufficient battery power. Machine risk.
  • the communication transmission adjustment instruction is sent to the communication transmission module of the drone to control the communication transmission module to reduce the communication frequency with the first control terminal, and/or reduce the communication transmitted to the first control terminal
  • the non-essential parameters in the data packet can reduce the loss of battery power caused by data communication, thereby further extending battery life, and reducing the risk of drones unable to return to home or even crashing due to insufficient battery power.
  • Fig. 3 is a schematic structural diagram of a drone control device provided in the third embodiment of the present invention.
  • This embodiment is applicable to this embodiment and can be adapted to turn off functional modules on the drone that are not related to maintaining the normal flight of the drone.
  • the drone control device can be implemented by software and/or hardware, and specifically includes: a mode switching module 301, a waiting-to-close determination module 302, and a control shutdown module 303. among them,
  • the mode switching module 301 is configured to receive a mode switching instruction sent by the first control terminal, and control the drone to enter the power saving flight mode corresponding to the mode switching instruction;
  • the to-be-closed determining module 302 is used to determine the corresponding module to be closed in the power-saving flight mode of the drone, and to generate a corresponding module closing instruction.
  • the module to be closed indicates that the drone is currently flying Non-essential functional modules when flying in the state;
  • the control shutdown module 303 is configured to control the shutdown of each module to be shut down through the module shutdown instruction, so that each module to be shut down stops working.
  • the mode switching module 301 further includes:
  • a level determining unit configured to analyze and determine the power saving level corresponding to the mode switching instruction
  • a mode obtaining unit configured to look up a preset power saving mode information table, and obtain the corresponding power saving flight mode under the power saving level
  • a mode switching unit configured to switch the drone to the power-saving flight mode
  • the power saving level includes: a light power saving level, a medium power saving level, and an extreme power saving level.
  • the drone control device may further include:
  • the instruction sending module is used to send a communication transmission adjustment instruction to the communication transmission module of the UAV;
  • the communication adjustment module is used to control the communication transmission module to reduce the communication frequency with the first control terminal through the communication transmission adjustment instruction, and/or reduce unnecessary parameters in the communication data packet transmitted to the first control terminal .
  • the drone control device may further include:
  • the response receiving module is configured to receive the module closing response message fed back by each module to be closed before the function is closed, so as to determine that each module to be closed is in a non-working state.
  • the first control terminal is a drone remote control or a smart mobile terminal.
  • the drone control device provided by the embodiment of the present invention can execute the drone control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle provided by Embodiment 4 of the present invention.
  • the unmanned aerial vehicle includes a processor 40, a memory 41, an input device 42 and an output device 43;
  • the number of the device 40 can be one or more.
  • one processor 40 is taken as an example; the processor 40, the memory 41, the input device 42, and the output device 43 in the drone can be connected by a bus or other means, as shown in Fig. In 3, take the bus connection as an example.
  • the memory 41 can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the drone control method in the embodiment of the present invention (for example, drone control device
  • the mode switching module 301, the to-be-closed determining module 302, and the control-closing module 303) are included.
  • the processor 40 executes various functional applications and data processing of the drone by running the software programs, instructions, and modules stored in the memory 41, that is, realizes the above-mentioned drone control method.
  • the memory 41 may mainly include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like.
  • the memory 41 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 41 may further include a memory remotely provided with respect to the processor 40, and these remote memories may be connected to the device/terminal/server through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 42 can be used to receive inputted numeric or character information, and generate key signal inputs related to user settings and function control of the device/terminal/server.
  • the output device 43 may include a display device such as a display screen.
  • the fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute a drone control method, and the method includes:
  • the module to be turned off is an unnecessary function of the drone when flying in the current flight state
  • the module closing instruction is used to control the closing of each module to be closed, so that each module to be closed stops working.
  • a storage medium containing computer-executable instructions provided by an embodiment of the present invention
  • the computer-executable instructions are not limited to the method operations described above, and can also execute the drone control method provided by any embodiment of the present invention Related operations in.
  • the present invention can be implemented by software and necessary general-purpose hardware, of course, it can also be implemented by hardware, but in many cases the former is a better implementation.
  • the technical solution of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • FLASH Flash memory
  • hard disk or optical disk etc., including several instructions to make a computer device (which can be a personal computer) , A server, or a network device, etc.) execute the method described in each embodiment of the present invention.

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

Abstract

L'invention concerne un procédé, un appareil et un dispositif de commande d'engin volant sans pilote embarqué et un support de stockage. Le procédé de commande consiste à : recevoir une instruction de commutation de mode envoyée par un premier terminal de commande et commander un engin volant sans pilote embarqué pour entrer dans un mode de vol à économie d'énergie correspondant à l'instruction de commutation de mode (S101) ; déterminer un module correspondant à arrêter de l'engin volant sans pilote embarqué dans le mode de vol à économie d'énergie et générer une instruction d'arrêt de module correspondante, le module à arrêter étant un module fonctionnel qui n'est pas nécessaire lorsque l'engin volant sans pilote embarqué vole dans l'état de vol actuel (S102) ; et commander, au moyen de l'instruction d'arrêt de module, à chaque module à arrêter de s'arrêter, de telle sorte que chaque module à arrêter s'arrête de fonctionner (S103). Au moyen d'une commutation vers un mode de vol à économie d'énergie, des modules fonctionnels sur un engin volant sans pilote embarqué qui ne sont pas liés au maintien du vol normal de l'engin volant sans pilote embarqué peuvent être arrêtés, de telle sorte que la perte invalide de la puissance de la batterie soit réduite et que la durée de vie de la batterie soit prolongée ; de plus, le risque que l'engin volant sans pilote embarqué soit incapable d'inverser le cap et même qu'il s'écrase en raison d'une puissance de batterie insuffisante est réduit.
PCT/CN2020/122540 2019-10-21 2020-10-21 Procédé, appareil et dispositif de commande d'engin volant sans pilote embarqué et support de stockage WO2021078163A1 (fr)

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