WO2021217350A1

WO2021217350A1 - Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2021217350A1
Application number: PCT/CN2020/087272
Authority: WO
Inventors: 黄筱莺; 李罗川
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2021-11-04
Also published as: CN113853554A

Abstract

An unmanned aerial vehicle control method, an unmanned aerial vehicle, and a storage medium. The method comprises: determining a distance between an obstacle and the unmanned aerial vehicle according to sensing data output by a sensor of the unmanned aerial vehicle (S201); when the distance is less than or equal to a preset distance threshold, controlling the unmanned aerial vehicle to execute a presentation work task (S202), wherein the unmanned aerial vehicle is not in a flight state, and the presentation work task comprises: an indicator light of the unmanned aerial vehicle working according to a preset mode, and/or a power component of the unmanned aerial vehicle working at an idle speed. The method can increase the enjoyment of interaction between the unmanned aerial vehicle and a user while ensuring the safety, so as to achieve the purpose of attracting users' attention.

Description

Control method of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Technical field

This application relates to the field of electronic technology, in particular to a control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium.

Background technique

At present, when unmanned aerial vehicles are sold and displayed, unmanned aerial vehicles are placed on the desktop in the same way. The interaction between unmanned aerial vehicles and users cannot be achieved, and it is difficult to achieve the purpose of attracting users' attention. If the unmanned aerial vehicle is to be displayed dynamically, it is necessary to manually operate the unmanned aerial vehicle to start or take off. However, it is difficult to operate in a crowded space, and the high-speed rotating blade is not safe.

Summary of the invention

The embodiments of the present application provide a control method of an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium, which can increase the interactive fun between the unmanned aerial vehicle and the user on the basis of ensuring safety, so as to achieve the purpose of attracting the user's attention. .

In the first aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, the method including:

Determining the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle;

When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform a display task, wherein the unmanned aerial vehicle is not in flight, and the display task includes the indicator light of the unmanned aerial vehicle Work according to a preset mode, and/or the power components of the UAV work at idle speed.

In the second aspect, an embodiment of the present application provides an unmanned aerial vehicle, and the unmanned aerial vehicle includes:

Sensors, used to collect sensor data;

The memory is used to store a computer program, the computer program including program instructions;

The processor calls the program instructions to execute the following steps:

In a third aspect, embodiments of the present application provide a computer-readable storage medium that stores a computer program that, when executed, realizes the control method of the unmanned aerial vehicle described in the first aspect.

In the embodiment of this application, when the unmanned aerial vehicle determines that there is an obstacle near the unmanned aerial vehicle, the unmanned aerial vehicle can determine the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle. Less than or equal to the preset distance threshold, indicating that the UAV recognizes that someone or an object is approaching, and then controls the UAV to perform the display task, which can increase the interaction between the UAV and the user and achieve the purpose of attracting the user's attention . Since the display task is that the indicator lights of the unmanned aerial vehicle work in a preset mode, and/or the power components of the unmanned aerial vehicle work at idle speed, the safety of people or objects and the unmanned aerial vehicle can be ensured.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1A is a schematic diagram of a scene of an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 1B is a schematic diagram of another unmanned aerial vehicle provided by an embodiment of the present application;

2 is a schematic flowchart of a control method for an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of another unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of another control method for an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of another unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 6 is a schematic flowchart of another unmanned aerial vehicle control method provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

Fig. 8 is a schematic structural diagram of another unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Unmanned aerial vehicles can be called Unmanned Aerial Vehicles/Drones (UAV), which refers to unmanned aircraft operated by radio remote control equipment and self-provided program control devices, or completely or intermittently autonomous by on-board computer地 Operation. Unmanned aerial vehicles may include unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned para-wing aircraft, and the like.

In order to facilitate the understanding of an unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium provided in the embodiments of this application, the embodiments of this application first briefly introduce the important components of the unmanned aerial vehicle. The unmanned aerial vehicle may include sensors, as well as indicator lights and/or power components.

Sensors can be used to collect sensing data, which is used to determine the distance between obstacles and unmanned aerial vehicles. Specifically, the sensor may include a photographing device, which may be used to collect images, and the photographing device may be configured at a designated position of the unmanned aerial vehicle. For example, the photographing device is a camera, and the camera is installed on the nose of the unmanned aerial vehicle. A mobile phone or camera equipped with a camera, which is mounted on the gimbal of the unmanned aerial vehicle. The sensor may also include an attitude sensor, etc. The attitude sensor may include a speed sensor, an acceleration sensor, or a distance sensor (such as an optical distance sensor, an infrared distance sensor, or an ultrasonic distance sensor, etc.), including but not limited to an inertial measurement unit (IMU). ), three-axis gyroscope, three-axis accelerometer or three-axis electronic compass, etc. The attitude sensor can be used to collect motion data.

The indicator light may include a light fixture installed at a designated position of the UAV, such as an arm light (that is, a light installed on the arm of the UAV) or a propeller light (that is, a light installed on the propeller of the UAV). When the distance between the obstacle and the unmanned aerial vehicle is less than or equal to the preset distance threshold, the unmanned flight controller can control the indicator light to work in a preset mode, and the preset mode may include the flashing color and/or flashing frequency of the indicator light For example, the arm light of the control UAV flashes quickly, or the propeller light of the control UAV displays red and remains on.

The power components can include motors, ESCs, and propellers, etc. The electricity is used to control the speed of the motor. When the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, the UAV controller can control the power components to work at idle speed. For example, the ESC controls the motor to rotate at idle speed through open-loop control to realize the propeller. The low-speed rotation.

Please refer to FIG. 1A. FIG. 1A is a schematic diagram of an exemplary unmanned aerial vehicle according to an embodiment of the present application. The unmanned aerial vehicle can collect sensing data in real time through the sensor. When the user approaches the unmanned aerial vehicle, the unmanned aerial vehicle can determine the user as an obstacle according to the sensor data output by the sensor, and determine the obstacle and the unmanned vehicle based on the sensor data. The distance between the aircraft. When the distance is less than or equal to the preset distance threshold, the unmanned aerial vehicle can control the unmanned aerial vehicle to perform display tasks, such as controlling the indicator light to work in a preset mode, or controlling the power components to work at idle speed.

Please refer to FIG. 1B. FIG. 1B is a schematic diagram of another exemplary unmanned aerial vehicle according to an embodiment of the present application. After the unmanned aerial vehicle performs the display task, if the sensor data collected in real time by the sensor determines that the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display work Task.

Based on FIG. 1A and FIG. 1B, please refer to FIG. 2. FIG. 2 is a schematic flowchart of an unmanned aerial vehicle control method provided by an embodiment of the present application. The unmanned aerial vehicle control method may include the following steps S201 to S203:

Step S201: Determine the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle.

Among them, the sensor may include a distance sensor, such as an optical distance sensor, an infrared distance sensor, or an ultrasonic distance sensor. The unmanned aerial vehicle can determine the distance between the obstacle and the unmanned aerial vehicle based on the sensor data output by the unmanned aerial vehicle. Among them, obstacles may include users or animals.

In an exemplary scenario, the unmanned aerial vehicle can determine whether there is a moving object based on the sensor data output by the sensor. If there is a moving object, the unmanned aerial vehicle can use the moving object as an obstacle, and then determine the obstacle and the The distance between unmanned aerial vehicles. If there is no moving object, the UAV can collect sensing data through the sensor in a preset time period or in real time, and then judge whether there is a moving object based on the sensing data output by the sensor. Exemplarily, the way for the unmanned aerial vehicle to determine whether there is a moving object may be: the unmanned aerial vehicle continuously collects multiple frames of images through the image sensor, and compares the position of the same object in each frame of the image, if there is a target object in each frame of the image If the position of is different, the UAV can determine the target object as a moving object, and the image sensor can be a photographing device. Or, the unmanned aerial vehicle can obtain the distance between each object and the unmanned aerial vehicle through the distance sensor multiple times in a continuous period of time. If the distance between the target object and the unmanned aerial vehicle changes in the continuous period of time, there is no The human aircraft can determine the target object as a moving object.

In an exemplary scenario, the unmanned aerial vehicle can determine whether there is an object carrying vital signs based on the sensor data output by the sensor. The data determines the distance between the obstacle and the UAV. Exemplarily, the way for the unmanned aerial vehicle to determine whether there is an object carrying vital signs may be: the unmanned aerial vehicle collects an image through an image sensor, extracts characteristic information in the image, and analyzes the characteristic information to identify whether the image contains An object at a target location, if there is an object containing the target location in the image, the UAV can determine that the object carries vital signs, where the target location may include eyes, nose, or mouth. Alternatively, the UAV can transmit a signal to the object through a wireless sensor, receive the signal reflected by the object, and analyze the signal reflected by the object to obtain the temperature value of the object. If the temperature value is greater than the preset temperature threshold, the UAV can determine the Objects carry vital signs, and wireless sensors may include infrared sensors and the like.

Step S202: When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform the display task.

After the unmanned aerial vehicle determines the distance between the obstacle and the unmanned aerial vehicle based on the sensor data output by the sensor of the unmanned aerial vehicle, the distance can be compared with a preset distance threshold. When the distance is less than or equal to the preset distance threshold , The unmanned aerial vehicle can control the unmanned aerial vehicle to perform display tasks. When the distance is greater than the preset distance threshold, the unmanned aerial vehicle can control the unmanned aerial vehicle not to perform the display task.

Wherein, when the distance is less than or equal to the preset distance threshold, the unmanned aerial vehicle is not in flight, and the display tasks include the unmanned aerial vehicle's indicator light working in a preset mode, and/or the unmanned aerial vehicle's power components are idling. In the embodiments of the present application, when the unmanned aerial vehicle is on sale and display, the unmanned aerial vehicle is not in flight, and the propeller of the unmanned aerial vehicle will not rotate at a high speed, which can ensure the safety of the unmanned aerial vehicle, as well as people or objects. In addition, when the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, the indicator light of the UAV can be controlled to work according to the preset mode, and/or the power components of the UAV work at idle speed to achieve The purpose of attracting the user's attention.

Demonstration tasks include but are not limited to the unmanned aerial vehicle's indicator light working in a preset mode, and/or the unmanned aerial vehicle's power components working at idle speed, as long as the unmanned aerial vehicle is not in flight, it can attract users The display operation for the purpose of attention can be covered in the embodiments of this application. For example, when the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, the UAV can be controlled to play the preset audio data.

For example, suppose that the preset distance threshold is 1 meter (m), the UAV is placed on the desktop, and the front camera collects image data in real time. The UAV can identify obstacles and UAVs based on the image data. The distance between the obstacle and the unmanned aerial vehicle is 1 meter away, the unmanned aerial vehicle will not perform the display task, and the unmanned aerial vehicle will perform the display task only when the obstacle is within 1 meter of the unmanned aerial vehicle.

Exemplarily, if there are multiple obstacles close to the unmanned aerial vehicle, and the distance between all the obstacles and the unmanned aerial vehicle is greater than the preset distance threshold, the unmanned aerial vehicle does not perform the display task. However, as long as the distance between any obstacle and the UAV is less than or equal to the preset distance threshold, the UAV will perform the display task.

In the embodiment of the present application, when the distance between the obstacle and the UAV is relatively long, even if the UAV performs the display task, the obstacle cannot perceive the UAV and cannot achieve the purpose of attracting attention. Based on this, The embodiment of the present application executes the display task only when the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, which can save system resources.

Step S203: When the distance is greater than the preset distance threshold, control the unmanned aerial vehicle to stop performing the display task.

After the unmanned aerial vehicle controls the unmanned aerial vehicle to perform the display task, it will continue to collect sensor data through the sensor. If the unmanned aerial vehicle detects that the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold based on the sensor data, Then the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

For example, suppose that the preset distance threshold is 1 meter (m), the UAV is placed on the desktop, and the front camera collects image data in real time. The UAV can identify obstacles and UAVs based on the image data. The distance between the obstacle and the unmanned aerial vehicle is within 1 meter, and the unmanned aerial vehicle will perform the demonstration task. When the obstacle moves 1 meter away from the unmanned aerial vehicle, the unmanned aerial vehicle stops performing the display task.

Exemplarily, assuming that there are multiple obstacles and the distance between the UAV and the UAV is less than or equal to the preset distance threshold, when the UAV performs the display task, if some of the obstacles are far away Unmanned aerial vehicle, and the distance from the unmanned aerial vehicle is greater than the preset distance threshold, then the distance between the other obstacles in the multiple obstacles and the unmanned aerial vehicle is still less than or equal to the preset distance threshold, and the unmanned aerial vehicle will Continue to perform display tasks. Only when there is no obstacle whose distance from the UAV is less than or equal to the preset distance threshold, the UAV will stop performing the display task.

In the embodiment of the present application, when the unmanned aerial vehicle is performing the display task, if the obstacle is far away from the unmanned aerial vehicle and the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold, it indicates that the attention of the obstacle is not on the unmanned aerial vehicle. On an unmanned aerial vehicle, the unmanned aerial vehicle can stop performing the display task, saving system resources.

In an implementation manner, the sensor data output by the sensor may include an image output by the photographing device. Based on this, the unmanned aerial vehicle can determine whether the obstacle is a human body based on the image. When the distance between the obstacle and the unmanned aerial vehicle is less than or equal to the preset distance threshold and the obstacle is a human body, the unmanned aerial vehicle can control the unmanned aerial vehicle to execute Demonstrate work tasks. When the obstacle is not a human body, the unmanned aerial vehicle is not controlled to perform the display task.

Among them, the embodiment of the present application does not limit the execution sequence of the step of determining whether the distance between the obstacle and the UAV is less than or equal to the preset distance threshold and the step of determining whether the obstacle is a human body. For example, the unmanned aerial vehicle can simultaneously determine whether the distance between the obstacle and the unmanned aerial vehicle is less than or equal to a preset distance threshold, and whether the obstacle is a human body. For another example, after the UAV determines that the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, it further determines whether the obstacle is a human body. If the distance between the obstacle and the UAV is greater than the preset distance Threshold, the UAV will not perform the step of judging whether the obstacle is a human body. For another example, after the UAV judges that the obstacle is a human body, it further determines whether the distance between the obstacle and the UAV is less than or equal to the preset distance threshold. If the obstacle is not a human body, the UAV will not perform the judgment. The step of whether the distance between the obstacle and the UAV is less than or equal to the preset distance threshold.

In the embodiment of the present application, only when the distance between the human and the unmanned aerial vehicle is less than or equal to the preset distance threshold, the unmanned aerial vehicle will perform the display task to achieve the purpose of attracting the user's attention. If it is detected that the distance between a non-human object (such as an animal or a movable toy) and the unmanned aerial vehicle is less than or equal to the preset distance threshold, the unmanned aerial vehicle does not perform display tasks, which can save system resources.

In an implementation manner, when the unmanned aerial vehicle obtains an instruction to enter the display mode, it can control the unmanned aerial vehicle to enter the display mode. Based on this, when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to the preset distance threshold and the unmanned aerial vehicle is in the display mode, the unmanned aerial vehicle can control the unmanned aerial vehicle to perform the display task. When the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold or the unmanned aerial vehicle is not in the display mode, the unmanned aerial vehicle may not control the unmanned aerial vehicle to perform the display task.

In one implementation, after the unmanned aerial vehicle controls the unmanned aerial vehicle to perform the display task, the unmanned aerial vehicle can detect the distance between the obstacle and the unmanned aerial vehicle in real time, and the working mode of the unmanned aerial vehicle. When the unmanned aerial vehicle determines When the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold or the unmanned aerial vehicle is not in the display mode, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

Further optionally, if the unmanned aerial vehicle determines that the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold, and then controls the unmanned aerial vehicle to stop performing the display task, the unmanned aerial vehicle can also exit the display mode, for example Switching from the display mode to the flight control mode is another example of controlling the unmanned aerial vehicle to remain stationary, that is, controlling the indicator light to stop working according to the preset mode, or controlling the power unit to stop idling.

Among them, the working mode of the unmanned aerial vehicle may at least include a display mode and a flight control mode. The display mode and the flight control mode cannot coexist. For example, when the UAV is in the display mode, the UAV does not respond to the user’s flight control instructions to the UAV. Another example is when the UAV is in the flight control mode, the UAV does not Perform display tasks.

In one implementation, the sensory data output by the sensor may include motion data. Based on this, when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to the preset distance threshold and the unmanned aerial vehicle is determined to be in a stationary state according to the motion data, the unmanned aerial vehicle can control the unmanned aerial vehicle to perform the display task. When it is determined that the unmanned aerial vehicle is in motion based on the movement data, the unmanned aerial vehicle is not controlled to perform the display task.

For example, the motion data may include at least one of speed, acceleration, and moving distance. If the motion data is less than a preset threshold, the UAV can determine that the UAV is in a stationary state; if the motion data is greater than or equal to the preset threshold, no The human aerial vehicle can determine that the unmanned aerial vehicle is in motion.

In one implementation, the unmanned aerial vehicle can switch between the display mode and the flight control mode. For example, when the unmanned aerial vehicle is started or in the display mode, if an instruction to enter the flight control mode is obtained, the unmanned aerial vehicle can control the unmanned aerial vehicle to enter the flight control mode. When the unmanned aerial vehicle is in the flight control mode, the unmanned aerial vehicle can perform flight control of the unmanned aerial vehicle in response to a user's flight control instruction on the unmanned aerial vehicle. Flight control instructions may include remote control stick amount instructions, navigation instructions, or control instructions from the client.

In an implementation manner, the unmanned aerial vehicle can obtain the number of times the unmanned aerial vehicle performs the display task, and then store the number of times, or send the number of times to the terminal device, so that the terminal device displays the number of times.

In the embodiment of the present application, if the distance between the obstacle and the UAV is less than or equal to the preset distance threshold, the UAV is controlled to perform the display task, which can increase the interactive fun between the UAV and the user to achieve The purpose of attracting the user's attention. Since the display task is that the indicator lights of the unmanned aerial vehicle work in a preset mode, and/or the power components of the unmanned aerial vehicle work at idle speed, the safety of obstacles and the unmanned aerial vehicle can be ensured.

Please refer to FIG. 3, which is a schematic diagram of another exemplary unmanned aerial vehicle according to an embodiment of the present application. After the unmanned aerial vehicle performs the display task, if the user wants to artificially stop the unmanned aerial vehicle from performing the display task, the image containing the preset QR code can be placed in front of the unmanned aerial vehicle, or the camera of the unmanned aerial vehicle can be An image containing a preset QR code. Based on this, the UAV can obtain an image through a camera. When it is recognized that there is a QR code in the image, and the recognized QR code is the same as the preset QR code , The unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

Based on Fig. 3 and Fig. 4, Fig. 4 is a schematic flow chart of another unmanned aerial vehicle control method provided by an embodiment of the present application. The unmanned aerial vehicle control method may include the following steps S401 to S404:

Step S401: Determine the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle.

Wherein, step S401 in the embodiment of the present application is the same as step S201 in the foregoing embodiment. For details, reference may be made to the description of step S201 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S402: When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform the display task.

Wherein, step S402 in the embodiment of the present application is the same as step S202 in the foregoing embodiment. For details, reference may be made to the description of step S202 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S403: Obtain sensor data output by the sensor of the unmanned aerial vehicle, where the sensor data includes the image output by the photographing device.

The sensor in step S403 is a photographing device, and the sensor and the sensor in step S401 may be the same or different, and are not specifically limited by the embodiment of the present application.

Step S404: When it is recognized that there is a two-dimensional code in the image, and the two-dimensional code is the same as the preset two-dimensional code, control the unmanned aerial vehicle to stop performing the display task.

After the unmanned aerial vehicle obtains the image, it can identify whether there is a two-dimensional code in the image. If there is a two-dimensional code in the image, the unmanned aerial vehicle can further compare the identified two-dimensional code with the preset two-dimensional code. If the recognized QR code is the same as the preset QR code, the UAV can control the UAV to stop performing the display task. If the recognized QR code is not the same as the preset QR code, there is nothing The human aerial vehicle may not control the unmanned aerial vehicle to stop performing the display task, for example, the unmanned aerial vehicle can delete the image. If the two-dimensional code does not exist in the image, the unmanned aerial vehicle may not control the unmanned aerial vehicle to stop performing the display task, for example, the unmanned aerial vehicle can delete the image.

In one implementation, when the UAV is performing the display task, if the image output by the camera is acquired, the UAV can identify whether there is a QR code in the image, and if there is no QR code in the image, Or the two-dimensional code in the image is not the same as the preset two-dimensional code, then the unmanned aerial vehicle can obtain the distance between the obstacle and the unmanned aerial vehicle according to the image. If the distance is greater than the preset distance threshold, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

In one implementation, when the UAV is performing the display task, if the image output by the camera is acquired, the UAV can identify whether there is a QR code in the image, and if there is no QR code in the image, Or the two-dimensional code in the image is different from the preset two-dimensional code, then the UAV can identify whether the obstacle is a human body based on the image. If the obstacle is not a human body, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task. If the obstacle is a human body, the UAV can obtain the distance between the obstacle and the UAV according to the image. If the distance is greater than the preset distance threshold, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

In the embodiment of the present application, if the user wants to manually stop the unmanned aerial vehicle from performing the display task during the execution of the unmanned aerial vehicle, the image containing the preset QR code can be placed in front of the unmanned aerial vehicle. Or point the camera of the UAV at the image containing the preset QR code. Based on this, the UAV can obtain the image through the camera. When it is recognized that there is a QR code in the image, and the recognized QR code When the same as the preset QR code, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task.

Please refer to FIG. 5, which is a schematic diagram of another exemplary unmanned aerial vehicle according to an embodiment of the present application. After the unmanned aerial vehicle performs the display task, if the unmanned aerial vehicle is picked up by the user, the unmanned aerial vehicle can obtain the movement data output by the sensor, determine that the movement data meets the preset movement conditions, and then control the unmanned aerial vehicle to stop performing the display work Tasks, such as the unmanned aerial vehicle's initiative to stop rotating propellers or turn on the lights, etc., so that the user can view the structure of the unmanned aerial vehicle.

Based on FIG. 5, please refer to FIG. 6. FIG. 6 is a schematic flowchart of another unmanned aerial vehicle control method provided by an embodiment of the present application. The unmanned aerial vehicle control method may include the following steps S601 to S605:

Step S601: Determine the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle.

Wherein, step S601 in the embodiment of the present application is the same as step S201 in the foregoing embodiment. For details, reference may be made to the description of step S201 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S602: When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform the display task.

Wherein, step S602 in the embodiment of the present application is the same as step S202 in the foregoing embodiment. For details, reference may be made to the description of step S202 in the foregoing embodiment, and details are not repeated in the embodiment of the present application.

Step S603: Determine the motion data according to the sensor data output by the sensor of the unmanned aerial vehicle.

The sensor in step S603 may include at least one of a speed sensor, an acceleration sensor, and a distance sensor. The sensor and the sensor in step S601 may be the same or different, and are not specifically limited by the embodiment of the present application.

Wherein, the motion data may include at least one of speed, acceleration, and moving distance. The motion data in the embodiments of the present application includes but is not limited to one or more of speed, acceleration, and moving distance. As long as it can be used to detect whether the UAV is picked up by the user, it can be used as motion data, for example Movement data may include altitude, specifically: the UAV obtains the altitude of the UAV within a preset time period. If the altitude of the UAV changes within the preset time period, it can be determined that the UAV has Picked up by the user.

Step S604: Determine whether the exercise data meets a preset exercise condition.

After the UAV determines the motion data, it can determine whether the motion data meets the preset motion conditions. If the motion data meets the preset motion conditions, the UAV can control the UAV to stop performing the display task. If the data does not meet the preset motion conditions, the UAV may not control the UAV to stop performing the display task, such as deleting the motion data.

In an implementation manner, when the motion data is greater than or equal to a preset threshold, the unmanned aerial vehicle may determine that the motion data meets the preset motion condition. When the motion data is less than the preset threshold, the UAV can determine that the motion data does not meet the preset motion conditions.

For example, assuming that the motion data is speed, when the UAV's speed is greater than or equal to the preset speed threshold, it indicates that there is an external force controlling the UAV movement. The UAV can determine that the motion data meets the preset motion conditions, and then control the unmanned aircraft. The aircraft stopped performing the display task.

As another example, assuming that the motion data is acceleration, when the acceleration of the UAV is greater than or equal to the preset acceleration threshold, it indicates that there is an external force controlling the motion of the UAV. The UAV can determine that the motion data meets the preset motion conditions, and then control the vehicle. The human aircraft stopped performing the display task.

As another example, assuming that the movement data is the movement distance, when the movement distance of the UAV is greater than or equal to the preset distance threshold, it indicates that there is an external force controlling the movement of the UAV. The UAV can determine that the movement data meets the preset movement conditions, and then Control the unmanned aerial vehicle to stop performing the display task.

Step S605: When the motion data meets the preset motion condition, control the UAV to stop performing the display task.

In the embodiment of the present application, if the unmanned aerial vehicle is picked up by the user while the unmanned aerial vehicle is performing the display task, the unmanned aerial vehicle can detect that the sensor data output by the sensor meets the preset motion conditions, and then control the unmanned aerial vehicle. The human aircraft stops performing display tasks, for example, the unmanned aircraft actively stops rotating propellers or lights up operations, so that the user can view the structure of the unmanned aircraft.

Among them, the technical solutions described in the embodiments described in FIG. 2, FIG. 4, and FIG. 6 can be combined with each other to obtain a new technical solution. For example, after the unmanned aerial vehicle performs a display task, when the distance between the obstacle and the unmanned aerial vehicle is greater than the preset distance threshold, it is recognized that there is a QR code in the image output by the camera, and the QR code is consistent with the preset distance. When the two-dimensional code is the same or the motion data meets the preset motion conditions, the unmanned aerial vehicle can control the unmanned aerial vehicle to stop performing the display task. For another example, during the process of performing the display task or after the unmanned aerial vehicle stops performing the display task, it can obtain the number of times the unmanned aerial vehicle performs the display task, store the number, or send the number to the terminal device, so that The terminal device displays the number of times.

Please refer to FIG. 7, which is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application. The unmanned aerial vehicle described in the embodiment of the present application includes a processor 701, a memory 702, a communication interface 703, and a sensor 704. The unmanned aerial vehicle may also include an indicator light 705 and/or a power component 706. The aforementioned processor 701, memory 702, communication interface 703, sensor 704, indicator light 705 and/or power component 706 are connected by one or more communication buses.

The aforementioned processor 701 may be a CPU, and the processor may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor 701 is configured to support the unmanned aerial vehicle to execute the corresponding method of the unmanned aerial vehicle in the method described in FIG. 2, FIG. 4, or FIG. Function.

The aforementioned memory 702 may include a read-only memory and a random access memory, and provides computer programs and data to the processor 701. A part of the memory 702 may also include a non-volatile random access memory. Wherein, the processor 701 is used to execute when calling the computer program:

Determine the distance between the obstacle and the UAV according to the sensing data output by the sensor 704;

When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform a display task, wherein the unmanned aerial vehicle is not in flight, and the display task includes the indicator light of the unmanned aerial vehicle 705 works in a preset mode, and/or the power component 706 of the UAV works at idle speed.

In an implementation manner, the processor 701 is further configured to execute the following steps:

When the instruction to enter the display mode is obtained, control the UAV to enter the display mode;

When the processor 701 controls the unmanned aerial vehicle to perform a display task when the distance is less than or equal to a preset distance threshold, the processor 701 is specifically configured to perform the following steps:

When the distance is less than or equal to the preset distance threshold and the unmanned aerial vehicle is in the display mode, controlling the unmanned aerial vehicle to perform the display task.

When the unmanned aerial vehicle is in the display mode, it does not respond to a user's flight control instruction to the unmanned aerial vehicle.

When the instruction to enter the flight control mode is obtained, control the unmanned aerial vehicle to enter the flight control mode;

When the unmanned aerial vehicle is in the flight control mode, flight control of the unmanned aerial vehicle is performed in response to a user's flight control instruction to the unmanned aerial vehicle.

In an implementation manner, the sensor data output by the sensor includes an image output by a photographing device.

Determining whether the obstacle is a human body according to the image;

When the distance is less than or equal to the preset distance threshold and the obstacle is a human body, the unmanned aerial vehicle is controlled to perform the display task.

When the obstacle is not a human body, the unmanned aerial vehicle is not controlled to perform the display task.

When it is recognized that there is a two-dimensional code in the image, and the two-dimensional code is the same as the preset two-dimensional code, control the unmanned aerial vehicle to stop performing the display task.

In an implementation manner, the processor 701 is further configured to perform the following operations:

Determining the motion data according to the sensor data output by the sensor of the unmanned aerial vehicle;

Determine whether the exercise data meets preset exercise conditions;

When the motion data meets the preset motion condition, control the unmanned aerial vehicle to stop performing the display task.

In an implementation manner, the processor 701 is specifically configured to perform the following operations when determining whether the motion data meets a preset motion condition:

When the exercise data is greater than or equal to a preset threshold, determining that the exercise data meets the preset exercise condition;

When the motion data is less than the preset threshold, it is determined that the motion data does not satisfy the preset motion condition.

In an implementation manner, the motion data includes at least one of speed, acceleration, and moving distance.

When the distance is greater than the preset distance threshold, control the unmanned aerial vehicle to stop performing the display task.

Acquiring the number of times the unmanned aerial vehicle performs the display task;

Store the number of times, or send the number of times to a terminal device, so that the terminal device displays the number of times.

The unmanned aerial system including the drone will be described below in conjunction with FIG. 8. In this embodiment, a rotorcraft is taken as an example for description.

The unmanned aerial system 100 may include a UAV 110, a carrier 120, a display device, and a remote control device. Among them, the UAV 110 may include a power system 150, a flight control system 160, and a frame 170. The UAV 110 can wirelessly communicate with the remote control device 140 and the display device.

The frame 170 may include a fuselage and a tripod (also referred to as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected to the fuselage to support the UAV 110 when it is landing. One or more indicator lights may be installed on the frame 170, for example, an arm lamp installed on the arm.

The power system 150 may include an electronic speed governor (referred to as an ESC for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected to the electronic speed governor Between the 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the corresponding arms; the electronic governor 151 is used to receive the driving signal generated by the flight controller 160, and provide a driving current to the motor 152 according to the driving signal to control The speed of the motor 152. The motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the UAV 110. The power enables the UAV 110 to realize one or more degrees of freedom of movement. It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brush motor. The power system 150 corresponds to the power components in the above-mentioned embodiment.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the sensing data of the UAV. The sensing system 162 may include, for example, a gyroscope, an electronic compass, an IMU, a vision sensor (for example, a monocular camera or a dual/multiple camera, etc.), GPS (Global Positioning System), barometer, and visual inertial navigation distance. At least one of the sensors. The flight controller 161 is used to control the UAV 110. For example, the UAV 110 can be controlled to perform the display task according to the sensor data measured by the sensor system 162.

The carrier 120 can be used to carry a load 180. For example, when the carrier 120 is a pan/tilt device, the load 180 may be a photographing device (for example, a camera, a video camera, etc.). The embodiment of the present application is not limited to this. For example, the carrier may also be used to carry weapons or other loads. Carrying equipment. Exemplarily, the load 180 may also be a spray head.

The embodiment of the present application also provides a readable storage medium, and the readable storage medium stores a computer program. When the computer program is executed by a processor, it can be used to implement the embodiments of the present application. The control method described in the corresponding embodiment will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the UAV, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card ( Flash Card) etc. Further, the computer-readable storage medium may also include both an internal storage unit of the UAV and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the UAV. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disk, ROM or RAM, etc.

The above-disclosed are only preferred embodiments of this application, and of course the scope of rights of this application cannot be limited by this. Therefore, equivalent changes made according to the claims of this application still fall within the scope of this application.

Claims

An unmanned aerial vehicle control method, characterized in that the method includes:

Determining the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle;

When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform a display task, wherein the unmanned aerial vehicle is not in flight, and the display task includes the indicator light of the unmanned aerial vehicle Work according to a preset mode, and/or the power components of the UAV work at idle speed.
The method according to claim 1, wherein the method further comprises:

When the instruction to enter the display mode is obtained, control the UAV to enter the display mode;

The controlling the unmanned aerial vehicle to perform a display task when the distance is less than or equal to a preset distance threshold includes:

When the distance is less than or equal to the preset distance threshold and the unmanned aerial vehicle is in the display mode, controlling the unmanned aerial vehicle to perform the display task.
The method according to claim 2, wherein the method further comprises:

When the unmanned aerial vehicle is in the display mode, it does not respond to a user's flight control instruction to the unmanned aerial vehicle.
The method according to claim 2 or 3, wherein the method further comprises:

When the instruction to enter the flight control mode is obtained, control the unmanned aerial vehicle to enter the flight control mode;

When the unmanned aerial vehicle is in the flight control mode, flight control of the unmanned aerial vehicle is performed in response to a user's flight control instruction to the unmanned aerial vehicle.
The method according to any one of claims 1 to 4, wherein the sensor data output by the sensor comprises an image output by a photographing device.
The method according to claim 5, wherein the method further comprises:

Determining whether the obstacle is a human body according to the image;

The controlling the unmanned aerial vehicle to perform a display task when the distance is less than or equal to a preset distance threshold includes:

When the distance is less than or equal to the preset distance threshold and the obstacle is a human body, the unmanned aerial vehicle is controlled to perform the display task.
The method according to claim 6, wherein the method further comprises:

When the obstacle is not a human body, the unmanned aerial vehicle is not controlled to perform the display task.
The method according to any one of claims 5-7, wherein the method further comprises:

When it is recognized that there is a two-dimensional code in the image, and the two-dimensional code is the same as the preset two-dimensional code, control the unmanned aerial vehicle to stop performing the display task.
The method according to any one of claims 1-8, wherein the method further comprises:

Determining the motion data according to the sensor data output by the sensor of the unmanned aerial vehicle;

Determine whether the exercise data meets preset exercise conditions;

When the motion data meets the preset motion condition, control the unmanned aerial vehicle to stop performing the display task.
The method of claim 9, wherein:

The determining whether the exercise data meets a preset exercise condition includes:

When the exercise data is greater than or equal to a preset threshold, determining that the exercise data meets the preset exercise condition;

When the motion data is less than the preset threshold, it is determined that the motion data does not satisfy the preset motion condition.
The method according to claim 9 or 10, wherein the motion data includes at least one of speed, acceleration, and moving distance.
The method according to any one of claims 1-11, wherein the method further comprises:

When the distance is greater than the preset distance threshold, control the unmanned aerial vehicle to stop performing the display task.
The method according to any one of claims 1-12, wherein the method further comprises:

Acquiring the number of times the unmanned aerial vehicle performs the display task;

Store the number of times, or send the number of times to a terminal device, so that the terminal device displays the number of times.
An unmanned aerial vehicle, characterized in that, the unmanned aerial vehicle comprises:

Sensors, used to collect sensor data;

The memory is used to store a computer program, the computer program including program instructions;

The processor calls the program instructions to execute the following steps:

Determining the distance between the obstacle and the unmanned aerial vehicle according to the sensor data output by the sensor of the unmanned aerial vehicle;

When the distance is less than or equal to the preset distance threshold, control the unmanned aerial vehicle to perform a display task, wherein the unmanned aerial vehicle is not in flight, and the display task includes the indicator light of the unmanned aerial vehicle Work according to a preset mode, and/or the power components of the UAV work at idle speed.
The unmanned aerial vehicle according to claim 14, wherein the processor is further configured to execute the following steps:

When the instruction to enter the display mode is obtained, control the UAV to enter the display mode;

When the processor controls the unmanned aerial vehicle to perform a display task when the distance is less than or equal to a preset distance threshold, the processor is specifically configured to perform the following steps:

When the distance is less than or equal to the preset distance threshold and the unmanned aerial vehicle is in the display mode, controlling the unmanned aerial vehicle to perform the display task.
The unmanned aerial vehicle according to claim 15, wherein the processor is further configured to execute the following steps:

When the unmanned aerial vehicle is in the display mode, it does not respond to a user's flight control instruction to the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 15 or 16, wherein the processor is further configured to execute the following steps:

When the instruction to enter the flight control mode is obtained, control the unmanned aerial vehicle to enter the flight control mode;

When the unmanned aerial vehicle is in the flight control mode, flight control of the unmanned aerial vehicle is performed in response to a user's flight control instruction to the unmanned aerial vehicle.
The unmanned aerial vehicle according to any one of claims 14-17, wherein the sensor data output by the sensor includes an image output by a photographing device.
The unmanned aerial vehicle according to claim 18, wherein the processor is further configured to execute the following steps:

Determining whether the obstacle is a human body according to the image;

When the processor controls the unmanned aerial vehicle to perform a display task when the distance is less than or equal to a preset distance threshold, the processor is specifically configured to perform the following steps:

When the distance is less than or equal to the preset distance threshold and the obstacle is a human body, the unmanned aerial vehicle is controlled to perform the display task.
The unmanned aerial vehicle of claim 19, wherein the processor is further configured to execute the following steps:

When the obstacle is not a human body, the unmanned aerial vehicle is not controlled to perform the display task.
The unmanned aerial vehicle according to claim 18, wherein the processor is further configured to execute the following steps:

When it is recognized that there is a two-dimensional code in the image, and the two-dimensional code is the same as the preset two-dimensional code, control the unmanned aerial vehicle to stop performing the display task.
The unmanned aerial vehicle according to any one of claims 14-21, wherein the processor is further configured to perform the following operations:

Determining the motion data according to the sensor data output by the sensor of the unmanned aerial vehicle;

Determine whether the exercise data meets preset exercise conditions;

When the motion data meets the preset motion condition, control the unmanned aerial vehicle to stop performing the display task.
The unmanned aerial vehicle of claim 22, wherein:

The processor is specifically configured to perform the following operations when determining whether the motion data meets a preset motion condition:

When the exercise data is greater than or equal to a preset threshold, determining that the exercise data meets the preset exercise condition;

When the motion data is less than the preset threshold, it is determined that the motion data does not satisfy the preset motion condition.
The unmanned aerial vehicle according to claim 22 or 23, wherein the motion data includes at least one of speed, acceleration, and moving distance.
The unmanned aerial vehicle according to any one of claims 14-24, wherein the processor is further configured to execute the following steps:

When the distance is greater than the preset distance threshold, control the unmanned aerial vehicle to stop performing the display task.
The unmanned aerial vehicle according to any one of claims 14-25, wherein the processor is further configured to perform the following operations:

Acquiring the number of times the unmanned aerial vehicle performs the display task;

Store the number of times, or send the number of times to a terminal device, so that the terminal device displays the number of times.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program, when executed, realizes the unmanned aerial vehicle according to any one of claims 1-13的控制方法。 Control methods.