WO2022133676A1 - Procédé de détection d'état de bras de véhicule aérien sans pilote, dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote - Google Patents

Procédé de détection d'état de bras de véhicule aérien sans pilote, dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote Download PDF

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Publication number
WO2022133676A1
WO2022133676A1 PCT/CN2020/138087 CN2020138087W WO2022133676A1 WO 2022133676 A1 WO2022133676 A1 WO 2022133676A1 CN 2020138087 W CN2020138087 W CN 2020138087W WO 2022133676 A1 WO2022133676 A1 WO 2022133676A1
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WIPO (PCT)
Prior art keywords
positioning sensor
arms
distance information
drone
position information
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PCT/CN2020/138087
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English (en)
Chinese (zh)
Inventor
龚鼎
王凯
龚云
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/138087 priority Critical patent/WO2022133676A1/fr
Priority to CN202080079887.1A priority patent/CN114787036A/zh
Publication of WO2022133676A1 publication Critical patent/WO2022133676A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular, to a method for detecting the state of an arm of an unmanned aerial vehicle, a control device of an unmanned aerial vehicle, and an unmanned aerial vehicle.
  • the arms of the drone are often designed in a foldable form in the prior art.
  • the arms are in a folded state when the drone is stowed and unfolded when the drone is working.
  • the user unfolds the arm it may not be properly deployed or not locked, causing the drone to fold back during flight. If the control system of the UAV still maintains a continuous control output, safety accidents may occur, and in severe cases, the UAV may even crash.
  • Some foldable drones are equipped with locking recognition sensors at the joints of the arms to sense the state of the arms, but this method will lead to increased structural complexity and cost.
  • the present application provides a method for detecting an arm state of an unmanned aerial vehicle, a control device for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium.
  • the present application provides a method for detecting the state of an arm of an unmanned aerial vehicle, wherein two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor, and the two arms can be Switching between a collapsed state and an expanded state, the method includes:
  • Whether the two arms are normally deployed is determined according to the distance information between the two arms and the calibration distance information, and the calibration distance information is used to indicate the distance when the two arms are normally deployed.
  • the present application provides a control device for an unmanned aerial vehicle, wherein two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor, and the two arms can be folded and Switching between deployment states,
  • the control device of the drone includes: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • Whether the two arms are normally deployed is determined according to the distance information between the two arms and the calibration distance information, and the calibration distance information is used to indicate the distance when the two arms are normally deployed.
  • the present application provides an unmanned aerial vehicle, wherein two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor, and the two arms can be in a folded state or an unfolded state.
  • switching between, the drone includes: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • Whether the two arms are normally deployed is determined according to the distance information between the two arms and the calibration distance information, and the calibration distance information is used to indicate the distance when the two arms are normally deployed.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned unmanned aerial vehicle Arm state detection method.
  • the embodiments of the present application provide a method for detecting the state of an unmanned aerial vehicle, a control device of the unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium.
  • the two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor.
  • a positioning sensor the two arms can be switched between the folded state and the unfolded state, and the position information detected by the first positioning sensor and the second positioning sensor is obtained; according to the position information, the difference between the two arms can be obtained.
  • distance information between the two arms according to the distance information between the two arms and the calibration distance information, determine whether the two arms are normally deployed, and the calibration distance information is used to indicate when the two arms are normally deployed the distance.
  • the two arms can be determined. Whether the arms are normally deployed provides technical support for the subsequent avoidance of safety accidents in the drone; on the other hand, compared with the prior art, additional sensors are installed on the arms to detect whether the two arms are normally deployed.
  • This application implements the For example, the position information detected by the positioning sensor configured on the UAV is directly used to obtain the distance information between the two arms, and then it is determined whether the two arms are normally deployed, which can reduce the cost and the structural complexity of the UAV.
  • FIG. 1 is a schematic flowchart of an embodiment of a method for detecting the state of an unmanned aerial vehicle of the present application
  • Fig. 2 is the structural representation of the arm of the unmanned aerial vehicle in the unfolded state in an embodiment of the method for detecting the arm state of the unmanned aerial vehicle of the present application;
  • 3 and 4 are schematic structural diagrams of the UAV in FIG. 2 in a folded state with two arms at different angles;
  • FIG. 5 is a schematic flowchart of another embodiment of the method for detecting the state of the drone arm of the present application.
  • FIG. 6 is a schematic flowchart of another embodiment of the method for detecting the state of the UAV arm of the present application.
  • FIG. 7 is a schematic flowchart of another embodiment of the method for detecting the state of the drone arm of the present application.
  • FIG. 8 is a schematic flowchart of another embodiment of the method for detecting the state of the drone arm of the present application.
  • FIG. 9 is a schematic structural diagram of an embodiment of a control device for an unmanned aerial vehicle of the present application.
  • FIG. 10 is a schematic structural diagram of an embodiment of the UAV of the present application.
  • the foldable arms of the drone are in a folded state when stowed and unfolded when working. If the arm is not unfolded properly or is not locked, the arm will fold back during the flight of the drone. If the control system of the UAV still maintains a continuous control output, safety accidents or even crashes may occur. In some cases, a locking recognition sensor is installed at the connection of the machine arm to sense the state of the machine arm, but this tends to increase the structural complexity and cost.
  • the embodiments of the present application provide a method for detecting the state of an unmanned aerial vehicle, a control device of the unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium.
  • the two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor.
  • a positioning sensor the two arms can be switched between the folded state and the unfolded state, and the position information detected by the first positioning sensor and the second positioning sensor is obtained; according to the position information, the difference between the two arms can be obtained.
  • distance information between the two arms according to the distance information between the two arms and the calibration distance information, determine whether the two arms are normally deployed, and the calibration distance information is used to indicate when the two arms are normally deployed the distance.
  • the two arms can be determined. Whether each of the arms is normally deployed provides technical support for the subsequent avoidance of safety accidents in the drone. When it is determined that at least one of the two arms is not normally deployed, the drone can be controlled to perform the corresponding safety operation, thereby avoiding the occurrence of safety accidents.
  • additional sensors are installed on the arms to detect whether the two arms are normally deployed, which easily increases the structural complexity and cost.
  • the positioning sensor is the standard of the drone Configuration, directly use the position information detected by the standard positioning sensor on the UAV to obtain the distance information between the two arms, and then determine whether the two arms are normally deployed, so it can reduce the cost and reduce the structural complexity of the UAV .
  • FIG. 1 is a schematic flowchart of an embodiment of the method for detecting the arm state of the unmanned aerial vehicle of the present application. It should be noted that the detection method of this embodiment can be deployed on the unmanned aerial vehicle, executed by the unmanned aerial vehicle, and also It can be deployed on the control device of the UAV and executed by the control device of the UAV; it is not limited here.
  • FIG. 2 is a schematic structural diagram of the arm of the unmanned aerial vehicle in the unfolded state in an embodiment of the method for detecting the arm state of the unmanned aerial vehicle of the present application
  • FIG. 3 and FIG. A schematic diagram of the structure of the man-machine in the folded state of the man-machine at two different angles.
  • the two arms 10 of the UAV 200 are respectively provided with a first positioning sensor 20 and a second positioning sensor 30, and the two arms 10 can be in a folded state (as shown in FIG. 3 and FIG. 4 ). shown) and the expanded state (shown in Figure 2).
  • Positioning technology can be divided into absolute positioning technology and relative positioning technology, and the corresponding sensors are also divided into absolute positioning sensors (ranging method and inertial navigation method) and relative positioning sensors (magnetic compass method, activity marking method, global positioning system, road sign navigation) method, model matching method).
  • Positioning sensors are mainly used in autonomous mobile devices such as space lunar rovers, autonomous vehicles, AGVs (Autonomous Guided Vehicles), mobile robots and mobile cleaning equipment.
  • Commonly used positioning sensors include but are not limited to: ultrasonic sensors, infrared sensors, laser sensors, RTK sensors, vision sensors, and the like.
  • the position information detected by at least one of the first positioning sensor and the second positioning sensor can provide accurate positioning for the drone, and the position information detected by the first positioning sensor and the second positioning sensor can be Drones provide precise orientation.
  • the first positioning sensor and the second positioning sensor are both RTK (Real Time Kinematic) sensors, and specifically include RTK antennas.
  • RTK technology adopts real-time dynamic carrier phase difference method, which can realize centimeter-level high-precision positioning, and brings new measurement principles and methods to various industrial applications such as engineering stakeout and terrain mapping.
  • UAVs for industrial applications are mostly equipped with RTK sensors.
  • This embodiment reuses the first positioning sensor and the second positioning sensor configured on the drone for precise positioning or orientation of the drone itself to detect whether the two arms are normally deployed, without installing additional sensors, which can reduce costs and reduce The structural complexity of UAVs.
  • the RTK board can be integrated with the RTK antenna, or the RTK board can be set separately from the RTK antenna.
  • the RTK board is set on the drone body, and the RTK antenna is set on the drone arm.
  • the first positioning sensor and the second positioning sensor are respectively provided on the two arms of the drone.
  • a positioning sensor can also be set on each arm.
  • the two arms are equipped with power components, according to experience and theory, if the direction of the force output by the power components on the arms is consistent with the folding direction of the arms, then the arms are more likely to fold back.
  • the power assembly includes blades. If the rotation direction of the blades is counterclockwise, the direction of the force on the arm when the power assembly outputs power is clockwise, that is, the counter torque received by the arm is clockwise. If the folding direction of the machine arm is also clockwise, the machine arm is prone to fold back.
  • the first positioning sensor 20 and the first power assembly are installed on the first arm
  • the second positioning sensor 30 and the second power assembly are installed on the second arm
  • the blades of the first power assembly rotate The direction is clockwise, the counter-torque corresponding to the first arm is counterclockwise, the folding direction of the first arm is counterclockwise; the rotation direction of the blades of the second power assembly is counterclockwise, the second arm
  • the corresponding reaction torque is clockwise, and the folding direction of the second arm is clockwise. That is, the first arm and the second arm are likely to be folded back.
  • the first positioning sensor and the second positioning sensor can be set on the two arms that are prone to turning back in a targeted manner, which not only saves costs, but also can detect the two arms that are prone to turning back in a targeted manner. Check whether the arms are normally deployed to avoid safety incidents.
  • the first positioning sensor and the second positioning sensor can be respectively arranged at the ends of the two arms of the drone.
  • the method includes: step S101, step S102 and step S103.
  • Step S101 Acquire position information detected by the first positioning sensor and the second positioning sensor.
  • Step S102 Obtain distance information between the two arms according to the position information.
  • Step S103 Determine whether the two arms are normally deployed according to the distance information between the two arms and the calibration distance information, and the calibration distance information is used to indicate the distance when the two arms are normally deployed .
  • the first positioning sensor and the second positioning sensor can detect their respective position information. Specifically, the first positioning sensor and the second positioning sensor can detect their respective position information on the machine arm. The distance information between the first positioning sensor and the second positioning sensor can be obtained according to the position information detected by the first positioning sensor and the second positioning sensor. The distance information is taken as the distance information between the two arms.
  • the calibration distance information is used to indicate the distance when the two arms are normally deployed, and the distance when the two arms are normally deployed is usually fixed or changes little.
  • the calibration distance information can be calibrated when the drone leaves the factory and stored in the storage device of the drone; with the extension of the use time of the drone, the arm of the drone will be worn out, so it can also be used when the drone is unmanned. After the aircraft leaves the factory, re-calibrate the distance between the two arms when the two arms are normally deployed before and during take-off regularly or irregularly during use, and obtain the calibrated distance information.
  • Whether the two arms are normally deployed can be determined by comparing the current distance information between the two arms with the calibrated distance information indicating the distance when the two arms are normally deployed.
  • the distance between the current two arms is basically the same as the distance when the two arms are normally unfolded; if the current two arms are folded back, the current two arms are The distance between the two arms is different from the distance when the two arms are normally deployed: Specifically, if one arm is folded back away from the other arm, the current distance between the two arms can be greater than the distance between the two arms. The distance when the arms are normally deployed. If one arm is folded back toward the other arm, the current distance between the two arms can be smaller than the distance when the two arms are normally deployed.
  • the embodiment of the present application provides a method for detecting the state of an arm of a drone.
  • the two arms of the drone are respectively provided with a first positioning sensor and a second positioning sensor, and the two arms can be in a folded state and an unfolded state.
  • Switch between the two arms to obtain the position information detected by the first positioning sensor and the second positioning sensor; obtain the distance information between the two arms according to the position information; according to the distance between the two arms.
  • the distance information and the calibration distance information are determined to determine whether the two arms are normally deployed, and the calibration distance information is used to indicate the distance when the two arms are normally deployed.
  • the two arms can be determined. Whether each of the arms is normally deployed provides technical support for the subsequent avoidance of safety accidents in the drone. When it is determined that at least one of the two arms is not normally deployed, the drone can be controlled to perform the corresponding safety operation, thereby avoiding the occurrence of safety accidents.
  • additional sensors are installed on the arms to detect whether the two arms are normally deployed, which easily increases the structural complexity and cost.
  • the positioning sensor is the standard of the drone Configuration, directly use the position information detected by the standard positioning sensor on the UAV to obtain the distance information between the two arms, and then determine whether the two arms are normally deployed, so it can reduce the cost and reduce the structural complexity of the UAV .
  • the most important significance of determining whether the two arms are normally deployed is: if it is determined that the two arms are not normally deployed, it is necessary to control the drone to perform corresponding safety operations to avoid safety accidents and avoid possible crashes that cause users loss.
  • the method further includes: step S104A, as shown in FIG. 5 .
  • Step S104A If it is determined that at least one of the two arms is not normally deployed, control the UAV to perform corresponding safety operations according to the state of the UAV, where the state of the UAV includes unmanned aerial vehicles. Takeoff status and flight status.
  • the drone when it is determined that at least one of the two arms is not unfolded normally (that is, the arm is abnormal), the drone is controlled to perform the corresponding safety operation according to the unmanned state or the flying state of the drone. , in order to avoid the occurrence of safety accidents and the loss of users caused by possible crashes.
  • the safety operation includes at least one of the following: not responding to the take-off command; and outputting prompt information through the application program, the prompt information is used to prompt the user to check the aircraft arm .
  • the control drone will not respond to the take-off command.
  • the user checks the arm; it can also not respond to the take-off command, and at the same time output a prompt message through the application program to prompt the user to check the arm.
  • it is possible to perform safe operations on the UAV when it is detected that at least one of the two arms is not properly deployed before takeoff, so as to prevent the UAV with abnormal arms from taking off without prior intervention, To avoid possible subsequent safety accidents in advance, play a preventive role.
  • the safe operation includes at least one of the following: adjusting the power output of the power component of the drone to automatically control the landing of the drone; limiting the unmanned aerial vehicle speed and acceleration of the man-machine; and outputting prompt information through the application program, the prompt information is used to prompt the user to control the drone to land.
  • the power output of the UAV power assembly can be adjusted to automatically control the landing of the UAV, for example, if it is a quadrotor unmanned aerial vehicle
  • the UAV can be prohibited from performing large maneuvering flight by limiting the speed and acceleration of the UAV.
  • the speed and acceleration of the UAV can be limited by The method does not respond to the user's large maneuvering flight instructions to avoid crashes (for example, when the arm is not folded back, the drone can also fly at a small speed and acceleration); it can also output prompt information through the app , prompting the user to control the drone to land; it can also be a combination of the above-mentioned safety operations.
  • the above methods can also perform corresponding safety operations while the UAV is in flight to protect the UAV and avoid safety accidents.
  • the arm return level is further refined and determined, and refined safety operations are performed accordingly, so as to meet the refined requirements of the user. That is, the method further includes: step S104B1 and step S104B2, as shown in FIG. 6 .
  • Step S104B1 If it is determined that at least one of the two arms is not unfolded normally, determine the level of the arm folding back.
  • Step S104B2 Control the UAV to perform a corresponding safety operation according to the arm return level.
  • the control of the drone to perform the corresponding safety operation according to the arm turn-back level may further include:
  • the reversing level is the second reversing level, control the drone to perform a second safety operation, the second reversing level is higher than the first reversing level, and the second safe operation is different from the The first safe operation.
  • the reversion level includes a first reversion level and a second reversion level, and the second reversion level is higher than the first reversion level; that is, compared with the first reversion level, the second reversion level is more severe, Drones are also in a relatively more dangerous environment.
  • this refined return level it is possible to more accurately identify the danger level of the environment in which the UAV is currently located, so that more targeted safety operations can be taken.
  • the first safety operation includes: limiting the speed and acceleration of the drone.
  • the second safety operation includes: adjusting the power output of the unmanned aerial vehicle power assembly to automatically control the landing of the unmanned aerial vehicle.
  • multiple pieces of position information may be obtained by multiple measurements, and the final distance information is an average distance information. That is, in step S101, the obtaining the position information detected by the first positioning sensor and the second positioning sensor may include: obtaining multiple data detected by the first positioning sensor and the second positioning sensor within a predetermined period of time. location information. At this time, in step S102, the obtaining the distance information between the two arms according to the position information may include sub-step S1021 and sub-step S1022, as shown in FIG. 7 .
  • Sub-step S1021 Obtain a plurality of distance information between the two arms according to the plurality of position information.
  • Sub-step S1022 Determine the average distance information between the two arms according to the plurality of distance information, and use the average distance information between the two arms as the distance information between the two arms .
  • Any detection sensor has its own error when measuring or detecting (the data of each measurement is biased), and there will also be errors caused by some accidental factors (for example, due to external influences, the measurement data suddenly becomes larger or smaller, return to normal after external influences disappear).
  • multiple pieces of detected position information are acquired within a predetermined period of time, and multiple pieces of corresponding piece of position information are obtained, and the average distance information of the pieces of position information is used as the distance information between the two arms. In this way, It can reduce the influence of measurement errors and accidental factors.
  • step S103 determining whether the two arms are normally deployed according to the distance information and the calibration distance information between the two arms may further include: sub-step S1031 and sub-step S1032, as shown in FIG. 8 .
  • Sub-step S1031 Obtain standard deviation information corresponding to the plurality of distance information according to the plurality of distance information.
  • Sub-step S1032 Determine whether the two arms are normally deployed according to the average distance information between the two arms, the calibrated distance information and the corresponding standard deviation information.
  • Standard Deviation most commonly used in probability statistics as a measure of statistical dispersion.
  • the standard deviation is defined as the square root of the arithmetic mean of the squared deviation of each unit measurement of the population from its mean. It reflects the degree of dispersion among individuals in a group, and is a measure of the degree of dispersion of the average value of a group of data. A larger standard deviation means that most values are more different from their mean; a smaller standard deviation means that these values are closer to the mean.
  • the standard deviation if the standard deviation is large, it means that the difference between most of the distance information and the average distance information in the plurality of distance information is large, and the influence of external accidental factors is large; if the standard deviation is small, it means that multiple distances The difference between most of the distance information and the average distance information in the information is small, and the influence of external accidental factors is small.
  • the average distance information combined with the standard deviation information, it can stably and objectively reflect whether the current two arms are normally deployed. In this way, therefore, false detection can be prevented.
  • the average distance between the two arms is greater than the standard distance and the standard deviation is relatively small, it can be determined that at least one arm is not unfolded normally, and at least one arm is folded back away from the other arm;
  • the average distance between the arms is smaller than the standard distance and the standard deviation is relatively small, it can be determined that at least one of the arms is not unfolded normally, and at least one of the arms is folded back toward the direction close to the other.
  • the distance between the two arms when they are normally deployed can also be calibrated. That is, the method further includes: if an arm calibration instruction is received, acquiring the position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information.
  • the UAV's use time is prolonged, the UAV's arms will be worn out, so the distance between the two arms when the two arms are normally unfolded can be re-calibrated before and during take-off regularly or irregularly, and the calibration can be obtained. distance information.
  • the arm calibration command can be input by the user.
  • the usage scenarios include: a virtual button for arm calibration is displayed on the interactive interface of the ground control terminal. After the user clicks the button, the ground control terminal generates the arm calibration command and sends it to the UAV.
  • the arm calibration command can also be automatically generated.
  • the usage scenarios include: after the UAV is powered on and taken off, if it is detected that the star search state meets the conditions, the UAV will be automatically triggered to start the arm calibration.
  • the method further includes: if an arm calibration instruction is received, controlling the UAV to fly to a preset height; acquiring the position information detected by the first positioning sensor and the second positioning sensor to Obtaining the calibration distance information may further include: when the UAV is at the preset altitude, acquiring the position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information .
  • the application scenarios are basically the same, which can make the calibration distance information more consistent with the distance between the two arms when the drone is flying normally, and provide more realistic calibration distance information for subsequent determination of whether the two arms are normally deployed.
  • the method further includes: if an arm calibration instruction is received, acquiring the star search status of the first positioning sensor and the second positioning sensor; acquiring the first positioning sensor and the second positioning sensor Positioning the position information detected by the sensor to obtain the calibration distance information, may further include: when the star search states of the first positioning sensor and the second positioning sensor meet the requirements, obtaining the first positioning sensor and the second positioning sensor.
  • the second positioning sensor detects the position information to obtain the calibration distance information.
  • the satellite search status of the positioning sensor may refer to how many satellite signals are received and the status of the strength of each received satellite signal. When the number of received satellite signals is more, the positioning is more accurate. For positioning sensors (such as GPS sensors, RTK sensors, etc.) that need to use satellite communication for positioning, the positioning must be relatively accurate only when several satellites communicate at the same time. When the star search states of the first positioning sensor and the second positioning sensor meet the requirements, the position information detected by the first positioning sensor and the second positioning sensor is obtained to obtain the calibration distance information, and the In this way, the obtained calibration distance information can be made more accurate.
  • positioning sensors such as GPS sensors, RTK sensors, etc.
  • the acquiring the position information detected by the first positioning sensor and the second positioning sensor includes: in the first positioning sensor When the star search status of the second positioning sensor and the second positioning sensor meet the requirements, the position information detected by the first positioning sensor and the second positioning sensor is acquired. In this way, the detected position information can be made more accurate, the distance information obtained according to the detected position information can be made more accurate, and the judgment of whether the two arms are normally deployed can be made more accurate.
  • FIG. 9 is a schematic structural diagram of an embodiment of the control device of the unmanned aerial vehicle of the present application.
  • the two arms of the unmanned aerial vehicle are respectively provided with a first positioning sensor and a second positioning sensor.
  • the arm can be switched between a folded state and an unfolded state.
  • the control device of this embodiment can execute the steps in the above-mentioned method for detecting the arm state of the UAV.
  • the relevant content please refer to the relevant content of the above-mentioned method for detecting the arm state of the UAV, in This will not be repeated here.
  • the control device 100 of the drone includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.
  • the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:
  • the processor when executing the computer program, implements the following steps: if it is determined that at least one of the two arms is not unfolded normally, controlling the UAV according to the state of the UAV A corresponding safety operation is performed, and the state of the UAV includes a non-take-off state and a flight state.
  • the processor implements at least one of the following steps when executing the computer program: not responding to the take-off command; and outputting prompt information through the application program, so that The above prompt information is used to prompt the user to check the machine arm.
  • the processor implements at least one of the following steps when executing the computer program: adjusting the power output of the UAV power assembly to automatically control the the drone to land; limit the speed and acceleration of the drone; and output prompt information through the application program, the prompt information is used to prompt the user to control the drone to land.
  • the processor when executing the computer program, implements the following steps: if it is determined that at least one of the two arms is not unfolded normally, determining the level of the arm folding back; The drones perform corresponding safety operations.
  • the processor when executing the computer program, implements the following steps: if the turn-back level is a first turn-back level, controlling the drone to perform a first safety operation; if the turn-back level is a second turn-back level If the back-turning level is set, the drone is controlled to perform a second safe operation, the second back-turning level is higher than the first back-turning level, and the second safe operation is different from the first safe operation.
  • the first safety operation includes: limiting the speed and acceleration of the drone.
  • the second safety operation includes: adjusting the power output of the unmanned aerial vehicle power assembly to automatically control the landing of the unmanned aerial vehicle.
  • the processor when executing the computer program, implements the following steps: acquiring multiple pieces of position information detected by the first positioning sensor and the second positioning sensor within a predetermined time length; Obtaining the distance information between the two arms from the information includes: obtaining a plurality of distance information between the two arms according to the plurality of position information; determining the two arms according to the plurality of distance information The average distance information between the arms, and the average distance information between the two arms is used as the distance information between the two arms.
  • the processor when executing the computer program, implements the following steps: obtaining standard deviation information corresponding to the plurality of distance information according to the plurality of distance information; according to the average distance between the two arms information, the calibration distance information and the corresponding standard deviation information to determine whether the two arms are normally deployed.
  • the processor when executing the computer program, implements the following steps: if an arm calibration instruction is received, acquiring the position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information.
  • the processor when executing the computer program, implements the following steps: if receiving an arm calibration instruction, controlling the UAV to fly to a preset height; acquiring the first positioning sensor and the Obtaining the calibration distance information from the position information detected by the second positioning sensor includes: when the UAV is at the preset altitude, obtaining the positions detected by the first positioning sensor and the second positioning sensor information to obtain the calibration distance information.
  • the processor when executing the computer program, implements the following steps: obtaining the star search status of the first positioning sensor and the second positioning sensor if the arm calibration instruction is received; Obtaining the calibration distance information from the position information detected by the first positioning sensor and the second positioning sensor includes: when the star search states of the first positioning sensor and the second positioning sensor meet the requirements, obtaining all the information about the calibration distance. position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information.
  • the first positioning sensor and the second positioning sensor include RTK sensors.
  • the processor when executing the computer program, implements the following steps: when the star search states of the first positioning sensor and the second positioning sensor meet the requirements, acquire the first positioning sensor and the second positioning sensor. The position information detected by the second positioning sensor.
  • the first positioning sensor and the second positioning sensor are respectively arranged at the ends of the two arms of the drone.
  • power assemblies are installed on the two arms, and the folding directions of the two arms are consistent with the direction of the force acting on the arms when the power assemblies output power.
  • FIG. 10 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application. 2 to 4 , the two arms 10 of the UAV 200 are respectively provided with a first positioning sensor 20 and a second positioning sensor 30 , and the two arms 10 can be in either a folded state or an unfolded state. switch between.
  • the UAV of this embodiment can execute the steps in the above-mentioned method for detecting the state of the UAV's arm.
  • the relevant content of the above-mentioned method for detecting the state of the UAV's arm please refer to the relevant content of the above-mentioned method for detecting the state of the UAV's arm. I won't go into details here.
  • the drone 200 further includes: a memory 11 and a processor 22; the processor 22 is connected to the memory 11 through a bus.
  • the processor 22 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 11 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, or the like.
  • the memory 11 is used to store a computer program; the processor 22 is used to execute the computer program and implement the following steps when executing the computer program:
  • the processor when executing the computer program, implements the following steps: if it is determined that at least one of the two arms is not unfolded normally, controlling the UAV according to the state of the UAV A corresponding safety operation is performed, and the state of the UAV includes a non-take-off state and a flying state.
  • the processor implements at least one of the following steps when executing the computer program: not responding to the take-off command; and outputting prompt information through the application program, so that The above prompt information is used to prompt the user to check the machine arm.
  • the processor implements at least one of the following steps when executing the computer program: adjusting the power output of the UAV power assembly to automatically control the the drone to land; limit the speed and acceleration of the drone; and output prompt information through the application program, the prompt information is used to prompt the user to control the drone to land.
  • the processor when executing the computer program, implements the following steps: if it is determined that at least one of the two arms is not unfolded normally, determining the level of the arm folding back; The drones perform corresponding safety operations.
  • the processor when executing the computer program, implements the following steps: if the turn-back level is a first turn-back level, controlling the drone to perform a first safety operation; if the turn-back level is a second turn-back level If the back-turning level is set, the drone is controlled to perform a second safe operation, the second back-turning level is higher than the first back-turning level, and the second safe operation is different from the first safe operation.
  • the first safety operation includes: limiting the speed and acceleration of the drone.
  • the second safety operation includes: adjusting the power output of the unmanned aerial vehicle power assembly to automatically control the landing of the unmanned aerial vehicle.
  • the processor when executing the computer program, implements the following steps: acquiring multiple pieces of position information detected by the first positioning sensor and the second positioning sensor within a predetermined time length; Obtaining the distance information between the two arms from the information includes: obtaining a plurality of distance information between the two arms according to the plurality of position information; determining the two arms according to the plurality of distance information The average distance information between the arms, and the average distance information between the two arms is used as the distance information between the two arms.
  • the processor when executing the computer program, implements the following steps: obtaining standard deviation information corresponding to the plurality of distance information according to the plurality of distance information; according to the average distance between the two arms information, the calibration distance information and the corresponding standard deviation information to determine whether the two arms are normally deployed.
  • the processor when executing the computer program, implements the following steps: if an arm calibration instruction is received, acquiring the position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information.
  • the processor when executing the computer program, implements the following steps: if receiving an arm calibration instruction, controlling the UAV to fly to a preset height; obtaining the first positioning sensor and the Obtaining the calibration distance information from the position information detected by the second positioning sensor includes: when the UAV is at the preset altitude, obtaining the positions detected by the first positioning sensor and the second positioning sensor information to obtain the calibration distance information.
  • the processor when executing the computer program, implements the following steps: obtaining the star search status of the first positioning sensor and the second positioning sensor if an arm calibration instruction is received; Obtaining the calibration distance information by obtaining the position information detected by the first positioning sensor and the second positioning sensor includes: when the star search states of the first positioning sensor and the second positioning sensor meet the requirements, obtaining all the position information detected by the first positioning sensor and the second positioning sensor to obtain the calibration distance information.
  • the first positioning sensor and the second positioning sensor include RTK sensors.
  • the processor when executing the computer program, implements the following steps: when the star search states of the first positioning sensor and the second positioning sensor meet the requirements, acquire the first positioning sensor and the second positioning sensor. The position information detected by the second positioning sensor.
  • the first positioning sensor and the second positioning sensor are respectively arranged at the ends of the two arms of the drone.
  • power assemblies are installed on the two arms, and the folding directions of the two arms are consistent with the direction of the force acting on the arms when the power assemblies output power.
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the UAV as described in any of the above Arm state detection method.
  • the relevant content please refer to the above-mentioned relevant content section, which will not be repeated here.
  • the computer-readable storage medium may be the above-mentioned control device or an internal storage unit of the drone, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procédé de détection de l'état de bras d'un véhicule aérien sans pilote, dispositif de commande, véhicule aérien sans pilote et support de stockage. Deux bras (10) d'un véhicule aérien sans pilote (200) sont dotés d'un premier capteur de positionnement (20) et d'un second capteur de positionnement (30) respectivement, et les deux bras (10) peuvent commuter entre un état plié et un état déplié. Le procédé consiste : à acquérir des informations de position détectées par un premier capteur de positionnement (20) et un second capteur de positionnement (30) (S101) ; à obtenir des informations concernant la distance entre les deux bras (10) en fonction des informations de position (S102) ; et en fonction des informations concernant la distance entre les deux bras (10) et des informations de distance d'étalonnage, à déterminer si oui ou non les deux bras (10) sont normalement dépliés, les informations de distance d'étalonnage étant utilisées pour indiquer la distance entre les deux bras lorsque ceux-ci sont normalement dépliés (S103).
PCT/CN2020/138087 2020-12-21 2020-12-21 Procédé de détection d'état de bras de véhicule aérien sans pilote, dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote WO2022133676A1 (fr)

Priority Applications (2)

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PCT/CN2020/138087 WO2022133676A1 (fr) 2020-12-21 2020-12-21 Procédé de détection d'état de bras de véhicule aérien sans pilote, dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote
CN202080079887.1A CN114787036A (zh) 2020-12-21 2020-12-21 无人机机臂状态的检测方法、无人机的控制装置及无人机

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PCT/CN2020/138087 WO2022133676A1 (fr) 2020-12-21 2020-12-21 Procédé de détection d'état de bras de véhicule aérien sans pilote, dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote

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WO2024021135A1 (fr) * 2022-07-29 2024-02-01 深圳市大疆创新科技有限公司 Aéronef
CN117975313A (zh) * 2024-03-28 2024-05-03 浙江华视智检科技有限公司 无人机状态检测方法、无人机控制装置和无人机

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