WO2022193079A1 - Système de véhicule aérien sans pilote, ainsi que procédé et appareil de commande pour véhicule aérien sans pilote - Google Patents

Système de véhicule aérien sans pilote, ainsi que procédé et appareil de commande pour véhicule aérien sans pilote Download PDF

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Publication number
WO2022193079A1
WO2022193079A1 PCT/CN2021/080834 CN2021080834W WO2022193079A1 WO 2022193079 A1 WO2022193079 A1 WO 2022193079A1 CN 2021080834 W CN2021080834 W CN 2021080834W WO 2022193079 A1 WO2022193079 A1 WO 2022193079A1
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WIPO (PCT)
Prior art keywords
storage box
drone
aerial vehicle
unmanned aerial
uav
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PCT/CN2021/080834
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English (en)
Chinese (zh)
Inventor
杨振飞
周游
肖翔
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2021/080834 priority Critical patent/WO2022193079A1/fr
Publication of WO2022193079A1 publication Critical patent/WO2022193079A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
    • B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults

Definitions

  • the present application relates to the field of unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle system and a control method and device of the unmanned aerial vehicle.
  • drone control requires a certain amount of training, and it is difficult for ordinary users to get started directly.
  • drones need to carry a professional remote control or connect to a smartphone when going out.
  • a series of preparations are generally required before controlling the drone to fly, such as: carrying multiple batteries -> taking out the drone -> unfolding the arm -> turning on the machine -> connecting the remote control and mobile phone -> waiting for the search gps signal -> Control the drone to take off.
  • the use of drones is inconvenient, which discourages ordinary consumers, or even if they are purchased, they will be used infrequently due to cumbersome control.
  • the present application provides an unmanned aerial vehicle system and a control method and device of the unmanned aerial vehicle.
  • an unmanned aerial vehicle system includes:
  • an unmanned aerial vehicle comprising a power mechanism
  • a storage box for storing the drone
  • the storage box is used to detect whether a preset safety condition for the drone to eject the storage box is met; when the preset safety condition is met and an external trigger instruction is received, the ejection mechanism is controlled action, so that the drone pops out of the storage box;
  • the UAV is used to obtain the motion parameters of the UAV in the process of moving after the UAV leaves the storage box; when the motion parameters meet the preset flight conditions, the power mechanism is controlled to work, so that the Drones fly autonomously.
  • a method for controlling an unmanned aerial vehicle comprising:
  • the ejection mechanism on the storage box is controlled to act, so as to provide initial kinetic energy to the drone through the ejection mechanism, so that the unmanned The man-machine ejects the storage box under the action of the initial kinetic energy.
  • a drone control device comprising:
  • a storage device for storing program instructions
  • one or more processors invoking program instructions stored in said storage device, said one or more processors being individually or collectively configured to implement the second aspect when said program instructions are executed the method described.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the method described in the second aspect.
  • a method for controlling an unmanned aerial vehicle comprising:
  • the power mechanism of the UAV is controlled to work, so as to control the UAV to fly autonomously.
  • a method for controlling an unmanned aerial vehicle comprising:
  • the size of the initial kinetic energy provided to the drone by the external ejection mechanism is obtained, wherein the ejection mechanism is provided in the storage box, and the drone can fly out of the storage box under the action of the initial kinetic energy and carry out sports;
  • the power mechanism of the UAV is controlled to work, so as to control the UAV to fly autonomously.
  • the present application stores the drone in the storage box, and when the drone is stored in the storage box, it is detected that the preset safety conditions are met, and the safe ejection of the drone is ensured. It will respond to the trigger command of ejecting the drone to ensure the safety of the drone when it takes off; and, in response to the trigger command, the storage box drives the drone to pop up the storage box through the ejection mechanism, and the drone is in the motion parameter indicating that there is no
  • the user can provide initial kinetic energy for the take-off of the drone through one-touch method.
  • the process of controlling the take-off of the drone does not require long preparations and complex operations, which greatly simplifies the unmanned aerial vehicle.
  • the use of man-machine is simple and easy to use.
  • the UAV is stored in the storage box, which realizes the carry-on of the UAV and simplifies the use of the UAV. It can take off quickly and fly at any time.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application.
  • FIG 2 is another schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application.
  • FIG. 3 is another schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle in a storage state in an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an unmanned aerial vehicle in an embodiment of the present application in an unfolded state
  • FIG. 6 is a schematic diagram of the UAV in an embodiment of the present application being gradually switched from a storage state to an unfolded state;
  • FIG. 7 is a schematic diagram of the process of ejection and autonomous flight of the UAV in an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a method for controlling an unmanned aerial vehicle in an embodiment of the present application
  • FIG. 9 is a schematic flowchart of a method for controlling an unmanned aerial vehicle in another embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a method for controlling an unmanned aerial vehicle in another embodiment of the present application.
  • FIG. 11 is a structural block diagram of an unmanned aerial vehicle control device in an embodiment of the present application.
  • Unmanned aerial vehicle 11. Body; 12. Arm; 13. Propeller; 2. Storage box; 21. Box body; 211. Receiving part; 212, Opening; 22. Cover body; 23. Elastic part; 3 , ejection mechanism; 4, shooting device; 41, handle.
  • the application stores the drone in the storage box, and detects the safety information when the drone is stored in the storage box, and only responds to the ejection of the drone when the safety of the drone is ensured based on the safety information.
  • the trigger command ensures the safety of the drone when it takes off; and, in response to the trigger command, the storage box provides initial kinetic energy to the drone through the ejection mechanism, and the user can provide initial kinetic energy for the take-off of the drone by one-touch.
  • the process of controlling the take-off of the drone does not require long preparations, and does not require complicated operations, which greatly simplifies the use of the drone, and is easy to use. With the use of drones, it can take off quickly and fly at any time.
  • At least one means one or more, and “plurality” means two or more.
  • And/or which describes the relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, it can indicate that A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the associated objects are an “or” relationship.
  • At least one item(s) below” or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s).
  • At least one (a) of a, b, or c may represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.
  • the unmanned aerial vehicle system may include an unmanned aerial vehicle 1 , a storage box 2 for storing the unmanned aerial vehicle 1 , and a storage box 2 provided in the storage box 2 .
  • the storage box 2 is used to detect the safety information when the drone 1 is stored in the storage box 2.
  • the ejection mechanism 3 is controlled to act so as to pass the ejection mechanism. 3.
  • the execution subject of the detection of the safety information, the response of the trigger command and the control of the ejection mechanism 3 is not limited to the storage box 2 , but may also be a control device provided in the storage box 2 or an unmanned person stored in the storage box 2 .
  • the machine 1 will be described below by taking the storage box 2 as the execution subject of the detection of safety information, the response to the trigger command, and the control of the ejection mechanism 3 .
  • the embodiment of the present application provides another unmanned aerial vehicle system, the unmanned aerial vehicle system includes: an unmanned aerial vehicle, the unmanned aerial vehicle includes a power mechanism; a storage box for storing the unmanned aerial vehicle; and an ejection mechanism, set in the storage box;
  • the storage box is used to detect whether a preset safety condition for the drone to eject the storage box is met; when the preset safety condition is met and an external trigger instruction is received, the ejection mechanism is controlled action, so that the drone pops out of the storage box;
  • the UAV is used to obtain the motion parameters of the UAV in the process of moving after the UAV leaves the storage box; when the motion parameters meet the preset flight conditions, the power mechanism is controlled to work, so that the Drones fly autonomously.
  • the detecting whether a preset safety condition for ejecting the storage box from the drone is satisfied includes detecting the position and attitude information of the drone, the position and attitude information of the storage box, and the storage box. Whether one or more kinds of information in the environment information meet the preset security conditions.
  • the action of the ejection mechanism provides initial kinetic energy to the drone, so that the drone pops out of the storage box, and moves in the air for a certain distance under the action of the initial kinetic energy.
  • the UAV is used to drive the UAV to move away from the ground based on the initial kinetic energy provided by the ejection mechanism.
  • whether a preset safety condition for ejecting the storage box by the drone is met includes: detecting whether safety information meets the preset safety condition.
  • the safety information may include the posture of the drone 1 when it is stored in the storage box 2 and/or the environmental information at the current position of the storage box 2 and/or others.
  • the safety information includes the posture of the drone 1 when it is stored in the storage box 2; in some embodiments, the safety information includes environmental information at the current location of the storage box 2; in some embodiments , the safety information includes the pose of the drone 1 when it is stored in the storage box 2 and the environmental information at the current position of the storage box 2 .
  • the preset safety conditions are related to safety information.
  • the safety information includes the position and attitude of the drone 1 when it is stored in the storage box 2
  • the preset safety conditions include: the position of the drone 1 when it is stored in the storage box 2 .
  • the attitude indicates that the angle between the current pop-up direction of the UAV 1 and the upward component of the vertical direction is less than or equal to the preset angle threshold, ensuring that the current pop-up direction is upward.
  • the pose of the drone 1 when it is stored in the storage box 2 includes at least the current ejection direction; optionally, the current ejection direction is determined based on the pose of the drone 1 when it is stored in the storage box 2, specifically The determination method is in the prior art, and details are not described herein again.
  • the size of the preset angle threshold can be set as required.
  • the preset angle threshold is greater than or equal to 15 degrees and less than or equal to 25 degrees, for example, the preset angle threshold can be 15 degrees, 20 degrees, or 25 degrees, etc.; It should be understood that the preset angle threshold can also be set to other angle ranges, such as 5 degrees to 30 degrees, etc., only the angle between the current pop-up direction and the upward component of the vertical direction can ensure that the current pop-up direction is upward. That's it.
  • the posture and attitude of the drone 1 when it is stored in the storage box 2 can be obtained by detecting the inertial measurement unit IMU (Inertial Measurement Unit) provided in the drone 1 and/or the storage box 2.
  • IMU Inertial Measurement Unit
  • the drone 1 is stored in the storage box 2.
  • the position and attitude in the storage box 2 is obtained by detecting the inertial measurement unit IMU provided in the drone 1;
  • the unit IMU detection is obtained. This is because when the drone 1 is stored in the storage box 2, the posture of the storage box 2 is the same as that of the drone 1.
  • the pose of the UAV 1 can be characterized by the pose of the storage box 2; optionally, the pose of the UAV 1 when it is stored in the storage box 2 is detected by the inertial measurement unit IMU located in the UAV 1
  • the obtained first pose and the second pose detected by the inertial measurement unit IMU provided in the storage box 2 are obtained by fusion, so that the accuracy of the pose when the drone 1 is stored in the storage box 2 can be improved.
  • the safety information includes environmental information at the current position of the storage box 2
  • the preset safety conditions include: the environmental information indicates that the current position of the storage box 2 is in a safe flight area to ensure flight safety after the drone 1 ejects the storage box 2 .
  • the environmental information may include obstacle information and/or position information (that is, the position information of the current position of the storage box 2) and/or others, for example, in some embodiments, the environmental information includes obstacle information; in some embodiments , the environmental information includes location information; in some embodiments, the environmental information includes obstacle information and location information.
  • the environmental information includes obstacle information, such as the distance from the obstacle around the storage box 2 to the storage box 2 or the position information of the obstacle around the storage box 2, optionally, the obstacle information indicates that the minimum obstacle distance is greater than a preset distance At the distance threshold, it means that the environmental information indicates that the current position of the storage box 2 is in a safe flight area, and the minimum obstacle distance is the distance from the nearest obstacle to the storage box 2 to the storage box 2; and in other embodiments, the obstacle information Other strategies are satisfied, for example, the obstacle information indicates that the minimum obstacle distance is greater than or equal to the preset distance threshold, indicating that the environmental information indicates that the current position of the storage box 2 is in a safe flight area.
  • the obstacle information indicates that the minimum obstacle distance is greater than or equal to the preset distance threshold, indicating that the environmental information indicates that the current position of the storage box 2 is in a safe flight area.
  • the size of the preset distance threshold can be set as required, and the present application does not limit the size of the preset distance threshold.
  • the obstacle information can be obtained in a variety of ways, for example, the obstacle information can be obtained by using an image, the obstacle information can be obtained by using an obstacle sensor such as a radar, or other obstacle information can be obtained.
  • the storage box 2 is provided with an image acquisition device, and the image acquisition device can be arranged on the top, outer side wall or other positions of the storage box 2.
  • the image acquisition device is used to acquire the environmental image at the current position of the storage box 2, obstacles
  • the information is determined based on the environmental image.
  • a machine vision algorithm can be used to analyze the environmental image to obtain obstacle information.
  • the environmental images may include environmental images in different directions, so as to ensure the safety around the storage box 2 .
  • the image acquisition device can also be installed in the drone 1.
  • the storage box 2 can be made of a transparent material or the storage box 2 is provided with an opening 212. In this way, even if the drone 1 is stored in the storage box 2, the drone 1 The image acquisition device on the storage box 2 can also acquire environmental images through the side wall or the opening 212 of the storage box 2 .
  • a no-fly zone (such as near an airport) can be set up, ejection is prohibited in the no-fly zone, ejection is allowed in the non-no-fly zone, and the environmental information includes location information.
  • the flying area means that the environmental information indicates that the current position of the storage box 2 is in a safe flight area to ensure the safety of the drone 1 after ejecting the storage box 2; and in other embodiments, the position information indicates that the drone 1 is currently in a preset area, which means that the environmental information indicates that the current position of the storage box 2 is in the safe flight area, and the preset area is the safe flight area designated by the user.
  • the position information of the storage box 2 is the same as the position information of the drone 1 .
  • the location information can be acquired in a variety of ways, such as obtaining location information through the positioning module of the storage box 2 such as the GPS module of the storage box 2 or other position sensors of the storage box 2, or through the positioning module of the drone 1, such as a drone. 1's GPS module or other location sensors of UAV 1 to obtain location information.
  • the location information is obtained through the positioning module of the UAV 1, optionally, when the UAV 1 is stored in the storage box 2, the UAV 1 is in a standby state, so that the posture and the position of the UAV 1 can be monitored in real time.
  • the location information of UAV 1 does not need to wait to search for GPS satellite signals before taking off like traditional UAVs. After the traditional UAV is powered on, it needs to first search for satellite signals to locate the location information of the UAV, which usually takes more than 1 minute. , and the drone 1 can transmit the location information of the drone 1 through the mobile phone during the standby process, or the GPS signal of the storage box 2 has completed the positioning, so that the location information of the drone 1 can be obtained in time when it pops up.
  • the safety information includes the posture and attitude of the drone 1 when it is stored in the storage box 2 and the environmental information at the current position of the storage box 2, and the preset safety conditions include: when the drone 1 is stored in the storage box 2 The pose indicates that the angle between the current ejection direction of the drone 1 and the upward component of the vertical direction is less than or equal to the preset angle threshold, and the environmental information indicates that the current position of the storage box 2 is in a safe flight area.
  • the safety information includes other information
  • the preset safety conditions are also adaptively changed.
  • the storage box 2 controls the action of the ejection mechanism 3 by controlling the driving parameters of the ejection mechanism 3.
  • the ejection structure can provide initial kinetic energy of different sizes.
  • the different driving parameters may include different magnitudes of the driving parameters and/or different types of the driving parameters. Exemplarily, in some embodiments, the magnitudes of the driving parameters are different, and the magnitudes of the initial kinetic energy provided by the ejection mechanism 3 are different.
  • the size of the initial kinetic energy provided by the ejection mechanism 3 is positively correlated with the size of the driving parameter, that is, the larger the size of the driving parameter, the larger the size of the initial kinetic energy provided by the ejection mechanism 3; optionally, the size of the initial kinetic energy provided by the ejection mechanism 3
  • the magnitude of the initial kinetic energy is negatively correlated with the magnitude of the drive parameters.
  • the types of driving parameters are different, and the size of the initial kinetic energy provided by the elastic mechanism is different.
  • the driving parameter is the first driving parameter
  • the size of the initial kinetic energy provided by the elastic mechanism is the first kinetic energy
  • the driving parameter is
  • the magnitude of the initial kinetic energy provided by the elastic mechanism is the second kinetic energy
  • different security information refers to security information of different sizes; for different types of security information, different security information refers to different types of security information.
  • different security information corresponds to the same driving parameter, that is, the driving parameters corresponding to different security information are of the same type and the same size, the type and size of the driving parameter are fixed and may not change, or the type and size of the driving parameter may be
  • driving parameters can be set through an external terminal communicatively connected to the storage box 2 before ejection, or parameters can be set by operating keys and/or screens of the storage box 2 .
  • the external terminal may be a terminal device such as a mobile phone and a computer that can be communicatively connected to the storage box 2 , or may be a remote control device of the drone 1 , and the remote control device can be connected to the storage box 2 in communication.
  • different safety information corresponds to different driving parameters, so as to provide different initial kinetic energy (ie, initial kinetic energy of different sizes) through the ejection mechanism 3, so as to meet different ejection requirements, such as ejection safety guarantee requirements in different environments.
  • different sizes of security information correspond to different sizes and/or types of driving parameters; for another example, for different types of security information, different types of security information correspond to different sizes of driving parameters and/or different types of security information.
  • Types of safety information correspond to different types of drive parameters.
  • the safety information is the posture of the drone 1 when it is stored in the storage box 2, and the magnitude of the driving parameter is positively related to the angle between the current ejection direction of the drone 1 and the upward component in the vertical direction, And the size of the initial kinetic energy is positively related to the size of the driving parameters.
  • the larger the angle between the current ejection direction and the upward component in the vertical direction the larger the driving parameters and the larger the initial kinetic energy, thus ensuring that the UAV 1 Security after ejection.
  • the storage box 2 in the embodiment of the present application may include a box body 21 , and the box body 21 is provided with a storage portion, and the drone 1 is stored in the storage portion.
  • the top of the box body 21 is provided with an opening 212 , and the drone 1 can be ejected from the opening 212 .
  • the ejection mechanism 3 may be of different types.
  • the ejection mechanism 3 is an elastic mechanism, and the initial kinetic energy is provided by the elastic force generated by the elastic mechanism.
  • the elastic mechanism includes a spring or a slingshot or a shrapnel.
  • the ejection structure is a spring, the spring is located in the receiving portion, one end of the spring is connected to the bottom of the box body 21, and the other end is abutted against the drone 1.
  • the spring When the drone 1 is stored in the storage part, the spring is compressed; when the drone 1 needs to be ejected, the spring can be triggered to expand to generate elastic force, so that the initial kinetic energy can be provided to the drone 1 through the spring, so that the drone 1 ejected from opening 212 .
  • the elastic mechanism is a slingshot.
  • the drone 1 When the drone 1 is stored in the storage part, the drone 1 is at least partially stored in the ejection part of the slingshot.
  • the user can pull the ejection part and release it. , the ejection part generates elastic force to eject the drone 1 from the opening 212 .
  • the elastic mechanism is a shrapnel, the shrapnel is located in the receiving part, one end of the shrapnel is connected to the bottom of the box body 21, and the other end abuts against the drone 1, when the drone 1 is stored in the receiving part, the shrapnel is compressed;
  • the shrapnel can be triggered to stretch to generate an elastic force, so that the shrapnel can provide initial kinetic energy to the drone 1 so that the drone 1 can be ejected from the opening 212 .
  • the ejection mechanism 3 is a thrust mechanism, and the initial kinetic energy is provided by the thrust generated by the thrust mechanism.
  • the thrust mechanism in the embodiment of the present application may be any structure capable of generating thrust, and the present application does not specifically limit the structure of the thrust mechanism.
  • the ejection mechanism 3 is not limited to an elastic mechanism and a thrust mechanism, and can also be designed as other ejection structures.
  • the UAV 1 of the embodiment of the present application obtains initial kinetic energy by means of the ejection mechanism 3, according to the formula
  • the drone 1 needs to fly at a height of h, and the initial speed of the drone 1 is v 0 .
  • set the flying height also called the ejection height, that is, the flying height of the drone 1 under the action of the initial kinetic energy
  • the ejection mechanism 3 is required to provide initial kinetic energy
  • the initial kinetic energy provided by the ejection mechanism 3 can make the initial speed of the UAV 1 approximately 14m/s, so that the UAV 1 can eject the storage box 2 and fly under the action of the initial kinetic energy to a height of approximately 100m.
  • the storage box 2 may further include a cover body 22 , and the cover body 22 may cover the opening 212 at the top of the box body 21 .
  • the cover body 22 can be opened so that the drone 1 can fly out of the box body 21 through the opening 212 .
  • the cover body 22 is detachably connected to the top of the box body 21 , for example, the cover body 22 is rotatably connected to the top of the box body 21 ; or as shown in FIG. 3 , the cover body 22 is connected to the box body
  • the top of 21 is connected by an elastic member 23; or the cover 22 and the top of the box 21 are connected by magnetic adsorption;
  • the detachable connection method between the cover body 22 and the top of the box body 21 is not limited to this, and may be other, for example, the cover body 22 and the top of the box body 21 are connected by means of threads.
  • the cover body 22 is opened under the impact force exerted by the drone 1, that is, the impact force when the drone 1 pops up impacts the cover body 22.
  • Open the cover 22 in some embodiments, before the drone 1 pops up, the user manually opens the cover 22.
  • the cover 22 can be opened under the action of externally applied pulling force or rotational force.
  • opening the cover 22 The cover body 22 can be in other manual ways; in some embodiments, the storage box 2 is also used to open the cover body 22 in response to a trigger command, that is, the cover body 22 is automatically opened. For example, the storage box 2 can respond to The trigger command opens the cover 22 based on the drive mechanism.
  • the cover body 22 can be covered on the opening 212 manually or automatically to prevent the drone 1 from being lost.
  • the storage box 2 is provided with a control part, and the trigger command is generated by the storage box 2 when the control part is triggered.
  • the control part may be a physical key or button, or may be a virtual key displayed on the screen of the storage box 2 .
  • the storage box 2 is connected in communication with the external terminal, the trigger instruction is sent by the external terminal, and the user can send the trigger instruction to the storage box 2 by operating the external terminal.
  • the type of the external terminal reference may be made to the type of the external terminal described in the foregoing embodiment, which will not be repeated here.
  • the storage box 2 is also used to not respond to the trigger instruction when the security information does not meet the preset security conditions, that is, pop up the unsafe In the case of , the user is not allowed to eject the drone 1.
  • the storage box 2 is also used to output alarm information when the safety information does not meet the preset safety conditions, thereby informing the user that the ejection of the drone 1 is unsafe, and the subsequent storage box 2 obtains the trigger instruction, can respond to the trigger instruction, and also It is not necessary to respond to the trigger command.
  • the output mode of the alarm information can be selected as required, for example, the alarm information can be output through sound, light, display or a combination thereof, but not limited to this.
  • processing methods when the security information does not meet the preset security conditions are not limited to the above processing methods, and may be other; in addition, the processing methods when the security information does not meet the preset security conditions can be combined.
  • the storage box 2 is used to allow the user to eject the drone 1 when the safety information meets the preset safety conditions; when the safety information does not meet the preset safety conditions, the user is not allowed to eject the drone 1 .
  • the user before ejecting the drone 1, the user manually opens the cover 22; when ejecting the drone 1, the user presses a button on the storage box 2 to generate a trigger instruction, which triggers the ejection mechanism 3
  • the initial kinetic energy is provided to the drone 1, and the drone 1 flies out of the storage box 2 from the opening 212 under the action of the initial kinetic energy.
  • the user presses a button on the storage box 2 to generate a trigger instruction, and the ejection mechanism 3 is triggered to provide initial kinetic energy to the drone 1.
  • the role of the drone 1 in the initial kinetic energy Moving downward toward the opening 212 , the drone 1 impacts the cover body 22 , the cover body 22 opens under the impact force of the drone 1 , and the drone 1 flies out of the storage box 2 from the opening 212 .
  • the user presses a button on the storage box 2 to generate a trigger instruction, first triggers the storage box 2 to open the cover 22 , and then triggers the ejection mechanism 3 after the cover 22 is opened
  • the initial kinetic energy is provided to the drone 1, and the drone 1 flies out of the storage box 2 from the opening 212 under the action of the initial kinetic energy.
  • the user before ejecting the drone 1, the user manually opens the cover 22; when ejecting the drone 1, the user operates an external terminal to generate a trigger command, and the external terminal sends the trigger command to the storage box 2 to trigger the ejection mechanism 3.
  • the user manually opens the cover 22; when ejecting the drone 1, the user operates an external terminal to generate a trigger command, and the external terminal sends the trigger command to the storage box 2 to trigger the ejection mechanism 3.
  • the user when the drone 1 needs to be ejected, the user operates an external terminal to generate a trigger command, the external terminal sends the trigger command to the storage box 2, and the trigger ejection mechanism 3 provides initial kinetic energy to the drone 1, and the drone 1 Moving towards the opening 212 under the action of the initial kinetic energy, the drone 1 impacts the cover body 22 , the cover body 22 opens under the impact force of the drone 1 , and the drone 1 flies out of the storage box 2 from the opening 212 .
  • the user when the drone 1 needs to be ejected, the user operates an external terminal to generate a trigger command, and the external terminal sends the trigger command to the storage box 2, first triggering the storage box 2 to open the cover 22, and after the cover 22 is opened, The ejection mechanism 3 is then triggered to provide initial kinetic energy to the drone 1 , and the drone 1 flies out of the storage box 2 from the opening 212 under the action of the initial kinetic energy.
  • the storage box 2 can also be used to charge the drone 1 when the drone 1 is stored in the storage box 2 . That is, the storage box 2 can charge the drone 1 stored in the storage box 2 in real time, so the battery of the drone 1 itself only needs to fly 1 to 2 times.
  • the drone 1 itself can be made very small and weighs a lot. Light, good for ejection.
  • the charging of the drone 1 stored in the storage box 2 can be implemented in different ways. Exemplarily, in some embodiments, the storage box 2 includes a battery, and the drone 1 is charged through the battery; in some embodiments, the drone 1 is charged.
  • the storage box 2 is connected to an external power source to charge the drone 1 . Further optionally, when the drone 1 is stored in the storage box 2, if the battery capacity of the drone 1 is less than the preset capacity threshold, the drone 1 is charged; otherwise, no charging is required.
  • the size of the preset capacity threshold may be set as required, which is not limited in this embodiment of the present application.
  • the storage box 2 can also be used to control the drone 1 to be in a standby state when the drone 1 is stored in the storage box 2 .
  • the drone 1 is installed in the storage box 2 and remains in a standby state. In this way, the posture and position information of the drone 1 can be monitored in real time, and there is no need to wait to search for GPS satellite signals before taking off like a traditional drone. After the power is turned on, it is necessary to first search for satellite signals to locate the position information of the UAV, which usually takes more than 1 minute, and the UAV 1 in the embodiment of the present application can transmit the position of the UAV 1 through the external terminal during the standby process. information, or the GPS signal of the storage box 2 has completed the positioning, and the position information of the drone 1 is obtained.
  • the user ejects the drone 1 through one-key triggering, and the drone 1 obtains initial kinetic energy by means of the ejection mechanism 3 and ejects upward.
  • the process after the drone 1 is ejected from the storage box 2 will be described in detail.
  • the unmanned aerial vehicle 1 in the embodiment of the present application may include a power mechanism.
  • the power mechanism may include a propeller 13 and a motor that drives the propeller 13 to rotate; of course, the structure of the power mechanism is not limited to this.
  • the UAV 1 is used to obtain motion parameters during the movement of the UAV 1 under the action of initial kinetic energy.
  • the motion parameters indicate that the UAV 1 satisfies the preset flight conditions
  • the power mechanism Work to control drone 1 to fly autonomously.
  • the movement process of the UAV 1 under the action of the initial kinetic energy is a process of passive flight of the UAV 1.
  • the power mechanism does not work.
  • the drone 1 first ejects the storage box 2 under the action of initial kinetic energy and moves passively, and then flies autonomously. The whole process does not require the user to perform complicated operations, which greatly simplifies the use of the drone 1 .
  • the motion parameter may include at least one of the acceleration of the UAV 1, the speed of the UAV 1, and the position information of the UAV 1, for example, the motion parameter is the acceleration of the UAV 1 or the speed of the UAV 1 or the unmanned aerial vehicle.
  • the location information of the drone 1, for example, the motion parameters includes at least two of the acceleration of the drone 1, the speed of the drone 1, and the location information of the drone 1. It should be understood that the types of motion parameters are not limited to this, and may be other types. Wherein, the acquisition methods of the acceleration of the drone 1, the speed of the drone 1, and the position information of the drone 1 may adopt the existing methods, which are not limited in this application.
  • the acceleration of the drone 1 is detected by the accelerometer of the drone 1, and the GPS of the drone 1 and/or the inertial measurement unit IMU of the drone 1 and/or the visual positioning perception of the drone 1
  • the module VO/VIO detects the speed of the drone 1; detects the position information of the drone 1 through the GPS of the drone 1.
  • the position information of the drone 1 is different from the position information of the storage box 2 during the movement of the drone 1 under the action of the initial kinetic energy and the process of the drone 1 flying autonomously.
  • the motion parameters include the acceleration of the UAV 1
  • the preset flight conditions include: the acceleration of the UAV 1 is in the vertical direction.
  • the component is roughly equal to the gravitational acceleration.
  • the component of the acceleration of the UAV 1 in the vertical direction is roughly equal to the acceleration of gravity, and it can be considered that the UAV 1 is in a free fall state, and the UAV 1 is in a free fall state, indicating that the initial kinetic energy has ended.
  • the UAV 1 is controlled to fly autonomously, which can prevent the UAV 1 from falling under the action of gravity.
  • the component of the acceleration of the drone 1 in the vertical direction is approximately equal to the acceleration of gravity, which means that the component of the acceleration of the drone 1 in the vertical direction is within the range of the acceleration of gravity ⁇ the measurement error of the acceleration.
  • the motion parameter includes the speed of the UAV 1
  • the preset flight condition includes: the vertical component of the speed of the UAV 1 is smaller than a preset speed threshold.
  • the vertical component of the speed of the UAV 1 is less than the preset speed threshold, it can be considered that the speed of the UAV 1 is 0.
  • the UAV 1 is in a free fall state, and the UAV 1 is in a free state.
  • the falling state indicates that the effect of the initial kinetic energy on the UAV 1 has ended.
  • the UAV 1 is controlled to fly autonomously, which can prevent the UAV 1 from falling under the action of gravity.
  • the size of the preset speed threshold can be set as required, for example, the preset speed threshold is 1 m/s or other smaller speed thresholds.
  • the motion parameter includes position information of the UAV 1
  • the preset flight conditions include: the position information of the UAV 1 indicates that the height of the UAV 1 is approximately the first preset height.
  • the first preset height is the maximum height that the UAV 1 can reach under the action of the initial kinetic energy (ie, the highest point of ejection). After the UAV 1 reaches the maximum height under the action of the initial kinetic energy, if the The flight of the human-machine 1 is controlled, and the drone 1 enters the free fall state. When the drone 1 enters the free fall state, the drone 1 is controlled to fly autonomously, which can prevent the drone 1 from falling under the action of gravity.
  • the first preset height can also be set to other sizes.
  • the first preset height can be smaller than the maximum height reached by the UAV 1 under the action of the initial kinetic energy.
  • the size of the first preset height can be set as required. It should be understood that the first preset height is greater than the height when the drone 1 is ejected from the storage box 2 .
  • the position information of the UAV 1 indicates that the height of the UAV 1 is roughly the maximum height that the UAV 1 can reach under the action of the initial kinetic energy.
  • the drone 1 is in a folded state when it is stored in the storage box 2 , and the drone 1 can be switched from the folded state to the unfolded state after the storage box 2 is ejected.
  • the drone 1 is folded during storage, which is convenient for storage, and the storage box 2 can be designed to be small and easy to carry. After the drone 1 is ejected, it can be switched from the folded state to the unfolded state to prepare for autonomous flight.
  • the drone 1 can be switched from the folded state to the unfolded state at different times. For example, in some embodiments, the drone 1 is switched from the folded state to the unfolded state at the moment of flying out of the storage box 2. In this embodiment, The drone 1 is unfolded when it is ejected from the storage box 2 , and the drone 1 is always unfolded during the ejection process from the storage box 2 .
  • the UAV 1 should be deployed as late as possible in the ejection stage to utilize the initial kinetic energy obtained by ejection as much as possible. Therefore, in order to avoid the risk of insufficient ejection height caused by premature deployment of the drone 1, in some embodiments, after the drone 1 flies out of the storage box 2, the drone 1 is gradually switched from the folded state to the unfolded state. In the ejection stage, it is gradually expanded, and the initial kinetic energy obtained by the ejection is used as much as possible to obtain a higher ejection height.
  • the UAV 1 when the UAV 1 meets the preset flight conditions, the UAV 1 is switched from the folded state to the unfolded state, the UAV 1 is not deployed in the ejection stage, and the UAV 1 is unfolded when the UAV 1 is switched from the ejection stage to autonomous flight,
  • the initial kinetic energy obtained by ejection can be used as much as possible to obtain a higher ejection height, and on the other hand, the UAV 1 can fly autonomously after deployment.
  • the realization method of switching the UAV 1 from the folded state to the unfolded state can be determined by the structure of the UAV 1 itself, or can be realized by an automatic control method.
  • the structure of the UAV 1 will be described below.
  • the UAV 1 is a coaxial rotor UAV.
  • the UAV 1 may include a fuselage and a connecting shaft connected to the top of the fuselage, and the power mechanism includes at least two propellers, at least two The propellers are connected to the connecting shaft at intervals along the axial direction of the connecting shaft, and the blades of the propellers can rotate relative to the connecting shaft so as to be in a folded state or an unfolded state selectively.
  • the paddles are attached between the connecting shafts; in the unfolded state, the paddles are perpendicular to the connecting shafts.
  • the UAV 1 is a multi-rotor UAV, please refer to FIG. 4 and FIG. 5
  • the UAV 1 may include a fuselage 11 and an arm 12 connected to the side wall of the fuselage 11
  • the power mechanism includes The propeller 13, the propeller 13 is connected to the side of the arm 12 away from the fuselage 11, the arm 12 can rotate relative to the fuselage 11, and the blades of the propeller 13 can rotate relative to the arm 12, so as to be selectively folded or unfolded state.
  • the arm 12 is attached to the fuselage 11 on at least one surface in its extending direction, and the paddle is attached to the arm 12 (as shown in FIG.
  • the photographing device 4 is a handheld gimbal, and the handheld gimbal includes a handle 41; as shown in FIG. 4, in the folded state, the arm 12 is attached to the handle 41 .
  • the bottom of the handle 41 is connected to the bottom of the fuselage 11, the top of the handle 41 is equipped with a gimbal, and the gimbal is equipped with a shooting module. gimbal or other multi-axis gimbal.
  • the photographing device 4 may be a gimbal directly connected to the body 11 .
  • connection shaft and the propeller 13 are switched from the folded state to the unfolded state. It can also be realized by the way of switching the machine arm 12 from the folded state to the unfolded state in the following embodiments.
  • the arm 12 can be forced to be opened manually, or the arm 12 can be opened automatically by the drone 1 (for example, it is automatically opened when approaching the highest point of ejection).
  • the arm 12 is controlled to be folded, and the arm 12 can be quickly opened when unfolded.
  • the arm 12 can be deployed relative to the fuselage 11 under the action of its own deployment force.
  • the fuselage 11 may be similar to the handle of an umbrella, and the arm 12 Umbrella bone.
  • the arm 12 is switched from the folded state to the unfolded state under the action of its own unfolding force; optionally, after the drone 1 flies out of the storage box 2 , the arm 12 is gradually switched from the folded state to the unfolded state under the action of its own unfolding force.
  • the arm 12 is deployed relative to the fuselage 11 when the trigger mechanism of the UAV 1 is triggered, so that the arm 12 can be accurately deployed when it needs to be deployed to meet the flight requirements.
  • the trigger mechanism is triggered, and the arm 12 is switched from the folded state to the unfolded state;
  • the mechanism is triggered, and the arms 12 are gradually switched from the folded state to the unfolded state;
  • the trigger mechanism is triggered, and the arms 12 are switched from the folded state to the unfolded state.
  • the machine arm 12 is gradually switched from the folded state to the unfolded state, indicating that the machine arm 12 is gradually unfolded, as shown in FIG. 6 .
  • the trigger mechanism can be triggered manually or automatically.
  • the trigger mechanism includes an operation part such as a button or a button or a rotary operation part.
  • the operation part can be set in the storage box 2 or an external terminal. part is triggered.
  • the operating part as the pressing part as an example
  • the user gradually presses the pressing part, and the arm 12 is gradually switched from the folded state to the unfolded state.
  • the state of the machine arm 12 is positively related to the pressing stroke.
  • the pressing part is not pressed, the machine arm 12 is in a folded state; when the pressing part is pressed to the maximum position, the machine arm 12 is in a fully unfolded state.
  • the user presses the pressing part, and the arms 12 are switched from the folded state to the unfolded state.
  • Another example is to trigger the trigger mechanism in an automatic way.
  • the storage box 2 and/or the drone 1 outputs a trigger signal to the trigger mechanism, and the trigger mechanism is triggered.
  • the arm 12 is switched from the folded state to the unfolded state; optionally, after the drone 1 flies out of the storage box 2, the storage box 2 and/or the drone 1 outputs a trigger signal to the trigger mechanism, the trigger mechanism is triggered, and the arm 12 is gradually switched from the folded state to the unfolded state; optionally, when the drone 1 meets the preset flight conditions, the storage box 2 and/or the drone 1 outputs a trigger signal to the trigger mechanism, the trigger mechanism is triggered, and the arm 12 Switch from the folded state to the unfolded state.
  • the trigger mechanism of the embodiment of the present application may include a lock catch.
  • the lock catch When the lock catch is closed, the arm 12 is in a folded state; when the lock catch is opened, the machine arm 12 is in an unfolded state.
  • the lock catch may be similar to an umbrella catch, or For other types of locks. Further, the opening and closing of the lock can be triggered by operating the operation part, and the opening and closing of the lock can also be automatically controlled by the storage box 2 .
  • the user presses a button on the storage box 2 to generate a trigger instruction, which triggers the ejection mechanism 3 to provide initial kinetic energy to the drone 1, and the drone 1 is in Under the action of the initial kinetic energy, the drone 1 moves toward the opening 212 , the drone 1 impacts the cover 22 , the cover 22 opens under the impact force of the drone 1 , and the drone 1 flies out of the storage box 2 from the opening 212 .
  • the moment the drone 1 pops out of the storage box 2 it switches from the folded state to the unfolded state under the action of its own unfolding force.
  • the power mechanism works to control the UAV 1 to fly autonomously.
  • the user presses a button on the storage box 2 to generate a trigger instruction, first triggers the storage box 2 to open the cover 22 , and then triggers the ejection mechanism 3 after the cover 22 is opened
  • the initial kinetic energy is provided to the drone 1, and the drone 1 flies out of the storage box 2 from the opening 212 under the action of the initial kinetic energy.
  • the user gradually presses the operation part to trigger the drone 1 to gradually switch from the folded state to the unfolded state.
  • the power mechanism works to control the UAV 1 to fly autonomously.
  • the user when the drone 1 needs to be ejected, the user operates an external terminal to generate a trigger command, the external terminal sends the trigger command to the storage box 2, and the trigger ejection mechanism 3 provides initial kinetic energy to the drone 1, and the drone 1 Moving towards the opening 212 under the action of the initial kinetic energy, the drone 1 impacts the cover body 22 , the cover body 22 opens under the impact force of the drone 1 , and the drone 1 flies out of the storage box 2 from the opening 212 .
  • the drone 1 After the drone 1 is ejected from the storage box 2, when the vertical component of the drone 1's acceleration is close to the gravitational acceleration and/or the vertical component of the drone 1's speed is approximately 0 and/or the drone
  • the position information of 1 indicates that the height of the UAV 1 is roughly the maximum height that the UAV 1 can reach under the action of the initial kinetic energy, a trigger signal is output to the trigger mechanism, the trigger mechanism is triggered, and the arm 12 is switched from the folded state to In the unfolded state, the power mechanism works to control the drone 1 to fly autonomously.
  • the UAV 1 including the arm 12 is taken as an example to illustrate the realization of the folding of the UAV 1. It should be noted that the realization of the folding of the connecting shaft and the propeller 13 can also be achieved by the arm 12 in the following embodiment. Folding implementation to achieve.
  • the machine arm 12 in this embodiment can be folded relative to the body 11 under the action of an external pressing force.
  • the pressing force is manually generated by the user.
  • the machine arm 12 is similar to an umbrella rib, and the user squeezes the machine arm 12 manually. , so that the arm 12 rotates relative to the fuselage 11 to switch from unfolding to folding; optionally, the squeezing force is generated in an automatic way, for example, the storage box 2 generates squeezing force, and the arm 12 is controlled to rotate relative to the fuselage 11 to make The arm 12 is switched from unfolding to folding.
  • the arms 12 can be manually rotated to switch the arms 12 from unfolding to folding, and after all the arms 12 are switched from unfolding to folding, the drone 1 can be placed on the Put it in the storage box 2. It should be noted that, when the drone 1 is manually folded, one arm 12 may be manually rotated at the same time, or multiple arms 12 may be manually rotated at the same time.
  • the user triggers the folding operation part, so that the storage box 2 generates a pressing force, and controls the arm 12 to rotate relative to the fuselage 11 to switch the arm 12 from unfolding to folding.
  • the drone 1 when the drone 1 is automatically folded, one arm 12 may be automatically rotated at the same time, or multiple arms 12 may be automatically rotated at the same time.
  • the storage box 2 after the drone 1 finishes flying, the storage box 2 generates a squeezing force, and controls the arm 12 to rotate relative to the fuselage 11 , so that the arm 12 is switched from unfolding to folding.
  • the power mechanism of the embodiment of the present application controls the drone 1 to fly according to a preset trajectory. After the drone 1 obtains initial kinetic energy through ejection, the storage box 2 is ejected under the action of the initial kinetic energy. The mechanism controls the UAV 1 to fly according to a preset trajectory, and the UAV 1 does not require user operation during the flight stage, which greatly simplifies the use of the UAV 1.
  • the preset trajectory may include a preset descending trajectory, and the preset descending trajectory may be set as required.
  • the preset descending trajectory includes at least one of the following: vertical descending, spiral descending, or zigzag descending; it should be understood that , the preset descent trajectory can also be other.
  • the end position of the descent of the drone 1 is the return position of the drone 1, and the return position may be the current position of the storage box 2, or may be other, such as a user-specified position.
  • the terminal position where the UAV 1 descends is not limited to the return position of the UAV 1, and can also be other positions, such as a user-specified position.
  • the return-to-home position is the current position of the storage box 2.
  • the user may walk around with the storage box 2, and set the return-to-home position to the current position of the storage box 2 to ensure that the drone 1 can be returned to the user's hands to prevent the loss of the drone 1.
  • the UAV 1 is used to control the UAV through a power mechanism when the motion parameters indicate that the UAV 1 meets the preset flight conditions. 1 drop.
  • the power mechanism works to control the UAV 1 to descend.
  • the UAV 1 is used to control the UAV 1 through the power mechanism when the height of the UAV 1 satisfies the preset flight condition is less than the second preset height before the UAV 1 is controlled to descend by the power mechanism.
  • the man-machine 1 flies to the second preset altitude. That is, before the height of the UAV 1 that satisfies the preset flight conditions is lower than the second preset height, it is necessary to control the UAV 1 to fly to the second preset height through the power mechanism.
  • the UAV 1 is at the second height, The UAV 1 is controlled to descend through the power mechanism.
  • the second preset height in this embodiment is greater than the maximum height that the UAV 1 can reach under the action of the initial kinetic energy.
  • the second preset height may be the size of the default height, and may also be set by the user. For example, before ejecting the drone 1 , the second preset height is set or the second preset height is set during the ejection stage.
  • the second preset height is realized by the user operating the buttons or the screen of the storage box 2; optionally, the second preset height is set by the user operating an external terminal, and the external terminal can be connected with the storage box 2 and/or without. Man-machine 1 communication.
  • the user can operate on the storage box 2 and/or the external terminal to set the second preset height, and can also set the size of the initial kinetic energy provided by the ejection mechanism 3, that is, to set the driving parameters of the ejection mechanism 3 (eg, ejection mechanism 3).
  • the external terminal is a wearable device such as a watch that controls the drone 1, and the second preset height and/or the driving parameters of the ejection mechanism 3 can be set by operating the knob mechanism of the watch; another example, the external terminal is a mobile phone, The preset parameter table can be read through the mobile phone, and then the parameter table can be modified to set the second preset height and/or the driving parameters of the ejection mechanism 3 .
  • the camera device 4 on the drone 1 is controlled to shoot, and the drone 1 can realize on-demand shooting. Further optionally, when the drone 1 is hovering, the camera 4 on the drone 1 is controlled to shoot. Optionally, the photographing device 4 can be controlled to photograph without hovering the drone 1 .
  • the shooting can include shooting from different angles, that is, the shooting angle can be changed, and the shooting angle can be controlled by a preset angle change control strategy, and the user does not need to operate a remote control or an external terminal to control the posture of the shooting device 4 .
  • the shooting angle can be fixed, and the shooting angle can be set as needed.
  • the drone 1 hovers at a set height to take a panorama (or non-panoramic shooting), and then slowly descends, shoots a video, and forms an impactful video, and the descending trajectory of the drone 1 can be changed.
  • the user may need to crop the panorama image to get a photo of the desired area. In this way, there is no need for the user to adjust the shooting angle, and the drone 1 does not need to be controlled at all, and the whole process is fully automated.
  • the drone 1 is also used to open the landing protection device of the drone 1 when receiving the emergency stop command sent by the storage box 2, and control the drone 1 to land through the power mechanism; the emergency stop command is issued by the storage box. 2 is generated when the emergency stop control on the storage box 2 is triggered.
  • the emergency stop control part can be a key or a button, and can also be of other types. Exemplarily, the user presses the emergency button, the propeller 13 of the drone 1 stops rotating immediately, and the parachute is opened, so that the drone 1 is safely landed.
  • the storage box 2 is communicatively connected to the drone 1, and the drone 1 can be used without using a remote controller, and connection to an external terminal such as a mobile phone is optional.
  • the storage box 2, the drone 1, and the external terminal can be interconnected.
  • the storage box 2 communicates with the external terminal
  • the drone 1 communicates with the storage box 2
  • the storage box 2 communicates with the external terminal.
  • Direct communication between external terminals the drone 1 can forward information to the external terminal through the storage box 2, and the external terminal can forward the information to the drone 1 through the storage box 2;
  • the storage box 2, the drone 1 communicate with external terminals respectively
  • storage box 2 can communicate directly with external terminals
  • drone 1 can also communicate directly with external terminals.
  • Drone 1 can forward information to external terminals through storage box 2, and external terminals The information can also be forwarded to the drone 1 through the storage box 2 .
  • the interconnection method can be wired and/or wireless.
  • the data information of the drone 1 can be transmitted to an external terminal.
  • the drone 1 is communicatively connected with the storage box 2 and/or the external terminal, and the drone 1 can The data information of the man-machine 1 is sent to the storage box 2 and/or the external terminal; in some embodiments, the drone 1 is connected to the external terminal through the storage box 2, and the storage box 2 can forward the data information of the drone 1 to the external terminal. external terminal.
  • the data information in this embodiment of the present application may include at least one of the current state information of the drone 1 or the image captured by the drone 1, and may also include others.
  • the current state information may include at least one of the position information, attitude information, storage capacity information, power information, flight state information, and current configuration parameters of the UAV 1, but is not limited thereto.
  • the configuration parameters of the drone 1 can be set.
  • the drone 1 is communicatively connected to the storage box 2 and/or the external terminal, and the storage box 2 and/or the external terminal Can generate parameter configuration instructions according to user instructions, and send parameter configuration instructions to UAV 1; in some embodiments, UAV 1 communicates with an external terminal via storage box 2, and the external terminal can generate parameter configuration instructions according to user instructions. , and send the parameter configuration instruction forwarded by the storage box 2 to the UAV 1.
  • the UAV 1 can set the configuration parameters of the UAV 1 according to the parameter configuration instruction.
  • the configuration parameters may include at least one of a height that the UAV 1 needs to reach for the current flight and a shooting parameter, but is not limited thereto.
  • the process of ejecting the drone 1 may include: the user clicks a button Ejection button -> the mobile phone sends a trigger command to the storage box 2 -> the storage box 2 detects the surrounding environment -> confirms the ejection safety -> the storage box 2 controls the action of the ejection mechanism 3 -> the drone 1 ejects and flies (including the initial kinetic energy effect Passive flight and autonomous flight) -> the camera device 4 of UAV 1 takes a picture and sends the image back to the mobile phone in real time (or the image can be transmitted to the mobile phone when the UAV 1 is retracted) -> Send it to others through the WeChat chat interface user.
  • the photographing device 4 of the drone 1 can be switched between the front and rear lenses, and the user can control the photographing device 4 to switch between the front and rear lenses by operating the mobile phone.
  • a storage case is provided, one or more processors that invoke program instructions stored in a storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to use The steps performed by the storage box in the above-mentioned system are implemented.
  • the storage box is used to store the drone; and an ejection mechanism is provided in the storage box; wherein, the storage box is used to detect whether the safety information of the system satisfies the ejection of the drone
  • the preset safety conditions of the storage box when the preset safety conditions are met and an external trigger instruction is received, the ejection mechanism is controlled to act so that the drone ejects the storage box.
  • the storage box can communicate with the drone stored therein, and the storage box obtains the position and attitude information sensed by the drone. Based on the acquired pose information, the storage box may regard the pose information as a type of the safety information, or further process the safety information based on the position information to obtain the safety information.
  • the storage box can make a result judgment based on whether the safety information satisfies the preset safety conditions, and in the case of meeting the preset safety conditions, in response to an external trigger instruction, execute the ejection position. Describe the operation of the drone.
  • the use process of the UAV system may include the following steps:
  • the drone 1 or the storage box 2 detects that the current environment is suitable for ejection. If the current position of the storage box 2 is in an open and unobstructed area, and the current ejection direction is upward, the user is allowed to eject;
  • the UAV 1 can be provided with initial kinetic energy through a slingshot-like mechanism or a spring mechanism, so that the UAV 1 can be ejected upward;
  • UAV 1 detects its speed during flight, and predicts the flight trajectory based on the initial kinetic energy.
  • the highest point of ejection at the highest point of ejection, the component of the acceleration of UAV 1 in the vertical direction
  • the vertical component of the speed of the drone 1 is less than the preset speed threshold
  • the drone 1 automatically descends, and continues to record during the descending process, and returns to the take-off point, which can be the current position of the storage box 2 obtained through the storage box 2 GPS;
  • the user can connect the drone 1 through an external terminal such as a smartphone to obtain images and recorded videos, and crop panoramic photos and videos as required to obtain a desired photo of a certain area or a small video, such as a Key short mode - video of asteroid effect, drone 1 rises from the ground, and then connects to spherical panoramic photos to achieve the look and feel of flying away from asteroids;
  • an external terminal such as a smartphone to obtain images and recorded videos, and crop panoramic photos and videos as required to obtain a desired photo of a certain area or a small video, such as a Key short mode - video of asteroid effect
  • the user folds the drone 1 into a storage state, puts it into the storage box 2, and closes the magnetically attracted cover 22.
  • the storage box 2 or the UAV 1 can determine the time when the UAV 1 performs autonomous flight according to the initial kinetic energy; when the UAV 1 is in autonomous flight, the power mechanism of the UAV 1 is controlled to work to control the Drone 1 flies autonomously.
  • the UAV 1 can obtain the initial kinetic energy in the following two ways:
  • the first is to obtain the initial speed of the UAV 1 under the action of the initial kinetic energy; according to the initial speed, determine the initial kinetic energy of the UAV 1.
  • the magnitude of the initial speed can be obtained by detection by a speed sensor on the UAV 1, and the existing method is used to determine the initial kinetic energy based on the initial speed, which is not described in this application.
  • the second type is that the drone 1 is connected to the storage box 2 in communication, and the drone 1 obtains the initial kinetic energy provided by the ejection mechanism 3 from the storage box 2 .
  • the storage box 2 sends the initial kinetic energy provided by the ejection mechanism 3 to the drone 1 .
  • the UAV 1 deploys the propeller 13 to supplement kinetic energy to reach the second preset altitude.
  • the UAV of the present application can be carried around, and the initial kinetic energy is provided to the UAV by means of mechanical ejection, and the user does not need complicated operations in the process of controlling the UAV to take off. After the UAV automatically flies to the sky to complete the shooting, Then automatically land at the take-off point. The whole process does not require long preparations, and it can be used and photographed at any time, which greatly simplifies the use of the drone.
  • an embodiment of the present application also provides a method for controlling an unmanned aerial vehicle.
  • the execution body of the method for controlling an unmanned aerial vehicle in the embodiment of the present application may be an unmanned aerial vehicle, a storage box, or other independent control device. Please refer to Figure 8, the method may include:
  • Step S81 detecting the safety information when the drone is stored in the storage box
  • Step S82 when the safety information satisfies the preset safety conditions, in response to an external trigger command, control the action of the ejection mechanism on the storage box, so as to provide initial kinetic energy to the drone through the ejection mechanism, so that the drone can play the role of the initial kinetic energy. Pop out the storage box.
  • the safety information includes the pose of the drone when it is stored in the storage box.
  • the preset safety condition includes: the angle between the current pop-up direction of the pose indicating UAV and the upward component of the vertical direction is less than or equal to a preset angle threshold.
  • the preset angle threshold is greater than or equal to 15 degrees and less than or equal to 25 degrees.
  • the pose is obtained by detecting the inertial measurement unit (IMU) provided in the drone and/or the storage box.
  • IMU inertial measurement unit
  • the safety information includes environmental information at the current location of the storage box.
  • the preset safety conditions include: the environmental information indicates that the current position of the storage box is in a safe flight area.
  • the environmental information includes obstacle information, and the environmental information indicates that the current position of the storage box is in a safe flight area, including: the obstacle information indicates that the minimum obstacle distance is greater than a preset distance threshold.
  • the storage box is provided with an image acquisition device, and the image acquisition device is used to acquire an environmental image at the current position of the storage box, and the obstacle information is determined based on the environmental image.
  • the environmental information includes position information, and the environmental information indicates that the current position of the storage box is in a safe flight area, including: the position information indicates that the drone is currently in a non-no-fly area.
  • different safety information corresponds to different driving parameters of the ejection mechanism, so as to provide different initial kinetic energy through the ejection mechanism.
  • the storage box is provided with a control part, and the trigger instruction is generated by the storage box when the control part is triggered; or,
  • the storage box is connected in communication with the external terminal, and the trigger instruction is sent by the external terminal.
  • the ejection mechanism is an elastic structure, and the initial kinetic energy is provided by the elastic force generated by the elastic mechanism.
  • the resilient structure includes a spring or a slingshot.
  • the ejection mechanism is a thrust mechanism, and the initial kinetic energy is provided by the thrust generated by the thrust mechanism.
  • the storage box includes a box body and a cover body covering the opening on the top of the box body; the method further includes: in response to a trigger instruction, opening the cover body.
  • the method further includes: when the security information does not meet the preset security condition, not responding to the trigger instruction.
  • the method further includes: outputting alarm information when the security information does not meet a preset security condition.
  • the method further includes: when the drone is stored in the storage box, charging the drone through the storage box.
  • charging the drone through the storage box includes: charging the drone through a battery of the storage box; or, connecting an external power source through the storage box to charge the drone.
  • the method further includes: when the drone is stored in the storage box, controlling the drone to be in a standby state.
  • the method further includes: acquiring motion parameters during the movement of the UAV under the action of initial kinetic energy; when the motion parameters indicate that the UAV meets the preset flight conditions, controlling the power mechanism of the UAV. work to control drones to fly autonomously.
  • the motion parameter includes at least one of acceleration, velocity and position information of the drone.
  • the motion parameter includes acceleration
  • the preset flight condition includes: the vertical component of the acceleration is substantially equal to the gravitational acceleration.
  • the motion parameter includes speed
  • the preset flight condition includes: a vertical component of the speed is less than a preset speed threshold.
  • the motion parameter includes position information
  • the preset flight conditions include: the position information indicates that the height of the drone is approximately the first preset height.
  • the first preset height is the maximum height that the drone can reach under the action of the initial kinetic energy.
  • the drone is in a folded state when it is stored in the storage box, and after the drone is ejected from the storage box, the drone can be switched from the folded state to the unfolded state.
  • the drone is switched from the folded state to the unfolded state at the moment of flying out of the storage box.
  • the drone flies out of the storage box, it is gradually switched from the folded state to the unfolded state.
  • the drone is switched from the folded state to the unfolded state when the preset flight conditions are met.
  • controlling the power mechanism of the UAV to work to control the UAV to fly autonomously includes: controlling the UAV to fly according to a preset trajectory through the power mechanism.
  • the preset trajectory includes a preset descent trajectory.
  • the preset descending trajectory includes at least one of the following: vertical descending, spiral descending, or zigzag descending.
  • the end position where the drone falls is the return position of the drone.
  • the return-to-home position is the current position of the storage box.
  • controlling the power mechanism of the UAV to work to control the UAV to fly autonomously includes: when the motion parameter indicates that the UAV meets a preset flight condition, controlling the UAV to descend through the power mechanism.
  • the method further includes: when the altitude of the drone meeting the preset flight condition is less than the second preset altitude, controlling the drone to fly to the second preset altitude through the power mechanism.
  • the second preset height may be set by the user.
  • the second preset height can be set by the user operating an external terminal, and the external terminal can communicate with the storage box and/or the drone.
  • the method further includes: during the autonomous flight of the drone, controlling the shooting device on the drone to shoot.
  • controlling the shooting device on the drone to shoot includes: when the drone is hovering, controlling the shooting device on the drone to shoot.
  • the photographing includes photographing from different angles.
  • the method further includes: when receiving the emergency stop instruction sent by the storage box, turning on the landing protection device of the drone, and controlling the drone to land through the power mechanism; the emergency stop instruction is placed on the storage box by the storage box. Generated when the emergency stop control part is triggered.
  • the drone is connected in communication with the storage box and/or the external terminal, and the drone can transmit data information of the drone to the storage box and/or the external terminal.
  • the drone is connected in communication with the storage box and/or the external terminal, the storage box and/or the external terminal can generate parameter configuration instructions according to user instructions, and send the parameter configuration instructions to the drone, and the drone can configure the parameters according to the parameters. Configure the command to set the configuration parameters of the drone.
  • the drone is communicatively connected to an external terminal via a storage box, and the storage box can forward the data information of the drone to the external terminal.
  • the drone is communicated with an external terminal through the storage box, and the external terminal can generate a parameter configuration instruction according to the user's instruction, and forward the parameter configuration command through the storage box to the drone; the drone can configure the command according to the parameter, Set the configuration parameters of the drone.
  • the data information includes at least one of current state information of the drone or images captured by the drone.
  • the current state information includes at least one of position information, attitude information, storage capacity information, power information, flight state information, and current configuration parameters of the drone.
  • the configuration parameters include at least one of a height that the drone needs to reach for the current flight and a shooting parameter.
  • an embodiment of the present application also provides a method for controlling an unmanned aerial vehicle.
  • the executing subject of the method for controlling an unmanned aerial vehicle in the embodiment of the present application is an unmanned aerial vehicle. Please refer to FIG. 9 , and the method may include:
  • Step S91 obtaining the motion parameters of the drone in the process of flying out of the storage box and moving under the action of the initial kinetic energy provided by the external ejection mechanism, wherein the ejection mechanism is provided in the storage box;
  • Step S92 when the motion parameter indicates that the UAV meets the preset flight conditions, control the power mechanism of the UAV to work, so as to control the UAV to fly autonomously.
  • the initial kinetic energy is generated by the storage box controlling the action of the ejection mechanism in response to an external trigger command when the safety information meets a preset safety condition, and the safety information is detected and obtained when the drone is stored in the storage box.
  • an embodiment of the present application further provides a method for controlling an unmanned aerial vehicle.
  • the executing subject of the method for controlling an unmanned aerial vehicle in the embodiment of the present application is an unmanned aerial vehicle. Please refer to FIG. 10 .
  • the method may include:
  • Step S101 obtaining the size of the initial kinetic energy provided by the external ejection mechanism to the drone, wherein the ejection mechanism is provided in the storage box, and the drone can fly out of the storage box and move under the action of the initial kinetic energy;
  • Step S102 according to the size of the initial kinetic energy, determine the moment when the UAV performs autonomous flight
  • Step S103 when the drone is flying autonomously, control the power mechanism of the drone to work, so as to control the drone to fly autonomously.
  • the initial kinetic energy is generated by the storage box controlling the action of the ejection mechanism in response to an external trigger command when the safety information meets a preset safety condition, and the safety information is detected and obtained when the drone is stored in the storage box.
  • obtaining the initial kinetic energy provided by the external ejection mechanism to the UAV includes: obtaining the initial speed of the UAV under the action of the initial kinetic energy; and determining the initial kinetic energy of the UAV according to the initial speed.
  • the drone is communicatively connected to the storage box to obtain the initial kinetic energy provided by the external ejection mechanism to the drone, including: obtaining the initial kinetic energy provided by the ejection mechanism from the storage box.
  • the embodiment of the present application further provides a UAV control device.
  • the drone control device of the embodiment of the present application may include a storage device and one or more processors.
  • the storage device is used for storing program instructions.
  • the storage device stores an executable instruction computer program of the drone control method, and the storage device may include at least one type of storage medium, the storage medium including flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM) , magnetic memory, magnetic disk, optical disk, etc.
  • the drone control device may cooperate with a network storage device that performs the storage function of the memory through a network connection.
  • the memory may be an internal storage unit of the drone control device, such as a hard disk or memory of the drone control device.
  • the memory can also be an external storage device of the drone control device, such as a plug-in hard disk equipped on the drone control device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory Card (Flash Card), etc. Further, the memory may also include both an internal storage unit of the drone control device and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been or will be output.
  • a plug-in hard disk equipped on the drone control device such as a plug-in hard disk equipped on the drone control device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory Card (Flash Card), etc.
  • the memory may also include both an internal storage unit of the drone control device and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been or will be output.
  • the one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the steps shown in FIG. 8 .
  • the one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the steps shown in FIG. 9 .
  • the one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors, individually or collectively, are configured to implement the steps shown in FIG. 10 .
  • the processor of this embodiment can implement the UAV control method of the embodiment shown in the UAV control diagram of this application, and the UAV control device of this embodiment can be described with reference to the UAV control method of the above-mentioned embodiment.
  • the processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA field Field-Programmable Gate Array
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • embodiments of the present application further provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the UAV control method of any of the foregoing embodiments.
  • the computer-readable storage medium may be the storage box described in any of the foregoing embodiments or an internal storage unit of the drone, such as a hard disk or a memory.
  • the computer-readable storage medium can also be a storage box or an external storage device of the drone, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card ( Flash Card), etc.
  • the computer-readable storage medium may also include both the storage box or the internal storage unit of the drone 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 storage box or the drone, and can also be used to temporarily store data that has been output or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

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

Abstract

La présente invention concerne un système de véhicule aérien sans pilote, ainsi qu'un procédé de commande et un appareil de commande pour un véhicule aérien sans pilote. Le système de véhicule aérien sans pilote comprend un véhicule aérien sans pilote (1), une boîte de réception (2) destinée à recevoir le véhicule aérien sans pilote, et un mécanisme d'éjection (3) disposé sur la boîte de réception, la boîte de réception étant utilisée pour commander, lors de la détection qu'une condition de sécurité prédéfinie est satisfaite lorsque le véhicule aérien sans pilote (1) est logé dans la boîte de réception (2), le mécanisme d'éjection (3) pour qu'il agisse en réponse à une instruction de déclenchement externe, de telle sorte que le véhicule aérien sans pilote est éjecté hors de la boîte de réception (2), et le véhicule aérien sans pilote vole de manière autonome lorsqu'un paramètre de mouvement indique que le véhicule aérien sans pilote satisfait une condition de vol prédéfinie. Une instruction de déclenchement pour éjecter un véhicule aérien sans pilote n'obtient une réponse que lorsqu'il est assuré que le véhicule aérien sans pilote peut être éjecté en toute sécurité sur la base d'informations de sécurité, ce qui permet d'assurer la sécurité du véhicule aérien sans pilote lorsqu'il est éjecté hors d'une boîte de réception ; et un utilisateur peut fournir une énergie cinétique initiale pour le décollage du véhicule aérien sans pilote au moyen d'un déclenchement à un bouton, le processus de commande du véhicule aérien sans pilote pour décoller n'a pas besoin d'un long temps de préparation, et une opération compliquée n'est pas nécessaire, ce qui simplifie considérablement l'utilisation du véhicule aérien sans pilote.
PCT/CN2021/080834 2021-03-15 2021-03-15 Système de véhicule aérien sans pilote, ainsi que procédé et appareil de commande pour véhicule aérien sans pilote WO2022193079A1 (fr)

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US20130313357A1 (en) * 2010-07-14 2013-11-28 Arcturus UAV LLC UAV Launch Attachment Assembly and Launch System
EP2810867A1 (fr) * 2013-06-03 2014-12-10 Lockheed Martin Corporation Système de véhicule aérien lancé
US20170057635A1 (en) * 2015-09-02 2017-03-02 The Boeing Company Drone launch systems and methods
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