WO2023082253A1 - Procédé de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué et support de stockage - Google Patents

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

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Publication number
WO2023082253A1
WO2023082253A1 PCT/CN2021/130654 CN2021130654W WO2023082253A1 WO 2023082253 A1 WO2023082253 A1 WO 2023082253A1 CN 2021130654 W CN2021130654 W CN 2021130654W WO 2023082253 A1 WO2023082253 A1 WO 2023082253A1
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Prior art keywords
unmanned aerial
aerial vehicle
attitude
target power
transmitting device
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PCT/CN2021/130654
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English (en)
Chinese (zh)
Inventor
祝煌剑
李勋
王石荣
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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/CN2021/130654 priority Critical patent/WO2023082253A1/fr
Priority to CN202180100511.9A priority patent/CN117677913A/zh
Publication of WO2023082253A1 publication Critical patent/WO2023082253A1/fr

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

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular to a control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium.
  • UAVs can be equipped with a distance detection device.
  • the distance detection device includes a launcher.
  • the launcher can send a detection signal to detect obstacles in the surrounding environment of the UAV.
  • the UAV can detect the detected obstacles during flight. evade.
  • the transmitting power of the transmitting device remains unchanged after the setting is completed. If the transmission power is set too low and the detection distance is too short, the safety of the UAV cannot be guaranteed because it cannot detect long-distance obstacles when the UAV performs high-speed operations. If the transmission power is set too high, the power consumption of the distance detection device will increase, which will reduce the endurance of the UAV. In addition, the performance of the distance detection device will decrease due to overheating, which will further cause the temperature of the UAV to rise. The safety of the aircraft is threatened.
  • the present application provides a control method for an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium, so as to adjust the power of the transmitting device of the distance detection device according to the motion state of the unmanned aerial vehicle, so as to ensure The detection requirements of the distance detection device for unmanned aerial vehicles are to ensure the detection effect and avoid excessive power consumption of the distance detection device.
  • the present application provides a control method for an unmanned aerial vehicle, the unmanned aerial vehicle includes a distance detecting device for detecting objects around the unmanned aerial vehicle, and the distance detecting device includes a transmitting device for emitting a detection signal , the method includes:
  • controlling the transmitting device to transmit detection signals according to the determined target power
  • the motion control of the unmanned aerial vehicle is performed according to the distance information collected by the distance detection device.
  • the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle includes a distance detecting device for detecting objects around the unmanned aerial vehicle, the distance detecting device includes a transmitting device for emitting a detection signal, the The unmanned aerial vehicle also includes: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and when executing the computer program, implement the following steps:
  • controlling the transmitting device to transmit detection signals according to the determined target power
  • the motion control of the unmanned aerial vehicle is performed according to the distance information collected by the distance detecting device.
  • the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the unmanned aerial vehicle as described above. Control Method.
  • the distance detecting device of the unmanned aerial vehicle in the embodiment of the present application is used to detect objects around the unmanned aerial vehicle.
  • the distance detecting device includes a transmitting device for emitting detection signals. Since the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, This can ensure the detection requirements of the distance detection device for the unmanned aerial vehicle in different motion states to ensure the detection effect, so that the unmanned aerial vehicle can perform motion control and avoid obstacles in advance according to the distance information of the detected obstacles, so as to ensure no
  • the target power of the launch device can be flexibly adjusted according to the motion state of the UAV, the target power will not always be at a high level, and the target power will be reduced, thereby avoiding excessive power consumption of the distance detection device and avoiding Reduce the battery life of the UAV due to the excessive power consumption of the distance detection device, avoid the performance degradation of the distance detection device due to overheating, and avoid the safety threat caused by the temperature rise of the UAV due to the overheating of the distance detection
  • Fig. 1 is a schematic flow chart of an embodiment of a control method for an unmanned aerial vehicle of the present application
  • Fig. 2 is a schematic diagram of determining the target power according to the motion state in an embodiment of the control method of the unmanned aerial vehicle of the present application;
  • Fig. 3 is a schematic diagram of determining the target power according to the speed of flight in an embodiment of the control method of the unmanned aerial vehicle of the present application;
  • Fig. 4 is a schematic diagram of the change of the motor state corresponding to the motion state of the unmanned aerial vehicle on the time axis in an embodiment of the control method of the unmanned aerial vehicle of the present application;
  • Fig. 5 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application.
  • the UAV can be equipped with a distance detection device.
  • the distance detection device includes a transmitter.
  • the transmitter can send detection signals to detect obstacles in the surrounding environment of the UAV.
  • the transmission power of the transmitter remains unchanged after setting. If the transmission power is set too low and the target detection is too close, the safety of the UAV cannot be guaranteed when the UAV performs high-speed operations. If the transmission power is set too high, the power consumption of the distance detection device will increase, which will reduce the endurance of the UAV. In addition, the performance of the distance detection device will decrease due to overheating, and even affect the temperature rise of the UAV. The safety of the aircraft is threatened.
  • the distance detecting device of the unmanned aerial vehicle in the embodiment of the present application is used to detect objects around the unmanned aerial vehicle.
  • the distance detecting device includes a transmitting device for emitting detection signals. Since the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, This can ensure the detection requirements of the distance detection device for the unmanned aerial vehicle in different motion states to ensure the detection effect, so that the unmanned aerial vehicle can perform motion control and avoid obstacles in advance according to the distance information of the detected obstacles, so as to ensure no
  • the target power of the launch device can be flexibly adjusted according to the motion state of the UAV, the target power will not always be at a high level, and the target power will be reduced, thereby avoiding excessive power consumption of the distance detection device and avoiding Reduce the battery life of the UAV due to the excessive power consumption of the distance detection device, avoid the performance degradation of the distance detection device due to overheating, and avoid the safety threat caused by the temperature rise of the UAV due to the overheating of the distance detection
  • Fig. 1 is a schematic flow chart of an embodiment of the control method of the unmanned aerial vehicle of the present application
  • the unmanned aerial vehicle includes a distance detection device, and the distance detection device is used to detect objects around the unmanned aerial vehicle, the distance The detection device includes a transmitting device for emitting a detection signal, and the distance detection device detects objects around the UAV according to the received echo signal of the detection signal, and further, the distance detection device detects objects around the UAV according to the received echo signal.
  • the echo signal of the detection signal determines the distance information between the objects around the unmanned aerial vehicle and the distance detection device.
  • the unmanned aerial vehicle performs motion control according to the distance information collected by the distance detection device.
  • the distance detection device includes, but is not limited to: radar device, ultrasonic device, time of flight (TOF, Time of Flight) distance sensor, infrared range sensor.
  • the detection signal includes a radar wave signal, an acoustic wave signal or an optical signal.
  • the radar device can be different types of radar devices, such as radars emitting radar waves of different frequency bands (microwave radar, millimeter wave radar and laser radar), or radars of different antenna scanning methods (mechanical scanning radar, phase control array radar).
  • the method includes: step S101, step S102, step S103 and step S104.
  • Step S101 Determine the motion state of the UAV.
  • Step S102 Determine the target power of the transmitting device according to the motion state.
  • Step S103 Control the transmitting device to transmit the detection signal according to the determined target power.
  • Step S104 Perform motion control on the UAV according to the distance information collected by the distance detection device.
  • the motion state of the UAV includes the static state (the UAV is in the power-on state and has not taken off, for example, it is still on the ground in the power-on state) and the non-stationary state.
  • the non-stationary state can include the take-off state and the cruising state (complete the take-off stage and enter the predetermined route. After the flight state), landing state.
  • the corresponding relationship between the motion state of the unmanned aerial vehicle and the target power of the launch device can be established in advance: what is the target power of the launch device in the static state, what is the target power of the launch device in the take-off state, and what is the target power of the launch device in the cruise state? What is the target power of the launcher, and what is the target power of the launcher in the landing state.
  • the target power in the quiescent state is smaller than the target power in the non-quiescent state.
  • the target power of the launching device can be determined according to the corresponding relationship and the motion state of the UAV.
  • the target power of the launching device in addition to considering the motion state of the unmanned aerial vehicle, other factors related to the launching device can also be considered, for example: pipeline regulations or regulations issued by the country or region, The performance parameters of the launching device itself, and so on.
  • the target power of the transmitting device is determined according to the motion state, so the target power of the transmitting device is not fixed, and the target power can be increased or decreased according to the needs of the motion state, so as to ensure different motion states
  • the detection requirements of the unmanned aerial vehicle for the distance detection device to ensure the detection effect.
  • reducing the target power can prevent the target power from being at a high level all the time, thereby avoiding excessive consumption of power consumption by the distance detection device and excessive consumption of power consumption by the distance detection device.
  • the distance information collected by the distance detection device is the distance information between the objects around the unmanned aerial vehicle detected by the distance detection device and the launch device of the distance detection device.
  • the motion control of the UAV based on distance information includes, but is not limited to: controlling the flying speed of the UAV, controlling the flying direction of the UAV, and avoiding obstacles detected on the route in advance, and so on.
  • the motion control of the unmanned aerial vehicle can specifically include but not limited to: when the object is not on the predetermined route, the unmanned aerial vehicle can be controlled to maintain the original flight speed and continue to fly; when the object is on the predetermined route, if the current object is far from the unmanned aerial vehicle If it is far away, the unmanned aerial vehicle can be controlled to maintain the original flight speed and continue to fly.
  • the unmanned aerial vehicle can be controlled to reduce the flight speed and continue to fly.
  • the unmanned aerial vehicle can be controlled to continue to reduce the flight speed, change the flight direction during the flight to avoid obstacles, and return to the predetermined route after bypassing the obstacles And continue to fly at a faster flight speed.
  • the distance detecting device of the unmanned aerial vehicle in the embodiment of the present application is used to detect objects around the unmanned aerial vehicle.
  • the distance detecting device includes a transmitting device for emitting detection signals. Since the target power of the transmitting device can be flexibly adjusted according to the motion state of the unmanned aerial vehicle, This can ensure the detection requirements of the distance detection device for the unmanned aerial vehicle in different motion states to ensure the detection effect, so that the unmanned aerial vehicle can perform motion control and avoid obstacles in advance according to the distance information of the detected obstacles, so as to ensure no
  • the target power of the launch device can be flexibly adjusted according to the motion state of the UAV, the target power will not always be at a high level, and the target power will be reduced, thereby avoiding excessive power consumption of the distance detection device and avoiding Reduce the battery life of the UAV due to the excessive power consumption of the distance detection device, avoid the performance degradation of the distance detection device due to overheating, and avoid the safety threat caused by the temperature rise of the UAV due to the overheating of the distance detection
  • step S102, the determining the target power of the transmitting device according to the motion state may include: if the motion state is a static state, determining that the target power of the transmitting device is the first power .
  • the transmitting power of the transmitting device can be set to the first power. Since the unmanned aerial vehicle does not have the ability to collide with surrounding objects in a static state, the first power may be the power of the transmitting device in a silent state, as shown in FIG. 2 .
  • step S102, the determining the target power of the transmitting device according to the motion state may also include: if the motion state is a cruising state, acquiring motion parameters of the unmanned aerial vehicle, according to the The motion parameters determine the target power of the transmitting device.
  • the cruising state may refer to the flight state after the unmanned aerial vehicle completes the take-off stage and enters a predetermined route.
  • the motion state is a cruising state, acquire motion parameters of the unmanned aerial vehicle, and determine the target power of the launching device according to the motion parameters.
  • the motion parameters of the unmanned aerial vehicle are not fixed during the flight, but can be changed. Therefore, when the motion parameters of the unmanned aerial vehicle change, the target power also changes in time, that is, the target power of the launch device can change with the unmanned aerial vehicle. It is adjusted according to the change of the motion parameters of the aircraft.
  • the motion parameters include speed or acceleration.
  • the target power of the launch device (expressed as adjustable power, corresponding to the stable state of the motor) can be adjusted in real time with the flying speed or acceleration of the UAV.
  • the motion parameter is positively correlated with the determined target power. That is, the larger the motion parameter, the larger the target power, and the smaller the motion parameter, the smaller the target power.
  • motion parameters including speed as an example: the greater the speed, the greater the target power of the launcher, which can detect farther objects; The device can detect farther objects.
  • the unmanned aerial vehicle can brake in advance (that is, decelerate in advance) and avoid obstacles to ensure the flight safety of the unmanned aerial vehicle;
  • the unmanned aerial vehicle can still brake in advance (that is, decelerate in advance) and avoid obstacles to ensure the flight safety of the unmanned aerial vehicle.
  • reducing the target power of the launch device can reduce the power consumption of the distance detection device and avoid The excessive power consumption of the detection device reduces the battery life of the UAV, avoids the performance degradation of the distance detection device due to long-term overheating, and avoids the safety threat caused by the temperature rise of the UAV due to the overheating of the distance detection device.
  • the target power in a more precise manner, for example: establish a functional relationship between the speed and the target power, and the target power can be determined through the functional relationship and the speed.
  • the braking distance of the UAV is proportional to the square of the flying speed:
  • s is the braking distance
  • v is the flying speed
  • a is the acceleration
  • the transmit power is proportional to the fourth power of the distance to the detected target:
  • the transmission power of the transmitting antenna is Pt
  • the gain of the transmitting antenna is Gt
  • the propagation distance is R
  • the equivalent reflection area (RCS, Radar Cross-Section) of the target is ⁇
  • the minimum detectable signal is S min
  • the receiving antenna The effective area is A e .
  • v ⁇ represents the flight speed
  • P b represents the basic transmit power
  • step S102, the determining the target power of the transmitting device according to the motion state may include: if the motion state is a take-off or landing state, determining that the target power of the transmitting device is the first Second power.
  • the unmanned aerial vehicle When the unmanned aerial vehicle is in the take-off or landing state, in order to prevent the possibility of the unmanned aerial vehicle colliding with obstacles during the take-off or landing process, it is necessary to turn on the transmitter to transmit detection signals with a certain transmission power.
  • the speed of the unmanned aerial vehicle is relatively low, so a second power that satisfies low-speed flight and detects short-distance obstacles can be set.
  • the second power can be used as the basic power of the transmitting device. Therefore, the second power is greater than the first power, as shown in FIG. 2 .
  • the method may further include: if the motion state is a cruising state, acquiring the speed direction of the UAV, and adjusting the direction of the detection signal emitted by the launching device to the speed direction.
  • the speed direction of the unmanned aerial vehicle is obtained, and the signal direction of the detection signal emitted by the launching device is adjusted to the speed direction.
  • the signal direction of the detection signal is adjusted to the speed direction of the unmanned aerial vehicle, so that the distance detection device can quickly detect whether there is an obstacle in the speed direction, and when there is an obstacle, the unmanned aerial vehicle can avoid the obstacle, so as to meet the requirements of safe flight .
  • the adjusting the signal direction of the detection signal emitted by the launching device to the direction of the velocity may include: acquiring the attitude of the launching device; Heading is adjusted to the stated speed direction.
  • the detection signal is emitted by the launcher of the distance detection device, so the signal direction of the detection signal is related to the attitude of the launcher. First obtain the attitude of the launcher, and then adjust the signal direction of the detection signal to the speed direction according to the attitude of the launcher.
  • the unmanned aerial vehicle includes a fuselage and an attitude sensor for sensing the attitude of the fuselage
  • the distance detection device is installed on the fuselage or is mounted on the fuselage through a carrier
  • the Acquiring the attitude of the launching device may include: acquiring the attitude collected by the attitude sensor; acquiring the relative position between the fuselage and the distance detection device; determining the launching device according to the attitude and the relative position attitude.
  • the attitude sensor is a high-performance three-dimensional motion attitude measurement system based on Micro-Electro-Mechanical System (MEMS, Micro-Electro-Mechanical System) technology. It includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, and obtains temperature-compensated three-dimensional attitude and orientation data through an embedded low-power ARM processor. Using the quaternion-based 3D algorithm and special data fusion technology, the zero-drift 3D attitude and orientation data represented by quaternion and Euler angles are output in real time.
  • MEMS Micro-Electro-Mechanical System
  • the distance detection device is installed on the fuselage of the unmanned aerial vehicle, and the attitude sensor can sense the attitude of the fuselage of the unmanned aerial vehicle, and the attitude of the fuselage can determine the distance in combination with the relative position between the fuselage and the distance detection device The attitude of the launcher of the detection device.
  • the transmitting device is a phased array radar antenna
  • the adjusting the signal direction of the detection signal transmitted by the transmitting device to the direction of the velocity according to the attitude of the transmitting device may include:
  • the attitude of the array control radar antenna adjusts the signal direction of the detection signal to the direction of the speed.
  • the phased array radar antenna is independently controlled by wave steering and phase shifter in phase and amplitude, and can obtain accurate and predictable radiation pattern and beam pointing.
  • the phased array radar is working, according to the attitude of the phased array radar antenna, the power is distributed to each phased array radar antenna through the feeder network, and the energy is radiated through a large number of independent phased array radar antennas and the power is combined in space to form
  • the required signal direction that is, the signal direction is the speed direction.
  • the unmanned aerial vehicle includes an attitude adjustment mechanism that carries and adjusts the attitude of the launching device, and adjusting the signal direction of the detection signal to the direction of the speed according to the attitude of the launching device may include: The attitude adjustment mechanism is controlled according to the attitude of the launching device to adjust the attitude of the launching device, so that the signal direction of the detection signal is adjusted to the direction of the speed.
  • the attitude of the launching device is adjusted by controlling the attitude adjustment mechanism, so that the signal direction of the detection signal is adjusted to the direction of the speed.
  • This embodiment is suitable for adjusting the signal direction of the mechanical wave signal.
  • the unmanned aerial vehicle includes a rotor and a motor driving the rotor.
  • the determination of the motion state of the unmanned aerial vehicle may include: obtaining the rotational speed of the motor, and determining the Describe the motion state of the UAV.
  • the motion state of the UAV includes a static state (the UAV is in the power-on state and does not take off, for example, it is stationary on the ground in the power-on state) and a non-stationary state, and the non-stationary state includes a take-off state, a cruising state, and a landing state.
  • the above four motion states: static state, take-off state and landing state, and cruising state can be represented by motor state correspondingly as motor static (corresponding to static state), motor start-up (corresponding to take-off state and landing state), motor reaching stable speed ( That is, the motor is stable, corresponding to the cruise state) three states.
  • the changes of the above three motor states on the time axis are shown in Figure 4. Therefore, the motion state of the UAV can be determined according to the rotational speed of the motor.
  • the unmanned aerial vehicle includes a positioning device
  • the method further includes: obtaining the position collected by the positioning device, and determining the country or region where the unmanned aerial vehicle is located according to the position; The country or region obtains the emission device management regulations corresponding to the country or region; determines the target power of the emission device according to the emission device management regulations and the determined motion state.
  • the range of the frequency range of the transmitting device's signal transmission limiting the range of the area where the transmitting device is allowed to transmit signals, limiting the range of areas where the transmitting device is not allowed to transmit signals, and so on. If the frequency band range of the transmitting signal is limited, the target power of the transmitting device is determined according to the frequency range and motion state of the transmitting signal; if the area range allowing the transmitting device to transmit signals or the area range not allowing the transmitting device to transmit signals is defined, Then it can be determined according to the position collected by the positioning device whether the current area is within the range of the area where the transmission of signals is allowed or whether it is within the range of the area where the transmission of signals is not allowed.
  • the target power of the above-mentioned transmitting device if the unmanned aerial vehicle has not taken off in the area where the signal is not allowed to be transmitted, the unmanned aerial vehicle is controlled not to take off; , you can issue a prompt message and hover to wait for further instructions from the user, or automatically re-plan the route to avoid areas where signal transmission is not allowed; or automatically return; and so on.
  • Fig. 5 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present application
  • the unmanned aerial vehicle 500 includes a distance detection device 503, and the distance detection device 503 is used to detect objects around the unmanned aerial vehicle, the distance The detection device 503 includes a transmitting device for emitting a detection signal, and the distance detection device detects objects around the UAV according to the received echo signal of the detection signal. Further, the distance detection device detects objects around the UAV according to the received echo signal. The echo signal of the detection signal determines the distance information between the objects around the unmanned aerial vehicle and the distance detection device.
  • the UAV 500 also includes: a memory 5011 and a processor 502; the distance detection device 503 and the memory 501 are respectively connected to the processor 502 through a bus.
  • the processor 502 may be a microcontroller unit, a central processing unit, or a digital signal processor, among others.
  • the memory 501 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, and the like.
  • the unmanned aerial vehicle of this embodiment can execute the steps in the control method of the above-mentioned unmanned aerial vehicle.
  • the relevant content of the above-mentioned control method of the unmanned aerial vehicle please refer to the relevant content of the above-mentioned control method of the unmanned aerial vehicle, which will not be repeated here.
  • the memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, implement the following steps:
  • the processor executes the computer program, the following step is implemented: if the motion state is a static state, determine that the target power of the transmitting device is the first power.
  • the processor executes the computer program, the following steps are implemented: if the motion state is a cruising state, obtain the motion parameters of the unmanned aerial vehicle, and determine the target power of the launching device according to the motion parameters.
  • the motion parameters include speed or acceleration.
  • the motion parameter is positively correlated with the determined target power.
  • the processor executes the computer program, the following steps are implemented: if the motion state is a take-off or landing state, determine that the target power of the transmitting device is the second power.
  • the processor executes the computer program, the following steps are implemented: if the motion state is the cruising state, obtain the speed direction of the unmanned aerial vehicle, and adjust the signal direction of the detection signal emitted by the transmitting device to the speed direction.
  • the unmanned aerial vehicle includes a rotor and a motor driving the rotor, and when the processor executes the computer program, the following steps are implemented: obtaining the rotational speed of the motor, and determining the speed of the unmanned aerial vehicle according to the rotational speed of the motor. state of motion.
  • the unmanned aerial vehicle includes a positioning device, and when the processor executes the computer program, the following steps are implemented: obtaining the position collected by the positioning device, and determining the country where the unmanned aerial vehicle is located according to the position or the region; obtain the emission device management regulations corresponding to the country or region according to the determined country or region; determine the target power of the emission device according to the emission device management regulations and the determined motion state.
  • the distance detection device includes a radar device, an ultrasonic device or a TOF distance sensor.
  • the processor executes the computer program, the following steps are implemented: obtaining the attitude of the launching device; and adjusting the direction of the detection signal emitted by the launching device to the direction of the velocity according to the attitude of the launching device.
  • the unmanned aerial vehicle includes a fuselage and an attitude sensor for sensing the attitude of the fuselage
  • the distance detection device is installed on the fuselage or is installed on the fuselage through a carrier
  • the processor executes
  • the following steps are implemented: acquiring the attitude collected by the attitude sensor; acquiring the relative position between the fuselage and the distance detection device; determining the launch according to the attitude and the relative position The pose of the device.
  • the transmitting device is a phased array radar antenna
  • the processor executes the computer program, the following steps are implemented: adjusting the signal orientation of the detection signal to the desired position according to the attitude of the phased array radar antenna. the direction of velocity.
  • the unmanned aerial vehicle includes an attitude adjustment mechanism that carries and adjusts the attitude of the launching device, and when the processor executes the computer program, the following steps are implemented: controlling the attitude adjustment mechanism to adjust the launch The posture of the device is adjusted to adjust the direction of the signal of the detection signal to the direction of the speed.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the control of any unmanned aerial vehicle as described above method.
  • the relevant content please refer to the relevant content above, and will not repeat it here.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned unmanned aerial vehicle, such as a hard disk or a memory.
  • the computer-readable storage medium can also be an external storage device, such as a plug-in hard disk provided, a smart memory card, a secure digital card, a flash memory card, and the like.

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

Abstract

L'invention concerne un procédé de commande d'un engin volant sans pilote embarqué, un engin volant sans pilote embarqué et un support de stockage. L'engin volant sans pilote embarqué comprend un appareil de détection de distance, l'appareil de détection de distance étant utilisé pour détecter un objet autour de l'engin volant sans pilote embarqué, et l'appareil de détection de distance comprenant un appareil de transmission visant à émettre un signal de détection. Le procédé comprend les étapes consistant à : déterminer un état de mouvement d'un engin volant sans pilote embarqué (S101) ; déterminer une puissance cible de l'appareil de transmission en fonction de l'état de mouvement (S102) ; en fonction de la puissance cible déterminée, commander l'appareil de transmission en vue de transmettre un signal de détection (S103) ; exécuter une commande de mouvement sur l'engin volant sans pilote embarqué en fonction des informations de distance collectées par l'appareil de détection de distance (S104).
PCT/CN2021/130654 2021-11-15 2021-11-15 Procédé de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué et support de stockage WO2023082253A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2021/130654 WO2023082253A1 (fr) 2021-11-15 2021-11-15 Procédé de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué et support de stockage
CN202180100511.9A CN117677913A (zh) 2021-11-15 2021-11-15 无人飞行器的控制方法、无人飞行器及存储介质

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PCT/CN2021/130654 WO2023082253A1 (fr) 2021-11-15 2021-11-15 Procédé de commande d'engin volant sans pilote embarqué, engin volant sans pilote embarqué et support de stockage

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WO2023082253A1 true WO2023082253A1 (fr) 2023-05-19

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Citations (26)

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