WO2023178490A1 - Véhicule aérien sans pilote et procédé de commande et appareil de commande associés et station de base et système de véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote et procédé de commande et appareil de commande associés et station de base et système de véhicule aérien sans pilote Download PDF

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Publication number
WO2023178490A1
WO2023178490A1 PCT/CN2022/082098 CN2022082098W WO2023178490A1 WO 2023178490 A1 WO2023178490 A1 WO 2023178490A1 CN 2022082098 W CN2022082098 W CN 2022082098W WO 2023178490 A1 WO2023178490 A1 WO 2023178490A1
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Prior art keywords
base station
uav
drone
preset
security policy
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PCT/CN2022/082098
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English (en)
Chinese (zh)
Inventor
王钧玉
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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 CN202280049706.XA priority Critical patent/CN117651680A/zh
Priority to PCT/CN2022/082098 priority patent/WO2023178490A1/fr
Publication of WO2023178490A1 publication Critical patent/WO2023178490A1/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

Definitions

  • the present application relates to the technical field of drones, and in particular to a drone and its control method, control device, base station and drone system.
  • drones are becoming more and more common, and it is involved in more and more fields, such as: surveying and mapping, security, inspection, energy, emergency, electric power, forestry, agriculture, etc.
  • fields such as: surveying and mapping, security, inspection, energy, emergency, electric power, forestry, agriculture, etc.
  • pilots perform drone operations mechanically and repeatedly every day. Therefore, an automated operation solution for drones has emerged in the industry to facilitate deployment and operations in fields such as surveying and mapping, security, and inspections.
  • these solutions have low reliability and still require on-site maintenance by users.
  • this application provides a drone and its control method, control device, base station and drone system, aiming to improve the safety of the drone system and reduce the user's workload.
  • embodiments of the present application provide a method for controlling a drone, including:
  • the drone When the status of the base station meets the preset abnormal conditions, the drone is controlled to perform security strategy tasks according to the preset security policy.
  • embodiments of the present application provide a control device for a drone, including one or more processors, working individually or jointly, to perform the following steps:
  • the drone When the status of the base station meets the preset abnormal conditions, the drone is controlled to perform security strategy tasks according to the preset security policy.
  • a base station for a drone including:
  • Push rod assembly the push rod assembly is used to push the landing platform of the drone to a preset position
  • a hatch cover assembly is used to provide an accommodation space for the drone.
  • embodiments of the present application provide a drone, including:
  • Power components used to provide the force for UAV flight
  • an unmanned aerial vehicle system including:
  • the aforementioned base station The aforementioned base station.
  • embodiments of the present application provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the computer program When executed by a processor, it causes the processor to implement the steps of the above method.
  • Embodiments of the present application provide a drone and its control method, control device, base station and drone system.
  • the base station provides accommodating space for the drone and space for the drone.
  • the drone takes off and lands; and when the status of the base station meets the preset abnormal conditions, the drone is controlled to perform security strategy tasks according to the preset security policy. It can improve the safety of UAV systems and reduce user workload.
  • Figure 1 is a schematic flow chart of a UAV control method provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of an unmanned aerial vehicle system provided by an embodiment of the present application.
  • Figure 3 is a schematic structural diagram of a base station in an embodiment
  • Figure 4 is a schematic diagram of an interface displayed by a terminal device in an embodiment
  • FIGS 5 and 6 are schematic flow diagrams of the operation of the UAV system in an embodiment
  • Figure 7 is a schematic block diagram of a drone control device provided by an embodiment of the present application.
  • FIG. 8 is a schematic block diagram of a UAV base station provided by an embodiment of the present application.
  • Figure 9 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • Figure 10 is a schematic diagram of an unmanned aerial vehicle system provided by an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a UAV control method provided by an embodiment of the present application.
  • the UAV system includes a base station 100 and a UAV 200.
  • the UAV control method can be applied in the base station 100 or the UAV 200 to control the UAV 200. control processes.
  • the base station 100 can provide an accommodation space 101 for the UAV 200 and for the UAV 200 to take off and land.
  • the base station 100 includes a landing platform assembly 110 and/or a hatch assembly 120 .
  • the take-off and landing platform assembly 110 is used for the take-off and landing of the UAV 200.
  • the take-off and landing platform assembly 110 includes a take-off and landing platform 111.
  • the UAV 200 can land on the take-off and landing platform 111 or take off from the take-off and landing platform 111.
  • the take-off and landing platform assembly 110 also includes a push rod assembly 112, which is connected to the take-off and landing platform 111; when opened, the push rod assembly 112 pushes the take-off and landing platform 111 to a preset position for the drone to 200 takes off, and when closing, the landing platform 111 is retracted from the preset position so that the hatch assembly 120 is closed.
  • the hatch assembly 120 is used to provide the accommodation space 101 for the drone 200 .
  • the hatch cover assembly 120 is closed, the accommodation space 101 is in a closed state at least at the top; when the hatch cover assembly 120 is opened, the accommodation space 101 is in an open state for the UAV 200 to fly out.
  • the hatch cover assembly 120 includes a hatch cover 121 and a movement component 122.
  • the movement component 122 is used to open the hatch cover 121 to make the accommodation space 101 in an open state, or to close the hatch cover 121 to make the accommodation space 101 at least at the top. In a closed state.
  • the UAV 200 may be a rotary-wing UAV, such as a four-rotor UAV, a six-rotor UAV, an eight-rotor UAV, or a fixed-wing UAV.
  • data can be transmitted between the base station 100 and the drone 200 through a wireless channel.
  • the UAV 200 transmits data with the base station 100 through a wireless channel at least from the time of takeoff to the time of landing.
  • the UAV 200 can be connected to the base station 100 by wire, for example, through a leaf spring connection for data transmission and/or power transmission.
  • the wireless channel from the drone 200 to the base station 100 is called the downlink channel, which is used to transmit data collected during the operation of the drone 200, such as videos, pictures, sensor data, and Telemetry data such as status information (OSD) of the drone 200.
  • data collected during the operation of the drone 200 such as videos, pictures, sensor data, and Telemetry data such as status information (OSD) of the drone 200.
  • OSD status information
  • the wireless channel from the base station 100 to the drone 200 is called the uplink channel, which is used to transmit the status of the base station 100, the mission information of the drone 200, and the control of the drone 200. At least one of the instructions.
  • the UAV control method according to the embodiment of the present application includes steps S110 to S120.
  • the base station provides accommodating space for the UAV and for the UAV to take off and land.
  • the status of the base station may include at least one of the following: the status of the push rod assembly, the status of the hatch assembly, the status of the communication link between the base station and the drone, and the communication link between the base station and the terminal device or server. status, the status of the base station charging the drone, and the environmental information of the location of the base station. Of course, it is not limited to this.
  • the status of the push rod assembly includes an open state and a closed state
  • the status of the hatch cover assembly includes an open state and a closed state
  • environmental information about the location of the base station can be obtained, for example, through sensors mounted on the base station, such as wind speed/wind direction sensors and raindrop sensors. , or it can also be obtained from a server, such as a weather server, of course, it is not limited to this.
  • different abnormal conditions correspond to different security strategies to control the drone according to the status of the base station to improve the security of the drone system and reduce the user's workload.
  • the UAV when the UAV performs a work task, and when the status of the base station meets a preset abnormal condition, the UAV is controlled to perform a security policy task according to a preset security policy.
  • the unmanned aerial vehicle performs preset tasks, including tasks performed after the unmanned aerial vehicle flies away from the base station and returns to the base station.
  • the drone When the drone is performing an operation task, the drone can be interrupted to perform the operation task according to the status of the base station, and the drone can be controlled to perform security policy tasks, which can improve the safety of the drone.
  • the terminal device can obtain the operation task information such as the route plan created by the user, and send the operation task information created by the user to the server, and the server sends the operation task information to the base station.
  • the server can also check whether the job task information created by the user is reasonable, such as take-off altitude, estimated task execution time, job time interval, etc. When it is unreasonable, it can remind the user and give specific opinions; and Reasonable job task information is sent to the base station.
  • the server sends the operation task information to the base station according to the task execution time, so that the base station sends the route plan and other operation task information to the drone at the appropriate time, and opens the push rod assembly and hatch assembly; the drone Take off and execute operation tasks based on operation task information.
  • the UAV when the UAV performs a work task, and when the status of the base station meets a preset abnormal condition, the UAV is controlled to perform a return mission.
  • the drone By controlling the return of the drone, the drone can be prevented from being in danger or entering an uncontrollable state when performing tasks due to abnormalities in the base station.
  • the base station can send a return command to the drone when it determines that the status of the base station meets the preset abnormal conditions.
  • the return command for example, includes the location information of the base station; the drone can autonomously fly after receiving the return command. Returns the location of the base station.
  • the return command may also include the location of an alternate landing point such as another base station. When the UAV receives the return command, it can fly autonomously to the alternate landing point.
  • the UAV when the UAV performs a work task, and when the status of the base station affects the UAV's performance of the work task, the UAV is controlled to perform a return mission.
  • the current state of the base station is compared with the preset state to determine whether the current state of the base station affects the execution of the UAV.
  • the job tasks For example, the status that affects the execution of different job tasks can be the same or different, and can be set for different job tasks.
  • the UAV when the UAV performs a work task and the status of the base station meets the preset abnormal conditions, but the status of the base station does not affect the UAV's performance of the work task, all the UAVs can be controlled.
  • the UAV continues to perform the operation task, and the UAV can return after completing the operation task.
  • the drone when the drone performs a work task, and when the base station is restarted or a process of the base station is restarted, the drone is controlled to perform the security policy task according to a preset security policy.
  • the UAV can be controlled to perform security policy tasks when the base station is preparing to restart or the process of the base station is preparing to restart, such as controlling The drone returns; or the drone can also be controlled to return at a certain stage when the base station is restarted or the process of the base station is restarted.
  • the drone when the drone performs a task and the environmental conditions within the preset range of the base station meet the preset abnormal conditions, the drone is controlled to execute the security policy according to the preset security policy.
  • Task For example, when the weather near the base station will suddenly change or has suddenly changed to strong winds and heavy rain, the drone is controlled to perform safety policy tasks, such as controlling the drone to return home in time.
  • controlling the drone to perform a security policy task according to a preset security policy includes: when the drone performs a return mission. , and when the status of the base station meets the preset abnormal conditions, the drone is controlled to land on the hatch assembly of the base station, or the drone is controlled to land at an alternate landing point.
  • the drone when the status of the base station meets some abnormal conditions, the drone cannot land safely to the base station, such as when the accommodation space of the base station cannot be opened, or cannot be closed after being opened, or the environment near the base station In bad weather, the drone can be controlled to land at an alternate landing point.
  • the drone when the accommodation space of the base station cannot be opened, the drone can also be controlled to land on the hatch assembly of the base station. For example, when the battery of the drone is low and cannot guarantee the flight to the alternate landing point, it can land on the hatch assembly of the base station. For example, when the accommodation space of the base station cannot be opened and the weather environment near the base station is good, the drone can be controlled to land on the hatch assembly of the base station.
  • the UAV when the UAV performs a return mission and the base station fails to control the push rod assembly to open and/or the hatch assembly to open, the UAV is controlled to land on the hatch assembly of the base station. or control the drone to land at an alternate landing point.
  • the push rod assembly and/or the motion assembly of the base station fails, the accommodation space of the base station cannot be opened to the drone, and the drone can land on the hatch assembly of the base station.
  • the UAV when controlling the UAV to land on the hatch assembly of the base station, the UAV is also controlled to reduce the rotation speed of the motor in the power assembly. It can be understood that the descending speed of the UAV when landing on the hatch assembly of the base station is smaller than the speed of landing on the take-off and landing platform of the base station. It can make the drone land to the hatch cover assembly at a lower speed, reducing the mechanical impact on the base station and the drone.
  • the base station when the drone returns, if the base station fails to control the push rod assembly and/or the hatch assembly to open, the base station can be controlled to restart; the drone returns to the hatch assembly of the base station. After the base station restarts, the drone takes off to a preset height, and the base station then controls the push rod assembly and hatch assembly to open. If they can be opened, the drone can be controlled to land on the take-off and landing platform of the base station.
  • the UAV when the UAV performs a return mission, and when the status of the base station meets a preset abnormal condition, the UAV is controlled to land on the hatch assembly of the base station, or the UAV is controlled to land on the hatch assembly of the base station.
  • Landing the UAV to an alternate landing point includes: performing a return mission on the UAV, and controlling the UAV to hover when the status of the base station meets preset abnormal conditions; When the power of the drone is lower than the preset threshold, the drone is controlled to land on the hatch assembly of the base station, or the drone is controlled to land at an alternate landing point.
  • the drone When the status of the base station meets the preset abnormal conditions, the drone is controlled to hover above or near the base station; after waiting for the status of the base station to return to abnormality, it can land on the landing platform of the base station; of course, it is not limited to this, for example
  • the drone can be controlled to land on the take-off and landing platform of the base station without waiting when it reaches above or near the base station, or the drone can be controlled to land directly to the alternate landing point.
  • the UAV performs a return mission and the status of the base station meets preset abnormal conditions
  • the UAV is controlled to return to above or near the base station and then hover, and the UAV is controlled to hover above or near the base station.
  • the base station restarts; after the base station restarts, the push rod assembly and the hatch assembly are controlled to open. If they can be opened, the drone can be controlled to land on the take-off and landing platform of the base station.
  • the drone When the power of the drone is lower than the preset threshold and the base station still fails to control the opening of the push rod assembly and/or the opening of the hatch assembly, the drone is controlled to land on the hatch assembly of the base station, Or control the drone to land at an alternate landing point.
  • controlling the drone to perform a security policy task according to a preset security policy includes: when the drone lands at the location The base station, and when the base station fails to control the push rod assembly to retract and/or the hatch assembly to close, control the UAV to take off from the base station and land to the alternate landing point.
  • the base station lands on the take-off and landing platform of the base station, but the base station fails to control the retraction of the push rod assembly and/or the closing of the hatch assembly, in order to prevent the UAV from being exposed to risks such as rain, the UAV can be controlled The aircraft takes off from the base station and lands at the alternate landing point.
  • controlling the UAV to perform a security policy task according to a preset security policy includes: when the base station interacts with the UAV When the communication link of the drone is disconnected, the drone is controlled to restart and/or link with the base station. After the UAV is restarted, it can also be linked to the base station. Through restarting and/or frequency linking, there is a high probability that the communication link between the base station and the UAV can be restored. Of course, it is not limited to this. Alternatively, when the communication link between the base station and the drone is disconnected, the base station can be controlled to restart and/or be frequency-linked with the drone.
  • the UAV when it is determined that the communication link between the base station and the UAV is disconnected before the UAV has taken off from the take-off and landing platform of the base station, the UAV is controlled to restart and/or Link to the base station. After the UAV flies away from the take-off and landing platform of the base station, when it is determined that the communication link between the base station and the UAV is disconnected, the base station can be controlled to restart and/or be frequency-linked with the UAV.
  • controlling the drone to perform security policy tasks according to a preset security policy includes: sending fault information corresponding to the abnormal condition to a terminal device so that the terminal device outputs the fault information. ; Acquire the control instructions sent by the terminal device according to the user's troubleshooting operation, and control the drone to perform security policy tasks according to the control instructions. Users can control the drone through the base station through the terminal device, and can handle faults remotely in a timely manner without going to the site for treatment.
  • sending the fault information corresponding to the abnormal condition to the terminal device includes: sending the fault information corresponding to the abnormal condition and corresponding troubleshooting prompt information to the terminal device, and the troubleshooting prompt information is used to prompt The user performs corresponding troubleshooting operations.
  • the display device of the terminal device provides a debugging interface.
  • the debugging interface is used to output the fault information. It can also be used to output troubleshooting prompt information corresponding to the fault information.
  • the troubleshooting prompt information can prompt the user.
  • this debugging interface can be called a remote troubleshooting interface; the user can perform troubleshooting operations according to the operation prompts, so that the terminal device sends control instructions to the base station, and the base station controls according to the The instructions control the drone to perform corresponding security policy tasks.
  • fault information corresponding to the abnormal conditions is sent to the terminal device. and corresponding troubleshooting prompt information.
  • the troubleshooting prompt information is used to prompt the user to troubleshoot the corresponding base station, such as controlling the shutdown and restart of the base station, or controlling the opening/closing of the push rod assembly of the base station, or controlling the hatch cover of the base station.
  • the component is turned on or off.
  • the status of the UAV and/or the status of the base station can be obtained, and whether the status of the base station meets the predetermined status is determined based on the status of the UAV and/or the status of the base station.
  • Set troubleshooting conditions When it is determined that the status of the base station meets the preset abnormal conditions, fault information is sent to the terminal device so that the terminal device prompts the user to perform troubleshooting operations based on the fault information; and based on the user's troubleshooting operations, controls all The drone and/or the base station perform preset troubleshooting tasks.
  • the base station when the status of the base station meets a preset abnormal condition, the base station can be controlled to perform a preset troubleshooting task. For example, when it is determined that a first preset fault occurs in the base station according to the status of the drone and/or the status of the base station, the first fault information is sent to the terminal device so that the user can Control the base station to perform the first troubleshooting task.
  • first fault information is sent to the terminal device, and the user can control the base station to perform at least one of the following first troubleshooting tasks based on the first fault information: Restart and control the first functional component to adjust its working state.
  • the first functional component of the base station includes at least one of the following: push rod assembly, hatch cover assembly, charging assembly, switch assembly, connection assembly, blade storage assembly, and positioning assembly; wherein the push rod assembly
  • the hatch assembly is used to push the take-off and landing platform to a preset position
  • the hatch assembly is used to provide a receiving space for the drone
  • the charging assembly is used to charge the drone
  • the switch assembly is used to Triggering the startup or shutdown of the UAV
  • the connecting component is used to electrically connect with the UAV
  • the blade storage component is used to store the blades of the UAV
  • the positioning component is used to obtain The location of the base station.
  • the first fault information is sent to the terminal device so that the user can perform the operation according to the The first fault information controls the base station to restart, or controls the push rod assembly of the base station to close (retract from the preset position) and/or the hatch assembly to close.
  • first fault information is sent to the terminal device so that the user controls the base station to retract the push rod assembly and/or shut down according to the first fault information.
  • the hatch cover assembly is
  • the failure of the base station to meet the take-off preparation conditions includes at least one of the following: the base station has not obtained the flight control rights of the UAV, the base station has not obtained the route information, or the obtained route information has been verified. Abnormality or failure to send route information to the drone, failure of the base station to set flight parameters of the drone, failure of the base station to obtain its own position.
  • the drone when the status of the base station meets preset abnormal conditions, the drone can be controlled to perform a preset troubleshooting task. For example, when it is determined that a second preset fault occurs in the base station according to the status of the drone and/or the status of the base station, the second fault information is sent to the terminal device so that the user can Control the drone to perform the second troubleshooting task.
  • the terminal device sends a troubleshooting instruction to the base station according to the user's troubleshooting operation, and the base station controls the drone to perform the second troubleshooting task according to the troubleshooting instruction; or, the terminal device sends a troubleshooting instruction to the base station according to the user's troubleshooting operation.
  • the drone sends a troubleshooting instruction, and the drone performs the second troubleshooting task according to the troubleshooting instruction.
  • the second fault information is sent to the terminal device to The user is allowed to control the UAV to land on the hatch assembly of the base station according to the second fault information, or to control the UAV to land at an alternate landing point.
  • the UAV can also be controlled to reduce the rotation speed of the motor in the power assembly, thereby reducing the load on the base station and the base station. Mechanical impact of drones.
  • the base station fails to control the retraction of the push rod assembly and/or the closing of the hatch assembly, and sends second fault information to the terminal device so that The user controls the drone to take off from the base station and land at the backup point based on the second fault information to prevent the drone from being exposed to risks such as rain.
  • the status of the UAV and/or the status of the base station can be obtained, and whether the status of the UAV is determined based on the status of the UAV and/or the status of the base station Meet preset troubleshooting conditions.
  • fault information is sent to the terminal device so that the terminal device prompts the user to perform troubleshooting operations based on the fault information; and based on the user's troubleshooting operations, Control the drone and/or the base station to perform preset troubleshooting tasks.
  • the drone when it is determined that the status of the drone meets a preset abnormal condition, the drone can be controlled to perform a preset troubleshooting task. For example, when it is determined that a third preset fault occurs on the drone according to the status of the drone and/or the status of the base station, the third fault information is sent to the terminal device so that the user can The fault information controls the drone to perform the third troubleshooting task.
  • the third fault information is sent to the terminal device so that the user can detect the fault according to the third fault.
  • the information controls the drone to perform the third troubleshooting task.
  • third fault information is sent to the terminal device so that the user controls the UAV according to the third fault information to remove all faults. control of at least one device outside the base station. So that the base station can obtain the control right of the drone.
  • third fault information is sent to the drone, so that the user controls the drone to perform at least the following based on the third fault information.
  • a third troubleshooting task restarting and controlling the second functional component to adjust its working state.
  • the second functional component includes at least one of the following: a positioning component, a flight control component, and a power component, wherein the positioning component includes at least one of a GPS (Global Positioning System), an altitude sensor, and a radar.
  • GPS Global Positioning System
  • the base station can be controlled to perform a preset troubleshooting task.
  • the fourth fault information is sent to the terminal device so that the user can determine according to the fourth preset fault.
  • the fault information controls the base station to perform a fourth troubleshooting task.
  • fourth fault information is sent to the terminal device so that the user controls the drone according to the fourth fault information.
  • the base station restarts, or controls the charging component of the base station to charge the drone.
  • fourth fault information is sent to the terminal device so that the user controls the base station according to the fourth fault information. Restart.
  • fourth fault information is sent to the terminal device so that the user controls the base station to retract the push rod assembly and/or based on the fourth fault information. Close the hatch cover assembly.
  • the failure of the drone to meet take-off conditions includes at least one of the following: the drone has not started, the drone has insufficient power, or the flight component of the drone has timed out and is not ready.
  • the fifth fault information is sent to the terminal device, This allows the user to control at least one of the base station and the drone to restart based on the fifth fault information, and/or the base station and the drone are frequency aligned.
  • the fifth fault information is sent to the terminal device so that the user can
  • the fifth fault information controls the base station and the drone to restart, and controls the base station to frequency-bind with the drone;
  • fifth fault information is sent to the terminal device so that the user controls the restart of the base station based on the fifth fault information. , and control the frequency linking between the base station and the UAV.
  • FIG. 4 is a schematic diagram of a remote troubleshooting interface of a terminal device.
  • the terminal device can highlight corresponding troubleshooting operations, such as opening the hatch cover assembly and/or deploying the push rod assembly, based on the fault information, and prompt the user to perform corresponding troubleshooting operations.
  • control method of the embodiment of the present application includes at least one of the following stages: route plan creation, task issuance, task execution preparation, task execution, return to base station, intelligent identification Processing, media upload.
  • a fully automatic UAV refined inspection operation scheme can be realized, which can be completely unmanned during the operation, has high reliability, can be restored after a failure, and can also be used for remote troubleshooting.
  • the user creates the route plan.
  • the cloud that is, the server, will check whether the plan created by the user is reasonable, including take-off altitude, estimated task execution time, operation time interval, etc., and remind the user to give specific details. Views.
  • the cloud will deliver the job task to the base station when the task execution time is reached.
  • the base station downloads the route task from the cloud, then uploads the route task to the drone and sets the drone's power.
  • Mission flight parameters the base station turns on the sound/light alarm, turns on the push rod assembly and hatch assembly, sets the drone's home point (also known as the take-off point or return point), and the drone determines whether it can operate.
  • the drone starts to perform the task, and the base station will report the progress to the cloud.
  • the base station waits for the drone to reach a specified height, such as 1.5m, and the base station will close the hatch and turn off the sound and light alarm.
  • the drone will synchronize its execution status during the mission.
  • the base station waits for the drone operation to complete and obtains the total number of media files for this operation.
  • the base station waits for the drone to return to the base station.
  • the base station turns on the audible and visual alarm, opens the hatch cover, and releases the push rod.
  • Control the drone to land at the base station wait for the drone to land successfully, close the hatch, turn off the sound and light alarm, and charge the drone.
  • the base station obtains the media files of the drone during the current route and downloads them to the base station.
  • the edge computing module of the base station is responsible for identification processing. Different project and job identification processing algorithms may be inconsistent, for example, customized processing is required. Finally Generate processing reports.
  • the base station uploads media source files and identified media files to the cloud server, and can also upload processing reports; users can obtain and view the final processing results and source data files from the server through the terminal device.
  • an error message can be sent to the terminal device.
  • the base station when the drone is low in battery or fails to restart when preparing to fly, can exit control and can also synchronize the results to the server and terminal device.
  • the base station can exit control, and can also synchronize the results with the server and terminal device.
  • the base station can exit control and can also synchronize the results to the server and terminal device.
  • the base station while waiting for the UAV to take off to a height that can close the cover, if it is determined that the UAV has abnormally failed to take off or the UAV has taken off but it is judged that it has not reached the height of the cover, the base station will enter the waiting stage.
  • the status of the aircraft's return to home can also be synchronized to the server.
  • the base station when the drone takes off to a height where the cover can be closed, if the push rod assembly and/or the hatch assembly of the base station cannot be controlled to close, the base station will enter a state waiting for the drone to return. It can also Synchronize the results to the server.
  • the base station when the drone synchronizes the task execution status in real time, if the task execution terminates abnormally, the base station enters a state waiting for the drone to return, and can also synchronize the result with the server.
  • the base station will enter a state waiting for the drone to return, and can also synchronize with the server. The result.
  • the base station when the base station synchronizes the task completion information to the server, if it times out and fails to obtain a response from the server, it will retry to synchronize the task completion information to the server; optionally, if the server exceeds the preset Duration. If the synchronization task completion information cannot be obtained from the base station within 10 minutes, it can be determined that the task execution failed.
  • abnormal mission exit control refers to controlling the drone to slowly rotate the propellers, closing the hatch of the base station, and opening the base station to charge the drone.
  • the base station controls the landing preparation equipment; if the base station fails to control the opening of the push rod assembly and/or the opening of the hatch assembly, control the drone to land on the hatch assembly of the base station. or control the drone to land at an alternate landing point.
  • the base station waits for the UAV to land; when the UAV times out and does not complete the landing, or lands abnormally or fails to return to the base station, the base station performs task abnormal exit control.
  • the base station in the stage of returning to the base station, after the base station completes the control of the landing preparation equipment; if the base station fails to control the retraction of the push rod assembly and/or the closing of the hatch assembly, the base station will perform mission abnormal exit control.
  • the UAV control method provided by the embodiment of the present application obtains the status of the base station, which provides accommodating space for the UAV and allows the UAV to take off and land; and when the status of the base station satisfies Under preset abnormal conditions, the drone is controlled to perform security strategy tasks according to the preset security policy. It can improve the safety of UAV systems and reduce user workload.
  • FIG. 7 is a schematic block diagram of a UAV control device 600 provided by an embodiment of the present application.
  • the UAV control device 600 includes one or more processors 601, and the one or more processors 601 work individually or jointly to execute the steps of the aforementioned UAV control method.
  • control device 600 further includes a memory 602 .
  • processor 601 and the memory 602 are connected through a bus 603, such as an I2C (Inter-integrated Circuit) bus.
  • bus 603 such as an I2C (Inter-integrated Circuit) bus.
  • the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc.
  • ROM Read-Only Memory
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk, etc.
  • the processor 601 is used to run a computer program stored in the memory 602, and implement the steps of the aforementioned UAV control method when executing the computer program.
  • the processor 601 is used to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:
  • the drone When the status of the base station meets the preset abnormal conditions, the drone is controlled to perform security strategy tasks according to the preset security policy.
  • control device provided by the embodiments of the present application are similar to the control method of the UAV in the previous embodiments, and will not be described again here.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the processor causes the processor to implement the drone provided by the above embodiments. The steps of the control method.
  • the computer-readable storage medium may be an internal storage unit of the control device described in any of the preceding embodiments, such as a hard disk or memory of the control device.
  • the computer-readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital (SD) equipped on the control device. ) card, Flash Card, etc.
  • Figure 8 is a schematic block diagram of a UAV base station 700 provided by an embodiment of the present application.
  • the base station 700 includes a push rod assembly 710 and/or a hatch cover assembly 720, where the push rod assembly 710 is used to push the landing platform of the UAV to a preset position, and the hatch cover assembly 720 is used to provide the UAV with machine accommodation space.
  • the base station 700 also includes the aforementioned control device 600.
  • Figure 9 is a schematic block diagram of a drone 800 provided by an embodiment of the present application.
  • the drone 800 includes a power component 810 and a flight control component 820.
  • the power component 810 is used to provide the force for the flight of the drone 800, and the flight control component 820 is used to control the power component.
  • the drone 800 also includes the aforementioned control device 600.
  • Figure 10 is a schematic diagram of an unmanned aerial vehicle system provided by an embodiment of the present application.
  • the UAV system includes a UAV 900 and the aforementioned base station 700.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé de commande pour un véhicule aérien sans pilote, le procédé comprenant : l'acquisition d'un état d'une station de base, la station de base fournissant un espace de réception pour un véhicule aérien sans pilote et étant utilisée pour le décollage et l'atterrissage du véhicule aérien sans pilote (S110) ; et lorsque l'état de la station de base satisfait une condition anormale prédéfinie, la commande, selon une politique de sécurité prédéfinie, du véhicule aérien sans pilote pour exécuter une tâche de politique de sécurité (S120). La présente demande permet d'améliorer la sécurité d'un système de véhicule aérien sans pilote et de réduire la charge de travail d'un utilisateur. L'invention concerne en outre un véhicule aérien sans pilote et un appareil de commande associé, ainsi qu'une station de base et un système de véhicule aérien sans pilote.
PCT/CN2022/082098 2022-03-21 2022-03-21 Véhicule aérien sans pilote et procédé de commande et appareil de commande associés et station de base et système de véhicule aérien sans pilote WO2023178490A1 (fr)

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CN202280049706.XA CN117651680A (zh) 2022-03-21 2022-03-21 无人机及其控制方法、控制装置、基站和无人机系统
PCT/CN2022/082098 WO2023178490A1 (fr) 2022-03-21 2022-03-21 Véhicule aérien sans pilote et procédé de commande et appareil de commande associés et station de base et système de véhicule aérien sans pilote

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