CN206348664U

CN206348664U - Flight control system, the control system of carrier, aircraft and carrier

Info

Publication number: CN206348664U
Application number: CN201621032207.8U
Authority: CN
Inventors: 王铭钰
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-08-31
Filing date: 2016-08-31
Publication date: 2017-07-21
Anticipated expiration: 2026-08-31

Abstract

There is provided a kind of flight control system, the control system of carrier, aircraft and carrier.The flight control system (1200) includes：Sensor (1220)；Controller (1210), communicated to connect with sensor (1200), for receiving attitude information from sensor (1220), and the flight of aircraft is controlled according to attitude information, controller (1210) is additionally operable to when it is determined that offline mode is upright offline mode, using the motion of the carrier of the first upright control model control aircraft, when it is determined that offline mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model.According to identical control instruction, controller (1210) is different from the variation pattern that controller (1210) controls the motion state of carrier using the first handstand control model using the variation pattern of the motion state of the first upright control model control carrier, improves the experience of user.

Description

Flight control system, the control system of carrier, aircraft and carrier

Technical field

The utility model embodiment is related to control technology field, more particularly to a kind of flight control system, carrier control System, aircraft and carrier.

Background technology

With the development of airmanship, aircraft, for example, UAV (Unmanned Aerial Vehicle, unmanned flight Device), also referred to as unmanned plane, from it is military develop into it is more and more extensive civilian, for example, UAV plant protection, UAV aviations are clapped Take the photograph, UAV Forest Fires police commissioner control etc., and civil nature is also the trend of UAV future developments.

Under some scenes, UAV can carry the load for performing particular task by carrier (carrier) (payload).For example, when carrying out Aerial photography using UAV, UAV can carry capture apparatus by head.In some situations Under, according to the difference of flight environment of vehicle, UAV may need flying upside down, for example, when carrying out Forest Fire police commissioner control, it may be necessary to Shoot the target above aircraft.

However, when UAV flying upside downs, because UAV flight attitude is overturn so that UAV user has to Change the upset of original flight attitude for manipulating custom to adapt to UAV, so as to be brought to user to the manipulation of the equipment on UAV Inconvenience.

It would therefore be highly desirable to which provide a kind of can facilitate user to manipulate the equipment on UAV in flying machine flying upside down Technical scheme.

Utility model content

The utility model embodiment provides a kind of flight control system, aircraft, carrier and manipulation device, can be in flight User is facilitated to manipulate the equipment on UAV during machine flying upside down.

There is provided a kind of flight control system.The flight control system includes：At least one sensor, for sensing flight The attitude information of device；Controller, controller is communicated to connect with least one sensor, for receiving appearance from least one sensor State information, and the flight according to attitude information control aircraft and the posture of the carrier of the aircraft, wherein controller exist When determining offline mode for flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, according to identical Control instruction, controller is different from controller using the variation pattern of the motion state of the first upright control model control carrier The variation pattern of the motion state of carrier is controlled using the first handstand control model, carrier is used for carry load.

In certain embodiments, the motion state of carrier includes the direction of motion of carrier；Wherein, referred to according to identical control Order, controller uses the first handstand control model control using the direction of motion of the first upright control model control carrier with controller The direction of motion of carrier processed is opposite.

In certain embodiments, carrier includes one or more rotating shaft mechanisms, and controller is specifically for it is determined that flight mould When formula is upright offline mode, rotating shaft mechanism is controlled to surround the rotary shaft of rotating shaft mechanism in the first direction according to the first control instruction Rotation, and when it is determined that offline mode is flying upside down pattern, rotating shaft mechanism is controlled around rotation according to the first control instruction Axle is rotated in a second direction, and wherein first direction is opposite with second direction.

In certain embodiments, rotating shaft mechanism includes following at least one：Roll axis mechanism, translation axis mechanism and pitch axis Mechanism；Controller is specifically for when it is determined that offline mode is upright offline mode, the first drive is converted to by the first control instruction Dynamic signal, is rotated in a first direction with the motor of drive shaft mechanism, and when it is determined that offline mode is flying upside down pattern, First control instruction is converted into the second drive signal, rotated in a second direction with motor.

In certain embodiments, the motion state of carrier includes following at least one：The angle of rotation, the direction rotated, The distance of translation and the direction of translation.

In certain embodiments, at least one sensor includes following at least one：Gyroscope, electronic compass, inertia are surveyed Unit and vision sensor are measured, controller determines the offline mode of aircraft according to the attitude information of aircraft.

In certain embodiments, attitude information includes at least one in the angle of pitch of aircraft and the roll angle of aircraft It is individual.Controller is specifically for when the angle of pitch or roll angle are in default angular range, it is flying upside down mould to determine offline mode Formula.

In certain embodiments, flight control system also includes：First transceiver, is communicated to connect with controller, for connecing The offline mode instruction that the commanding apparatus of aircraft is sent is received, wherein controller according to offline mode specifically for indicating to determine to fly Row mode, wherein offline mode indicate to be used to indicate that offline mode is flying upside down pattern or upright offline mode.

In certain embodiments, controller is additionally operable to when it is determined that offline mode is upright offline mode, using second just Vertical control model controls the height of aircraft；When it is determined that offline mode is flying upside down pattern, is stood upside down using second and control mould Formula controls the height of aircraft, wherein the range information that the distance measuring sensor carried according to aircraft is sensed, the second upright control The condition of the highly desirable satisfaction of Schema control aircraft is different from the second handstand control model and controls the highly desirable of aircraft The condition of satisfaction.

In certain embodiments, distance measuring sensor includes：First distance measuring sensor, is communicated to connect with controller, for feeling The distance between aircraft and the first object object above aircraft are surveyed, wherein controller is specifically for it is determined that flight When pattern is flying upside down pattern, according to the flying height of the distance between aircraft and first object object control aircraft, To cause the distance between aircraft and first object object to be less than the first preset value, wherein the first distance measuring sensor is located at flight The bottom of device.

In certain embodiments, distance measuring sensor also includes：Second distance measuring sensor, communicates to connect with controller, is used for The distance between aircraft and the second destination object below aircraft are sensed, wherein controller is additionally operable to it is determined that flight When pattern is flying upside down pattern, the flying height of aircraft is controlled according to the distance between aircraft and the second destination object, To cause the distance between aircraft and the second destination object to be more than the second preset value, wherein the second distance measuring sensor is located at flight The top of device.

In certain embodiments, distance measuring sensor is ultrasonic sensor and/or vision sensor, the first distance measuring sensor Be additionally operable to sense the distance between aircraft and the 3rd destination object below the aircraft, controller specifically for it is determined that When offline mode is upright offline mode, controlled the flight of aircraft high according to the distance between aircraft and the 3rd destination object Degree, to cause the distance between aircraft and the 3rd destination object to be more than the 3rd preset value.

In certain embodiments, carrier is tripod head equipment, is loaded as capture apparatus, and carrier is located at the top or bottom of aircraft Portion.

In certain embodiments, flight control system also includes：Second transceiver, is communicated to connect with controller, for connecing The image that capture apparatus is shot is received, wherein controller is additionally operable to that when it is determined that offline mode is flying upside down pattern, shooting is set The standby image shot carries out handstand processing, and by second transceiver handstand is handled after image be sent to display and shown Show.

On the other hand there is provided a kind of control system of carrier.The control system of the carrier includes：At least one sensing Device, the attitude information for sensing carrier；Controller, is communicated to connect with sensor, for being controlled according to the attitude information of carrier The motion of carrier；Controller be additionally operable to it is determined that offline mode be upright offline mode when, using the first upright control model The motion of carrier is controlled, when it is determined that offline mode is flying upside down pattern, carrier is controlled using the first handstand control model Motion, wherein, according to identical control instruction, controller controls the change of the motion state of carrier using the first upright control model Change mode is different from the variation pattern that controller controls the motion state of carrier using the first handstand control model, and carrier is used to hold Load with.

On the other hand there is provided a kind of flight control system.The flight control system includes：Processor and memory, its Middle memory is used for store instruction to cause processor to be used to select corresponding control model according to the offline mode of aircraft, its In when it is determined that offline mode is upright offline mode, the posture of aircraft is controlled using the first upright control model, it is determined that When offline mode is flying upside down pattern, the posture of aircraft is controlled using the first handstand control model, wherein, according to identical Control instruction, controls the variation pattern of the posture of aircraft to be different from the first handstand control mould under the first upright control model The variation pattern of the posture of aircraft is controlled under formula.

On the other hand there is provided a kind of aircraft.The aircraft includes the flight control system of above-mentioned aspect；And it is multiple Propulsion plant, the flying power for being supplied to aircraft, wherein, flight control system is communicated to connect with multiple propulsion plants, For controlling multiple propulsion plants to work, to realize required posture.

On the other hand there is provided a kind of carrier.The carrier includes：Control system in terms of as described above；And one or many Individual rotating shaft mechanism, rotating shaft mechanism includes the power set that rotating shaft and drive shaft are rotated；Wherein, control system and power set Communication connection, for controlling power set to work, to realize required motion state.

On the other hand there is provided a kind of manipulation device.The manipulation device includes：Processor and memory, wherein memory For store instruction to cause processor to be used to export corresponding control instruction according to the offline mode of aircraft：Transceiver, is used In controller determine offline mode for upright offline mode and receive user input the first control instruction when, to aircraft Or the carrier of aircraft sends the first control instruction, first control instruction is used for change or the carrier for controlling the posture of aircraft The change of motion state, processor, for it is determined that aircraft offline mode is flying upside down pattern and to receive user defeated During the first control instruction entered, the first control instruction is converted into the second control instruction, transceiver is additionally operable to aircraft or flown The carrier of row device sends the second control instruction, wherein, the variation pattern or carrier of the posture of the first control instruction control aircraft Motion state variation pattern and the second control instruction control aircraft posture variation pattern or carrier movement state Variation pattern is different.

According to embodiment of the present utility model, by when aircraft is in different offline mode, according to identical control System instruction, the motion state for controlling carrier using different control models changes in a different manner so that in flying for aircraft When row mode changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.

Brief description of the drawings

, below will be in the utility model embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment The required accompanying drawing used is briefly described, it should be apparent that, drawings described below is only of the present utility model one A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these Accompanying drawing obtains other accompanying drawings.

Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 according to embodiment of the present utility model.

Fig. 2 is the indicative flowchart of the control method of the aircraft according to one embodiment of the present utility model.

Fig. 3 A are the rotation side according to the rotary shaft of head under the upright offline mode of one embodiment of the present utility model To schematic diagram.

Fig. 3 B are the rotation according to the rotary shaft of head under the flying upside down pattern of the embodiment of one of the present utility model The schematic diagram in direction.

Schematic diagram when Fig. 4 A are flight upright according to the aircraft of one embodiment of the present utility model.

Schematic diagram when Fig. 4 B are the aircraft flying upside down according to one embodiment of the present utility model.

Fig. 5 is the indicative flowchart of the control method of the aircraft of another embodiment of the present utility model.

Fig. 6 is the indicative flowchart of the control method of the aircraft according to another embodiment of the present utility model.

Schematic diagram when Fig. 7 A are flight upright according to the aircraft of another embodiment of the present utility model.

Schematic diagram when Fig. 7 B are the aircraft flying upside down according to another embodiment of the present utility model.

Schematic diagram when Fig. 7 C are flight upright according to the aircraft of another embodiment of the present utility model.

Schematic diagram when Fig. 7 D are the aircraft flying upside down according to another embodiment of the present utility model.

Fig. 8 is the indicative flowchart of the control method of the aircraft according to another embodiment of the present utility model.

Fig. 9 is the structural representation of the control device according to one embodiment of the present utility model.

Figure 10 is the structural representation of the control device according to another embodiment of the present utility model.

Figure 11 is the structural representation of the control device according to another embodiment of the present utility model.

Figure 12 is the structural representation of the flight control system according to one embodiment of the present utility model.

Figure 13 is the structural representation of the control system of the carrier according to one embodiment of the present utility model.

Figure 14 is the structural representation of the flight control system according to another embodiment of the present utility model.

Figure 15 is the structural representation of the manipulation device according to one embodiment of the present utility model.

Figure 16 is the structural representation according to one embodiment aircraft of the present utility model.

Figure 17 is the structural representation of the carrier according to one embodiment of the present utility model.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is a part of embodiment of the present utility model, rather than all implement Example.Based on the embodiment in the utility model, those of ordinary skill in the art institute on the premise of creative work is not made The every other embodiment obtained, should all belong to the scope of the utility model protection.

Embodiment of the present utility model provides the method and system being controlled to the equipment on UAV.The utility model Embodiment can apply to various types of UAV.For example, UAV can be small-sized UAV.In certain embodiments, UAV can To be rotor craft (rotorcraft), for example, passing through air-driven multi-rotor aerocraft, this reality by multiple pushing meanss This is not limited to new embodiment, UAV can also be other types of UAV or movable fixture.

Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 according to embodiment of the present utility model.The present embodiment with Illustrated exemplified by rotor craft.

Unmanned flight's system 100 can include UAV 110, carrier 12 0, display device 130 and commanding apparatus 140.Wherein, UAV 110 can include dynamical system 150, flight control system 160 and frame 170.UAV 110 can be with commanding apparatus 140 Radio communication is carried out with display device 130.

Frame 170 can include fuselage and foot stool (also referred to as undercarriage).Fuselage can include centre frame and and center One or more horns of frame connection, one or more horns radially extend from centre frame.Foot stool is connected with fuselage, is used Played a supportive role in when UAV 110 lands.

Dynamical system 150 can include electron speed regulator (referred to as electricity adjust) 151, one or more rotors 153 and with The corresponding one or more motors 152 of one or more rotors 153, wherein motor 152 are connected to electron speed regulator 151 and rotation Between the wing 153, motor 152 and rotor 153 are arranged on corresponding horn；Electron speed regulator 151 is used to receive flight controller 160 drive signals produced, and driving current is provided to motor 152 according to drive signal, with the rotating speed of controlled motor 152.Electricity Machine 152 is used to drive rotor wing rotation, so that the flight for UAV 110 provides power, the power enables UAV 110 to realize one The motion of individual or multiple frees degree.In certain embodiments, UAV 110 can be around the rotation of one or more rotary shafts.For example, Above-mentioned rotary shaft can include roll axle, translation shaft and pitch axis.It should be understood that motor 152 can be direct current generator, it can also hand over Flow motor.In addition, motor 152 can be brushless electric machine, it is possibility to have brush motor.

Flight control system 160 can include flight controller 161 and sensor-based system 162.Sensor-based system 162 is used to measure UAV attitude information, i.e. UAV 110 space positional information and status information, for example, three-dimensional position, three-dimensional perspective, three-dimensional Speed, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system 162 can for example include gyroscope, electronic compass, IMU (inertia Measuring unit, Inertial Measurement, Unit), vision sensor, GPS (global positioning system, Global At least one of Positioning System) and the sensor such as barometer.Flight controller 161 is used to control UAV 110 Flight, for example, can according to sensor-based system 162 measure attitude information control UAV 110 flight.It should be understood that flight control Device 161 processed can be controlled according to the programmed instruction finished in advance to UAV 110, can also come from commanding apparatus by response 140 one or more control instructions are controlled to UAV 110.

Carrier 12 0 can include electricity and adjust 121 and motor 122.Carrier 12 0 can be for carry load 123.For example, when load When body 120 is tripod head equipment, load 123 can be capture apparatus (for example, according to machine, video camera etc.), of the present utility model to implement Example is not limited to this, for example, carrier can also be the load bearing equipment for carrying weapon or other loads.Flight controller 161 The motion of 121 and the control carrier 12 0 of motor 122 can be adjusted by electricity.Alternatively, as an another embodiment, carrier 12 0 may be used also With including controller, for by controlling electricity tune 121 and motor 122 to control the motion of carrier 12 0.It should be understood that carrier 12 0 can With independently of UAV 110, or UAV 110 part.It should be understood that motor 122 can be direct current generator, it can also hand over Flow motor.In addition, motor 122 can be brushless electric machine, it is possibility to have brush motor.It should also be understood that carrier can be located at aircraft Top, can also be located at aircraft bottom.

Display device 130 is located at the ground surface end of unmanned flight's system 100, can be carried out wirelessly with UAV 110 Communication, and it is displayed for UAV 110 attitude information.In addition, when it is capture apparatus to load 123, can also be aobvious Show the image for showing that capture apparatus is shot in equipment 130.It should be understood that display device 130 can be independent equipment, it can also set Put in commanding apparatus 140.

Commanding apparatus 140 is located at the ground surface end of unmanned flight's system 100, can be carried out wirelessly with UAV 110 Communication, for carrying out remote control to UAV 110.Commanding apparatus for example can be remote control or the APP for being provided with control UAV The terminal device of (application program, Application), for example, smart mobile phone, tablet personal computer etc..Embodiment of the present utility model In, the input of user is received by commanding apparatus, can be referred to by pulling out the input dress such as wheel, button, button, rocking bar on remote control Put or terminal device on user interface (UI) UAV is manipulated.

According to embodiment of the present utility model, by when aircraft is in different offline mode, according to identical control System instruction, controls the motion state of carrier or the posture of aircraft to change in a different manner, makes using different control models Obtain when the offline mode of aircraft changes, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to be lifted Consumer's Experience.

It should be understood that the above-mentioned name for unmanned flight's system components is only in order at the purpose of mark, should not It is interpreted as the limitation to embodiment of the present utility model.

Fig. 2 is the indicative flowchart of the control method of the aircraft according to one embodiment of the present utility model.This reality The control method for applying example can apply to different aircraft.Aircraft for example can be Fig. 1 UAV, and the control method is for example It can be performed by Fig. 1 flight controller or the controller of carrier.Such as it is not particularly illustrated, the controller hereinafter mentioned can be with Refer to the controller of flight controller or carrier.As shown in Fig. 2 the control method includes following content.

210, determine the offline mode of aircraft.For example, offline mode can include upright offline mode and flying upside down Pattern.Upright offline mode can refer to aircraft and be in or corresponding to the state of upright flight, and flying upside down pattern can refer to Aircraft is in or corresponding to handstand or the state of wing-over.

Embodiment of the present utility model can pass through measurement for determining that the mode of the offline mode of aircraft is not construed as limiting The attitude information of aircraft determines the offline mode of aircraft, the offline mode that can also be sent according to commanding apparatus indicate come Determine the offline mode of aircraft.

220, when it is determined that offline mode is upright offline mode, the load of aircraft is controlled using the first upright control model The motion of body.

For example, the control model of carrier can have two kinds, including：First upright control model and the first handstand control mould Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down pattern, I.e. first upright control model is used for the motion that carrier is controlled when aircraft is in upright offline mode, and first, which stands upside down, controls mould Formula is used for the motion that carrier is controlled when aircraft is in flying upside down pattern.

230, when it is determined that offline mode is flying upside down pattern, the fortune of carrier is controlled using the first handstand control model It is dynamic.According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different under the first upright control model The variation pattern of the motion state of carrier is controlled under the first handstand control model.Carrier is used for carry load.

For example, the motion state of carrier can include the direction of motion and/or motion amplitude, motion state can include as follows It is at least one：The angle of rotation, the direction rotated, the distance of translation and the direction of translation.When the motion of above-mentioned carrier is rotation When, the direction of motion and motion amplitude are respectively the direction of rotation and the angle rotated, when the motion of above-mentioned carrier is translation, fortune Dynamic direction and motion amplitude are respectively direction and the distance of translation of translation.Correspondingly, the variation pattern difference of the direction of motion can To refer to the in opposite direction of motion, for example, translation is in opposite direction or rotation in opposite direction.The variation pattern of motion amplitude is not With the of different sizes of motion amplitude can be referred to, for example, the distance difference of translation or the angle rotated are different.

Specifically, the different control models of carrier can correspond to the different offline mode of aircraft, when aircraft exists When switching between different offline mode, the control to carry-on carrier is also correspondingly cut between different control models Change.When the controller of aircraft determine aircraft be in upright offline mode, and receive control carrier movement control instruction When, the motion state of control carrier changes in a way, for example, control carrier is moved in one direction, when aircraft When controller determines that aircraft is in flying upside down pattern, and when receiving identical control instruction, the motion state of carrier is controlled Alternatively variation pattern, for example, control carrier is moved in another direction.It should be understood that above-mentioned control instruction can be winged The control instruction for the control carrier movement that the user of row device is inputted by commanding apparatus.

It is described below in detail when offline mode is switched over, how the control model of carrier switches.

In certain embodiments, according to identical control instruction, the motion of carrier is controlled under the first upright control model Direction is opposite with controlling the direction of motion of carrier under the first handstand control model.

Specifically, under upright offline mode, when receiving the control instruction that control carrier is rotated in a first direction, Control carrier to move in the first direction under first upright control model, under flying upside down pattern, refer to when receiving identical control When making, carrier is controlled to be moved along the second direction opposite with first direction under the first handstand control model.For example, first direction For clockwise, second direction is counterclockwise, vice versa.For another example, first direction is stretches out direction, and second direction is Shrinkage direction, vice versa.It should be understood that the clockwise and counterclockwise of some object is in the utility model embodiment Refer to the direction determined during in face of the same surface of the object.

According to embodiment of the present utility model, by when aircraft is in opposite offline mode, according to identical control System instruction, is moved so that change in the offline mode of aircraft in opposite direction using opposite control model control carrier When, the manipulation without changing the carrier that user carries to aircraft is accustomed to, so as to improve Consumer's Experience.

According to embodiment of the present utility model, carrier can include one or more rotating shaft mechanisms.For example, the rotating shaft of carrier Mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Using the first upright control During the motion of the carrier of Schema control aircraft, rotating shaft mechanism can be controlled to surround the rotation of rotating shaft mechanism according to the first control instruction Rotating shaft is rotated in a first direction, and when controlling the motion of carrier of aircraft using the first handstand control model, according to identical Control instruction control rotating shaft mechanism rotates around rotary shaft along the second direction opposite with first direction.It is of the present utility model to implement Example can control each rotating shaft mechanism in above three rotating shaft mechanism to be rotated around corresponding rotary shaft respectively, for example, control Roll axis mechanism rotates around roll axle, and control translation axis mechanism rotates around translation shaft, and control pitching axis mechanism surrounds pitching Axle rotates.

Specifically, can be by the first control in the motion of the carrier using the first upright control model control aircraft Instruction is converted to the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and is stood upside down using first During the motion of the carrier of control model control aircraft, identical first control instruction can be converted to the second drive signal, with Motor is rotated in a second direction.

For example, in the case where the motor of carrier is alternating current generator, the first drive signal and the second drive signal can be Three-phase alternating current signal, and the first drive signal is opposite with the phase sequence of the second drive signal.For example, can motor main electricity Switching switch is set on road, when aircraft is in upright offline mode, caused by controlling the switching to switch on main circuit Three-phase alternating current signal motor is rotated forward, and under flying upside down pattern, can be by controlling switching switch to change main electricity The phase sequence of any two-phase of Three-phase alternating current signal on road, so that motor is inverted.Furthermore it is also possible to by switching main electricity The connection of road and start-up capacitance controls alternating current generator to rotate and reverse.In the case where the motor of carrier is direct current generator, the One drive signal and the second drive signal can be DC signal, and the electric current of the first drive signal and the second drive signal In the opposite direction.

Alternately, as another embodiment, carrier can include one or more telescoping mechanisms.Using upright control During the motion of Schema control carrier, according to the first control instruction telescoping mechanism can be controlled to stretch out the first distance in the first direction, When controlling the motion of carrier using handstand control model, telescoping mechanism edge and first party can be controlled according to identical control instruction Second distance is shunk to opposite second direction, the first distance can be more than or equal to second distance.For example, the first distance with In the case that second distance is equal, under upright offline mode, the telescoping mechanism stretches out, and under flying upside down pattern, this is stretched Original position is retracted by contracting mechanism.First direction and second direction can be with the fuselages of aircraft into default angle, for example, and aircraft Fuselage top surface or bottom surface it is parallel or vertical.For example, the first control instruction can be in the finger of camera site for control carrier Order.It should be understood that first direction and second direction can be along the direction of the expansion rail of telescoping mechanism.

According to embodiment of the present utility model, when aircraft is in upright offline mode, in order that carrier is (for example, cloud Platform) load (for example, camera) of carrying obtains bigger visual angle, and carrier can be controlled to be in stretching state；And at aircraft When flying upside down pattern, in order that the center of gravity of aircraft can relatively low and smooth flight, can control carrier be in it is contraction-like State, so as to realize more preferable state of flight or shooting effect under two kinds of offline mode.

The offline mode for how determining aircraft is described below in detail, it is for instance possible to use the following two kinds mode：According to winged The attitude information of row device determines offline mode or determines offline mode according to the instruction of commanding apparatus.

According to embodiment of the present utility model, in 210, controller can obtain the attitude information of aircraft, and according to The attitude information of aircraft, determines the offline mode of aircraft.

Specifically, the sensor sensing that attitude information can be carried by aircraft is obtained, for example, attitude information can include At least one in the angle of pitch of aircraft and the roll angle of aircraft, sensor can include following at least one：Gyroscope, Electronic compass, Inertial Measurement Unit and vision sensor, embodiment of the present utility model are not limited to this, can also utilize other The sensor of the attitude information of aircraft can be measured.If for example, the angle of pitch or roll angle of aircraft are in default angle Scope, then it is flying upside down pattern that can determine offline mode.Above-mentioned default angular range can be the angle centered on 180 degree Degree is interval, for example, above-mentioned default angular range can be 90 degree to 270 degree of angular interval.It is above-mentioned pre- in some embodiments If angular range can be 180 degree, i.e., when horizontal level when aircraft is from upright flight overturns 180 degree, it is believed that Aircraft is in flying upside down pattern.Correspondingly, if the angular area of the angle of pitch or roll angle of aircraft centered on 0 degree Between, for example, angular interval of -90 degree to 90 degree, then it is considered that aircraft is in upright offline mode.It should be understood that above-mentioned pre- If scope is citing, other default angular ranges can also be set according to actual needs.

Alternately, as another embodiment, in 210, what the commanding apparatus that controller can receive aircraft was sent Offline mode indicates that offline mode indicates to be used to indicate offline mode for flying upside down pattern or upright offline mode, and according to Offline mode indicates to determine offline mode.

Specifically, user can be indicated using commanding apparatus input offline mode, for indicating that aircraft is in upright fly Row mode or flying upside down pattern.So, user can flexibly decide whether using two kinds of control models according to actual needs To control the motion of carrier.For example, offline mode is designated as the upright offline mode of 1 expression, it is 0 expression flying upside down pattern, or Person is opposite.Furthermore it is also possible to the flying upside down pattern sent by judging whether to receive commanding apparatus indicates to represent, example Such as, receive flying upside down pattern to indicate to represent that aircraft is in flying upside down pattern, otherwise represent that aircraft is in upright fly Row mode.

Alternatively, as another embodiment, Fig. 2 control method by the case that flight controller is performed, flight control Device processed can also receive the control instruction of commanding apparatus transmission, and send the control instruction to the controller of carrier, to carry The controller of body controls the motion of carrier using the first upright control model in upright offline mode, and in flying upside down mould During formula, the motion of carrier is controlled using the first handstand control model.

Further, flight controller can also send offline mode to the controller of carrier and indicate, the offline mode refers to Show for indicating that offline mode is upright offline mode or flying upside down pattern.

Alternatively, as another embodiment, in the case where Fig. 2 control method is by the controller execution of carrier, carrier Controller can receive the offline mode that flight controller or commanding apparatus send and indicate that the offline mode indicates to be used to indicate Offline mode is flying upside down pattern or upright offline mode, and indicates determination offline mode according to the offline mode.

Alternatively, as another embodiment, in the case where Fig. 2 control method is by the controller execution of carrier, carrier Controller can determine the attitude angle of aircraft using the sensor on carrier, and in attitude angle in default angle model When enclosing interior, it is flying upside down pattern to determine offline mode；Otherwise, it determines offline mode is upright offline mode.

Specifically, the sensor of carrier can include gyroscope, and embodiment of the present utility model is not limited to this, can also Utilize the sensor of other attitude informations that can measure aircraft.If the angle of pitch or roll angle of sensor are at default angle Scope is spent, then it is flying upside down pattern that can determine offline mode.Above-mentioned default angular range can be for centered on 180 degree Angular interval, for example, above-mentioned default angular range can be 90 degree to 270 degree of angular interval.It is above-mentioned in some embodiments Default angular range can be 180 degree.Correspondingly, if the angle of the angle of pitch or roll angle of aircraft centered on 0 degree Interval, for example, angular interval of -90 degree to 90 degree, then it is considered that aircraft is in upright offline mode.It should be understood that above-mentioned Preset range is citing, and other default angular ranges can also be set according to actual needs.

Alternatively, as another embodiment, in the case where Fig. 2 control method is by the controller execution of carrier, carrier Controller can also receive the above-mentioned control instruction that flight controller or commanding apparatus are sent.

For convenience, embodiment of the present utility model is illustrated by taking Aerial photography as an example below.In this feelings Under condition, carrier is tripod head equipment, is loaded as capture apparatus.Tripod head equipment is winged for capture apparatus (for example, camera) to be carried on On the fuselage (for example, horn) of row device, to play a part of increasing steady and regulation capture apparatus visual angle.

Fig. 3 A are the rotation side according to the rotary shaft of head under the upright offline mode of one embodiment of the present utility model To schematic diagram.Fig. 3 B are the rotation according to the rotary shaft of head under the flying upside down pattern of the embodiment of one of the present utility model Turn the schematic diagram in direction.The rotating shaft mechanism of the present embodiment can apply in different carriers, in the present embodiment, using head as Example is illustrated.

Illustrate embodiment of the present utility model by taking three axle heads as an example below.It should be understood that embodiment of the present utility model Tripod head equipment can also be single shaft head or two axle The Cloud Terraces.

The rotating shaft mechanism of three axle heads can include pitching axis mechanism, roll axis mechanism and translation axis mechanism, wrap respectively The rotary shafts such as pitch axis, roll axle and translation shaft and corresponding motor are included, the motor of each rotating shaft mechanism is used to drive accordingly Rotating shaft mechanism around corresponding rotary shaft rotate.Each motor can be connected by support arm with corresponding rotary shaft.When When needing to be adjusted the coverage of the capture apparatus on head, it can be sent by commanding apparatus (for example, remote control) Control instruction, is respectively started three motors, to be controlled accordingly roll axis mechanism, pitching axis mechanism and horizontal axis mechanism Or adjustment, so that capture apparatus obtains maximum coverage.For example, when the motor rotation of pitching axis mechanism, driving Pitching axis mechanism rotates around pitch axis, and when the motor rotation of roll axis mechanism, driving roll axis mechanism revolves around roll axle Turn, when translating the motor rotation of axis mechanism, driving translation axis mechanism rotates around translation shaft.

For each rotary shaft, for identical control instruction, referring to Fig. 3 A, upright offline mode is in aircraft When, controller controls corresponding rotating shaft mechanism to be rotated around corresponding rotary shaft along order clockwise.Referring to Fig. 3 B, in flight When device is in flying upside down pattern, controller controls corresponding rotating shaft mechanism to be revolved in the counterclockwise direction around corresponding rotary shaft Turn.

Schematic diagram when Fig. 4 A are flight upright according to the aircraft of one embodiment of the present utility model.According to Fig. 4 B Schematic diagram during the aircraft flying upside down of one embodiment of the present utility model.

Referring to Fig. 4 A, aircraft can include four rotors：Rotor 41, rotor 42, rotor 43 and rotor 44.Wherein rotor 41 are located at the front of aircraft, and rotor 42 is located at the rear of aircraft, and rotor 43 is located at the right of aircraft, and rotor 44, which is located at, to fly The left of row device.Tripod head equipment 45 is located at the lower section of aircraft, for carrying capture apparatus (not shown).When aircraft is in just During vertical offline mode, tripod head equipment is located at the lower section of aircraft.Referring to Fig. 4 B, when aircraft is in flying upside down pattern, cloud Platform equipment is located at the top of aircraft.

By taking the target for shooting ground as an example, under upright offline mode, user can be inputted by commanding apparatus causes cloud Platform equipment surrounds the control instruction that pitch axis is rotated in a clockwise direction, for example, user can turn clockwise on commanding apparatus Some pull out wheel, then controller can using upright control model control tripod head equipment be revolved along clockwise direction around pitch axis Turn, so that fuselage of the capture apparatus away from aircraft is to point to the reference object on ground, and under flying upside down pattern, use Family still can send the control instruction for make it that tripod head equipment is rotated in a clockwise direction around pitch axis according to custom, for example, Some turned clockwise on commanding apparatus pulls out wheel, at this moment, and controller controls tripod head equipment along the inverse time using handstand control model Pin direction rotates so that capture apparatus close to the fuselage of aircraft to point to the reference object on ground.

For example, in upright flight, capture apparatus need towards ground direction shoot when, it is necessary to the thumb wheel for passing through remote control The direction that capture apparatus on control tripod head equipment is directed away from fuselage rotates predetermined angle, for example, the remote control that turns clockwise Thumb wheel, the direction that the capture apparatus on tripod head equipment is directed away from fuselage rotates.In flying upside down, capture apparatus needs court , it is necessary to control the capture apparatus direction on tripod head equipment close to the side of fuselage by the thumb wheel of remote control when earthward direction is shot To rotation predetermined angle, for example, the capture apparatus on the thumb wheel for the remote control that turns clockwise, tripod head equipment is towards close to fuselage Direction rotates.In other words, under upright offline mode and flying upside down pattern, the identical control that the thumb wheel of remote control is sent refers to Order control tripod head equipment rotates in opposite direction around pitch axis.Therefore, according to embodiment of the present utility model, no matter fly The upright flight of device or flying upside down, user can easily manipulate the rotation of tripod head equipment, and custom is manipulated without changing.

Alternatively, as another embodiment, Fig. 2 control method can also include：The image that capture apparatus is shot is received, When it is determined that offline mode is flying upside down pattern, the image that capture apparatus is shot carries out handstand processing, and handstand is handled Image afterwards is sent to display and shown.

Specifically, the image that can be shot capture apparatus by the controller of aircraft carries out handstand processing, and will stand upside down Image after processing is sent to ground surface end (for example, commanding apparatus).Alternately, can also be by nobody as another embodiment The figure that the controller (for example, controller on commanding apparatus or display device) of the ground surface end of flight system shoots capture apparatus As carrying out handstand processing.So, although the image that aircraft flying upside down causes capture apparatus to shoot is to stand upside down, but by falling After vertical processing, the image shown on the display of ground surface end is still upright, so as to improve Consumer's Experience.

It should be understood that the description of the control in the present embodiment for tripod head equipment can also be applied similarly to other carriers Control.

Aircraft generally carries distance measuring sensor below fuselage, for measuring the flying height of aircraft, and controls The flying height of aircraft, in order to avoid collided with the barrier of lower section.For example, controller can be sensed according to the ranging of lower section The distance between aircraft and lower section barrier of device sensing, control the distance to be more than preset value.However, flying when aircraft stands upside down During row, the distance measuring sensor will be unable to for sensing the distance between aircraft and lower section barrier, so as to be brought to flight Potential safety hazard.Fig. 5 embodiment will be devoted to the potential safety hazard for avoiding flying upside down from bringing so that the bat under flying upside down pattern Taking the photograph to be carried out safely.

Fig. 5 is the indicative flowchart of the control method of the aircraft of another embodiment of the present utility model.The present embodiment Control method can apply to different aircraft.Aircraft for example can be Fig. 1 UAV, and the control method for example can be with Performed by Fig. 1 flight controller or the controller of carrier.As shown in figure 5, the control method includes following content.

510, determine the offline mode of aircraft.

520, when it is determined that offline mode is upright offline mode, the load of aircraft is controlled using the first upright control model The motion of body.

530, when it is determined that offline mode is flying upside down pattern, the fortune of carrier is controlled using the first handstand control model It is dynamic.

It should be understood that 510 to 530 is similar with the 210 to 230 of Fig. 2, to avoid repeating, it will not be repeated here.It should also be understood that 520 and 530 be optional.If for example, need not be entered under different offline mode to carrier using different control models Row control, or the non-carrying carrier of aircraft, in such a case, it is possible to omit 520 and 530.

540, when it is determined that offline mode is upright offline mode, the height of aircraft is controlled using the second upright control model Degree.

550, when it is determined that offline mode is flying upside down pattern, the height of aircraft is controlled using the second handstand control model Degree, wherein the range information that the distance measuring sensor carried according to aircraft is sensed, controls flight under the second upright control model The condition of the highly desirable satisfaction of device is different from the bar that the highly desirable satisfaction of aircraft is controlled under the second handstand control model Part.

According in embodiment of the present utility model, for controlling the different control models of height of aircraft to correspond to In the different offline mode of aircraft.When aircraft switches between different offline mode, the control to the height of aircraft System also correspondingly switches between different control models.For example, when controller determines that aircraft is in upright offline mode, adopting The height for controlling aircraft with upright control model meets first condition, when controller determines that aircraft is in flying upside down pattern When, the height for controlling aircraft using handstand control model meets the second conditions different from first condition.

According to embodiment of the present utility model, by when aircraft is in different offline mode, using different controls The height of Schema control aircraft processed so that when the offline mode of aircraft changes, remain able to ensure the safety of flight.

It is above-mentioned to control the height of aircraft to wrap using the second handstand control model according to embodiment of the present utility model Include：Between the first distance measuring sensor measurement aircraft carried using aircraft and the first object object above aircraft Distance；According to the flying height of the distance between aircraft and first object object control aircraft, with cause aircraft with The distance between first object object is less than the first preset value, wherein the first distance measuring sensor is located at the bottom of aircraft.Change sentence Talk about, control the aircraft altitude condition to be met to include under the second handstand control model：First distance measuring sensor The distance between aircraft and first object object of measurement are less than the first preset value.

Alternatively, as another embodiment, the above-mentioned height for using the second handstand control model to control aircraft can be with Including：The the second distance measuring sensor measurement aircraft and the second destination object below aircraft carried using aircraft it Between distance, and according to the distance between aircraft and the second destination object control aircraft flying height, with cause flight The distance between device and the second destination object are more than the second preset value, wherein the second distance measuring sensor is located at the top of aircraft. In other words, the aircraft altitude condition to be met is controlled to include under the second handstand control model：Second ranging The distance between aircraft and the second destination object of sensor sensing are more than the second preset value.

According to embodiment of the present utility model, the above-mentioned height using the second upright control model control aircraft can be wrapped Include：Between the first distance measuring sensor measurement aircraft carried using aircraft and the 3rd destination object below aircraft Distance, and according to the distance between aircraft and the 3rd destination object control aircraft flying height, to cause aircraft It is more than the 3rd preset value with the distance between the 3rd destination object.In other words, flight is controlled under the second upright control model It is big that the device height condition to be met includes the distance between the aircraft and the 3rd destination object of the first distance measuring sensor sensing In the 3rd preset value.

Above-mentioned distance measuring sensor can be ultrasonic sensor or vision sensor, or both combinations, for example, Ranging can be carried out using two kinds of sensor joints, or one of the first distance measuring sensor and the second distance measuring sensor are ultrasonic wave Sensor, and another is vision sensor, embodiment of the present utility model is not limited to this, and above-mentioned distance measuring sensor also may be used Think other any sensors that can be used in measurement distance.

It should be understood that first object object can be for example the barrier or reference object above aircraft.Second target pair As can be the same or different with the 3rd destination object, for example, can for ground or barrier below aircraft or Reference object.It should also be understood that above-mentioned second preset value and the 3rd preset value can be with identical, can also be different.People in the art Member sets above-mentioned first preset value, the second preset value and the 3rd preset value the need for being flown according to aircraft security.

Fig. 5 embodiment is further illustrated by taking ultrasonic sensor as an example below.

The fuselage bottom of aircraft can typically set ultrasonic sensor (hereinafter referred to as bottom ultrasonic sensor), be used for The distance of aircraft and lower section barrier (for example, ground, aerial barrage thing etc.) is obtained, so that controller can be according to this Distance controlling aircraft and the barrier of lower section keep default distance.For example, when the upright flight of aircraft, flight controller The aircraft and the distance on ground sensed according to bottom ultrasonic sensor, and control the distance to be more than some preset value, to keep away The flying height for exempting from aircraft is too low, causes security incident.When aircraft flying upside down, flight controller is according to bottom ultrasound The distance of the aircraft and top destination object (for example, barrier or reference object) of wave sensor sensing, controls this apart from small In some preset value, to avoid aircraft from encountering the barrier of lower section.Therefore, the switching of control mode is passed through so that aircraft Can keep certain height flight under two kinds of offline mode, so as to ensure the security of flight.Alternatively, as another reality Example is applied, controller can also further control the distance between aircraft and top destination object to be more than the 4th preset value, to keep away Exempt from the destination object that aircraft encounters top, so as to be further ensured that the security of flight.

In the present embodiment, aircraft can also carry top ultrasound in addition to carrying above-mentioned bottom ultrasonic sensor Wave sensor.So, when aircraft flying upside down, bottom ultrasonic sensor is located at the top of aircraft, and top is ultrasonic Wave sensor is located at the lower section of aircraft.In such a case, it is possible to using bottom ultrasonic sensor obtain aircraft with it is upper The distance between square destination object, and top ultrasonic sensor is used to measure between aircraft and ground or lower section barrier Distance, so as to further improve security of the aircraft in flying upside down.

Fig. 6 is the indicative flowchart of the control method of the aircraft according to another embodiment of the present utility model.This reality The control method for applying example can apply to different aircraft.Aircraft for example can be Fig. 1 UAV, and the control method is for example It can be performed by Fig. 1 flight controller.As shown in fig. 6, the control method includes following content.

610, determine the offline mode of aircraft.It is similar with the 210 of Fig. 2, to avoid repeating, it will not be repeated here.

620, when it is determined that offline mode is upright offline mode, the appearance of aircraft is controlled using the first upright control model State.

For example, the control model of aircraft can have two kinds, including：First upright control model and the first handstand control mould Formula, wherein the first upright control model corresponds to upright offline mode, the first handstand control model corresponds to flying upside down pattern, First upright control model is used for the posture that aircraft is controlled when aircraft is in upright offline mode, and first, which stands upside down, controls mould Formula is used for the posture that aircraft is controlled when aircraft is in flying upside down pattern.For example, the posture of aircraft is included as follows extremely A kind of few attitude angle：Course angle, roll angle and the angle of pitch.Controlling the variation pattern of the posture of aircraft includes following at least one Kind：Control the size of attitude angle change and the direction of control attitude angle change.

630, when it is determined that offline mode is flying upside down pattern, the appearance of aircraft is controlled using the first handstand control model State, wherein, according to identical control instruction, control the variation pattern of the posture of aircraft different under the first upright control model In the variation pattern for the posture that aircraft is controlled under the first handstand control model.

Specifically, the different control models of the posture of aircraft can correspond to the different offline mode of aircraft, when winged When row device switches between different offline mode, to the control of the posture of aircraft also correspondingly different control models it Between switch.When flight controller determine aircraft be in upright offline mode, and receive control aircraft posture control During instruction, the posture of control aircraft changes in a way, for example, control aircraft is moved in one direction, works as flight When the controller of device determines that aircraft is in flying upside down pattern, and when receiving identical control instruction, the appearance of aircraft is controlled State alternatively variation pattern, for example, control aircraft is moved in another direction.It should be understood that above-mentioned control instruction can Be aircraft user by commanding apparatus input control aircraft posture control instruction.

According to embodiment of the present utility model, by when aircraft is in different offline mode, according to identical control System instruction, the posture for controlling aircraft using different control models changes in a different manner so that in the flight of aircraft When pattern changes, it is accustomed to without changing manipulation of the user to aircraft, so as to improve Consumer's Experience.

It is described below in detail when offline mode is switched over, how the control model of aircraft switches.

In certain embodiments, the variation pattern of the posture of above-mentioned control aircraft can include control attitude angle change Direction, and according to identical control instruction, the change direction of the attitude angle of aircraft is controlled under the first upright control model With controlling under the first handstand control model the attitude angle of aircraft to change in the opposite direction.

Specifically, the above-mentioned posture using the first upright control model control aircraft can include：Control instruction is turned Multiple First Speed Regulate signals are changed to, to adjust multiple rotors of aircraft by multiple First Speed Regulate signals respectively Rotating speed so that aircraft is rotated in a first direction around rotary shaft；It is above-mentioned that aircraft is controlled using the first handstand control model Posture, including：Control instruction is converted into multiple second speed Regulate signals, to pass through multiple second speed Regulate signals respectively Adjust the rotating speed of multiple rotors so that aircraft is rotated in a second direction around rotary shaft.For example, above-mentioned rotary shaft can include It is following at least one：Roll axle, translation shaft and pitch axis.

Alternatively, as another embodiment, Fig. 6 method can also include：It is determined that offline mode is upright flight mould During formula, multiple rotor wing rotations of the second upright control model control aircraft are used to produce third direction relative to aircraft Thrust；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with phase The thrust of fourth direction is produced for aircraft, third direction is opposite with fourth direction.

For example, it is assumed that multiple rotors are located at the top of aircraft, and under upright offline mode, multiple rotors production of aircraft The raw pulling force away from aircraft (i.e. upwards), under flying upside down mould, multiple rotors generation of aircraft towards aircraft (i.e. to On) pulling force.Assuming that multiple rotors are located at the bottom of aircraft, under upright offline mode, multiple rotors of aircraft are produced Towards the pulling force of aircraft (i.e. upwards), under flying upside down mould, multiple rotors of aircraft produce away from aircraft (i.e. to On) pulling force.

Specifically, can by change rotor power (electronic or surge) applying mode come control third direction with Fourth direction is opposite.For example, in the case where the power of rotor is electronic, controller can be corresponding with multiple rotors by changing The direction of rotation of motor control the third direction opposite with fourth direction.

For example, in the case where the corresponding motor of multiple rotors is alternating current generator, under upright offline mode, will can use The control instruction for producing upward pulling force in control aircraft is converted to the first drive signal, with the motor edge of drive shaft mechanism First direction rotates, and under flying upside down pattern, identical control instruction can be converted into the second drive signal, to drive Motor is rotated in a second direction, and both of these case can produce the lift for promoting aircraft upward.First drive signal and second Drive signal can be Three-phase alternating current signal, and the first drive signal is opposite with the phase sequence of the second drive signal.For example, can To set switching switch on the main circuit of motor, when aircraft is in upright offline mode, by controlling the switching to switch So that the Three-phase alternating current signal motor on main circuit is rotated forward, and under flying upside down pattern, can be by controlling to switch Switch changes the phase sequence of any two-phase of the Three-phase alternating current signal on main circuit, so that motor is inverted.Furthermore it is also possible to Alternating current generator is controlled to rotate and reverse by switching the connection of main circuit and start-up capacitance.It is direct current generator in the motor of carrier In the case of, the first drive signal and the second drive signal can be DC signal, and the first drive signal and second drives The sense of current of dynamic signal is opposite.

Alternatively, as another embodiment, Fig. 6 embodiment can also be combined with Fig. 1 embodiment.Alternatively, as Another embodiment, Fig. 6 embodiment can also be combined with Fig. 5 embodiment.It should be understood that the above-mentioned description for Fig. 1 to Fig. 5 The restriction to Fig. 6 embodiment is used equally for, to avoid repeating, be will not be repeated here.

Below by taking Fig. 7 A to Fig. 7 D quadrotor as an example, illustrate rotor when the upright flight of aircraft and flying upside down Direction of rotation, and how to control the posture of aircraft by adjusting the speed of rotor.

Schematic diagram when Fig. 7 A are flight upright according to the aircraft of another embodiment of the present utility model.According to Fig. 7 B Schematic diagram during the aircraft flying upside down of another embodiment of the present utility model.

Referring to Fig. 7 A and Fig. 7 B, along the direction of advance that x-axis positive direction is aircraft, upward arrow represents that rotor is in water The upward direction of pull produced when prosposition is put is opposite with the gravity direction of aircraft.Assuming that the rotor of quadrotor is divided into Two groups：First group of rotor 71 for including front and the rotor 72 at rear；Rotor 73 and right of second group of rotor including left Rotor 74.While the motor rotate counterclockwise of the motor of rotor 71 and rotor 72, the motor of rotor 73 and the motor of rotor 74 Turn clockwise, to offset gyroscopic effect and air force moment of torsion effect.Referring to Fig. 7 A, when the upright flight of aircraft, the One group of rotor rotate counterclockwise, second group of rotor turns clockwise；Referring to Fig. 7 B, when aircraft flying upside down, first group of rotation The wing turns clockwise, second group of rotor rotate counterclockwise.

According to embodiment of the present utility model, under upright offline mode or flying upside down pattern, it can be flown by control The rotating speed of the rotor of row device can adjust the flight attitude of aircraft.

Referring to Fig. 7 A, under upright offline mode, when wishing that aircraft is in vertical motion upwards, it can increase simultaneously The power output of four motors, to increase the rotating speed of rotor, so that total pulling force increase, when total pulling force is enough to overcome complete machine Weight when, aircraft just vertical ascent.When wishing that aircraft carries out elevating movement, the rotating speed of rotor 71 can be lifted, is dropped The rotating speed of the rotating speed of low rotor 72, rotor 73 and rotor 74 keeps constant so that aircraft surrounds pitch axis in the counterclockwise direction Rotation, similarly, can lift the rotating speed of rotor 72, reduce the rotating speed of rotor 71, and the rotating speed holding of rotor 73 and rotor 74 is constant, So that aircraft is rotated in a clockwise direction around pitch axis.When wishing that aircraft carries out roll motion, rotor can be lifted 74 rotating speed, reduces the rotating speed of rotor 73, and the rotating speed holding of rotor 71 and rotor 72 is constant so that aircraft surrounds roll axle edge Counterclockwise rotates, similarly, can lift the rotating speed of rotor 73, reduce turn of the rotating speed of rotor 74, rotor 71 and rotor 72 Speed keeps constant so that aircraft is rotated in a clockwise direction around roll axle., can when wishing that aircraft carries out translational motion To lift the rotating speed of rotor 71 and rotor 72, the rotating speed of reduction rotor 73 and rotor 74 so that aircraft is around translation shaft along inverse Clockwise rotates, similarly, can lift the rotating speed of the rotating speed of rotor 73 and rotor 74, reduction rotor 71 and rotor 72 so that Aircraft is rotated in a clockwise direction around roll axle.

For example, with reference to Fig. 7 B, under flying upside down pattern, when wishing that aircraft is in vertical motion upwards, due to Under the control of handstand control model, motor has been inverted, and therefore, it can while increasing the power output of four motors, to increase The rotating speed of rotor, so that the increase of total pulling force, when total pulling force is enough the weight for overcoming complete machine, on aircraft is just vertical Rise.When wishing that aircraft carries out elevating movement, the rotating speed of rotor 71 can be lifted, the rotating speed of rotor 72, the He of rotor 73 is reduced The rotating speed of rotor 74 keeps constant so that aircraft is rotated in a clockwise direction around pitch axis, similarly, can lift rotor 72 Rotating speed, reduce the rotating speed of rotor 71, the rotating speed of rotor 73 and rotor 74 keeps constant so that aircraft is around pitch axis along inverse Clockwise rotates.When wishing that aircraft carries out roll motion, the rotating speed of rotor 74, turn of reduction rotor 73 can be lifted The rotating speed of speed, rotor 71 and rotor 72 keeps constant so that aircraft is rotated in a clockwise direction around roll axle, similarly, can To lift the rotating speed of rotor 73, the rotating speed of rotor 74 is reduced, the rotating speed holding of rotor 71 and rotor 72 is constant so that aircraft encloses Rotated in the counterclockwise direction around roll axle.When wishing that aircraft carries out translational motion, rotor 71 and rotor 72 can be lifted The rotating speed of rotating speed, reduction rotor 73 and rotor 74 so that aircraft is rotated in a clockwise direction around translation shaft, similarly, can be with Lift the rotating speed of the rotating speed of rotor 73 and rotor 74, reduction rotor 71 and rotor 72 so that aircraft surrounds roll axle along the inverse time Pin direction rotates.

It should be understood that the method for embodiment of the present utility model can be applied to above-mentioned the three of aircraft according to actual needs The control of at least one rotary shaft in individual rotary shaft.For example, when aircraft realizes left and right upset, i.e. head and tail is constant In the case of, the method that two kinds of control models can be used only for roll axle, and when being overturn before and after aircraft is realized, can be only For method of the pitch axis using two kinds of control models.

It should be understood that moving forward and backward for aircraft can be by causing aircraft carries out rotation around pitch axis to cause aircraft Generation leans forward and swung back to realize；The lateral movement of aircraft can be by causing aircraft rotates around roll axle to fly Device produces left-leaning and Right deviation to realize.

Schematic diagram when Fig. 7 C are flight upright according to the aircraft of another embodiment of the present utility model.According to Fig. 7 D Schematic diagram during the aircraft flying upside down of another embodiment of the present utility model.

Referring to Fig. 7 C and Fig. 7 D, it is assumed that the rotor of quadrotor is divided into two groups：First group of rotor can include left front The rotor 75 of side and the rotor 76 of right back；Second group of rotor 77 that can include right front and the rotor 78 of left back.Rotor While the motor rotate counterclockwise of 75 motor and rotor 76, the motor of rotor 77 and the motor of rotor 78 turn clockwise, To offset gyroscopic effect and air force moment of torsion effect.It is direction of advance along x-axis positive direction, upward arrow represents rotor water The direction of pull usually produced is opposite with gravity direction.Flying for aircraft can be adjusted by the rotating speed for the rotor for controlling aircraft Row posture.Referring to Fig. 7 C, when the upright flight of aircraft, first group of rotor turns clockwise, second group of rotor rotate counterclockwise. Referring to Fig. 7 D, when aircraft flying upside down, first group of rotor rotate counterclockwise, second group of rotor turns clockwise.

The flight attitude of the aircraft of Fig. 7 C and Fig. 7 D embodiment control respectively with Fig. 7 A and Fig. 7 B embodiment The control of the flight attitude of aircraft is similar, will not be described here.

Fig. 8 is the indicative flowchart of the control method of the aircraft according to another embodiment of the present utility model.This reality The control method for applying example can apply to different aircraft.Aircraft for example can be Fig. 1 UAV, and the control method is for example It can be performed by the controller of Fig. 1 commanding apparatus.As shown in figure 8, the control method includes following content.

810, the commanding apparatus of aircraft determines the offline mode of aircraft.Lead to for example, commanding apparatus can receive user The offline mode of commanding apparatus input is crossed, offline mode can also be known from flight controller.

820, commanding apparatus it is determined that offline mode be upright offline mode and receive user input first control refer to When making, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used for the posture for controlling aircraft Change or carrier motion state change.

The description corresponding with Fig. 1 to Fig. 7 embodiment to the description of the motion state of carrier of the posture of aircraft is similar, Or else repeating.

830, commanding apparatus is it is determined that the offline mode of aircraft is flying upside down pattern and receives the phase of user's input With the first control instruction when, the first control instruction is converted into the second control instruction, and to aircraft or the carrier of aircraft The second control instruction is sent, wherein, the variation pattern or the motion state of carrier of the posture of the first control instruction control aircraft Variation pattern and the second control instruction control aircraft posture variation pattern or carrier movement state variation pattern not With (for example, opposite).

Specifically, when aircraft is in upright offline mode and receives posture for controlling aircraft or carrier During the first control instruction of motion state, first control instruction is sent to aircraft, to control the posture or carrier of aircraft Motion state changes in a way, for example, control aircraft or carrier are moved in one direction, is stood upside down when aircraft is in During offline mode and when receiving identical control instruction, send second controls different from the first control instruction to aircraft and refer to Order, to control the posture of aircraft or the motion state alternatively variation pattern of carrier, for example, control aircraft or Carrier is moved in another direction.It should be understood that the control that the user that above-mentioned control instruction can be aircraft is inputted by commanding apparatus The control instruction of the posture of aircraft processed.

It should be understood that the controller of flight controller or carrier is received after the control instruction of commanding apparatus transmission, Ke Yigen The posture of aircraft or the motion of carrier are controlled according to the control instruction, in specific control method and above-described embodiment just The control method of the motion of the posture of aircraft or carrier is similar under vertical offline mode, will not be repeated here.

According to embodiment of the present utility model, by when aircraft is in different offline mode, at commanding apparatus The identical control instruction that user is inputted is converted to different control instructions so that when the offline mode of aircraft changes, nothing Manipulation of the user to aircraft need to be changed to be accustomed to, so as to improve Consumer's Experience.Moreover, the present embodiment to aircraft without carrying out Big transformation, design is simple, it is easier to realize.

Alternatively, as another embodiment, the offline mode that commanding apparatus can receive aircraft transmission is indicated, wherein, Offline mode indicates to be used to indicate offline mode for upright offline mode or flying upside down pattern, wherein, the manipulation of aircraft is set The standby offline mode for determining aircraft can include：Commanding apparatus indicates to determine offline mode according to offline mode.

Specifically, commanding apparatus can receive offline mode from aircraft using wireless mode and indicate, for example, offline mode The upright offline mode of 1 expression is designated as, is 0 expression flying upside down pattern, or conversely.Furthermore it is also possible to by judging whether Receive the flying upside down pattern that aircraft sends to indicate to represent, indicate to represent flight for example, receiving flying upside down pattern Device is in flying upside down pattern, otherwise represents that aircraft is in upright offline mode.In this case, aircraft can basis The attitude information of the sensor measurement of carrying determines offline mode, and is grasped current flight pattern notification by offline mode instruction It is longitudinally set with standby.Method phase of the specific method for determining offline mode with determining offline mode in above-described embodiment according to attitude information Together, it will not be repeated here.

Alternately, as another embodiment, the offline mode that commanding apparatus can also receive user's input is indicated.

The control method according to the utility model embodiment is the foregoing described, root is described with reference to Fig. 9 to Figure 17 separately below According to the control device of the utility model embodiment, control system, carrier, aircraft and commanding apparatus.

Fig. 9 is the structural representation of the control device 900 according to one embodiment of the present utility model.Control device 900 For example can be Fig. 1 flight controller or the controller of carrier.Control device 900 includes determining module 910 and control module 920。

Determining module 910 is used for the offline mode for determining aircraft.Control module 920 is used to determine in determining module 910 When offline mode is upright offline mode, the motion of the carrier of aircraft is controlled using the first upright control model, it is determined that mould When block 910 determines offline mode for flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, root According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different from first under the first upright control model The variation pattern of the motion state of carrier is controlled under handstand control model, carrier is used for carry load.For example, the motion shape of carrier State can include following at least one：The angle of rotation, the direction rotated, the distance of translation and the direction of translation.In addition, carrier The top or bottom of aircraft can be located at.

According to embodiment of the present utility model, the motion state of carrier can include the direction of motion of carrier, wherein, according to Identical control instruction, controls the direction of motion of carrier with being controlled under the first handstand control model under the first upright control model The direction of motion of carrier processed is opposite.

According to embodiment of the present utility model, carrier can include one or more rotating shaft mechanisms, and control module 920 can be with When it is upright offline mode that determining module 910, which determines offline mode, controls rotating shaft mechanism to surround according to the first control instruction and turn The rotary shaft of axis mechanism is rotated in a first direction, and when it is flying upside down pattern that determining module 910, which determines offline mode, root Rotated in a second direction according to the first control instruction control rotating shaft mechanism around rotary shaft, wherein first direction and second direction phase Instead.Rotating shaft mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.

According to embodiment of the present utility model, control module 920 can determine that offline mode is upright in determining module 910 During offline mode, the first control instruction is converted into the first drive signal, revolved in the first direction with the motor of drive shaft mechanism Turn, and when it is flying upside down pattern that determining module 910, which determines offline mode, the first control instruction is converted into the second driving Signal, is rotated in a second direction with motor.

According to the embodiment of utility model, determining module 910 can obtain the attitude information of aircraft, and according to flight The attitude information of device, determines the offline mode of aircraft.What the sensor sensing that attitude information can be carried by aircraft was obtained. For example, sensor can include following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Posture Information can include at least one in the angle of pitch of aircraft and the roll angle of aircraft.

Specifically, it is determined that module 910 can work as the angle of pitch or roll angle in default angular range, offline mode is determined For flying upside down pattern.

According to embodiment of the present utility model, determining module 910 can receive the flight that the commanding apparatus of aircraft is sent Pattern is indicated, and indicates determination offline mode according to offline mode, wherein, offline mode indicates to be used to indicate offline mode to fall Vertical offline mode or upright offline mode.

Alternatively, as another embodiment, control module 920 can be also used for it is determined that offline mode is upright flight mould During formula, the height of aircraft is controlled using the second upright control model, and when it is determined that offline mode is flying upside down pattern, The height of aircraft is controlled using the second handstand control model, wherein the distance that the distance measuring sensor carried according to aircraft is sensed Information, controls the condition of the highly desirable satisfaction of aircraft to be different from the second handstand control model under the second upright control model Control the condition of the highly desirable satisfaction of aircraft.

Specifically, the first distance measuring sensor that control module 920 can be carried using aircraft senses aircraft with being located at The distance between first object object above aircraft, and flown according to the control of the distance between aircraft and first object object The flying height of row device, to cause the distance between aircraft and first object object to be less than the first preset value, wherein first surveys It is located at the bottom of aircraft away from sensor.

Alternatively, as another embodiment, the second distance measuring sensor that control module 920 can also be carried using aircraft The distance between aircraft and the second destination object below aircraft are sensed, and according to aircraft and the second destination object The distance between control aircraft flying height, to cause the distance between aircraft and second destination object pre- more than second If value, wherein the second distance measuring sensor is located at the top of aircraft.

Specifically, the first distance measuring sensor that control module 920 can be carried using aircraft senses aircraft with being located at The distance between the 3rd destination object below aircraft, and controlled according to the distance between aircraft and the 3rd destination object The flying height of aircraft, to cause the distance between aircraft and the 3rd destination object to be more than the 3rd preset value.

Above-mentioned distance measuring sensor can be ultrasonic sensor and/or vision sensor.Above-mentioned carrier can set for head Standby, above-mentioned load can be capture apparatus.

Alternatively, as another embodiment, control device 900 can also include：Receiving module 930, the and of processing module 940 Sending module 950.Receiving module 930 is used for the image for receiving capture apparatus shooting.Processing module 940 is used for it is determined that flight mould When formula is flying upside down pattern, the image that capture apparatus is shot carries out handstand processing.Sending module 950 is used to handle handstand Image afterwards is sent to display and shown.

The method that the operation of the modules of control device 900 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating, It will not be repeated here.

Figure 10 is the structural representation of the control device 1000 according to another embodiment of the present utility model.Control device 1000 for example can be Fig. 1 flight controller.Control device 1000 includes determining module 1010 and control module 1020.

Determining module 1010 is used for the offline mode for determining aircraft.Control module 1020 is used for true in determining module 1010 When determining offline mode for upright offline mode, the posture of aircraft is controlled using the first upright control model, and it is determined that mould When block 1010 determines offline mode for flying upside down pattern, the posture of aircraft is controlled using the first handstand control model, wherein The variation pattern of the posture of aircraft is controlled to be different from controlling under the first handstand control model under the first upright control model The variation pattern of the posture of aircraft.For example, the posture of aircraft can include following at least one：Course angle, roll angle and The angle of pitch.

Specifically, the variation pattern of the posture of above-mentioned control aircraft includes following at least one：Control attitude angle change Size and control attitude angle change direction.The variation pattern of the posture of aircraft can include the side of control attitude angle change To, wherein, according to identical control instruction, controlled under the first upright control model aircraft attitude angle change direction with The attitude angle of control aircraft changes in the opposite direction under the first handstand control model.

According to embodiment of the present utility model, control module 1020 determines that offline mode flies to be upright in determining module 1010 During row mode, control instruction is converted into multiple First Speed Regulate signals, to pass through multiple First Speed Regulate signals respectively Adjust the rotating speed of multiple rotors of aircraft so that the attitude angle of aircraft is altered along a first direction, wherein control module 1020 When it is flying upside down pattern that determining module 1010, which determines offline mode, control instruction is converted into multiple second speed regulations and believed Number, to pass through the rotating speed that multiple second speed Regulate signals adjust multiple rotors respectively so that the attitude angle of aircraft is along second Direction change.

Alternatively, as another embodiment, control module 1020 is additionally operable to it is determined that offline mode is upright offline mode When, use multiple rotor wing rotations of the second upright control model control aircraft to produce pushing away for third direction relative to aircraft Power；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with relative The thrust of fourth direction is produced in aircraft, third direction is opposite with fourth direction.

Specifically, control module 1020 controls third party by changing the direction of rotation of motor corresponding with multiple rotors To opposite with fourth direction.

The method that the operation of the modules of control device 1000 and function may be referred to above-mentioned Fig. 6, in order to avoid repeating, It will not be repeated here.

According to embodiment of the present utility model, by when aircraft is in different offline mode, according to identical control System instruction, the posture for controlling aircraft using different control models changes in a different manner so that in the flight of aircraft When pattern changes, it is accustomed to without changing manipulation of the user to aircraft, so as to improve the experience of user.

Figure 11 is the structural representation of the control device 1100 according to another embodiment of the present utility model.Control device 1100 for example can be Fig. 1 commanding apparatus.Control device 1100 includes determining module 1110, sending module 1120 and modulus of conversion Block 1130.

Determining module 1110 is used for the offline mode for determining aircraft.Sending module 1120 is used for true in determining module 1110 Determine offline mode for upright offline mode and when receiving the first control instruction of user's input of commanding apparatus, to aircraft or The carrier of aircraft sends the first control instruction.Modular converter 1130 is used for the flight mould that aircraft is determined in determining module 1110 Formula be flying upside down pattern and receive commanding apparatus user input the first control instruction when, by the first control instruction change For the second control instruction, wherein sending module 1120 is additionally operable to send the second control instruction to the carrier of aircraft or aircraft, First control instruction is used for change or the motion state of carrier for controlling the posture of aircraft, the first control instruction control aircraft Posture variation pattern or carrier motion state variation pattern and the second control instruction control aircraft posture change The variation pattern of change mode or carrier movement state is different, and carrier is used for carry load.For example, the posture of aircraft is including as follows It is at least one：Course angle, roll angle and the angle of pitch.

Alternatively, as another embodiment, control device 1100 can also include：Receiving module 1140.Receiving module 1140 are used to receive the offline mode instruction that aircraft is sent, wherein, offline mode indicates to be used to indicate that offline mode is upright Offline mode or flying upside down pattern, wherein determining module 1110 indicate to determine offline mode according to offline mode.

The method that the operation of the modules of control device 1100 and function may be referred to above-mentioned Fig. 8, in order to avoid repeating, It will not be repeated here.

According to embodiment of the present utility model, by when aircraft is in different offline mode, at commanding apparatus The identical control instruction that user is inputted is converted to different control instructions so that when the offline mode of aircraft changes, nothing Manipulation of the user to aircraft need to be changed to be accustomed to, so as to improve Consumer's Experience.

Figure 12 is the structural representation of the flight control system 1200 according to one embodiment of the present utility model.Flight control System 1200 processed for example can be Fig. 1 flight control system.Flight control system 1200 can include controller 1210 and extremely A few sensor 1220.

At least one above-mentioned sensor 1220 is used for the attitude information for sensing aircraft.Controller 1210 is passed with least one Sensor is communicated to connect, and for receiving attitude information from least one sensor 1220, and controls aircraft according to attitude information The posture of the carrier of flight and aircraft；Wherein, controller 1210 is used when it is determined that offline mode is upright offline mode The motion of the carrier of first upright control model control aircraft；When it is determined that offline mode is flying upside down pattern, using the One handstand control model controls the motion of carrier；Wherein, according to identical control instruction, controlled under the first upright control model The variation pattern of the motion state of carrier is different from the change side that the motion state of carrier is controlled under the first handstand control model Formula, carrier is used for carry load.

Specifically, when it is determined that offline mode is upright offline mode, aircraft is controlled using the first upright control model Carrier motion, it is determined that offline mode be flying upside down pattern when, using the first handstand control model control carrier fortune It is dynamic, wherein, according to identical control instruction, the variation pattern of motion state of carrier is controlled under the first upright control model not It is same as controlling the variation pattern of the motion state of carrier under the first handstand control model, carrier is used for carry load.Carrier can With positioned at the top or bottom of aircraft.

According to embodiment of the present utility model, the motion state of carrier can include the direction of motion of carrier；Wherein, according to Identical control instruction, controls the direction of motion of carrier with being controlled under the first handstand control model under the first upright control model The direction of motion of carrier processed is opposite.

According to embodiment of the present utility model, carrier can include one or more rotating shaft mechanisms, and controller 1210 is specific For when it is determined that offline mode is upright offline mode, rotating shaft mechanism to be controlled around rotating shaft mechanism according to the first control instruction Rotary shaft is rotated in a first direction, and when it is determined that offline mode is flying upside down pattern, is controlled according to the first control instruction Rotating shaft mechanism is rotated in a second direction around rotary shaft, and wherein first direction is opposite with second direction.

According to embodiment of the present utility model, controller 1210 is specifically for it is determined that offline mode is upright offline mode When, the first control instruction is converted into the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and When to determine offline mode be flying upside down pattern, the first control instruction is converted into the second drive signal, with motor along the Two directions rotate.

Rotating shaft mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carrier Motion state includes following at least one：The angle of rotation, the direction rotated, the distance of translation and the direction of translation.

According to embodiment of the present utility model, controller 1210 is specifically for obtaining the attitude information of aircraft, and root According to the attitude information of aircraft, the offline mode of aircraft is determined.

Alternatively, as another embodiment, controller 1210 receives the attitude information of sensor sensing.Sensor 1210 is wrapped Include following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Attitude information includes aircraft At least one in the roll angle of the angle of pitch and aircraft.Controller 1210 specifically in the angle of pitch or roll angle default During angular range, it is flying upside down pattern to determine offline mode.

Alternatively, as another embodiment, flight control system 1200 can also include：Transceiver 1230, with controller 1210 communication connections, are indicated, wherein controller 1210 is specifically used for receiving the offline mode that the commanding apparatus of aircraft is sent In indicating determination offline mode according to offline mode, wherein offline mode indicates to be used to indicate that offline mode is flying upside down pattern Or upright offline mode.

Alternatively, as another embodiment, flight control system 1200 can also include：Distance measuring sensor.Controller 1210 are additionally operable to control the height of aircraft using the second upright control model when it is determined that offline mode is upright offline mode Degree；When it is determined that offline mode is flying upside down pattern, the height of aircraft, wherein root are controlled using the second handstand control model The range information of the distance measuring sensor sensing carried according to aircraft, the height of aircraft is controlled under the second upright control model to be needed The condition to be met is different from the condition that the highly desirable satisfaction of aircraft is controlled under the second handstand control model.

Alternatively, as another embodiment, distance measuring sensor can include：First distance measuring sensor, with controller 1210 Communication connection, for sensing the distance between aircraft and the first object object above aircraft, wherein controller 1210 specifically for when it is determined that offline mode is flying upside down pattern, according to the distance between aircraft and first object object The flying height of aircraft is controlled, to cause the distance between aircraft and first object object to be less than the first preset value, wherein First distance measuring sensor is located at the bottom of aircraft.

Alternatively, as another embodiment, distance measuring sensor also includes：Second distance measuring sensor is logical with controller 1210 Letter connection, for sensing the distance between aircraft and the second destination object below aircraft, wherein controller 1210 It is additionally operable to when it is determined that offline mode is flying upside down pattern, is controlled to fly according to the distance between aircraft and the second destination object The flying height of row device, to cause the distance between aircraft and the second destination object to be more than the second preset value, wherein second surveys It is located at the top of aircraft away from sensor 1260.

Alternatively, as another embodiment, the first distance measuring sensor is additionally operable to sensing aircraft with being located at below aircraft The distance between the 3rd destination object, controller 1210 is specifically for when it is determined that offline mode is upright offline mode, root The flying height of aircraft is controlled according to the distance between aircraft and the 3rd destination object, to cause aircraft and the 3rd target pair As the distance between be more than the 3rd preset value.

Above-mentioned distance measuring sensor is ultrasonic sensor and/or vision sensor.Above-mentioned carrier is tripod head equipment, above-mentioned negative Carry as capture apparatus.

Alternatively, as another embodiment, transceiver 1230 is additionally operable to receive the image that capture apparatus is shot, wherein controlling Device 1210 is additionally operable to when it is determined that offline mode is flying upside down pattern, and the image that capture apparatus is shot carries out handstand processing, And by second transceiver handstand is handled after image be sent to display and shown.

The method that the operation of flight control system 1200 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating, herein not Repeat again.

Figure 13 is the structural representation of the control system 1300 according to the carrier of one embodiment of the present utility model.Control System 1300 for example can be with the control system of Fig. 1 carrier.Control system 1300 can include processor 1310 and memory 1320, wherein memory 1320 is used to store instruction cause processor 1310 to be used to select phase according to the offline mode of aircraft The control model answered.Processor 1310 is communicated to connect by bus 1350 with memory 1320.

Specifically, when it is determined that offline mode is upright offline mode, carrier is controlled using the first upright control model Motion, when it is determined that offline mode is flying upside down pattern, the motion of carrier is controlled using the first handstand control model, wherein, According to identical control instruction, the variation pattern of the motion state of carrier is controlled to be different from the under the first upright control model The variation pattern of the motion state of carrier is controlled under one handstand control model, carrier is used for carry load.For example, carrier can be Tripod head equipment, load can be capture apparatus.

According to embodiment of the present utility model, carrier can include one or more rotating shaft mechanisms, and processor 1310 is specific For when it is determined that offline mode is upright offline mode, rotating shaft mechanism to be controlled around rotating shaft mechanism according to the first control instruction Rotary shaft is rotated in a first direction, and when it is determined that offline mode is flying upside down pattern, is controlled according to the first control instruction Rotating shaft mechanism is rotated in a second direction around rotary shaft, and wherein first direction is opposite with second direction.

According to embodiment of the present utility model, processor 1310 is specifically for it is determined that offline mode is upright offline mode When, the first control instruction is converted into the first drive signal, is rotated in a first direction with the motor of drive shaft mechanism, and When to determine offline mode be flying upside down pattern, the first control instruction is converted into the second drive signal, with motor along the Two directions rotate.Rotating shaft mechanism can include following at least one：Roll axis mechanism, translation axis mechanism and pitching axis mechanism.Carry The motion state of body includes following at least one：The angle of rotation, the direction rotated, the distance of translation and the direction of translation.Place Manage device and obtain the attitude information of aircraft, and according to the attitude information of aircraft, determine the offline mode of aircraft.

Alternatively, as another embodiment, control system 1300 also includes：Sensor 1330, is connected with processor communication, For sensing attitude information, wherein processor 1310 can receive the attitude information of the sensing of sensor 1330.Sensor 1330 can With including following at least one：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor.Attitude information can include At least one in the angle of pitch of aircraft and the roll angle of aircraft.

According to embodiment of the present utility model, processor 1310 specifically in the angle of pitch or roll angle in default angle During scope, it is flying upside down pattern to determine offline mode.

According to embodiment of the present utility model, control system 1300 can also include：Transceiver 1340, with processor 1310 Communication connection, the offline mode that the controller of commanding apparatus or aircraft for receiving aircraft is sent is indicated, wherein handling Device 1310 according to offline mode specifically for indicating to determine offline mode, and wherein offline mode indicates to be used to indicate that offline mode is Flying upside down pattern or upright offline mode.

Alternatively, as another embodiment, transceiver 1340 is additionally operable to receive the image that capture apparatus is shot, wherein handling Device is additionally operable to when it is determined that offline mode is flying upside down pattern, and the image that capture apparatus is shot carries out handstand processing, and by Image after second transceiver handles handstand is sent to display and shown.

The method that the operation of flight control system 1300 and function may be referred to above-mentioned Fig. 2, in order to avoid repeating, herein not Repeat again.

Figure 14 is the structural representation of the flight control system 1400 according to another embodiment of the present utility model.Flight control System 1400 processed for example can be with Fig. 1 flight control system.Flight control system 1400 can include processor 1410 and storage Device 1420, wherein memory 1420 are used to store instruction cause processor 1410 to be used to be selected according to the offline mode of aircraft Corresponding control model.Processor 1410 is communicated to connect by bus 1430 with memory 1420.

Specifically, when it is determined that offline mode is upright offline mode, aircraft is controlled using the first upright control model Posture, it is determined that offline mode be flying upside down pattern when, using the first handstand control model control aircraft posture, its In, according to identical control instruction, control the variation pattern of the posture of aircraft to be different under the first upright control model The variation pattern of the posture of aircraft is controlled under first handstand control model.For example, the posture of aircraft includes following at least one Kind：Course angle, roll angle and the angle of pitch.For example, the variation pattern of the posture of control aircraft includes following at least one：Control The size of attitude angle change and the direction of control attitude angle change.

According to embodiment of the present utility model, control the variation pattern of the posture of aircraft to include control attitude angle and become The direction of change, wherein, according to identical control instruction, the change of the attitude angle of aircraft is controlled under the first upright control model Direction is with controlling under the first handstand control model the attitude angle of aircraft to change in the opposite direction.

According to embodiment of the present utility model, processor 1410 is specifically for it is determined that offline mode is upright offline mode When, control instruction is converted into multiple First Speed Regulate signals, flown with being adjusted respectively by multiple First Speed Regulate signals The rotating speed of multiple rotors of row device so that aircraft is rotated in a first direction around rotary shaft, and it is determined that offline mode is During flying upside down pattern, control instruction is converted into multiple second speed Regulate signals, to be adjusted respectively by multiple second speeds Save the rotating speed of the multiple rotors of Signal Regulation so that aircraft is rotated in a second direction around rotary shaft.For example, rotary shaft can be wrapped Include following at least one：Roll axle, translation shaft and pitch axis.

Alternatively, as another embodiment, processor 1410 is additionally operable to：It is determined that offline mode is upright offline mode When, use multiple rotor wing rotations of the second upright control model control aircraft to produce pushing away for third direction relative to aircraft Power；When it is determined that offline mode is flying upside down pattern, the second handstand control model is used to control multiple rotor wing rotations with relative The thrust of fourth direction is produced in aircraft, third direction is opposite with fourth direction.

According to embodiment of the present utility model, processor 1410 is specifically for by changing motor corresponding with multiple rotors Direction of rotation control the third direction opposite with fourth direction.

The method that the operation of control device 1400 and function may be referred to above-mentioned Fig. 6, in order to avoid repeating, no longer goes to live in the household of one's in-laws on getting married herein State.

Figure 15 is the structural representation of the manipulation device 1500 according to one embodiment of the present utility model.Manipulation device 1500 for example can be the manipulation device in Fig. 1.Manipulation device 1500 includes：Processor 1510 and memory 1520, wherein depositing Reservoir 1520 is used to store instruction cause processor 1510 to be used to be referred to according to the corresponding control of the offline mode of aircraft output Order.Processor 1510 is communicated to connect by bus 1550 with memory 1520.

Transceiver 1530 is used to determine offline mode in controller for upright offline mode and receives operator's input During the first control instruction, the first control instruction is sent to the carrier of aircraft or aircraft, the first control instruction is used to control to fly The change of the posture of row device or the change of the motion state of carrier.Processor 1510 is used for it is determined that the offline mode of aircraft is Flying upside down pattern and receive user input the first control instruction when, the first control instruction is converted into the second control and referred to Order, transceiver 1530 is additionally operable to send the second control instruction to the carrier of aircraft or aircraft, wherein, the first control instruction control The variation pattern of the posture of aircraft processed or the variation pattern of the motion state of carrier and the second control instruction control aircraft The variation pattern of posture or the variation pattern of carrier movement state are different.For example, the posture of aircraft includes following at least one： Course angle, roll angle and the angle of pitch.

Alternatively, as another embodiment, transceiver 1530 is additionally operable to receive the offline mode instruction that aircraft is sent, its In, offline mode indicates to be used to indicate that offline mode is upright offline mode or flying upside down pattern, wherein processor 1510 Indicate to determine offline mode according to offline mode.

The method that the operation of manipulation device 1500 and function may be referred to above-mentioned Fig. 8, in order to avoid repeating, no longer goes to live in the household of one's in-laws on getting married herein State.

Figure 16 is the structural representation according to one embodiment aircraft 1600 of the present utility model.Aircraft can be with 1600 It can include：Flight control system 1610 and multiple propulsion plants 1620.Flight control system 1610 can be implemented as described above Flight control system described in example.Multiple propulsion plants 1620 are used for the flying power for being supplied to aircraft；Wherein, flight control System 1610 is communicated to connect with multiple propulsion plants 1620, for controlling multiple propulsion plants 1620 to work, with needed for realizing Posture.

Figure 17 is the structural representation of the carrier 1700 according to one embodiment of the present utility model.Carrier can include： Control system 1710 and one or more rotating shaft mechanisms 1720.Control system 1710 can be control as described above described in embodiment System processed.Rotating shaft mechanism can include the power set that rotating shaft and drive shaft are rotated；Wherein, control system 1710 and power Device is communicated to connect, for controlling power set to work, to realize required motion state.

It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text means relevant with embodiment Special characteristic, structure or characteristic are included at least one embodiment of the present utility model.Therefore, go out everywhere in entire disclosure Existing " in one embodiment " or " in one embodiment " not necessarily refers to identical embodiment.In addition, in the feelings not conflicted Under condition, in these embodiments and embodiment specific feature, structure or characteristic can in any suitable manner combine at one or In multiple embodiments.

It should be understood that in various embodiments of the present utility model, the size of the sequence number of above-mentioned each process is not meant to hold The priority of row order, the execution sequence of each process should be determined with its function and internal logic, be implemented without tackling the utility model The implementation process of example constitutes any limit.

It should be understood that in the utility model embodiment, " B " corresponding with A represents that B is associated with A, can be determined according to A B.It is also to be understood that determining that B is not meant to determine B only according to A according to A, it can also be determined according to A and/or other information B。

It should be understood that the terms "and/or", a kind of only incidence relation for describing affiliated partner, expression can be deposited In three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, these three situations of individualism B. In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.

Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed Scope of the present utility model.

It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.

, can be with several embodiments provided herein, it should be understood that disclosed systems, devices and methods Realize by another way.For example, device embodiment described above is only schematical, for example, the unit Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces Close or communicate to connect, can be electrical, machinery or other forms.

The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in the utility model each embodiment can be integrated in a processing unit, Can be that unit is individually physically present, can also two or more units it is integrated in a unit.

It is described above, embodiment only of the present utility model, but protection domain of the present utility model do not limit to In this, any one skilled in the art can readily occur in change in the technical scope that the utility model is disclosed Or replace, it should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with the power The protection domain that profit is required is defined.

Claims

1. a kind of flight control system, it is characterised in that including：

At least one sensor, the attitude information for sensing aircraft；And

Controller, the controller is communicated to connect with least one described sensor, for being connect from least one described sensor Receive the attitude information, and the flight according to the attitude information control aircraft and the appearance of the carrier of the aircraft State；

Wherein, the controller is when it is determined that the offline mode is upright offline mode, using the first upright control model control Make the motion of the carrier of the aircraft；When it is determined that the offline mode is flying upside down pattern, stands upside down and control using first The motion of carrier described in Schema control；

Wherein, according to identical control instruction, the controller controls the carrier using the described first upright control model The variation pattern of motion state is different from the motion that the controller controls the carrier using the first handstand control model The variation pattern of state, the carrier is used for carry load.

2. flight control system according to claim 1, it is characterised in that the motion state of the carrier includes described carry The direction of motion of body；Wherein, according to identical control instruction, the controller is using the described first upright control model control institute The direction of motion for stating carrier controls the direction of motion phase of the carrier with the controller using the first handstand control model Instead.

3. flight control system according to claim 2, it is characterised in that the carrier includes one or more turning engines Structure；

Wherein, the controller is when it is determined that the offline mode is the upright offline mode, according to the first control instruction control The rotary shaft that the rotating shaft mechanism is made around the rotating shaft mechanism is rotated in a first direction, and it is determined that the offline mode is During the flying upside down pattern, the rotating shaft mechanism is controlled to surround the rotary shaft along second party according to first control instruction To rotation, wherein the first direction is opposite with the second direction.

4. flight control system according to claim 3, it is characterised in that the rotating shaft mechanism includes following at least one Kind：Roll axis mechanism, translation axis mechanism and pitching axis mechanism；

Wherein, the controller is when it is determined that the offline mode is the upright offline mode, by first control instruction The first drive signal is converted to, to drive the motor of the rotating shaft mechanism to be rotated along the first direction, and it is determined that described When offline mode is the flying upside down pattern, first control instruction is converted into the second drive signal, it is described to drive Motor rotates along the second direction.

5. flight control system according to claim 1, it is characterised in that the motion state of the carrier is included as follows extremely Few one kind：The angle of rotation, the direction rotated, the distance of translation and the direction of translation.

6. flight control system according to claim 1, it is characterised in that at least one described sensor is included as follows extremely Few one kind：Gyroscope, electronic compass, Inertial Measurement Unit and vision sensor；

Wherein, the controller determines the offline mode of the aircraft according to the attitude information of the aircraft.

7. flight control system according to claim 6, it is characterised in that the attitude information includes the aircraft At least one in the roll angle of the angle of pitch and the aircraft；

Wherein, the controller is specifically for when the angle of pitch or the roll angle are in default angular range, determining institute Offline mode is stated for the flying upside down pattern.

8. flight control system according to claim 1, it is characterised in that the flight control system also includes：

First transceiver, is communicated to connect with the controller, for receiving the flight mould that the commanding apparatus of the aircraft is sent Formula is indicated, wherein the controller according to the offline mode specifically for indicating to determine the offline mode, wherein described fly Row mode indicates to be used to indicate that the offline mode is the flying upside down pattern or the upright offline mode.

9. flight control system according to claim 1, it is characterised in that the flight control system also includes ranging and passed Sensor, the distance measuring sensor is communicated to connect with the controller；

Wherein, the controller is when it is determined that the offline mode is the upright offline mode, using the second upright control mould Formula controls the height of the aircraft；When it is determined that the offline mode is the flying upside down pattern, stands upside down and control using second The height of aircraft described in Schema control processed, wherein the range information that the distance measuring sensor carried according to the aircraft is sensed, The controller controls the condition of the highly desirable satisfaction of the aircraft to be different from institute using the described second upright control model State the condition that controller controls the highly desirable satisfaction of the aircraft using the second handstand control model.

10. flight control system according to claim 9, it is characterised in that the distance measuring sensor includes：

First distance measuring sensor, is communicated to connect with the controller, for sensing the aircraft with being located at the aircraft The distance between first object object of side；

Wherein, the controller is when it is determined that the offline mode is the flying upside down pattern, according to the aircraft and institute The flying height that the distance between first object object controls the aircraft is stated, to cause the aircraft and first mesh Mark the distance between object and be less than the first preset value, wherein first distance measuring sensor is located at the bottom of the aircraft.

11. flight control system according to claim 10, it is characterised in that the distance measuring sensor also includes：

Second distance measuring sensor, is communicated to connect with the controller, for sensing the aircraft with being located under the aircraft The distance between second destination object of side；

Wherein, the controller is when it is determined that the offline mode is the flying upside down pattern, according to the aircraft and institute The flying height that the distance between second destination object controls the aircraft is stated, to cause the aircraft and second mesh Mark the distance between object and be more than the second preset value, wherein second distance measuring sensor is located at the top of the aircraft.

12. flight control system according to claim 10, it is characterised in that the distance measuring sensor is supersonic sensing Device and/or vision sensor；

Wherein, first distance measuring sensor is used to sense the aircraft and the 3rd target pair below the aircraft The distance between as, the controller is when it is determined that the offline mode is the upright offline mode, according to the aircraft With the flying height of the distance between the 3rd destination object control aircraft, to cause the aircraft and described the The distance between three destination objects are more than the 3rd preset value.

13. the flight control system according to any one of claim 1 to 12, it is characterised in that the carrier is cloud Platform equipment, the load is capture apparatus, and the carrier is located at the top or bottom of the aircraft.

14. flight control system according to claim 13, it is characterised in that the flight control system also includes：

Second transceiver, is communicated to connect with the controller, for receiving the image that the capture apparatus is shot, wherein the control Device processed is additionally operable to when it is determined that the offline mode is the flying upside down pattern, and the image that the capture apparatus is shot is carried out Handstand is handled, and by the second transceiver handstand is handled after image be sent to display and shown.

15. a kind of control system of carrier, it is characterised in that including：

At least one sensor, the attitude information for sensing the carrier；

The controller, is communicated to connect with the sensor, for controlling the carrier according to the attitude information of the carrier Motion；

Wherein, the controller controls institute when it is determined that offline mode is upright offline mode using the first upright control model The motion of carrier is stated, when it is determined that the offline mode is flying upside down pattern, is controlled using the first handstand control model described The motion of carrier；

16. a kind of aircraft, it is characterised in that including：

Flight control system described in any one of claim 1 to 14；And

Multiple propulsion plants, the flying power for being supplied to the aircraft；

Wherein, the flight control system is communicated to connect with the multiple propulsion plant, for controlling the multiple propulsion plant Work, to realize the required posture.

17. a kind of carrier, it is characterised in that including：

Control system described in claim 15；And

One or more rotating shaft mechanisms, the rotating shaft mechanism includes the power set of rotating shaft and the driving axis of rotation；

Wherein, the control system is communicated to connect with the power set, for controlling the power set to work, to realize The motion state needed.