WO2018157287A1 - Procédé et dispositif de commande d'atterrissage de véhicule aérien sans pilote, et véhicule aérien sans pilote - Google Patents

Procédé et dispositif de commande d'atterrissage de véhicule aérien sans pilote, et véhicule aérien sans pilote Download PDF

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Publication number
WO2018157287A1
WO2018157287A1 PCT/CN2017/075204 CN2017075204W WO2018157287A1 WO 2018157287 A1 WO2018157287 A1 WO 2018157287A1 CN 2017075204 W CN2017075204 W CN 2017075204W WO 2018157287 A1 WO2018157287 A1 WO 2018157287A1
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WIPO (PCT)
Prior art keywords
drone
landing
inductive
triggered
status information
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PCT/CN2017/075204
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English (en)
Chinese (zh)
Inventor
赵尭
高明明
李高鹏
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780053009.0A priority Critical patent/CN109641652A/zh
Priority to PCT/CN2017/075204 priority patent/WO2018157287A1/fr
Publication of WO2018157287A1 publication Critical patent/WO2018157287A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/92—Portable platforms

Definitions

  • the invention relates to the technical field of drones, in particular to a drone control method and device for drones and a drone.
  • the landing of a multi-rotor drone requires manual confirmation of safe landing conditions, and then artificially initiates a manual or automatic landing procedure. If the drone is left in an uneven or other place that does not meet the landing conditions due to misoperation or external force, it may cause the drone to roll over due to loss of balance, resulting in a flight accident.
  • the drone from the landing to the motor stop need to operate the remote control, issue a specific motor stop command, which usually takes a few seconds or more to complete. During this process, the motor is still running at high speed. Once the drone is turned over due to loss of balance, it may cause great damage to the drone and the surrounding people.
  • an object of the present invention is to provide a drone control method and device for a drone, and a drone, which can automatically control the operation of the power device according to the landing state of the drone, and shorten the response time of the power device to stop running after the landing. .
  • an embodiment of the present invention provides a drone control method for a drone, comprising: receiving state information of one or more inductive switches of the drone; and controlling operation of the power device of the drone according to the state information. status.
  • the embodiment of the present invention further provides a drone landing control device, including: a monitoring module, configured to receive status information of one or more inductive switches of the drone; and a control module configured to use the status information according to the status information Controlling an operating state of the power unit of the drone.
  • an embodiment of the present invention further provides a drone, including the above-described drone landing control device.
  • an embodiment of the present invention further provides a drone, including a control device and one or more inductive switches, wherein the one or more inductive switches are connected to the control device, and the control device is based on the The status information of the inductive switch controls the operating state of the power unit of the drone.
  • the beneficial effects achievable by the invention include: realizing automatic control of the running state of the drone power device according to whether the drone is falling or not, without human operation; automatically detecting whether the drone state of the drone is normal, and automatically controlling the unmanned person accordingly
  • the operation of the power unit greatly shortens the time from the landing of the drone to the stop of the power unit, and avoids damage to the drone itself or to the user under special circumstances.
  • FIG. 1 is a schematic flow chart of a drone landing control method according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of another drone landing control method according to an embodiment of the present invention.
  • FIG. 3 is a monitoring flowchart involved in a drone landing control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a drone landing control apparatus according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another drone landing control device according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of another drone according to an embodiment of the present invention.
  • Another drone - 110 Another drone - 110
  • the embodiment of the invention provides a drone landing control method, device and drone.
  • a drone is a remotely piloted or self-driving aircraft capable of carrying a camera, sensor, communication device or other payload, capable of controlled, continuous flight, and typically powered by an engine, which can fly autonomously based on a pre-programmed flight plan.
  • UAVs are increasingly used to accomplish tasks that are not suitable for various manned aircraft, such as surveillance, reconnaissance, target acquisition, data acquisition, communication relay, bait, harassment, etc. Natural disaster detection, police observation of civil strife or crime scenes, and scientific research.
  • FIG. 1 is a schematic flowchart diagram of a drone drop control method according to an embodiment of the present invention, which may be implemented by a processor.
  • the processor that implements the method is disposed on the drone, that is, the automatic control by the drone is implemented, but it should be understood that the processor that implements the method is disposed in the remote controller, the base station, or other devices.
  • the drone landing control method provided by the embodiment of the invention can automatically detect the landing state of the drone and control the operation of the drone power device according to the landing state. Specifically, it can automatically detect whether the drone has landed and the landing state is normal. When the landing state is normal, the drone power device can be automatically controlled to stop immediately. The process does not require human operation, and the response is rapid and greatly reduced. The time between landing from the drone to the stoppage of the power unit is safer and more reliable.
  • the drone drop control method provided by the present invention can start from step 101.
  • Step 101 Receive status information of one or more inductive switches of the drone.
  • the inductive switch comprises one or more and is disposed on the drone.
  • the plurality of inductive switches may be respectively disposed at different positions of the drone as needed, for example, may be disposed at a position of the UAV body. It can be placed at a certain position of the UAV's tripod, or at a certain position of other structures that support the UAV when it is landing.
  • the sensor switch can be a number of sensor switches based on different working principles, such as a button switch, a pressure touch switch, a high-sensitivity push switch, and the like.
  • the triggering of the inductive switch does not necessarily require the inductive switch to be in physical contact, and some sensors that can closely sense foreign objects, such as proximity switches, ultrasonic sensors, visual sensors, etc., can also be used in the method provided by the present invention.
  • the inductive switch includes a proximity switch; the status information includes information as to whether the proximity switch is triggered by the drone approaching the landing platform. For example, the proximity switch is placed under the drone. When the distance between the drone and the landing platform is less than a certain value during the landing of the drone, the proximity switch is triggered, indicating that the position of the drone setting the proximity switch has arrived. The landing platform is above, which serves as the basis for judging the overall landing state of the drone.
  • the inductive switch is used to detect whether the drone is in contact with or close to the foreign object, and may include two states of off and on, such as being turned off when not triggered, and turned on when triggered. As described below, in the case where the drone is controlled by the present invention, the opening and closing state of the inductive switch can be used as a reference for judging the landing state of the drone.
  • Step 102 Control an operating state of the power device of the drone according to the state information.
  • step 102 involves a judging process of judging whether the condition for controlling the power device of the drone to stop running is determined according to the state information, which may be a simple judgment, such as when there is only one inductive switch on the drone Or a small number, and when the drone is in contact with the foreign object when landing, this step can be judged only based on whether the sensor switch is triggered or not. Whether the drone landed or landed, and based on the information to determine whether the condition for controlling the drone power device to stop running is satisfied, for example, when detecting that the drone has landed or landed, determining that the condition that the power device is stopped is controlled, and controlling Stop the power unit operation.
  • the state information which may be a simple judgment, such as when there is only one inductive switch on the drone Or a small number, and when the drone is in contact with the foreign object when landing, this step can be judged only based on whether the sensor switch is triggered or not.
  • the controlling the operating state of the power device of the drone according to the state information comprises: when at least one of the sensing switches is triggered When the power device of the drone is controlled to stop running, specifically, when it is determined that at least one of the inductive switches is triggered according to the state information, the power device of the drone is controlled to stop running.
  • This method can be applied to the case where the drone has good landing conditions and the possibility of dangerous accidents is small.
  • the trigger of the induction switch is used as a condition for immediately controlling the operation of the drone power unit, and no human operation is required. Shorten the time interval between the landing of the drone and the stoppage of the power unit.
  • the above determining process involved in step 102 is a comprehensive judgment.
  • the plurality of inductive switches are respectively disposed at different positions of the drone, and the status information includes information about whether each of the inductive switches is triggered, and information about the position of the plurality of inductive switches on the drone, such as the inductive switch is located On the fuselage or on the tripod, whether it is above or below the drone, whether it can contact the landing platform when the drone is in the landing state.
  • the judging process involved in step 102 is to determine whether the condition for controlling the drone power device to stop operating is satisfied by the state information and in combination with the specific configuration of the drone.
  • the drone has a tripod.
  • the drone has a suspension device.
  • the determination is based on whether the sensing switch at the suspension device is triggered by the landing platform to determine whether the drone is stable and safe. The ground landed on the landing platform, and then judged whether the conditions for stopping the operation of the power unit were met.
  • the influence of different sensor switches on the drone is different. For example, some sensor switches are used to detect whether the drone is captured by the user, and some sensor switches are used for Detecting whether the drone is landing; in addition, different inductive switches can also have different weights, and the greater the weight of the inductive switch at the position that is more meaningful for monitoring purposes.
  • determining whether the condition for controlling the power device of the drone to stop operating is satisfied in addition to the state information of the inductive switch, the IMU or other sensor may be combined Judge. In one embodiment, only when passing through the IMU When the information is judged that the drone is in a balanced state, the state information of the inductive switch is meaningful for the judgment.
  • one or more of all the inductive switches are in contact with the landing platform when the drone is in a landing state; the status information includes whether the inductive switch is in contact with the landing platform. information.
  • the inductive switch is set to the landing platform when the drone is in the landing state. In the position of contact, once the drone is landed, the inductive switch is triggered, and then it can be judged to satisfy the condition that the drone power device is stopped.
  • the landing platform is a mobile landing platform; the status information includes information of whether the sensing switch is in contact with the moving landing platform. That is, when the drone landed on the mobile platform, it can be judged whether the condition for controlling the drone power device to stop running is determined by judging whether the support point under the drone is in contact with the mobile platform.
  • the contact mode of the drone with the landing platform may be a support contact, a suspension contact, or other contact manner, that is, the landing platform may support the drone from below, It can be that the drone is suspended from the landing platform by a certain structure.
  • step 102 controls the operating state of the power device of the drone according to the state information, and further includes the step of: when the sensor switch located at a preset number of positions below the drone is within a certain time When triggered at the same time, the power unit controlling the drone is stopped. That is, when the inductive switch located at a predetermined number of positions below the drone is simultaneously triggered for a certain period of time, it is judged that the condition for controlling the power device of the drone to stop operating is satisfied.
  • the drone is in contact with the landing platform when landing, and the sensor switch is disposed at three or more positions below the drone.
  • the drone Because the more the position of the drone contacting the landing platform, the more stable the landing state is, so it is more in line with the condition that the power unit is stopped. Therefore, in this embodiment, when three or more positions are used. When triggered at the same time within a certain period of time, it is judged that the drone has landed safely, thereby controlling the power device to stop. Under normal circumstances, for a small unmanned drone, if there are three or more inductive switches of non-collinear positions being triggered, it can be judged that the drone has obtained smooth support of the landing platform.
  • the "certain time” should be a short period of time, such as 0.01 seconds, 0.1 seconds, 1 second, 10 seconds, or longer.
  • Time that is, to ensure that multiple contact positions remain in a landing state (for example, landing almost at the same time), if it exceeds this time, it is judged that the drone does not land smoothly, and the "certain time" may be preset or dynamically adjusted.
  • the drone power device is large or large, in order to ensure safety, it can also be set to judge that when more than one (such as five) sensor switches are triggered at the same time within a certain time. A condition for controlling the power unit of the drone to stop operating.
  • the inductive switch is disposed at a position where the drone contacts the landing platform, and is not the only embodiment.
  • the proximity switch as the inductive switch can be set to the drone. Below, although it does not touch the landing platform, it can be triggered by the landing platform when landing. It can also be used to judge whether the drone is landing smoothly, and then as a basis for judging whether the control of the drone power plant is stopped.
  • the determining process involved in step 102 is a comprehensive judgment, and further, one or more of the sensing switches may be triggered by the user holding the drone; the status information includes Whether the inductive switch is triggered by the user holding the drone.
  • the method is implemented according to the configuration of the drone, and a plurality of inductive switches are set at a position suitable for the user to grab the drone, and the inductive switch can be triggered by the user grasping the action of the drone.
  • the inductive switch is disposed on the unmanned aerial platform. In order to ensure the user's reliable grasping action, as a condition for judging the controllable power device to stop, it can be set that only two or more such sensor switches are triggered, and then the condition that the control power device is stopped is determined. .
  • more and more movie scenes will have a seamless connection between aerial photography and ground shots, commonly known as heaven and earth.
  • the flying hand is responsible for controlling the aerial drone to fly in the air.
  • the ground photographer is responsible for Shooting on the ground. The ground photographer can grab the drone in the landing. If the drone can't stop the torque device immediately, it will be very dangerous. Therefore, using the control method proposed in this embodiment, the ground photographer once grasps the drone's foot. The frame and the inductive switch are triggered, and then it is judged that the power device is stopped and the power device is stopped immediately, thereby avoiding personal injury to the ground photographer.
  • the controlling the operating state of the power device of the drone according to the state information comprises: when the state information is not full When the condition that the power unit of the drone is stopped, the drone is controlled to hover. In some embodiments, “hovering” may be to control the drone to rise to a certain height and keep the drone position unchanged, waiting for further instructions. When it is judged by the state information of the inductive switch that the condition for controlling the power device to stop is not satisfied, in order to avoid damage to the drone or the user, the landing process should be immediately stopped, and the drone power device is controlled to accelerate.
  • the drone is controlled to hover when the power device is not satisfied, but only one of the actions that the drone can take when the landing condition is not satisfied, in addition, Control the drone's rise in height, change position, retry landing, and other reactions.
  • the drone drop control method provided by the present invention further includes the step of: controlling the unmanned machine when the state information satisfies a condition for controlling the power device of the drone to stop running.
  • shutdown specifically includes controlling the system to shut down, powering off, and the like. After the drone is falling smoothly, controlling the power unit to stop running is only the first step. In most cases, the drone falls to meet the shutdown conditions, so the automatic control of the unmanned machine can save energy and save people from going. The trouble of operation. In the embodiment of assisting the artificial landing, the drone can be controlled to dredge behind, and the unmanned machine can be artificially controlled.
  • the unmanned aerial vehicle does not necessarily mean the shutdown of the device mounted thereon, for example, in the case of the above-mentioned world-in-one photography, after the unmanned aerial vehicle is controlled, the image pickup device mounted thereon continues to operate.
  • the drone drop control method provided by the present invention further includes the step 100: receiving a trigger instruction.
  • step 101 further comprises the step of receiving status information of one or more inductive switches of the drone under the control of the triggering command.
  • the triggering instruction includes an instruction to start monitoring the state of the inductive switch. Therefore, the step of receiving the state information of the unmanned sensor sensing switch is turned on under the control of the triggering command. As shown in FIG. 3, in the embodiment of the step of not receiving the trigger command, the inductive switch is continuously monitored during the flight of the drone, and the monitoring only has significance when controlling the drone to land, so it is not The most energy-saving solution. If the state of the sensor switch is continuously monitored during flight, when the drone hits a foreign object in the air, it may cause misjudgment, causing the drone to fall due to the power device stalling.
  • the takeoff command can be made.
  • the trigger command that is, when the drone is controlled to take off
  • the control trigger simultaneously monitors the state of the inductive switch. Otherwise, if there is no need for triggering and continuous monitoring, when the drone is landing and turned on, when the user holds the unmanned person When the machine leaves the ground, it may be misjudged that it does not meet the landing conditions, start the power unit operation, and cause damage to the user.
  • the drone drop control method in this embodiment includes the step of receiving the trigger command to achieve the above effects, the present invention does not limit this, and in other occasions, the step may be omitted, such as an embodiment.
  • the single flight time is short, and the manual intervention is less during the operation, and the drone is required to take off and land frequently.
  • the triggering command is not needed to start monitoring the state information of the sensor switch, so that the aircraft is in flight. Continuously monitors status information such as whether the sensor switch is triggered or the like.
  • the inductive switch is disposed at one or more locations of the drone, and the at least one location includes two or more of the inductive switches; the status information includes the Information on whether two or more of the sensing switches of at least one location are simultaneously triggered within a certain time.
  • the purpose of the method is to add a redundancy mechanism for the drone control method when the application scenario has high safety requirements for landing of the drone, and to strictly control the accident rate, that is, install two or more at the same location.
  • Inductive switch only all the switches in the same position enter the trigger state, can be used as a basis for judging whether the condition for controlling the power device to stop is satisfied. In other embodiments in which the safety requirements are relatively low, only one inductive switch can be disposed in the same position of the drone, which is not specifically limited in the present invention.
  • control device 10 is connected to the power device 30 and the inductive switch 20 respectively, and controls the operating state of the power device 30 according to the monitored state information of the inductive switch 20. .
  • an embodiment of the present invention further provides a drone landing control device 10.
  • the device is disposed on the drone, that is, the automatic control by the drone is realized, but it should be understood that the device is disposed in the remote controller, the base station or other devices, and the drone can also be landed.
  • the drone landing control device provided by the embodiment of the invention can automatically detect the landing state of the drone and control the operation of the drone power device according to the landing state. Specifically, it can automatically detect whether the drone has landed and the landing state is normal. When the landing state is normal, the drone power device can be automatically controlled to stop immediately. The process does not require human operation, and the response is rapid and greatly reduced. The time between landing from the drone to the stoppage of the power unit, The landing process is safer and more reliable.
  • control device 10 includes: a monitoring module 11 configured to receive status information of one or more inductive switches of the drone; and a control module 12 configured to control the power device of the drone according to the status information Operational status.
  • the inductive switch comprises one or more, disposed on the drone, and when included in the plurality, can be respectively disposed at different positions of the drone. For example, it can be set at a certain position of the UAV body, and can be set at a certain position of the UAV tripod, or can be set at a certain position of other structures that support the UAV when landing.
  • the sensor switch can be a number of sensor switches, such as a button switch, a pressure touch switch, a high-sensitivity push switch, and the like.
  • the triggering of the inductive switch does not necessarily require the inductive switch to be in physical contact, and some sensors that can closely sense foreign objects, such as proximity switches, ultrasonic sensors, visual sensors, etc., can also be used in the method provided by the present invention.
  • the inductive switch includes a proximity switch; the status information includes information as to whether the proximity switch is triggered by the drone approaching the landing platform. For example, the proximity switch is placed under the drone. When the distance between the drone and the landing platform is less than a certain value during the landing of the drone, the proximity switch is triggered, indicating that the position of the drone setting the proximity switch has arrived. The landing platform is above, which serves as the basis for judging the overall landing state of the drone.
  • the inductive switch is used to detect whether the drone is in contact with or close to the foreign object, and may include two states of off and on, such as being turned off when not triggered, and turned on when triggered. As described below, in the case where the drone is controlled by the present invention, the opening and closing state of the inductive switch can be used as a reference for judging the landing state of the drone.
  • a judging process is involved, that is, judging whether or not the condition for controlling the power device of the drone to stop operating is satisfied according to the state information.
  • the judgment process involved may be a simple judgment, for example, when there is only one or a small number of inductive switches on the drone, and the position is in contact with the foreign object when the drone is landing, the step may be According to whether the sensor switch is triggered or not, it is judged whether the drone is landing or landing, and according to the information, it is judged whether the condition for controlling the drone power device to stop running is satisfied, and when it is detected that the drone has landed or landed, the judgment is satisfied. The condition that the power unit is stopped.
  • the drone landing control device provided by the embodiment of the present invention
  • the control module 12 is configured to control the power device of the drone to stop running when at least one of the inductive switches is triggered.
  • This function can be applied to the case where the drone has good landing conditions and the possibility of dangerous accidents is small.
  • the trigger of the induction switch is used as a condition for immediately controlling the operation of the drone power unit, and no human operation is required, and the operation is greatly shortened.
  • the above determining process performed by the control module 12 is a comprehensive judgment.
  • the plurality of inductive switches are respectively disposed at different positions of the drone, and the status information includes information about whether each of the inductive switches is triggered, and information about the position of the plurality of inductive switches on the drone, such as the inductive switch is located On the fuselage or on the tripod, whether it is above or below the drone, whether it can contact the landing platform when the drone is in the landing state.
  • the judging process involved in the control module 12 is to determine whether the condition for controlling the drone power device to stop operating is satisfied by the state information and in combination with the specific configuration of the drone.
  • the drone has a tripod.
  • the drone has a suspension device.
  • the determination is based on whether the sensing switch at the suspension device is triggered by the landing platform to determine whether the drone is stable and safe. The ground landed on the landing platform, and then judged whether the conditions for stopping the operation of the power unit were met.
  • the influence of different sensor switches on the drone is different. For example, some sensor switches are used to detect whether the drone is captured by the user, and some sensor switches are used for Detecting whether the drone is landing; in addition, different inductive switches can also have different weights, and the greater the weight of the inductive switch at the position that is more meaningful for monitoring purposes.
  • the IMU or other sensor may be combined Judge.
  • the state information of the inductive switch is meaningful to the determination only when it is determined by the information of the IMU that the drone is in an equilibrium state.
  • one or more of all the inductive switches are in contact with the landing platform when the drone is in a landing state; the status information includes information on whether the inductive switch is in contact with the landing platform .
  • the inductive switch is placed on the drone.
  • the inductive switch is triggered once the drone is landed, and then it can be judged that the conditions for controlling the drone power device to stop operating are met.
  • the landing platform is a mobile landing platform; the status information includes information of whether the sensing switch is in contact with the moving landing platform. That is, when the drone landed on the mobile platform, it can be judged whether the condition for controlling the drone power device to stop running is determined by judging whether the support point under the drone is in contact with the mobile platform.
  • the contact mode of the drone with the landing platform may be a support contact, a suspension contact, or other contact manner, that is, the landing platform may support the drone from below, It can be that the drone is suspended from the landing platform by a certain structure.
  • the control module 12 controls the operating state of the power device of the drone according to the state information, and further includes: when the preset number of positions located under the drone is When the trigger is triggered at the same time, the power unit of the drone is controlled to stop running. That is, when the inductive switch located at a predetermined number of positions below the drone is simultaneously triggered for a certain period of time, it is judged that the condition for controlling the power device of the drone to stop operating is satisfied.
  • the drone is in contact with the landing platform when landing, and the sensor switch is disposed at three or more positions below the drone. Because the more the position of the drone contacting the landing platform, the more stable the landing state is, so it is more in line with the condition that the power unit is stopped.
  • the control module 12 determines that the drone has landed safely, thereby controlling the power device to stop.
  • the "certain time” should be a very short period of time, such as 0.1 second, that is, to ensure that each contact position landed at almost the same time. If it exceeds this time, it is judged that the drone does not land smoothly, and the "certain time” can be It is preset and can be adjusted dynamically.
  • the drone power device is large or large, in order to ensure safety, it can also be set to judge that when more than one (such as five) sensor switches are triggered at the same time within a certain time. A condition for controlling the power unit of the drone to stop operating.
  • the inductive switch is set to none.
  • the position of the human-machine contact landing platform is not the only implementation.
  • the proximity switch as an inductive switch can be placed under the drone. Although it does not touch the landing platform, it can be triggered by the landing platform when landing, or it can be used to judge. Whether the drone is landing smoothly or not, as a basis for judging whether it satisfies the conditions for controlling the power-off condition of the drone power unit.
  • the determining process involved in the control module 12 is a comprehensive determination, and further, one or more of the sensing switches may be triggered by the user holding the drone; the status information A message is included as to whether the inductive switch is triggered by the user holding the drone.
  • the function is implemented according to the configuration of the drone, and a plurality of inductive switches are set at positions suitable for the user to grab the drone, and the inductive switch can be triggered by the user grasping the action of the drone.
  • the inductive switch is disposed on the unmanned aerial platform.
  • the flying hand is responsible for controlling the aerial drone to fly in the air.
  • the ground photographer is responsible for Shooting on the ground. The ground photographer can grab the drone in the landing. If the drone can't stop the power device immediately, it will be very dangerous. Therefore, if the drone with the control device proposed in this embodiment is used, the ground photographer will catch it.
  • the sensor switch is triggered, and then the control module 12 judges that the power device is stopped and immediately controls the power device to stop, thereby avoiding personal injury to the ground photographer.
  • the control module 12 is further configured to: when the state information does not satisfy the power of controlling the drone When the device is stopped, the drone is controlled to hover.
  • hovering refers to controlling the drone to rise to a certain height and keeping the position of the drone unchanged, waiting for further instructions.
  • the drone is controlled to hover when the power device is not satisfied, but only one of the actions that the drone can take when the landing condition is not satisfied, and in addition, it can be controlled.
  • the drone makes other reactions such as rising altitude, changing position, and retrying to land.
  • the UAV landing control device 10 provided by the embodiment of the present invention further includes a shutdown module (not shown) for stopping the operation of the power device that controls the UAV when the status information is satisfied.
  • the condition of the unmanned machine is controlled.
  • "shutdown" specifically includes controlling the system to shut down, powering off, and the like. After the drone is falling smoothly, controlling the power unit to stop running is only the first step. In most cases, the drone falls to meet the shutdown conditions, so the automatic control of the unmanned machine can save energy and save people from going. The trouble of operation.
  • the drone can be controlled to dredge behind, and the unmanned machine can be artificially controlled.
  • the unmanned aerial vehicle does not necessarily mean the shutdown of the device mounted thereon, for example, in the case of the above-mentioned world-in-one photography, after the unmanned aerial vehicle is controlled, the image pickup device mounted thereon continues to operate.
  • the drone control device 10 provided by the embodiment of the present invention further includes a trigger module 13 for receiving a trigger command.
  • the step performed by the monitoring module 11 includes receiving status information of one or more inductive switches of the drone under the control of the triggering command.
  • the triggering instruction includes an instruction to start monitoring the state of the inductive switch. Therefore, the step of the monitoring module 11 receiving the UAV sensing switch state information is turned on under the control of the triggering command.
  • the inductive switch is continuously monitored during the flight of the drone, and the monitoring is meaningful only when the drone is controlled to fall, so it is not the most effective. Program. If the state of the sensor switch is continuously monitored during flight, when the drone hits a foreign object in the air, it may cause misjudgment, causing the drone to fall due to the power device stalling.
  • the takeoff command can be used as the triggering command, that is, when the drone is controlled to take off, the triggering module 13 simultaneously receives the triggering command, and the triggering monitoring module 11 controls the sensing.
  • the state of the switch is monitored. Otherwise, if there is no need for triggering and continuous monitoring, when the drone is landing and turned on, when the user holds the drone off the ground, it may be misjudged as not meeting the landing condition and starting the power.
  • the device operates and causes damage to the user.
  • the drone control device 10 in this embodiment includes the trigger module 13 that receives the trigger command to achieve the above effects
  • the present invention does not limit this, and the module may be omitted in other occasions, such as
  • the drone is in operation
  • the flight time is short, and there is less manual intervention during the operation, and the UAV needs frequent take-off and landing.
  • No trigger command is required to start monitoring the status information of the sensor switch, so that the aircraft continuously monitors whether the sensor switch is triggered during flight. Status information, etc.
  • the inductive switch is disposed at one or more locations of the drone, and each location includes two or more of the inductive switches; the status information includes each Information on whether two or more of the sensing switches of the position are simultaneously triggered within a certain time.
  • the purpose of this function is to add a redundancy mechanism to the control method used by the drone landing control device 10 when the application scenario has high safety requirements for landing of the drone, and it is necessary to strictly control the accident rate, that is, install in the same location.
  • Two or more inductive switches only all the switches in the same position enter the trigger state, can be used as the basis for the control module 12 to determine whether the condition for controlling the power device to stop is satisfied. In other embodiments in which the safety requirements are relatively low, only one inductive switch can be disposed in the same position of the drone, which is not specifically limited in the present invention.
  • the embodiment of the invention further provides a drone, comprising the drone landing control device proposed by the invention.
  • a drone comprising the drone landing control device proposed by the invention.
  • the specific implementation manner refer to the implementation manner of the UAV landing control device in the previous embodiment.
  • an embodiment of the present invention further provides a drone 70 including a control device (not shown), further comprising one or more inductive switches 20, and the one or more inductive switches 20 are associated with the control Device connections are respectively disposed at one or more locations of the drone, and status information of the inductive switch is used to provide a basis for controlling the drone to drop, that is, the control device is based on the state of the inductive switch The information controls the operating state of the power unit of the drone.
  • the unmanned aerial vehicle 70 is provided with a plurality of inductive switches 20 at a plurality of positions.
  • the utility model can determine whether the drone 70 is falling or not, and can determine whether the landing state is normal. As a condition for judging whether the power device can be stopped or not, when it is judged that the landing state is normal, the control power device is stopped.
  • control device is disposed on the drone 70, that is, the automatic control by the drone is realized, but it should be understood that the control device is disposed in the remote controller, the base station or other devices, and is connected to the sensor through the wireless connection mode. 20 is connected, and the drone 70 can also be automatically controlled to achieve the technical effect of the present invention.
  • the drone 70 provided by the embodiment of the invention can automatically detect the landing state of the drone, and root The operation of the drone power unit is controlled according to the landing state. Specifically, each of the inductive switches 20 can be triggered at the moment when the drone 70 is dropped, so that the sensing switch 20 can be used to automatically detect whether the drone 70 has landed, and the number of triggers that are triggered by the inductive switch 20 and At the position of the drone 70, it is judged whether or not the landing state is normal. For example, if the sensor switch 20 at different positions is triggered at the same time within a certain period of time, the landing state is normal. When the landing state is normal, the power device of the drone 70 can be automatically controlled to stop immediately. This process does not require human operation, and the response is rapid, which greatly reduces the time from the landing of the drone 70 to the stoppage of the power device, and the landing process. More secure and reliable.
  • the inductive switch 20 includes one or more devices disposed on the drone 70. When a plurality of the inductive switches 20 are included, they may be respectively disposed at different positions of the drone.
  • the inductive switch 20 can be a number of sensor switches, such as a push button switch, a pressure touch switch, a highly sensitive push switch, a distance sensor, and the like.
  • the triggering of the inductive switch 20 does not necessarily require the inductive switch 20 to be in physical contact (such as a pressure sensor), and some sensors that can closely sense foreign objects, such as proximity switches, ultrasonic sensors, visual sensors, etc., can also be used.
  • the inductive switch 20 in the drone 70 provided by the embodiment of the present invention is used.
  • the inductive switch 20 can include two states of off and on, such as being turned off when not triggered, and turned on when triggered, for detecting whether the drone 70 is in contact with or close to a foreign object. As described below, in the case where the drone is controlled by the present invention, the opening and closing state of the inductive switch 20 can be used as a reference for judging the landing state of the drone.
  • one or more of the inductive switches 20 on the drone 70 can be triggered by the landing platform when the drone 70 is landing.
  • the landing of the unmanned aerial vehicle of the general configuration is mostly realized by contacting the landing platform under the drone. Therefore, it is very meaningful to provide the inductive switch 20 under the drone 70.
  • the drone 70 includes a body 1 and at least one stand 2 mounted on the body 1.
  • the one or more sensor switches 20 are respectively disposed on the machine At least one of the body 1 and the at least one stand 2 .
  • the inductive switch 20 may be disposed on the body 1 or may be disposed on the stand 2, or a plurality of inductive switches 20 may be disposed on the body 1 and the stand 2 of the drone 70, respectively.
  • the drone 70 is lowered when the landing state is in a landing state.
  • the inductive switches 70 triggered by the landing platform are respectively disposed at a preset number of positions that are not collinear below the drone. In use, during the landing, it is detected whether the inductive switch 20 located under the drone 70 is triggered, respectively. When one or more of the inductive switches 20 are triggered, it is determined that the drone 70 has reached the landing platform or has approached or contacted the landing platform.
  • one or more of the inductive switches 20 can be triggered by the user holding the drone 70.
  • two or more inductive switches 20 are disposed along the circumferential direction at the same position in the middle.
  • the flying hand and the photographer need to cooperate tacitly.
  • the flying hand is responsible for controlling the aerial drone to fly in the air, and the ground photographer is responsible for the ground.
  • Shooting The ground photographer can grab the drone in the landing. If the drone can't stop the power device immediately, it will be very dangerous. Therefore, using the drone 70 proposed in this embodiment, the ground photographer once grasps the tripod. 2.
  • the sensor switch 20 is triggered, and then it is judged that the power device stall condition is satisfied, and the power device is immediately stopped to avoid personal injury to the ground photographer.
  • the inductive switch 20 is disposed at multiple locations of the drone 70, and at least one location includes two or more of the inductive switches 20.
  • the purpose of adopting this structure is to add a redundancy mechanism for the drone control of the drone when the application scenario has high safety requirements for landing of the drone, that is, installing two or more at the same position.
  • the inductive switch 20 can only be used as a basis for judging whether or not the condition for controlling the power device to stop is satisfied, since all the switches of the at least one position enter the trigger state.
  • the unmanned aerial vehicle 70 may be provided with only one inductive switch 20 in the same position, which is not specifically limited in the present invention.
  • the inductive switch 20 on the drone 70 can be disposed on the stand 2, It can also be placed on the fuselage 1 of the drone 70 or at other locations.
  • the sensor switch 20 when the sensor switch 20 is disposed on the tripod 2, it can be simultaneously or separately disposed at a position where the stand 2 contacts the landing platform, a position at which the user grabs the drone, and the like; when the sensor switch 20 is set at the machine When the body 1 is on, it can be set at different positions according to the needs; when the drone is not supported by the stand 2 in the falling state according to the configuration of the drone, but the support switch 20 can also be set when supported by other structures. On other support structures. As shown in FIG. 7, in this embodiment, a part of the inductive switch 20 can be disposed on the stand 2 of the drone 70.
  • the inductive switch 20 on the drone 70 may include a pressure sensor that is triggered when the drone 70 is dropped due to contact with foreign objects.
  • the inductive switch on the drone 110 includes a proximity switch 23.
  • the proximity switch 23 is disposed under the fuselage 1 of the drone 110. When the distance between the drone platform and the landing platform is less than a certain value during the landing of the drone 110, the proximity switch 23 is triggered to indicate the drone 110. The position where the proximity switch 23 is set has reached the top of the landing platform, and serves as a basis for judging the overall landing state of the drone. When the proximity switch 23 is triggered and combined with other conditions to judge that the landing state of the drone 110 is normal, the power unit that controls the drone 110 immediately stops operating. Like other types of switches, the proximity switch 23 can be placed at other locations of the drone as needed, in addition to being placed underneath the drone.
  • the inductive switch below the fuselage 1 of the drone 110 in this embodiment further includes a visual sensor 21 and an ultrasonic sensor 22.
  • the proximity switch 23, the visual sensor 21 and the ultrasonic sensor 22 in the present embodiment, and the inductive switch in the previous embodiment belong to the inductive switch 20 on the drone provided by the present invention.
  • the visual sensor 21 included in the inductive switch in this embodiment is mainly composed of a graphic sensor, and may also be equipped with a light projector and other auxiliary devices for acquiring an image of the landing position of the drone 110, and then determining the unmanned image according to the image.
  • the positional relationship between the machine 110 and the landing site, and then the landing state of the drone 80 is judged, and this is used as a condition for judging whether or not the control of the power device is stopped.
  • the ultrasonic sensor 22 included in the inductive switch is mainly used to sense the distance between the drone 110 and the landing platform. When the distance is less than a certain value, the inductive switch is triggered to determine whether the control power device is satisfied. Conditions for stalling.
  • different sensors may also be used as the inductive switch alone, and may not be used in combination.
  • the type and number of the inductive switches may be determined according to the configuration and application scenarios of the UAV.

Landscapes

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

Abstract

La présente invention porte sur un procédé et un dispositif de commande d'atterrissage d'un véhicule aérien sans pilote, et sur un véhicule aérien sans pilote. Le procédé de commande de l'atterrissage d'un véhicule aérien sans pilote consiste à : recevoir des informations d'état concernant un ou plusieurs commutateurs à induction (20) d'un véhicule aérien sans pilote, et commander l'état de fonctionnement d'un dispositif d'alimentation électrique (30) du véhicule aérien sans pilote selon les informations d'état reçues. Au moyen du procédé de commande d'un véhicule aérien sans pilote, le fonctionnement du dispositif d'alimentation électrique (30) peut être commandé automatiquement en fonction de l'état d'atterrissage du véhicule aérien sans pilote, et le temps de réponse pour arrêter le fonctionnement du dispositif d'alimentation électrique (30) après l'atterrissage est raccourci.
PCT/CN2017/075204 2017-02-28 2017-02-28 Procédé et dispositif de commande d'atterrissage de véhicule aérien sans pilote, et véhicule aérien sans pilote WO2018157287A1 (fr)

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CN201780053009.0A CN109641652A (zh) 2017-02-28 2017-02-28 无人机降落控制方法、装置及无人机
PCT/CN2017/075204 WO2018157287A1 (fr) 2017-02-28 2017-02-28 Procédé et dispositif de commande d'atterrissage de véhicule aérien sans pilote, et véhicule aérien sans pilote

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PCT/CN2017/075204 WO2018157287A1 (fr) 2017-02-28 2017-02-28 Procédé et dispositif de commande d'atterrissage de véhicule aérien sans pilote, et véhicule aérien sans pilote

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