WO2018187934A1 - Method for detecting state of unmanned aircraft, device, and unmanned aircraft - Google Patents

Method for detecting state of unmanned aircraft, device, and unmanned aircraft Download PDF

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Publication number
WO2018187934A1
WO2018187934A1 PCT/CN2017/080062 CN2017080062W WO2018187934A1 WO 2018187934 A1 WO2018187934 A1 WO 2018187934A1 CN 2017080062 W CN2017080062 W CN 2017080062W WO 2018187934 A1 WO2018187934 A1 WO 2018187934A1
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WIPO (PCT)
Prior art keywords
power output
threshold
uav
unmanned aerial
aerial vehicle
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PCT/CN2017/080062
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French (fr)
Chinese (zh)
Inventor
高翔
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/080062 priority Critical patent/WO2018187934A1/en
Priority to CN201780018415.3A priority patent/CN109074088B/en
Publication of WO2018187934A1 publication Critical patent/WO2018187934A1/en

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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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • Embodiments of the present invention relate to the field of drones, and in particular, to a method, device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle.
  • the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle. For example, acceleration, speed, altitude relative to the ground, etc., the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air.
  • sensors such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc.
  • the UAV when the UAV is in some special circumstances, such as an object carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines based on the measured value of the ultrasonic sensor.
  • the height of the unmanned aerial vehicle relative to the ground is small.
  • the flight controller determines that the UAV is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the UAV, that is, the phenomenon that the UAV is misjudged; for example, the UAV is provided with a barometer but no The ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the height of the UAV relative to the current ground cannot be measured. If the flight controller determines the state of the UAV based on the measured value of the barometer, it may be There will also be unmanned aerial vehicles. State misjudgment of the phenomenon.
  • Embodiments of the present invention provide a method, a device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle to improve the accuracy of detecting the state of the unmanned aerial vehicle.
  • An aspect of an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, including:
  • Another aspect of an embodiment of the present invention is to provide a state detecting device for an unmanned aerial vehicle comprising one or more processors operating separately or in cooperation, the processor being configured to:
  • a power system mounted to the fuselage for providing flight power
  • the state detecting method, device and unmanned aerial vehicle of the unmanned aerial vehicle obtained by the embodiment obtain the flight state parameters of the unmanned aerial vehicle, and adjust the power output of the unmanned aerial vehicle according to the flight state parameter, in the process of adjusting the power output And continue to obtain the flight state parameters of the unmanned aerial vehicle, and further determine the state of the unmanned aerial vehicle according to the flight state parameters of the unmanned aerial vehicle during the process of adjusting the power output, compared to the current flight state of the unmanned aerial vehicle only in the prior art.
  • the parameters determine the state of the unmanned aerial vehicle, improve the accuracy of detecting the state of the unmanned aerial vehicle, and effectively avoid the phenomenon of misjudgment of the state of the unmanned aerial vehicle.
  • FIG. 1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a graph of flight state parameters of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4 is a graph showing vertical acceleration of an unmanned aerial vehicle in a process of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle.
  • sensors such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc.
  • the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air.
  • the first case the object carried under the UAV or some objects blocking the ultrasonic wave emitted by the ultrasonic sensor when the UAV is flying in the air, the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor. small. If the user quickly and flexibly operates the joystick or button on the remote controller, such as a crossbar or a scroll button, the remote controller will generate a larger amount of joystick or rollbar control lever, flight controller After the communication system of the unmanned aerial vehicle receives the amount of the joystick of the large shaker or the horizontal scroll button sent by the remote controller, the speed of each motor of the unmanned aerial vehicle is controlled according to the amount of the control rod, so that the unmanned aerial vehicle is controlled by the unmanned aerial vehicle.
  • the body rotates with the roll axis as the rotation axis. Since the amount of the control rod of the roll bar or the roll button is large, in order to control the roll angle of the UAV, the amount of the control bar changes with the amount of the control bar.
  • the flight controller needs to increase the power output of the unmanned aerial vehicle while controlling the rotational speed of each motor, thereby causing the lift of the propeller to be increased. If the user quickly operates the horizontal scroll bar or the horizontal scroll button, the remote controller is also operated.
  • the throttle stick or the throttle button for example, lowers the throttle lever to a low position, and the remote controller generates a smaller throttle lever or a throttle button control lever to control the unmanned aerial vehicle landing, Propeller lift increase, could lead to unmanned aircraft could not land properly located the air.
  • the flight state parameters of the UAV will satisfy the following conditions: the angular velocity of the aircraft is small, the descending speed is close to 0, the amount of the throttle stick or the throttle button is small, and the acceleration in the vertical direction is small, plus Objects carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines that the height of the UAV relative to the ground is small, because these flight state parameters are consistent with none.
  • the flight controller When the human aircraft is located on the ground, the flight controller will determine that the flight controller is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the unmanned aerial vehicle, that is, the state of the UAV is misjudged. .
  • the second case the UAV is equipped with a barometer but no ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the altitude of the UAV relative to the current ground cannot be measured, if the flight controller is based on When the measured value of the barometer determines the height of the UAV relative to the ground, and other flight state parameters determine the state of the UAV, the state of the UAV may also be misjudged.
  • an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, which will be described below in conjunction with a specific embodiment.
  • FIG. 1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Acquire flight state parameters of the UAV.
  • the flight state parameters of the UAV include at least one of: acceleration, speed, angular velocity of the UAV, altitude of the UAV relative to the ground, and control terminal for controlling the UAV The amount of control rod output.
  • the height of the UAV relative to the ground may be the current position of the UAV from the ground below it.
  • the height of the UAV measured relative to the ground by the ultrasonic sensor is actually the object of the UAV relative to it or its The height of some objects below.
  • the acceleration of the unmanned aerial vehicle may specifically be the acceleration of the unmanned aerial vehicle in the vertical direction; the speed of the unmanned aerial vehicle may specifically be the speed of the unmanned aerial vehicle in the vertical direction; the angular velocity of the unmanned aerial vehicle may specifically be the unmanned aerial vehicle
  • the angular velocity of the pitch direction, the angular velocity of the roll direction, and the angular velocity of the heading direction; the amount of the control lever of the control terminal includes at least one of: controlling the amount of the throttle stick of the terminal or the throttle button; and controlling the pitch or pitch button of the terminal
  • the execution body of this embodiment may be a flight controller of an unmanned aerial vehicle, or may be His general purpose or dedicated processor is schematically illustrated by the flight controller in this embodiment.
  • the flight controller can acquire data output by the sensor system configured by the UAV, and is used for detecting the position, vertical acceleration, angular acceleration, angular velocity, vertical velocity, pitch angle, roll angle, and heading angle of the unmanned aerial vehicle, wherein the sensor system Motion sensors and/or vision sensors may be included, and the motion sensors include a gyroscope, an accelerometer, an inertial measurement unit, a Global Positioning System (GPS), and the like.
  • GPS Global Positioning System
  • the sensor system of the UAV may further include an ultrasonic sensor and/or a barometer, and the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor.
  • the flight controller can also acquire the amount of joystick sent by the control terminal through the communication system configured by the unmanned aerial vehicle.
  • Step S102 Adjust a power output of the UAV according to the flight state parameter.
  • the flight state parameters of the UAV may also meet the following table.
  • the power output of the unmanned aerial vehicle may be adjusted according to the flight state parameter, which may be specifically classified into the following achievable modes:
  • One achievable manner is to adjust the power output of the UAV to attenuate the power output of the UAV if the flight state parameter is less than a threshold.
  • the flight state parameter of the unmanned aerial vehicle acquired according to step S101 is, for example, none.
  • the acceleration of the human aircraft specifically the acceleration in the vertical direction
  • the speed specifically the speed in the vertical direction
  • the angular velocity the height of the UAV relative to the ground
  • the amount of the rod determine whether each parameter satisfies the characteristics shown in Table 1, when the acceleration of the unmanned aerial vehicle (specifically, the acceleration in the vertical direction), the speed (specifically, the speed in the vertical direction), the angular velocity, and the unmanned aerial vehicle relative to the ground
  • the flight controller may adjust the power output of the unmanned aerial vehicle to attenuate the power output of the unmanned aerial vehicle, at least one of the height and the control lever amount of the control terminal satisfying the characteristics shown in Table 1.
  • the flight controller can adjust the power output of the UAV, such as lowering each Speed of the motor to the power output of the unmanned aircraft attenuation.
  • Another achievable manner is: if the flight state parameter is less than a threshold, and the duration of the flight state parameter is less than the threshold reaches a first preset time, adjusting the power output of the UAV to The power output attenuation of the unmanned aerial vehicle.
  • the flight controller can adjust the UAV Power output, for example, reducing the rotational speed of each motor to attenuate the power output of the unmanned aerial vehicle, and continuing to acquire the flight state parameters of the unmanned aerial vehicle while the flight controller adjusts the power output of the unmanned aerial vehicle, and according to The flight state parameters of the unmanned aerial vehicle during the power output are adjusted to further determine the state of the unmanned aerial vehicle.
  • adjusting the power output of the UAV to attenuate the power output of the UAV may specifically: limiting the power output of the UAV by using a power output threshold To attenuate the power output of the UAV. Specifically, comparing the power output of the UAV with the power output threshold; if the power output of the UAV is greater than the power output threshold, adjusting the power output of the UAV to the power Output threshold.
  • the ordinate represents the ratio of the current power output of the UAV to its maximum power output
  • the abscissa represents time
  • the time unit is seconds
  • the line 201 represents when the user operates the throttle lever or the throttle button of the remote controller.
  • the curve 202 represents the actual power output of the unmanned aerial vehicle, and the actual power output of the unmanned aerial vehicle is maintained at about 20%, which is only a schematic description, and is not specific. limit.
  • the reason why the actual power output of the UAV is not maintained at 0% with the line 201 is that if the actual power output of the UAV is maintained at 0% with the line 201, the flight controller cannot control the attitude of the UAV.
  • the flight controller needs to redistribute the power output of the unmanned aerial vehicle, for example, the speed of the redistribution motor, and the curve 202 is after the flight controller reallocates the power output of the unmanned aerial vehicle, The actual power output of the human aircraft.
  • Curve 203 represents the judgment of the state of the UAV, as shown in FIG. 2, when the ordinate of the curve 203 is 30%, it indicates that the flight state parameter of the UAV conforms to the feature of the UAV located on the ground, or The flight state parameters of the aircraft all meet the characteristics shown in Table 1.
  • the ordinate of the curve 203 When the ordinate of the curve 203 is 40%, it indicates the stage of active testing of the state of the unmanned aerial vehicle, assuming that the flight of the unmanned aerial vehicle is before the time of 462.2 seconds. When the state parameter satisfies the characteristic shown in Table 1 for the duration of 1 second, the ordinate of the curve 203 becomes 40% from the time of 462.2 seconds, and the ordinate of the curve 203 continues for 40%.
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202. Specifically, the power output threshold is attenuated with time, and a form of the power output threshold decay with time is a diagonal line as shown in FIG. 2 .
  • the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 decays with time;
  • another form of the power output threshold decay with time is: the power output threshold is always available Exponential decay, i.e., the power output of the threshold value changes with time is an ordinate of a curve of the exponential decay, particularly, the power output of the threshold f decay with time t satisfies the following formula (1)
  • a ⁇ (t) represents a function that decays with time
  • t represents time, which can be a discrete time point
  • a is the attenuation coefficient
  • k is the initial value of the attenuation.
  • a takes the value 0.98.
  • the power output threshold f is equal to k*a
  • the power output threshold f is equal to k*a*a, and so on.
  • the embodiment does not limit the specific form of the power output threshold decay with time.
  • other forms that attenuate with time may be used, and details are not described herein again.
  • the power output threshold decays with time as shown in Figure 2.
  • the oblique line 204 is taken as an example to describe the process of using the oblique line 204 to limit the actual power output of the UAV, that is, the curve 202.
  • the actual power output of the UAV that is, the curve 202 is limited by the oblique line 204.
  • the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 is attenuated with time.
  • the longitudinal slant of the oblique line 204 is marked as the power output threshold.
  • the specific limiting process is: in the curve 203
  • the actual power output of the UAV is compared with the ordinate of the curve 202 and the power output threshold, that is, the ordinate of the oblique line 204, if the actual power output of the UAV is the curve 202.
  • the ordinate is greater than the power output threshold, that is, the ordinate of the oblique line 204, and the actual power output of the UAV, that is, the ordinate of the curve 202 is adjusted to the power output threshold, that is, the ordinate of the oblique line 204, and the adjusted result is shown in FIG. 3.
  • the ordinate of the curve 203 continues to be 40%, if the ordinate of the curve 202 is smaller than the ordinate of the oblique line 204, the ordinate of the curve 202 is kept unchanged, such as a slash.
  • the ordinate of the oblique line 204 such as the dotted line portion of the curve 202 above the oblique line 204, whose ordinate is greater than the ordinate of the oblique line 204, takes its ordinate as the ordinate of the oblique line 204; thus making the unmanned aerial vehicle
  • the actual power output is attenuated from 20% to approximately 13%.
  • Step S103 Determine a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
  • the flight controller continuously adjusts the flight state parameter of the unmanned aerial vehicle while adjusting the power output of the unmanned aerial vehicle, and further determines the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle during the adjustment of the power output.
  • the flight state parameters of the UAV still satisfy the characteristics as shown in Table 1, and the flight state parameters of the UAV satisfy the table shown in Table 1 during the adjustment of the power output.
  • the duration of the feature reaches a certain preset time, for example 1.2 seconds, to determine that the UAV is located on the ground.
  • a certain preset time for example 1.2 seconds
  • curve 205 represents the change in the vertical acceleration of the UAV over time.
  • the vertical acceleration of the UAV is positively vertical and negative in the vertical direction.
  • the vertical acceleration of the human aircraft can also be negative in the vertical direction and positive in the vertical direction.
  • the vertical acceleration of the UAV fluctuated slightly, starting from the time of 462.2 seconds, there is an increasing trend, reaching the maximum at 463 seconds, from 462.2 seconds to nearly 463 seconds.
  • the power output threshold ie, the oblique line 204
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202, so that the actual power output of the UAV is attenuated from 20% to about 13%.
  • the limitation of the actual power output of the aircraft makes the vertical acceleration of the UAV significantly increase, so that the absolute value of the vertical acceleration of the UAV no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example, 1 m/s 2 , therefore, Make sure the UAV is in the air, not on the ground.
  • the present embodiment uses the vertical acceleration of the UAV to be monitored.
  • the vertical velocity, the angular velocity of the aircraft, and the unmanned aerial vehicle relative to the ground can also be used.
  • At least one of the height, the throttle lever or the throttle lever amount of the throttle button is monitored to further determine the state of the unmanned aerial vehicle based on the flight state parameters of the unmanned aerial vehicle during the limited power output.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • Embodiments of the present invention provide a method for detecting a state of an unmanned aerial vehicle.
  • FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include:
  • Step S501 Acquire flight state parameters of the UAV.
  • step S501 and step S101 are the same, and are not described here.
  • Step S502 Adjust a power output of the UAV according to the flight state parameter.
  • step S502 and step S102 are the same, and are not described here.
  • Step S503 If the flight state parameter is less than a threshold value during the adjustment of the power output, it is determined that the UAV is located on the ground.
  • the flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold; The height of the ground is less than a height threshold; the amount of the control rod of the control terminal is less than the control amount threshold.
  • the acceleration of the UAV (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the control terminal are each The characteristics shown in Table 1 are satisfied.
  • the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202, assuming that the actual power output of the UAV is performed.
  • the flight state parameter is less than the threshold value, that is, the characteristics shown in Table 1 are still satisfied, it is determined that the UAV is located on the ground.
  • the flight state parameter is less than the threshold value, and the characteristics shown in Table 1 are still satisfied, and the time during which the flight state parameter is less than the threshold value reaches a certain preset time. For example, 1.2 seconds, it is determined that the UAV is located on the ground.
  • Step S504 If the flight state parameter is greater than or equal to the threshold value during the adjustment of the power output, it is determined that the UAV is located in the air.
  • the flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold.
  • the acceleration of the UAV specifically the acceleration in the vertical direction
  • the speed specifically the speed in the vertical direction
  • Table 1 are satisfied.
  • the vertical acceleration of the UAV gradually increases during the time limit of the actual power output of the UAV. For example, at 463 seconds, the vertical acceleration of the UAV is maximized. The value no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example 1 m/s 2 , therefore, it is determined that the UAV is in the air, not on the ground.
  • Step S505 If the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, stop adjusting the power output of the UAV.
  • the line 201 shown in FIG. 2, FIG. 3, and FIG. 4 indicates the amount of the throttle lever or the throttle lever generated by the remote controller when the user operates the throttle lever or the throttle button of the remote controller.
  • the throttle lever or The amount of the throttle button of the throttle button is 0.
  • the amount of the throttle lever or the throttle button may not be 0, for example, greater than 0, indicating that the user controls the unmanned aerial vehicle to rise through the remote controller, when the throttle lever or the throttle button
  • the flight controller stops adjusting the power output of the unmanned aerial vehicle to meet the user's need to control the unmanned aerial vehicle to rise through the remote controller.
  • the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
  • Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle.
  • the state detecting device may specifically be a flight controller of the unmanned aerial vehicle, and the state detecting device of the unmanned aerial vehicle includes one or more processors, which work separately or in cooperation, and the processor is configured to: acquire a flight state parameter of the unmanned aerial vehicle; Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter; determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
  • the flight state parameter of the UAV includes at least one of: acceleration, speed, angular velocity of the UAV, height of the UAV relative to the ground, and control of the UAV The amount of joystick that controls the terminal.
  • the control lever amount of the control terminal includes at least one of: a control lever amount of the throttle lever or the throttle button of the control terminal; a control lever amount of the pitch lever or the tilt button of the control terminal; and a horizontal direction of the control terminal The amount of the lever of the roller or the scroll button; the amount of the lever of the head of the control terminal or the heading button.
  • the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, adjusting a power output of the UAV, To attenuate the power output of the UAV.
  • the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, and the flight state parameter is less than a threshold, the duration reaches For a predetermined time, the power output of the UAV is adjusted to attenuate the power output of the UAV.
  • the processor adjusts the power output of the UAV to attenuate the power output of the UAV, and is specifically configured to: limit the power output of the UAV by using a power output threshold, Attenuating the power output of the UAV.
  • the processor uses a power output threshold to limit the power output of the UAV to attenuate the power output of the UAV, specifically for comparing the power output of the UAV with the power And outputting a threshold; if the power output of the unmanned aerial vehicle is greater than the power output threshold, adjusting a power output of the unmanned aerial vehicle to the power output threshold.
  • the power output threshold decays with time, for example, the power output threshold decays exponentially with time.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle.
  • the state detecting device may be specifically a flight controller of the unmanned aerial vehicle.
  • the processor determines the flight state parameter of the unmanned aerial vehicle in the power output process.
  • the state of the UAV is specifically configured to: if the flight state parameter is less than a threshold value during the adjustment of the power output, determine that the UAV is located on the ground; if the power output is adjusted The flight state parameter is greater than or equal to a threshold, It is then determined that the UAV is in the air.
  • the processor is configured to: when adjusting the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle in the power output process, specifically, if the power output is adjusted, If the flight state parameter is less than the threshold, and the duration of the flight state parameter is less than the threshold reaches a second preset time, determining that the UAV is located on the ground; if the power output is adjusted, the flight state parameter is greater than Or equal to the threshold, it is determined that the UAV is in the air.
  • the flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold;
  • the height of the aircraft relative to the ground is less than a height threshold; the amount of control of the control terminal is less than the control amount threshold.
  • the flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold.
  • the processor is further configured to: if the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to a power output threshold, stop adjusting the power output of the unmanned aerial vehicle.
  • the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
  • FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 600 includes: a fuselage, a power system, and a flight controller 618, and the power system includes at least one of the following: a motor 607, a propeller 606 and an electronic governor 617, wherein a power system is installed in the airframe for providing flight power; and a flight controller 618 is communicatively coupled to the power system for controlling the UAV flight;
  • Flight controller 618 includes an inertial measurement unit and a gyroscope. The inertial measurement sheet And the gyroscope is used to detect the acceleration, pitch angle, roll angle and heading angle of the drone.
  • the unmanned aerial vehicle 600 further includes: a sensing system 608, a communication system 610, a supporting device 602, and a photographing device 604.
  • the supporting device 602 may specifically be a pan/tilt, and the communication system 610 may specifically include receiving
  • the receiver is configured to receive a wireless signal transmitted by an antenna 614 of the ground station 612, and 616 represents an electromagnetic wave generated during communication between the receiver and the antenna 614.
  • the flight controller 618 may be specifically the state detecting device in the above embodiment, and the state detecting device may be used to detect the state of the unmanned aerial vehicle 600.
  • the specific principles and implementation manners are similar to the above embodiments, and are not described herein again.
  • the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter.
  • the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment.
  • the flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or It is implemented in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

A method for detecting the state of an unmanned aircraft (600), a device, and an unmanned aircraft (600), the method for detecting the state comprising: acquiring flight state parameters of an unmanned aircraft (600) (S101); on the basis of the flight state parameters, adjusting the power output of the unmanned aircraft (600) (S102); and, on the basis of the flight state parameters of the unmanned aircraft in the power output adjustment process, determining the state of the unmanned aircraft (600) (S103). By means of acquiring the flight state parameters of the unmanned aircraft (600) and adjusting the power output of the unmanned aircraft (600) on the basis of the flight state parameters, continuing to acquire the flight state parameters of the unmanned aircraft (600) during the power output adjustment process and further determining the state of the unmanned aircraft (600) on the basis of the flight state parameters of the unmanned aircraft (600) during the power output adjustment process, compared to the prior art wherein the state of an unmanned aircraft (600) is determined only by means of the current flight state parameters of the unmanned aircraft (600), the present invention improves the accuracy of detecting the state of an unmanned aircraft (600), effectively preventing the occurrence of misjudgments of the state of the unmanned aircraft (600).

Description

无人飞行器的状态检测方法、设备及无人飞行器UAV state detection method, device and unmanned aerial vehicle 技术领域Technical field
本发明实施例涉及无人机领域，尤其涉及一种无人飞行器的状态检测方法、设备及无人飞行器。Embodiments of the present invention relate to the field of drones, and in particular, to a method, device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle.
背景技术Background technique
现有技术中无人飞行器上设置有多种传感器，例如陀螺仪、加速度计、气压计、超声波传感器等，共同组成无人飞行器的传感器***，传感器***测量出该无人飞行器的飞行状态参数，例如加速度、速度、相对地面的高度等，飞行控制器可以根据无人飞行器的飞行状态参数确定出无人飞行器的状态，例如该无人飞行器位于地面或在空中飞行。In the prior art, the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle. For example, acceleration, speed, altitude relative to the ground, etc., the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air.
但是，当无人飞行器处于一些特殊情况下，例如无人飞行器下方搭载的物体或者在无人飞行器在空中飞行时某些物体阻挡了超声波传感器发出的超声波，飞行控制器根据超声波传感器的测量值确定无人飞行器相对地面的高度较小，如果此时无人飞行器实际位于空中，而除相对高度之外的其他飞行状态参数例如加速度、速度等符合无人飞行器位于地面时的特征，则飞行控制器将确定此时无人飞行器位于地面，导致飞行控制器判断出的状态和无人飞行器实际的状态不符，即出现无人飞行器的状态误判的现象；再例如无人飞行器设置有气压计但没有设置超声波传感器，由于气压计能够检测出无人飞行器相对海平面的高度，无法测出无人飞行器相对当前地面的高度，若飞行控制器根据气压计的测量值确定无人飞行器的状态时，可能同样会出现无人飞行器的状态误判的现象。However, when the UAV is in some special circumstances, such as an object carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines based on the measured value of the ultrasonic sensor. The height of the unmanned aerial vehicle relative to the ground is small. If the unmanned aerial vehicle is actually in the air at this time, and other flight state parameters other than the relative altitude, such as acceleration, speed, etc., conform to the characteristics of the unmanned aerial vehicle on the ground, the flight controller It will be determined that the UAV is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the UAV, that is, the phenomenon that the UAV is misjudged; for example, the UAV is provided with a barometer but no The ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the height of the UAV relative to the current ground cannot be measured. If the flight controller determines the state of the UAV based on the measured value of the barometer, it may be There will also be unmanned aerial vehicles. State misjudgment of the phenomenon.
发明内容Summary of the invention
本发明实施例提供一种无人飞行器的状态检测方法、设备及无人飞行器，以提高检测无人飞行器的状态的精确度。Embodiments of the present invention provide a method, a device, and an unmanned aerial vehicle for detecting an unmanned aerial vehicle to improve the accuracy of detecting the state of the unmanned aerial vehicle.
本发明实施例的一个方面是提供一种无人飞行器的状态检测方法，包括： An aspect of an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, including:
获取无人飞行器的飞行状态参数；Obtaining flight state parameters of the unmanned aerial vehicle;
根据所述飞行状态参数，调整所述无人飞行器的动力输出；Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter;
根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle during the power output process.
本发明实施例的另一个方面是提供一种无人飞行器的状态检测设备，包括一个或多个处理器，单独或协同工作，所述处理器用于：Another aspect of an embodiment of the present invention is to provide a state detecting device for an unmanned aerial vehicle comprising one or more processors operating separately or in cooperation, the processor being configured to:
获取无人飞行器的飞行状态参数；Obtaining flight state parameters of the unmanned aerial vehicle;
根据所述飞行状态参数，调整所述无人飞行器的动力输出；Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter;
根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle during the power output process.
本发明实施例的另一个方面是提供一种无人飞行器，包括：Another aspect of an embodiment of the present invention provides an unmanned aerial vehicle comprising:
机身；body;
动力***，安装在所述机身，用于提供飞行动力；a power system mounted to the fuselage for providing flight power;
以及本发明实施例以上方面提供的状态检测设备。And the state detecting device provided by the above aspect of the embodiment of the present invention.
本实施例提供的无人飞行器的状态检测方法、设备及无人飞行器，通过获取无人飞行器的飞行状态参数，并根据飞行状态参数，调整无人飞行器的动力输出，在调整动力输出的过程中，继续获取无人飞行器的飞行状态参数，并根据调整动力输出的过程中无人飞行器的飞行状态参数进一步确定无人飞行器的状态，相比于现有技术中只通过无人飞行器当前的飞行状态参数来确定无人飞行器的状态，提高了检测无人飞行器的状态的精确度，可有效避免出现无人飞行器的状态误判的现象。The state detecting method, device and unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiment obtain the flight state parameters of the unmanned aerial vehicle, and adjust the power output of the unmanned aerial vehicle according to the flight state parameter, in the process of adjusting the power output And continue to obtain the flight state parameters of the unmanned aerial vehicle, and further determine the state of the unmanned aerial vehicle according to the flight state parameters of the unmanned aerial vehicle during the process of adjusting the power output, compared to the current flight state of the unmanned aerial vehicle only in the prior art. The parameters determine the state of the unmanned aerial vehicle, improve the accuracy of detecting the state of the unmanned aerial vehicle, and effectively avoid the phenomenon of misjudgment of the state of the unmanned aerial vehicle.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.
图1为本发明实施例提供的无人飞行器的状态检测方法的流程图；1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention;
图2为本发明实施例提供的无人飞行器的飞行状态参数的曲线图；2 is a graph of flight state parameters of an unmanned aerial vehicle according to an embodiment of the present invention;
图3为本发明实施例提供的调整无人飞行器的动力输出的示意图； 3 is a schematic diagram of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention;
图4为本发明实施例提供的调整无人飞行器的动力输出的过程中无人飞行器的垂直加速度的曲线图；4 is a graph showing vertical acceleration of an unmanned aerial vehicle in a process of adjusting power output of an unmanned aerial vehicle according to an embodiment of the present invention;
图5为本发明另一实施例提供的无人飞行器的状态检测方法的流程图；FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention; FIG.
图6为本发明实施例提供的无人飞行器的结构图。FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
附图标记：Reference mark:
201-油门杆或油门按键的控制杆量  202-无人飞行器实际的动力输出201 - Throttle lever or throttle button lever amount 202 - Unmanned aerial vehicle actual power output
203-无人飞行器的状态     204-动力输出阈值203 - State of the UAV 204 - Power Output Threshold
205-无人飞行器的垂直加速度    600-无人飞行器205- Vertical acceleration of unmanned aerial vehicles 600-UAV
607-电机   606-螺旋桨     617-电子调速器607-motor 606-propeller 617-electronic governor
618-飞行控制器   608-传感***   610-通信***618-flight controller 608-sensing system 610-communication system
602-支撑设备    604-拍摄设备   612-地面站602-supporting equipment 604-photographing equipment 612-ground station
614-天线        616-电磁波614-antenna 616-electromagnetic wave
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。 Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.
现有技术中无人飞行器上设置有多种传感器，例如陀螺仪、加速度计、气压计、超声波传感器等，共同组成无人飞行器的传感器***，传感器***测量出该无人飞行器的飞行状态参数，例如加速度、速度、相对地面的高度等，飞行控制器可以根据无人飞行器的飞行状态参数确定出无人飞行器的状态，例如该无人飞行器位于地面或在空中飞行。但是，在下面两种情况下，飞行控制器很难根据无人飞行器的飞行状态参数准确的确定出无人飞行器的状态：In the prior art, the unmanned aerial vehicle is provided with a plurality of sensors, such as a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, etc., to jointly form a sensor system of the unmanned aerial vehicle, and the sensor system measures the flight state parameters of the unmanned aerial vehicle. For example, acceleration, speed, altitude relative to the ground, etc., the flight controller can determine the state of the UAV based on the flight state parameters of the UAV, such as the UAV being on the ground or flying in the air. However, in the following two cases, it is difficult for the flight controller to accurately determine the state of the UAV based on the flight state parameters of the UAV:
第一种情况：无人飞行器下方搭载的物体或者在无人飞行器在空中飞行时某些物体阻挡了超声波传感器发出的超声波，飞行控制器根据超声波传感器的测量值确定无人飞行器相对地面的高度较小。如果此时用户大幅度快速的操作遥控器上的摇杆或按键例如横滚杆或横滚按键，则遥控器将生成抖动较大的横滚杆或横滚按键的控制杆量，飞行控制器通过无人飞行器的通信***接收到遥控器发送的抖动较大的横滚杆或横滚按键的控制杆量后，根据该控制杆量控制无人飞行器各个电机的转速，以使无人飞行器的机身以横滚轴为转动轴进行转动，由于横滚杆或横滚按键的控制杆量的抖动较大，为了能够控制无人飞行器的横滚角随着该控制杆量的抖动而改变，飞行控制器在控制各个电机的转速的同时还需要提高无人飞行器的动力输出，从而导致螺旋桨的升力提高，如果用户大幅度快速操作横滚杆或横滚按键的同时，还操作遥控器上的油门杆或油门按键例如将油门杆打到低位，遥控器生成较小的油门杆或油门按键的控制杆量，以控制无人飞行器降落，由于螺旋桨的升力提高，可能导致无人飞行器无法正常降落而位于空中。另外，尽管遥控器的横滚杆或横滚按键的控制杆量的抖动较大，但是无人飞行器实际的横滚角的抖动较小。在这种情况下，无人飞行器的飞行状态参数将满足如下条件：机体角速度较小、下降速度接近0、油门杆或油门按键的控制杆量很小、垂直方向的加速度很小，再加上无人飞行器下方搭载的物体或者在无人飞行器在空中飞行时某些物体阻挡了超声波传感器发出的超声波，飞行控制器确定出的无人飞行器相对地面的高度较小，由于这些飞行状态参数符合无人飞行器位于地面时的特征，则飞行控制器将确定此时飞行控制器位于地面，导致飞行控制器判断出的状态和无人飞行器实际的状态不符，即出现无人飞行器的状态误判的现象。 The first case: the object carried under the UAV or some objects blocking the ultrasonic wave emitted by the ultrasonic sensor when the UAV is flying in the air, the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor. small. If the user quickly and flexibly operates the joystick or button on the remote controller, such as a crossbar or a scroll button, the remote controller will generate a larger amount of joystick or rollbar control lever, flight controller After the communication system of the unmanned aerial vehicle receives the amount of the joystick of the large shaker or the horizontal scroll button sent by the remote controller, the speed of each motor of the unmanned aerial vehicle is controlled according to the amount of the control rod, so that the unmanned aerial vehicle is controlled by the unmanned aerial vehicle. The body rotates with the roll axis as the rotation axis. Since the amount of the control rod of the roll bar or the roll button is large, in order to control the roll angle of the UAV, the amount of the control bar changes with the amount of the control bar. The flight controller needs to increase the power output of the unmanned aerial vehicle while controlling the rotational speed of each motor, thereby causing the lift of the propeller to be increased. If the user quickly operates the horizontal scroll bar or the horizontal scroll button, the remote controller is also operated. The throttle stick or the throttle button, for example, lowers the throttle lever to a low position, and the remote controller generates a smaller throttle lever or a throttle button control lever to control the unmanned aerial vehicle landing, Propeller lift increase, could lead to unmanned aircraft could not land properly located the air. In addition, although the amount of the control lever of the crossbar or the scroll button of the remote controller is large, the actual roll angle of the UAV is less jittery. In this case, the flight state parameters of the UAV will satisfy the following conditions: the angular velocity of the aircraft is small, the descending speed is close to 0, the amount of the throttle stick or the throttle button is small, and the acceleration in the vertical direction is small, plus Objects carried under the UAV or when the UAV is flying in the air, some objects block the ultrasonic waves from the ultrasonic sensor, and the flight controller determines that the height of the UAV relative to the ground is small, because these flight state parameters are consistent with none. When the human aircraft is located on the ground, the flight controller will determine that the flight controller is located on the ground at this time, causing the state judged by the flight controller to be inconsistent with the actual state of the unmanned aerial vehicle, that is, the state of the UAV is misjudged. .
第二种情况：无人飞行器设置有气压计但没有设置超声波传感器，由于气压计能够检测出无人飞行器相对海平面的高度，无法测出无人飞行器相对当前地面的高度，若飞行控制器根据气压计的测量值确定出的无人飞行器相对地面的高度，以及其他飞行状态参数确定无人飞行器的状态时，可能同样会出现无人飞行器的状态误判的现象。为了解决上述问题，本发明实施例提供了一种无人飞行器的状态检测方法，下面结合具体的实施例进行说明。The second case: the UAV is equipped with a barometer but no ultrasonic sensor is set. Since the barometer can detect the height of the UAV relative to the sea level, the altitude of the UAV relative to the current ground cannot be measured, if the flight controller is based on When the measured value of the barometer determines the height of the UAV relative to the ground, and other flight state parameters determine the state of the UAV, the state of the UAV may also be misjudged. In order to solve the above problems, an embodiment of the present invention provides a method for detecting a state of an unmanned aerial vehicle, which will be described below in conjunction with a specific embodiment.
本发明实施例提供一种无人飞行器的状态检测方法。图1为本发明实施例提供的无人飞行器的状态检测方法的流程图。如图1所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for detecting a state of an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
步骤S101、获取无人飞行器的飞行状态参数。Step S101: Acquire flight state parameters of the UAV.
在本实施例中，无人飞行器的飞行状态参数包括如下至少一种：无人飞行器的加速度、速度、角速度、无人飞行器相对于地面的高度、以及用于控制所述无人飞行器的控制终端的输出的控制杆量。其中，当无人飞行器下方没有搭载物体或者当无人飞行器在空中飞行时其下方没有某些物体时，无人飞行器相对地面的高度具体可以是无人飞行器当前的位置距离其下方地面的垂直高度；当无人飞行器下方搭载有物体或者当无人飞行器在空中飞行时其下方有某些物体时，超声波传感器测量出的无人飞行器相对地面的高度实际是无人飞行器相对其搭载的物体或其下方的某些物体的高度。无人飞行器的加速度具体可以是该无人飞行器在垂直方向上的加速度；无人飞行器的速度具体可以是该无人飞行器在垂直方向上的速度；无人飞行器的角速度具体可以是该无人飞行器的俯仰方向的角速度、横滚方向的角速度以及航向方向的角速度；控制终端的控制杆量包括如下至少一种：控制终端的油门杆或油门按键的控制杆量；控制终端的俯仰杆或俯仰按键的控制杆量；控制终端的横滚杆或横滚按键的控制杆量；控制终端的航向杆或航向按键的控制杆量；其中，该控制终端具体可以是遥控器、智能手机、平板电脑、地面控制站、膝上型电脑、手表、手环等及其组合。In this embodiment, the flight state parameters of the UAV include at least one of: acceleration, speed, angular velocity of the UAV, altitude of the UAV relative to the ground, and control terminal for controlling the UAV The amount of control rod output. Wherein, when there is no object underneath the UAV or when there is no object underneath the UAV, the height of the UAV relative to the ground may be the current position of the UAV from the ground below it. When there is an object underneath the UAV or when there is something underneath the UAV when flying in the air, the height of the UAV measured relative to the ground by the ultrasonic sensor is actually the object of the UAV relative to it or its The height of some objects below. The acceleration of the unmanned aerial vehicle may specifically be the acceleration of the unmanned aerial vehicle in the vertical direction; the speed of the unmanned aerial vehicle may specifically be the speed of the unmanned aerial vehicle in the vertical direction; the angular velocity of the unmanned aerial vehicle may specifically be the unmanned aerial vehicle The angular velocity of the pitch direction, the angular velocity of the roll direction, and the angular velocity of the heading direction; the amount of the control lever of the control terminal includes at least one of: controlling the amount of the throttle stick of the terminal or the throttle button; and controlling the pitch or pitch button of the terminal The amount of the control rod; the amount of the control rod of the horizontal or horizontal scroll button of the control terminal; the amount of the control rod of the head of the control terminal or the heading button; wherein the control terminal may specifically be a remote controller, a smart phone, a tablet computer, Ground control stations, laptops, watches, bracelets, etc. and combinations thereof.
本实施例的执行主体可以是无人飞行器的飞行控制器，也可以是其 他通用或者专用的处理器，在本实施例中以飞行控制器来作示意性说明。飞行控制器可以获取无人飞行器配置的传感器***输出的数据，用于检测无人飞行器的位置、垂直加速度、角加速度、角速度、垂直速度、俯仰角、横滚角及航向角等，其中传感器***可以包括运动传感器和/或视觉传感器，运动传感器包括陀螺仪、加速度计、惯性测量单元、全球定位***(Global Positioning System，简称GPS)等。另外，无人飞行器的传感器***还可以包括超声波传感器和/或气压计，飞行控制器根据超声波传感器的测量值，确定无人飞行器相对地面的高度。此外，飞行控制器还可以通过无人飞行器配置的通信***获取控制终端发送的控制杆量。The execution body of this embodiment may be a flight controller of an unmanned aerial vehicle, or may be His general purpose or dedicated processor is schematically illustrated by the flight controller in this embodiment. The flight controller can acquire data output by the sensor system configured by the UAV, and is used for detecting the position, vertical acceleration, angular acceleration, angular velocity, vertical velocity, pitch angle, roll angle, and heading angle of the unmanned aerial vehicle, wherein the sensor system Motion sensors and/or vision sensors may be included, and the motion sensors include a gyroscope, an accelerometer, an inertial measurement unit, a Global Positioning System (GPS), and the like. In addition, the sensor system of the UAV may further include an ultrasonic sensor and/or a barometer, and the flight controller determines the height of the UAV relative to the ground based on the measured value of the ultrasonic sensor. In addition, the flight controller can also acquire the amount of joystick sent by the control terminal through the communication system configured by the unmanned aerial vehicle.
步骤S102、根据所述飞行状态参数，调整所述无人飞行器的动力输出。Step S102: Adjust a power output of the UAV according to the flight state parameter.
通常情况下，无人飞行器例如旋翼型无人机位于地面时，其飞行状态参数满足如下表1所示的特征：Normally, when an unmanned aerial vehicle such as a rotary-wing UAV is located on the ground, its flight state parameters satisfy the characteristics shown in Table 1 below:
表1Table 1
Figure PCTCN2017080062-appb-000001
Figure PCTCN2017080062-appb-000001
但是，当无人飞行器的飞行状态参数满足如下表1所示的特征时，并不能说明无人飞行器一定处于地面，当无人飞行器处于空中时，无人飞行器的飞行状态参数也有可能满足如下表1所示的特征，为了准确判断无人飞行器的状态，可以根据所述飞行状态参数，调整所述无人飞行器的动力输出，具体可分为如下几种可实现的方式：However, when the flight state parameters of the UAV meet the characteristics shown in Table 1 below, it does not mean that the UAV must be on the ground. When the UAV is in the air, the flight state parameters of the UAV may also meet the following table. In order to accurately determine the state of the unmanned aerial vehicle, the power output of the unmanned aerial vehicle may be adjusted according to the flight state parameter, which may be specifically classified into the following achievable modes:
一种可实现的方式是：若所述飞行状态参数小于阈值，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。One achievable manner is to adjust the power output of the UAV to attenuate the power output of the UAV if the flight state parameter is less than a threshold.
具体的，根据步骤S101获取到的无人飞行器的飞行状态参数例如无 人飞行器的加速度(具体可以为垂直方向的加速度)、速度(具体可以为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及用于控制所述无人飞行器的控制终端的控制杆量，判断各个参数是否满足表1所示的特征，当无人飞行器的加速度(具体可以为垂直方向的加速度)、速度(具体可以为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及控制终端的控制杆量中至少有一个满足表1所示的特征时，飞行控制器可调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减，可选的，当无人飞行器的加速度(具体为垂直方向的加速度)、速度(具体为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及控制终端的控制杆量中的每一个均满足表1所示的特征时，飞行控制器可调整所述无人飞行器的动力输出，例如降低各个电机的转速，以使所述无人飞行器的动力输出衰减。Specifically, the flight state parameter of the unmanned aerial vehicle acquired according to step S101 is, for example, none. The acceleration of the human aircraft (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the control of the control terminal for controlling the UAV The amount of the rod, determine whether each parameter satisfies the characteristics shown in Table 1, when the acceleration of the unmanned aerial vehicle (specifically, the acceleration in the vertical direction), the speed (specifically, the speed in the vertical direction), the angular velocity, and the unmanned aerial vehicle relative to the ground The flight controller may adjust the power output of the unmanned aerial vehicle to attenuate the power output of the unmanned aerial vehicle, at least one of the height and the control lever amount of the control terminal satisfying the characteristics shown in Table 1. Selectively, each of the acceleration of the unmanned aerial vehicle (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the control terminal When both of the features shown in Table 1 are met, the flight controller can adjust the power output of the UAV, such as lowering each Speed of the motor to the power output of the unmanned aircraft attenuation.
另一种可实现的方式是：若所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第一预设时间，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。Another achievable manner is: if the flight state parameter is less than a threshold, and the duration of the flight state parameter is less than the threshold reaches a first preset time, adjusting the power output of the UAV to The power output attenuation of the unmanned aerial vehicle.
可选的，当无人飞行器的加速度(具体可以为垂直方向的加速度)、速度(具体可以为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及控制终端的控制杆量中的每一个参数均满足表1所示的特征，且每一个参数均满足表1所示的特征所持续的时间达到一定的预设时间例如1秒，则飞行控制器可调整所述无人飞行器的动力输出，例如降低各个电机的转速，以使所述无人飞行器的动力输出衰减，在飞行控制器调整该无人飞行器的动力输出的同时继续获取该无人飞行器的飞行状态参数，并根据调整动力输出过程中该无人飞行器的飞行状态参数，进一步确定无人飞行器的状态。Optionally, when the acceleration of the unmanned aerial vehicle (specifically, the acceleration in the vertical direction), the speed (specifically, the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the control terminal Each parameter satisfies the characteristics shown in Table 1, and each of the parameters meets the duration of the feature shown in Table 1 for a certain preset time, for example, 1 second, the flight controller can adjust the UAV Power output, for example, reducing the rotational speed of each motor to attenuate the power output of the unmanned aerial vehicle, and continuing to acquire the flight state parameters of the unmanned aerial vehicle while the flight controller adjusts the power output of the unmanned aerial vehicle, and according to The flight state parameters of the unmanned aerial vehicle during the power output are adjusted to further determine the state of the unmanned aerial vehicle.
在上述两种可实现的方式中，调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减具体可以是：利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减。具体的，比较所述无人飞行器的动力输出和所述动力输出阈值；若所述无人飞行器的动力输出大于所述动力输出阈值，则将所述无人飞行器的动力输出调整为所述动力输出阈值。 In the above two achievable manners, adjusting the power output of the UAV to attenuate the power output of the UAV may specifically: limiting the power output of the UAV by using a power output threshold To attenuate the power output of the UAV. Specifically, comparing the power output of the UAV with the power output threshold; if the power output of the UAV is greater than the power output threshold, adjusting the power output of the UAV to the power Output threshold.
如图2所示，纵坐标表示无人飞行器当前的动力输出和其最大的动力输出的比值，横坐标表示时间，时间单位是秒，直线201表示用户操作遥控器的油门杆或油门按键时，遥控器生成的油门杆或油门按键的控制杆量；曲线202表示无人飞行器实际的动力输出，且无人飞行器实际的动力输出维持在20％左右，此处只是示意性说明，并不做具体限制。另外，无人飞行器实际的动力输出没有随直线201维持在0％的原因是：如果无人飞行器实际的动力输出随直线201维持在0％，则飞行控制器无法对无人飞行器的姿态进行控制，因此为了能够对无人飞行器的姿态进行控制，飞行控制器需要重新分配无人飞行器的动力输出例如重新分配电机的转速，曲线202则是飞行控制器重新分配无人飞行器的动力输出后，无人飞行器实际的动力输出。曲线203表示对无人飞行器的状态的判断，如图2所示，当曲线203的纵坐标为30％时，表示无人飞行器的飞行状态参数符合无人飞行器位于地面的特征，或者，无人飞行器的飞行状态参数均满足表1所示的特征，当曲线203的纵坐标为40％时，表示对无人飞行器的状态进行主动测试的阶段，假设在462.2秒时刻之前，无人飞行器的飞行状态参数均满足表1所示的特征所持续的时间已经达到了1秒，则从462.2秒时刻开始曲线203的纵坐标变为40％，且在曲线203的纵坐标持续为40％的这段时间内，利用动力输出阈值对无人飞行器实际的动力输出即曲线202进行限制，具体的，动力输出阈值随时间衰减，动力输出阈值随时间衰减的一种形式是如图2所示的斜线204，斜线204的斜率为负值，斜线204的纵坐标随时间衰减；动力输出阈值随时间衰减的另一种形式是：动力输出阈值随时间指数衰减，即动力输出阈值随时间的变化是一条纵坐标的值呈指数衰减的曲线，具体的，动力输出阈值f随时间t衰减满足如下公式(1)As shown in FIG. 2, the ordinate represents the ratio of the current power output of the UAV to its maximum power output, the abscissa represents time, the time unit is seconds, and the line 201 represents when the user operates the throttle lever or the throttle button of the remote controller. The amount of the throttle stick or the throttle button generated by the remote controller; the curve 202 represents the actual power output of the unmanned aerial vehicle, and the actual power output of the unmanned aerial vehicle is maintained at about 20%, which is only a schematic description, and is not specific. limit. In addition, the reason why the actual power output of the UAV is not maintained at 0% with the line 201 is that if the actual power output of the UAV is maintained at 0% with the line 201, the flight controller cannot control the attitude of the UAV. Therefore, in order to be able to control the attitude of the unmanned aerial vehicle, the flight controller needs to redistribute the power output of the unmanned aerial vehicle, for example, the speed of the redistribution motor, and the curve 202 is after the flight controller reallocates the power output of the unmanned aerial vehicle, The actual power output of the human aircraft. Curve 203 represents the judgment of the state of the UAV, as shown in FIG. 2, when the ordinate of the curve 203 is 30%, it indicates that the flight state parameter of the UAV conforms to the feature of the UAV located on the ground, or The flight state parameters of the aircraft all meet the characteristics shown in Table 1. When the ordinate of the curve 203 is 40%, it indicates the stage of active testing of the state of the unmanned aerial vehicle, assuming that the flight of the unmanned aerial vehicle is before the time of 462.2 seconds. When the state parameter satisfies the characteristic shown in Table 1 for the duration of 1 second, the ordinate of the curve 203 becomes 40% from the time of 462.2 seconds, and the ordinate of the curve 203 continues for 40%. During the time, the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202. Specifically, the power output threshold is attenuated with time, and a form of the power output threshold decay with time is a diagonal line as shown in FIG. 2 . 204, the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 decays with time; another form of the power output threshold decay with time is: the power output threshold is always available Exponential decay, i.e., the power output of the threshold value changes with time is an ordinate of a curve of the exponential decay, particularly, the power output of the threshold f decay with time t satisfies the following formula (1)
f＝k*a^(t)        (1)f=k*a^(t) (1)
其中，a^(t)表示一个随时间衰减的函数，t表示时间，该时间具体可以是离散时间点，a为衰减系数，k表示衰减的初值，例如，a取值为0.98，在第一个时刻，动力输出阈值f等于k*a，在第二个时刻，动力输出阈值f等于k*a*a，以此类推。需要说明的是，本实施例并不限定动力输出阈值随时间衰减的具体形式，除了上述两种形式，还可以是其他的随时间衰减的形式，此处不再赘述。下面以动力输出阈值随时间衰减为如图2所示的 斜线204为例，介绍利用斜线204对无人飞行器实际的动力输出即曲线202进行限制的过程。Where a^(t) represents a function that decays with time, t represents time, which can be a discrete time point, a is the attenuation coefficient, and k is the initial value of the attenuation. For example, a takes the value 0.98. At one moment, the power output threshold f is equal to k*a, and at the second moment, the power output threshold f is equal to k*a*a, and so on. It should be noted that the embodiment does not limit the specific form of the power output threshold decay with time. In addition to the above two forms, other forms that attenuate with time may be used, and details are not described herein again. Below, the power output threshold decays with time as shown in Figure 2. The oblique line 204 is taken as an example to describe the process of using the oblique line 204 to limit the actual power output of the UAV, that is, the curve 202.
利用斜线204对无人飞行器实际的动力输出即曲线202进行限制，具体的，斜线204的斜率为负值，斜线204的纵坐标随时间衰减，所谓限制的意思是：在曲线203的纵坐标持续为40％的这段时间内，曲线202的纵坐标不能超出斜线204的纵坐标，本实施例将斜线204的纵坐标记为动力输出阈值，具体限制过程为：在曲线203的纵坐标持续为40％的这段时间内，比较无人飞行器实际的动力输出即曲线202的纵坐标和动力输出阈值即斜线204的纵坐标，如果无人飞行器实际的动力输出即曲线202的纵坐标大于动力输出阈值即斜线204的纵坐标，则将无人飞行器实际的动力输出即曲线202的纵坐标调整为动力输出阈值即斜线204的纵坐标，调整后的结果如图3所示，在曲线203的纵坐标持续为40％的这段时间内，若曲线202的纵坐标小于斜线204的纵坐标，则保持曲线202的纵坐标不变，例如斜线204下方的曲线202的实线部分，其纵坐标小于斜线204的纵坐标，则保持不变；若曲线202的纵坐标大于斜线204的纵坐标，则将曲线202的纵坐标取值为斜线204的纵坐标，例如斜线204上方的曲线202的虚线部分，其纵坐标大于斜线204的纵坐标，则将其纵坐标取值为斜线204的纵坐标；从而使得无人飞行器实际的动力输出从20％衰减到了约13％。The actual power output of the UAV, that is, the curve 202 is limited by the oblique line 204. Specifically, the slope of the oblique line 204 is a negative value, and the ordinate of the oblique line 204 is attenuated with time. The so-called limitation means: at the curve 203 During the period in which the ordinate continues to be 40%, the ordinate of the curve 202 cannot exceed the ordinate of the oblique line 204. In this embodiment, the longitudinal slant of the oblique line 204 is marked as the power output threshold. The specific limiting process is: in the curve 203 When the ordinate continues to be 40%, the actual power output of the UAV is compared with the ordinate of the curve 202 and the power output threshold, that is, the ordinate of the oblique line 204, if the actual power output of the UAV is the curve 202. The ordinate is greater than the power output threshold, that is, the ordinate of the oblique line 204, and the actual power output of the UAV, that is, the ordinate of the curve 202 is adjusted to the power output threshold, that is, the ordinate of the oblique line 204, and the adjusted result is shown in FIG. 3. As shown, during the period in which the ordinate of the curve 203 continues to be 40%, if the ordinate of the curve 202 is smaller than the ordinate of the oblique line 204, the ordinate of the curve 202 is kept unchanged, such as a slash. The solid line portion of the curve 202 below the 204, whose ordinate is smaller than the ordinate of the oblique line 204, remains unchanged; if the ordinate of the curve 202 is greater than the ordinate of the oblique line 204, the ordinate of the curve 202 is taken as the value The ordinate of the oblique line 204, such as the dotted line portion of the curve 202 above the oblique line 204, whose ordinate is greater than the ordinate of the oblique line 204, takes its ordinate as the ordinate of the oblique line 204; thus making the unmanned aerial vehicle The actual power output is attenuated from 20% to approximately 13%.
步骤S103、根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Step S103: Determine a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
在飞行控制器调整该无人飞行器的动力输出的同时继续获取该无人飞行器的飞行状态参数，并根据调整动力输出过程中该无人飞行器的飞行状态参数，进一步确定无人飞行器的状态。The flight controller continuously adjusts the flight state parameter of the unmanned aerial vehicle while adjusting the power output of the unmanned aerial vehicle, and further determines the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle during the adjustment of the power output.
如果无人飞行器在调整动力输出过程中，该无人飞行器的飞行状态参数依然满足如表1所示的特征，且在调整动力输出过程中，该无人飞行器的飞行状态参数满足表1所示的特征所持续的时间达到一定的预设时间例如1.2秒，则确定无人飞行器位于地面，反之，如果在调整动力输出过程中，该无人飞行器的飞行状态参数中至少有一个不再满足表1所示的特征，则说明无人飞行器位于空中。If the UAV is in the process of adjusting the power output, the flight state parameters of the UAV still satisfy the characteristics as shown in Table 1, and the flight state parameters of the UAV satisfy the table shown in Table 1 during the adjustment of the power output. The duration of the feature reaches a certain preset time, for example 1.2 seconds, to determine that the UAV is located on the ground. Conversely, if during the adjustment of the power output, at least one of the flight state parameters of the UAV no longer satisfies the table. The features shown in Figure 1 indicate that the UAV is in the air.
如图4所示，曲线205表示无人飞行器的垂直加速度随时间的变化， 可选的，无人飞行器的垂直加速度以垂直向下为正，以垂直向上为负，在其他实施例中，无人飞行器的垂直加速度还可以以垂直向下为负，以垂直向上为正。如图4所示，在462.2秒时刻之前，无人飞行器的垂直加速度小幅波动，从462.2秒时刻开始，有增大的趋势，在463秒时刻达到最大，从462.2秒时刻到接近于463秒时刻的这段时间内，利用动力输出阈值即斜线204对无人飞行器实际的动力输出即曲线202进行限制，使得无人飞行器实际的动力输出从20％衰减到了约13％，可见由于对无人飞行器实际的动力输出的限制，使得无人飞行器向下的垂直加速度显著增大，导致无人飞行器的垂直加速度的绝对值不再满足表1中垂直加速度对应的阈值例如1m/s2，因此，确定无人飞行器位于空中，而不是位于地面。As shown in FIG. 4, curve 205 represents the change in the vertical acceleration of the UAV over time. Alternatively, the vertical acceleration of the UAV is positively vertical and negative in the vertical direction. In other embodiments, The vertical acceleration of the human aircraft can also be negative in the vertical direction and positive in the vertical direction. As shown in Fig. 4, before the time of 462.2 seconds, the vertical acceleration of the UAV fluctuated slightly, starting from the time of 462.2 seconds, there is an increasing trend, reaching the maximum at 463 seconds, from 462.2 seconds to nearly 463 seconds. During this time, the power output threshold, ie, the oblique line 204, is used to limit the actual power output of the UAV, that is, the curve 202, so that the actual power output of the UAV is attenuated from 20% to about 13%. The limitation of the actual power output of the aircraft makes the vertical acceleration of the UAV significantly increase, so that the absolute value of the vertical acceleration of the UAV no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example, 1 m/s 2 , therefore, Make sure the UAV is in the air, not on the ground.
由于无人飞行器的垂直加速度的变化较为灵敏，所以本实施例采用对无人飞行器的垂直加速度进行监测，在其他实施例中，还可以采用对垂直速度、机体的角速度、无人飞行器相对地面的高度、油门杆或油门按键的控制杆量中的至少一个进行监测，以根据限制动力输出过程中该无人飞行器的飞行状态参数，进一步确定无人飞行器的状态。Since the vertical acceleration of the UAV is relatively sensitive, the present embodiment uses the vertical acceleration of the UAV to be monitored. In other embodiments, the vertical velocity, the angular velocity of the aircraft, and the unmanned aerial vehicle relative to the ground can also be used. At least one of the height, the throttle lever or the throttle lever amount of the throttle button is monitored to further determine the state of the unmanned aerial vehicle based on the flight state parameters of the unmanned aerial vehicle during the limited power output.
本实施例通过获取无人飞行器的飞行状态参数，并根据飞行状态参数，调整无人飞行器的动力输出，在调整动力输出的过程中，继续获取无人飞行器的飞行状态参数，并根据调整动力输出的过程中无人飞行器的飞行状态参数进一步确定无人飞行器的状态，相比于现有技术中只通过无人飞行器当前的飞行状态参数来确定无人飞行器的状态，提高了检测无人飞行器的状态的精确度，可有效避免出现无人飞行器的状态误判的现象。In this embodiment, the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter. In the process of adjusting the power output, the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment. The flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
本发明实施例提供一种无人飞行器的状态检测方法。图5为本发明另一实施例提供的无人飞行器的状态检测方法的流程图。如图5所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a method for detecting a state of an unmanned aerial vehicle. FIG. 5 is a flowchart of a method for detecting a state of an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include:
步骤S501、获取无人飞行器的飞行状态参数。Step S501: Acquire flight state parameters of the UAV.
步骤S501和步骤S101的具体方法和原理一致，此处不再赘述。The specific methods and principles of step S501 and step S101 are the same, and are not described here.
步骤S502、根据所述飞行状态参数，调整所述无人飞行器的动力输出。Step S502: Adjust a power output of the UAV according to the flight state parameter.
步骤S502和步骤S102的具体方法和原理一致，此处不再赘述。 The specific methods and principles of step S502 and step S102 are the same, and are not described here.
步骤S503、若在调整所述动力输出过程中，所述飞行状态参数小于阈值，则确定所述无人飞行器位于地面。Step S503: If the flight state parameter is less than a threshold value during the adjustment of the power output, it is determined that the UAV is located on the ground.
具体的，若在调整所述动力输出过程中，所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第二预设时间，则确定所述无人飞行器位于地面。其中，飞行状态参数小于阈值，包括如下至少一种：所述加速度的绝对值小于加速度阈值；所述速度的绝对值小于速度阈值；所述角速度的绝对值小于角速度阈值；所述无人飞行器相对于地面的高度小于高度阈值；所述控制终端的控制杆量小于控制量阈值。例如，无人飞行器的加速度(具体为垂直方向的加速度)、速度(具体为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及控制终端的控制杆量中的每一个参数均满足表1所示的特征。Specifically, if the flight state parameter is less than the threshold value during the adjustment of the power output, and the duration of the flight state parameter is less than the threshold value reaches a second preset time, determining that the UAV is located on the ground. The flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold; The height of the ground is less than a height threshold; the amount of the control rod of the control terminal is less than the control amount threshold. For example, the acceleration of the UAV (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the control terminal are each The characteristics shown in Table 1 are satisfied.
如图3所示，假设在462.2秒时刻之前，无人飞行器的飞行状态参数均满足表1所示的特征所持续的时间已经达到了1秒，则从462.2秒时刻开始曲线203的纵坐标变为40％，且在曲线203的纵坐标持续为40％的这段时间内，利用动力输出阈值对无人飞行器实际的动力输出即曲线202进行限制，假设在对无人飞行器实际的动力输出进行限制的这段时间内，飞行状态参数小于阈值即依然满足表1所示的特征，则确定所述无人飞行器位于地面。或者，在对无人飞行器实际的动力输出进行限制的这段时间内，飞行状态参数小于阈值即依然满足表1所示的特征，且飞行状态参数小于阈值所持续的时间达到一定的预设时间例如1.2秒，则确定无人飞行器位于地面。As shown in FIG. 3, it is assumed that before the time of 462.2 seconds, the flight state parameters of the UAV satisfying the characteristics shown in Table 1 have reached 1 second, the ordinate of the curve 203 is changed from the time of 462.2 seconds. 40%, and during the period when the ordinate of the curve 203 continues to be 40%, the power output threshold is used to limit the actual power output of the UAV, that is, the curve 202, assuming that the actual power output of the UAV is performed. During the limited period of time, if the flight state parameter is less than the threshold value, that is, the characteristics shown in Table 1 are still satisfied, it is determined that the UAV is located on the ground. Alternatively, during the period in which the actual power output of the unmanned aerial vehicle is limited, the flight state parameter is less than the threshold value, and the characteristics shown in Table 1 are still satisfied, and the time during which the flight state parameter is less than the threshold value reaches a certain preset time. For example, 1.2 seconds, it is determined that the UAV is located on the ground.
步骤S504、若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值，则确定所述无人飞行器位于空中。Step S504: If the flight state parameter is greater than or equal to the threshold value during the adjustment of the power output, it is determined that the UAV is located in the air.
所述飞行状态参数大于或等于阈值，包括如下至少一种：所述加速度的绝对值大于或等于加速度阈值；所述速度的绝对值大于或等于速度阈值；所述角速度的绝对值大于或等于角速度阈值；所述无人飞行器相对于地面的高度大于或等于高度阈值。例如，无人飞行器的加速度(具体为垂直方向的加速度)、速度(具体为垂直方向的速度)、角速度、无人飞行器相对于地面的高度、以及控制终端的控制杆量中的至少一个不再满足表1所示的特征。 The flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold. For example, at least one of the acceleration of the UAV (specifically the acceleration in the vertical direction), the speed (specifically the speed in the vertical direction), the angular velocity, the height of the UAV relative to the ground, and the amount of the control rod of the terminal are no longer The characteristics shown in Table 1 are satisfied.
如图4所示，在对无人飞行器实际的动力输出进行限制的这段时间内，无人飞行器的垂直加速度逐渐增大，例如在463秒时刻，无人飞行器的垂直加速度达到最大，其绝对值不再满足表1中垂直加速度对应的阈值例如1m/s2，因此，确定无人飞行器位于空中，而不是位于地面。As shown in Figure 4, the vertical acceleration of the UAV gradually increases during the time limit of the actual power output of the UAV. For example, at 463 seconds, the vertical acceleration of the UAV is maximized. The value no longer satisfies the threshold corresponding to the vertical acceleration in Table 1, for example 1 m/s 2 , therefore, it is determined that the UAV is in the air, not on the ground.
步骤S505、若所述控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值，则停止调整所述无人飞行器的动力输出。Step S505: If the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, stop adjusting the power output of the UAV.
如图2、图3、图4所示的直线201表示用户操作遥控器的油门杆或油门按键时，遥控器生成的油门杆或油门按键的控制杆量，在上述实施例中，油门杆或油门按键的控制杆量为0，在本实施例中，油门杆或油门按键的控制杆量可以不为0，例如大于0，表示用户通过遥控器控制无人飞行器上升，当油门杆或油门按键的控制杆量大于或等于动力输出阈值时，飞行控制器停止调整所述无人飞行器的动力输出，以满足用户通过遥控器控制无人飞行器上升的需求。The line 201 shown in FIG. 2, FIG. 3, and FIG. 4 indicates the amount of the throttle lever or the throttle lever generated by the remote controller when the user operates the throttle lever or the throttle button of the remote controller. In the above embodiment, the throttle lever or The amount of the throttle button of the throttle button is 0. In this embodiment, the amount of the throttle lever or the throttle button may not be 0, for example, greater than 0, indicating that the user controls the unmanned aerial vehicle to rise through the remote controller, when the throttle lever or the throttle button When the amount of the lever is greater than or equal to the power output threshold, the flight controller stops adjusting the power output of the unmanned aerial vehicle to meet the user's need to control the unmanned aerial vehicle to rise through the remote controller.
本实施例中，当控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值时，停止调整无人飞行器的动力输出，以满足用户通过遥控器控制无人飞行器上升的需求。In this embodiment, when the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
本发明实施例提供一种无人飞行器的状态检测设备。该状态检测设备具体可以是无人飞行器的飞行控制器，无人飞行器的状态检测设备包括一个或多个处理器，单独或协同工作，所述处理器用于：获取无人飞行器的飞行状态参数；根据所述飞行状态参数，调整所述无人飞行器的动力输出；根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle. The state detecting device may specifically be a flight controller of the unmanned aerial vehicle, and the state detecting device of the unmanned aerial vehicle includes one or more processors, which work separately or in cooperation, and the processor is configured to: acquire a flight state parameter of the unmanned aerial vehicle; Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter; determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process.
具体的，所述无人飞行器的飞行状态参数包括如下至少一种：所述无人飞行器的加速度、速度、角速度、所述无人飞行器相对于地面的高度、以及用于控制所述无人飞行器的控制终端的控制杆量。所述控制终端的控制杆量包括如下至少一种：所述控制终端的油门杆或油门按键的控制杆量；所述控制终端的俯仰杆或俯仰按键的控制杆量；所述控制终端的横滚杆或横滚按键的控制杆量；所述控制终端的航向杆或航向按键的控制杆量。 Specifically, the flight state parameter of the UAV includes at least one of: acceleration, speed, angular velocity of the UAV, height of the UAV relative to the ground, and control of the UAV The amount of joystick that controls the terminal. The control lever amount of the control terminal includes at least one of: a control lever amount of the throttle lever or the throttle button of the control terminal; a control lever amount of the pitch lever or the tilt button of the control terminal; and a horizontal direction of the control terminal The amount of the lever of the roller or the scroll button; the amount of the lever of the head of the control terminal or the heading button.
可选的，所述处理器根据所述飞行状态参数，调整所述无人飞行器的动力输出时，具体用于：若所述飞行状态参数小于阈值，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。Optionally, when the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, adjusting a power output of the UAV, To attenuate the power output of the UAV.
或者，所述处理器根据所述飞行状态参数，调整所述无人飞行器的动力输出时，具体用于：若所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第一预设时间，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。Alternatively, when the processor adjusts the power output of the UAV according to the flight state parameter, specifically, if the flight state parameter is less than a threshold, and the flight state parameter is less than a threshold, the duration reaches For a predetermined time, the power output of the UAV is adjusted to attenuate the power output of the UAV.
其中，所述处理器调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减时，具体用于：利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减。所述处理器利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减时，具体用于：比较所述无人飞行器的动力输出和所述动力输出阈值；若所述无人飞行器的动力输出大于所述动力输出阈值，则将所述无人飞行器的动力输出调整为所述动力输出阈值。具体的，所述动力输出阈值随时间衰减，例如，所述动力输出阈值随时间指数衰减。Wherein the processor adjusts the power output of the UAV to attenuate the power output of the UAV, and is specifically configured to: limit the power output of the UAV by using a power output threshold, Attenuating the power output of the UAV. The processor uses a power output threshold to limit the power output of the UAV to attenuate the power output of the UAV, specifically for comparing the power output of the UAV with the power And outputting a threshold; if the power output of the unmanned aerial vehicle is greater than the power output threshold, adjusting a power output of the unmanned aerial vehicle to the power output threshold. Specifically, the power output threshold decays with time, for example, the power output threshold decays exponentially with time.
本发明实施例提供的状态检测设备的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。The specific principles and implementations of the state detection device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and will not be further described herein.
本实施例通过获取无人飞行器的飞行状态参数，并根据飞行状态参数，调整无人飞行器的动力输出，在调整动力输出的过程中，继续获取无人飞行器的飞行状态参数，并根据调整动力输出的过程中无人飞行器的飞行状态参数进一步确定无人飞行器的状态，相比于现有技术中只通过无人飞行器当前的飞行状态参数来确定无人飞行器的状态，提高了检测无人飞行器的状态的精确度，可有效避免出现无人飞行器的状态误判的现象。In this embodiment, the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter. In the process of adjusting the power output, the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment. The flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
本发明实施例提供一种无人飞行器的状态检测设备。该状态检测设备具体可以是无人飞行器的飞行控制器，在上述实施例提供的技术方案的基础上，所述处理器根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态时，具体用于：若在调整所述动力输出过程中，所述飞行状态参数小于阈值，则确定所述无人飞行器位于地面；若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值， 则确定所述无人飞行器位于空中。Embodiments of the present invention provide a state detecting device for an unmanned aerial vehicle. The state detecting device may be specifically a flight controller of the unmanned aerial vehicle. Based on the technical solution provided by the foregoing embodiment, the processor determines the flight state parameter of the unmanned aerial vehicle in the power output process. The state of the UAV is specifically configured to: if the flight state parameter is less than a threshold value during the adjustment of the power output, determine that the UAV is located on the ground; if the power output is adjusted The flight state parameter is greater than or equal to a threshold, It is then determined that the UAV is in the air.
或者，所述处理器根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态时，具体用于：若在调整所述动力输出过程中，所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第二预设时间，则确定所述无人飞行器位于地面；若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值，则确定所述无人飞行器位于空中。Alternatively, the processor is configured to: when adjusting the state of the unmanned aerial vehicle according to the flight state parameter of the unmanned aerial vehicle in the power output process, specifically, if the power output is adjusted, If the flight state parameter is less than the threshold, and the duration of the flight state parameter is less than the threshold reaches a second preset time, determining that the UAV is located on the ground; if the power output is adjusted, the flight state parameter is greater than Or equal to the threshold, it is determined that the UAV is in the air.
其中，所述飞行状态参数小于阈值，包括如下至少一种：所述加速度的绝对值小于加速度阈值；所述速度的绝对值小于速度阈值；所述角速度的绝对值小于角速度阈值；所述无人飞行器相对于地面的高度小于高度阈值；所述控制终端的控制杆量小于控制量阈值。所述飞行状态参数大于或等于阈值，包括如下至少一种：所述加速度的绝对值大于或等于加速度阈值；所述速度的绝对值大于或等于速度阈值；所述角速度的绝对值大于或等于角速度阈值；所述无人飞行器相对于地面的高度大于或等于高度阈值。The flight state parameter is less than a threshold, and includes at least one of: an absolute value of the acceleration is less than an acceleration threshold; an absolute value of the speed is less than a speed threshold; an absolute value of the angular velocity is less than an angular velocity threshold; The height of the aircraft relative to the ground is less than a height threshold; the amount of control of the control terminal is less than the control amount threshold. The flight state parameter is greater than or equal to a threshold, and includes at least one of: an absolute value of the acceleration is greater than or equal to an acceleration threshold; an absolute value of the speed is greater than or equal to a speed threshold; and an absolute value of the angular velocity is greater than or equal to an angular velocity a threshold; the height of the UAV relative to the ground is greater than or equal to a height threshold.
此外，所述处理器还用于：若所述控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值，则停止调整所述无人飞行器的动力输出。In addition, the processor is further configured to: if the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to a power output threshold, stop adjusting the power output of the unmanned aerial vehicle.
本发明实施例提供的状态检测设备的具体原理和实现方式均与图5所示实施例类似，此处不再赘述。The specific principles and implementation manners of the state detection device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 5, and details are not described herein again.
本实施例中，当控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值时，停止调整无人飞行器的动力输出，以满足用户通过遥控器控制无人飞行器上升的需求。In this embodiment, when the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped to meet the requirement that the user controls the unmanned aerial vehicle to rise through the remote controller.
本发明实施例提供一种无人飞行器。图6为本发明实施例提供的无人飞行器的结构图，如图6所示，无人飞行器600包括：机身、动力***和飞行控制器618，所述动力***包括如下至少一种：电机607、螺旋桨606和电子调速器617，动力***安装在所述机身，用于提供飞行动力；飞行控制器618与所述动力***通讯连接，用于控制所述无人飞行器飞行；其中，飞行控制器618包括惯性测量单元及陀螺仪。所述惯性测量单 元及所述陀螺仪用于检测所述无人机的加速度、俯仰角、横滚角及航向角等。Embodiments of the present invention provide an unmanned aerial vehicle. FIG. 6 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 6, the unmanned aerial vehicle 600 includes: a fuselage, a power system, and a flight controller 618, and the power system includes at least one of the following: a motor 607, a propeller 606 and an electronic governor 617, wherein a power system is installed in the airframe for providing flight power; and a flight controller 618 is communicatively coupled to the power system for controlling the UAV flight; Flight controller 618 includes an inertial measurement unit and a gyroscope. The inertial measurement sheet And the gyroscope is used to detect the acceleration, pitch angle, roll angle and heading angle of the drone.
另外，如图6所示，无人飞行器600还包括：传感***608、通信***610、支撑设备602、拍摄设备604，其中，支撑设备602具体可以是云台，通信***610具体可以包括接收机，接收机用于接收地面站612的天线614发送的无线信号，616表示接收机和天线614通信过程中产生的电磁波。In addition, as shown in FIG. 6, the unmanned aerial vehicle 600 further includes: a sensing system 608, a communication system 610, a supporting device 602, and a photographing device 604. The supporting device 602 may specifically be a pan/tilt, and the communication system 610 may specifically include receiving The receiver is configured to receive a wireless signal transmitted by an antenna 614 of the ground station 612, and 616 represents an electromagnetic wave generated during communication between the receiver and the antenna 614.
此外，飞行控制器618具体可以是上述实施例中的状态检测设备，该状态检测设备可用于检测无人飞行器600的状态，具体原理和实现方式均与上述实施例类似，此处不再赘述。In addition, the flight controller 618 may be specifically the state detecting device in the above embodiment, and the state detecting device may be used to detect the state of the unmanned aerial vehicle 600. The specific principles and implementation manners are similar to the above embodiments, and are not described herein again.
本实施例通过获取无人飞行器的飞行状态参数，并根据飞行状态参数，调整无人飞行器的动力输出，在调整动力输出的过程中，继续获取无人飞行器的飞行状态参数，并根据调整动力输出的过程中无人飞行器的飞行状态参数进一步确定无人飞行器的状态，相比于现有技术中只通过无人飞行器当前的飞行状态参数来确定无人飞行器的状态，提高了检测无人飞行器的状态的精确度，可有效避免出现无人飞行器的状态误判的现象。In this embodiment, the flight state parameters of the unmanned aerial vehicle are obtained, and the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter. In the process of adjusting the power output, the flight state parameters of the unmanned aerial vehicle are continuously acquired, and the power output is adjusted according to the adjustment. The flight state parameters of the unmanned aerial vehicle further determine the state of the unmanned aerial vehicle, and the state of the unmanned aerial vehicle is determined only by the current flight state parameters of the unmanned aerial vehicle in the prior art, and the detection of the unmanned aerial vehicle is improved. The accuracy of the state can effectively avoid the phenomenon of misjudgment of the state of the UAV.
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以 采用硬件加软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or It is implemented in the form of hardware plus software functional units.
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (29)

  1. 一种无人飞行器的状态检测方法，其特征在于，包括：A method for detecting a state of an unmanned aerial vehicle, comprising:
    获取无人飞行器的飞行状态参数；Obtaining flight state parameters of the unmanned aerial vehicle;
    根据所述飞行状态参数，调整所述无人飞行器的动力输出；Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter;
    根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle during the power output process.
  2. 根据权利要求1所述的方法，其特征在于，所述无人飞行器的飞行状态参数包括如下至少一种：The method of claim 1 wherein the flight state parameters of the UAV comprise at least one of the following:
    所述无人飞行器的加速度、速度、角速度、所述无人飞行器相对于地面的高度、以及用于控制所述无人飞行器的控制终端的控制杆量。The acceleration, speed, angular velocity of the unmanned aerial vehicle, the height of the UAV relative to the ground, and the amount of control rods used to control the control terminal of the UAV.
  3. 根据权利要求2所述的方法，其特征在于，所述控制终端的控制杆量包括如下至少一种：The method according to claim 2, wherein the control lever amount of the control terminal comprises at least one of the following:
    所述控制终端的油门杆或油门按键的控制杆量；The amount of the control lever of the throttle lever or the throttle button of the control terminal;
    所述控制终端的俯仰杆或俯仰按键的控制杆量；Controlling the amount of the lever of the pitch lever or the tilt button of the terminal;
    所述控制终端的横滚杆或横滚按键的控制杆量；Controlling the amount of the control rod of the horizontal or horizontal scroll button of the terminal;
    所述控制终端的航向杆或航向按键的控制杆量。The amount of the control rod of the heading or heading button of the control terminal.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述根据所述飞行状态参数，调整所述无人飞行器的动力输出，包括：The method according to any one of claims 1 to 3, wherein the adjusting the power output of the unmanned aerial vehicle according to the flight state parameter comprises:
    若所述飞行状态参数小于阈值，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。If the flight state parameter is less than a threshold, the power output of the UAV is adjusted to attenuate the power output of the UAV.
  5. 根据权利要求4所述的方法，其特征在于，所述若所述飞行状态参数小于阈值，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减，包括：The method according to claim 4, wherein if the flight state parameter is less than a threshold, adjusting a power output of the UAV to attenuate a power output of the UAV includes:
    若所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第一预设时间，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。And if the flight state parameter is less than a threshold, and the duration of the flight state parameter is less than the threshold reaches a first preset time, adjusting a power output of the UAV to attenuate the power output of the UAV.
  6. 根据权利要求4或5所述的方法，其特征在于，所述调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减，包括：The method according to claim 4 or 5, wherein said adjusting the power output of said unmanned aerial vehicle to attenuate the power output of said unmanned aerial vehicle comprises:
    利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减。 The power output threshold is utilized to limit the power output of the UAV to attenuate the power output of the UAV.
  7. 根据权利要求6所述的方法，其特征在于，所述利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减，包括：The method of claim 6 wherein said utilizing a power output threshold limits said power output of said unmanned aerial vehicle to attenuate said power output of said unmanned aerial vehicle, comprising:
    比较所述无人飞行器的动力输出和所述动力输出阈值；Comparing the power output of the UAV with the power output threshold;
    若所述无人飞行器的动力输出大于所述动力输出阈值，则将所述无人飞行器的动力输出调整为所述动力输出阈值。If the power output of the UAV is greater than the power output threshold, the power output of the UAV is adjusted to the power output threshold.
  8. 根据权利要求7所述的方法，其特征在于，所述动力输出阈值随时间衰减。The method of claim 7 wherein said power output threshold decays over time.
  9. 根据权利要求8所述的方法，其特征在于，所述动力输出阈值随时间衰减，包括：The method of claim 8 wherein said power output threshold decays over time comprises:
    所述动力输出阈值随时间指数衰减。The power output threshold is exponentially attenuated over time.
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态，包括：The method according to any one of claims 1 to 9, wherein the determining the state of the unmanned aerial vehicle according to adjusting the flight state parameter of the unmanned aerial vehicle in the power output process comprises:
    若在调整所述动力输出过程中，所述飞行状态参数小于阈值，则确定所述无人飞行器位于地面；If the flight state parameter is less than a threshold during the adjustment of the power output, determining that the UAV is located on the ground;
    若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值，则确定所述无人飞行器位于空中。If the flight state parameter is greater than or equal to the threshold during the adjustment of the power output, it is determined that the UAV is in the air.
  11. 根据权利要求10所述的方法，其特征在于，所述若在调整所述动力输出过程中，所述飞行状态参数小于阈值，则确定所述无人飞行器位于地面，包括：The method according to claim 10, wherein if the flight state parameter is less than a threshold during the adjustment of the power output, determining that the UAV is located on the ground comprises:
    若在调整所述动力输出过程中，所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第二预设时间，则确定所述无人飞行器位于地面。If the flight state parameter is less than the threshold during the adjustment of the power output, and the duration of the flight state parameter is less than the threshold reaches a second preset time, determining that the UAV is located on the ground.
  12. 根据权利要求4-11任一项所述的方法，其特征在于，所述飞行状态参数小于阈值，包括如下至少一种：The method according to any one of claims 4-11, wherein the flight state parameter is less than a threshold, including at least one of the following:
    所述加速度的绝对值小于加速度阈值；The absolute value of the acceleration is less than an acceleration threshold;
    所述速度的绝对值小于速度阈值；The absolute value of the speed is less than a speed threshold;
    所述角速度的绝对值小于角速度阈值；The absolute value of the angular velocity is less than the angular velocity threshold;
    所述无人飞行器相对于地面的高度小于高度阈值； The height of the UAV relative to the ground is less than a height threshold;
    所述控制终端的控制杆量小于控制量阈值。The control lever amount of the control terminal is less than the control amount threshold.
  13. 根据权利要求10或11所述的方法，其特征在于，所述飞行状态参数大于或等于阈值，包括如下至少一种：The method according to claim 10 or 11, wherein the flight state parameter is greater than or equal to a threshold value, including at least one of the following:
    所述加速度的绝对值大于或等于加速度阈值；The absolute value of the acceleration is greater than or equal to an acceleration threshold;
    所述速度的绝对值大于或等于速度阈值；The absolute value of the speed is greater than or equal to a speed threshold;
    所述角速度的绝对值大于或等于角速度阈值；The absolute value of the angular velocity is greater than or equal to an angular velocity threshold;
    所述无人飞行器相对于地面的高度大于或等于高度阈值。The height of the UAV relative to the ground is greater than or equal to a height threshold.
  14. 根据权利要求3-13任一项所述的方法，其特征在于，还包括：The method of any of claims 3-13, further comprising:
    若所述控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值，则停止调整所述无人飞行器的动力输出。If the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped.
  15. 一种无人飞行器的状态检测设备，其特征在于，包括一个或多个处理器，单独或协同工作，所述处理器用于：A state detecting device for an unmanned aerial vehicle, comprising one or more processors, working alone or in cooperation, the processor for:
    获取无人飞行器的飞行状态参数；Obtaining flight state parameters of the unmanned aerial vehicle;
    根据所述飞行状态参数，调整所述无人飞行器的动力输出；Adjusting a power output of the unmanned aerial vehicle according to the flight state parameter;
    根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态。Determining a state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle during the power output process.
  16. 根据权利要求15所述的状态检测设备，其特征在于，所述无人飞行器的飞行状态参数包括如下至少一种：The state detecting device according to claim 15, wherein the flight state parameter of the unmanned aerial vehicle comprises at least one of the following:
    所述无人飞行器的加速度、速度、角速度、所述无人飞行器相对于地面的高度、以及用于控制所述无人飞行器的控制终端的控制杆量。The acceleration, speed, angular velocity of the unmanned aerial vehicle, the height of the UAV relative to the ground, and the amount of control rods used to control the control terminal of the UAV.
  17. 根据权利要求16所述的状态检测设备，其特征在于，所述控制终端的控制杆量包括如下至少一种：The state detecting device according to claim 16, wherein the control lever amount of the control terminal comprises at least one of the following:
    所述控制终端的油门杆或油门按键的控制杆量；The amount of the control lever of the throttle lever or the throttle button of the control terminal;
    所述控制终端的俯仰杆或俯仰按键的控制杆量；Controlling the amount of the lever of the pitch lever or the tilt button of the terminal;
    所述控制终端的横滚杆或横滚按键的控制杆量；Controlling the amount of the control rod of the horizontal or horizontal scroll button of the terminal;
    所述控制终端的航向杆或航向按键的控制杆量。The amount of the control rod of the heading or heading button of the control terminal.
  18. 根据权利要求15-17任一项所述的状态检测设备，其特征在于，所述处理器根据所述飞行状态参数，调整所述无人飞行器的动力输出时，具体用于：若所述飞行状态参数小于阈值，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。 The state detecting device according to any one of claims 15-17, wherein the processor adjusts the power output of the unmanned aerial vehicle according to the flight state parameter, specifically for: if the flight The state parameter is less than the threshold, and the power output of the UAV is adjusted to attenuate the power output of the UAV.
  19. 根据权利要求15-17任一项所述的状态检测设备，其特征在于，所述处理器根据所述飞行状态参数，调整所述无人飞行器的动力输出时，具体用于：The state detecting device according to any one of claims 15-17, wherein the processor is configured to: when the power output of the unmanned aerial vehicle is adjusted according to the flight state parameter, specifically:
    若所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第一预设时间，则调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减。And if the flight state parameter is less than a threshold, and the duration of the flight state parameter is less than the threshold reaches a first preset time, adjusting a power output of the UAV to attenuate the power output of the UAV.
  20. 根据权利要求18或19所述的状态检测设备，其特征在于，所述处理器调整所述无人飞行器的动力输出，以使所述无人飞行器的动力输出衰减时，具体用于：The state detecting device according to claim 18 or 19, wherein the processor adjusts the power output of the unmanned aerial vehicle to attenuate the power output of the unmanned aerial vehicle, specifically for:
    利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减。The power output threshold is utilized to limit the power output of the UAV to attenuate the power output of the UAV.
  21. 根据权利要求20所述的状态检测设备，其特征在于，所述处理器利用动力输出阈值对所述无人飞行器的动力输出进行限制，以使所述无人飞行器的动力输出衰减时，具体用于：The state detecting apparatus according to claim 20, wherein said processor limits a power output of said unmanned aerial vehicle with a power output threshold to attenuate a power output of said unmanned aerial vehicle, specifically to:
    比较所述无人飞行器的动力输出和所述动力输出阈值；Comparing the power output of the UAV with the power output threshold;
    若所述无人飞行器的动力输出大于所述动力输出阈值，则将所述无人飞行器的动力输出调整为所述动力输出阈值。If the power output of the UAV is greater than the power output threshold, the power output of the UAV is adjusted to the power output threshold.
  22. 根据权利要求21所述的状态检测设备，其特征在于，所述动力输出阈值随时间衰减。The state detecting device according to claim 21, wherein said power output threshold is attenuated with time.
  23. 根据权利要求22所述的状态检测设备，其特征在于，所述动力输出阈值随时间衰减，包括：The state detecting device according to claim 22, wherein the power output threshold is attenuated over time, comprising:
    所述动力输出阈值随时间指数衰减。The power output threshold is exponentially attenuated over time.
  24. 根据权利要求15-23任一项所述的状态检测设备，其特征在于，所述处理器根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态时，具体用于：The state detecting device according to any one of claims 15 to 23, wherein the processor determines the state of the unmanned aerial vehicle according to adjusting a flight state parameter of the unmanned aerial vehicle in the power output process When specifically used to:
    若在调整所述动力输出过程中，所述飞行状态参数小于阈值，则确定所述无人飞行器位于地面；If the flight state parameter is less than a threshold during the adjustment of the power output, determining that the UAV is located on the ground;
    若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值，则确定所述无人飞行器位于空中。If the flight state parameter is greater than or equal to the threshold during the adjustment of the power output, it is determined that the UAV is in the air.
  25. 根据权利要求15-23任一项所述的状态检测设备，其特征在于， 所述处理器根据调整所述动力输出过程中所述无人飞行器的飞行状态参数，确定所述无人飞行器的状态时，具体用于：A state detecting device according to any one of claims 15 to 23, characterized in that The processor is specifically configured to: when determining a state of the unmanned aerial vehicle according to a flight state parameter of the unmanned aerial vehicle in the power output process,
    若在调整所述动力输出过程中，所述飞行状态参数小于阈值，且所述飞行状态参数小于阈值的持续时间达到第二预设时间，则确定所述无人飞行器位于地面；Determining that the UAV is located on the ground if the flight state parameter is less than a threshold during the adjustment of the power output, and the duration of the flight state parameter being less than the threshold reaches a second preset time;
    若在调整所述动力输出过程中，所述飞行状态参数大于或等于阈值，则确定所述无人飞行器位于空中。If the flight state parameter is greater than or equal to the threshold during the adjustment of the power output, it is determined that the UAV is in the air.
  26. 根据权利要求18或25所述的状态检测设备，其特征在于，所述飞行状态参数小于阈值，包括如下至少一种：The state detecting device according to claim 18 or 25, wherein the flight state parameter is smaller than a threshold, and includes at least one of the following:
    所述加速度的绝对值小于加速度阈值；The absolute value of the acceleration is less than an acceleration threshold;
    所述速度的绝对值小于速度阈值；The absolute value of the speed is less than a speed threshold;
    所述角速度的绝对值小于角速度阈值；The absolute value of the angular velocity is less than the angular velocity threshold;
    所述无人飞行器相对于地面的高度小于高度阈值；The height of the UAV relative to the ground is less than a height threshold;
    所述控制终端的控制杆量小于控制量阈值。The control lever amount of the control terminal is less than the control amount threshold.
  27. 根据权利要求24或25所述的状态检测设备，其特征在于，所述飞行状态参数大于或等于阈值，包括如下至少一种：The state detecting device according to claim 24 or 25, wherein the flight state parameter is greater than or equal to a threshold, and includes at least one of the following:
    所述加速度的绝对值大于或等于加速度阈值；The absolute value of the acceleration is greater than or equal to an acceleration threshold;
    所述速度的绝对值大于或等于速度阈值；The absolute value of the speed is greater than or equal to a speed threshold;
    所述角速度的绝对值大于或等于角速度阈值；The absolute value of the angular velocity is greater than or equal to an angular velocity threshold;
    所述无人飞行器相对于地面的高度大于或等于高度阈值。The height of the UAV relative to the ground is greater than or equal to a height threshold.
  28. 根据权利要求17-27任一项所述的状态检测设备，其特征在于，所述处理器还用于：The state detecting device according to any one of claims 17 to 27, wherein the processor is further configured to:
    若所述控制终端的油门杆或油门按键的控制杆量大于或等于动力输出阈值，则停止调整所述无人飞行器的动力输出。If the control lever amount of the throttle lever or the throttle button of the control terminal is greater than or equal to the power output threshold, the power output of the unmanned aerial vehicle is stopped.
  29. 一种无人飞行器，其特征在于，包括：An unmanned aerial vehicle, comprising:
    机身；body;
    动力***，安装在所述机身，用于提供飞行动力；a power system mounted to the fuselage for providing flight power;
    以及如权利要求15-28任一项所述的状态检测设备。 And the state detecting device according to any one of claims 15-28.
PCT/CN2017/080062 2017-04-11 2017-04-11 Method for detecting state of unmanned aircraft, device, and unmanned aircraft WO2018187934A1 (en)

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