WO2020220159A1 - 一种无人机的控制方法、设备、无人机、***及存储介质 - Google Patents
一种无人机的控制方法、设备、无人机、***及存储介质 Download PDFInfo
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- WO2020220159A1 WO2020220159A1 PCT/CN2019/084760 CN2019084760W WO2020220159A1 WO 2020220159 A1 WO2020220159 A1 WO 2020220159A1 CN 2019084760 W CN2019084760 W CN 2019084760W WO 2020220159 A1 WO2020220159 A1 WO 2020220159A1
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- motor
- rotation state
- drone
- control signal
- target
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000003993 interaction Effects 0.000 claims description 39
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 230000015654 memory Effects 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 7
- 230000000875 corresponding effect Effects 0.000 description 34
- 238000005507 spraying Methods 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 239000000575 pesticide Substances 0.000 description 8
- 238000004891 communication Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
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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
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- the present invention relates to the field of control technology, in particular to a control method, equipment, unmanned aerial vehicle, system and storage medium of an unmanned aerial vehicle.
- the mobile robots are usually controlled by remote control devices.
- the remote control device and the unmanned vehicle are independent of each other, the remote control device is responsible for inputting instructions, and the unmanned vehicle is responsible for executing instructions.
- the embodiments of the present invention provide a control method, equipment, unmanned aerial vehicle, system and storage medium of an unmanned aerial vehicle, which improve the effectiveness and flexibility of controlling the unmanned aerial vehicle, save system design costs, and improve user experience .
- an embodiment of the present invention provides a method for controlling a drone, the drone including one or more motors for providing mobile power for the drone, and the method includes:
- the drone is controlled to perform a preset action task.
- an embodiment of the present invention provides a control device applied to an unmanned aerial vehicle.
- the unmanned aerial vehicle includes one or more motors for providing mobile power for the unmanned aerial vehicle, including: a memory and a processor;
- the memory is used to store program instructions
- the processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
- the drone is controlled to perform a preset action task.
- an embodiment of the present invention provides a drone, including:
- the power system configured on the fuselage is used to provide mobile power for the drone;
- the power system includes: power components; one or more motors for driving the power components to rotate to provide power for the movement of the drone;
- the processor is configured to obtain the rotation state information of the target motor in the one or more motors, wherein the rotation of the target motor is caused by the external force applied to it by the user; generating control according to the rotation state information of the target motor Signal; according to the control signal to control the drone to perform a preset action task.
- an embodiment of the present invention provides a control system, including: a control device and a drone;
- the control device is configured to obtain information about the rotation state of a target motor in the one or more motors, wherein the rotation of the target motor is caused by an external force applied to it by a user, and is based on the rotation state of the target motor.
- Information generates a control signal, and sends the control signal to the drone;
- the unmanned aerial vehicle is used to receive a control signal sent by the control device, and execute a preset action task according to the instruction of the control signal.
- an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.
- the control device triggers the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system cost; by acquiring the rotation state information of the target motor, according to The rotation state information of the target motor generates a control signal, and controls the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
- the situation has improved the flexibility and effectiveness of drone control and improved user experience.
- FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle provided by an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention
- FIG. 3 is a schematic diagram of a scenario of an application control method provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of an action task for determining a target motor, a preset target rotation state, and a preset target rotation state through a control terminal provided by an embodiment of the present invention
- FIG. 5 is a schematic flowchart of another drone control method provided by an embodiment of the present invention.
- Fig. 6 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
- the control method of the drone provided in the embodiments of the present invention may be executed by a drone.
- the control method may be executed by a control device of the drone.
- the control device of the drone can be installed on the drone, that is, the drone includes the control device; in some embodiments, the control device can be spatially independent from the drone.
- Man-machine In some embodiments, a communication connection is established between the control terminal and the drone.
- the control terminal can detect user input control operations to generate control instructions, and send the control instructions to the drone to control the drone to perform work tasks , Such as mobile tasks, shooting tasks, etc., the drone can send collected data, such as image data or its own state data, to the control terminal.
- the drone includes one or more motors for providing moving power for the drone; in some embodiments, the drone further includes a power component that is rotationally connected to the motor In some embodiments, the power component includes at least one of a wheel, a propeller, and a crawler.
- the unmanned aerial vehicle may be a mission robot whose mission relies on the motor to move autonomously, and the unmanned aerial vehicle may include movable equipment such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships.
- the control method of the drone can trigger the rotation of the target motor of the drone by the user applying an external force to the target motor of one or more motors of the drone to obtain the rotation of the target motor. State information, and generate a control signal according to the rotation state information of the target motor, so as to control the drone to perform a preset action task according to the control signal.
- the preset action tasks include, but are not limited to, the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio At least one of the control task of the playback device, and the spraying device of the drone to spray pesticides.
- the user can apply external force to the drone's motor to cause the motor to rotate, so as to obtain the motor's rotation status information, and according to the motor's rotation status
- the information generates a control signal to control the UAV to perform the preset action task indicated by the control signal, which improves the effectiveness and flexibility of the UAV control.
- the rotation of the target motor is not caused by a control command for the drone generated inside the drone. In one embodiment, the rotation of the target motor is not caused by the drone. It is caused by the control instruction to the motor, and further, the rotation of the target motor may be caused by an external force applied to it by the user.
- the control method of the drone detects that the target motor of one or more motors is not caused by the control command to the motor generated inside the drone, it can acquire the rotation state information of the target motor, and according to The rotation state information of the target motor generates a control signal to control the drone to perform a preset action task according to the control signal.
- the rotation status information includes, but is not limited to, information indicating whether the motor is rotating (for example, information indicating that the motor is in a rotating state or a stopped state), the rotation speed of the motor, the rotation angle of the motor, the acceleration of the motor rotation, and the motor Any one or more of the joint angles.
- control signal includes a switch control signal and/or a digital control signal; in some embodiments, the switch control signal may indicate whether the motor is rotating according to one or more target motors. Any one or more of the information, the joint angle of the motor, and the rotation angle of the motor are determined; in some embodiments, the digital control signal may be determined according to the joint angle, motor speed, and motor rotation angle of one or more target motors. Any one or more of information from the angle of rotation, the acceleration of the motor rotation, etc. are determined.
- the rotation state information, control signal, and the corresponding relationship between the three action tasks is to determine whether the rotation state of the target motor matches one of the at least one preset target rotation state in the corresponding relationship, and if it is determined to match, generate The control signal associated with the matching preset target rotation state is used to control the drone to perform the preset action task indicated by the control signal.
- the preset correspondence between the rotation state information, the control signal, and the motion task of the motor includes at least one correspondence between the preset target rotation state and the motion task, and the motion task Correspondence with control signal.
- the corresponding relationship between the at least one preset target rotation state and the motion task, and the corresponding relationship between the motion task and the control signal may be pre-solidified in the control program of the drone.
- the correspondence between the at least one preset target rotation state and the motion task, and the correspondence between the motion task and the control signal may be edited and determined by the user through the control terminal.
- Table 1 can be used as an example to briefly describe the correspondence between the rotation state information and the control signal of a motor of the unmanned aerial vehicle in the embodiment of the present invention.
- the rotation state or the stop state of the motor corresponds to a switch control signal
- the joint angle and the motor speed of the motor correspond to the digital control signal respectively.
- the rotation status information of the motor can be obtained through a motor status monitor on the drone.
- the motor status monitor can monitor the running status of the motor in real time, and send the monitored rotation status of the motor
- the control equipment of the drone is processed, wherein the motor state monitor may include one or more current sensors, voltage sensors, and magnetic sensors.
- the motor status monitor may include a Hall bed sensor.
- the preset correspondence between at least one preset target rotation state and the motion task, and the correspondence between the motion task and the control signal it can be determined that it corresponds to the combination of the rotation state information of the multiple target motors.
- Control signal Specifically, the following Table 2 can be used as an example to briefly illustrate the correspondence between the rotation state information of multiple target motors and the control signal.
- the combination of the rotation status information of multiple motors may correspond to one or more control signals.
- Table 2 the combination of the counterclockwise rotation of the No. 1 motor and the clockwise rotation of the No. 2 motor and the switch value control Signal correspondence; the combination of No. 1, 3 motor stationary and No. 2 motor rotating corresponds to the switch value control signal; the combination and switch value control of the angle of the No. 1 motor at 0 ⁇ 90 degrees and the angle of the No. 2 motor at -180 ⁇ -90 degrees Signal correspondence.
- FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle according to an embodiment of the present invention.
- the control system of the unmanned aerial vehicle includes: an unmanned aerial vehicle 12 and a control terminal 13.
- the drone 12 includes a control device 11.
- the drone 12 includes a power system 121, and the power system 121 is used to provide power for the drone 12 to move.
- the drone 12 and the control device 11 are independent of each other.
- the control device 11 is set in a cloud server and establishes a communication connection with the drone 12 through a wireless communication connection.
- the control terminal 13 establishes a communication connection with the drone 12, and the control terminal 13 is used to send a remote control signal to the drone 12 to control the flight direction and speed of the drone 12.
- the control device 11 may obtain the rotation state information of the target motor in one or more motors, where the rotation of the target motor is caused by the external force applied to it by the user, and is based on the rotation state of the target motor.
- the information generates a control signal, and according to the control signal, the drone 12 is controlled to perform a preset action task, so as to realize the control of the drone without a control terminal, which improves the effectiveness and control of the drone. flexibility.
- FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention.
- the method may be executed by a control device, and the specific explanation of the control device is as described above.
- the method of the embodiment of the present invention includes the following steps.
- S201 Acquire rotation state information of a target motor in one or more motors, where the rotation of the target motor is caused by an external force applied to it by a user.
- control device may obtain the rotation state information of the target motor in one or more motors, wherein the rotation of the target motor is caused by the external force applied to it by the user.
- control device may trigger the rotation of the target motor by the user applying an external force to one or more motors of the drone to obtain the rotation state information of the target motor.
- control device may obtain the rotation state information of the target motor through a drone motor state monitor, and the specific implementation is as described above.
- the drone further includes a power component connected to the motor to rotate, and the rotation of the target motor may be caused by an external force applied to it by the user through the power component.
- the power component includes at least one of a wheel, a propeller, and a crawler.
- the user can apply an external force to the propeller of the drone to rotate the propeller, thereby triggering the rotation of the target motor corresponding to the rotation state of the propeller.
- Fig. 3 is a schematic diagram of the application control method provided by the embodiment of the present invention.
- the unmanned vehicle 301 is taken as an example.
- a motor (not shown) that provides moving power for the car.
- the motor rotates and connects to the wheel 302.
- the user's hand 303 can apply an external force to the wheel 302.
- the wheel 302 rotates in the direction shown in FIG. Rotate the connected motor to rotate.
- control device may generate a control signal according to the rotation state information of the target motor.
- control signal includes a digital control signal and/or a digital control signal, and the digital control information and the digital control signal are explained as described above.
- the control device when the control device generates a control signal according to the rotation state information of the target motor, it may determine whether the rotation state of the target motor is consistent with at least one preset state according to the rotation state information of the target motor.
- a preset target rotation state among the target rotation states is matched, and when a match is determined, a control signal associated with the matched preset target rotation state is generated.
- each preset target rotation state in the at least one preset target rotation state corresponds to an action task.
- the action task may include, but is not limited to, the movement task of the drone, the action task of each load on the drone, etc.
- the load of the drone includes, but is not limited to, a camera, a spray device, PTZ, audio playback device, etc.
- the rotation states of motor 1 and motor 2 correspond to the preset action tasks.
- the rotation angle of the motor 1 corresponds to the matching action task of the pan/tilt rotation angle
- the rotation state of the motor 2 corresponds to the matching action task of spraying pesticides. If the rotation angle of the motor 1 is 50 degrees, and the corresponding matching action task is that the pan/tilt of the unmanned aerial vehicle rotates 50 degrees, a control signal can be generated and controlled to rotate the pan/tilt by 50 degrees. If the motor 2 is in a rotating state, and the corresponding matching action task is to start the spraying device of the drone, a control signal to control the pesticide spraying device of the drone can be generated.
- At least one of the target motor, at least one preset target rotation state, and at least one preset target rotation state corresponding to each preset target rotation state may be controlled by the user Terminal editing is determined, that is, the user can select one motor or multiple motors of the drone as the target motor through the control terminal.
- the control device When the user selects the target motor, the control device will obtain the rotation status information of the target motor.
- the user can also control the terminal to determine the preset target rotation state and the action task corresponding to the preset target rotation state, that is, the user can determine through the terminal what kind of action the drone should perform when the target motor is rotating.
- control device determines that the rotation state of the target motor matches the preset target rotation state according to the rotation state information of the target motor, it will generate a control signal associated with the preset target rotation state, and then according to the The control signal controls the drone to perform an action task corresponding to the preset target rotation state.
- FIG. 4 is a schematic diagram of an action task of determining a target motor, a preset target rotation state, and a preset target rotation state by controlling a terminal according to an embodiment of the present invention.
- the control terminal can display a control interface, and can perform an editing operation on the control interface to determine the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state.
- the control interface can display the action task list 401 and the drone motor list 402, and the user can drag the icon of the No. 1 motor in the drone motor list 402 to the edit box 403 , So the user can select motor No. 1 as the target motor.
- the user can click the icon of motor No.
- the control interface can pop up a dialog box for editing the preset target rotation state, and the user can operate the dialog box to determine the preset target state, for example, rotate 360 degree.
- the target motor is determined to be the No. 1 motor
- the preset target rotation state is determined to rotate 360 degrees.
- the user can drag the photo icon from the action task list 401 to the edit box 404, so that the action task corresponding to the preset target rotation state is determined to be a photo.
- the control device will obtain the rotation state information of the No. 1 motor.
- the control device determines that the rotation state of the No. 1 motor matches the 360-degree rotation state according to the rotation state information of the No. 1 motor, A control signal associated with the 360-degree rotation state is generated, and the drone is then controlled to perform an action task corresponding to the 360-degree rotation state, that is, a photographing task, according to the control signal.
- the implementation of at least one of the target motor, the at least one preset target rotation state and the at least one preset target rotation state of the at least one preset target rotation state is determined through this user's independent editing It can meet the needs of different users and enhance the user experience.
- the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state may be pre-solidified in the control program of the drone Yes, there is no specific limitation here.
- control signal includes a switch control signal and/or a digital control signal.
- control signal includes a digital control signal
- the control device when the control device generates the control signal associated with the matched preset target rotation state, it may follow a conversion rule corresponding to the matched preset target rotation state, Perform conversion calculation on the rotation state information to obtain a digital control signal associated with the matched preset target rotation state.
- the rotation speed of the target motor corresponds to the matching action task of the drone spraying device spraying pesticides. If the rotation speed of the target motor is 1000 revolutions per minute, the corresponding matching action task
- the spraying device of the man-machine sprays pesticides at a rate of 2 liters/minute, and then a digital quantity control signal for controlling the spraying device of the drone to spray pesticides at a rate of 2 liters/minute can be generated.
- control signal includes a switch value control signal, and when the control device generates a control signal associated with the matched preset target rotation state, it can generate a switch value associated with the matched preset target rotation state. control signal.
- the control device determines that the rotation state of the motor 1 and the motor 2 matches the preset target rotation state according to the rotation state information of the motor 1 and the motor 2, the control device can generate and turn on the drone
- the on-off control signal of the audio playback device is used to control the drone to turn on the audio playback device.
- S203 Control the drone to perform a preset action task according to the control signal.
- control device can control the drone to perform a preset action task according to the control signal.
- the preset action tasks include, but are not limited to, the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio At least one of the control tasks of the playback device.
- control device when the control device controls the drone to perform a preset action task according to the control signal, it may control the drone to perform the task according to the control signal associated with the matched preset target rotation state. Action tasks corresponding to the matching preset target rotation state.
- control signal acquired by the control device is a digital control signal for controlling the spraying device of the drone to spray pesticides at a rate of 2 liters per minute
- the control device can control to turn on the spraying device of the drone, And control the spraying device of the drone to perform the action task of spraying pesticides at a speed of 2 liters/min.
- the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
- the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
- FIG. 5 is a schematic flowchart of another drone control method according to an embodiment of the present invention.
- the method may be executed by a control device, and the specific explanation of the control device is as described above.
- the difference between the embodiment of the present invention and the embodiment described in Fig. 2 is that the embodiment of the present invention is a schematic description of the implementation process of generating a control signal in the motor interaction mode.
- the method of the embodiment of the present invention includes the following steps.
- S501 Obtain rotation state information of a target motor in one or more motors, where the rotation of the target motor is caused by an external force applied to it by a user.
- control device may obtain the rotation state information of the target motor in one or more motors, where the rotation of the target motor is caused by the external force applied to it by the user.
- the specific implementation is as described above, here No longer.
- the drone when it is detected that the drone meets the preset mode entry condition, it enters the motor interaction mode.
- the meeting the preset mode entry condition may include: receiving a control instruction sent by the control terminal for instructing the drone to enter the motor interaction mode; or detecting that the drone is in contact with the control The terminal is disconnected.
- satisfying the preset mode entry condition may further include: detecting that the drone is in a powered-on state; or detecting that the motor rotation state of the drone satisfies a preset state condition, for example, When the motor of the drone rotates 3 times clockwise and 3 times counterclockwise, it can be determined that the drone meets the preset mode entry conditions, and thus enters the motor interaction mode.
- the entering the motor interaction mode in other embodiments may also include other triggering methods, which are not specifically limited in the embodiment of the present invention.
- S503 In the motor interaction mode, generate a control signal according to the rotation state information of the target motor.
- control device may generate a control signal according to the rotation state information of the target motor in the motor interaction mode.
- control signal includes a digital control signal and/or a digital control signal, and the digital control information and the digital control signal are explained as described above.
- control device may determine whether the rotation state of the target motor is one of at least one preset target rotation state according to the rotation state information of the target motor in the motor interaction mode
- the preset target rotation state matching wherein each preset target rotation state in the at least one preset target rotation state corresponds to an action task; when a match is determined, a control associated with the matched preset target rotation state is generated
- the specific implementation of the signal is as described above.
- the drone includes two motors, namely motor 1 and motor 2.
- the rotation speed of motor 1 corresponds to the matching action task for the flight speed of the drone
- the rotation state of motor 2 The corresponding matching action task is the shooting task of the drone camera.
- the rotation speed of the motor 1 is 1000 revolutions/minute, and the corresponding action task is that the flying speed of the drone is 400 m/min, then it is possible to generate and control the number for the flying speed of the drone to be 400 m/min Volume control signal; and, if the motor 2 is at a rotation angle of 45 degrees, and the matching action task is that the shooting angle of the camera of the drone is 45 degrees, the camera can be generated to control the camera of the drone with 45 degrees as The digital control signal for shooting at the shooting angle.
- S504 Control the drone to perform a preset action task according to the control signal.
- control device can control the drone to perform a preset action task according to the control signal.
- the explanation and specific implementation of the preset action task are as described above, and will not be repeated here.
- control device obtains a digital control signal that controls the flying speed of the drone to 400 m/min, and a digital control signal that controls the drone's camera to shoot at a shooting angle of 45 degrees Control signal
- the control device can control the drone to fly at a speed of 400 m/min, and control the drone's camera to shoot at a shooting angle of 45 degrees during the flight.
- the unmanned aerial vehicle further includes an electronic adjustment device for driving the motor to rotate, and in the motor interaction mode, the electronic adjustment device is configured to prohibit sending a motor for driving the drone Drive signal for motor rotation.
- the rotation of the target motor of the drone is not caused by a control command generated inside the drone.
- the rotation of the target motor is not sent by the ESC connected to the target motor.
- the control device may configure the ESC to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
- the unmanned aerial vehicle further includes an electronic adjustment device for driving the motor to rotate.
- the control device may control the electronic adjustment device to send the electric adjustment device to the motor of the drone for driving the motor to rotate.
- the drive signal In contrast to the motor interaction mode, in the power output mode, the rotation of the drone's motor is caused by a control command generated inside the drone; in one embodiment, the rotation of the motor is caused by communication with the motor
- the motor provides power for the movement of the drone, and the control device can control the ESC to send the driving signal for driving the rotation of the motor to the motor of the drone.
- the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors, so as to obtain the rotation state information of the target motor, which saves the system cost;
- a control signal is generated according to the rotation state information of the target motor to control the drone to perform the preset action task indicated by the control signal, which improves the flexibility of controlling the drone.
- FIG. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention.
- the device includes a memory 601, a processor 602, and a data interface 603;
- the memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories.
- the processor 602 may be a central processing unit (CPU).
- the processor 602 may further include a hardware chip.
- the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
- the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
- the processor 602 is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
- the drone is controlled to perform a preset action task.
- the processor 602 when the processor 602 generates a control signal according to the rotation state information of the target motor, it is specifically configured to:
- the processor 602 controls the drone to perform a preset action task according to the control signal, it is specifically configured to:
- the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
- At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
- the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
- processor 602 is further configured to:
- the generating a control signal according to the rotation state information of the target motor includes:
- a control signal is generated according to the rotation state information of the target motor.
- meeting the preset mode entry condition includes:
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor 602 is further used for:
- the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor 602 is further used for:
- the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
- control signal includes a switch control signal and/or a digital control signal.
- control signal includes a digital control signal; when the processor 402 generates the control signal associated with the matched preset target rotation state, it is specifically used for:
- conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
- the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
- the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
- the power component includes at least one of a wheel, a propeller, and a crawler.
- the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
- the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
- the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
- An embodiment of the present invention also provides an unmanned aerial vehicle, including: a fuselage; a power system configured on the fuselage to provide mobile power for the unmanned aerial vehicle; the power system includes: power components; one or more The motor is used to drive the power component to rotate to provide power for the movement of the drone; the processor is used to obtain the rotation state information of the target motor in the one or more motors, wherein the rotation of the target motor is directed by the user Caused by the applied external force; generating a control signal according to the rotation state information of the target motor; controlling the drone to perform a preset action task according to the control signal.
- the processor when the processor generates a control signal according to the rotation state information of the target motor, it is specifically configured to:
- the processor controls the drone to perform a preset action task according to the control signal, it is specifically used for:
- the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
- At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
- the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
- processor is also used for:
- the generating a control signal according to the rotation state information of the target motor includes:
- a control signal is generated according to the rotation state information of the target motor.
- meeting the preset mode entry condition includes:
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor is further used for:
- the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the processor is further used for:
- the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
- control signal includes a switch control signal and/or a digital control signal.
- control signal includes a digital control signal; when the processor generates the control signal associated with the matched preset target rotation state, it is specifically used for:
- conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
- the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
- the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
- the power component includes at least one of a wheel, a propeller, and a crawler.
- the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
- the drone can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system cost;
- the control device obtains the rotation of the target motor State information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, which avoids the inability to connect when the control terminal is disconnected from the drone
- the control of drones improves the flexibility and effectiveness of drone control, and improves user experience.
- the embodiment of the present invention also provides a control system, the control system includes: a control device and a drone;
- the control device is configured to obtain information about the rotation state of a target motor in the one or more motors, wherein the rotation of the target motor is caused by an external force applied to it by a user, and is based on the rotation state of the target motor.
- Information generates a control signal, and sends the control signal to the drone;
- the unmanned aerial vehicle is used to receive a control signal sent by the control device, and execute a preset action task according to the instruction of the control signal.
- control device when the control device generates a control signal according to the rotation state information of the target motor, it is specifically used to:
- control device controls the drone to perform a preset action task according to the control signal, it is specifically used for:
- the drone is controlled to perform an action task corresponding to the matched preset target rotation state.
- At least one of the target motor, the at least one preset target rotation state, and the action task corresponding to each preset target rotation state in the at least one preset target rotation state is edited and determined by the user through the control terminal .
- the action task corresponding to each of the at least one preset target rotation state and the at least one preset target rotation state is solidified in the control program of the drone.
- control device is also used for:
- the generating a control signal according to the rotation state information of the target motor includes:
- a control signal is generated according to the rotation state information of the target motor.
- meeting the preset mode entry condition includes:
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the control device is also used for:
- the electronic control device In the power output mode, the electronic control device is controlled to send a driving signal for driving the motor to rotate to the motor of the drone.
- the unmanned aerial vehicle further includes an electric adjustment device for driving the motor to rotate, and the control device is also used for:
- the ESC is configured to prohibit sending a driving signal for driving the motor to rotate to the motor of the drone.
- control signal includes a switch control signal and/or a digital control signal.
- control signal includes a digital control signal; when the control device generates the control signal associated with the matched preset target rotation state, it is specifically used for:
- conversion calculation is performed on the rotation state information to obtain a digital quantity control signal associated with the matched preset target rotation state.
- the rotation state information includes any one or more of information indicating whether the motor is rotating, the rotation speed of the motor, the rotation angle of the motor, and the joint angle of the motor.
- the unmanned aerial vehicle further includes a power component connected to the motor for rotation, and the rotation of the target motor is caused by an external force applied to it by the user through the power component.
- the power component includes at least one of a wheel, a propeller, and a crawler.
- the preset action tasks include the movement task of the drone, the shooting task of the drone's camera device, the drone's gimbal attitude adjustment task, and the drone's audio player control task. At least one.
- the control device can trigger the rotation of the target motor by the user applying an external force to the target motor of one or more motors of the drone, thereby saving system costs; the control device obtains the rotation state of the target motor Information, and generate a control signal according to the rotation state information of the target motor, and control the drone to perform a preset action task according to the control signal, avoiding the inability to control the drone when the control terminal is disconnected from the drone.
- the situation of man-machine control improves the flexibility and effectiveness of drone control and improves user experience.
- the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and can also be implemented The device in the corresponding embodiment of the present invention will not be repeated here.
- the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
- the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card. , Flash Card, etc.
- the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
- the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
- the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
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Abstract
本发明实施例提供了一种无人机的控制方法、设备、无人机、***及存储介质,其中,该方法包括:获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。通过这种方式提高了对无人机控制的灵活性和有效性,提升了用户体验。
Description
本发明涉及控制技术领域,尤其涉及一种无人机的控制方法、设备、无人机、***及存储介质。
目前,对于像无人机(无人飞行器、无人车、无人船)等移动机器人***,通常是通过遥控设备对移动机器人进行控制。以无人车为例,在这样的***中,遥控设备和无人车是相互独立的,遥控设备负责指令输入,无人车负责执行指令。
然而,这种通过遥控设备控制无人机的方式,成本较高,且在某些场景下,在遥控设备与无人机断开连接的情况下(如遥控设备丢失或遥控设备没有足够电量),将无法对无人机进行控制,限制了无人机的使用场景,降低了无人机的使用灵活性。因此,如何更灵活地控制无人机具有十分重要的意义。
发明内容
本发明实施例提供了一种无人机的控制方法、设备、无人机、***及存储介质,提高了对无人机控制的有效性和灵活性,节约了***设计成本,提升了用户体验。
第一方面,本发明实施例提供了一种无人机的控制方法,所述无人机包括用于为无人机提供移动动力的一个或多个电机,所述方法包括:
获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;
根据所述目标电机的转动状态信息生成控制信号;
根据所述控制信号控制无人机执行预设的动作任务。
第二方面,本发明实施例提供了一种控制设备,应用于无人机,所述无人机包括用于为无人机提供移动动力的一个或多个电机,包括:存储器和处理器;
所述存储器,用于存储程序指令;
所述处理器,用于调用所述程序指令,当所述程序指令被执行时,用于执 行以下操作:
获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;
根据所述目标电机的转动状态信息生成控制信号;
根据所述控制信号控制无人机执行预设的动作任务。
第三方面,本发明实施例提供了一种无人机,包括:
机身;
配置在机身上的动力***,用于为无人机提供移动动力;
所述动力***包括:动力部件;一个或多个电机,用于驱动动力部件转动以提供无人机移动的动力;
处理器,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。
第四方面,本发明实施例提供了一种控制***,包括:控制设备和无人机;
所述控制设备,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的,并根据所述目标电机的转动状态信息生成控制信号,以及将所述控制信号发送给无人机;
所述无人机,用于接收所述控制设备发送的控制信号,并根据所述控制信号的指示执行预设的动作任务。
第五方面,本发明实施例提供了一种计算机可读存储介质,该计算机可读存储介质存储有计算机程序,该计算机程序被处理器执行时实现如上述第一方面所述的方法。
本发明实施例中,控制设备通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,节约了***成本;通过获取所述目标电机的转动状态信息,根据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机执行预设的动作任务,避免了当控制终端与无人机断开连接时而导致无法对无人机进行控制的情况,提高了对无人机控制的灵活性和有效性,提升了用户体验。
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅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的前提下,还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种无人机的控制***的结构示意图;
图2是本发明实施例提供的一种无人机的控制方法的流程示意图;
图3是本发明实施例提供的应用控制方法的场景示意图;
图4是本发明实施例提供的通过控制终端确定目标电机、预设目标转动状态和与预设目标转动状态的动作任务的示意图;
图5是本发明实施例提供的另一种无人机的控制方法的流程示意图;
图6是本发明实施例提供的一种控制设备的结构示意图。
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。
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。
本发明实施例中提供的无人机的控制方法可以由一种无人机执行,在某些实施例中,所述控制方法可以由无人机的控制设备执行。在某些实施例中,所述无人机的控制设备可以安装在无人机上,即无人机包括所述控制设备;在某些实施例中,所述控制设备可以在空间上独立于无人机。在某些实施例中,控制终端和无人机之间建立通信连接,控制终端可以检测用户的输入控制操作以生成控制指令,并将控制指令发送给无人机以控制无人机执行工作任务,例如移动任务、拍摄任务等,无人机可以将采集到的数据,例如图像数据或者自身的状态数据,发送给该控制终端。在某些实施例中,所述无人机包括用于为无人机提供移动动力的一个或多个电机;在某些实施例中,所述无人机还包括与电机转动连接的动力部件,在某些实施例中,所述动力部件包括车轮、螺旋桨、 履带中的至少一种。所述无人机可以是任务依靠所述电机自主移动的任务机器人,所述无人机可以包括无人飞行器、无人车、无人船等可移动设备。
本发明实施例提供的无人机的控制方法可以通过用户向无人机的一个或者多个电机的目标电机施加外力,触发所述无人机的目标电机转动,以获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,以根据所述控制信号控制无人机执行预设的动作任务。在某些实施例中,所述预设的动作任务包括但不限于无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务、无人机的喷洒装置喷洒农药等中的至少一种。
可见,通过这种实施方式可以在无人机与控制终端断开连接的情况下,通过用户向无人机的电机施加外力引起电机转动,从而获取电机的转动状态信息,并根据电机的转动状态信息生成控制信号,以控制无人机执行所述控制信号所指示的预设的动作任务,提高了对无人机控制的有效性和灵活性。
在一个实施例中,所述目标电机的转动不是由无人机内部产生的对无人机的控制指令引起的,在一个实施例中,所述目标电机的转动不是由无人机内部产生的对电机的控制指令引起的,更进一步地,所述目标电机的转动可以是由用户向其施加的外力引起的。所述无人机的控制方法在检测到不是由无人机内部产生的对电机的控制指令引起的一个或者多个电机中目标电机转动时,可以获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,以根据所述控制信号控制无人机执行预设的动作任务。
在一些实施例中,所述转动状态信息包括但不限于指示电机是否转动的信息(例如指示电机处于转动状态或者停止状态的信息)、电机的转速、电机的转动角度、电机转动的加速度和电机的关节角等中的任意一种或多种。
在一些实施例中,所述控制信号包括开关量控制信号和/或数字量控制信号;在某些实施例中,所述开关量控制信号可以根据一个或多个目标电机的指示电机是否转动的信息、电机的关节角和电机的转动角度中的任意一种或多种确定;在某些实施例中,所述数字量控制信号可以根据一个或多个目标电机的关节角、电机转速、电机的转动角度、电机转动的加速度等中的任意一种或多种信息确定。
在一个实施例中,在根据目标电机的转动状态信息生成控制信号,并根据 所述控制信号控制无人机执行预设的动作任务时,可以根据预设的电机的转动状态信息、控制信号、动作任务三者之间的对应关系,确定所述目标电机的转动状态是否与所述对应关系中至少一种预设目标转动状态中的一种预设目标转动状态匹配,如果确定匹配,则生成与匹配的预设目标转动状态关联的控制信号,以控制无人机执行所述控制信号所指示的预设的动作任务。在某些实施例中,所述预设的电机的转动状态信息、控制信号、动作任务三者之间的对应关系中包括至少一种预设目标转动状态与动作任务的对应关系,以及动作任务与控制信号的对应关系。
在某些实施例中,所述至少一种预设目标转动状态与动作任务的对应关系,以及动作任务与控制信号的对应关系可以是预先固化在所述无人机的控制程序里的。在其他实施例中,所述至少一种预设目标转动状态与动作任务的对应关系,以及动作任务与控制信号的对应关系可以是用户通过控制终端编辑确定的。通过这种实施方式,用户可以根据需求自主灵活设置电机的转动状态信息与控制信号的对应关系,提升了用户体验。
具体可以如下表1为例对本发明实施例的无人机的一个电机的转动状态信息和控制信号的对应关系进行简要的示意性说明。
表1
其中,所述电机的转动状态或停止状态与开关量控制信号对应,所述电机的关节角、电机转速分别与数字量控制信号对应。
在一些实施例中,所述电机的转动状态信息可以通过无人机上的电机状态监测器获取得到,该电机状态监测器可以实时地监测电机的运行状态,并将监测到的电机的转动状态发送给无人机的控制设备进行处理,其中,所述电机状态监测器可以包括一个或多个电流传感器、电压传感器、磁传感器。例如,所述电机状态监测器可以包括霍尔床传感器。
在一个实施例中,根据预先设置的至少一种预设目标转动状态与动作任务的对应关系,以及动作任务与控制信号的对应关系,可以确定出与多个目标电机的转动状态信息的组合对应的控制信号。具体可以如下表2为例对多个目标电机的转动状态信息与控制信号的对应关系进行简要的示意性说明。
在一个实施例中,多个电机的转动状态信息的组合可以与一个或多个控制信号对应,如表2所示,1号电机逆时针转动以及2号电机顺时针转动的组合与开关量控制信号对应;1、3号电机静止以及2号电机转动的组合与开关量控制信号对应;1号电机角度处于0~90度以及2号电机角度处于-180~-90度的组合与开关量控制信号对应。
表2
下面结合图1对本发明实施例提供的无人机的控制***进行示意性说明。
请参见图1,图1是本发明实施例提供的一种无人机的控制***的结构示意图。所述无人机的控制***包括:无人机12和控制终端13。其中,无人机12包括控制设备11。在其他实施例中,所述无人机12包括动力***121,所述动力***121用于为无人机12提供移动的动力。在其他实施例中,无人机12和控制设备11彼此独立,例如控制设备11设置在云端服务器中,通过无线通信连接方式与无人机12建立通信连接。所述控制终端13与所述无人机12建立通信连接,所述控制终端13用于向所述无人机12发送遥控信号,以控制无人机12飞行方向、飞行速度等。
本发明实施例中,控制设备11可以获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的,根 据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机12执行预设的动作任务,以实现在无控制终端的情况下对无人机进行控制,提高了对无人机控制的有效性和灵活性。
下面结合附图对本发明实施例提供的无人机的控制方法进行示意性说明。
具体请参见图2,图2是本发明实施例提供的一种无人机的控制方法的流程示意图,所述方法可以由控制设备执行,其中,控制设备的具体解释如前所述。具体地,本发明实施例的所述方法包括如下步骤。
S201:获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的。
本发明实施例中,控制设备可以获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的。
在一个实施例中,所述控制设备可以通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,以获取所述目标电机的转动状态信息。在某些实施例中,所述控制设备可以通过无人机电机状态监测器获取所述目标电机的转动状态信息,具体实施例如前所述。
在一些实施例中,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动可以由用户通过所述动力部件向其施加的外力引起的。在某些实施例中,所述动力部件包括车轮、螺旋桨、履带中的至少一种。例如,用户可以通过对无人机的螺旋桨施加外力,以使所述螺旋桨旋转,从而触发与所述螺旋桨的旋转状态对应的目标电机转动。再以图3为例,图3是本发明实施例提供的应用控制方法的场景示意图,如图3所示,无人机以无人车301为例,无人车301包括多个为无人车提供移动动力的电机(未示出),电机转动连接车轮302,用户的手303可以向车轮302施加外力,车轮302按照如图3所示的方向转动,车轮302的转动可以引起与车轮302转动连接的电机转动。
S202:根据所述目标电机的转动状态信息生成控制信号。
本发明实施例中,控制设备可以根据所述目标电机的转动状态信息生成控制信号。在某些实施例中,所述控制信号包括开关量控制信号和/或数字量控制信号,所述开关量控制信息与所述数字量控制信号的解释如前所述。
在一个实施例中,所述控制设备在根据所述目标电机的转动状态信息生成 控制信号时,可以根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号。在某些实施例中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务。在某些实施例中,所述动作任务可以包括但不限于无人机的移动任务、无人机上各负载的动作任务等,所述无人机的负载包括但不限于拍摄装置、喷洒装置、云台、音频播放装置等。
例如,假设无人机包括四个电机,分别为电机1、电机2、电机3、电机4,其中,电机1和电机2的转动状态与预设动作任务对应,假设预设目标转动状态中,电机1的转动角度对应匹配的动作任务为云台转动角度,电机2的转动状态对应匹配的动作任务为喷洒农药。如果电机1的转动角度为50度,对应匹配的动作任务为无人机的云台转动50度,则可以生成与控制所述云台转动50度的控制信号。如果电机2处于转动状态,对应匹配的动作任务为启动无人机的喷洒装置,则可以生成控制开启无人机的喷洒农药装置的控制信号。
在一些实施例中,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个可以是用户通过控制终端编辑确定的,即用户可以通过控制终端将无人机的一个电机或者多个电机选中为目标电机,当用户选中目标电机时,控制设备就会去获取目标电机的转动状态信息。用户还可以通过控制终端确定预设目标转动状态和与预设目标转动状态对应的动作任务,即用户可以通过终端确定当目标电机处于哪种转动时,无人机应该执行何种动作任务。这样,当控制设备根据所述目标电机的转动状态信息确定所述目标电机的转动状态与所述预设目标转动状态匹配时,就会生成与预设目标转动状态关联的控制信号,进而根据所述控制信号控制无人机执行与预设目标转动状态对应的动作任务。
作为一种实现方式,如图4所示,图4是本发明实施例提供的通过控制终端确定目标电机、预设目标转动状态和与预设目标转动状态的动作任务的示意图。控制终端可以显示控制界面,可以对在控制界面执行编辑操作以确定所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务。作为其中的一种实现方式,控制界面中可以显示动作任务列表401和无人机的电机列表402,用户可以将无人机的电机列表402 中的1号电机的图标拖动到编辑框403中,这样用户就可以选中1号电机为目标电机。另外,用户可以点击电机编辑框403中的1号电机的图标,控制界面可以弹出用于编辑预设目标转动状态的对话框,用户可以对对话框进行操作以确定预设目标状态,例如转动360度。目标电机就被确定为1号电机,预设目标转动状态被确定为转动360度。进一步地,用户可以从动作任务列表401拖动拍照图标到编辑框404中,这样与预设目标转动状态对应的动作任务被确定为拍照。当编辑完成之后,控制设备会获取1号电机的转动状态信息,当控制设备根据所述1号电机的转动状态信息确定所述1号电机的转动状态与所述转动360度的状态匹配时,就会生成与转动360度的状态关联的控制信号,进而根据所述控制信号控制无人机执行与与转动360度的状态对应的动作任务,即拍照任务。
可见,通过这种用户自主编辑来确定目标电机、所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中至少一个的实施方式,可以满足不同用户的需求,提升了用户体验。
在其他实施例中,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务可以是预先固化在无人机的控制程序中的,在此不做具体限定。
在一个实施例中,所述控制信号包括开关量控制信号和/或数字量控制信号。
在一个实施例中,所述控制信号包括数字量控制信号,所述控制设备在生成与匹配的预设目标转动状态关联的控制信号时,可以按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
例如,假设预设目标转动状态中,目标电机的转动速度对应匹配的动作任务为无人机的喷洒装置喷洒农药的速度,如果所述目标电机的转动速度为1000转/分钟,对应匹配的无人机的喷洒装置喷洒农药的速度为2升/分钟,则可以生成控制所述无人机的喷洒装置以2升/分钟的速度喷洒农药的数字量控制信号。
在一个实施例中,所述控制信号包括开关量控制信号,所述控制设备在生成与匹配的预设目标转动状态关联的控制信号时,可以生成与匹配的预设目标 转动状态关联的开关量控制信号。
例如,假设所述无人机包括电机1和电机2,如果预设目标转动状态为所述电机1逆时针转动以及所述电机2顺时针转动且与所述预设目标转动状态对应的动作任务为开启无人机的音频播放装置,则当控制设备根据电机1和电机2的转动状态信息确定电机1和电机2的转动状态与预设目标转动状态匹配时,控制设备可以生成开启无人机的音频播放装置的开关量控制信号以控制无人机开启所述音频播放装置。
S203:根据所述控制信号控制无人机执行预设的动作任务。
本发明实施例中,控制设备可以根据所述控制信号控制无人机执行预设的动作任务。
在某些实施例中,所述预设的动作任务包括但不限于无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
在一个实施例中,所述控制设备在根据所述控制信号控制无人机执行预设的动作任务时,可以根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
例如,假设控制设备获取到的控制信号为控制无人机的喷洒装置以2升/分钟的速度喷洒农药的数字量控制信号,则所述控制设备可以控制开启所述无人机的喷洒装置,并控制所述无人机的喷洒装置执行以2升/分钟的速度喷洒农药的动作任务。
本发明实施例中,控制设备可以通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,节约了***成本;控制设备通过获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机执行预设的动作任务,避免了当控制终端与无人机断开连接时而导致无法对无人机进行控制的情况,提高了对无人机控制的灵活性和有效性,提升了用户体验。
具体请参见图5,图5是本发明实施例提供的另一种无人机的控制方法的流程示意图,所述方法可以由控制设备执行,其中,控制设备的具体解释如前所述。本发明实施例与图2所述实施例的区别在于,本发明实施例是对在电机 交互模式中生成控制信号的实施过程的示意性说明。具体地,本发明实施例的所述方法包括如下步骤。
S501:获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的。
本发明实施例中,控制设备可以获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的,具体实施例如前所述,此处不再赘述。
S502:当满足预设模式进入条件时,进入电机交互模式。
本发明实施例中,当检测到无人机满足预设模式进入条件时,进入电机交互模式。
在一个实施例中,所述满足预设模式进入条件可以包括:接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,检测到所述无人机与控制终端断开连接。
在一些实施例中,所述满足预设模式进入条件还可以包括:检测到所述无人机处于开机状态;或者检测到所述无人机的电机转动状态满足预设状态条件,例如所述无人机的电机顺时针转动3圈以及逆时针转动3圈,则可以确定所述无人机满足预设模式进入条件,从而进入电机交互模式。当然,在其他实施例中所述进入电机交互模式还可以包括其他触发方式,本发明实施例不做具体限定。
可见,通过设置多种触发方式触发所述无人机进入电机交互模式的实施方式,可以提高进入电机交互模式的灵活性。
S503:在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
本发明实施例中,控制设备可以在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。在某些实施例中,所述控制信号包括开关量控制信号和/或数字量控制信号,所述开关量控制信息与所述数字量控制信号的解释如前所述。
在一个实施例中,所述控制设备可以在所述电机交互模式中,根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转 动状态中每一种预设目标转动状态对应一个动作任务;当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号,具体实施例如前所述。
例如,假设无人机包括2个电机,分别为电机1和电机2,假设预设目标转动状态中,电机1的转动速度对应匹配的动作任务为无人机的飞行速度,电机2的转动状态对应匹配的动作任务为无人机的拍摄装置的拍摄任务。如果电机1的转动速度为1000转/分钟,对应匹配的动作任务为无人机的飞行速度为400米/分钟,则可以生成与控制所述无人机的飞行速度为400米/分钟的数字量控制信号;以及,如果电机2处于转动角度为45度,对应匹配的动作任务为无人机的拍摄装置的拍摄角度为45度,则可以生成控制无人机的拍摄装置的以45度为拍摄角度进行拍摄的数字量控制信号。
S504:根据所述控制信号控制无人机执行预设的动作任务。
本发明实施例中,控制设备可以根据所述控制信号控制无人机执行预设的动作任务。所述预设的动作任务的解释及具体实施例如前所述,此处不再赘述。
沿用上述例子举例说明,如果控制设备获取到控制所述无人机的飞行速度为400米/分钟的数字量控制信号,以及控制无人机的拍摄装置的以45度为拍摄角度进行拍摄的数字量控制信号,则控制设备可以控制所述无人机以400米/分钟的速度飞行,并在飞行过程中控制无人机的拍摄装置以45度的拍摄角度进行拍摄。
在一个实施例中,所述无人机还包括用于驱动电机转动的电调装置,在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。在电机交互模式,无人机的目标电机的转动不是由无人机内部产生的控制指令引起,在一个实施例中,所述目标电机的转动不是由与目标电机通信连接的电调装置发送的驱动信号引起的。因此,在进入了电机交互模式中,控制设备可以将电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
在一个实施例中,所述无人机还包括用于驱动电机转动的电调装置,在动力输出模式中,控制设备可以控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。与所述电机交互模式相对的,在动力输出模式中,无人机的电机的转动是由无人机内部产生的控制指令引起;在一个实施例中,所述电机的转动是由与电机通信连接的电调装置发送的驱动信号引起的,电机提供 无人机移动的动力,控制设备可以控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
本发明实施例中,控制设备可以通过用户对一个或者多个电机中目标电机施加外力,触发所述目标电机转动,以获取所述目标电机的转动状态信息,节约了***成本;通过在电机交互模式中根据所述目标电机的转动状态信息生成控制信号,以控制无人机执行所述控制信号所指示的预设的动作任务,提高了对无人机控制的灵活性。
请参见图6,图6是本发明实施例提供的一种控制设备的结构示意图,所述设备包括存储器601、处理器602和数据接口603;
所述存储器601可以包括易失性存储器(volatile memory);存储器601也可以包括非易失性存储器(non-volatile memory);存储器601还可以包括上述种类的存储器的组合。所述处理器602可以是中央处理器(central processing unit,CPU)。所述处理器602还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device,CPLD),现场可编程逻辑门阵列(field-programmable gate array,FPGA)或其任意组合。
所述处理器602,用于调用所述程序指令,当所述程序指令被执行时,用于执行以下操作:
获取一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;
根据所述目标电机的转动状态信息生成控制信号;
根据所述控制信号控制无人机执行预设的动作任务。
进一步地,所述处理器602根据所述目标电机的转动状态信息生成控制信号时,具体用于:
根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;
当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;
所述处理器602根据所述控制信号控制无人机执行预设的动作任务时,具体用于:
根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
进一步地,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
进一步地,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
进一步地,所述处理器602还用于:
当满足预设模式进入条件时,进入电机交互模式;
所述根据所述目标电机的转动状态信息生成控制信号,包括:
在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
进一步地,所述满足预设模式进入条件,包括:
接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,
检测到所述无人机与控制终端断开连接。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述处理器602还用于:
在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述处理器602还用于:
在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述控制信号包括开关量控制信号和/或数字量控制信号。
进一步地,所述控制信号包括数字量控制信号;所述处理器402生成与匹配的预设目标转动状态关联的控制信号时,具体用于:
按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
进一步地,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
进一步地,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动由用户通过所述动力部件向其施加的外力引起的。
进一步地,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
进一步地,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
本发明实施例中,控制设备可以通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,节约了***成本;控制设备通过获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机执行预设的动作任务,避免了当控制终端与无人机断开连接时而导致无法对无人机进行控制的情况,提高了对无人机控制的灵活性和有效性,提升了用户体验。
本发明实施例还提供了一种无人机,包括:机身;配置在机身上的动力***,用于为无人机提供移动动力;所述动力***包括:动力部件;一个或者多个电机,用于驱动动力部件转动以提供无人机移动的动力;处理器,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。
进一步地,所述处理器根据所述目标电机的转动状态信息生成控制信号时,具体用于:
根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;
当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;
所述处理器根据所述控制信号控制无人机执行预设的动作任务时,具体用于:
根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与 匹配的预设目标转动状态对应的动作任务。
进一步地,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
进一步地,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
进一步地,所述处理器还用于:
当满足预设模式进入条件时,进入电机交互模式;
所述根据所述目标电机的转动状态信息生成控制信号,包括:
在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
进一步地,所述满足预设模式进入条件,包括:
接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,
检测到所述无人机与控制终端断开连接。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述处理器还用于:
在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述处理器还用于:
在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述控制信号包括开关量控制信号和/或数字量控制信号。
进一步地,所述控制信号包括数字量控制信号;所述处理器生成与匹配的预设目标转动状态关联的控制信号时,具体用于:
按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
进一步地,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
进一步地,所述无人机还包括与电机转动连接的动力部件,所述目标电机 的转动由用户通过所述动力部件向其施加的外力引起的。
进一步地,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
进一步地,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
本发明实施例中,无人机可以通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,节约了***成本;控制设备通过获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机执行预设的动作任务,避免了当控制终端与无人机断开连接时而导致无法对无人机进行控制的情况,提高了对无人机控制的灵活性和有效性,提升了用户体验。
本发明实施例还提供了一种控制***,所述控制***包括:控制设备和无人机;
所述控制设备,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的,并根据所述目标电机的转动状态信息生成控制信号,以及将所述控制信号发送给无人机;
所述无人机,用于接收所述控制设备发送的控制信号,并根据所述控制信号的指示执行预设的动作任务。
进一步地,所述控制设备根据所述目标电机的转动状态信息生成控制信号时,具体用于:
根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;
当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;
所述控制设备根据所述控制信号控制无人机执行预设的动作任务时,具体用于:
根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
进一步地,所述目标电机、至少一种预设目标转动状态和至少一种预设目 标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
进一步地,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
进一步地,所述控制设备还用于:
当满足预设模式进入条件时,进入电机交互模式;
所述根据所述目标电机的转动状态信息生成控制信号,包括:
在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
进一步地,所述满足预设模式进入条件,包括:
接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,
检测到所述无人机与控制终端断开连接。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述控制设备还用于:
在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述无人机还包括用于驱动电机转动的电调装置,所述控制设备还用于:
在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
进一步地,所述控制信号包括开关量控制信号和/或数字量控制信号。
进一步地,所述控制信号包括数字量控制信号;所述控制设备生成与匹配的预设目标转动状态关联的控制信号时,具体用于:
按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
进一步地,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
进一步地,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动由用户通过所述动力部件向其施加的外力引起的。
进一步地,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
进一步地,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
本发明实施例中,控制设备可以通过用户对无人机的一个或者多个电机中目标电机施加外力,触发所述目标电机转动,节约了***成本;控制设备通过获取所述目标电机的转动状态信息,并根据所述目标电机的转动状态信息生成控制信号,并根据所述控制信号控制无人机执行预设的动作任务,避免了当控制终端与无人机断开连接时而导致无法对无人机进行控制的情况,提高了对无人机控制的灵活性和有效性,提升了用户体验。
本发明的实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时实现本发明实施例中描述的方法,也可实现本发明所对应实施例的设备,在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元,例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备,例如所述设备上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。进一步地,所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
以上所揭露的仅为本发明部分实施例而已,当然不能以此来限定本发明之权利范围,因此依本发明权利要求所作的等同变化,仍属本发明所涵盖的范围。
Claims (44)
- 一种无人机的控制方法,其特征在于,所述无人机包括用于为无人机提供移动动力的一个或多个电机,所述方法包括:获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。
- 根据权利要求1所述的方法,其特征在于,所述根据所述目标电机的转动状态信息生成控制信号,包括:根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;所述根据所述控制信号控制无人机执行预设的动作任务,包括:根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
- 根据权利要求2所述的方法,其特征在于,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
- 根据权利要求2所述的方法,其特征在于,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:当满足预设模式进入条件时,进入电机交互模式;所述根据所述目标电机的转动状态信息生成控制信号,包括:在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
- 根据权利要求5所述的方法,其特征在于,所述满足预设模式进入条件,包括:接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,检测到所述无人机与控制终端断开连接。
- 根据权利要求5所述的方法,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,所述方法还包括:在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求5所述的方法,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求1所述的方法,其特征在于,所述控制信号包括开关量控制信号和/或数字量控制信号。
- 根据权利要求2所述的方法,其特征在于,所述控制信号包括数字量控制信号,所述生成与匹配的预设目标转动状态关联的控制信号,包括:按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
- 根据权利要求1所述的方法,其特征在于,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
- 根据权利要求1所述的方法,其特征在于,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动由用户通过所述动力部件向其施加的外力引起的。
- 根据权利要求12所述的方法,其特征在于,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
- 根据权利要求1所述的方法,其特征在于,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
- 一种控制设备,其特征在于,应用于无人机,所述无人机包括用于为无人机提供移动动力的一个或多个电机,包括:存储器和处理器;所述存储器,用于存储程序指令;所述处理器,用于调用所述程序指令,当所述程序指令被执行时,用于执行以下操作:获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。
- 根据权利要求15所述的设备,其特征在于,所述处理器根据所述目标电机的转动状态信息生成控制信号时,具体用于:根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;所述处理器根据所述控制信号控制无人机执行预设的动作任务时,具体用 于:根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
- 根据权利要求16所述的设备,其特征在于,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
- 根据权利要求16所述的设备,其特征在于,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
- 根据权利要求15所述的设备,其特征在于,所述处理器还用于:当满足预设模式进入条件时,进入电机交互模式;所述处理器根据所述目标电机的转动状态信息生成控制信号时,具体用于:在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
- 根据权利要求19所述的设备,其特征在于,所述满足预设模式进入条件,包括:接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,检测到所述无人机与控制终端断开连接。
- 根据权利要求19所述的设备,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,所述处理器还用于:在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求19所述的设备,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求15所述的设备,其特征在于,所述控制信号包括开关量控制信号和/或数字量控制信号。
- 根据权利要求16所述的设备,其特征在于,所述控制信号包括数字量控制信号,所述处理器生成与匹配的预设目标转动状态关联的控制信号时,具体用于:按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
- 根据权利要求15所述的设备,其特征在于,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
- 根据权利要求15所述的设备,其特征在于,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动由用户通过所述动力部件向其施加的外力引起的。
- 根据权利要求26所述的设备,其特征在于,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
- 根据权利要求15所述的设备,其特征在于,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
- 一种无人机,其特征在于,包括:机身;配置在机身上的动力***,用于为无人机提供移动动力;所述动力***包括:动力部件;一个或多个电机,用于驱动动力部件转动以提供无人机移动的动力;处理器,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的;根据所述目标电机的转动状态信息生成控制信号;根据所述控制信号控制无人机执行预设的动作任务。
- 根据权利要求29所述的无人机,其特征在于,所述处理器根据所述目标电机的转动状态信息生成控制信号时,具体用于:根据所述目标电机的转动状态信息确定所述目标电机的转动状态是否与至少一种预设目标转动状态中的一种预设目标转动状态匹配,其中,所述至少一种预设目标转动状态中每一种预设目标转动状态对应一个动作任务;当确定匹配时,生成与匹配的预设目标转动状态关联的控制信号;所述处理器根据所述控制信号控制无人机执行预设的动作任务时,具体用于:根据所述与匹配的预设目标转动状态关联的控制信号,控制无人机执行与匹配的预设目标转动状态对应的动作任务。
- 根据权利要求30所述的无人机,其特征在于,所述目标电机、至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务中的至少一个是用户通过控制终端编辑确定的。
- 根据权利要求30所述的无人机,其特征在于,所述至少一种预设目标转动状态和至少一种预设目标转动状态中每一种预设目标转动状态对应的动作任务是固化在无人机的控制程序中。
- 根据权利要求29所述的无人机,其特征在于,所述处理器还用于:当满足预设模式进入条件时,进入电机交互模式;所述处理器根据所述目标电机的转动状态信息生成控制信号时,具体用于:在电机交互模式中,根据所述目标电机的转动状态信息生成控制信号。
- 根据权利要求33所述的无人机,其特征在于,所述满足预设模式进入条件,包括:接收到控制终端发送的用于指示所述无人机进入电机交互模式的控制指令;或者,检测到所述无人机与控制终端断开连接。
- 根据权利要求33所述的无人机,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,所述处理器还用于:在动力输出模式中,控制电调装置向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求33所述的无人机,其特征在于,所述无人机还包括用于驱动电机转动的电调装置,在电机交互模式中,所述电调装置被配置为禁止向所述无人机的电机发送用于驱动电机转动的驱动信号。
- 根据权利要求29所述的无人机,其特征在于,所述控制信号包括开关量控制信号和/或数字量控制信号。
- 根据权利要求30所述的无人机,其特征在于,所述控制信号包括数字量控制信号;所述处理器生成与匹配的预设目标转动状态关联的控制信号时,具体用于:按照匹配的预设目标转动状态对应的转换规则,对所述转动状态信息进行转换计算,以获取与匹配的预设目标转动状态关联的数字量控制信号。
- 根据权利要求29所述的无人机,其特征在于,所述转动状态信息包括用于指示电机是否转动的信息、电机的转速、电机的转动角度和电机的关节角中的任意一种或多种。
- 根据权利要求29所述的无人机,其特征在于,所述无人机还包括与电机转动连接的动力部件,所述目标电机的转动由用户通过所述动力部件向其施加的外力引起的。
- 根据权利要求40所述的无人机,其特征在于,所述动力部件包括车轮、螺旋桨、履带中的至少一种。
- 根据权利要求29所述的无人机,其特征在于,所述预设的动作任务包括无人机的移动任务、无人机的拍摄装置的拍摄任务、无人机的云台姿态调节任务、无人机的音频播放装置的控制任务中的至少一种。
- 一种控制***,其特征在于,包括:控制设备和无人机;所述控制设备,用于获取所述一个或者多个电机中目标电机的转动状态信息,其中,所述目标电机的转动由用户向其施加的外力引起的,并根据所述目标电机的转动状态信息生成控制信号,以及将所述控制信号发送给无人机;所述无人机,用于接收所述控制设备发送的控制信号,并根据所述控制信号的指示执行预设的动作任务。
- 一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1至14任一项所述方法。
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