阅读说明：本技术 一种无人机控制方法、系统及无人机 (Unmanned aerial vehicle control method and system and unmanned aerial vehicle ) 是由 李阳 周震昊 陶冶 于 2018-07-25 设计创作，主要内容包括：一种无人机控制方法、系统及无人机，其中该无人机控制方法包括：获取至少一种感测数据(S201)，该至少一种所述感测数据包括无人机的状态信息和/或环境信息；获取至少一种控制模式(S203)，至少一种控制模式下调用至少一个执行设备(S205)；根据至少一种控制模式与至少一种所述感测数据的参数值生成控制指令，并发送至至少一个执行设备(S207)；至少一个执行设备接收控制指令，并根据控制指令执行对应的动作(S209)。该方法能够将无人机的多个感测组件智能集合起来，获取对应的控制模式，从而实现执行设备的智能输出。(An unmanned aerial vehicle control method, a system and an unmanned aerial vehicle are provided, wherein the unmanned aerial vehicle control method comprises the following steps: acquiring at least one sensing data (S201), wherein the at least one sensing data comprises state information and/or environment information of the unmanned aerial vehicle; acquiring at least one control mode (S203), and calling at least one executive device in the at least one control mode (S205); generating a control instruction according to at least one control mode and at least one parameter value of the sensing data, and sending the control instruction to at least one execution device (S207); the at least one execution device receives the control instruction and executes a corresponding action according to the control instruction (S209). The method can intelligently assemble a plurality of sensing assemblies of the unmanned aerial vehicle to acquire the corresponding control modes, thereby realizing the intelligent output of the execution equipment.)

1. The utility model provides an unmanned aerial vehicle control method, is applied to unmanned aerial vehicle, its characterized in that includes:

acquiring at least one sensing information, wherein the at least one sensing information comprises state information and/or environment information of the unmanned aerial vehicle;

acquiring at least one control mode, and calling at least one execution device in the at least one control mode;

generating a control instruction according to at least one control mode and at least one sensing value of the sensing information, and sending the control instruction to the at least one execution device;

and the at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

2. The drone controlling method of claim 1, wherein at least one of the control modes is obtained from at least one of the sensed information.

3. The drone controlling method according to claim 1, characterized in that at least one of the control modes is obtained according to an external instruction.

4. The drone controlling method of claim 3, wherein the external command is input by a user.

5. A drone controlling method according to any one of claims 1 to 4, characterised in that the controlling method acquires at least one of the sensed information at a first preset priority.

6. The drone controlling method according to claim 5, wherein the drone further includes a sensing device, and at least one of the sensing information is measured and acquired by the sensing device.

7. The drone controlling method according to claim 6, wherein the state information of the drone includes at least one of current position information, orientation information, time, acceleration, speed, attitude, relative altitude, relative distance, power information, computational resource information;

the environment information of the unmanned aerial vehicle comprises at least one of brightness information, ground texture information, depth information, temperature information, interaction information, wind speed information, air pressure information and noise information.

8. The drone controlling method according to claim 7, wherein the sensing means for measuring the state information of the drone includes at least one of a satellite positioning device, an inertial measurement sensor, a clock, a magnetic field sensor, a pressure sensor, an altitude sensor, a proximity sensor, a power detection device, a resource monitor;

the sensing device for measuring the environmental information of the unmanned aerial vehicle comprises at least one of a light intensity sensor, a photoelectric sensor, an infrared sensor, a visual sensor, a temperature sensor, an anemometer, a barometer and a sound pressure level sensor.

9. The drone controlling method according to claim 5, wherein the drone further includes a communication device, the communication device is connected to an external device, and at least one of the sensing information is acquired from the external device through the communication device.

10. The drone controlling method according to claim 9, wherein the external device includes a control terminal, the drone is connected to the control terminal through the communication device, and at least one of the sensed information is input by a user.

11. The drone controlling method of claim 10, wherein the control end includes a mobile device and/or a remote control.

12. The drone controlling method according to claim 9, wherein the external device includes a predefined website, the drone connects to the predefined website through the communication means, and at least one of the sensed information is acquired through the predefined website.

13. A method as claimed in any one of claims 1 to 4, wherein at least one of said control modes is derived according to a second predetermined priority.

14. The drone controlling method of claim 13, wherein after obtaining at least two of the control modes, the at least two of the control modes are selected according to a second preset priority.

15. The drone controlling method of any one of claims 1-4, wherein a prompt instruction is generated after acquiring at least one of the control modes.

16. The drone controlling method of claim 15, wherein the at least two control modes are selected according to an external command after the at least two control modes are acquired.

17. The drone controlling method of claim 16, wherein the external command is input by a user.

18. The unmanned aerial vehicle control method of claim 15, wherein the unmanned aerial vehicle further comprises a control end, the control end is provided with a display screen, and the prompt instruction is displayed on the display screen.

19. The unmanned aerial vehicle control method of claim 1, wherein the at least one execution device receives the control instruction according to a third preset priority, and executes a corresponding action according to the control instruction.

20. The unmanned aerial vehicle control method of claim 1, wherein after receiving the control instruction, the at least one execution device executes a corresponding action according to a third predetermined priority in accordance with the control instruction.

21. The unmanned aerial vehicle control method according to claim 1, wherein the environmental information of the unmanned aerial vehicle at least includes luminance information, the control mode at least includes a light supplement mode, the execution device at least includes a light supplement device, and the light supplement device is at least invoked in the light supplement mode, wherein when a sensed value of the luminance information is lower than a preset light intensity threshold value, a light supplement instruction is generated and sent to the light supplement device, and the light supplement device receives the light supplement instruction and executes a corresponding action according to the light supplement instruction.

22. The drone controlling method according to claim 21, wherein the state information of the drone includes at least position information, the control mode includes at least an alarm mode, the executing device includes at least an indicating device, the alarm mode calls at least the indicating device, wherein when the sensed value of the brightness information is lower than a preset light intensity threshold and the position information of the drone is higher than a preset distance threshold, an alarm instruction is generated and sent to the indicating device, and the indicating device receives the alarm instruction and executes a corresponding action according to the alarm instruction.

23. The unmanned aerial vehicle control method of claim 21, wherein the environmental information of the unmanned aerial vehicle at least comprises ground texture information, the control mode at least comprises a precise positioning mode, the execution device at least comprises a power device, and the power device is called in the precise positioning mode, wherein when a sensed value of the brightness information is lower than a preset light intensity threshold value, a posture adjustment instruction is generated according to the ground texture information and sent to the power device, and the power device receives the posture adjustment instruction and executes a corresponding action according to the posture adjustment instruction.

24. The unmanned aerial vehicle control method according to claim 1, wherein the state information of the unmanned aerial vehicle at least includes position information and attitude information, the environment information at least includes depth information, the control mode at least includes an obstacle avoidance mode, the execution device at least includes a power device, and the power device is called in the obstacle avoidance mode, wherein an obstacle avoidance command is generated according to the state information and the environment information of the unmanned aerial vehicle and sent to the power device, and the power device receives the obstacle avoidance command and executes a corresponding action according to the obstacle avoidance command.

25. The drone controlling method of claim 24, wherein the drone includes a pan-tilt, the cradle head is provided with a projection device, the environment information at least comprises depth information, the control mode comprises a projection mode, the executing equipment at least comprises a holder attitude adjusting device and a projecting device, the holder attitude adjusting device and the projecting device in the executing equipment are called under the projecting mode, wherein, a tripod head attitude adjusting instruction is generated according to the depth information and is sent to the tripod head attitude adjusting device, the tripod head attitude adjusting device receives the tripod head attitude adjusting instruction, and generates a projection starting instruction after executing corresponding action according to the cradle head posture adjusting instruction, and sending the projection starting instruction to the projection device, and starting the projection device by the projection device after receiving the projection starting instruction.

26. The unmanned aerial vehicle control method of claim 1, wherein the environmental information of the unmanned aerial vehicle at least comprises temperature information, the control mode at least comprises an alarm mode, the execution device at least comprises an indication device, and the indication device is invoked in the alarm mode, wherein when a sensed value of the temperature information exceeds a preset heat threshold value, an alarm instruction is generated and sent to the indication device, and the indication device receives the alarm instruction and executes a corresponding action according to the alarm instruction.

27. The unmanned aerial vehicle control method according to claim 1, wherein the environmental information of the unmanned aerial vehicle at least includes interaction information, the control mode at least includes an interaction mode, the execution device at least includes a display device, the display device is called in the interaction mode, wherein a control instruction is generated according to the interaction information and sent to the display device, and the display device receives the control instruction and executes a corresponding action according to the control instruction.

28. The unmanned aerial vehicle control method of claim 1, wherein the unmanned aerial vehicle comprises a communication device, the external device comprises a mobile device, the unmanned aerial vehicle is connected with the mobile device through the communication device, the environment information of the unmanned aerial vehicle at least comprises signal information, the control mode at least comprises a signal transmission mode, the execution device at least comprises a signal transmission device, a signal transmission command is generated according to the signal information and sent to the signal transmission device, and the signal transmission device receives the signal transmission command and executes a corresponding action according to the signal transmission command.

29. The unmanned aerial vehicle control method according to claim 1, wherein the state information of the unmanned aerial vehicle at least includes remaining power information of the unmanned aerial vehicle, the control mode at least includes a safety protection mode, the execution device at least includes a power supply device, the power supply device is called in the safety protection mode, a safety power supply instruction is generated according to the remaining power information and sent to the power supply device, and the power supply device receives the safety power supply instruction and executes a corresponding action according to the safety power supply instruction.

30. The unmanned aerial vehicle control method according to claim 1, wherein the state information of the unmanned aerial vehicle at least includes operation resource information of the unmanned aerial vehicle, the control mode at least includes a safe operation mode, the execution device at least includes a processor, the processor is invoked in the safe operation mode, a safe operation instruction is generated according to the operation resource information and sent to the processor, and the processor receives the safe operation instruction and sends the safe operation instruction to a corresponding execution device to execute a corresponding action.

31. The unmanned aerial vehicle control method according to claim 1, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information and operation resource information, the environment information at least includes brightness information, temperature information and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode and a safety operation mode, and the execution device at least includes a light supplement device, a power device, an indication device, a power supply device and a processor, wherein the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode and the safety operation mode according to a second preset priority.

32. The unmanned aerial vehicle control method of claim 1, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information, and operation resource information, the environment information at least includes brightness information, temperature information, and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safety operation mode, and the execution device at least includes a light supplement device, a power device, an indication device, a power supply device, and a processor, wherein the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safety operation mode according to an external instruction.

33. The drone controlling method of claim 32, wherein the external command is input by a user.

34. An unmanned aerial vehicle control system, operates in unmanned aerial vehicle, its characterized in that includes:

a sensing component for acquiring at least one sensing information, the at least one sensing information including state information and/or environmental information of the drone;

the processor is used for acquiring at least one control mode, calling at least one execution device according to the at least one control mode, generating a control instruction according to the at least one control mode and a sensing value of the at least one sensing information, and sending the control instruction to the at least one execution device; and at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

35. A drone control system according to claim 34, characterised in that at least one of the control modes is obtained from at least one of the sensed information.

36. A drone control system according to claim 34, characterised in that at least one of the control modes is obtained according to an external instruction.

37. The drone control system of claim 36, wherein the external command is input by a user.

38. A drone control system according to any one of claims 34 to 37, wherein the sensing component obtains at least one of the sensed information at a first predetermined priority.

39. A drone control system according to claim 38, wherein the sensing assembly includes sensing means by which at least one of the sensed information is measured.

40. The drone controlling system of claim 39, wherein the state information of the drone includes at least one of current location information, orientation information, time, acceleration, speed, attitude, relative altitude, relative distance, electrical quantity information, computational resource information;

the environment information of the unmanned aerial vehicle comprises at least one of brightness information, ground texture information, depth information, temperature information, interaction information, wind speed information, air pressure information and noise information.

41. The drone controlling system of claim 40, wherein the sensing means for measuring status information of the drone includes at least one of a satellite positioning device, an inertial measurement sensor, a clock, a magnetic field sensor, a pressure sensor, an altitude sensor, a proximity sensor, a power detection device, a resource monitor;

the sensing device for measuring the environmental information of the unmanned aerial vehicle comprises at least one of a light intensity sensor, a photoelectric sensor, an infrared sensor, a visual sensor, a temperature sensor, an anemometer, a barometer and a sound pressure level sensor.

42. The drone controlling system of claim 38, wherein the drone further includes a communication device, the communication device being connected to an external device, at least one of the sensed information being obtained from the external device through the communication device.

43. A drone control system according to claim 42, wherein the external device includes a control terminal to which the drone is connected via the communication means, at least one of the sensed information being input by a user.

44. A drone control system according to claim 43, characterised in that the control end includes mobile equipment and/or remote controls.

45. The drone controlling system of claim 42, wherein the external device includes a predefined website, the drone being connected to the predefined website through the communication means, at least one of the sensed information being obtained through the predefined website.

46. A drone control system according to any one of claims 34 to 37, wherein at least one of the control modes is obtained according to a second predetermined priority.

47. The drone control system of claim 46, wherein upon acquiring at least two of the control modes, selecting at least two of the control modes according to a second predetermined priority.

48. A drone control system according to any one of claims 34-37, characterised in that a prompt is generated after acquisition of at least one of the control modes.

49. A drone control system according to claim 48, characterised in that after acquiring at least two of the control modes, the selection of at least two of the control modes is made according to an external command.

50. The drone control system of claim 49, wherein the external command is input by a user.

51. An unmanned aerial vehicle control system as claimed in claim 48, wherein the unmanned aerial vehicle further comprises a control end, the control end is provided with a display screen, and the prompt instruction is displayed on the display screen.

52. The drone control system of claim 34, wherein the at least one executive device receives the control instructions at a third predetermined priority and executes corresponding actions in accordance with the control instructions.

53. The drone control system of claim 34, wherein the at least one execution device, after receiving the control instruction, executes a corresponding action according to the control instruction at a third predetermined priority.

54. The unmanned aerial vehicle control system of claim 34, wherein the environmental information of the unmanned aerial vehicle at least includes luminance information, the control mode at least includes a light supplement mode, the execution device at least includes a light supplement device, and the light supplement device is at least invoked in the light supplement mode, wherein when a sensed value of the luminance information is lower than a preset light intensity threshold, a light supplement instruction is generated and sent to the light supplement device, and the light supplement device receives the light supplement instruction and executes a corresponding action according to the light supplement instruction.

55. A drone controlling system according to claim 54, characterised in that the state information of the drone includes at least position information, the control mode includes at least an alarm mode, the execution device includes at least an indicating device, the indicating device is invoked at least in the alarm mode, wherein when the sensed value of the brightness information is lower than a preset light intensity threshold and the position information of the drone is higher than a preset distance threshold, an alarm instruction is generated and sent to the indicating device, the indicating device receives the alarm instruction and executes a corresponding action according to the alarm instruction.

56. An unmanned aerial vehicle control system of claim 54, wherein the environmental information of the unmanned aerial vehicle includes at least ground texture information, the control mode includes at least a precise positioning mode, the execution device includes at least a power device, the power device is called in the precise positioning mode, wherein when the sensed value of the brightness information is lower than a preset light intensity threshold value, a posture adjustment instruction is generated according to the ground texture information and sent to the power device, and the power device receives the posture adjustment instruction and executes a corresponding action according to the posture adjustment instruction.

57. The unmanned aerial vehicle control system of claim 34, wherein the state information of the unmanned aerial vehicle at least includes position information and attitude information, the environment information at least includes depth information, the control mode at least includes an obstacle avoidance mode, the execution device at least includes a power device, the power device is called in the obstacle avoidance mode, an obstacle avoidance command is generated according to the state information and the environment information of the unmanned aerial vehicle and sent to the power device, and the power device receives the obstacle avoidance command and executes a corresponding action according to the obstacle avoidance command.

58. A drone control system according to claim 57, wherein the drone includes a pan-tilt head, the cradle head is provided with a projection device, the environment information at least comprises depth information, the control mode comprises a projection mode, the executing equipment at least comprises a holder attitude adjusting device and a projecting device, the holder attitude adjusting device and the projecting device in the executing equipment are called under the projecting mode, wherein, a tripod head attitude adjusting instruction is generated according to the depth information and is sent to the tripod head attitude adjusting device, the tripod head attitude adjusting device receives the tripod head attitude adjusting instruction, and generates a projection starting instruction after executing corresponding action according to the cradle head posture adjusting instruction, and sending the projection starting instruction to the projection device, and starting the projection device by the projection device after receiving the projection starting instruction.

59. An drone controlling system according to claim 34, wherein the environment information of the drone includes at least temperature information, the control mode includes at least an alarm mode, the executing device includes at least an indicating device, the indicating device is invoked in the alarm mode, wherein when the sensed value of the temperature information exceeds a preset heat threshold, an alarm command is generated and sent to the indicating device, and the indicating device receives the alarm command and executes a corresponding action according to the alarm command.

60. The drone control system of claim 34, wherein the environmental information of the drone includes at least interactive information, the control mode includes at least an interactive mode, the execution device includes at least a display device, the display device is invoked in the interactive mode, wherein a control command is generated according to the interactive information and sent to the display device, and the display device receives the control command and executes a corresponding action according to the control command.

61. The drone control system of claim 34, wherein the drone includes a communication device, the external device includes a mobile device, the drone is connected to the mobile device through the communication device, the environment information of the drone includes at least signal information, the control mode includes at least a signal transmission mode, the execution device includes at least a signal transmission device, wherein a signal transmission command is generated according to the signal information and sent to the signal transmission device, and the signal transmission device receives the signal transmission command and executes a corresponding action according to the signal transmission command.

62. The drone control system of claim 34, wherein the state information of the drone includes at least remaining power information of the drone, the control mode includes at least a safety protection mode, the execution device includes at least a power supply device, the power supply device is called in the safety protection mode, a safety power supply instruction is generated according to the remaining power information and sent to the power supply device, and the power supply device receives the safety power supply instruction and executes a corresponding action according to the safety power supply instruction.

63. The drone control system of claim 34, wherein the state information of the drone includes at least operational resource information of the drone, the control mode includes at least a safe operation mode, the execution device includes at least a processor, the processor is invoked in the safe operation mode, a safe operation instruction is generated according to the operational resource information and sent to the processor, and the processor receives the safe operation instruction and sends the safe operation instruction to a corresponding execution device to execute a corresponding action.

64. The unmanned aerial vehicle control system of claim 34, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information, and operational resource information, the environment information at least includes brightness information, temperature information, and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safety operation mode, and the execution device at least includes a light supplement device, a power device, an indication device, a power supply device, and a processor, wherein the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safety operation mode according to a second preset priority.

65. The unmanned aerial vehicle control system of claim 34, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information, and operational resource information, the environment information at least includes brightness information, temperature information, and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safety operation mode, and the execution device at least includes a light supplement device, a power device, an indication device, a power supply device, and a processor, wherein the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safety operation mode according to an external instruction.

66. The drone control system of claim 65, wherein the external command is input by a user.

67. The utility model provides an unmanned aerial vehicle, includes the fuselage, its characterized in that still is in including setting up the unmanned aerial vehicle control system and at least one executive device of fuselage, wherein:

the unmanned aerial vehicle control system comprises a sensing assembly and a processor, wherein the sensing assembly is used for acquiring at least one sensing information, and the at least one sensing information comprises state information and/or environment information of the unmanned aerial vehicle; the processor is further configured to obtain at least one control mode; the processor is used for generating a control instruction according to at least one control mode and at least one sensing value of the sensing information;

and calling at least one executing device according to at least one control mode, wherein the at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

68. A drone according to claim 67, wherein at least one of the control modes is obtained from at least one of the sensed information.

69. A drone according to claim 67, characterised in that at least one of the control modes is obtained according to an external command.

70. A drone as claimed in claim 68, wherein the external instruction is input by a user.

71. A drone as in claims 67-70, wherein the sensing component obtains at least one of the sensed information at a first preset priority.

72. A drone as claimed in claim 71, wherein the sensing assembly includes sensing means by which at least one of the sensed information is measured.

73. A drone as claimed in claim 72, wherein the state information of the drone includes at least one of current location information, orientation information, time, acceleration, speed, attitude, relative altitude, relative distance, electrical quantity information, computational resource information;

the environment information of the unmanned aerial vehicle comprises at least one of brightness information, ground texture information, depth information, temperature information, interaction information, wind speed information, air pressure information and noise information.

74. A drone according to claim 73, wherein the sensing means for measuring status information of the drone includes at least one of satellite positioning means, inertial measurement sensors, clocks, magnetic field sensors, pressure sensors, altitude sensors, proximity sensors, charge detection means, resource monitors;

the sensing device for measuring the environmental information of the unmanned aerial vehicle comprises at least one of a light intensity sensor, a photoelectric sensor, an infrared sensor, a visual sensor, a temperature sensor, an anemometer, a barometer and a sound pressure level sensor.

75. A drone according to claim 71, further including communication means, the communication means being connected to an external device, at least one of the sensed information being obtained from the external device via the communication means.

76. A drone as claimed in claim 75, wherein the external device includes a control terminal to which the drone is connected via the communication means, at least one of the sensed information being input by a user.

77. A drone as claimed in claim 76, wherein the control end includes a mobile device and/or a remote control.

78. A drone according to claim 75, wherein the external device includes a predefined website to which the drone connects through the communication means, at least one of the sensed information being obtained through the predefined website.

79. A drone as claimed in any one of claims 67 to 70, wherein at least one of the control modes is obtained according to a second pre-set priority.

80. A drone as claimed in claim 79, wherein the selection of at least two of the control modes is made according to a second predetermined priority after the acquisition of at least two of the control modes.

81. A drone as in any one of claims 67-70, wherein a prompt is generated after acquisition of at least one of the control modes.

82. A drone as claimed in claim 81, wherein the at least two control modes are selected in accordance with an external command after the at least two control modes have been acquired.

83. A drone according to claim 82, wherein the external instruction is input by a user.

84. An unmanned aerial vehicle as claimed in claim 81, further comprising a control end, the control end being provided with a display screen on which the prompt instructions are displayed.

85. An unmanned aerial vehicle as defined in claim 67, wherein the at least one executive device receives the control instructions at a third predetermined priority and executes corresponding actions in accordance with the control instructions.

86. An unmanned aerial vehicle as defined in claim 67, wherein the at least one execution device executes a corresponding action according to a third predetermined priority in response to the control instruction after receiving the control instruction.

87. The unmanned aerial vehicle of claim 67, wherein the environmental information of the unmanned aerial vehicle at least includes brightness information, the control mode at least includes a light supplement mode, the execution device at least includes a light supplement device, and the light supplement device is at least invoked in the light supplement mode, wherein when a sensed value of the brightness information is lower than a preset light intensity threshold value, a light supplement instruction is generated and sent to the light supplement device, and the light supplement device receives the light supplement instruction and executes a corresponding action according to the light supplement instruction.

88. An unmanned aerial vehicle according to claim 87, wherein the status information of the unmanned aerial vehicle comprises at least location information, the control mode comprises at least an alarm mode, the execution device comprises at least an indication device, and the indication device is invoked in the alarm mode, wherein when the sensed value of the brightness information is lower than a preset light intensity threshold value and the location information of the unmanned aerial vehicle is higher than a preset distance threshold value, an alarm instruction is generated and sent to the indication device, and the indication device receives the alarm instruction and executes a corresponding action according to the alarm instruction.

89. An unmanned aerial vehicle according to claim 87, wherein the environmental information of the unmanned aerial vehicle comprises at least ground texture information, the control mode comprises at least a precise positioning mode, the execution device comprises at least a power device, and the power device is invoked in the precise positioning mode, wherein when a sensed value of the brightness information is lower than a preset light intensity threshold value, a posture adjustment command is generated according to the ground texture information and sent to the power device, and the power device receives the posture adjustment command and executes a corresponding action according to the posture adjustment command.

90. An unmanned aerial vehicle as claimed in claim 67, wherein the state information of the unmanned aerial vehicle includes at least position information and attitude information, the environment information includes at least depth information, the control mode includes at least an obstacle avoidance mode, the execution device includes at least a power device, the power device is called in the obstacle avoidance mode, wherein an obstacle avoidance command is generated according to the state information and the environment information of the unmanned aerial vehicle and is sent to the power device, and the power device receives the obstacle avoidance command and executes a corresponding action according to the obstacle avoidance command.

91. A drone according to claim 90, wherein the drone includes a cradle head, the cradle head is provided with a projection device, the environment information at least comprises depth information, the control mode comprises a projection mode, the executing equipment at least comprises a holder attitude adjusting device and a projecting device, the holder attitude adjusting device and the projecting device in the executing equipment are called under the projecting mode, wherein, a tripod head attitude adjusting instruction is generated according to the depth information and is sent to the tripod head attitude adjusting device, the tripod head attitude adjusting device receives the tripod head attitude adjusting instruction, and generates a projection starting instruction after executing corresponding action according to the cradle head posture adjusting instruction, and sending the projection starting instruction to the projection device, and starting the projection device by the projection device after receiving the projection starting instruction.

92. A drone according to claim 67, wherein the environmental information of the drone includes at least temperature information, the control mode includes at least an alarm mode, the execution device includes at least an indication device, the indication device is invoked in the alarm mode, wherein when the sensed value of the temperature information exceeds a preset thermal threshold, an alarm command is generated and sent to the indication device, and the indication device receives the alarm command and executes a corresponding action according to the alarm command.

93. An unmanned aerial vehicle according to claim 67, wherein the environmental information of the unmanned aerial vehicle includes at least interactive information, the control mode includes at least an interactive mode, the execution device includes at least a display device, the display device is invoked in the interactive mode, wherein a control command is generated according to the interactive information and sent to the display device, and the display device receives the control command and executes a corresponding action according to the control command.

94. An unmanned aerial vehicle according to claim 67, wherein the unmanned aerial vehicle includes a communication device, the external device includes a mobile device, the unmanned aerial vehicle is connected to the mobile device through the communication device, the environment information of the unmanned aerial vehicle includes at least signal information, the control mode includes at least a signal transmission mode, the execution device includes at least a signal transmission device, wherein a signal transmission command is generated according to the signal information and sent to the signal transmission device, and the signal transmission device receives the signal transmission command and executes a corresponding action according to the signal transmission command.

95. The unmanned aerial vehicle of claim 67, wherein the state information of the unmanned aerial vehicle at least includes remaining power information of the unmanned aerial vehicle, the control mode at least includes a safety protection mode, the execution device at least includes a power supply device, the power supply device is called in the safety protection mode, a safety power supply instruction is generated according to the remaining power information and sent to the power supply device, and the power supply device receives the safety power supply instruction and executes a corresponding action according to the safety power supply instruction.

96. An unmanned aerial vehicle according to claim 67, wherein the state information of the unmanned aerial vehicle includes at least operational resource information of the unmanned aerial vehicle, the control mode includes at least a safe operation mode, the execution device includes at least a processor, the processor is invoked in the safe operation mode, a safe operation instruction is generated according to the operational resource information and sent to the processor, and the processor receives the safe operation instruction and sends the safe operation instruction to a corresponding execution device to execute a corresponding action.

97. An unmanned aerial vehicle according to claim 67, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information and operational resource information, the environment information at least includes brightness information, temperature information and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode and a safety operation mode, the execution device at least includes a light supplement device, a power device, an indication device, a power supply device and a processor, and the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode and the safety operation mode according to a second preset priority.

98. An unmanned aerial vehicle according to claim 67, wherein the state information of the unmanned aerial vehicle at least includes position information, attitude information, remaining power information and operation resource information, the environment information at least includes brightness information, temperature information and interaction information, the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode and a safety operation mode, and the execution device at least includes a light supplement device, a power device, an indication device, a power supply device and a processor, wherein the unmanned aerial vehicle selects the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode and the safety operation mode according to an external instruction.

99. A drone according to claim 98, wherein the external instruction is input by a user.

Technical Field

The embodiment of the disclosure relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control system and an unmanned aerial vehicle.

Background

Disclosure of Invention

The embodiment of the disclosure provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control system and an unmanned aerial vehicle, which can intelligently assemble a plurality of sensing assemblies, acquire corresponding control modes and generate corresponding control instructions, thereby realizing intelligent output of execution equipment.

A first aspect of the embodiments of the present disclosure is to provide an unmanned aerial vehicle control method, which is applied to an unmanned aerial vehicle, and includes:

acquiring at least one sensing information, wherein the at least one sensing information comprises state information and/or environment information of the unmanned aerial vehicle;

acquiring at least one control mode, and calling at least one execution device in the at least one control mode;

generating a control instruction according to at least one control mode and at least one sensing value of the sensing information, and sending the control instruction to the at least one execution device;

and the at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

A second aspect of the embodiments of the present disclosure is to provide an unmanned aerial vehicle control system, which operates on an unmanned aerial vehicle, and includes:

a sensing component for acquiring at least one sensing information, the at least one sensing information including state information and/or environmental information of the drone;

the processor is used for acquiring at least one control mode, calling at least one execution device according to the at least one control mode, generating a control instruction according to the at least one control mode and a sensing value of the at least one sensing information, and sending the control instruction to the at least one execution device; and at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

A third aspect of the embodiments of the present disclosure provides an unmanned aerial vehicle, including the fuselage, still including setting up the unmanned aerial vehicle control system and at least one executive device of fuselage, wherein:

the unmanned aerial vehicle control system comprises a sensing assembly and a processor, wherein the sensing assembly is used for acquiring at least one sensing information, and the at least one sensing information comprises state information and/or environment information of the unmanned aerial vehicle; the processor is further configured to obtain at least one control mode; the processor is used for generating a control instruction according to at least one control mode and at least one sensing value of the sensing information;

and calling at least one executing device according to at least one control mode, wherein the at least one executing device receives the control instruction and executes corresponding action according to the control instruction.

The unmanned aerial vehicle control method, the unmanned aerial vehicle control system and the unmanned aerial vehicle provided by the embodiment can intelligently assemble a plurality of sensing assemblies, acquire corresponding control modes and generate corresponding control instructions, so that intelligent output of execution equipment is realized, and user experience is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of an unmanned aerial vehicle according to an embodiment of the disclosure;

FIG. 3 is a schematic flow chart diagram of a method of controlling an unmanned aerial vehicle according to an embodiment of the disclosure;

FIG. 4 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 5 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 4;

FIG. 6 is a schematic structural diagram of yet another UAV of an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 6;

FIG. 8 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 10 is a schematic flow chart diagram of a corresponding UAV control method in the embodiment of FIG. 9;

FIG. 11 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 12 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 11;

FIG. 13 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 14 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 13;

FIG. 15 is a schematic flow chart diagram of yet another UAV control method in accordance with an embodiment of the present disclosure;

FIG. 16 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 17 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 16;

FIG. 18 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 19 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 18;

FIG. 20 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 21 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 22 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 21;

FIG. 23 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

FIG. 24 is a schematic flow chart diagram of a corresponding UAV control method of the embodiment of FIG. 23;

FIG. 25 is a schematic structural diagram of yet another UAV in accordance with an embodiment of the present disclosure;

fig. 26 is a schematic flow chart of a corresponding method of controlling an unmanned aerial vehicle in the embodiment of fig. 25.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that the terms "first," "second," and the like as used in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

Some embodiments of the disclosure are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The embodiment of the disclosure provides an unmanned aerial vehicle control method and system and an unmanned aerial vehicle. It is to be understood that the drone of the present disclosure may be used to move in any suitable environment, such as in the air (e.g., a fixed wing aircraft, a rotary wing aircraft, or an aircraft without both fixed wings and rotary wings), in water (e.g., a boat or submarine), on land (e.g., a motor vehicle such as an automobile, truck, bus, van, motorcycle, bicycle, or train), underground (e.g., a subway), in space (e.g., a space shuttle, satellite, or probe), or any combination of the above. The disclosed embodiments take an unmanned aerial vehicle as an example, and are described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle 1000 provided in an embodiment of the present disclosure, and fig. 2 is a schematic diagram of the unmanned aerial vehicle 1000. Specifically, referring to fig. 1 and 2, unmanned aerial vehicle 1000 includes drone control system 100, fuselage 200, and at least one execution device 300, where drone control system 100 includes sensing assembly 10 and processor 20. Further, the drone control system 100 and the performance apparatus 300 may be provided to the fuselage 200 of the unmanned aerial vehicle 1000. For example, in one embodiment, the fuselage 200 includes a frame on which the drone control system 100 may be partially or fully disposed and an arm assembly on which the sensing assembly 10 in the drone control system 100 is located, for example, and the processor 20 in the drone control system 100 is located; as another example, the sensing assembly 10 and the processor 20 in the drone control system 100 are both located on a rack. Likewise, the at least one execution device 300 may be partially or entirely disposed on the rack, or may be disposed on the rack, which is not limited herein.

Further, referring to fig. 3, fig. 3 is a flowchart of an unmanned aerial vehicle control method provided by an embodiment of the present disclosure. The drone control system 100 may be configured to execute the drone control method shown in fig. 3, that is, the drone control method provided by the embodiment of the present disclosure may be applied to the drone control system 100, so that the unmanned aerial vehicle 1000 implements the drone control method shown in fig. 3. It is understood that the drone control method may also be applied to other suitable drones as described above, and the present embodiment is described by taking the drone 1000 as an example, and is not limited herein.

Specifically, the unmanned aerial vehicle control method comprises the following steps:

s201: at least one sensing information is acquired.

In the disclosed embodiment, the unmanned aerial vehicle 1000 may acquire at least one sensing information through the sensing assembly 10. Further, the at least one sensed information includes status information and/or environmental information of the unmanned aerial vehicle 1000. In some embodiments, the sensing component 10 includes at least one sensing component 10, at least one sensing component 10 is preset with a first preset priority, and the sensing component 10 acquires at least one sensing information according to the first preset priority.

Further, in some embodiments, the sensing assembly 10 includes a sensing device. That is, the unmanned aerial vehicle 1000 is provided with a sensing device for acquiring at least one sensing information. For example, in some embodiments, the state information of the unmanned aerial vehicle 1000 includes at least one of current position information, orientation information, time, acceleration, speed, attitude, relative altitude, relative distance, power information, and computational resource information, and the sensing device for measuring the state information of the unmanned aerial vehicle 1000 includes at least one of a satellite positioning device, an inertial measurement sensor, a clock, a magnetic field sensor, a pressure sensor, an altitude sensor, a proximity sensor, a power detection device, and a resource monitor. The environment information of the unmanned aerial vehicle 1000 includes at least one of brightness information, ground texture information, depth information, temperature information, interaction information, wind speed information, barometric pressure information, and noise information, and the sensing device for measuring the environment information of the unmanned aerial vehicle 1000 includes at least one of a light intensity sensor, a photoelectric sensor, an infrared sensor, a visual sensor, a temperature sensor, an anemometer, a barometer, and a sound pressure level sensor. It is understood that the sensing device may be located at any suitable location of fuselage 200 of unmanned aerial vehicle 1000, such as, but not limited to, on, within, or at other suitable locations.

Further, in some embodiments, the unmanned aerial vehicle 1000 further comprises a communication device by which the unmanned aerial vehicle 1000 is communicatively coupled to an external device for obtaining sensed data therefrom. Referring to fig. 2, in one embodiment, the external device may be a control terminal 400, that is, the unmanned aerial vehicle 1000 includes the control terminal 400, and the unmanned aerial vehicle 1000 is connected to the control terminal 400 through the communication device. Further, the unmanned aerial vehicle 1000 is provided with a communication device for acquiring at least one kind of sensing information input via the control terminal 400. For example, in some embodiments, the sensing information is input by the user from the control terminal 400, for example, the user may input status information such as position information, orientation information, time, and the like of the unmanned aerial vehicle 1000 from the control terminal 400, or input environment information such as brightness information, temperature information, interaction information, and the like from the control terminal 400. Preferably, the control terminal can be a mobile device and/or a remote control device. Further, the communication device is wirelessly connected to the control terminal 400, which is not limited in this embodiment.

In other embodiments, the external device may be a predefined website, that is, the UAV 1000 is connected to the predefined website through the communication device, and at least one of the sensing information is acquired through the predefined website. Preferably, the communication device is wirelessly connected with the predefined website. For example, the predefined website may be a weather website or a drone air regulation website, etc., and the drone 1000 may obtain sensing information such as the weather website or the drone air regulation website in real time. Of course, the communication device may be connected to the predefined website through other communication means, such as a satellite communication connection, and the predefined website may also include other sensing information suitable for the unmanned aerial vehicle 1000, which is not limited herein.

Further, the sensing component 10 acquires at least one kind of the sensing information and then sends the acquired at least one kind of the sensing information to the processor 20 of the drone control system 20, that is, the processor 20 acquires at least one kind of the sensing information.

S203: at least one control mode is obtained.

In certain embodiments, the processor 20 of the drone control system 100 is also used to obtain at least one control mode. Further, at least one control mode may be obtained according to the sensing information acquired in step S201, or may be acquired according to an external instruction. Further, the external command may be input by a user, that is, at least one control mode is acquired according to the external command input by the user. It is understood that, in other embodiments, at least one control mode may also be obtained according to the obtained sensing information and an external instruction input by a user, which is not limited herein.

Further, at least one control mode is obtained according to a second preset priority. And after the at least two control modes are obtained, selecting the at least two control modes according to a second preset priority. For example, in one embodiment, processor 20 may obtain at least one control mode based on the sensed information. Further, when the processor 20 obtains at least two control modes according to the sensing information, the processor 20 can autonomously select the at least two control modes according to a second preset priority, and can intelligently select and control the control modes without an external input instruction, thereby improving the user experience.

In another embodiment, after the processor 20 obtains at least two control modes according to the sensing information, the at least two control modes may also be selected according to an external instruction. Further, the external instruction may be input by a user through the control terminal 400 such as a mobile device and/or a remote controller. In other embodiments, the control mode can be determined by combining the acquired control mode with an external instruction input by the user, so that the control mode of the unmanned aerial vehicle 1000 can be acquired in a flexible and variable configuration mode, safe and intelligent control is realized, and user experience is improved.

Specifically, for example, in one embodiment, the state information of the unmanned aerial vehicle 1000 at least includes position information, attitude information, remaining power information, and operation resource information, the environment information at least includes brightness information, temperature information, and interaction information, and the control mode at least includes a light supplement mode, an obstacle avoidance mode, an alarm mode, an interaction mode, a safety protection mode, and a safety operation mode. Further, the processor 20 of the drone control system 100 may select the light supplement mode, the obstacle avoidance mode, the alarm mode, the interaction mode, the safety protection mode, and the safety operation mode according to a second preset priority. In another embodiment, the processor 20 of the drone control system 100 may select the fill light mode, the obstacle avoidance mode, the alert mode, the interaction mode, the safety protection mode, and the safe operation mode according to an external instruction. Further, the external instruction may be input by a user through the control terminal 400 such as a mobile device and/or a remote controller.

It is understood that the above embodiments are merely exemplary, the state information and the environment information of the unmanned aerial vehicle 1000 may include other information besides the above information, for example, time information, noise information, and other sensing information related to the unmanned aerial vehicle 1000, and the corresponding control mode may include other control modes besides the above modes, and is not limited herein.

Further, in one embodiment, the processor 20 of the drone control system 100 generates the alert instruction after acquiring the at least one control mode. As described above, the unmanned aerial vehicle 1000 includes the control terminal 400. For example, the control terminal 400 may be a mobile device and/or a remote controller. Further, the control end is provided with a display screen 401, and the prompt instruction is displayed on the display screen 401. Specifically, in one embodiment, the prompt instruction is used to display a selected control mode, which may be selected autonomously by the processor 20 or according to an external instruction, and is not limited herein.

Further, after the at least two control modes are obtained, a prompt instruction is generated and displayed on the display 401 to prompt the user to select the at least two control modes. For example, when two or more control modes conflict with each other, a prompt instruction is generated and displayed on the display 401 to prompt the user to select the two or more control modes that conflict with each other. Of course, when two or more control modes do not conflict with each other, only the prompt command may be generated and displayed on the display 401, which is not limited herein.

S205: at least one of the control modes invokes at least one execution device 300.

In certain embodiments, the processor 20 of the drone control system 100, upon acquiring at least one control mode, invokes at least one execution device 300 in at least one of the control modes.

Further, the implementation equipment 300 of the unmanned aerial vehicle 1000 may include at least one of an indicating device, a light supplementing device, a lighting device, a shooting device, a power device, a pan-tilt attitude adjusting device, a projection device, a display device, a signal transmission device, and a power supply device. It is understood that the performing apparatus 300 of the unmanned aerial vehicle 1000 may include other suitable performing apparatuses besides the performing apparatus described above, such as a spraying device, a mapping device, and other performing apparatuses, and the embodiment is not limited thereto. In the following embodiments, the disclosed embodiments will be further described in connection with several specific implementations 300. It is to be understood that the disclosed embodiments are illustrative and not restrictive.

S207: and generating a control instruction according to at least one control mode and at least one sensing value of the sensing information, and sending the control instruction to at least one execution device 300.

Specifically, the processor 20 of the drone control system 100 of the unmanned aerial vehicle 1000 generates control instructions according to at least one of the control modes and at least one of the sensed values of the sensed information, and sends the control instructions to at least one of the execution devices 300.

S209: the at least one execution device 300 receives the control instruction and executes a corresponding action according to the control instruction.

In one embodiment, at least one of the execution devices 300 is pre-set with a third pre-set priority. For example, at least one execution device 300 may receive the control instruction according to a third preset priority, and execute a corresponding action according to the control instruction. In other embodiments, at least one execution device 300 may also receive the control instruction first, and then execute a corresponding action according to the control instruction according to a third preset priority, which is not limited herein.

Embodiments of the present disclosure will be further described with reference to the specific sensing assembly 10 and actuator 300. It is to be understood that the embodiments described below and features of the embodiments may be combined with each other without conflict.