WO2018129818A1

WO2018129818A1 - Method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack, and unmanned aerial vehicle backpack

Info

Publication number: WO2018129818A1
Application number: PCT/CN2017/079450
Authority: WO
Inventors: 刘均; 刘新; 宋朝忠
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2017-01-11
Filing date: 2017-04-05
Publication date: 2018-07-19
Also published as: CN106681357A

Abstract

A method for controlling an unmanned aerial vehicle (20) on the basis of an unmanned aerial vehicle backpack (10), comprising: determining whether an unmanned aerial vehicle (20) meets a throwing condition when the unmanned aerial vehicle (20) is located in a preset throwing area (S110); if the unmanned aerial vehicle (20) meets the throwing condition, controlling an unmanned aerial vehicle ejecting device to throw the unmanned aerial vehicle (S120); determining whether the unmanned aerial vehicle meets a recycling condition when a mechanical handle is located in a gripping range of a mechanical arm (S130); and if the unmanned aerial vehicle meets the recycling condition, controlling the mechanical arm to grip the mechanical handle of the unmanned aerial vehicle (20), and placing the unmanned aerial vehicle (20) in a preset recycling area (S140). An unmanned aerial vehicle backpack (10), and a system for controlling an unmanned aerial vehicle (20) on the basis of an unmanned aerial vehicle backpack (10). The method achieves automatic launching and recycling of the unmanned aerial vehicle (20), so that the use of the unmanned aerial vehicle (20) is more automated, and a use range of the unmanned aerial vehicle (20) is broader.

Description

Method, system and drone backpack for controlling drone based on drone backpack

Technical field

The invention relates to the field of drone control, in particular to a method and a system for controlling a drone based on a drone backpack and a drone backpack.

Background technique

With the development of drone technology, the application of drones has become more and more extensive. In the operation of the drone, the launch and recovery of the drone is an essential part. The launch of the drone directly affects the use of the drone, and the recycling of the drone is a prerequisite for the drone to be reused to fully realize its value. At present, the take-off mode of small drones is by hand throwing or rubber band ejection. It is very difficult for a drone weighing more than one kilogram to be ejected by hand or rubber band, and most of the current drones are recycled. More forced landing or operation of airborne parachute plus airborne airbags, forced landing is easy to damage the aircraft, and the use of airborne airbags plus parachute increases the aircraft's load and reduces the flight time of the aircraft. Moreover, the existing drone launching and recycling processes require user participation, which limits the use of drones in certain environments that are not conducive to user operations.

Summary of the invention

The main object of the present invention is to solve the technical problem that the launching and recycling process of the drone is not sufficiently automated in the prior art.

To achieve the above object, the present invention provides a method for controlling a drone based on a drone backpack, the drone backpack including a drone ejection device, a robot arm, and the drone including a mechanical handle, Methods for controlling drones based on drone backpacks include:

When the drone is located in the preset throwing area, it is determined whether the drone meets the throwing condition;

If the drone meets the throwing condition, controlling the drone ejection device to fly the drone;

When the mechanical handle is located in the grasping range of the robot arm, it is determined whether the drone meets the recovery condition;

When the drone meets the recycling condition, the robotic arm is controlled to grasp the mechanical handle of the drone, and the drone is placed in a preset recycling area.

Preferably, the satisfying throwing condition includes at least one or more of the following:

a. The current power of the drone is greater than or equal to a preset threshold;

b. There is no obstacle on the current throwing path;

c. The current wind speed is less than or equal to a preset threshold;

d. Receive a throwing instruction.

Preferably, if the drone meets the throwing condition, the step of controlling the drone ejection device to fly the drone includes:

Sending a cruise command to the drone, the cruise command includes at least path information of the cruise track, and receiving information returned by the drone during cruise.

Preferably, if the drone meets the recycling condition, controlling the mechanical arm to grasp the mechanical handle of the drone, and placing the drone after the preset recycling area comprises:

Detecting the current power of the drone to determine whether the drone currently meets the charging condition;

When the drone currently meets the charging condition, a charging connection is established with the drone for charging the drone.

Preferably, if the drone meets the throwing condition, the step of controlling the drone ejection device to fly the drone further comprises:

The position information of the drone backpack is dynamically transmitted to the drone for the drone to navigate to the location of the drone backpack according to the location information of the drone backpack.

To achieve the above object, the present invention also provides a drone backpack,

The drone backpack includes at least: a drone ejection device and a robot arm, and the drone backpack further includes:

The first judging module is configured to determine whether the drone meets the throwing condition when the drone is located in the preset throwing area;

a control module, configured to control the drone ejection device to fly the drone if the drone meets a throwing condition;

a second judging module, configured to determine whether the drone meets a recycling condition when the mechanical handle is located in a grab range of the robot arm;

And a recycling module, configured to: when the drone meets the recycling condition, control the mechanical arm to grasp the mechanical handle of the drone, and place the drone in a preset recycling area.

Preferably, the drone backpack further comprises:

And a communication module, configured to send a cruise command to the drone, the cruise command at least includes path information of the cruise track, and receive information returned by the drone during cruise.

Preferably, the drone backpack further comprises:

The detecting module is configured to detect the current power of the drone to determine whether the drone currently meets the charging condition;

And a charging module, configured to establish a charging connection with the drone for charging the drone when the drone currently meets the charging condition.

Preferably, the drone backpack further comprises:

The positioning module is configured to dynamically transmit the location information of the drone backpack to the drone, so that the drone navigates to the location of the drone backpack according to the location information of the drone backpack.

In addition, in order to achieve the above object, the present invention further provides a system for controlling a drone based on a drone backpack, wherein the system for controlling a drone based on a drone backpack includes:

The UAV backpack and the drone described above, the UAV including at least a mechanical handle.

By the invention, when the drone is located in the preset throwing area and currently meets the throwing condition, the drone can be thrown by the drone ejection device; the drone is located in the grabbing area of the robot arm and is currently satisfied When recycling conditions, grab the robotic handle of the drone through the robot arm and place the drone in the recycling area. The automatic launching and recycling of the drone is realized, and the use of the drone is more automated, so that the use of the drone is wider.

DRAWINGS

1 is a schematic flow chart of a first embodiment of a method for controlling a drone based on a drone backpack according to the present invention;

2 is a schematic flow chart of a second embodiment of a method for controlling a drone based on a drone backpack according to the present invention;

3 is a schematic diagram of functional modules of a first embodiment of a drone backpack of the present invention;

4 is a schematic diagram of functional modules of a second embodiment of the drone backpack of the present invention;

5 is a schematic diagram of functional modules of a third embodiment of the UAV backpack of the present invention;

6 is a schematic diagram of functional modules of a fourth embodiment of a drone backpack of the present invention;

FIG. 7 is a schematic diagram of a scenario of a system for controlling a drone based on a drone backpack according to the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides a method for controlling a drone based on a drone backpack. The drone backpack is mounted on a car, and the drone backpack includes at least: a drone ejection device and a robot arm, and the drone includes at least: a mechanical handle.

Referring to FIG. 1, FIG. 1 is a schematic flow chart of a first embodiment of a method for controlling a drone based on a drone backpack according to the present invention.

In this embodiment, the drone backpack is mounted on the automobile, and the drone backpack includes at least: a drone ejection device and a robot arm, and the drone includes at least: a mechanical handle, which is based on the unmanned in this embodiment. The method of controlling the drone by the machine backpack includes:

Step S110, when the drone is located in the preset throwing area, it is determined whether the throwing condition is currently met;

In this embodiment, the preset flying area is not limited, as long as the drone is located in the area, the ejection device can eject the drone; in this embodiment, the setting of the flying condition is not limited, specifically Depending on the situation. Specifically, the throwing area can be located on the top of a car equipped with a drone backpack.

Step S120, if the drone meets the throwing condition, controlling the drone ejection device to fly the drone;

In this embodiment, when the flying throwing condition is currently satisfied, the manner of controlling the ejection device to fly the flying drone is not limited. For example, in an alternative embodiment of the present invention, the electromagnetic catapult can be used as the ejection device for the unmanned The machine is ejected.

Step S130, when the mechanical handle is located in the grasping range of the robot arm, determine whether the drone meets the recovery condition;

In this embodiment, the manner in which the mechanical handle is located in the grasping range of the robot arm is not limited, and may be an unmanned aerial vehicle, and the position information of the mechanical arm is used as a navigation target, and the grasping range of the mechanical arm is achieved by navigation; It can be controlled by the position of the drone to control the movement of the car (the drone backpack is mounted on the car), so that the mechanical handle of the drone is located in the grasping range of the robot arm.

Step S140, when the drone meets the recycling condition, the mechanical arm is controlled to grab the mechanical handle of the drone, and the drone is placed in a preset recycling area. .

In the present embodiment, the setting of the recovery condition is not limited.

Condition 1, based on the power judgment, set a power threshold to determine whether the current power of the drone is less than or equal to the threshold. For example, if the threshold is set to 20%, if the current power of the drone is detected to be less than 20%, the drone currently meets the recycling condition.

Condition 2: According to the current flight time of the drone, a flight time threshold is set to determine whether the current flight time of the drone is greater than or equal to the threshold. For example, set the threshold to 20 minutes (currently the drone with battery as the driving source continues to fly for about 30 minutes). If the current drone's flight time is greater than 20 minutes, the drone currently meets the recycling conditions.

Condition 3, judging according to the current environmental condition, for example, setting a wind speed threshold to determine whether the wind speed in the current environment is greater than or equal to the threshold. For example, if the threshold is set to 10 m/s, if the flying speed in the current environment is greater than 10 m/s, the drone currently meets the recovery condition.

Condition 4, it is also possible to perform the operation of recycling the drone according to the recycling command sent by the ground station.

In this embodiment, the manner in which the mechanical arm is controlled to grasp the mechanical handle of the drone is not limited. For example, the mechanical handle of the drone is folded when the drone is flying normally. When the drone is in the grab range of the robot arm and the recovery condition is met, the control mechanical handle is extended, and the mechanical arm determines the mechanical handle. Position, take the grab action. In this embodiment, the manner in which the mechanical arm determines the mechanical handle is not limited. For example, the camera is provided with a camera on the robot arm, and the position of the mechanical handle is determined by the screen of the camera, thereby controlling the mechanical arm to grasp the mechanical handle.

In this embodiment, the position of the preset recovery area is not limited, and is specifically determined according to actual needs.

In this embodiment, when the drone is in the preset throwing area, it is judged whether the flying condition is satisfied currently, and the drone is thrown when the condition is satisfied; when the drone is in the grab range of the robot arm To determine whether the current recovery condition is met. When the condition is met, the control robot arm grabs the mechanical handle of the drone and places the drone in the recycling area to complete the recovery of the drone. By the method of the invention, the launching and recycling process of the drone is made more automated.

Further, in another embodiment of the method for controlling a drone based on a drone backpack according to the present invention, the currently satisfied throwing condition includes at least one or more of the following:

Under these conditions, the preset power threshold cannot be too small (the drone is flying when the battery is low, and the flight time is too short, which has no practical significance). For example, if it is set to 90%, the flying condition can be satisfied only when the power of the drone is greater than or equal to 90%.

b. There is no obstacle on the current throwing path;

Under these conditions, the UAV's throwing path can be imaged by the camera, and the image of the camera can be detected. Whether there is an obstacle or not, the flying condition is satisfied only when there is no obstacle. Make the drone's throwing process safer.

c. The current wind speed is less than or equal to a preset threshold;

Under the present conditions, the preset wind speed threshold is not limited, and is specifically set according to the wind resistance capability of the drone, for example, set to 10 m/s, and only the wind speed is less than or equal to 10 m/s, the flight condition is satisfied. The flight safety of the drone is further guaranteed by the limitation of the wind speed.

d. Receive a throwing instruction.

In this embodiment, the user can issue a command to fly the drone by manually loading the ground station of the car for the throwing operation of the drone.

In this embodiment, the flying condition is set based on the current power of the drone, the current environmental condition, etc., and the safety of the flying process of the drone is enhanced.

Further, in another embodiment of the method for controlling the drone based on the UAV backpack, the step S120 includes:

In this embodiment, the cruise command may be sent to the drone by the ground station mounted on the car. For example, if the drone is currently required to fly from point A to point B, the flight path from point A to point B is used. Information is sent to the drone, and the drone navigates based on the received path information to complete the mission. In another optional embodiment of the present invention, the UAV cruise mission may also be pre-stored, and the pre-stored cruise mission is automatically performed after the drone is thrown away.

In this embodiment, the manner of receiving the information returned by the drone is not limited. For example, direct wireless communication is established between the drone and the ground station, and information transfer can also be performed through the relay station.

In this embodiment, the type of information returned by the drone is not limited. It can be pictures, videos, sounds, etc. taken by the drone during cruise, and information about the environmental conditions collected by the drone, such as air humidity, wind speed, temperature, etc.

In this embodiment, the flight path of the drone can be controlled in real time by the ground station, and the data transmission with the drone during the flight of the drone can increase the utility of the drone.

Referring to FIG. 2, FIG. 2 is a schematic flow chart of a second embodiment of a method for controlling a drone based on a drone backpack according to the present invention. In this embodiment, after step S140, the method includes:

Step S150, detecting the current power of the drone to determine whether the drone currently meets the charging condition;

In this embodiment, the manner in which the drone determines whether the drone currently satisfies the charging condition according to the current power of the drone is not limited. For example, set a threshold, such as 20%, to detect the power of the drone, and compare whether the power of the drone is less than or equal to 20%. If so, the drone currently meets the charging condition.

Step S160, when the drone currently meets the charging condition, establish a charging connection with the drone for charging the drone.

In this embodiment, the manner of establishing a charging connection with the drone is not limited, for example, a wireless connection is performed between the drone and the charging module by using wifi or Bluetooth. After the charging connection is established, real-time wireless communication between the drone and the charging module can be performed for data transmission, for example, the drone feeds back the current charging condition to the charging module in real time.

In this embodiment, when the unmanned aerial vehicle meets the charging condition, the manner in which the charging module controls the charging of the unmanned aerial vehicle is not limited, and may be a wired charging method or a wireless charging method. For example, charging by means of wired charging may be that the car carries a power source, and the charging line connecting the power source is connected to the charging hole of the drone through the robot arm. For another example, the unmanned aerial vehicle is wirelessly charged by means of electromagnetic induction, for example, the vehicle is loaded with a device capable of transmitting electromagnetic waves, and the unmanned aerial vehicle is loaded with a device for receiving electromagnetic waves, and the drone converts the received electromagnetic wave into electric energy for supply. Charge the battery.

In this embodiment, after the unmanned aerial vehicle is recovered, the power of the drone is detected. If the detected electric quantity is less than or equal to the preset threshold, the unmanned aerial vehicle is charged, thereby reducing the human operation and making the drone It is more convenient to use.

Further, in another embodiment of the method for controlling a drone based on a drone backpack, the method for controlling a drone based on a drone backpack further includes:

In this embodiment, in order to facilitate the UAV to accurately grasp the position of the UAV backpack in real time, wireless communication may be used to send location information to the UAV in real time or at intervals, so that the UAV is flying out. You can navigate through the location information and fly to the location of the drone backpack.

The invention further provides a drone backpack, which is mounted on a car, and the drone backpack includes at least: a drone ejection device and a robot arm.

Referring to FIG. 3, FIG. 3 is a schematic diagram of functional modules of a first embodiment of a drone backpack according to the present invention.

In this embodiment, the drone backpack further includes:

The first judging module 110 determines whether the drone meets the throwing condition when the drone is located in the preset throwing area;

The control module 120 is configured to control the UAV ejection device to fly the UAV if the UAV satisfies the throwing condition;

The second determining module 130 is configured to determine whether the drone meets the recycling condition when the mechanical handle is located in the grabbing range of the robot arm;

In this embodiment, the manner of how the mechanical handle of the drone is located in the grasping range of the robot arm is not limited, and may be a drone, and the position information of the robot arm is used as a navigation target, and the robot arm is grasped by navigation. The range can be taken; or, by positioning the position of the drone, controlling the movement of the car (the drone backpack is mounted on the car), so that the mechanical handle is located in the grasping range of the robot arm.

The recycling module 140 is configured to control the mechanical arm to grasp the mechanical handle of the drone when the drone meets the recycling condition, and place the drone in a preset recycling area.

Referring to FIG. 4, FIG. 4 is a schematic diagram of functional modules of a second embodiment of the UAV backpack of the present invention.

In this embodiment, the drone backpack further includes:

The communication module 150 is configured to send a cruise command to the drone, where the cruise command includes at least path information of the cruise track, and receives information returned by the drone during cruise.

Referring to FIG. 5, FIG. 5 is a schematic diagram of functional modules of a third embodiment of the UAV backpack of the present invention.

In this embodiment, the drone backpack further includes:

The detecting module 160 is configured to detect the current power of the drone to determine whether the drone currently meets the charging condition;

The charging module 170 is configured to establish a charging connection with the drone for charging the drone when the drone currently meets the charging condition.

Referring to FIG. 6, FIG. 6 is a schematic diagram of functional modules of a fourth embodiment of the UAV backpack of the present invention.

In this embodiment, the drone backpack further includes:

The positioning module 180 is configured to dynamically transmit the location information of the drone backpack to the drone for the drone to navigate to the location of the drone backpack according to the location information of the drone backpack.

Referring to FIG. 7, FIG. 7 is a schematic diagram of a system for controlling a drone based on a drone backpack according to an embodiment of the present invention.

In this embodiment, the system for controlling the drone based on the UAV backpack includes: the UAV backpack 10 and the UAV 20 described above, and the UAV backpack 10 is mounted on a car, and the UAV 20 At least a mechanical handle is included for the drone backpack 10 to grab for recycling.

In any of the optional real-time examples of the present invention, the drone is operated by the ejection device, and the mechanical handle of the drone is grasped by the robot arm to complete the recovery of the drone. The automatic launch and recovery of the drone is realized, which makes the use of the drone more automated and improves the user experience.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A method for controlling a drone based on a drone backpack, characterized in that the drone backpack comprises a drone ejection device and a mechanical arm, the drone comprising a mechanical handle, the drone based backpack Methods for controlling drones include:

When the drone is located in the preset throwing area, it is determined whether the drone meets the throwing condition;

If the drone meets the throwing condition, controlling the drone ejection device to fly the drone;

When the mechanical handle is located in the grasping range of the robot arm, it is determined whether the drone meets the recovery condition;

When the drone meets the recycling condition, the robotic arm is controlled to grasp the mechanical handle of the drone, and the drone is placed in a preset recycling area.
The method for controlling a drone based on a drone backpack according to claim 1, wherein said satisfying throwing condition comprises at least one or more of the following:

a. The current power of the drone is greater than or equal to a preset threshold;

b. There is no obstacle on the current throwing path;

c. The current wind speed is less than or equal to a preset threshold;

d. Receive a throwing instruction.
The method for controlling a drone based on a drone backpack according to claim 1, wherein if the drone meets a throwing condition, the drone ejection device is controlled to fly the drone After the steps include:

Sending a cruise command to the drone, the cruise command includes at least path information of the cruise track, and receiving information returned by the drone during cruise.
The method for controlling a drone based on a drone backpack according to claim 3, wherein the method for controlling the drone based on the drone backpack further comprises:

The position information of the drone backpack is dynamically transmitted to the drone for the drone to navigate to the location of the drone backpack according to the location information of the drone backpack.
The method for controlling a drone based on a drone backpack according to claim 1, wherein if the drone meets a recycling condition, the mechanical arm is controlled to grasp a mechanical handle of the drone, And placing the drone after the preset recycling area includes:

Detecting the current power of the drone to determine whether the drone currently meets the charging condition;

When the drone currently meets the charging condition, a charging connection is established with the drone for charging the drone.
The method for controlling a drone based on a drone backpack according to claim 5, wherein the method for controlling the drone based on the drone backpack further comprises:

The position information of the drone backpack is dynamically transmitted to the drone for the drone to navigate to the location of the drone backpack according to the location information of the drone backpack.
The method for controlling a drone based on a drone backpack according to claim 1, wherein the method for controlling the drone based on the drone backpack further comprises:

The position information of the drone backpack is dynamically transmitted to the drone for the drone to navigate to the location of the drone backpack according to the location information of the drone backpack.
An unmanned aerial vehicle backpack, characterized in that the unmanned aerial vehicle backpack comprises at least: a drone ejection device and a mechanical arm, and the drone backpack further comprises:

The first judging module is configured to determine whether the drone meets the throwing condition when the drone is located in the preset throwing area;

a control module, configured to control the drone ejection device to fly the drone if the drone meets a throwing condition;

a second judging module, configured to determine whether the drone meets a recycling condition when the mechanical handle is located in a grab range of the robot arm;

And a recycling module, configured to: when the drone meets the recycling condition, control the mechanical arm to grasp the mechanical handle of the drone, and place the drone in a preset recycling area.
The drone backpack of claim 8 wherein the drone backpack further comprises:

And a communication module, configured to send a cruise command to the drone, the cruise command at least includes path information of the cruise track, and receive information returned by the drone during cruise.
The drone backpack of claim 9, wherein the drone backpack further comprises:

The positioning module is configured to dynamically transmit the location information of the drone backpack to the drone, so that the drone navigates to the location of the drone backpack according to the location information of the drone backpack.
The drone backpack of claim 8 wherein the drone backpack further comprises:

The detecting module is configured to detect the current power of the drone to determine whether the drone currently meets the charging condition;

And a charging module, configured to establish a charging connection with the drone for charging the drone when the drone currently meets the charging condition.
The drone backpack of claim 11 wherein the drone backpack further comprises:

The positioning module is configured to dynamically transmit the location information of the drone backpack to the drone, so that the drone navigates to the location of the drone backpack according to the location information of the drone backpack.
The drone backpack of claim 8 wherein the drone backpack further comprises:

The positioning module is configured to dynamically transmit the location information of the drone backpack to the drone, so that the drone navigates to the location of the drone backpack according to the location information of the drone backpack.
A system for controlling a drone based on a drone backpack, characterized in that the system for controlling a drone based on a drone backpack comprises the drone backpack and the drone according to claim 8, wherein The drone includes at least a mechanical handle.