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WO2018129818A1 - Procédé et système de commande de véhicule aérien sans pilote sur la base d'un sac à dos de véhicule aérien sans pilote, et sac à dos de véhicule aérien sans pilote - Google Patents

Procédé et système de commande de véhicule aérien sans pilote sur la base d'un sac à dos de véhicule aérien sans pilote, et sac à dos de véhicule aérien sans pilote Download PDF

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Publication number
WO2018129818A1
WO2018129818A1 PCT/CN2017/079450 CN2017079450W WO2018129818A1 WO 2018129818 A1 WO2018129818 A1 WO 2018129818A1 CN 2017079450 W CN2017079450 W CN 2017079450W WO 2018129818 A1 WO2018129818 A1 WO 2018129818A1
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WO
WIPO (PCT)
Prior art keywords
drone
backpack
condition
controlling
meets
Prior art date
Application number
PCT/CN2017/079450
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English (en)
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
Original Assignee
深圳市元征科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018129818A1 publication Critical patent/WO2018129818A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • the robotic arm is controlled to grasp the mechanical handle of the drone, and the drone is placed in a preset recycling area.
  • the satisfying throwing condition includes at least one or more of the following:
  • the current power of the drone is greater than or equal to a preset threshold
  • the current wind speed is less than or equal to a preset threshold
  • the step of controlling the drone ejection device to fly the drone includes:
  • controlling the mechanical arm to grasp the mechanical handle of the drone, and placing the drone after the preset recycling area comprises:
  • 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.
  • 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;
  • 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
  • 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 further comprises:
  • 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 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
  • 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 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 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 drone 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.
  • 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
  • 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
  • FIG. 3 is a schematic diagram of functional modules of a first embodiment of a drone backpack of the present invention.
  • FIG. 4 is a schematic diagram of functional modules of a second embodiment of the drone backpack of the present invention.
  • FIG. 5 is a schematic diagram of functional modules of a third embodiment of the UAV backpack of the present invention.
  • FIG. 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 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.
  • 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.
  • 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;
  • 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;
  • the manner of controlling the ejection device to fly the flying drone is not limited.
  • 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
  • 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. .
  • 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.
  • 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.
  • the manner in which the mechanical arm is controlled to grasp the mechanical handle of the drone is not limited.
  • the mechanical handle of the drone is folded when the drone is flying normally.
  • the control mechanical handle is extended, and the mechanical arm determines the mechanical handle. Position, take the grab action.
  • the manner in which the mechanical arm determines the mechanical handle is not limited.
  • 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.
  • the position of the preset recovery area is not limited, and is specifically determined according to actual needs.
  • the drone 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.
  • 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.
  • the currently satisfied throwing condition includes at least one or more of the following:
  • the current power of the drone is greater than or equal to a preset threshold
  • 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%.
  • 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.
  • the current wind speed is less than or equal to a preset threshold
  • 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.
  • 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.
  • 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.
  • the step S120 includes:
  • the cruise command may be sent to the drone by the ground station mounted on the car.
  • the drone 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.
  • the UAV cruise mission may also be pre-stored, and the pre-stored cruise mission is automatically performed after the drone is thrown away.
  • the manner of receiving the information returned by the drone is not limited.
  • direct wireless communication is established between the drone and the ground station, and information transfer can also be performed through the relay station.
  • 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.
  • 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.
  • 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.
  • the method includes:
  • Step S150 detecting the current power of the drone to determine whether the drone currently meets the charging condition
  • 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.
  • a threshold such as 20%
  • Step S160 when the drone currently meets the charging condition, establish a charging connection with the drone for charging the drone.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method for controlling a drone based on a drone backpack further includes:
  • 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.
  • 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.
  • FIG. 3 is a schematic diagram of functional modules of a first embodiment of a drone backpack according to the present invention.
  • 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 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.
  • the control module 120 is configured to control the UAV ejection device to fly the UAV if the UAV satisfies the throwing condition;
  • the manner of controlling the ejection device to fly the flying drone is not limited.
  • the electromagnetic catapult can be used as the ejection device for the unmanned The machine is ejected.
  • 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;
  • 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.
  • 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.
  • 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.
  • the manner in which the mechanical arm is controlled to grasp the mechanical handle of the drone is not limited.
  • the mechanical handle of the drone is folded when the drone is flying normally.
  • the control mechanical handle is extended, and the mechanical arm determines the mechanical handle. Position, take the grab action.
  • the manner in which the mechanical arm determines the mechanical handle is not limited.
  • 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.
  • the position of the preset recovery area is not limited, and is specifically determined according to actual needs.
  • the drone 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.
  • 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.
  • FIG. 4 is a schematic diagram of functional modules of a second embodiment of the UAV backpack of the present invention.
  • 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.
  • the cruise command may be sent to the drone by the ground station mounted on the car.
  • the drone 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.
  • the UAV cruise mission may also be pre-stored, and the pre-stored cruise mission is automatically performed after the drone is thrown away.
  • the manner of receiving the information returned by the drone is not limited.
  • direct wireless communication is established between the drone and the ground station, and information transfer can also be performed through the relay station.
  • 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.
  • 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.
  • FIG. 5 is a schematic diagram of functional modules of a third embodiment of the UAV backpack of the present invention.
  • 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 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.
  • a threshold such as 20%
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 6 is a schematic diagram of functional modules of a fourth embodiment of the UAV backpack of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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

Abstract

La présente invention concerne un procédé de commande d'un véhicule aérien sans pilote (20) sur la base d'un sac à dos de véhicule aérien sans pilote (10), consistant : à déterminer si un véhicule aérien sans pilote (20) satisfait une condition de lancement lorsque le véhicule aérien sans pilote (20) se trouve dans une zone de lancement prédéfinie (S110) ; si le véhicule aérien sans pilote (20) satisfait la condition de lancement, à commander un dispositif d'éjection de véhicule aérien sans pilote de manière à lancer le véhicule aérien sans pilote (S120) ; à déterminer si le véhicule aérien sans pilote satisfait une condition de réenclenchement lorsqu'une poignée mécanique se situe dans une plage de préhension d'un bras mécanique (S130) ; et si le véhicule aérien sans pilote satisfait la condition de réenclenchement, à commander le bras mécanique de façon à saisir la poignée mécanique du véhicule aérien sans pilote (20), et à placer le véhicule aérien sans pilote (20) dans une zone de réenclenchement prédéfinie (S140). La présente invention concerne également un sac à dos de véhicule aérien sans pilote (10), et un système de commande d'un véhicule aérien sans pilote (20) basé sur un sac à dos de véhicule aérien sans pilote (10). Le procédé permet le lancement et le réenclenchement automatiques du véhicule aérien sans pilote (20), de telle sorte que l'utilisation du véhicule aérien sans pilote (20) est plus automatisée, et une gamme d'utilisation du véhicule aérien sans pilote (20) est plus large.
PCT/CN2017/079450 2017-01-11 2017-04-05 Procédé et système de commande de véhicule aérien sans pilote sur la base d'un sac à dos de véhicule aérien sans pilote, et sac à dos de véhicule aérien sans pilote WO2018129818A1 (fr)

Applications Claiming Priority (2)

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CN201710019544.6A CN106681357A (zh) 2017-01-11 2017-01-11 基于无人机背包控制无人机的方法、系统及无人机背包
CN201710019544.6 2017-01-11

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CN114089777A (zh) * 2021-11-22 2022-02-25 广州市华科尔科技股份有限公司 一种抛飞无人机的控制方法及装置

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CN206923855U (zh) * 2017-07-24 2018-01-26 深圳市大疆创新科技有限公司 无人机的伴飞背包及无人机伴飞系统
CN108363405A (zh) * 2018-04-08 2018-08-03 广东华中科技大学工业技术研究院 一种无人机协同无人艇充电的方法及系统
CN110661310B (zh) * 2019-08-30 2021-09-28 深圳供电局有限公司 充电装置及无人机组合

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