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WO2020248155A1 - Procédé de commande pour véhicule aérien sans pilote, et terminal, véhicule aérien sans pilote et support d'informations - Google Patents

Procédé de commande pour véhicule aérien sans pilote, et terminal, véhicule aérien sans pilote et support d'informations Download PDF

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Publication number
WO2020248155A1
WO2020248155A1 PCT/CN2019/090859 CN2019090859W WO2020248155A1 WO 2020248155 A1 WO2020248155 A1 WO 2020248155A1 CN 2019090859 W CN2019090859 W CN 2019090859W WO 2020248155 A1 WO2020248155 A1 WO 2020248155A1
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WIPO (PCT)
Prior art keywords
information
drone
movement
control information
control
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Legal status (The legal status 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 status listed.)
Ceased
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PCT/CN2019/090859
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English (en)
Chinese (zh)
Inventor
郭亚娜
袁博
张鹏辉
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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.)
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201980008010.0A priority Critical patent/CN111727415A/zh
Priority to PCT/CN2019/090859 priority patent/WO2020248155A1/fr
Publication of WO2020248155A1 publication Critical patent/WO2020248155A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—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 control technology, in particular to a control method, terminal, unmanned aerial vehicle and storage medium of an unmanned aerial vehicle.
  • line patrol control is that mobile robots such as unmanned aerial vehicles (unmanned aerial vehicles, unmanned vehicles, unmanned ships) move along the reference marking lines preset in space.
  • Line patrols are controlled in cargo transportation, education, and sports events Has a wide range of applications.
  • UAVs can only move along the reference marking line according to a fixed or unified line-following control strategy. This makes the control strategy of the drone moving along the reference marking line not flexible enough to meet the individual needs of users.
  • the embodiment of the present invention provides a control method, terminal, unmanned aerial vehicle and storage medium of the unmanned aerial vehicle, which improves the flexibility of the unmanned aerial vehicle line patrol control and meets individual requirements.
  • an embodiment of the present invention provides a control method of a drone, which is applied to a control terminal of a drone, and includes:
  • control strategy information for the drone to move along a reference marking line preset in the space, wherein the control strategy information includes movement control information
  • the control strategy information is sent to the drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • an embodiment of the present invention provides a method for controlling drones, which is applied to drones, including:
  • control strategy information that is sent by the control terminal of the drone to move along the reference mark line preset in the space, wherein the control strategy information is determined by the control terminal of the drone according to the editing operation of the user, and the control Strategy information includes mobile control information;
  • an embodiment of the present invention provides a control terminal, including: a memory and a processor;
  • the memory is used to store program instructions
  • the processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • control strategy information for the drone to move along a reference marking line preset in the space, wherein the control strategy information includes movement control information
  • the control strategy information is sent to the drone, so that the drone controls the movement along the reference line according to the movement control information.
  • an embodiment of the present invention provides a drone, including:
  • the power system configured on the fuselage is used to provide mobile power for the drone;
  • control strategy information that is sent by the control terminal of the drone to move along the reference mark line preset in the space, wherein the control strategy information is determined by the control terminal of the drone according to the editing operation of the user, and the control Strategy information includes mobile control information;
  • an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned first or second aspect is implemented. method.
  • the control terminal determines the control strategy information for the drone to move along the reference marking line preset in the space by detecting the editing operation of the user, and sends the control strategy information to the UAV, so that the UAV controls movement along the reference marking line according to the movement control information.
  • the user can formulate the UAV's line patrol control strategy through the control terminal, which improves the flexibility of the UAV line patrol control and can meet the individual needs of the user.
  • FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of determining a movement trajectory according to target feature points according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of determining a motion trajectory according to target feature points and condition information according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of another drone control method provided by an embodiment of the present invention.
  • Figure 6a is a schematic diagram of a T-shaped cross control provided by an embodiment of the present invention.
  • Figure 6b is a schematic diagram of a cross-shaped cross control provided by an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of yet another drone control method provided by an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a control terminal provided by an embodiment of the present invention.
  • the control method of the drone provided in the embodiments of the present invention may be executed by a control terminal in the control system of the drone; in some embodiments, the control system of the drone includes a control terminal and a drone. In some embodiments, the control terminal of the drone may be set on the drone; in some embodiments, the control terminal may be spatially independent from the drone. In some embodiments, a wireless or wired communication connection is established between the control terminal and the drone. In some embodiments, the drone includes one or more motors for providing mobility for the drone. .
  • the unmanned aerial vehicle may be a mission robot whose mission relies on the motor to move autonomously.
  • the unmanned aerial vehicle may include movable equipment such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships.
  • the control method of the drone provided by the embodiment of the present invention can detect the editing operation of the user, and determine the control strategy information of the drone moving along the reference marking line preset in the space according to the editing operation, wherein the control The strategy information includes movement control information; by sending the control strategy information to the drone, the drone controls the movement along the reference identification line according to the movement control information.
  • control terminal can display a graphical control strategy editing interface, and the user can perform the editing operation on the control strategy editing interface, so that the user can formulate the drone's line patrol control strategy through the control terminal , It improves the flexibility of UAV line inspection control and can meet the individual needs of users.
  • the control terminal of the drone may include an application (Application, APP) that provides editing operations for the user.
  • the APP may include a control strategy editing interface, and the control strategy editing interface may include touch The control icon display area and the control area, the touch icon display area has multiple touch icons, the user can drag at least one touch icon in the module area to the control area, and the control area can be controlled according to the The touch icon in the area determines the control strategy information for the drone indicated by the touch icon to move along the reference marking line preset in the space.
  • the control terminal may send the control strategy information to the drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • the control area of the control terminal can determine the target feature point according to the motion track control icon. Identification information, and send the identification information of the target feature point to the drone, so that the drone can extract the reference identification line from the image collected by the drone's shooting device according to the identification information
  • the target feature point is determined from the preset number of feature points, and the movement track along the reference marking line is controlled according to the position of the target feature point in the image.
  • the drone can mark the direction that indicates the target direction detected at the cross Send to the control terminal, the control terminal can determine the steering control information according to the direction indicator, and send the steering control information to the drone, so that the drone will turn corresponding to the steering control information at the intersection according to the steering control information Target direction.
  • a cross such as a cross or a T-shaped cross
  • FIG. 1 is a schematic structural diagram of a control system for an unmanned aerial vehicle according to an embodiment of the present invention.
  • the control system of the unmanned aerial vehicle includes: an unmanned aerial vehicle 11 and a control terminal 12.
  • the control terminal 12 may be set on the drone 11.
  • the UAV 11 includes a power system 111, which is used to provide power for the UAV 11 to move.
  • the power 11 system may include the aforementioned motor.
  • the drone 11 and the control terminal 12 are independent of each other, and the control terminal 12 may include one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device.
  • control terminal 12 may be a device remote from the drone 11, for example, the control terminal 12 is set in a cloud server and establishes a communication connection with the drone 11 through a wireless communication connection.
  • the control terminal 12 establishes a communication connection with the drone 11, and the control terminal 12 is used to send control instructions to the drone 11 to control the drone 11 to move.
  • control terminal 12 can detect the editing operation of the user, determine the control strategy information for the drone to move along the reference mark line preset in the space according to the editing operation, and send the control strategy information to all The drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • FIG. 2 is a schematic flowchart of a method for controlling a drone according to an embodiment of the present invention.
  • the method may be executed by a control terminal, and the specific explanation of the control terminal is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S201 Detect the editing operation of the user, and determine the control strategy information for the drone to move along the reference identification line preset in the space according to the editing operation.
  • the control terminal can detect the editing operation of the user, and determine the control strategy information for the drone to move along the reference marking line preset in the space according to the editing operation.
  • the control strategy information includes mobility control information.
  • the drone includes, but is not limited to, a ground-based remote-controlled robot.
  • the reference marking line may include, but is not limited to, straight lines, curves, line segments, and the like.
  • the touch display interface of the control terminal may include a touch icon display area and a control area; in some embodiments, the touch icon display area includes one or more touch icons, The touch icon is used to indicate movement control information and/or condition information of the drone.
  • the editing operation may include, but is not limited to, operations such as a drag operation and a click operation; in some embodiments, the editing operation includes dragging the touch in the touch icon display area.
  • the user can drag the touch icon in the touch icon display area to the control area; the control area can determine the drone's direction based on the touch icon dragged to the control area The movement control information and/or condition information of the reference mark line movement preset in the space.
  • the editing operation may include a conditional editing operation and/or a movement control information editing operation.
  • the condition editing operation may include dragging the touch icon of the condition information; in some embodiments, the movement control information editing operation may include dragging the touch icon of the movement control information. Operation.
  • the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information.
  • the movement control information includes motion trajectory control information
  • the motion trajectory control information includes identification information of target feature points.
  • the identification information may include, but is not limited to, numbers, characters, text, and other forms.
  • the movement control information includes first movement trajectory control information and second movement trajectory control information
  • the first movement trajectory control information includes identification information of a first target feature point
  • the second movement trajectory The control information includes identification information of the second target feature point
  • the control strategy information also includes condition information, wherein the condition information includes first condition information corresponding to the first motion track control information and The second condition information corresponding to the motion trajectory control information.
  • S202 Send the control strategy information to the drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • control terminal may send the control strategy information to the drone, so that the drone controls the movement along the reference identification line according to the movement control information.
  • the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information.
  • the control terminal sends the control strategy information to the drone, so that when the drone controls the movement along the reference marking line according to the movement control information, the control strategy information can be sent.
  • the drone is provided so that the drone controls the movement trajectory along the reference marking line according to the movement trajectory control information, and controls the speed of the movement along the reference marking line according to the speed control information, At least one of controlling the cross steering in the reference marking line to a target direction according to the steering control information, and stopping moving along the reference marking line according to the stop movement control information.
  • the drone can determine a movement trajectory along the reference marking line according to the movement trajectory control information and follow the movement Trajectory movement, determine the movement speed according to the speed control information and move along the reference marking line according to the movement speed, determine the target direction of the cross steering in the reference marking line according to the steering control information, and set it in the Cross turning to the target direction, and stop moving along the reference marking line according to the stop movement control information.
  • the movement control information includes motion trajectory control information
  • the motion trajectory control information includes identification information of target feature points.
  • the control strategy information can be Sent to the drone, so that the drone determines a target from the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone according to the identification information Feature points, and control the movement track along the reference marking line according to the position of the target feature point in the image.
  • a preset number of feature points of the reference marking line can be extracted from each frame of images captured by the drone's camera, and a preset number of feature points can be extracted from each frame of image The target feature point is determined from the feature points.
  • FIG. 3 is a schematic diagram of determining a motion trajectory according to a target feature point according to an embodiment of the present invention.
  • the preset reference marking line is curve AB
  • the current position of the drone is point a
  • the drone obtains 4 from the current image frames collected by the drone's camera at point a.
  • Feature points, the identification information of the four feature points are b, c, d, e respectively. If the target feature point e with the largest distance from the drone is determined from these four feature points, the unmanned person can be determined
  • the movement trajectory of the aircraft is ae, and the drone is controlled to move along the movement trajectory ae of the reference marking line AB.
  • the movement control information includes first movement trajectory control information and second movement trajectory control information
  • the first movement trajectory control information includes identification information of a first target feature point
  • the second movement trajectory The control information includes identification information of the second target feature point
  • the control strategy information also includes condition information, wherein the condition information includes first condition information corresponding to the first motion track control information and The second condition information corresponding to the motion trajectory control information.
  • the control terminal may send the control strategy information to the drone, so that the drone determines that the first condition information is satisfied according to the characteristics of the first target feature point.
  • the identification information determines the first target feature point from the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone, and determines the first target feature point in the image according to the first target feature point.
  • the second target feature point is determined from the preset number of feature points of the reference identification line extracted in the reference identification line, and the movement track along the reference identification line is controlled according to the position of the second target feature point in the image .
  • the first condition information includes that the positions of the plurality of characteristic points in the image or in the space of the preset number of characteristic points satisfy a preset first position relationship; and /Or, the second condition information includes that the positions of the plurality of characteristic points in the image or the positions in the space of the preset number of characteristic points satisfy a preset second position relationship.
  • FIG. 4 can be taken as an example.
  • FIG. 4 is a schematic diagram of determining a motion trajectory according to target feature points and condition information according to an embodiment of the present invention. As shown in Figure 4, assuming that the current location of the drone is point A, the preset reference marking line is curve AB, and the drone obtains at point A from the current image frame collected by the drone’s camera.
  • the 6 feature points including the identification information of the feature points as a, b, c, d, e, f, and the first condition information is that the identification information is the 4 feature points of a, b, c, and d in advance
  • the second condition information is that the feature point d and the feature points e and f are on a curve with a curvature greater than a preset threshold.
  • the first target feature point is the distance from the UAV point A
  • the largest feature point d because the distance between the location of the feature points e and f on the curve and the feature point d are respectively de and df, since the distance de is less than the distance df, the second target feature point can be determined as the distance feature point d
  • the feature point e with the smaller distance between so that the first motion trajectory can be determined as the line segment Ad according to the first target feature point d, and the second motion trajectory is determined as the line segment de according to the second target feature point e and the first target feature point d ,
  • the current motion trajectory of the UAV along the reference marking line AB is the line segment Ad and the line segment de.
  • the motion trajectory of the UAV can be reduced when it moves along the curve reference marking line with larger curvature. Offset error improves the effectiveness of UAV line tracking control.
  • the control terminal can determine the control strategy information for the drone to move along the reference mark line preset in the space by detecting the editing operation of the user, and send the control strategy information to the all The drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • the user can formulate the UAV's line patrol control strategy through the control terminal, which improves the flexibility of the UAV line patrol control and can meet the individual needs of the user.
  • FIG. 5 is a schematic flowchart of another drone control method according to an embodiment of the present invention.
  • the method may be executed by a control terminal, and the specific explanation of the control terminal is as described above.
  • the difference between the embodiment of the present invention and the embodiment described in FIG. 2 is that the embodiment of the present invention is a schematic description of controlling the movement of the drone along the reference identification line according to the movement control information and the condition information.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Detect the editing operation of the user, and determine the control strategy information for the drone to move along the reference marking line preset in the space according to the editing operation, where the control strategy information includes condition information and the movement corresponding to the condition information Control information.
  • control terminal can detect the editing operation of the user, and determine the control strategy information for the drone to move along the reference marking line preset in the space according to the editing operation, wherein the control strategy information includes condition information and Movement control information corresponding to the condition information.
  • S502 Send the control strategy information to the UAV, so that when the UAV determines that the condition information is satisfied in the process of moving along the reference marking line, it controls the edge according to the movement control information. The movement of the reference marking line.
  • control terminal may send the control strategy information to the UAV, so that the UAV determines that the condition information is satisfied when the UAV moves along the reference marking line according to The movement control information controls movement along the reference identification line.
  • the condition information includes detection of an obstacle
  • the movement control information includes stop movement control information.
  • the control terminal may send the control strategy information to the drone, so that when the drone determines that the condition information is met during the process of moving along the reference identification line, the control information stops moving according to the control information. Stop moving along the reference marking line.
  • the obstacles include but are not limited to pedestrians.
  • the control terminal sends the control strategy information including the condition information and the movement control information to the drone, if all If the drone detects a pedestrian (ie, an obstacle) while moving along the reference marking line, it can be determined that the condition information is satisfied, and thus stop moving along the reference marking line according to the movement control information.
  • the user can use the control terminal to formulate a line patrol control strategy that stops moving along the reference line according to the stop movement control information when the UAV detects an obstacle, which improves the UAV's line patrol process Security in.
  • the condition information includes detection of a cross on a reference marking line and detection of a direction identifier indicating a target direction
  • the movement control information includes steering control information.
  • the control terminal may send the control strategy information to the unmanned aerial vehicle, so that when the unmanned person determines that the condition information is satisfied in the process of moving along the reference identification line, according to the steering control information Turn to the target direction at the intersection.
  • the direction indicator is a pattern.
  • the direction indication may also include numbers, letters, characters, and other forms, which are not specifically limited in the embodiment of the present invention.
  • the detection of a crossing on a reference marking line includes detecting a predetermined type of crossing on the reference marking line; in some embodiments, the predetermined type of crossing includes a T-shaped crossing And cross.
  • FIG. 6a can be taken as an example.
  • FIG. 6a is a schematic diagram of a T-shaped cross control provided by an embodiment of the present invention.
  • the preset T-shaped cross direction indicator is the right icon 61
  • the drone 62 detects the T-shaped cross 63 on the reference identification line and detects it while patrolling along the reference identification line
  • the movement control information is right turn control information
  • the condition information is satisfied, so that the right turn is crossed right in the T-shape according to the right turn control information. Go to the target direction 64.
  • Fig. 6b is a schematic diagram of cross-shaped control provided by an embodiment of the present invention.
  • the preset direction of the cross-shaped intersection is the leftward icon 65
  • the drone 62 detects the cross-shaped intersection 66 on the reference identification line and detects the To the left icon 65 indicating the target direction, it can be determined that the movement control information is left turn control information, and it can be determined that the condition information is satisfied, so that the left turn is crossed to the left of the cross according to the left turn control information. Go to target direction 67.
  • the user can control the drone to control the drone to turn to the target direction at the intersection according to the steering control information when the drone encounters a crossing through the control terminal, which can improve the movement process of the drone during the line inspection.
  • the control terminal can meet the individual needs of users.
  • the condition information includes detecting that a deceleration control condition is satisfied, and the movement control information includes deceleration movement control information.
  • the control terminal may send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle decelerates according to the movement control information when it is determined that the condition information is satisfied during the movement along the reference marking line. Move along the reference marking line.
  • the satisfaction of the deceleration control condition may include but is not limited to a curve with a curvature greater than a preset threshold; in some embodiments, the deceleration movement control information may include, but is not limited to, a speed value.
  • Figure 4 can be taken as an example. If the drone detects a curve de with a curvature greater than a preset threshold while moving along the reference marking line AB, the decelerated curve can be determined according to the curvature of the curve. The speed value is used to decelerate and move along the reference marking line AB according to the decelerated speed value to prevent the drone from flying out of the curve and control the drone to pass the curve safely.
  • this embodiment can prevent the drone from flying out of the reference marking line during the line inspection, and improve the safety of the drone during the line inspection.
  • the condition information includes detecting that an acceleration control condition is satisfied, and the movement control information includes acceleration movement control information.
  • the control terminal may send the control strategy information to the UAV, so that the UAV accelerates according to the movement control information when the UAV determines that the condition information is satisfied in the process of moving along the reference marking line Move along the reference marking line.
  • the satisfaction of the acceleration control condition may include, but is not limited to, a linear motion trajectory.
  • the accelerated speed may be determined according to the distance of the linear motion trajectory, so that the UAV accelerates to move along the reference marking line.
  • the control terminal can detect the editing operation of the user, and determine the control strategy information for the drone to move along the reference marking line preset in the space according to the editing operation, wherein the control strategy information includes condition information and
  • the movement control information corresponding to the condition information sends the control strategy information to the drone, so that the drone determines when the condition information is satisfied during the process of moving along the reference marking line Controlling the movement along the reference marking line according to the movement control information.
  • Fig. 7 is a schematic flowchart of another method for controlling drones according to an embodiment of the present invention.
  • the method can be executed by drones.
  • the drones include unmanned aerial vehicles and unmanned aerial vehicles.
  • Mobile equipment such as vehicles, unmanned ships, and mobile robots.
  • the method of the embodiment of the present invention includes the following steps.
  • S701 Receive control strategy information that is sent by the control terminal of the drone to move along the reference identification line preset in space, where the control strategy information is determined by the control terminal of the drone according to the user's editing operation, so The control strategy information includes movement control information.
  • the drone may receive control strategy information that is sent by the control terminal of the drone and moves along a reference mark line preset in space, where the control strategy information is the control terminal of the drone Determined according to the user's editing operation, the control strategy information includes movement control information.
  • the drone includes, but is not limited to, a ground-based remote-controlled robot.
  • S702 Control the movement of the drone along the reference marking line according to the movement control information.
  • the drone can control the movement of the drone along the reference marking line according to the movement control information.
  • the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information.
  • the drone when the drone controls the movement of the drone along the reference marking line according to the movement control information, it can control the drone along the reference line according to the movement trajectory control information.
  • the movement control information includes motion trajectory control information
  • the motion trajectory control information includes identification information of target feature points.
  • the drone may collect images from the drone's camera according to the identification information
  • the target feature point is determined from the preset number of feature points of the reference identification line extracted in the reference identification line, and the movement track of the drone moving along the reference identification line is controlled according to the position of the target feature point in the image.
  • the movement control information includes first movement trajectory control information and second movement trajectory control information
  • the first movement trajectory control information includes identification information of a first target feature point
  • the second movement trajectory The control information includes identification information of the second target feature point
  • the control strategy information also includes condition information, wherein the condition information includes first condition information corresponding to the first motion track control information and The second condition information corresponding to the motion trajectory control information.
  • the drone determines the target feature point from the preset number of feature points of the reference identification line extracted from the image collected by the drone's shooting device according to the identification information, and When controlling the movement trajectory of the drone along the reference marking line according to the position of the target feature point in the image, when it is determined that the first condition information is satisfied, according to the first
  • the identification information of the target feature point determines the first target feature point from the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone, and according to the first target feature point
  • the position in the image controls the movement trajectory of the drone along the reference identification line; and when it is determined that the second condition information is satisfied, the identification information of the second target feature point is changed from the none
  • the second target feature point is determined from the preset number of feature points of the reference marking line extracted from the image captured by the human-machine camera, and the second target feature point is controlled according to the position of the second target feature point in the image The trajectory of the machine moving along the reference marking line.
  • the first condition information includes that the positions in the image or in the space of the plurality of characteristic points of the preset number of characteristic points satisfy a preset first position relationship; and /Or, the second condition information includes that the positions of the plurality of characteristic points in the image or the positions in the space of the preset number of characteristic points satisfy a preset second position relationship.
  • control strategy information includes condition information and movement control information corresponding to the condition information; when the drone controls the movement of the drone along the reference marking line according to the movement control information In the process of moving along the reference marking line, when it is determined that the condition information is satisfied, the drone may be controlled to move along the reference marking line according to the movement control information.
  • the condition information includes the detection of an obstacle
  • the movement control information includes stop movement control information; when the UAV determines that the condition information is satisfied, it controls no obstacle according to the movement control information.
  • the man-machine moves along the reference marking line
  • the drone may be stopped from moving along the reference marking line according to the stop movement control information.
  • the obstacles include but are not limited to pedestrians.
  • the condition information includes detecting a cross on a reference marking line and detecting a direction indicator indicating a target direction
  • the movement control information includes steering control information
  • the drone is determining the condition information When it is satisfied, when controlling the movement of the drone along the reference marking line according to the movement control information, when it is determined that the condition information is satisfied, the drone can be controlled to steer in the cross direction according to the steering control information.
  • the detection of the intersection on the reference marking line includes detecting a predetermined type of intersection on the reference marking line; in some embodiments, the predetermined type of intersection includes a T-shape Cross and crisscross.
  • the direction indicator is a pattern. In other embodiments, the direction indicator may be numbers, letters, characters, etc. The embodiment of the present invention does not specifically limit the direction indicator.
  • the drone may receive control strategy information that is sent by the control terminal of the drone and moves along a reference mark line preset in space, where the control strategy information is the control terminal of the drone Determined according to the user's editing operation, the control strategy information includes movement control information, and the movement of the drone along the reference marking line is controlled according to the movement control information.
  • the UAV can perform line-following movement according to the line-following control strategy sent by the received control terminal, which improves the flexibility of the UAV line-following movement process and can meet the individual needs of users.
  • FIG. 8 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the device includes a memory 801, a processor 802, and a data interface 803;
  • the memory 801 may include a volatile memory (volatile memory); the memory 801 may also include a non-volatile memory (non-volatile memory); the memory 801 may also include a combination of the foregoing types of memories.
  • the processor 802 may be a central processing unit (CPU).
  • the processor 802 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • the foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • the processor 802 is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:
  • control strategy information for the drone to move along a reference marking line preset in the space, wherein the control strategy information includes movement control information
  • the control strategy information is sent to the drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information, wherein,
  • the processor 802 sends the control strategy information to the drone, so that the drone controls the movement along the reference marking line according to the movement control information, specifically for:
  • the control strategy information is sent to the drone, so that the drone controls the movement trajectory along the reference marking line according to the movement trajectory control information, and controls the movement along the At least one of the moving speed of the reference marking line, controlling the cross-turning in the reference marking line to a target direction according to the steering control information, and stopping moving along the reference marking line according to the stop movement control information.
  • the movement control information includes motion trajectory control information
  • the motion trajectory control information includes identification information of target feature points, wherein,
  • the processor 802 sends the control strategy information to the drone, so that the drone controls the movement along the reference marking line according to the movement control information, specifically for:
  • the control strategy information is sent to the drone, so that the drone extracts the preset number of the reference identification lines from the images collected by the drone's camera according to the identification information Determine the target feature point from the feature points, and control the movement track along the reference marking line according to the position of the target feature point in the image.
  • the movement control information includes first movement trajectory control information and second movement trajectory control information
  • the first movement trajectory control information includes identification information of a first target feature point
  • the second movement trajectory control information includes The identification information of the second target feature point
  • the control strategy information further includes condition information, wherein the condition information includes first condition information corresponding to the first motion trajectory control information and control information related to the second motion trajectory The second condition information corresponding to the information, where,
  • the processor 802 sends the control strategy information to the drone, so that the drone extracts the reference identifier from the image collected by the drone's camera according to the identification information
  • the target feature point is determined from the preset number of feature points of the line, and the motion track of the movement along the reference marking line is controlled according to the position of the target feature point in the image, it is specifically used for:
  • the control strategy information is sent to the drone, so that when the drone determines that the first condition information is satisfied, the drone receives the information from the drone according to the identification information of the first target feature point.
  • the first target feature point is determined from the preset number of feature points of the reference marking line extracted from the image captured by the photographing device, and the first target feature point is controlled along the reference mark according to the position of the first target feature point in the image
  • the trajectory of the line movement, and the reference identification line extracted from the image collected by the drone's camera based on the identification information of the second target feature point when it is determined that the second condition information is satisfied
  • a second target feature point is determined from a preset number of feature points, and a movement track along the reference marking line is controlled according to the position of the second target feature point in the image.
  • the first condition information includes that the positions of the plurality of characteristic points in the image or in the space of the preset number of characteristic points satisfy a preset first position relationship; and/or,
  • the second condition information includes that the positions of the plurality of characteristic points in the image or in the space of the preset number of characteristic points satisfy a preset second position relationship.
  • control strategy information includes condition information and movement control information corresponding to the condition information; the processor 802 sends the control strategy information to the UAV, so that the UAV according to the When the movement control information controls movement along the reference marking line, it is specifically used for:
  • condition information includes detection of an obstacle
  • the movement control information includes stop movement control information
  • the processor 802 sends the control strategy information to the drone, so that the drone When it is determined in the process of moving along the reference marking line that the condition information is satisfied, controlling movement along the reference marking line according to the movement control information is specifically used to:
  • the control strategy information is sent to the drone, so that when the drone determines that the condition information is satisfied in the process of moving along the reference marking line, it stops moving along the reference according to the stop movement control information.
  • the marking line moves.
  • the obstacle includes pedestrians.
  • condition information includes detection of a crossing on a reference identification line and detection of a direction identifier indicating a target direction
  • the movement control information includes steering control information
  • the processor 802 sends the control strategy information to the The UAV, so that when the UAV determines that the condition information is satisfied in the process of moving along the reference identification line, when the UAV controls the movement along the reference identification line according to the movement control information, it is specifically used in:
  • the control strategy information is sent to the UAV, so that the unmanned person determines that the condition information is satisfied in the process of moving along the reference marking line according to the steering control information in the cross turn To the target direction.
  • the processor 802 detects a crossing on the reference marking line, it is specifically configured to:
  • a preset type of intersection on the reference marking line is detected.
  • the predetermined type of intersection includes a T-shaped intersection and a cross-shaped intersection.
  • the direction indicator is a pattern.
  • the drone includes a ground remote control robot.
  • the control terminal can determine the control strategy information for the drone to move along the reference mark line preset in the space by detecting the editing operation of the user, and send the control strategy information to the all The drone, so that the drone controls the movement along the reference marking line according to the movement control information.
  • the user it is possible for the user to formulate the UAV's line patrol control strategy through the control terminal, which improves the flexibility of the UAV line patrol control and can meet the individual needs of users.
  • the embodiment of the present invention also provides an unmanned aerial vehicle, including: a fuselage; a power system configured on the fuselage for providing mobile power for the unmanned aerial vehicle; and a processor for receiving transmissions from the control terminal of the unmanned aerial vehicle
  • the control strategy information is determined by the control terminal of the drone according to the editing operation of the user, and the control strategy information includes movement control information;
  • the movement control information controls the movement of the drone along the reference marking line.
  • the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information, wherein,
  • the processor controls the movement of the drone along the reference marking line according to the movement control information, it is specifically configured to:
  • the movement control information includes motion trajectory control information
  • the motion trajectory control information includes identification information of target feature points, wherein,
  • the processor controls the movement of the drone along the reference marking line according to the movement control information, it is specifically configured to:
  • the target feature point is determined from the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone according to the identification information, and the target feature point is in the image according to the identification information.
  • the position controls the movement trajectory of the drone along the reference marking line.
  • the movement control information includes first movement trajectory control information and second movement trajectory control information
  • the first movement trajectory control information includes identification information of a first target feature point
  • the second movement trajectory control information includes The identification information of the second target feature point
  • the control strategy information further includes condition information, wherein the condition information includes first condition information corresponding to the first motion trajectory control information and control information related to the second motion trajectory The second condition information corresponding to the information, where,
  • the processor determines the target feature point from the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone according to the identification information, and determines the target feature point according to the target feature point.
  • the position in the image controls the movement trajectory of the drone along the reference marking line, it is specifically used for:
  • a preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone according to the identification information of the first target feature point Determining a first target feature point in the, and controlling the movement track of the drone along the reference marking line according to the position of the first target feature point in the image;
  • the preset number of feature points of the reference identification line extracted from the image collected by the camera of the drone according to the identification information of the second target feature point Determine the second target feature point in the, and control the movement track of the drone along the reference marking line according to the position of the second target feature point in the image.
  • the first condition information includes that the positions of the plurality of characteristic points in the image or in the space of the preset number of characteristic points satisfy a preset first position relationship; and/or,
  • the second condition information includes that the positions of the plurality of characteristic points in the image or in the space of the preset number of characteristic points satisfy a preset second position relationship.
  • control strategy information includes condition information and movement control information corresponding to the condition information; when the processor controls the movement of the drone along the reference identification line according to the movement control information, it is specifically configured to:
  • condition information includes the detection of an obstacle
  • movement control information includes stop movement control information
  • the processor determines that the condition information is met, the processor controls the drone to move along the track according to the movement control information.
  • the obstacle includes pedestrians.
  • condition information includes detecting a cross on a reference marking line and detecting a direction identifier indicating a target direction
  • the movement control information includes steering control information
  • control the drone When it is determined that the condition information is satisfied, control the drone to turn to the target direction at the intersection according to the steering control information.
  • the processor detects a crossing on the reference marking line, it is specifically configured to:
  • a preset type of intersection on the reference marking line is detected.
  • the predetermined type of intersection includes a T-shaped intersection and a cross-shaped intersection.
  • the direction indicator is a pattern.
  • the drone includes a ground remote control robot.
  • the drone may receive control strategy information that is sent by the control terminal of the drone and moves along a reference mark line preset in space, where the control strategy information is the control terminal of the drone Determined according to the user's editing operation, the control strategy information includes movement control information, and the movement of the drone along the reference marking line is controlled according to the movement control information.
  • the UAV can perform line-following movement according to the line-following control strategy sent by the received control terminal, which improves the flexibility of the UAV line-following movement process and can meet the individual needs of users.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and can also be implemented The device in the corresponding embodiment of the present invention will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

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  • 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

Procédé de commande pour un véhicule aérien sans pilote (11), et terminal (12), véhicule aérien sans pilote (11) et support d'informations. Le procédé consiste à : détecter une opération d'édition d'un utilisateur, et déterminer, selon l'opération d'édition, des informations de politique de commande du véhicule aérien sans pilote (11) se déplaçant le long d'une ligne de repère de référence qui est prédéfinie dans un espace (S201), les informations de politique de commande comprenant des informations de commande de déplacement ; et envoyer les informations de politique de commande au véhicule aérien sans pilote (11), de telle sorte que le véhicule aérien sans pilote (11) commande, selon les informations de commande de déplacement, le déplacement le long de la ligne de repère de référence (S202). À l'aide du procédé, l'utilisateur peut formuler une politique de commande de patrouille de ligne du véhicule aérien sans pilote (11) à l'aide du terminal de commande (12), de telle sorte que la flexibilité de la commande de patrouille de ligne sur le véhicule aérien sans pilote (11) est améliorée, et les exigences personnalisées de l'utilisateur peuvent être satisfaites.
PCT/CN2019/090859 2019-06-12 2019-06-12 Procédé de commande pour véhicule aérien sans pilote, et terminal, véhicule aérien sans pilote et support d'informations Ceased WO2020248155A1 (fr)

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CN201980008010.0A CN111727415A (zh) 2019-06-12 2019-06-12 一种无人机的控制方法、终端、无人机及存储介质
PCT/CN2019/090859 WO2020248155A1 (fr) 2019-06-12 2019-06-12 Procédé de commande pour véhicule aérien sans pilote, et terminal, véhicule aérien sans pilote et support d'informations

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