Control method and system of micro jet-powered UAV

Abstract

The present application provides a control method and system for a micro jet-powered UAV, the method comprising: obtaining a first coordinate of the micro jet-powered UAV and a second coordinate of a control device, obtaining a flight direction of the micro jet-powered UAV; calculating a first distance between the micro jet-powered UAV and the control device according to the first coordinate and the second coordinate; if the first distance is less than a distance threshold, and the flight direction is a direction close to the control device, collecting a direction instruction of the controller, and if the direction instruction is a leftward movement instruction, sending a rightward movement instruction to the micro jet-powered UAV, and if the direction instruction is a rightward movement instruction, sending a leftward movement instruction to the micro jet-powered UAV. The technical solution provided by the present application has the advantage of high user experience.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a control method and system for a micro jet-powered UAV. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV" in English, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently autonomously by an on-board computer.

[0003] The micro jet-powered UAV is small in size, and the controller controls the micro jet-powered UAV by transmitting back video. However, the direction control in the existing control operation is consistent according to human habits. When the UAV is in contact with the controller, the steering control of the micro jet-powered UAV may be opposite to that of the controller, affecting the accuracy of the UAV control and reducing the user experience. Summary of the invention

[0004] The embodiments of the present application provide a control method and system for a micro jet-powered UAV, which can adjust the steering control direction of the UAV according to the positional relationship between the controller and the UAV, thereby avoiding direction control errors, improving the accuracy of UAV control, and improving user experience.

[0005] In a first aspect, an embodiment of the present application provides a control method for a micro jet-powered UAV, the method comprising:

[0006] Obtaining a first coordinate of the micro jet-powered UAV and a second coordinate of the control device, and obtaining a flight direction of the micro jet-powered UAV;

[0007] Calculate a first distance between the micro jet-powered UAV and the control device based on the first coordinate and the second coordinate;

[0008] If the first distance is less than the distance threshold, and the flight direction is the direction of approaching the control device, the direction command of the controller is collected. If the direction command is a left movement command, a right movement command is sent to the micro jet-powered UAV. If the direction command is a right movement command, a left movement command is sent to the micro jet-powered UAV.

[0009] After obtaining the flight direction of the micro jet-powered UAV, the method further comprises:

[0010] The electronic device collects a facial image of the controller, and determines the controller's focus point through pupil recognition in the facial image. If the controller's focus point is located in a non-control device area, a first distance between the micro jet-powered drone and the control device is calculated based on the first coordinate and the second coordinate.

[0011] In a second aspect, a control system for a micro jet-powered UAV is provided, the system comprising:

[0012] An acquisition unit, used to acquire a first coordinate of the micro jet-powered UAV and a second coordinate of the control device, and acquire a flight direction of the micro jet-powered UAV;

[0013] The processing unit is used to calculate a first distance between the micro jet-powered UAV and the control device according to the first coordinate and the second coordinate; if the first distance is less than a distance threshold and the flight direction is close to the control device, collect the direction instruction of the controller, if the direction instruction is a left movement instruction, send a right movement instruction to the micro jet-powered UAV, if the direction instruction is a right movement instruction, send a left movement instruction to the micro jet-powered UAV;

[0014] The electronic device is used to collect a facial image of a controller, identify the pupils of the facial image to determine the focus point of the controller, and if the focus point of the controller is located in a non-control device area, calculate the first distance between the micro jet-powered drone and the control device based on the first coordinate and the second coordinate.

[0015] According to a third aspect, a computer-readable storage medium is provided, which stores a program for electronic data exchange, wherein the program enables a terminal to execute the method provided in the first aspect.

[0016] Implementing the embodiments of the present application has the following beneficial effects:

[0017] The technical solution provided by the present application is that the electronic device obtains the first coordinate of the micro jet-powered drone and the second coordinate of the control device, and obtains the flight direction of the micro jet-powered drone; the electronic device calculates the first distance between the micro jet-powered drone and the control device based on the first coordinate and the second coordinate; if the first distance is less than the distance threshold, and the flight direction is close to the control device, the direction instruction of the controller is collected, and if the direction instruction is a left movement instruction, a right movement instruction is sent to the micro jet-powered drone, and if the direction instruction is a right movement instruction, a left movement instruction is sent to the micro jet-powered drone. The technical solution of the present application switches the left and right direction instructions when the drone is close to the control device, avoiding the problem of inconsistent left and right direction instructions, improving the accuracy of drone control, and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flow chart of a control method of a micro jet-powered UAV provided in an embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the flight direction provided in an embodiment of the present application.

[0021] Figure 3 This is a schematic diagram of the structure of the counterweight provided in this application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0024] Reference to "embodiments" herein means that a particular feature, result, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] Unmanned aerial vehicles, also known as "UAVs", are unmanned aerial vehicles that are controlled by radio remote control equipment and self-contained program control devices. UAVs are actually a general term for unmanned aerial vehicles. From a technical point of view, they can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned paragliders, etc. Compared with manned aircraft, it has the advantages of small size, low cost, easy use, low requirements for the combat environment, and strong battlefield survivability. As unmanned aircraft are of great significance to future air combat, major military countries in the world are stepping up the development of unmanned aircraft.

[0026] UAV-related technologies are developing rapidly at home and abroad. UAV systems are diverse, widely used and distinctive, resulting in large differences in size, mass, range, flight time, flight altitude, flight speed, mission, etc. Due to the diversity of UAVs, there are different classification methods for different considerations:

[0027] According to the flight platform configuration, drones can be divided into fixed-wing drones, rotary-wing drones, unmanned airships, paraglider drones, flapping-wing drones, etc.

[0028] According to the purpose, drones can be divided into military drones and civilian drones. Military drones can be divided into reconnaissance drones, decoy drones, electronic warfare drones, communication relay drones, unmanned fighters, and target drones; civilian drones can be divided into inspection / surveillance drones, agricultural drones, meteorological drones, exploration drones, and mapping drones. According to the size classification (civil aviation regulations), drones can be divided into micro drones, light drones, small drones, and large drones.

[0029] See also Figure 1 , Figure 1 A control method for a micro jet-powered UAV is provided. The method can be performed by an electronic device. The electronic device can be a micro jet-powered UAV, or a control device for the micro jet-powered UAV, or a control terminal connected to the micro jet-powered UAV and controlling the UAV. Figure 1 As shown, the following steps are included:

[0030] Step S100, obtaining the first coordinate of the micro jet-powered UAV and the second coordinate of the control device, and obtaining the flight direction of the micro jet-powered UAV;

[0031] For example, the flight direction of the present application may include: a direction close to the control device and a direction away from the control device. There are many actual flight directions, such as upward flight, downward flight, etc. The technical solution of the present application only focuses on the direction close to the control device and the direction away from the control device.

[0032] Step S101, calculating a first distance between the micro jet-powered UAV and a control device according to the first coordinate and the second coordinate;

[0033] Step S102: If the first distance is less than the distance threshold and the flight direction is close to the control device, the direction instruction of the controller is collected. If the direction instruction is a left movement instruction, a right movement instruction is sent to the micro jet-powered drone. If the direction instruction is a right movement instruction, a left movement instruction is sent to the micro jet-powered drone.

[0034] The technical solution provided by the present application is that the electronic device obtains the first coordinate of the micro jet-powered drone and the second coordinate of the control device, and obtains the flight direction of the micro jet-powered drone; the electronic device calculates the first distance between the micro jet-powered drone and the control device based on the first coordinate and the second coordinate; if the first distance is less than the distance threshold, and the flight direction is close to the control device, the direction instruction of the controller is collected, and if the direction instruction is a left movement instruction, a right movement instruction is sent to the micro jet-powered drone, and if the direction instruction is a right movement instruction, a left movement instruction is sent to the micro jet-powered drone. The technical solution of the present application switches the left and right direction instructions when the drone is close to the control device, avoiding the problem of inconsistent left and right direction instructions, improving the accuracy of drone control, and improving user experience.

[0035] For example, obtaining the flight direction of the micro jet-powered UAV may specifically include:

[0036] The zeroth coordinate of the micro jet-powered UAV before the first coordinate is collected, and the second distance between the zeroth coordinate and the second coordinate is calculated. If the second distance is greater than the first distance, the flight direction is determined to be the direction approaching the control device; otherwise, the flight direction is determined to be the direction away from the control device.

[0037] See also Figure 2 , Figure 2 A schematic diagram illustrating two flight directions is shown.

[0038] The above coordinates may specifically be GPS coordinates, Beidou coordinates, etc. Since only the plane distance needs to be calculated, a two-dimensional coordinate system is more suitable.

[0039] For the control device, since the position of the control device generally moves slowly or even does not move, it is assumed here that the control device does not move, that is, the second coordinate is unchanged.

[0040] For the flight of the drone, for example, if it is far away from the control device (the controller is holding the control device), the direction of the drone is consistent with the controller's visual direction. Therefore, when the drone controls left and right, it is consistent with the controller's left and right. However, if it is close to the control device, the controller is generally facing the drone. At this time, from the perspective of the drone, since the drone and the controller are looking at each other, their left and right are just opposite. For the controller, for example, there is an obstacle on the left, and the drone needs to move to the right. The controller will subconsciously issue a right movement command, but since the drone and the controller are in a position relationship of looking at each other (similar to face to face), the right movement at this time will execute the left movement command for the drone, which will accelerate the movement towards the obstacle. Therefore, it is necessary to correct the direction in certain circumstances. This situation will not occur when the distance is far, because in the case of a long distance, the controller generally cannot see the drone (due to its small size), so the user controls it based on the video shot by the drone. At this time, the controller's perspective is consistent with the drone's perspective, so this situation will not occur.

[0041] For example, the above method may further include, before step S100 and step S101:

[0042] The electronic device collects the facial image of the controller, and determines the controller's focus point through pupil recognition in the facial image. If the controller's focus point is located in a non-control device area (taking a mobile phone as an example, the control device area is the display screen of the mobile phone), step S101 is executed; if the controller's focus point is located in a control device area, step S101 is not executed.

[0043] The method of determining the controller's focus point by pupil recognition in the above-mentioned facial image can adopt the existing method of determining the focus point by pupil recognition, which will not be described in detail here.

[0044] For example, if the micro jet-powered UAV has a left wing and a right wing, the micro jet-powered UAV is also equipped with two counterweights (specifically, a left counterweight and a right counterweight, which are respectively located in the middle of the left wing and the right wing), and the two counterweights are respectively arranged in the middle of the left wing and the right wing, and the middle can be, for example, a horizontal midline position and the two counterweights are mirror-set relative to the vertical midline (the distance between the two counterweights can be determined according to the length of the left wing and the right wing and the weight of the UAV, for example, the distance can be determined by a mapping relationship), see Figure 3 , Figure 3A structure of a counterweight 30 is provided, and the counterweight 30 may include: a left telescopic part 31, a right telescopic part 32, and an outer cylinder 301, wherein liquid metal (such as mercury) is disposed between two baffles in the outer cylinder 301, and the liquid metal does not fill the inner space of the outer cylinder 301, and the left telescopic part 31 and the right telescopic part 32 both have: a baffle 310, a telescopic rod 311, and a motor 312, wherein the baffle 310 cooperates with the inner wall of the outer cylinder and can move on the inner wall of the outer cylinder with the telescopic rod 311, and the motor 312 controls the telescopic movement of the telescopic rod 311. For example, the above two counterweights 30 are in an initial position in a non-steering state (the initial position makes the mercury position of the two counterweights the same), so that the left and right balance can be ensured in a non-steering state. The above method may also include: when the micro jet-powered drone moves to the right, determining the telescopic value of the telescopic rod of the left counterweight according to the angle value of the right movement; when the micro jet-powered drone moves to the left, determining the telescopic value of the telescopic rod of the right counterweight according to the angle value of the left movement.

[0045] For example, the above-mentioned scaling value may specifically include:

[0046] Stretch value = k*α, where k is a preset coefficient and α is an angle value.

[0047] The present application also provides a control system for a micro jet-powered UAV, the system comprising:

[0048] An acquisition unit, used to acquire a first coordinate of the micro jet-powered UAV and a second coordinate of the control device, and acquire a flight direction of the micro jet-powered UAV;

[0049] The processing unit is used to calculate a first distance between the micro jet-powered UAV and the control device according to the first coordinate and the second coordinate; if the first distance is less than a distance threshold and the flight direction is close to the control device, collect the direction instruction of the controller, if the direction instruction is a left movement instruction, send a right movement instruction to the micro jet-powered UAV, if the direction instruction is a right movement instruction, send a left movement instruction to the micro jet-powered UAV;

[0050] The electronic device is used to collect a facial image of a controller, identify the pupils of the facial image to determine the focus point of the controller, and if the focus point of the controller is located in a non-control device area, calculate the first distance between the micro jet-powered drone and the control device based on the first coordinate and the second coordinate.

[0051] The above processing unit can also be used to perform the following steps: Figure 1 A detailed solution or optional solution of the method embodiment shown in the figure, the above-mentioned micro jet-powered drone may also include: a left wing and a right wing, and two counterweights. The specific structure can be seen in FIG. Figure 3 The description shown is not repeated here.

[0052] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the methods recorded in the above method embodiments.

[0053] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the methods recorded in the above method embodiments.

[0054] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0055] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0056] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for a micro jet-powered UAV, characterized in that: The method comprises: Obtaining a first coordinate of the micro jet-powered UAV and a second coordinate of the control device, and obtaining a flight direction of the micro jet-powered UAV; Calculate a first distance between the micro jet-powered UAV and the control device based on the first coordinate and the second coordinate; If the first distance is less than the distance threshold, and the flight direction is the direction of approaching the control device, the direction command of the controller is collected. If the direction command is a left movement command, a right movement command is sent to the micro jet-powered UAV. If the direction command is a right movement command, a left movement command is sent to the micro jet-powered UAV. After obtaining the flight direction of the micro jet-powered UAV, the method further comprises: The electronic device collects a facial image of the controller, and determines the controller's focus point through pupil recognition in the facial image. If the controller's focus point is located in a non-control device area, a first distance between the micro jet-powered drone and the control device is calculated based on the first coordinate and the second coordinate.

2. The method according to claim 1, characterized in that The flight directions include: Move closer to the control device and move away from the control device.

3. The method according to claim 2, characterized in that The obtaining of the flight direction of the micro jet-powered UAV specifically includes: The zeroth coordinate of the micro jet-powered UAV before the first coordinate is collected, and the second distance between the zeroth coordinate and the second coordinate is calculated. If the second distance is greater than the first distance, the flight direction is determined to be the direction approaching the control device; otherwise, the flight direction is determined to be the direction away from the control device.

4. The method according to any one of claims 1 to 3, characterized in that: The first coordinate and the second coordinate are GPS coordinates or Beidou coordinates.

5. A control system for a micro jet-powered UAV, characterized in that: The system comprises: An acquisition unit, used to acquire a first coordinate of the micro jet-powered UAV and a second coordinate of the control device, and acquire a flight direction of the micro jet-powered UAV; The processing unit is used to calculate a first distance between the micro jet-powered UAV and the control device according to the first coordinate and the second coordinate; if the first distance is less than a distance threshold and the flight direction is close to the control device, collect the direction instruction of the controller, if the direction instruction is a left movement instruction, send a right movement instruction to the micro jet-powered UAV, if the direction instruction is a right movement instruction, send a left movement instruction to the micro jet-powered UAV; The electronic device is used to collect a facial image of a controller, identify the pupils of the facial image to determine the focus point of the controller, and if the focus point of the controller is located in a non-control device area, calculate the first distance between the micro jet-powered drone and the control device based on the first coordinate and the second coordinate.

6. A computer-readable storage medium storing a program for electronic data exchange, wherein: The program enables the terminal to execute the method according to any one of claims 1 to 4.

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