Signal control method, module, device, terminal device and storage medium

Abstract

The present application discloses a signal control method, module, device, terminal device and storage medium. The signal control method includes: receiving an unlocking signal and an enabling signal sent by the flight control system of the unmanned aerial vehicle; supplying power for control signal output based on the unlocking signal and the enabling signal; receiving a first control signal sent by the flight control system of the unmanned aerial vehicle; and outputting a second control signal to the controlled device carried by the unmanned aerial vehicle based on the first control signal. Based on the solution of the present application, without any one of the unlocking signal and the enabling signal, it is impossible to output a control signal to the controlled device, ensuring the safe control of the controlled device and solving the problem that the control signal of the unmanned aerial vehicle is interfered and mis-triggered, thereby affecting the flight safety of the unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the technical field of signal control, and particularly to a signal control method, module, device, terminal device, and storage medium. Background Art

[0002] With the increasing maturity of unmanned aerial vehicle (UAV) technology, it has been widely used in fields such as aerial photography, environmental exploration, and emergency rescue. It can operate in extreme environments or environments that are difficult for humans to reach, and undertakes more and more complex tasks. Therefore, higher requirements are put forward for the flight safety of the UAV itself and the reliability of task execution, which involves signal control of important UAV actions, such as opening an on-board parachute, dropping items, ignition ejection, etc. For some small and medium-sized UAVs with limited costs that cannot be equipped with pyrotechnic protection equipment for signal control, the level signal or ground / open signal directly output by the UAV itself is mostly used as the control signal. However, this signal control method is easily interfered with and causes mis-triggering. For example, suddenly opening the on-board parachute will seriously affect the flight safety of the UAV. Summary of the Invention

[0003] The main purpose of this application is to provide a signal control method, module, device, terminal device, and storage medium, aiming to solve the problem that the UAV control signal is interfered with and causes mis-triggering, thereby affecting the flight safety of the UAV.

[0004] To achieve the above purpose, this application provides a signal control method. The signal control method is applied to a signal control module, and the signal control module is set as an expansion module on the UAV. The signal control method includes:

[0005] Receiving an unlock signal and an enable signal sent by the flight control system of the UAV;

[0006] Supplying power for control signal output based on the unlock signal and the enable signal;

[0007] Receiving a first control signal sent by the flight control system of the UAV;

[0008] Outputting a second control signal to the controlled device carried by the UAV based on the first control signal.

[0009] Optionally, before the step of supplying power for control signal output based on the unlock signal and the enable signal, it further includes:

[0010] Receiving a first ground / open signal sent by the flight control system of the UAV;

[0011] The step of supplying power for control signal output based on the unlock signal and the enable signal includes:

[0012] Based on the first ground / open signal, the unlocking signal, and the enabling signal, power supply for control signal output is performed.

[0013] Optionally, before the step of performing power supply for control signal output based on the unlocking signal and the enabling signal, the method further includes:

[0014] Setting a control signal output window time;

[0015] The step of performing power supply for control signal output based on the unlocking signal and the enabling signal includes:

[0016] Performing power supply for control signal output based on the control signal output window time, the unlocking signal, and the enabling signal.

[0017] Optionally, after the step of outputting a second control signal to the controlled device carried by the drone based on the first control signal, the method further includes:

[0018] Feeding back a control signal output result to the flight control system of the drone based on the second control signal.

[0019] Optionally, the step of outputting a second control signal to the controlled device carried by the drone based on the first control signal includes:

[0020] Converting the first control signal into a second ground / open signal;

[0021] Outputting the second control signal to the controlled device carried by the drone based on the second ground / open signal.

[0022] To achieve the above object, the present application further provides a signal control method. The signal control method is applied to a drone, and the drone is provided with a signal control module as an expansion module. The signal control method includes:

[0023] Sending an unlocking signal and an enabling signal to the signal control module through the flight control system of the drone, so that the signal control module performs power supply for control signal output based on the unlocking signal and the enabling signal;

[0024] Sending a first control signal to the signal control module through the flight control system of the drone, so that the signal control module outputs a second control signal to the controlled device carried by the drone based on the first control signal.

[0025] To achieve the above object, the present application further provides a signal control module. The signal control module is provided as an expansion module in a drone. The signal control module includes an MCU minimum circuit unit, an unlocking and enabling unit, a power control unit, and a signal output unit;

[0026] The minimum MCU circuit unit is used to receive the first control signal sent by the flight control system of the drone;

[0027] The unlocking enable unit is used to receive the unlocking signal and the enabling signal sent by the flight control system of the drone, and output a power control signal based on the unlocking signal and the enabling signal;

[0028] The power control unit is used to supply power for control signal output based on the power control signal;

[0029] The signal output unit is used to output a second control signal to the controlled device carried by the drone based on the first control signal.

[0030] To achieve the above object, the present application further provides a signal control device, and the signal control device includes:

[0031] The first receiving module is used to receive the unlocking signal and the enabling signal sent by the flight control system of the drone;

[0032] The power supply module is used to supply power for control signal output based on the unlocking signal and the enabling signal;

[0033] The second receiving module is used to receive the first control signal sent by the flight control system of the drone;

[0034] The output module is used to output a second control signal to the controlled device carried by the drone based on the first control signal.

[0035] An embodiment of the present application further provides a terminal device, and the terminal device includes a memory, a processor, and a signal control program stored on the memory and executable on the processor. When the signal control program is executed by the processor, the steps of the signal control method described above are implemented.

[0036] An embodiment of the present application further provides a computer-readable storage medium, and a signal control program is stored on the computer-readable storage medium. When the signal control program is executed by a processor, the steps of the signal control method described above are implemented.

[0037] The signal control method, module, device, terminal device and storage medium proposed in the embodiments of the present application receive the unlocking signal and enabling signal sent by the flight control system of the drone; supply power for the output of the control signal based on the unlocking signal and the enabling signal; receive the first control signal sent by the flight control system of the drone; and output a second control signal to the controlled device carried by the drone based on the first control signal. Based on the solution of the present application, when the signal control module receives the unlocking signal and enabling signal sent by the flight control system of the drone, it supplies power for the output of the control signal under the combined action of the unlocking signal and the enabling signal, and then receives and outputs a second control signal based on the first control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If any one of the unlocking signal and the enabling signal is missing, the control signal cannot be output to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the function modules of the terminal device to which the signal control device of the present application belongs;

[0039] Figure 2 It is a schematic flowchart of the first exemplary embodiment of the signal control method of the present application;

[0040] Figure 3 It is a schematic flowchart of the second exemplary embodiment of the signal control method of the present application;

[0041] Figure 4 It is a schematic flowchart of the third exemplary embodiment of the signal control method of the present application;

[0042] Figure 5 It is a schematic flowchart of the fourth exemplary embodiment of the signal control method of the present application;

[0043] Figure 6 It is a schematic flowchart of the fifth exemplary embodiment of the signal control method of the present application;

[0044] Figure 7 It is a schematic flowchart of the sixth exemplary embodiment of the signal control method of the present application;

[0045] Figure 8 It is a schematic diagram of the modules involved in the embodiment of the signal control module of the present application;

[0046] Figure 9 It is the first schematic diagram of the connection relationship of the signal control module in the drone system;

[0047] Figure 10 It is the second schematic diagram of the connection relationship of the signal control module in the drone system;

[0048] Figure 11 This is a circuit schematic diagram of the unlocking enabling unit and the power control unit involved in the present application;

[0049] Figure 12 This is a circuit schematic diagram of the signal output unit involved in the present application.

[0050] The realization, functional features and advantages of the object of the present application will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0051] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The main solution of the embodiment of the present application is: receiving the unlocking signal and the enabling signal sent by the flight control system of the drone; performing power supply for control signal output based on the unlocking signal and the enabling signal; receiving the first control signal sent by the flight control system of the drone; and outputting a second control signal to the controlled device carried by the drone based on the first control signal. Based on the solution of the present application, the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the drone, supplies power to the control signal output under the joint action of the unlocking signal and the enabling signal, and then receives and outputs the second control signal based on the first control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If any one of the unlocking signal and the enabling signal is missing, the control signal cannot be output to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone.

[0053] Specifically, referring to Figure 1 , Figure 1 This is a schematic diagram of the functional modules of the terminal device to which the signal control device of the present application belongs. The signal control device can be a device independent of the terminal device and capable of signal control, and it can be carried on the terminal device in the form of hardware or software. The terminal device can be an intelligent mobile terminal with data processing functions such as a mobile phone or a tablet computer, and can also be a fixed terminal device or a server with data processing functions, etc.

[0054] In this embodiment, the terminal device to which the signal control device belongs at least includes an output module 110, a processor 120, a memory 130, and a communication module 140.

[0055] The operating system and the signal control program are stored in the memory 130. The signal control device can store information such as the unlocking signal and the enabling signal sent by the flight control system of the drone it receives; the power control signal output based on the unlocking signal and the enabling signal; the first control signal sent by the flight control system of the drone it receives; and the second control signal output to the controlled device carried by the drone based on the first control signal, etc. in the memory 130. The output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140.

[0056] Among them, when the signal control program in the memory 130 is executed by the processor, the following steps are implemented:

[0057] Receive the unlocking signal and the enabling signal sent by the flight control system of the drone;

[0058] Supply power for the output of the control signal based on the unlocking signal and the enabling signal;

[0059] Receive the first control signal sent by the flight control system of the drone;

[0060] Output a second control signal to the controlled device carried by the drone based on the first control signal.

[0061] Furthermore, when the signal control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0062] Receive the first ground / open signal sent by the flight control system of the drone;

[0063] Supply power for the output of the control signal based on the first ground / open signal, the unlocking signal and the enabling signal.

[0064] Furthermore, when the signal control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0065] Set the control signal output window time;

[0066] Supply power for the output of the control signal based on the control signal output window time, the unlocking signal and the enabling signal.

[0067] Furthermore, when the signal control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0068] Feed back the control signal output result to the flight control system of the drone based on the second control signal.

[0069] Furthermore, when the signal control program in the memory 130 is executed by the processor, the following steps are also implemented:

[0070] Convert the first control signal into a second ground / open signal;

[0071] Output the second control signal to the controlled device carried by the drone based on the second ground / open signal.

[0072] Furthermore, when the signal control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0073] Send an unlock signal and an enable signal to the signal control module through the flight control system of the drone, so that the signal control module supplies power for control signal output based on the unlock signal and the enable signal;

[0074] Send a first control signal to the signal control module through the flight control system of the drone, so that the signal control module outputs a second control signal to the controlled device carried by the drone based on the first control signal.

[0075] Through the above solution in this embodiment, specifically, by receiving the unlock signal and the enable signal sent by the flight control system of the drone; supplying power for control signal output based on the unlock signal and the enable signal; receiving the first control signal sent by the flight control system of the drone; and outputting a second control signal to the controlled device carried by the drone based on the first control signal. In this embodiment, when the signal control module receives the unlock signal and the enable signal sent by the flight control system of the drone, under the combined action of the unlock signal and the enable signal, it supplies power for control signal output, and then receives and outputs a second control signal based on the first control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If any one of the unlock signal and the enable signal is missing, it will be impossible to output a control signal to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone.

[0076] The first embodiment of this application relates to a drone, a signal control module, and a controlled module.

[0077] A drone generally refers to an unmanned aircraft controlled by a radio remote control device and a self-contained program control device. The drone comes with a flight control system (i.e., flight control system) when it leaves the factory. This system can be used to ensure the stability and maneuverability of the aircraft, improve the ability to complete tasks and flight quality, enhance flight safety, and reduce the burden on the pilot.

[0078] The signal control module is a low-cost and scalable module based on the MCU minimum circuit unit as the controller. The MCU minimum circuit unit is mainly used to receive signals or instructions sent by the flight control system of the drone and execute related actions. The signal control module also includes an unlocking enable unit, a power control unit, and a signal output unit inside. The unlocking enable unit is a logic control unit composed of a dual-channel solid-state relay as the core; the power control unit mainly uses an optocoupler and a MOS transistor as the core devices to turn on or off the signal output power supply, that is, to supply power for the signal output unit to output a control signal; the signal output unit mainly uses an optocoupler and a MOS transistor as the core devices, and can output a pulse signal to the controlled device or construct a feedback loop according to the signal of the flight control system when powered.

[0079] The controlled device refers to the device carried by the drone itself or other extended devices. After receiving the signal output by the signal control module, it can execute corresponding actions. For example, a certain controlled device is a parachute device, and after receiving the instruction to open the parachute output by the signal control module, it executes the action of opening the parachute; a certain controlled device is an item dropping device, and after receiving the instruction to drop an item output by the signal control module, it executes the action of dropping an item.

[0080] For some medium and small-sized drones, it is impossible to carry a large-sized and heavy-weight pyrotechnic protection device for signal control, and the cost or price of the pyrotechnic protection device is relatively high, which is not conducive to the cost control of the drone. In addition, if the level signal or ground / open signal directly output by the drone itself is used as the control signal, it is easy to be interfered and cause mis-triggering. Therefore, using the signal control module involved in this application for signal control has multiple benefits. First, the signal control module is connected to the existing drone as an expansion module without replacing the flight control system of the drone; second, the signal control module is based on the low-cost MCU minimum circuit as the control core, which can effectively control the cost; third, the signal control module is provided with multiple hardware switches, and at least the enable signal and the unlock signal are received simultaneously to further output the control signal, avoiding outputting incorrect control signals to the controlled device, that is, avoiding mis-triggering.

[0081] Refer to Figure 2 , the first embodiment of the signal control method of this application provides a flowchart. The signal control method is applied to the signal control module, and the signal control module is set in the drone as an expansion module. The signal control method includes:

[0082] Step S10, receiving the unlock signal and the enable signal sent by the flight control system of the drone.

[0083] Specifically, the signal control module establishes a physical connection with the drone. The drone can send high and low level signals or ground / open signals of the serial port to the control module through the flight control system. The minimum circuit of the MCU in the signal control module has a signal conversion function and can convert the control signals sent by the flight control system of the drone into ground / open signals.

[0084] When it is necessary to control the controlled device carried by the drone, the flight control system of the drone sends an unlocking signal and an enabling signal to the signal control module. The unlocking signal and the enabling signal can be sent simultaneously or sequentially, but the unlocking signal and the enabling signal must have an overlapping duration. Correspondingly, the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the drone through the unlocking and enabling unit.

[0085] Step S20, supply power for the output of the control signal based on the unlocking signal and the enabling signal.

[0086] Specifically, after the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the drone through the unlocking and enabling unit, if the durations of the unlocking signal and the enabling signal overlap, that is, the unlocking signal and the enabling signal exist simultaneously, then the unlocking and enabling unit can further send an output power supply signal to the power control unit. Correspondingly, after receiving the output power supply signal, the power control unit will convert the power supply voltage of the battery through the internal circuit as the power supply voltage for the signal output unit to supply power for the output of the control signal.

[0087] If any one of the unlocking signal and the enabling signal is missing, or the unlocking signal and the enabling signal do not exist simultaneously, then the necessary conditions for supplying power for the output of the control signal are not met. The unlocking and enabling unit cannot send an output power supply signal to the power control unit, and the signal output unit cannot output the control signal.

[0088] Step S30, receive the first control signal sent by the flight control system of the drone.

[0089] Specifically, after obtaining the power supply voltage, the signal output unit has the ability to output the control signal. Further, the signal control module receives the first control signal sent by the flight control system of the drone through the minimum circuit unit of the MCU, and then the minimum circuit unit of the MCU sends the first control signal to the signal output unit. Correspondingly, the signal output unit receives the first control signal sent by the minimum circuit unit of the MCU.

[0090] Step S40, output a second control signal to the controlled device carried by the drone based on the first control signal.

[0091] Specifically, after receiving the first control signal, the signal output unit converts the first control signal into a second control signal under the power supply of the power control unit. The second control signal can be in the form of a positive pulse or a negative pulse. For some controlled devices with high safety requirements, the second control signal can include both positive pulses and negative pulses to implement dual-signal control of the controlled device; for some controlled devices with low safety requirements, the second control signal can only include positive pulses.

[0092] Then, the signal output unit outputs the second control signal to the controlled device carried by the drone. Correspondingly, the controlled device receives the second control signal and performs corresponding actions according to the second control signal. In this way, the flight control system of the drone realizes the safe control of the controlled device through the signal control module.

[0093] In this embodiment, through the above solution, specifically by receiving the unlocking signal and the enabling signal sent by the flight control system of the drone; performing power supply for control signal output based on the unlocking signal and the enabling signal; receiving the first control signal sent by the flight control system of the drone; and outputting the second control signal to the controlled device carried by the drone based on the first control signal. In this embodiment, when the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the drone, it powers the control signal output under the combined action of the unlocking signal and the enabling signal, and then receives and outputs the second control signal based on the first control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If any one of the unlocking signal and the enabling signal is missing, the control signal cannot be output to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone.

[0094] Further, referring to Figure 3 This application provides a flowchart of the second embodiment of the signal control method. Based on the above Figure 2 shown embodiment, before step S20, performing power supply for control signal output based on the unlocking signal and the enabling signal, further includes:

[0095] Step S001, receiving the first ground / on signal sent by the flight control system of the drone;

[0096] To further ensure the safety of the control signal output by the signal control module and avoid outputting incorrect control signals to the controlled device, that is, to avoid mis-triggering, this embodiment adds a first ground / on signal to form a three-condition judgment on the basis of the dual-condition judgment of the unlocking signal and the enabling signal. Only when the first ground / on signal, the unlocking signal, and the enabling signal exist simultaneously can the output power supply signal be sent to the power control unit through the unlocking and enabling unit.

[0097] Specifically, the flight control system of the drone sends a first ground / open signal to the signal control module. Correspondingly, the signal control module receives the first ground / open signal sent by the flight control system of the drone through the MCU minimum circuit unit.

[0098] Step S20, the step of controlling signal output power supply based on the unlocking signal and the enabling signal includes:

[0099] Step S201, control signal output power supply is performed based on the first ground / open signal, the unlocking signal, and the enabling signal.

[0100] Specifically, after the signal control module receives the first ground / open signal sent by the flight control system of the drone through the MCU minimum circuit unit, the MCU minimum circuit unit sends the first ground / open signal to the power control unit. At this time, the power control unit has simultaneously received the output power supply signal sent by the unlocking and enabling unit and the first ground / open signal of the MCU minimum circuit unit. Based on the output power supply signal and the first ground / open signal, the power supply voltage of the battery is converted through the internal circuit as the power supply voltage for the signal output unit to perform control signal output power supply.

[0101] Through the above solution in this embodiment, specifically by receiving the first ground / open signal sent by the flight control system of the drone; control signal output power supply is performed based on the first ground / open signal, the unlocking signal, and the enabling signal. In this embodiment, the signal control module receives the first ground / open signal sent by the flight control system of the drone. On the basis of the dual-condition judgment based on the unlocking signal and the enabling signal, the first ground / open signal is added to form a three-condition judgment, effectively avoiding outputting incorrect control signals to the controlled device, and further improving the reliability of signal control.

[0102] Further, referring to Figure 4 , a flowchart is provided in the third embodiment of the signal control method of the present application. Based on the above Figure 2 shown embodiment, before step S20, controlling signal output power supply based on the unlocking signal and the enabling signal, further includes:

[0103] Step S002, set the control signal output window time;

[0104] The controlled device involved in this embodiment can be a parachute device or an item dropping device, etc., which are devices related to flight safety. The time for these devices to perform actions is relatively short and they do not need to continuously obtain control signals. Therefore, in this embodiment, the time for the signal control module to output the second control signal is limited within a certain range, and the second control signal cannot be output beyond this range.

[0105] Specifically, a timer is formed through a software algorithm or hardware design. This timer is used to set the output window time of the control signal. The output window time of the control signal is a specific time range that can accommodate the output time consumption of the second control signal. For example, if the output time consumption of the second control signal is 10 ms and the set output window time of the control signal is 100 ms, the output action of the second control signal can be completed within this window time.

[0106] Step S20, the step of supplying power for the output of the control signal based on the unlocking signal and the enabling signal includes:

[0107] Step S202, supply power for the output of the control signal based on the output window time of the control signal, the unlocking signal, and the enabling signal.

[0108] Specifically, after receiving the output power supply signal, the power control unit will convert the power supply voltage of the battery through the internal circuit as the power supply voltage for the signal output unit to supply power for the output of the control signal. At the same time when the power control unit starts to supply power, the output window time of the control signal is calculated. Within this window time, the signal control module can obtain sufficient voltage to output the second control signal. If it exceeds the window time, the signal control module cannot obtain sufficient voltage to output the second control signal, that is, the signal output stops. For example, within 100 ms after the power control unit starts to supply power, the signal control module can output the second control signal to the controlled device. If it exceeds 100 ms, the signal control module stops outputting the second control signal.

[0109] Through the above solution in this embodiment, specifically, by setting the output window time of the control signal; supply power for the output of the control signal based on the output window time of the control signal, the unlocking signal, and the enabling signal. This embodiment takes into account that the control signal transmission does not require too much time, sets the corresponding output window time of the control signal. The signal control module can output the control signal to the controlled device within this window time, and loses the ability to output the control signal beyond this window time, further increasing the limiting conditions for the output of the control signal and improving the reliability of the control signal.

[0110] Further, referring to Figure 5 , the fourth embodiment of the signal control method of this application provides a process schematic diagram. Based on the above Figure 2 shown embodiment, after step S40, output the second control signal to the controlled device carried by the drone based on the first control signal, further includes:

[0111] Step S003, feedback the control signal output result to the flight control system of the drone based on the second control signal.

[0112] As an expansion module, the signal output module needs to promptly feedback the signal output result to the flight control system of the drone so that the flight control system can know whether the control signal is successfully output. Specifically, the signal control module has a signal feedback loop pre-set. When the signal output unit outputs the second control signal to the controlled device, the signal output unit feedbacks the output situation of the second control signal to the MCU minimum circuit unit through the signal feedback loop. Then, the MCU minimum circuit unit feedbacks the output situation of the second control signal to the flight control system of the drone. In this way, the flight control system of the drone can promptly know whether the control signal is successfully output. If the feedback result received by the flight control system of the drone indicates that the output of the second control signal fails, or no feedback result can be received, it may be that the unlocking enable unit fails to be successfully enabled at this time, and it is necessary to check and re-send the unlocking signal and the enable signal.

[0113] Through the above solution, specifically, this embodiment feedbacks the control signal output result to the flight control system of the drone based on the second control signal. Considering that the signal control module is an expansion module of the drone and it is difficult for the flight control system of the drone to promptly know whether the control signal is successfully sent, for this reason, after the second control signal is output, the control signal output result is feedback to the flight control system of the drone based on the pre-constructed feedback loop and the second control signal, so that the flight control system of the drone can further execute re-output or other actions according to the control signal output result, improving the robustness of the control signal output process.

[0114] Furthermore, referring to Figure 6 , the fifth embodiment of the signal control method of this application provides a flowchart. Based on the above Figure 2 illustrated embodiment, step S40, the step of outputting the second control signal to the controlled device carried by the drone based on the first control signal includes:

[0115] Step S401, convert the first control signal into a second ground / open signal.

[0116] The main body that receives the first control signal is the MCU minimum circuit unit of the signal control module. Generally speaking, the MCU minimum circuit unit supports outputting high and low level signals on the GPIO port. However, for flight control, the ground / open signal is a more general and reliable signal form. For this reason, the MCU minimum circuit unit involved in this embodiment supports the function of converting the first control signal into a ground / open signal. Specifically, the first control signal sent by the flight control of the drone may be the high and low level signals of the serial port or the ground / open signal. After the MCU minimum circuit unit receives the first control signal, it converts the first control signal into a second ground / open signal.

[0117] Step S402: Output the second control signal to the controlled device carried by the drone based on the second ground / open signal.

[0118] Specifically, after the MCU minimum circuit unit converts the first control signal into a second ground / open signal, it sends the second ground / open signal to the signal output unit. Correspondingly, the signal output unit receives the second ground / open signal from the MCU minimum circuit unit, and under the power supply of the power control unit, converts the second ground / open signal into a second control signal. The second control signal can be in the form of a positive pulse or a negative pulse. For some controlled devices with high safety requirements, the second control signal can include both positive pulses or negative pulses to achieve dual-signal control of the controlled device; for some controlled devices with low safety requirements, the second control signal can only include positive pulses.

[0119] Then, the signal output unit outputs the second control signal to the controlled device carried by the drone. Correspondingly, the controlled device receives the second control signal and performs corresponding actions according to the second control signal. In this way, the flight control system of the drone realizes the safe control of the controlled device through the signal control module.

[0120] In this embodiment, through the above solution, specifically, the first control signal is converted into a second ground / open signal; and the second control signal is output to the controlled device carried by the drone based on the second ground / open signal. In this embodiment, the MCU minimum circuit unit is adaptively improved. The MCU minimum circuit unit converts the high and low level signals output through the GPIO port into a second ground / open signal, and then outputs the second control signal to the controlled device carried by the drone based on the second ground / open signal. Among them, converting the high and low level signals output through the GPIO port into the form of a ground / open signal can improve the reliability of the control signal transmission and better meet the requirements of flight control.

[0121] Refer to Figure 7 , the second embodiment of the signal control method of this application provides a flowchart. The signal control method is applied to a drone, and the drone is provided with a signal control module as an expansion module. The signal control method includes:

[0122] Step A10: Send an unlock signal and an enable signal to the signal control module through the flight control system of the drone for the signal control module to perform power supply for control signal output based on the unlock signal and the enable signal.

[0123] Specifically, the signal control module establishes a physical connection with the drone. The drone can send serial port high and low level signals or ground / open signals to the control module through the flight control system. The MCU minimum circuit in the signal control module has a signal conversion function and can convert the control signal sent by the flight control system of the drone into a ground / open signal.

[0124] When it is necessary to control the controlled device carried by the UAV, the flight control system of the UAV sends an unlocking signal and an enabling signal to the signal control module. The unlocking signal and the enabling signal can be sent simultaneously or sequentially, but the unlocking signal and the enabling signal must have an overlapping duration. Accordingly, the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the UAV through the unlocking and enabling unit.

[0125] After the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the UAV through the unlocking and enabling unit, if the durations of the unlocking signal and the enabling signal overlap, that is, the unlocking signal and the enabling signal exist simultaneously, then the output power supply signal can be further sent to the power control unit through the unlocking and enabling unit. Accordingly, after receiving the output power supply signal, the power control unit will convert the power supply voltage of the battery through the internal circuit as the power supply voltage for the signal output unit to supply power for controlling the signal output.

[0126] If any one of the unlocking signal and the enabling signal is missing, or the unlocking signal and the enabling signal do not exist simultaneously, then the necessary conditions for supplying power for controlling the signal output are not met, the unlocking and enabling unit cannot send the output power supply signal to the power control unit, and the signal output unit cannot output the control signal.

[0127] Step A20, sending a first control signal to the signal control module through the flight control system of the UAV for the signal control module to output a second control signal to the controlled device carried by the UAV based on the first control signal.

[0128] Specifically, after obtaining the power supply voltage, the signal output unit has the ability to output the control signal. Further, the flight control system of the UAV sends a first control signal to the signal control module, the signal control module receives the first control signal through the MCU minimum circuit unit, and then the MCU minimum circuit unit sends the first control signal to the signal output unit. Accordingly, the signal output unit receives the first control signal sent by the MCU minimum circuit unit and converts the first control signal into a second control signal under the power supply of the power control unit. The second control signal can be in the form of a positive pulse or a negative pulse. For some controlled devices with high safety requirements, the second control signal can include both positive pulses and negative pulses to achieve dual-signal control of the controlled device; for some controlled devices with low safety requirements, the second control signal can only include positive pulses.

[0129] Then, the signal output unit outputs a second control signal to the controlled device carried by the UAV. Correspondingly, the controlled device receives the second control signal and performs corresponding actions according to the second control signal. In this way, the flight control system of the UAV realizes the safe control of the controlled device through the signal control module.

[0130] In this embodiment, through the above solution, specifically, the flight control system of the UAV sends an unlocking signal and an enabling signal to the signal control module, so that the signal control module can supply power for control signal output based on the unlocking signal and the enabling signal; the flight control system of the UAV sends a first control signal to the signal control module, so that the signal control module can output a second control signal to the controlled device carried by the UAV based on the first control signal. In this embodiment, the flight control system of the UAV sends an unlocking signal and an enabling signal to the signal control module, and the signal control module supplies power for control signal output under the combined action of the unlocking signal and the enabling signal. Then, the flight control system of the UAV sends a first control signal to the signal control module, so that the signal control module further outputs a second control signal to control the controlled device carried by the UAV. If any one of the unlocking signal and the enabling signal is missing, the control signal cannot be output to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the UAV control signal is interfered and mis-triggered, which in turn affects the flight safety of the UAV.

[0131] Refer to Figure 8 , the signal control module embodiment of the present application provides a module schematic diagram. The signal control module includes an MCU minimum circuit unit, an unlocking and enabling unit, a power control unit, and a signal output unit.

[0132] MCU minimum circuit unit: mainly used to receive signals or instructions sent by the flight control system of the UAV and perform related actions.

[0133] Unlocking and enabling unit: a logic control unit with a dual-channel solid-state relay as the core.

[0134] Power control unit: uses an optocoupler and a MOS transistor as core devices to turn on or off the signal output power supply, that is, to supply power for the signal output unit to output control signals.

[0135] Signal output unit: uses an optocoupler and a MOS transistor as core devices, and can output pulse signals to the controlled device or construct a feedback loop according to the signals of the flight control system under the condition of power supply.

[0136] As Figure 9 shown, Figure 9Figure 1 is a first schematic diagram of the connection relationship of the signal control module in the UAV system. The flight control system (flight control computer) of the UAV establishes a communication connection with the signal control module, and can interact with the high and low level signals or ground / open signals of the serial port. The signal control module establishes a communication connection with the controlled devices (safety / task-related devices) of the UAV, and the signal control module can send control signals to the controlled devices.

[0137] More specifically, as Figure 10 shown, Figure 10 Figure 2 is a second schematic diagram of the connection relationship of the signal control module in the UAV system. The flight control system of the UAV sends an unlock signal and an enable signal to the signal control module, and the signal control module receives the unlock signal and the enable signal through the unlock enable circuit (unlock enable unit). As Figure 11 shown, Figure 11 Figure 3 is a circuit schematic diagram of the unlock enable unit and the power control unit. Among them, a current is generated at the input end of the optocoupler device U3 under the action of the unlock signal CTR_LOCK and the enable signal CTR_EN, and the output end is turned on. The MCU minimum circuit unit sends a ground / open signal OD_OUT1 to the power control circuit. A current is generated at the input end of the optocoupler device U1 under the action of the ground / open signal OD_OUT1 and VCC_A. At this time, the MOS transistor Q1 is turned on, and the current flows from VCC_A through the relay RL1, and the terminals 3 and 4 of the relay are connected. The battery power supply VCC_BAT is converted into the power supply VCC_POW_ON for signal output. Further, as Figure 12 shown, Figure 12 Figure 4 is a circuit schematic diagram of the signal output unit. Among them, the control signal sent by the flight control system of the UAV is received by the MCU minimum control unit of the signal control module, and the MCU minimum control unit converts the control signal into a ground / open signal OD_OUT2 and a ground / open signal OD_OUT3. The ground / open signal OD_OUT2 and VCC_A control whether the input end of the optocoupler device U2 is turned on, and further control whether the MOS transistor Q2 is turned on, determining whether a positive pulse KZ_OUT1 is output under the action of the power supply VCC_POW_ON. At the same time, the positive pulse KZ_OUT1 can be connected to another wire to build a feedback loop to the MCU minimum circuit unit, and the MCU minimum circuit unit feeds back the output situation of the control signal to the flight control system. The ground / open signal OD_OUT3 and VCC_A control whether the input end of the optocoupler device U4 is turned on, and further control whether the MOS transistor Q3 is turned on, determining whether a negative pulse GND_OUT is output under the action of the battery ground wire GND_BAT (here the negative pulse is relative to the reference voltage, not just a pulse with a negative voltage). In this way, the controlled device can receive the positive pulse KZ_OUT1 and the negative pulse GND_OUT output by the signal control module, and then perform corresponding actions.

[0138] In this embodiment, when the signal control module receives the unlocking signal and enabling signal sent by the flight control system of the drone, under the combined action of the unlocking signal and the enabling signal, it powers the output of the control signal, and then receives and outputs positive and negative pulses based on the control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If either the unlocking signal or the enabling signal is missing, it will be impossible to output positive and negative pulses to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone. Moreover, this embodiment describes the circuit working principle of each functional unit of the signal control module. The signal control module uses the lowest-cost MCU minimum circuit unit as the control core, and the circuit design logic of other functional units is clear. The electronic components used are mature and low in price. Therefore, the signal control module has the characteristics of low cost, and the circuit design of the signal control module is simple, and it can be made into a small-sized expansion module, which is easy to be carried on small and medium-sized drones to provide safe and reliable signal control.

[0139] In addition, an embodiment of the present application further provides a signal control device, and the signal control device includes:

[0140] A first receiving module, configured to receive the unlocking signal and enabling signal sent by the flight control system of the drone;

[0141] A power supply module, configured to supply power to the output of the control signal based on the unlocking signal and the enabling signal;

[0142] A second receiving module, configured to receive the first control signal sent by the flight control system of the drone;

[0143] An output module, configured to output a second control signal to the controlled device carried by the drone based on the first control signal.

[0144] For the principle and implementation process of signal control in this embodiment, please refer to the above embodiments and will not be elaborated here.

[0145] In addition, an embodiment of the present application further provides a terminal device, and the terminal device includes a memory, a processor, and a signal control program stored on the memory and executable on the processor. When the signal control program is executed by the processor, the steps of the signal control method described above are implemented.

[0146] Since when the signal control program is executed by the processor, all the technical solutions of the foregoing all embodiments are adopted, it has at least all the beneficial effects brought by all the technical solutions of the foregoing all embodiments, which will not be elaborated one by one here.

[0147] In addition, an embodiment of the present application also provides a computer-readable storage medium, on which a signal control program is stored. When the signal control program is executed by a processor, the steps of the signal control method described above are implemented.

[0148] Since all the technical solutions of the foregoing embodiments are adopted when the signal control program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of the foregoing embodiments, which will not be elaborated herein one by one.

[0149] Compared with the prior art, the signal control method, module, device, terminal device and storage medium provided by the embodiments of the present application receive an unlocking signal and an enabling signal sent by the flight control system of the drone; supply power to the output of the control signal based on the unlocking signal and the enabling signal; receive a first control signal sent by the flight control system of the drone; and output a second control signal to the controlled device carried by the drone based on the first control signal. Based on the solution of the present application, when the signal control module receives the unlocking signal and the enabling signal sent by the flight control system of the drone, it supplies power to the output of the control signal under the combined action of the unlocking signal and the enabling signal, and then receives and outputs the second control signal based on the first control signal sent by the flight control system of the drone to control the controlled device carried by the drone. If any one of the unlocking signal and the enabling signal is missing, the control signal cannot be output to the controlled device, thus ensuring the safe control of the controlled device and solving the problem that the drone control signal is interfered and mis-triggered, which in turn affects the flight safety of the drone.

[0150] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "including one..." does not exclude the presence of additional identical elements in the process, method, article or system including the element.

[0151] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of the present application.

[0153] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A signal control method, characterized in that, The signal control method is applied to a signal control module, which is set as an expansion module on a drone. The signal control method includes: Receiving an unlocking signal and an enabling signal sent by the flight control system of the drone; Supplying power for control signal output based on the unlocking signal and the enabling signal; Receiving a first control signal sent by the flight control system of the drone; Outputting a second control signal to the controlled device carried by the drone based on the first control signal; Before the step of supplying power for control signal output based on the unlocking signal and the enabling signal, it further includes: receiving a first ground / open signal sent by the flight control system of the drone; The step of supplying power for control signal output based on the unlocking signal and the enabling signal includes: supplying power for control signal output based on the first ground / open signal, the unlocking signal, and the enabling signal; The signal control module includes an unlocking and enabling unit. The step of supplying power for control signal output based on the unlocking signal and the enabling signal includes: If there is an overlap in the duration of the unlocking signal and the enabling signal, sending an output power supply signal to the power control unit through the unlocking and enabling unit; Before the step of supplying power for control signal output based on the unlocking signal and the enabling signal, it further includes: setting a control signal output window time; the step of supplying power for control signal output based on the unlocking signal and the enabling signal includes: supplying power for control signal output based on the control signal output window time, the unlocking signal, and the enabling signal.

2. The signal control method according to claim 1, wherein After the step of outputting a second control signal to the controlled device carried by the drone based on the first control signal, it further includes: Feeding back the control signal output result to the flight control system of the drone based on the second control signal.

3. The signal control method according to claim 1, characterized in that, The step of outputting a second control signal to the controlled device carried by the drone based on the first control signal includes: Converting the first control signal into a second ground / open signal; Outputting the second control signal to the controlled device carried by the drone based on the second ground / open signal.

4. A signal control method, characterized in that, The signal control method is applied to a drone, which is set with a signal control module as an expansion module. The signal control method includes: Sending an unlocking signal and an enabling signal to the signal control module through the flight control system of the drone, so that the signal control module supplies power for control signal output based on the unlocking signal and the enabling signal; Sending a first control signal to the signal control module through the flight control system of the drone, so that the signal control module outputs a second control signal to the controlled device carried by the drone based on the first control signal; Sending a first ground / open signal to the signal control module through the flight control system of the drone, so that the signal control module supplies power for control signal output based on the first ground / open signal, the unlocking signal, and the enabling signal; The signal control module includes an unlocking and enabling unit. The step of the signal control module supplying power for control signal output based on the unlocking signal and the enabling signal includes: If there is an overlap in the durations of the unlocking signal and the enabling signal, an output power supply signal is sent to the power control unit through the unlocking and enabling unit; Before the step of supplying power to the control signal output based on the unlocking signal and the enabling signal, the method further includes: setting a control signal output window time; the step of supplying power to the control signal output based on the unlocking signal and the enabling signal includes: supplying power to the control signal output based on the control signal output window time, the unlocking signal, and the enabling signal.

5. A signal control module, characterized in that, The signal control module is provided as an expansion module on the unmanned aerial vehicle, and the signal control module includes an MCU minimum circuit unit, an unlocking and enabling unit, a power control unit, and a signal output unit; The MCU minimum circuit unit is configured to receive a first control signal sent by the flight control system of the unmanned aerial vehicle; The unlocking and enabling unit is configured to receive an unlocking signal and an enabling signal sent by the flight control system of the unmanned aerial vehicle, and output a power control signal based on the unlocking signal and the enabling signal; The power control unit is configured to supply power to the control signal output based on the power control signal; The signal output unit is configured to output a second control signal to the controlled device carried by the unmanned aerial vehicle based on the first control signal; The MCU minimum circuit unit is further configured to receive a first ground / open signal sent by the flight control system of the unmanned aerial vehicle; The power control unit is further configured to supply power to the control signal output based on the first ground / open signal, the unlocking signal, and the enabling signal; The unlocking and enabling unit is further configured to, if there is an overlap in the durations of the unlocking signal and the enabling signal, send an output power supply signal to the power control unit through the unlocking and enabling unit; The power control unit is further configured to set a control signal output window time, and supply power to the control signal output based on the control signal output window time, the unlocking signal, and the enabling signal.

6. A signal control device, characterized in that, The signal control device is applied to the signal control module, the signal control module includes an unlocking and enabling unit, the signal control module is provided as an expansion module on the unmanned aerial vehicle, and the signal control device includes: A first receiving module, configured to receive an unlocking signal and an enabling signal sent by the flight control system of the unmanned aerial vehicle; A power supply module, configured to supply power to the control signal output based on the unlocking signal and the enabling signal; A second receiving module, configured to receive a first control signal sent by the flight control system of the unmanned aerial vehicle; An output module, configured to output a second control signal to the controlled device carried by the unmanned aerial vehicle based on the first control signal; The first receiving module is further configured to receive a first ground / open signal sent by the flight control system of the unmanned aerial vehicle; The power supply module is further configured to supply power to the control signal output based on the first ground / open signal, the unlocking signal, and the enabling signal; If there is an overlap in the durations of the unlocking signal and the enabling signal, an output power supply signal is sent to the power control unit through the unlocking and enabling unit; The power supply module is further configured to set a control signal output window time, and perform power supply for control signal output based on the control signal output window time, the unlocking signal, and the enabling signal.

7. A terminal device, characterized in that, The terminal device includes a memory, a processor, and a signal control program stored on the memory and executable on the processor. When the signal control program is executed by the processor, the steps of the signal control method according to any one of claims 1-3 or 4 are implemented.

8. A computer-readable storage medium, characterized in that, A signal control program is stored on the computer-readable storage medium. When the signal control program is executed by a processor, the steps of the signal control method according to any one of claims 1-3 or 4 are implemented.

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