Unmanned aerial vehicles, control terminals, rescue methods and rescue systems

Abstract

An unmanned aerial vehicle (UAV), a control terminal, a rescue method, and a rescue system are disclosed. The UAV includes a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust in a first direction when rotating in a forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in a reverse direction, the first direction being opposite to the second direction; wherein, when the body is in a rescue-ready attitude and the UAV is capable of performing a rescue operation, at least a portion of the at least two rotors are capable of providing the second thrust in response to a rescue control command to perform the rescue operation.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to an UAV, a control terminal, a rescue method, and a rescue system. Background Technology

[0002] Unmanned Aerial Vehicles (UAVs) can be used in many fields such as aerial photography, aerial surveillance, monitoring, and reconnaissance. Multi-rotor UAVs are a special type of unmanned aircraft with three or more rotor axes. Multi-rotor UAVs generate lift by rotating their rotors using an electric motor corresponding to each axis.

[0003] If a multi-rotor UAV crashes abnormally during flight, its ground attitude may be significantly tumbling, making it unable to take off normally. If the multi-rotor UAV is far from the operator, or if it crashes on a rooftop, across a river, or in a location difficult to reach by personnel, rescue will be very difficult, and may even be impossible.

[0004] Public content

[0005] This disclosure provides an unmanned aerial vehicle, a control terminal, a rescue method, and a rescue system to reduce the difficulty of rescue operations.

[0006] In a first aspect, embodiments of this disclosure provide an unmanned aerial vehicle (UAV) comprising: a body, at least two rotors rotatably mounted on the body, wherein each of the at least two rotors provides a first thrust along a first direction when rotating in the forward direction, and each of the at least two rotors provides a second thrust along a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; wherein, when the body is in a rescue-ready attitude and the UAV is capable of performing a rescue operation, at least a portion of the at least two rotors are capable of providing the second thrust in response to a rescue control command to perform the rescue operation.

[0007] In this embodiment, at least a portion of the rotors of at least two unmanned aerial vehicles (UAVs) can provide reverse thrust when rotating in the opposite direction. When the UAV is in a rescue-ready attitude and capable of performing rescue operations, at least a portion of the rotors can rotate in the opposite direction in response to rescue control commands, providing reverse thrust to perform the rescue operation. When the rotors rotate in the forward direction, they provide forward thrust away from the Earth's center to the aircraft in a non-rescue-ready attitude. This embodiment allows the UAV to perform remote rescue operations based on rescue control commands, effectively reducing the difficulty of rescue operations.

[0008] Secondly, this disclosure provides a control terminal, which includes: a processor for generating rescue control commands; and a communication interface for sending the rescue control commands to an unmanned aerial vehicle (UAV). The rescue control commands are used to instruct the UAV to perform a rescue operation when the UAV is in a rescue-ready attitude and the UAV is capable of performing a rescue operation.

[0009] In this embodiment, the control terminal can generate a rescue control command and send the command to the unmanned aerial vehicle (UAV), enabling the UAV to perform remote rescue operations in response to the command, thus effectively reducing the difficulty of rescue operations.

[0010] Thirdly, this disclosure provides a rescue method for an unmanned aerial vehicle (UAV), comprising: a body; and at least two rotors rotatably mounted on the body. Each of the at least two rotors provides a first thrust along a first direction when rotating in the forward direction, and each of the at least two rotors provides a second thrust along a second direction when rotating in the reverse direction, the first direction being opposite to the second direction. Accordingly, the method includes: receiving a rescue control command; and when the UAV is in a await-rescue attitude and is capable of performing a rescue operation, at least a portion of the at least two rotors provide the second thrust in response to the rescue control command to perform the rescue operation.

[0011] In this embodiment, the unmanned aerial vehicle (UAV) can control at least some of its rotors to provide reverse thrust by rotating in the opposite direction, based on rescue control commands. When the UAV is in a rescue-ready attitude and capable of performing rescue operations, the reverse thrust provided by at least some of the rotors can enable remote rescue operations, effectively reducing the difficulty of rescue.

[0012] Fourthly, this disclosure provides a rescue method for an unmanned aerial vehicle (UAV), applied to a control terminal, which is communicatively connected to the UAV. Accordingly, the method includes: acquiring a rescue control command; and sending the rescue control command to the UAV, wherein the rescue control command is used to instruct the UAV to perform a rescue operation when the UAV is in a state awaiting rescue and is capable of performing a rescue operation.

[0013] In this embodiment, the control terminal can obtain the rescue control command input by the user and send the rescue control command to the unmanned aerial vehicle, so that the unmanned aerial vehicle can respond to the rescue control command to perform remote rescue operation, effectively reducing the difficulty of rescue.

[0014] Fifthly, embodiments of this disclosure provide a rescue system, comprising: an unmanned aerial vehicle (UAV) including: a body; at least two rotors rotatably mounted on the body, each rotor providing a first thrust in a first direction when rotating in the forward direction, and each rotor providing a second thrust in a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; a first memory storing executable instructions, which, when executed by one or more processors, can cause one or more processors to perform the operations described above; and a control terminal including: a second memory storing executable instructions, which, when executed by one or more processors, can cause one or more processors to perform the operations described above.

[0015] Sixthly, embodiments of this disclosure provide a computer-readable storage medium storing executable instructions that, when executed by one or more processors, can cause one or more processors to perform the methods described above.

[0016] In a seventh aspect, embodiments of this disclosure provide a computer program product including executable instructions that, when executed, implement the method described above.

[0017] The advantages of additional aspects of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] Figure 1 Application scenarios for the unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in the embodiments of this disclosure;

[0019] Figure 2 This provides an application scenario for the unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in another embodiment of the present disclosure.

[0020] Figure 3 (a)~ Figure 3 (d) is an application scenario of the unmanned aerial vehicle, control terminal, rescue method and rescue system provided in another embodiment of this disclosure;

[0021] Figure 4 (a)~ Figure 4 (b) An application scenario for the unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in another embodiment of this disclosure;

[0022] Figure 5 A block diagram of an unmanned aerial vehicle provided in the embodiments of this disclosure;

[0023] Figure 6 A top view schematic diagram of an X-configuration quadrotor UAV provided in an embodiment of this disclosure;

[0024] Figure 7 This is a front view schematic diagram of an X-configuration quadrotor UAV provided in an embodiment of this disclosure;

[0025] Figure 8 A schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided in an embodiment of this disclosure;

[0026] Figure 9 This is a schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided in another embodiment of this disclosure.

[0027] Figure 10 This is a schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided in another embodiment of this disclosure.

[0028] Figure 11 A schematic diagram of the X-configuration quadrotor UAV and its rotor serial number provided in the embodiments of this disclosure;

[0029] Figure 12 In response to Figure 11 The diagram shows the stick-action command mapping of the X-configuration quadrotor UAV and its motor.

[0030] Figure 13 This is a schematic diagram of the open-loop control process provided in an embodiment of the present disclosure;

[0031] Figure 14 This is a schematic diagram of the reference coordinate system for the rollover rescue provided in the embodiments of this disclosure;

[0032] Figure 15 This is a schematic diagram of the closed-loop control process provided in an embodiment of the present disclosure;

[0033] Figure 16 A block diagram of a control terminal provided in an embodiment of this disclosure;

[0034] Figure 17 A schematic diagram of a control terminal provided in an embodiment of this disclosure;

[0035] Figure 18 A schematic diagram of a control terminal provided in another embodiment of this disclosure;

[0036] Figure 19 A schematic diagram of a control terminal provided in another embodiment of this disclosure;

[0037] Figure 20 A flowchart of a rescue method performed by an unmanned aerial vehicle as provided in an embodiment of this disclosure;

[0038] Figure 21 A flowchart of a rescue method executed by a control terminal, provided in an embodiment of this disclosure;

[0039] Figure 22 A block diagram of a rescue system provided in an embodiment of this disclosure;

[0040] Figure 23 This is a functional interaction diagram of the rescue system provided in an embodiment of the present disclosure;

[0041] Figure 24 A flowchart illustrating the flight control operation in manual rescue mode provided in this embodiment of the disclosure;

[0042] Figure 25 This is a flowchart of the flight control operation in automatic rescue mode provided in an embodiment of this disclosure;

[0043] Figure 26 A flowchart illustrating the flight control operation in the automatic rescue and return-to-home mode provided in this embodiment of the disclosure;

[0044] Figure 27 A timing diagram for the function indicating whether takeoff is possible, provided in an embodiment of this disclosure;

[0045] Figure 28 A timing diagram of the entry into rescue mode and manual rescue function provided in the embodiments of this disclosure;

[0046] Figure 29 Timing diagrams for the automatic rescue function and automatic rescue return function provided in the embodiments of this disclosure. Detailed Implementation

[0047] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0048] In the field of unmanned aerial vehicles (UAVs), how UAVs can save themselves when they experience abnormalities such as rollover, abnormal falls, or landing after tumbling is an urgent problem to be solved.

[0049] Let's take a multi-rotor UAV as an example. If a multi-rotor UAV experiences a crash due to blade scraping or collision during flight, its ground attitude may differ significantly from its normal takeoff attitude. This prevents the multi-rotor UAV from taking off from its normal takeoff attitude.

[0050] Multi-rotor UAVs may be far from the operator or located in areas difficult to rescue. For example, they may crash on a rooftop or across a river, making them hard to reach. This makes rescue difficult, and the multi-rotor UAV may even remain lost until a child is rescued. These problems are common for remotely controlled rotary-wing drones.

[0051] The unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in this disclosure include at least two rotors that can provide reverse thrust when rotating in opposite directions (e.g., thrust that moves the UAV with its bottom facing upward away from the landing surface). This allows the multi-rotor UAV to be in a standby rescue attitude and capable of performing rescue operations. Responding to rescue control commands, the rescue operation can be performed by controlling the operating state of at least some of the rotors. For example, at least some rotors can be remotely controlled to change the multi-rotor UAV from a standby rescue attitude (non-take-off attitude) to a take-off attitude, or it can take off directly from the standby rescue attitude with reverse thrust. This disclosure effectively reduces the difficulty of rescue operations, lowers the risk of property loss for the user, and improves the user experience.

[0052] To facilitate a better understanding of the embodiments of this disclosure, the following is combined with... Figures 1 to 29 Please provide a detailed explanation.

[0053] Figure 1 This disclosure outlines application scenarios for the unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in the embodiments of this disclosure. For example... Figure 1 As shown, the unmanned aerial vehicle 10 is a multi-rotor unmanned aerial vehicle (UAV) as an example for explanation.

[0054] The unmanned aerial vehicle 10 includes a body 11, a carrier 13, and a payload 14. Although the unmanned aerial vehicle 10 is described as an aircraft, such a description is not limiting, and any type of unmanned aerial vehicle described above applies (e.g., unmanned aerial vehicle). In some embodiments, the payload 14 may be located directly on the unmanned aerial vehicle 10 without the need for the carrier 13. The unmanned aerial vehicle 10 may include a power unit 15 and a sensing system 12. Furthermore, the unmanned aerial vehicle 10 may also include a communication system.

[0055] The power unit 15 may include one or more rotating bodies, propellers, blades, engines, motors, bearings, magnets, or nozzles. For example, the rotating body of the power unit may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The unmanned aerial vehicle (UAV) may have two, three, four, or more power units. All power units may be of the same type. Optionally, at least one of the multiple power units may be of a different type from the others. The power unit 15 may be mounted on the UAV by suitable means, such as through support elements (e.g., drive shafts). The power unit 15 may be mounted at any suitable location on the UAV 10, such as the top, bottom, front, rear, side, or any combination thereof.

[0056] In some embodiments, the power unit 15 enables the unmanned aerial vehicle (UAV) to take off vertically from or land vertically on a surface without requiring any horizontal movement of the UAV 10 (e.g., no taxiing on a runway). Optionally, the power unit 15 may allow the UAV 10 to hover in a preset position and / or direction in the air. One or more power units 100 may be controlled independently of other power units. Optionally, one or more power units 100 may be controlled simultaneously. For example, the UAV 10 may have multiple horizontally rotating bodies to control the lift and / or thrust of the UAV. The horizontally rotating bodies may be actuated to provide the UAV 10 with the ability to take off vertically, land vertically, and hover. In some embodiments, one or more of the horizontally rotating bodies may rotate clockwise, while one or more of the other horizontally rotating bodies may rotate counterclockwise. For example, the number of clockwise rotating bodies is the same as the number of counterclockwise rotating bodies. The rotational rate of each horizontal rotating body can be varied independently to achieve the lift and / or thrust operation caused by each rotating body, thereby adjusting the spatial orientation, velocity and / or acceleration of the unmanned aerial vehicle 10 (such as rotation and translation relative to up to three degrees of freedom).

[0057] The sensing system 12 may include one or more sensors to sense the surrounding obstacles, spatial orientation, velocity, and / or acceleration (such as rotation and translation relative to up to three degrees of freedom) of the unmanned aerial vehicle (UAV) 10. The one or more sensors include any of the sensors described above, including but not limited to range sensors, GPS sensors, motion sensors, inertial sensors, or image sensors. The sensing data provided by the sensing system 12 can be used to control the spatial orientation, velocity, and / or acceleration of the UAV 10. Optionally, the sensing system 12 can use data about the UAV's environment, such as weather conditions, distances to surrounding obstacles, locations of geographical features, and locations of man-made structures.

[0058] The support structure 13 can be various types of support structures, including but not limited to: fixed brackets, detachable brackets, attitude-adjustable structures, etc., used to mount the load 14 on the body 11. For example, the support structure 13 can be a gimbal, and the load 14 can be a shooting device. The gimbal allows the shooting device to be displaced relative to the body 11, or to rotate along one or more axes. For example, the support structure 13 allows the shooting device to translate along one or more axes of pitch, yaw, and roll. Alternatively, the support structure 13 can allow the shooting device to rotate about one or more axes of pitch, yaw, and roll.

[0059] The communication system enables communication between the unmanned aerial vehicle (UAV) 10 and a control terminal 20 equipped with the communication system via wireless signals 30 transmitted and received by an antenna 22 mounted on the housing 21. The communication system may include any number of transmitters, receivers, and / or transceivers for wireless communication. Communication can be unidirectional, meaning data can be transmitted from one direction. For example, unidirectional communication may include only the UAV 10 transmitting data to the control terminal 20, or vice versa. One or more transmitters of the communication system may transmit data to one or more receivers of the communication system, or vice versa. Optionally, communication can be bidirectional, meaning data can be transmitted between the UAV 10 and the control terminal 20 in both directions. Bidirectional communication includes one or more transmitters of the communication system transmitting data to one or more receivers of the communication system, and vice versa.

[0060] The load 14 can be used to perform functions such as observation, reconnaissance, tracking, aiming, spraying of liquids (such as water, pesticides, etc.), and transportation, including but not limited to at least one of the following: shooting device, fire extinguishing device, aiming device, pesticide spraying device, recording device, housing, etc.

[0061] In some embodiments, the control terminal 20 may provide control commands to one or more of the unmanned aerial vehicle 10, the carrier 13, and the load 14, and receive information from one or more of the unmanned aerial vehicle 10, the carrier 13, and the load 14 (such as the position and / or motion information of obstacles, the unmanned aerial vehicle 10, the carrier 13, or the load 14, load-sensing data, such as image data captured by a camera). In some embodiments, the control data of the control terminal 20 may include commands regarding position, motion, braking, or control of the unmanned aerial vehicle 10, the carrier 13, and / or the load 14. For example, the control data may cause a change in the position and / or orientation of the unmanned aerial vehicle (e.g., by controlling the power mechanism 15), or cause the carrier 13 to move relative to the unmanned aerial vehicle 10 (e.g., by controlling the carrier 13). The control data of the control terminal 20 may cause load control, such as controlling the operation of a camera or other image capture device (capturing stationary or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focal length, changing depth of field, changing exposure time, changing viewing angle or field of view). In some embodiments, communication between the unmanned aerial vehicle 10, the carrier 13, and / or the load 14 may include information from one or more sensors (such as a distance sensor or an image sensor of the load 14). Communication may include sensing information transmitted from one or more sensors of different types (such as a GPS sensor, motion sensor, inertial sensor, proximity sensor, or image sensor). The sensing information is about the position (e.g., orientation, location), motion, or acceleration of the unmanned aerial vehicle 10, the carrier 13, and / or the load 14. Sensing information transmitted from the load 14 includes data captured by the load 14 or the state of the load 14. Control data transmitted by the control terminal 20 can be used to control the state of one or more of the unmanned aerial vehicle 10, the carrier 13, or the load 14. Optionally, one or more of the carrier 13 and the load 14 may include a communication module for communicating with the control terminal 20, so that the terminal can independently communicate with or control the unmanned aerial vehicle 10, the carrier 13, and the load 14.

[0062] In some embodiments, the unmanned aerial vehicle (UAV) 10 can communicate with other remote devices besides the control terminal 20, or with remote devices not connected to the control terminal 20. The control terminal 20 can also communicate with another remote device and the UAV 10. For example, the UAV and / or the control terminal 20 can communicate with another UAV or the carrier or payload of another UAV. When needed, the additional remote device can be a second terminal or other computing device (such as a computer, desktop computer, tablet, smartphone, or other mobile device). This remote device can transmit data to the UAV 10, receive data from the UAV 10, transmit data to the control terminal 20, and / or receive data from the control terminal 20. Optionally, the remote device can be connected to the Internet or other telecommunications networks to upload data received from the UAV 10 and / or the control terminal 20 to a website or server.

[0063] Sensors are used to collect relevant information about the unmanned aerial vehicle 10. Different types of sensors can sense different kinds of signals or signals from different sources. For example, sensors include inertial sensors, GPS sensors, distance sensors, or vision / image sensors (such as cameras). Sensors can be connected to a processing unit including multiple processors, so that the processing unit can incorporate obstacle information from the sensors into obstacle avoidance calculations to determine the desired speed of the unmanned aerial vehicle. In some embodiments, sensors can be connected to a communication system (such as a Wi-Fi image transmission module) for directly transmitting sensing data to appropriate external devices or systems. For example, the communication system can be used to transmit images captured by an image sensor to a remote terminal.

[0064] Figure 2 This provides an application scenario for the unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in another embodiment of this disclosure.

[0065] like Figure 2 As shown, during drone operations, such as filming or inspection, drones may crash due to interference with obstacles or gusts of wind, preventing them from taking off normally. In some scenarios, such as those where human access is difficult, it is inconvenient for users to rescue the drone.

[0066] Taking multi-rotor UAVs as an example, currently, during normal takeoff and flight, the tilt angle of a multi-rotor UAV cannot be too large; otherwise, the thrust generated by the forward rotation of the propellers will not be sufficient for the UAV to take off. Forcing takeoff could even cause the propellers to scrape the ground, resulting in dangerous situations such as the UAV skidding along the ground. For instance, the embodiments disclosed herein can be used to improve the problem of multi-rotor UAVs failing to take off normally and easily becoming lost when they tumble and fall at a considerable distance from the operator.

[0067] The unmanned aerial vehicle, control terminal, rescue method, and rescue system provided in this disclosure can adjust the attitude of a multi-rotor UAV to a normal takeoff attitude when the ground tilt angle is large, so that the multi-rotor UAV can take off in a normal takeoff attitude. In addition, when the ground tilt angle is too large (such as the fuselage tilting by about 150 to 210°), the multi-rotor UAV can take off in a rescue-ready attitude.

[0068] Figure 3 (a)~ Figure 3 (d) is an application scenario of the unmanned aerial vehicle, control terminal, rescue method and rescue system provided in another embodiment of this disclosure.

[0069] like Figure 3 As shown in (a), when a multi-rotor UAV is in a rescue-ready attitude, such as when at least some blades interfere with the landing surface or the angle between the airframe and the landing surface is too large, the blades that do not interfere with the landing surface can be controlled to provide thrust to cause the airframe to roll. For example, the blades that do not interfere with the landing surface can be controlled to rotate in the opposite direction to provide thrust that moves the blade away from the landing surface.

[0070] like Figure 3 As shown in (b) and 3(c), the rotor providing reverse thrust causes the aircraft to roll, transitioning to a normal takeoff attitude. It should be noted that the rotor providing thrust must not interfere with the landing surface. A rotor not providing thrust may or may not interfere with the landing surface.

[0071] like Figure 3 As shown in (d), when the multi-rotor UAV is in a normal takeoff attitude, it can take off in response to control commands.

[0072] When the roll angle of a multi-rotor UAV relative to the landing surface is large, such as greater than 45°, 60°, 90°, 120°, 150°, 180°, 200° or larger, the above methods can enable the multi-rotor UAV to recover to a normal takeoff attitude with a high probability, thus completing the rescue operation.

[0073] Figure 4 (a)~ Figure 4 (b) is an application scenario of the unmanned aerial vehicle, control terminal, rescue method and rescue system provided in another embodiment of this disclosure.

[0074] like Figure 4 As shown in (a), in some special scenarios, it may not be convenient to use methods such as... Figure 3 (a)~ Figure 3 (d) Rescue operation using a rollover method. For example, the multi-rotor UAV may be located in a confined space, or it may be inconvenient to provide a specific directional thrust to the multi-rotor UAV to induce a rollover for rescue. For instance, the multi-rotor UAV may roll 180° relative to the landing surface without interference between the rotor and the landing surface (e.g., the rotor is located in the middle of the connecting shaft rather than at the top, or there are other components on the side of the rotor facing outwards from the fuselage that prevent interference between the rotor and the landing surface). Figure 4 As shown in (b), in this scenario, one or more rotors can be controlled to rotate in the opposite direction, providing thrust relative to the landing surface, allowing the multi-rotor UAV to take off in an attitude that is approximately 180° tilted relative to its normal takeoff attitude. The rescue process in this special scenario is achieved in the manner described above.

[0075] It should be noted that the above description uses a multi-rotor UAV as an example and should not be construed as limiting the technical solution disclosed herein. For example, the above rescue process can also be applied to unmanned aerial vehicles using jet power sources, unmanned aerial vehicles using electric motors or engines as power sources, unmanned aerial vehicles using magnetic force as a power source, etc., and is not limited here.

[0076] In one embodiment, the unmanned aerial vehicle may include: a fuselage and at least two rotors. The fuselage and at least two rotors are rotatably mounted on the fuselage. Each of the at least two rotors provides a first thrust in a first direction when rotating in the forward direction, and each of the at least two rotors provides a second thrust in a second direction when rotating in the reverse direction, wherein the first direction and the second direction are opposite. The number of rotors may be 2, 3, 4, 8 or more, etc.

[0077] For example, the airframe may include sensor assemblies for acquiring sensing data. At least two rotors are rotatably mounted at different locations on the airframe, such as at the four mutually distant apex corners or arms. The rotation directions of the at least two rotors during forward rotation may be the same or different; for example, two diagonally opposite rotors may rotate in the same direction, while adjacent rotors may rotate in opposite directions. The rotation directions of the at least two rotors during reverse rotation are opposite to their forward rotation directions. A first direction may be the direction in which the rotors are away from the landing surface when the multi-rotor UAV is in a normal takeoff attitude. A second direction may be the direction in which the rotors requiring thrust are away from the landing surface when the multi-rotor UAV is in a rescue-ready attitude.

[0078] Specifically, the device includes a sensor assembly for acquiring sensor data. The sensor assembly includes at least one of an inertial detection unit (IMU) and an image sensor. The IMU can be mounted on both the device body and a support (such as a gimbal), and the image sensor can be an imaging device rotatably fixed to the support.

[0079] When the aircraft is in a standby rescue attitude and the UAV is capable of performing a rescue operation, at least a portion of the rotors of at least two rotors can provide a second thrust in response to a rescue control command to perform the rescue operation. For example, the rescue operation could be to cause the multi-rotor UAV to tumble to transition to a normal takeoff attitude, or to take off directly from a standby rescue attitude.

[0080] For example, an unmanned aerial vehicle has a rescue mode. In the rescue mode, when the attitude information determined based on sensor data indicates that the aircraft is in a rescue-ready attitude, and the sensor data indicates that the unmanned aerial vehicle is capable of performing rescue, at least a portion of the rotors of at least two rotors can provide a second thrust in response to the rescue control command to perform the rescue.

[0081] In one embodiment, when the UAV is in a standby attitude: the resultant thrust provided by at least two rotors rotating in the forward direction, when projected onto a vertical line passing through the UAV's center of gravity, points towards the Earth's center; and / or, the blades of each of the at least two rotors interfere with the landing surface in the current attitude. For example, the angle between the resultant thrust provided by at least two rotors rotating in the forward direction and the vertical line is less than or equal to 30°.

[0082] In one embodiment, when the unmanned aerial vehicle (UAV) is capable of performing a rescue operation: at least a portion of the blades of at least two rotors can rotate clockwise or counterclockwise, and at least a portion of the rotor blades are separated from the landing surface in the current attitude. This effectively reduces the probability of rotor damage due to interference between the rotors and the landing surface during the rescue process. This also facilitates control of the rotors that meet the requirements for performing the rescue operation while the UAV is in the attitude required for rescue, thereby enabling the rescue operation.

[0083] The following provides an example of some performance requirements that multi-rotor UAVs must meet.

[0084] On one hand, the forward and reverse rotation directions of at least two rotors are determined based on the blade angles of each rotor. For example, a multi-rotor UAV generates lift through the rotation of its blades, where the direction of rotation of each blade is determined by its blade angle, ensuring that lift is generated when the angle of attack is positive during rotation. In this embodiment, the rotation direction that generates upward lift is defined as forward rotation, and the rotation direction that generates downward pull is reverse rotation. During normal flight control, each blade of a multi-rotor UAV rotates forward to generate upward lift. However, when the UAV is in a tumbling state, forward rotation actually generates a downward force, preventing the UAV from taking off normally. It is necessary to control the blades to rotate in reverse to generate an upward force, allowing the UAV to adjust its attitude to a takeoff-ready state.

[0085] On the one hand, controlling the rotor blades to reverse and perform UAV rollover recovery can be divided into two main categories: manual stick control and automatic rollover recovery. Manual stick control rollover recovery outputs motor reversal commands of corresponding direction and magnitude based on the direction and magnitude of the manual stick input command, thus achieving UAV rollover. In automatic rollover recovery, the multi-rotor UAV automatically selects the corresponding motor to perform the reversal operation based on the current attitude and roll condition. The control methods for automatic rollover recovery can be divided into open-loop command control and closed-loop command control.

[0086] For example, manual tilting for rescue requires a remote connection to a multi-rotor UAV for remote control or remote control via an app (virtual joystick). For automatic tilting for rescue, it can be triggered by a remote control, an app, or a flight goggles or other remote control devices.

[0087] On the one hand, the embodiments of this disclosure require the ESC of the multi-rotor UAV to support forward and reverse rotation functions.

[0088] In one embodiment, at least a portion of at least two rotors provide a second thrust in response to a first control command, causing the aircraft to transition from a standby attitude to a normal takeoff attitude. Specifically, refer to... Figure 3 (a)~ Figure 3 As shown in (d), by controlling at least a portion of the rotors to provide reverse thrust, the multi-rotor UAV can tumble and convert to a normal takeoff attitude.

[0089] In one embodiment, a first portion of at least two rotors, in response to a first control command, each provides a first thrust, and a second portion of at least two rotors, in response to the first control command, each provides a second thrust. Specifically, the process of providing the second thrust can be referred to... Figure 4 (a)~ Figure 4 As shown in (b), by controlling at least a portion of the rotors to provide reverse thrust, the multi-rotor UAV takes off with the rotors facing downward relative to the fuselage, thereby enabling a rescue operation.

[0090] It should be noted that the rotor can be powered by an electric motor, a fuel engine, or similar device. These motors and engines can be controlled by a designated control unit. For example, an electronic speed controller (ESC) can control at least one of the following: the direction of rotation, speed, or duration of rotation. The ESC may include one or more processors to process the collected data and output control signals to the motor. Furthermore, the unmanned aerial vehicle (UAV) may also have one or more other processors to control the gimbal, operational equipment, and other components.

[0091] In one embodiment, the UAV has a rescue mode, which includes at least one of a manual rescue mode, an automatic rescue mode, and an automatic rescue return mode. In manual rescue mode, the rotor to be rotated, the rotation speed, and the selected duration are input by the user. This user input is converted into control commands and sent to the UAV via a control terminal connected in communication with the UAV. In automatic rescue mode, only a trigger event for entering automatic mode is required, such as the user inputting a user operation corresponding to entering automatic mode on the control terminal. The trigger event for automatic rescue return mode is similar to that of automatic rescue mode. In this mode, after a successful rescue, the UAV will automatically return to home.

[0092] In one embodiment, the unmanned aerial vehicle (UAV) further includes a communication interface for communicating with a control terminal. Accordingly, the rescue control commands are obtained by the UAV's communication interface from the control terminal's communication interface. The communication system can be referenced... Figure 1 The relevant explanations will not be repeated here.

[0093] Figure 5 A block diagram of an unmanned aerial vehicle provided in an embodiment of this disclosure.

[0094] like Figure 5As shown, the information processing device 500 may include one or more processors 510, which may be integrated into one processing unit or disposed in multiple processing units. A computer-readable storage medium 520 is used to store one or more computer programs 521, which, when executed by a processor, cause at least a portion of at least two rotors to provide a second thrust in response to a rescue control command to perform a rescue operation.

[0095] For example, one or more processors, such as programmable processors (e.g., central processing units), may be packaged within one or more processing units. For example, the processing unit may include a Field-Programmable Gate Array (FPGA) or one or more ARM processors. The processing unit may be connected to a non-volatile computer-readable storage medium 520. The non-volatile computer-readable storage medium 520 may store logic, code, and / or computer instructions executed by the processing unit for performing one or more steps. The non-volatile computer-readable storage medium 520 may include one or more storage units (removable media or external memory, such as an SD card or RAM). In some embodiments, data sensed by a sensor may be directly transmitted and stored in the storage units of the non-volatile computer-readable storage medium 520. The storage units of the non-volatile computer-readable storage medium 520 may store logic, code, and / or computer instructions executed by the processing unit to perform various embodiments of the methods described herein. For example, the processing unit may be used to execute instructions to cause one or more processors of the processing unit to perform the tracing function described above. The storage unit can store sensing data from the sensing module, which is then processed by the processing unit. In some embodiments, the storage unit of the non-volatile computer-readable storage medium 520 can store processing results generated by the processing unit.

[0096] In some embodiments, the processing unit may be connected to a control module to control the state of the unmanned aerial vehicle (UAV). For example, the control module may be used to control the UAV's propulsion system to adjust the UAV's spatial orientation, velocity, and / or acceleration relative to the six degrees of freedom. Optionally or in combination, the control module may control one or more of a carrier, a load, or a sensing module.

[0097] The processing unit can also connect to a communication module to transmit and / or receive data with one or more peripheral devices (such as terminals, display devices, or other remote control devices). Any suitable communication method can be used, such as wired or wireless communication. For example, the communication module can utilize one or more local area networks (LANs), wide area networks (WANs), infrared, radio, Wi-Fi, peer-to-peer (P2P) networks, telecommunications networks, cloud networks, etc. Optionally, relay stations, such as cell towers, satellites, or mobile base stations, can be used. Wireless communication can be based on short-range or not. In some embodiments, line-of-sight may or may not be required for communication. The communication module can transmit and / or receive one or more types of sensor data, receive processing results generated by the processing unit, and receive preset control data or user commands sent by terminals or remote controllers.

[0098] The aforementioned components can be mutually compatible. For example, one or more components may be located on an unmanned aerial vehicle, a carrier, a payload, a terminal, a sensing system, or an additional external device that communicates with the aforementioned devices. In some embodiments, one or more of the processing unit and / or non-volatile computer-readable medium may be located in different locations, such as on an unmanned aerial vehicle, a carrier, a payload, a terminal, a sensing system, or an additional external device that communicates with the aforementioned devices, as well as various combinations thereof.

[0099] In addition, the control terminal adapted to the unmanned aerial vehicle may include an input device, a processing unit, a memory, a display module, and a communication module. Users can send control commands to the unmanned aerial vehicle or receive information collected by the unmanned aerial vehicle or the payload through the terminal.

[0100] The following description uses an X-configuration quadrotor UAV as an example to illustrate the unmanned aerial vehicle of this disclosure.

[0101] Figure 6 This is a top view schematic diagram of an X-configuration quadrotor UAV provided in an embodiment of this disclosure.

[0102] like Figure 6 As shown, four rotors 62 are arranged at the far-off apex angles of the fuselage 61. The rotors 62 can be directly and rotatably fixed to the fuselage 61, or they can be rotatably fixed to the fuselage 61 via the arms. The rotation direction of each rotor 62 when rotating in the forward direction can be different. However, when the four rotors 62 are rotating in the forward direction together, the resultant force they provide causes the fuselage 61 to experience a force away from the landing surface. Figure 6 The included angles between the four arms are shown only as an example; the included angles between the four arms may be the same or different, and are not limited here.

[0103] Figure 7 This is a front view schematic diagram of an X-configuration quadrotor UAV provided in an embodiment of this disclosure.

[0104] like Figure 7 As shown, the X-configuration quadcopter UAV, in addition to the fuselage 61 and rotor 62, may also include landing gear 63. This landing gear 63 provides support for the fuselage and other components after the UAV lands. The landing gear 63 can be mounted on the arms or the fuselage 61.

[0105] In one embodiment, when the aircraft is in a standby rescue posture, the angle between the aircraft and the horizontal plane along the first direction is greater than a first preset angle threshold. For example, the first preset angle threshold includes, but is not limited to, 30° to 180°, such as 30°, 35°, 50°, 70°, 90°, 120°, 130°, 150°, 170°, 180°, etc.

[0106] Figure 8 This is a schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided in an embodiment of this disclosure.

[0107] like Figure 8 As shown, Figure 8 At least one rotor 62 of the quadcopter UAV interferes with the horizontal plane, and the angle between the motor shaft connected to the rotor and the horizontal plane is too large, making the quadcopter UAV unable to take off normally and in a rescue-ready attitude. Figure 8 If all rotors 62 rotate, at least some of them may be damaged. Furthermore, even if all rotors 62 can rotate, the forward rotation of rotors 62 will exert a downward force on the fuselage 61, causing the attitude of the fuselage 61 to differ more significantly from its normal takeoff attitude.

[0108] Figure 9 This is a schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided for another embodiment of this disclosure.

[0109] like Figure 9 As shown, Figure 9 At least one rotor 62 of the quadcopter UAV interferes with the horizontal plane, and the angle between the motor shaft connected to the rotor and the horizontal plane is greater than the preset angle threshold required for normal takeoff, such as greater than 20°, 25°, or 30°. This prevents the quadcopter UAV from taking off normally and leaves it in a standby state. Figure 9 If all of the rotors 62 rotate, at least some of the rotors 62 may be damaged. In this case, at least some of the rotors 62 can be reversed to adjust the attitude of the fuselage 61.

[0110] In one embodiment, at least two rotors respond to a second control command and provide a second thrust when the included angle is greater than a second preset angle threshold, causing the aircraft to take off in a rescue-ready attitude. The second control command may be an automatic rescue control command, causing the multi-rotor UAV to enter an automatic rescue mode to perform rescue operations.

[0111] It should be noted that if all rotors can avoid interference with the landing surface during the rollover rescue process, then to improve the success rate of the rollover rescue, while controlling the second part of at least two rotors to provide the second thrust, the first part of at least two rotors responds to the first control command and each provides the first thrust. This can provide a larger rotational force to the airframe 61, so as to adjust the attitude of the multi-rotor UAV to a normal takeoff attitude.

[0112] Figure 10 This is a schematic diagram of an X-configuration quadrotor UAV in a standby rescue attitude, provided for another embodiment of this disclosure.

[0113] like Figure 10 As shown, the X-configuration quadcopter UAV is rotated approximately 180° relative to its normal takeoff attitude. In this rescue-ready attitude, at least some of the rotors 62 can be controlled to rotate in the opposite direction to provide a force that moves the fuselage 61 away from the horizontal plane. To achieve this function, at least some of the rotors 62 must not interfere with the horizontal plane. Figure 10 The rotor 62 is isolated from the horizontal plane by an isolation structure 64, reducing the probability of interference between the rotor 62 and the horizontal plane. It should be noted that... Figure 10 The isolation structure 64 is shown as an example only. It can also be an isolation structure surrounding the rotor 62, etc., and is not limited here.

[0114] In one embodiment, the unmanned aerial vehicle (UAV) includes an inertial measurement unit (IMU) for measuring the attitude information of the aircraft. Accordingly, the UAV may further include a carrier mounted on the aircraft for carrying a camera. Accordingly, at least one processor of the UAV, when executing executable commands, is used to determine whether a rescue operation can be performed on the UAV based on the attitude information and / or images captured by the camera.

[0115] For example, for a specific UAV model, a rescue operation can be performed when the angle between the aircraft and the horizontal plane along the first direction falls within a certain range. This range could be 30°–45°, 170°–180°, etc. For another specific UAV model, the range could be 30°–180°, etc.

[0116] In one embodiment, the unmanned aerial vehicle includes a two-way electronic speed controller for controlling the forward or reverse rotation of the motor rotors connected to at least two rotors, so as to drive at least two rotors to rotate forward or reverse respectively; when the unmanned aerial vehicle is capable of performing a rescue operation: at least some of the rotor blades of at least two rotors can rotate forward or reverse, at least some of the rotor blades will not interfere with each other in the current attitude, and the two-way electronic speed controller can work normally.

[0117] For example, when an airborne gimbal is equipped with a camera, the ability to perform a rescue operation on the unmanned aerial vehicle (UAV) can be determined based on the images captured by the camera. This could involve calculating the angle between the rotor and the landing surface, or determining whether interference will occur between the rotor and the landing surface during rotor rotation. It should be noted that the determination can be made by the user based on the images captured by the camera, or by the processor processing the captured images to determine whether a rescue operation is feasible.

[0118] In one embodiment, at least one processor, when executing executable commands, is further configured to: determine a rescue rotor capable of providing a second thrust based on attitude information and / or images captured by an imaging device, so as to control the rescue rotor to perform a rescue operation. Each rotor may have a unique rotor identifier to identify which rotor can rotate.

[0119] For example, controlling rotor reversal to achieve UAV rollover recovery can be divided into two main categories: manual stick control and automatic rollover recovery. Manual stick control rollover recovery outputs motor reversal commands of the corresponding direction and magnitude based on the direction and magnitude of the manual stick input, thus achieving UAV rollover. Automatic rollover recovery involves the UAV automatically selecting the appropriate motor for reversal recovery based on its current roll status. Automatic rollover recovery control can be further divided into open-loop command control and closed-loop command control. If a power failure is detected during rotor reversal, the UAV will proactively alert the user, providing guidance for manual recovery operations, or in automatic recovery mode, it will automatically adjust the rotor strategy based on the power failure situation.

[0120] Figure 11 This is a schematic diagram of the X-configuration quadrotor UAV and its rotor serial number provided in the embodiments of this disclosure.

[0121] like Figure 11 As shown, the rotor located at the front right of the fuselage is rotor number 1, the rotor located at the front left of the fuselage is rotor number 2, the rotor located at the rear left of the fuselage is rotor number 3, and the rotor located at the rear right of the fuselage is rotor number 4.

[0122] In one embodiment, at least two rotors are each connected to a corresponding motor shaft. Accordingly, at least one processor, when executing executable commands, sends control commands to at least some of the motors on at least two rotors if the aircraft is in a rescue-ready attitude and the UAV is capable of performing a rescue operation. This control commands the motors drive the corresponding rotors to provide a second thrust. Specifically, the four motors of the X-configuration rotor are numbered 1, 2, 3, and 4 counter-clockwise, starting from the right front motor at the nose. During normal flight, motors 1, 2, 3, and 4 rotate counter-clockwise, clockwise, counter-clockwise, and clockwise, respectively. Their rotation direction is forward relative to their respective blades, providing upward lift when the UAV is in a normal attitude. When the UAV's attitude tilt exceeds 90°, the forward rotation of each blade causes the aircraft to tilt downwards.

[0123] Specifically, if the attitude information indicates that the aircraft is in a rescue-ready attitude, and the sensor data indicates that the unmanned aerial vehicle is capable of performing rescue operations, then control commands are sent to the motors of at least some of the rotors in at least two rotors to control the motors to drive the rotors corresponding to the motors to provide a second thrust.

[0124] In one embodiment, when the unmanned aerial vehicle (UAV) is in a normal takeoff attitude: the resultant thrust provided by at least two rotors rotating in the forward direction projects away from the Earth's center of gravity on a vertical line passing through the UAV's center of gravity; and / or, the blades of each of the at least two rotors are separated from the landing surface in the current attitude. When the UAV is in a normal takeoff attitude, it can perform takeoff missions, etc.

[0125] In one embodiment, at least two rotors each have a rotor identifier.

[0126] Accordingly, the unmanned aerial vehicle may also include: a memory for storing rescue strategies, so that the unmanned aerial vehicle can perform rescue operations based on the rescue strategies in automatic rescue mode or automatic rescue return mode, wherein the rescue strategies include at least one of the following.

[0127] For example, the rescue strategy includes a first mapping relationship between the angle and the rotor identifier. Taking manual rescue mode as an example, the stick operation input by the user on the control terminal can include the stick angle. Based on this first mapping relationship, the rotor identifier of the rotor that needs to be rotated can be determined so that the corresponding rotor can be controlled to provide a force in the second direction. Taking automatic rescue mode as an example, after determining the corresponding rotor based on the stick angle input by the user, the speed and rotation duration of that rotor are automatically controlled to achieve the rescue operation.

[0128] For example, the rescue strategy includes a second mapping relationship between angle, rotor indicator, and stick magnitude value. Taking manual rescue mode as an example, the stick operation input by the user on the control terminal can include the stick angle and stick magnitude value. Based on this second mapping relationship, the rotor indicator of the rotor that needs to be rotated can be determined so that the corresponding rotor can be controlled to provide a force with a second direction corresponding to the stick magnitude value.

[0129] For example, the rescue strategy includes a third mapping relationship between angle, rotor identification, attribute information, and stick magnitude value. The attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, ambient air pressure information, and the number of times rescue control commands are triggered.

[0130] Voltage information is used to measure remaining battery power. Since the energy efficiency of the motor is lower when rotating in reverse compared to forward rotation, more energy may be needed to drive the motor to output higher power. When the battery is sufficient, a more energy-intensive recovery strategy, such as higher speed, can be used. When the battery is insufficient, a less energy-intensive recovery strategy can be used to avoid running out of power and being unable to determine the UAV's landing location.

[0131] The weight information of an unmanned aerial vehicle (UAV) is used to measure the magnitude of the force required by the rotor. For example, a heavier rotor-type UAV requires a higher rotational speed to provide a greater force to counteract its own weight. Similarly, a UAV carrying heavier work equipment requires a higher rotational speed to provide a greater force to counteract the weight of the equipment. Specifically, compensation can be made based on the UAV's weight information to adjust the stick magnitude or the corresponding current value (the magnitude of the current input to the motor). For example, the greater the weight of the UAV, the greater the degree of compensation, to accommodate UAVs of different weights and broaden the applicability of rescue strategies.

[0132] Ambient air pressure information is used to measure the magnitude of the force required by the rotor. For example, for a UAV at a higher altitude, the atmosphere is thinner, requiring greater power to generate a sufficiently high reaction force. Similarly, a higher altitude UAV needs a higher rotational speed to provide a sufficient force to counteract the gravity of the UAV and the work equipment. Specifically, compensation can be made to the stick modulus value or the corresponding current value based on the air pressure information of the UAV's environment. For example, the higher the altitude of the UAV's environment, the greater the degree of compensation, to address UAVs in different geographical locations and improve the applicability of rescue strategies.

[0133] In one embodiment, the rescue modes of the unmanned aerial vehicle include: manual rescue mode and automatic rescue mode.

[0134] For example, in manual recovery mode, the recovery control commands include the lever magnitude value, command direction, and motor rotation command input from the joystick of the control terminal. Specifically, for manual recovery mode, the feature is that at least a portion of at least two rotors can provide a second thrust in response to the lever magnitude value, command direction, and motor rotation command. The manual recovery strategy outputs a motor reversal command of corresponding direction and magnitude based on the user's horizontal lever (pitch lever and roll lever) command direction and magnitude.

[0135] For example, the inputs for manual recovery mode include: lever magnitude value, command direction, and motor rotation command. Correspondingly, the outputs for manual recovery mode include: rotor indicator and lever magnitude value corresponding to the motor performing the reverse rotation.

[0136] Figure 12 In response to Figure 11 The diagram shows the stick-action command mapping of the X-configuration quadrotor UAV and its motor.

[0137] like Figure 12 As shown, a body coordinate system xyz is defined, with the x-axis pointing towards the nose, the y-axis perpendicular to the x-axis pointing to the right side of the body, and the z-axis perpendicular to both x and y, pointing downwards. Horizontal stick commands are directly mapped to this body coordinate system, with the pitch stick command direction in the x-direction and the roll stick command direction in the y-direction.

[0138] The motor control output command is a function of the lever input command:

[0139]

[0140] num is the motor serial number of the command output, and its value range is {1,2,3,4}. pwm is the command output size, with a value range of [0,100%]. θ is the angle between the horizontal lever command and the x-axis (machine head) in the machine coordinate system, with a range of [-180° to +180°]; A is the modulus of the input lever command, with a range of [0,1]. An exemplary mapping relationship is shown in equations (2) and (3):

[0141]

[0142] In one embodiment, to enhance safety in manual rescue mode, at least one processor of the unmanned aerial vehicle (UAV) is used, when executing executable commands, to convert stick magnitude values ​​to safe stick magnitude values. Accordingly, in manual rescue mode, rescue control commands include safe stick magnitude values, command direction, and motor rotation commands. For example, if the maximum stick magnitude value is A, the safe stick magnitude value can be limited to less than or equal to 0.8A.

[0143]

[0144] In equations (2) and (3), θ determines which motor reverses, and A determines the command size. This rescue strategy allows users to control the rotation of one or two motors by adjusting the horizontal lever direction, or it can be simplified to control only two motors.

[0145] This strategy takes into account the stick dead zone; the motor will not rotate if the input stick magnitude value is below a certain threshold (adjustable) to prevent false triggering. During rotation, if an abnormal power is detected, the user will be notified via an app or virtual reality device (VR device), such as virtual reality glasses (VR glasses, or simply glasses), guiding the user to operate the motors that are functioning normally. It should be noted that the above rescue strategy is not unique, and the thresholds and parameters involved in the strategy can be adjusted based on the actual rescue effect of the unmanned aerial vehicle.

[0146] In one embodiment, to reduce the risk of loss due to user error in manual rescue mode, the method may further include the following operation: In manual rescue mode, the UAV also sends guidance prompts to the control terminal's communication interface through its own communication interface, so that the control terminal's display screen shows the prompts to guide the user in rescue operations. For example, the guidance prompts may include, but are not limited to, at least one of the following: stick direction, stick modulus, etc. The display methods of the guidance prompts may include, but are not limited to, at least one of text prompts, image prompts, or animated demonstration effects.

[0147] In one embodiment, the guidance prompt information sent by the communication interface of the unmanned aerial vehicle includes at least one of the following: a stick-hitting diagram image and stick-hitting parameter values, wherein the stick-hitting diagram image is generated based on the stick-hitting parameter values, and the stick-hitting parameter values ​​are determined based at least on the attitude information of the aircraft.

[0148] The methods for determining the direction and magnitude of the strike can be found in the following content related to the automatic emergency recovery mode.

[0149] The automatic recovery mode is illustrated below.

[0150] In automatic rollover rescue mode, users do not need to manually determine which motor is reversing and then issue the corresponding control command. Users only need to trigger the rollover rescue mode via the remote control button, and the UAV will automatically select the corresponding motor to perform the rollover rescue operation based on the current rollover situation. The control methods for automatic rollover rescue can be divided into open-loop command control and closed-loop command control.

[0151] Regarding open-loop command control.

[0152] In one embodiment, at least some of the at least two rotors are capable of open-loop control in response to initial attitude information and motor rotation commands to provide a second thrust.

[0153] In open-loop command control, the UAV calculates and outputs an open-loop control command based on its initial tilt state. During command control, the control command is not adjusted in real-time according to the current state. In automatic rescue mode, the rescue control command includes a motor rotation command.

[0154] In one embodiment, the inputs to the open-loop control include: initial attitude information, takeoff attitude threshold, motor rotation commands, and attribute information. The attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, ambient air pressure information, and the number of times the rescue control command is triggered. Correspondingly, the outputs of the open-loop control include: rotor identifier, stick magnitude value, and command output duration.

[0155] Figure 13 This is a schematic diagram of the open-loop control process provided in an embodiment of this disclosure.

[0156] like Figure 13 As shown, the target angle (target_ang) is the target attitude control command, and the current angle (current_ang) is the current attitude angle of the unmanned aerial vehicle. C is the open-loop controller module, which calculates and outputs control commands according to the open-loop control strategy. P is the controlled object module, which represents the aircraft here. The fault diagnosis and protection module (FDP) is responsible for monitoring power failures and other problems during the control process and selecting appropriate protection strategies based on the fault conditions.

[0157] Figure 14 This is a schematic diagram of the reference coordinate system for the overturning rescue provided in the embodiments of this disclosure.

[0158] like Figure 14 As shown, the body coordinate system xyz is fixed to the body as defined above. A reference coordinate system XYZ is defined, which is derived by rotating the body coordinate system xyz around an axis on a horizontal plane. Its Z-axis is vertically downward, and the XY plane is on a horizontal plane. According to the definition, the current attitude of the UAV can be obtained by rotating the initial XYZ position by an angle α. The angle between the projection z' of the rotated body z-axis onto the XY horizontal plane and the X-axis is taken as θ.

[0159] The actual control output command is a function of variables such as θ, tilt angle α, and battery voltage, as shown in equation (4).

[0160]

[0161] Where num is the motor number of the command output, and its value range is {1,2,3,4}. pwm is the command output size, with a value range of [0,100%]. t is the command output duration. α is the tilt angle, with a range of [0°,180°]. vol is the current battery voltage ratio (current voltage / full charge voltage), with a range of [0,1]. An automatic rescue strategy is shown in equations (5) to (8).

[0162]

[0163]

[0164] in,

[0165]

[0166]

[0167] As can be seen from the above, when the motor tilt angle α is less than a certain threshold (for example, 35°), it is considered that normal takeoff is possible. Only when it is greater than a certain threshold can the reverse operation be performed.

[0168] The motor number num for reversal is determined by the aircraft's current tilt. This strategy uses a mapping based on the θ angle, and other strategies can be implemented based on the tilt situation.

[0169] The magnitude pwm of the inversion instruction and the duration t of the output are both piecewise linearly mapped according to the tilt angle α. This mapping relationship can also be adjusted according to different models, and different thresholds or even mapping relationships can be selected.

[0170] Meanwhile, battery voltage also has a certain impact on output commands. This strategy performs piecewise linear compensation on the output commands based on the current voltage ratio. In practical applications, other compensation strategies can also be adopted.

[0171] In addition, the number of times the rescue operation is triggered will also affect the output command. For example, if the aircraft does not turn over after the first trigger during the rescue process and is still in an abnormal takeoff attitude, the size and duration of the output command will increase accordingly when the rescue operation is triggered again.

[0172] The above is the strategy when the aircraft's power is normal. In particular, when a motor's power is abnormal, the FDP module will monitor the power abnormality and automatically adjust the reverse motor number num according to the power abnormality, using the motor with normal power to perform automatic recovery operation.

[0173] Regarding closed-loop command control.

[0174] In one embodiment, at least some of the at least two rotors are capable of closed-loop control in response to current attitude information and motor rotation commands to provide a second thrust. Closed-loop command control refers to the UAV calculating control commands in real time based on the current attitude to cause attitude roll, and adjusting the control commands in real time based on the aircraft's attitude during the roll.

[0175] Specifically, the inputs to closed-loop control include: current attitude information, takeoff attitude threshold, and motor rotation command; or, current attitude information, takeoff attitude threshold, motor rotation command, and attribute information, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, and ambient air pressure information. Correspondingly, the outputs of closed-loop control include: rotor indicator and stick modulus value.

[0176] The attribute information can be found in the relevant content in the above embodiments, and will not be described in detail here.

[0177] Figure 15 This is a schematic diagram of a closed-loop control process provided in an embodiment of this disclosure.

[0178] like Figure 15 As shown, the target angle (target_ang) is the target attitude control command, and the current angle (current_ang) is the current attitude angle of the UAV. C is the closed-loop controller module, which calculates and outputs control commands according to the closed-loop control strategy. P is the controlled object module, which represents the UAV here. The fault diagnosis and protection module (FDP) is responsible for monitoring power failures and other problems during the control process and selecting appropriate protection strategies based on the fault conditions.

[0179] Compared to open-loop command control, closed-loop control can adjust the command magnitude in real time according to the current attitude of the drone, making the whole process smoother and more controllable.

[0180] In one embodiment, the thrust output by at least a portion of the at least two rotors can be replaced by the thrust output by one of the rotors (excluding at least a portion of the rotors) or by the resultant force of the multiple rotors. For example, in an X-configuration quadcopter UAV, the thrust output by one rotor can be replaced by the resultant force of the two rotors adjacent to that rotor. Thus, when interference between a rotor and the landing surface is determined, the force output by that rotor can be replaced by the resultant force of the two rotors adjacent to that rotor.

[0181] In one embodiment, at least one processor of the unmanned aerial vehicle, when executing executable commands, is used to: monitor for power failures in the motors corresponding to at least two rotors, and replace the motors with power failures. For example, replacing a motor with a power failure may include replacing it with two motors adjacent to the motor with a power failure.

[0182] In one embodiment, the communication interface of the unmanned aerial vehicle (UAV) is further configured to receive a rescue mode setting instruction from the communication interface of the control terminal. The rescue mode setting instruction includes at least one of the following: a rescue strategy setting instruction, and / or a takeoff attitude threshold setting instruction. The rescue strategy setting instruction allows modification of the rescue strategy. The takeoff attitude threshold setting instruction allows setting takeoff attitude thresholds, such as angles.

[0183] The following provides an example of the conditions for entering and exiting the emergency rescue function.

[0184] The flip-to-rescue function is illustrated as an example. The trigger condition for the flip-to-rescue function is that the UAV's current attitude does not meet the requirements for normal takeoff. The UAV's attitude information is obtained by fusing data from sensors such as the IMU and vision module. There are two main conditions for determining whether the UAV meets the requirements for normal takeoff: one is whether the total thrust generated by the propellers rotating forward in the current attitude is upward, and the other is whether there is a risk of the propellers scraping the ground if the UAV is placed on a horizontal surface in the current attitude. If the total thrust generated by the propellers rotating forward in the current attitude is downward, or if there is a risk of the propellers scraping the ground if the UAV is placed on a horizontal surface in the current attitude, then the current attitude is considered not to meet the requirements for normal takeoff, and the flip-to-rescue function can be triggered. The attitude threshold used for this judgment needs to be determined based on the specific UAV.

[0185] The automatic deactivation of the rollover rescue function is based on the condition that the UAV's current attitude meets the requirements for normal takeoff. Specifically, the total thrust generated by the forward-rotating propellers in the current attitude is upward, and the propellers will not scrape the ground when placed on a horizontal surface. The attitude threshold used for this determination is determined based on the specific UAV design. Of course, users can also manually deactivate the function at any time.

[0186] It should be noted that for multi-rotor drones with configurations other than the X configuration, the above principles and methods can still be used to perform flipping and rescue operations.

[0187] The unmanned aerial vehicle (UAV) provided in this disclosure often experiences significant tumbling on the ground after an abnormal fall due to propeller scraping, collisions, or other issues during flight, rendering it unable to take off normally. In such cases, the UAV is often far from the operator or has crashed in inaccessible locations such as rooftops or across rivers, making rescue extremely difficult and potentially resulting in the loss of the UAV. This problem is common for remotely controllable rotary-wing UAVs. The UAV provided in this disclosure can be remotely controlled to change its attitude from a awaitable rescue state to a takeoff-ready state, significantly reducing the difficulty of rescue, minimizing user losses, and improving the user's flight experience.

[0188] Another aspect of the embodiments of this disclosure also provides a control terminal.

[0189] The control terminal may include a processor for generating rescue control commands.

[0190] A communication interface is used to send the rescue control command to the unmanned aerial vehicle (UAV). The rescue control command is used to instruct the UAV to perform a rescue operation when the UAV is in a rescue-ready attitude and the UAV is capable of performing a rescue operation.

[0191] Control terminals include, but are not limited to: remote controls, smart terminals with specified applications installed, virtual reality devices, etc.

[0192] The unmanned aerial vehicle (UAV) may include: a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust in a first direction when rotating in the forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; the UAV having a rescue mode, in which, when the body is in a rescue-ready attitude and the UAV is capable of performing a rescue operation, at least a portion of the at least two rotors are capable of providing a second thrust in response to a rescue control command to perform a rescue operation.

[0193] Figure 16 A block diagram of a control terminal provided in an embodiment of this disclosure.

[0194] like Figure 16 As shown, the control terminal 1600 may include: one or more processors 1610, which may be integrated into one processing unit or disposed in multiple processing units. A computer-readable storage medium 1620 is used to store one or more computer programs 1621. When executed by the processor, the computer programs acquire rescue control commands through an input device and send rescue control commands to the unmanned aerial vehicle through a communication interface.

[0195] For example, one or more processors, such as programmable processors (e.g., central processing units), may be packaged within one or more processing units. For instance, the processing unit may include a field-programmable gate array (FPGA) or one or more ARM processors. The processing unit may be connected to a non-volatile computer-readable storage medium 1620. The non-volatile computer-readable storage medium 1620 may store logic, code, and / or computer instructions executed by the processing unit for performing one or more steps.

[0196] The processing unit can also be connected to a communication module to transmit and / or receive data with one or more peripheral devices (such as terminals, display devices, or other remote control devices).

[0197] In addition, the control terminal may include an input device to acquire user input. For example, the control terminal may include a processing unit, a memory, a display module, and a communication module, allowing users to send control commands to the unmanned aerial vehicle (UAV) or receive information collected by the UAV or payload through the control terminal.

[0198] The input device includes one or more input mechanisms to receive input from the user through operation of the input device. Input mechanisms include one or more joysticks, switches, knobs, slide switches, buttons, dial pads, touchscreens, keypads, keyboards, mice, voice control, gesture control, inertial modules, etc. The input device can be used to receive user input for controlling any aspect of the unmanned aerial vehicle, its carrier, payload, or components therein. Any aspect includes attitude, position, orientation, flight, tracking, etc. For example, the input mechanism could be that the user manually sets one or more positions, each corresponding to a preset input, to control the unmanned aerial vehicle.

[0199] In some embodiments, the input mechanism can be user-operated to input control commands to control the movement of the unmanned aerial vehicle (UAV). For example, a user can use a knob, switch, or similar input mechanism to input the UAV's movement mode, such as automatic flight, autopilot, or movement according to a preset path. Alternatively, a user can tilt the control terminal to control the UAV's position, attitude, direction, or other aspects. The tilt of the control terminal can be detected by one or more inertial sensors, generating corresponding movement commands. Furthermore, a user can use the above input mechanisms to adjust the load's operating parameters (such as zoom), the load's attitude (via the carrier), or other aspects of any object on the UAV.

[0200] In some embodiments, the input mechanism can be user-operated to input the aforementioned target information. For example, a user can use a knob, switch, or similar input mechanism to select a suitable tracking mode, such as manual or automatic tracking. The user can also use this input mechanism to select a specific target to track, target type information, or other similar information. In various embodiments, the input device can be implemented by more than one device. For example, the input device can be implemented by a standard remote controller with a joystick. The standard remote controller with a joystick is connected to a mobile device (such as a smartphone) running an application (“app”) to generate control commands for the unmanned aerial vehicle. The app can be used to acquire user input.

[0201] The processing unit has one or more processors, such as programmable processors (e.g., central processing unit or microcontroller). The processing unit may be connected to a memory. The memory includes volatile or non-volatile storage media for storing data, and / or logic, code, and / or program instructions executable by the processing unit for performing one or more rules or functions. The memory may include one or more storage units (removable media or external storage, such as an SD card or RAM). In some embodiments, data from the input device may be directly transferred and stored in the storage units of the memory. The storage units of the memory may store logic, code, and / or computer instructions executed by the processing unit to perform various embodiments of the methods described herein. For example, the processing unit may be used to execute instructions to cause one or more processors of the processing unit to process and display sensed data (e.g., images) received from an unmanned aerial vehicle (UAV), control instructions generated based on user input, including motion instructions and target information, and to cause a communication module to transmit and / or receive data, etc. The storage units may store sensed data or other data received from external devices (e.g., the UAV). In some embodiments, the storage units of the memory may store processing results generated by the processing unit.

[0202] In some embodiments, the display module can be used to display, for example, Figure 1 The display module can receive information about the unmanned aerial vehicle 10, the carrier 13, and / or the load 14 regarding their position, translational velocity, translational acceleration, direction, angular velocity, angular acceleration, or combinations thereof. The display module can be used to receive information transmitted by the unmanned aerial vehicle and / or the load, such as sensor data (images recorded by a camera or other image capture device), described tracking data, control feedback data, etc. In some embodiments, the display module and the input device may be performed by the same device. In other embodiments, the display module and the input device may be performed by different devices.

[0203] A communication module can be used to transmit and / or receive data from one or more remote devices (such as unmanned aerial vehicles, carriers, base stations, etc.). For example, a communication module can transmit control signals (such as motion signals, target information, tracking control commands) to peripheral systems or devices, such as... Figure 1 The system includes an unmanned aerial vehicle 10, a carrier 13, and / or a payload 14. A communication module may include a transmitter and a receiver for receiving data from and transmitting data to remote devices, respectively. In some embodiments, the communication module may include a transceiver that combines the functions of a transmitter and a receiver. In some embodiments, the transmitter and receiver can communicate with each other and with the processing unit. Communication can utilize any suitable means, such as wired or wireless communication.

[0204] Images captured by an unmanned aerial vehicle (UAV) during its movement can be transmitted from the UAV or imaging device back to a control terminal or other suitable device for display, playback, storage, editing, or other purposes. Such transmission can occur in real-time or near real-time as the imaging device captures the image. Optionally, there may be a delay between image capture and transmission. In some embodiments, images can be stored in the UAV's memory without being transmitted elsewhere. Users can view these images in real-time and, if necessary, adjust target information or other aspects of the UAV or its components. The adjusted target information can be provided to the UAV, and the process may continue until the desired image is obtained. In some embodiments, images can be transmitted from the UAV, imaging device, and / or control terminal to a remote server. For example, images can be shared on social networking platforms such as WeChat Moments or Weibo.

[0205] In one embodiment, the control terminal includes at least one of the following: a remote control or a wearable device.

[0206] Figure 17 This is a schematic diagram of a control terminal provided in an embodiment of this disclosure.

[0207] like Figure 17 As shown, the control terminal can be a remote controller. This remote controller may include components such as a joystick, directional buttons, function buttons, a processor, and an antenna. The antenna is used to receive wireless signals from the unmanned aerial vehicle (UAV) or to transmit wireless signals to the UAV. The joystick, directional buttons, and function buttons can respond to user operations, generate corresponding operating commands, and send them to the UAV. Furthermore, the remote controller may also have a display screen to show parameters such as the UAV's status. Figure 17The remote controller can send a rescue control command to the unmanned aerial vehicle (UAV), enabling at least a portion of the rotors of at least two rotors of the UAV to provide a second thrust in response to the rescue control command in order to perform a rescue operation.

[0208] In one embodiment, the input device includes a joystick, which generates control lever position, command direction, and motor rotation command in response to a first user operation. The control lever position, command direction, and motor rotation command can be found in the relevant sections of the embodiments for unmanned aerial vehicles, and will not be detailed here.

[0209] The input device includes mode buttons for responding to a second user's operation to switch the unmanned aerial vehicle to any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, open-loop control mode, or closed-loop control mode; or for exiting any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, automatic rescue return mode, open-loop control mode, or closed-loop control mode.

[0210] The input device includes a display screen for displaying an interactive interface, which displays a virtual joystick and / or virtual buttons.

[0211] For example, in response to a rescue mode activation operation, the remote controller sends a rescue mode activation command to the UAV, so that the UAV enters rescue mode in response to the command. The rescue mode includes, but is not limited to, at least one of the following: manual rescue mode, automatic rescue mode, or automatic rescue return-to-home mode.

[0212] In one embodiment, the remote controller responds to a mode switching operation by sending a mode switching command to the unmanned aerial vehicle. The mode switching command includes any one of the following: a manual rescue mode selection command, an automatic rescue mode selection command, or an automatic rescue return-to-home mode selection command.

[0213] In one embodiment, the control terminal further includes an output device, which is used to output at least one of the following prompts: current attitude information, initial attitude information, motor status information, bidirectional electronic speed controller status information, failure to enter rescue mode prompt, current mode information, exit mode prompt, or current flight status information.

[0214] Figure 18 This is a schematic diagram of a control terminal provided in another embodiment of the present disclosure.

[0215] like Figure 18As shown, the control terminal can be a wearable device, such as a virtual reality (VR) device or an augmented reality (AR) device. Specifically, it can be VR glasses. Users can receive data collected from unmanned aerial vehicles (UAVs) or operational equipment mounted on UAVs through VR glasses and display at least some image data. Furthermore, VR devices can also have an input mechanism, such as allowing a user to gaze at a function and then double-click the outer shell of the VR glasses. When the VR glasses' sensors detect the double-click trigger event, they can determine the selected function. For example, a user can select an automatic rescue mode through VR glasses to enable automatic rescue operations.

[0216] In one embodiment, the control terminal may also include both a remote control and a virtual reality device.

[0217] For example, the control terminal includes a remote controller and a wearable device. The remote controller includes a communication interface, and the wearable device includes a communication interface. The communication interfaces of the remote controller and the wearable device communicate with the communication interface of the unmanned aerial vehicle.

[0218] Figure 19 This is a schematic diagram of a control terminal provided in another embodiment of the present disclosure.

[0219] like Figure 19 Users can simultaneously operate the remote control while wearing VR glasses to perform tasks using the drone. Information can be exchanged between any two of the VR glasses, remote control, and drone.

[0220] For example, in response to a remote control setup operation, the wearable device sends a rescue mode setup command to the remote controller. The remote controller, in response to the rescue mode setup command, outputs a setup result prompt message to indicate the rescue mode setup result. This setup result prompt message can originate from the unmanned aerial vehicle (UAV).

[0221] For example, a wearable device can display a mode entry failure message in response to a mode entry failure message from an unmanned aerial vehicle (UAV) indicating that it has failed to enter rescue mode, so that the user can locate the UAV.

[0222] In one embodiment, the communication interface is further used to receive guidance prompts, and the output device includes a display for displaying the guidance prompts to guide the user in performing emergency rescue. The guidance prompts include at least one of the following: a schematic image of the lever and values ​​of the lever parameters.

[0223] The control terminal provided in this embodiment allows users to experience image information captured by a camera mounted on an unmanned aerial vehicle (UAV) through VR glasses. It also allows users to control the UAV using a remote control, such as controlling at least one of the following: forward movement, backward movement, hovering, ascent and descent, and resuscitation. Additionally, it allows users to control the attitude of the gimbal or camera and the shooting parameters of the camera, effectively improving user convenience and experience.

[0224] Another aspect of this disclosure provides a method for rescuing the patient.

[0225] Figure 20 A flowchart of a rescue method performed by an unmanned aerial vehicle (UAV) according to an embodiment of this disclosure is provided. The UAV includes: a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust along a first direction when rotating in the forward direction, and each of the at least two rotors providing a second thrust along a second direction when rotating in the reverse direction, the first direction being opposite to the second direction.

[0226] like Figure 20 As shown, the rescue method includes operations S2002 to S2004.

[0227] When operating S2002, receive rescue control commands.

[0228] In this embodiment, the rescue control commands can be referred to the description of rescue control commands in the above embodiments, and will not be described in detail here.

[0229] In operation S2004, when the UAV is in a rescue-ready attitude and the UAV is capable of performing a rescue operation, at least a portion of the rotors of at least two rotors provide a second thrust in response to the rescue control command to perform the rescue operation.

[0230] In one embodiment, at least a portion of the at least two rotors providing a second thrust in response to a rescue control command to perform a rescue operation may include the following operation: at least a portion of the at least two rotors providing a second thrust in response to a first control command, causing the aircraft to change from a waiting-for-rescue attitude to a normal takeoff attitude.

[0231] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0232] In one embodiment, at least a portion of the at least two rotors providing a second thrust in response to a rescue control command to perform a rescue operation may include: a first portion of the at least two rotors providing a first thrust in response to a first control command, and a second portion of the at least two rotors providing a second thrust in response to the first control command, such that the aircraft changes from a waiting-for-rescue attitude to a normal takeoff attitude.

[0233] In one embodiment, when the aircraft is in a standby rescue posture, the angle between the aircraft and the horizontal plane along the first direction is greater than a first preset angle threshold. The first preset angle threshold can be a pre-set threshold value.

[0234] In one embodiment, at least some of the at least two rotors providing a second thrust in response to a rescue control command to perform a rescue operation may include the following operation: at least two rotors providing a second thrust in response to a second control command when the included angle is greater than a second preset angle threshold, so that the aircraft takes off in a rescue-ready attitude.

[0235] In one embodiment, the unmanned aerial vehicle (UAV) further includes an inertial measurement unit (IMU) for measuring the attitude information of the aircraft. The UAV may also include a carrier mounted on the aircraft body for carrying the imaging device.

[0236] Accordingly, the above method also includes: determining whether a rescue operation can be performed on the unmanned aerial vehicle based on attitude information and / or images captured by the imaging device.

[0237] In one embodiment, the method further includes: determining a rescue rotor capable of providing a second thrust based on attitude information and / or images captured by an imaging device, so as to control the rescue rotor to perform a rescue operation.

[0238] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0239] In one embodiment, at least two rotors are each connected to a corresponding motor shaft.

[0240] Accordingly, the above method also includes: if the aircraft is in a rescue-ready attitude and the unmanned aerial vehicle is capable of performing a rescue operation, then sending control commands to the motors of at least some of the rotors of at least two rotors to control the motors to drive the rotors corresponding to the motors to provide a second thrust.

[0241] In one embodiment, the unmanned aerial vehicle (UAV) includes a two-way electronic speed controller for controlling the forward or reverse rotation of motor rotors connected to at least two rotors, thereby driving each of the at least two rotors to rotate forward or reverse. When the UAV is capable of performing a rescue operation: at least a portion of the blades of at least two rotors can rotate forward or reverse, at least a portion of the rotor blades do not interfere with each other in the current attitude, and the two-way electronic speed controller functions normally.

[0242] In one embodiment, the clockwise and counterclockwise directions of at least two rotors are determined based on the blade angles of at least two rotors.

[0243] In one embodiment, the unmanned aerial vehicle has a rescue mode, which includes at least one of a manual rescue mode, an automatic rescue mode, and an automatic rescue return mode.

[0244] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0245] For example, at least two rotors each have a rotor identification mark.

[0246] The above method may further include: storing a rescue strategy so that the unmanned aerial vehicle (UAV) can perform rescue operations based on the rescue strategy in automatic rescue mode or automatic rescue return mode. The rescue strategy can be stored in a memory. The rescue strategy may include at least one of the following: For example, a first mapping relationship between angle and rotor identifier; for example, a second mapping relationship between angle, rotor identifier, and stick magnitude value; for example, a third mapping relationship between angle, rotor identifier, attribute information, and stick magnitude value, wherein the attribute information includes at least one of the following: power supply voltage information, UAV weight information, ambient air pressure information, and the number of times rescue control commands are triggered.

[0247] In one embodiment, when the UAV is in a rescue-ready attitude, the resultant thrust provided by at least two rotors rotating in the forward direction is projected onto the Earth's center of gravity via the vertical line passing through the UAV's center of gravity, and / or, the blades of at least two rotors interfere with the landing surface in the current attitude.

[0248] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0249] In one embodiment, when the unmanned aerial vehicle is capable of performing a rescue operation: at least some of the blades of at least two rotors are capable of rotating clockwise or counterclockwise, and at least some of the rotor blades are separated from the landing surface in the current attitude.

[0250] In one embodiment, when the unmanned aerial vehicle is in a normal takeoff attitude, for example, the resultant thrust provided by at least two rotors rotating in the forward direction is projected onto the vertical line through the center of gravity of the unmanned aerial vehicle and points away from the center of gravity of the Earth, and / or, the blades of each of the at least two rotors are separated from the landing surface in the current attitude.

[0251] In one embodiment, the unmanned aerial vehicle further includes a communication interface for communicating with a control terminal.

[0252] Accordingly, receiving rescue control commands may include receiving rescue control commands from the communication interface of the control terminal via the communication interface of the unmanned aerial vehicle.

[0253] In one embodiment, the rescue modes of the unmanned aerial vehicle include: manual rescue mode and automatic rescue mode.

[0254] In manual rescue mode, the rescue control commands include the lever magnitude value, command direction, and motor rotation command input by the joystick on the control terminal.

[0255] In automatic emergency recovery mode, the emergency recovery control commands include motor rotation commands.

[0256] In one embodiment, for manual recovery mode, at least a portion of at least two rotors are capable of providing a second thrust in response to lever magnitude, command direction, and motor rotation command.

[0257] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0258] In one embodiment, the inputs to the manual recovery mode include: a lever modulus value, a command direction, and a motor rotation command. Correspondingly, the outputs of the manual recovery mode may include: a rotor identifier and a lever modulus value corresponding to the motor performing the reverse rotation.

[0259] In one embodiment, open-loop control is performed on at least a portion of at least two rotors based on initial attitude information and motor rotation commands to provide a second thrust.

[0260] In one embodiment, the inputs to the open-loop control include: initial attitude information, takeoff attitude threshold, motor rotation command, and attribute information. The attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, ambient air pressure information, and the number of times the rescue control command is triggered.

[0261] Accordingly, the outputs of open-loop control include: rotor indicator, lever modulus value, and command output duration.

[0262] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0263] In one embodiment, closed-loop control is performed on at least a portion of at least two rotors based on current attitude information and motor rotation commands to provide a second thrust.

[0264] For example, the inputs to closed-loop control include: current attitude information, takeoff attitude threshold, and motor rotation command; or, current attitude information, takeoff attitude threshold, motor rotation command, and attribute information, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, and ambient air pressure information.

[0265] Accordingly, the outputs of the closed-loop control include: rotor indicator and lever modulus value.

[0266] In one embodiment, the method further includes converting the bar modulus value into a safety bar modulus value.

[0267] Accordingly, in manual rescue mode, the rescue control commands include the safety bar magnitude value, command direction, and motor rotation command.

[0268] In one embodiment, the method further includes: in manual rescue mode, the unmanned aerial vehicle sends guidance prompts to the communication interface of the control terminal via the communication interface, so that the display screen of the control terminal displays the prompts to guide the user in performing rescue operations.

[0269] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0270] In one embodiment, the guidance prompt information includes at least one of the following: a stick-hitting diagram image and stick-hitting parameter values, wherein the stick-hitting diagram image is generated based on the stick-hitting parameter values, and the stick-hitting parameter values ​​are determined based at least on the body's attitude information.

[0271] In one embodiment, the method further includes: receiving a rescue mode setting instruction from the communication interface of the control terminal via a communication interface, wherein the rescue mode setting instruction includes at least one of the following: a rescue strategy setting instruction, and / or a takeoff attitude threshold setting instruction.

[0272] In one embodiment, the method further includes: the thrust output by at least a portion of the at least two rotors is replaced by the thrust output by one of the at least two rotors excluding at least a portion of the rotors, or by the resultant force output by the multiple rotors.

[0273] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0274] In one embodiment, the method further includes: monitoring power failures of motors corresponding to at least two rotors in order to replace the motors with power failures.

[0275] In one embodiment, the aircraft includes a sensor assembly for acquiring sensor data. The sensor assembly includes at least one of an inertial detection unit and an image sensor. The sensor assembly can be mounted on the unmanned aerial vehicle (UAV) or fixed to it as operational equipment; no limitation is made herein.

[0276] Another aspect of this disclosure also provides a rescue method for use in a control terminal that is communicatively connected to the unmanned aerial vehicle.

[0277] Figure 21 A flowchart of a rescue method executed by a control terminal, provided for an embodiment of this disclosure.

[0278] like Figure 21 As shown, the method includes operations S2102 to S2104.

[0279] In operation S2102, obtain the rescue control command.

[0280] In operation S2104, a rescue control command is sent to the unmanned aerial vehicle (UAV) so that the rescue control command is used to instruct the UAV to perform a rescue operation when the UAV is in a rescue-ready attitude and the UAV is capable of performing a rescue operation.

[0281] For example, the control terminal includes at least one of the following: a remote control or a wearable device.

[0282] In one embodiment, obtaining rescue control commands includes at least one of the following: For example, generating a control command based on a first user operation on a joystick on a control terminal, including at least one of a joystick position, a command direction, and a motor rotation command. For example, generating a control command based on a second user operation on a mode button on a control terminal, for controlling the UAV to switch to any one of rescue mode, automatic rescue mode, manual rescue mode, open-loop control mode, or closed-loop control mode; or generating a control command for exiting any one of rescue mode, automatic rescue mode, manual rescue mode, automatic rescue return mode, open-loop control mode, or closed-loop control mode. For example, obtaining rescue control commands through a virtual joystick and / or virtual buttons, wherein the control terminal includes a display screen for displaying an interactive interface, the interactive interface displaying the virtual joystick and / or virtual buttons.

[0283] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0284] In one embodiment, the control terminal includes a remote controller and a wearable device. The remote controller includes a communication interface, and the wearable device includes a communication interface. The communication interfaces of the remote controller and the wearable device communicate with the communication interface of the unmanned aerial vehicle.

[0285] In one embodiment, the method further includes: first, the wearable device, in response to the remote control setting operation, sends a rescue mode setting command to the remote control. Then, the remote control, in response to the rescue mode setting command, outputs a setting result prompt message to indicate the rescue mode setting result.

[0286] In one embodiment, the above method may further include the following operation: the wearable device displays a mode entry failure message in response to a mode entry failure message from the unmanned aerial vehicle (UAV) indicating a failure to enter rescue mode, so that the user can locate the UAV.

[0287] In one embodiment, the method may further include the following operation: in response to the rescue mode activation operation, sending a rescue mode activation command to the unmanned aerial vehicle (UAV) so that the UAV enters rescue mode in response to the rescue mode activation command.

[0288] In one embodiment, the method may further include sending a mode switching command to the unmanned aerial vehicle in response to a mode switching operation. The mode switching command includes any one of the following: a manual rescue mode selection command, an automatic rescue mode selection command, or an automatic rescue return-to-home mode selection command.

[0289] In one embodiment, the method further includes: outputting prompt information, which includes at least one of the following: current attitude information, initial attitude information, motor status information, bidirectional electronic speed controller status information, failure to enter rescue mode prompt information, current mode information, exit mode prompt information, or current flight status information.

[0290] For details, please refer to the same parts as in the previous embodiments, and will not be repeated here.

[0291] In one embodiment, the method may further include the following steps: First, receiving guidance prompts. Then, displaying the guidance prompts to guide the user in rescuing the drone. The guidance prompts include at least one of the following: a stick-activation diagram image, stick-activation parameter values. The stick-activation parameter values ​​in the guidance prompts may be determined using methods for determining stick-activation parameter values ​​in open-loop control, such as based on the attitude information of the unmanned aerial vehicle.

[0292] Another aspect of this disclosure is a rescue system.

[0293] Figure 22 A block diagram of a rescue system provided in an embodiment of this disclosure.

[0294] like Figure 22 As shown, the rescue system 2200 may include: an unmanned aerial vehicle 2210 and a control terminal 2220.

[0295] The unmanned aerial vehicle 2210 includes: a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust in a first direction when rotating in the forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; and a first memory storing executable instructions that, when executed by one or more processors, can cause one or more processors to perform the operations described above.

[0296] The control terminal 2220 includes a second memory storing executable instructions that, when executed by one or more processors, can cause one or more processors to perform the methods described above.

[0297] The specific structure or operations performed by the unmanned aerial vehicle 2210 and the control terminal 2220 can be referred to the same parts of the previous embodiments, and will not be repeated here.

[0298] The following provides an example of the functional interaction of the rescue system.

[0299] Figure 23 This is a functional interaction diagram of the rescue system provided in an embodiment of the present disclosure.

[0300] like Figure 23 As shown, the user uses the glasses to set the remote control to enter rescue mode (C1) by clicking the remote control function button to enter rescue mode. The glasses send the setting command to the remote control, causing the remote control to perform the corresponding settings. The remote control provides feedback to the user on the configuration result (which can be displayed through the glasses). If the configuration is successful, the user can click the C1 button on the remote control to confirm the configuration. If the configuration fails, the user must reconfigure. The remote control can respond to the user's triggering of the C1 button by sending the command to enter rescue mode to the UAV's flight control system.

[0301] The flight controller responds to the command to enter rescue mode by performing a rescue mode check, such as determining if the current motors are off. If so, it sends a rescue mode entry failure error code to the goggles. If they are not off, it continues to check the current attitude. If the current attitude is normal for takeoff, it sends a rescue mode entry failure error code to the goggles. If the current attitude is awaiting rescue, it continues to check if the ESCs are functioning correctly. If the ESCs are faulty, it sends a rescue mode entry failure error code to the goggles. If the ESCs are functioning correctly, it defaults to automatic rescue mode. During this time, the user can select a mode, such as manual rescue mode, automatic rescue mode, or automatic rescue return-to-home mode. The selected mode is sent to the flight controller via remote control so that the flight controller can switch to the corresponding rescue mode. If the rescue is successful, the system receives the notification; if the rescue fails, the system will prompt the user via the goggles or remote control to retrieve the UAV.

[0302] Figure 24 A flowchart illustrating the flight control operation in manual rescue mode provided in this embodiment of the disclosure.

[0303] like Figure 24As shown, after the flight controller switches to the corresponding rescue mode based on the current gear, if it is in manual rescue mode, it can respond to stick input commands from the remote control and perform rescue operations accordingly. The user can determine whether the rescue was successful based on the UAV's attitude information and image information captured by the camera. If the rescue was successful, the user can exit rescue mode. Otherwise, the user can continue to perform rescue operations by stick input.

[0304] Figure 25 A flowchart illustrating the flight control operation in automatic rescue mode provided in this embodiment of the disclosure.

[0305] like Figure 25 As shown, after the flight controller switches to the corresponding rescue mode based on the current gear, if it is in automatic rescue mode, it can respond to button commands from the remote control and automatically perform rescue based on the current attitude. The UAV can determine whether the rescue was successful based on the current attitude information and / or the acquired image information. If the rescue was successful, it exits the rescue mode. Otherwise, the flight controller can perform the rescue operation again based on the current attitude information until the stopping conditions are met, such as reaching a threshold for the number of attempts, reaching a threshold for the attempt duration, or the battery level being less than a threshold.

[0306] Figure 26 This is a flowchart illustrating the flight control operation in the automatic rescue and return-to-home mode provided in this embodiment of the disclosure.

[0307] like Figure 26 As shown, after the flight controller switches to the corresponding rescue mode based on the current gear, if it is in automatic rescue and return-to-home mode, it can respond to stick input (or button input) commands from the remote control and automatically perform rescue based on the command or the current attitude. The UAV can determine whether the rescue was successful based on the current attitude information and / or the acquired image information. If the rescue was successful, it will execute the automatic takeoff and return-to-home function. After a successful return to home, it can exit the automatic rescue and return-to-home mode. Otherwise, it will prompt the user to retrieve the UAV.

[0308] Figure 27 A timing diagram for the function indicating whether takeoff is possible, provided in an embodiment of this disclosure.

[0309] like Figure 27 As shown, the user uses the glasses to configure the remote control function buttons to enter rescue mode. If the configuration is successful, the user can enter automatic rescue mode using the function buttons, or select manual rescue mode, automatic rescue mode, or automatic rescue return mode using the gear switch. The remote control can send the user-selected mode to the flight controller. The flight controller continuously receives ESC status updates from the ESC. During this time, the flight controller can perform at least one of attitude detection, crash detection, and motor status detection, and based on the detection results, inform the user whether the current status allows for normal takeoff.

[0310] Figure 28 A timing diagram for entering the rescue mode and the manual rescue function provided in the embodiments of this disclosure.

[0311] like Figure 28 As shown, if entering the rescue mode fails, the flight controller can push a rescue failure error code to the glasses. Based on the received rescue failure error code, the glasses will prompt the user with text and other information about the failure to enter the rescue mode and the reason for it.

[0312] If entry into rescue mode is successful, the flight controller can send the current rescue mode back to the goggles. Users can use the remote control to switch between manual rescue mode, automatic rescue mode, or a combination of automatic rescue mode and automatic return-to-home mode, and send the selected mode to the flight controller. The flight controller can then send the rescue mode result back to the goggles.

[0313] In the manual rescue mode, if the UAV is in a await-rescue attitude, the user can manually flip the stick using the remote control and send commands to the flight controller to execute the rescue action. The flight controller can then send the rescue mode result back to the user's glasses.

[0314] Figure 29 Timing diagrams for the automatic rescue function and automatic rescue return function provided in the embodiments of this disclosure.

[0315] like Figure 29 As shown, in automatic rescue mode, when the UAV is in a standby rescue attitude, the user can trigger automatic rescue (such as a roll rescue) by remotely controlling or manually pushing the throttle, and then send the signal to the flight controller. Alternatively, the user can also trigger automatic rescue (such as a roll rescue) using the goggles and send the signal to the flight controller. The flight controller executes the rescue action. Upon successful rescue, the flight controller can send a notification message to the goggles, such as indicating that the automatic rescue mode has been exited.

[0316] For the automatic rescue + return-to-home mode, users can trigger the automatic rescue and return-to-home operation using methods such as remote return-to-home commands and send the notification to the flight controller. Alternatively, users can trigger the automatic rescue and return-to-home operation using the goggles and send the notification to the flight controller. If the UAV is currently in a await-rescue attitude, the flight controller will execute the rescue maneuver. After a successful rescue, the UAV will automatically take off to the return-to-home altitude and then perform the automatic return-to-home operation. During this process, the flight controller can send the UAV's current flight status to the goggles.

[0317] The embodiments disclosed herein can achieve remote rescue function by controlling at least some of the propeller blades to reverse, and the function interaction is user-friendly, which helps to improve the user experience.

[0318] Another aspect of this disclosure may provide a computer-readable storage medium storing executable instructions that, when executed by one or more processors, cause one or more processors to perform the methods described above.

[0319] The computer-readable storage medium may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0320] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium can include the ROM and / or RAM described above and / or one or more memories other than ROM and RAM.

[0321] Another aspect of this disclosure may provide a computer program product, including a computer program that, when executed, implements the method described above.

[0322] When the computer program is executed by a processor, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0323] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices or magnetic storage devices. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via a communication system, and / or installed from a removable medium. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0324] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on a computing device, partially on a user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0325] In some possible embodiments, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. An unmanned aerial vehicle, characterized in that, include: Organism; At least two rotors are rotatably mounted on the fuselage, each of the at least two rotors providing a first thrust in a first direction when rotating in the forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; When the aircraft is in a rescue-ready attitude and the unmanned aerial vehicle is capable of performing a rescue operation, at least a portion of the rotors of at least two rotors are capable of providing the second thrust in response to a rescue control command to perform the rescue operation; The unmanned aerial vehicle is capable of performing rescue operations including at least: determining that at least a portion of the rotor blades have separated from the landing surface in the current attitude.

2. The unmanned aerial vehicle according to claim 1, characterized in that, At least a portion of at least two of the rotors respond to a first control command to provide the second thrust, causing the aircraft to change from the rescue attitude to a normal takeoff attitude.

3. The unmanned aerial vehicle according to claim 1, characterized in that, At least two of the rotors, a first portion of the rotor responds to a first control command and each provides the first thrust, and at least two of the rotors, a second portion of the rotor responds to the first control command and each provides the second thrust.

4. The unmanned aerial vehicle according to claim 1, characterized in that, When the machine body is in the rescue-ready posture, the angle between the machine body and the horizontal plane along the first direction is greater than a first preset angle threshold.

5. The unmanned aerial vehicle according to claim 4, characterized in that, At least two of the rotors respond to a second control command and provide the second thrust when the included angle is greater than a second preset angle threshold, so that the aircraft takes off in the attitude of the aircraft awaiting rescue.

6. The unmanned aerial vehicle according to claim 1, characterized in that, The unmanned aerial vehicle includes an inertial measurement unit for measuring the attitude information of the aircraft. The unmanned aerial vehicle also includes: A carrier is mounted on the body, and the carrier is used to support the shooting device; At least one processor, when executing executable commands, is used to: determine whether a rescue operation can be performed on the unmanned aerial vehicle based on the attitude information and / or images captured by the imaging device.

7. The unmanned aerial vehicle according to claim 6, characterized in that, At least one of the processors, when executing executable commands, is also configured to: determine a rescue rotor capable of providing a second thrust based on the attitude information and / or images captured by the imaging device, so as to control the rescue rotor to perform a rescue operation.

8. The unmanned aerial vehicle according to claim 6, characterized in that, At least two of the rotors are each connected to a corresponding motor shaft; At least one of the processors, when executing executable commands, is configured to: if the aircraft is in a rescue-ready attitude and the unmanned aerial vehicle is capable of performing a rescue operation, send control commands to the motors of at least a portion of the rotors of at least two of the rotors to control the motors to drive the rotors corresponding to the motors to provide the second thrust.

9. The unmanned aerial vehicle according to claim 1, characterized in that, The unmanned aerial vehicle includes a two-way electronic speed controller for controlling the forward or reverse rotation of the motor rotors connected to each of the at least two rotors, so as to drive each of the at least two rotors to rotate forward or reverse. When the unmanned aerial vehicle is capable of performing a rescue operation: at least a portion of the blades of the at least two rotors can rotate forward or reverse, the blades of the at least a portion of the rotors will not interfere with each other in the current attitude, and the two-way electronic speed controller can work normally.

10. The unmanned aerial vehicle according to claim 1, characterized in that, The forward and reverse directions of each of the at least two rotors are determined based on the blade angles of each of the at least two rotors.

11. The unmanned aerial vehicle according to claim 1, characterized in that, The unmanned aerial vehicle has a rescue mode, which includes at least one of a manual rescue mode, an automatic rescue mode, and an automatic rescue return mode.

12. The unmanned aerial vehicle according to claim 11, characterized in that, At least two of the rotors each have a rotor identification mark; The unmanned aerial vehicle further includes a memory for storing rescue strategies, so that the unmanned aerial vehicle can perform rescue operations based on the rescue strategies in the automatic rescue mode or the automatic rescue return mode, wherein the rescue strategies include at least one of the following: The first mapping relationship between angle and rotor markings; A second mapping relationship between angle, rotor markings, and lever modulus values; A third mapping relationship between angle, rotor identification, attribute information and lever modulus value, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, ambient air pressure information and number of rescue control command triggers.

13. The unmanned aerial vehicle according to claim 1, characterized in that, When the unmanned aerial vehicle is in the rescue-ready attitude: The resultant thrust provided by at least two of the rotors when rotating in the forward direction points towards the center of the Earth when projected onto the vertical line passing through the center of gravity of the unmanned aerial vehicle; and / or At least two of the rotor blades will interfere with the landing surface in the current attitude.

14. The unmanned aerial vehicle according to claim 1, characterized in that, When the unmanned aerial vehicle is capable of performing a rescue operation: at least some of the blades of at least two rotors are capable of rotating clockwise or counterclockwise, and the blades of at least some rotors are separated from the landing surface in the current attitude.

15. The unmanned aerial vehicle according to claim 2, characterized in that, When the unmanned aerial vehicle is in a normal takeoff attitude: The resultant thrust provided by at least two of the rotors when rotating in the forward direction is directed away from the Earth's center of gravity when projected onto a vertical line passing through the center of gravity of the unmanned aerial vehicle; and / or At least two of the rotor blades are separated from the landing surface in their current attitude.

16. The unmanned aerial vehicle according to claim 1, characterized in that, The unmanned aerial vehicle also includes: a communication interface for communicating with a control terminal; The rescue control command is obtained by the communication interface of the unmanned aerial vehicle from the communication interface of the control terminal.

17. The unmanned aerial vehicle according to claim 16, characterized in that, The unmanned aerial vehicle's rescue modes include: manual rescue mode and automatic rescue mode; In the manual rescue mode, the rescue control commands include the lever modulus value, command direction, and motor rotation command input by the joystick of the control terminal; In the automatic emergency rescue mode, the emergency rescue control commands include motor rotation commands.

18. The unmanned aerial vehicle according to claim 17, regarding the manual rescue mode, characterized in that, At least a portion of at least two of the rotors is capable of providing the second thrust in response to the lever modulus, the command direction, and the motor rotation command.

19. The unmanned aerial vehicle according to claim 18, characterized in that, The inputs for the manual rescue mode include: the lever modulus value, the command direction, and the motor rotation command; The output of the manual rescue mode includes: the rotor indicator and lever modulus value corresponding to the motor performing the reverse rotation.

20. The unmanned aerial vehicle according to claim 17, characterized in that, At least a portion of at least two of the rotors are capable of open-loop control in response to initial attitude information and the motor rotation command to provide the second thrust.

21. The unmanned aerial vehicle according to claim 20, characterized in that, The inputs to the open-loop control include: the initial attitude information, the takeoff attitude threshold, the motor rotation command, and attribute information. The attribute information includes at least one of the following: the voltage information of the power supply, the weight information of the unmanned aerial vehicle, the air pressure information of the environment, and the number of times the rescue control command is triggered. The outputs of the open-loop control include: rotor indicator, lever modulus value, and command output duration.

22. The unmanned aerial vehicle according to claim 17, characterized in that, At least a portion of at least two of the rotors are capable of closed-loop control in response to current attitude information and the motor rotation command to provide the second thrust.

23. The unmanned aerial vehicle according to claim 22, characterized in that, The inputs to the closed-loop control include: current attitude information, takeoff attitude threshold, and motor rotation command; or, current attitude information, takeoff attitude threshold, motor rotation command, and attribute information, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, and ambient air pressure information. The outputs of the closed-loop control include: rotor indicator and lever modulus value.

24. The unmanned aerial vehicle according to claim 17, characterized in that, At least one processor of the unmanned aerial vehicle is used, when executing executable commands, to: convert the lever modulus value into a safety lever modulus value; In the manual rescue mode, the rescue control commands include the safety bar magnitude value, command direction, and motor rotation command.

25. The unmanned aerial vehicle according to claim 17, characterized in that, In the manual rescue mode, the unmanned aerial vehicle also sends guidance prompts to the communication interface of the control terminal through the communication interface, so that the display screen of the control terminal can display the prompts to guide the user in rescuing the aircraft.

26. The unmanned aerial vehicle according to claim 25, characterized in that, The guidance prompts sent by the communication interface include at least one of the following: a stick-hitting diagram image and stick-hitting parameter values, wherein the stick-hitting diagram image is generated based on the stick-hitting parameter values, and the stick-hitting parameter values ​​are determined based at least on the attitude information of the machine body.

27. The unmanned aerial vehicle according to claim 16, characterized in that, The communication interface is also used to receive a rescue mode setting instruction from the communication interface of the control terminal. The rescue mode setting instruction includes at least one of the following: a rescue strategy setting instruction, and / or a takeoff attitude threshold setting instruction.

28. The unmanned aerial vehicle according to claim 1, characterized in that, The thrust output by at least a portion of the at least two rotors can be replaced by the thrust output by one of the at least two rotors other than the at least a portion of the rotors, or by the combined force output by the multiple rotors.

29. The unmanned aerial vehicle according to claim 28, characterized in that, At least one processor of the unmanned aerial vehicle is used, when executing executable commands, to: monitor power failures of motors corresponding to at least two of the rotors, and replace the motors with power failures.

30. The unmanned aerial vehicle according to any one of claims 1-29, characterized in that, The body includes a sensor assembly for acquiring sensor data, and the sensor assembly includes at least one of an inertial detection unit and an image sensor.

31. A control terminal, characterized in that, include: The processor is used to generate rescue control commands; A communication interface is used to send the rescue control command to the unmanned aerial vehicle (UAV). The rescue control command is used to instruct the UAV to perform a rescue operation when the UAV is in a rescue-ready attitude and the UAV is capable of performing a rescue operation. The unmanned aerial vehicle is capable of performing rescue operations including at least: determining that at least a portion of the rotor blades have separated from the landing surface in the current attitude.

32. The control terminal according to claim 31, characterized in that, The control terminal includes at least one of the following: a remote control or a wearable device.

33. The control terminal according to claim 31, characterized in that, It also includes an input device, The input device includes a joystick, which is configured to generate control lever position, command direction, motor rotation command in response to a first user operation; and / or The input device includes mode buttons, used to respond to a second user's operation to switch the unmanned aerial vehicle to any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, open-loop control mode, or closed-loop control mode; or, to exit any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, automatic rescue return mode, open-loop control mode, or closed-loop control mode; and / or The input device includes a display screen for displaying an interactive interface, which displays a virtual joystick and / or virtual buttons.

34. The control terminal according to claim 33, characterized in that, The control terminal includes a remote controller and a wearable device. The remote controller includes a communication interface, and the wearable device includes a communication interface. The communication interfaces of the remote controller and the wearable device communicate with the communication interface of the unmanned aerial vehicle.

35. The control terminal according to claim 34, characterized in that, The wearable device responds to the remote control setting operation by sending a rescue mode setting command to the remote control; The remote control responds to the emergency mode setting command by outputting a setting result prompt message to indicate the emergency mode setting result.

36. The control terminal according to claim 34, characterized in that, The wearable device displays a mode entry failure message in response to a mode entry failure message from the unmanned aerial vehicle, so that the user can locate the unmanned aerial vehicle.

37. The control terminal according to claim 34, characterized in that, In response to the emergency rescue mode activation operation, the remote controller sends an emergency rescue mode activation command to the unmanned aerial vehicle (UAV), so that the UAV enters the emergency rescue mode in response to the emergency rescue mode activation command.

38. The control terminal according to claim 37, characterized in that, In response to the mode switching operation, the remote controller sends a mode switching command to the unmanned aerial vehicle. The mode switching command includes any one of the following: a manual rescue mode selection command, an automatic rescue mode selection command, or an automatic rescue return-to-home mode selection command.

39. The control terminal according to claim 34, characterized in that, The control terminal further includes an output device, which is used to output at least one of the following prompts: current attitude information, initial attitude information, motor status information, bidirectional electronic speed controller status information, failure to enter rescue mode prompt, current mode information, exit mode prompt, or current flight status information.

40. The control terminal according to claim 39, characterized in that, The communication interface of the control terminal is also used to receive guidance prompts. The output device includes a display, which is used to display the guidance prompts to guide the user in performing emergency rescue. The guidance prompts include at least one of the following: a schematic image of the lever and values ​​of the lever parameters.

41. A rescue method for unmanned aerial vehicles, characterized in that, The unmanned aerial vehicle includes: a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust in a first direction when rotating in the forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in the reverse direction, the first direction being opposite to the second direction; The method includes: Receive emergency control commands; When the unmanned aerial vehicle is in a rescue-ready attitude and the unmanned aerial vehicle is capable of performing a rescue operation, at least a portion of at least two of the rotors provide the second thrust in response to the rescue control command to perform the rescue operation; The unmanned aerial vehicle is capable of performing rescue operations including at least: determining that at least a portion of the rotor blades have separated from the landing surface in the current attitude.

42. The method according to claim 41, characterized in that, At least a portion of the at least two rotors provide the second thrust in response to the rescue control command to perform the rescue operation, including: At least a portion of at least two of the rotors respond to a first control command to provide the second thrust, causing the aircraft to change from the rescue attitude to a normal takeoff attitude.

43. The method according to claim 41, characterized in that, At least a portion of the at least two rotors provide the second thrust in response to the rescue control command to perform the rescue operation, including: At least two of the rotors, a first portion of the rotor responds to a first control command and each provides the first thrust, and at least two of the rotors, a second portion of the rotor responds to the first control command and each provides the second thrust, so that the aircraft changes from the standby attitude to a normal takeoff attitude.

44. The method according to claim 41, characterized in that, When the machine body is in the rescue-ready posture, the angle between the machine body and the horizontal plane along the first direction is greater than a first preset angle threshold.

45. The method according to claim 44, characterized in that, At least a portion of the at least two rotors provide the second thrust in response to the rescue control command to perform the rescue operation, including: At least two of the rotors respond to a second control command and provide the second thrust when the included angle is greater than a second preset angle threshold, so that the aircraft takes off in the attitude of the aircraft awaiting rescue.

46. ​​The method according to claim 41, characterized in that, The unmanned aerial vehicle also includes an inertial measurement unit for measuring the attitude information of the aircraft. The unmanned aerial vehicle also includes: A carrier is mounted on the body, and the carrier is used to support the shooting device; The method further includes: determining whether a rescue operation can be performed on the unmanned aerial vehicle based on the attitude information and / or the images captured by the imaging device.

47. The method according to claim 46, characterized in that, The method further includes: determining a rescue rotor capable of providing a second thrust based on the attitude information and / or the image captured by the imaging device, so as to control the rescue rotor to perform a rescue operation.

48. The method according to claim 46, characterized in that, At least two of the rotors are each connected to a corresponding motor shaft; The method further includes: if the aircraft is in a rescue-ready attitude and the unmanned aerial vehicle is capable of performing a rescue operation, then sending control commands to the motors of at least a portion of the rotors of at least two rotors to control the motors to drive the rotors corresponding to the motors to provide the second thrust.

49. The method according to claim 41, characterized in that, The unmanned aerial vehicle includes a two-way electronic speed controller for controlling the forward or reverse rotation of the motor rotors connected to each of the at least two rotors, so as to drive each of the at least two rotors to rotate forward or reverse. When the unmanned aerial vehicle is capable of performing a rescue operation: at least a portion of the blades of the at least two rotors can rotate forward or reverse, the blades of the at least a portion of the rotors will not interfere with each other in the current attitude, and the two-way electronic speed controller can work normally.

50. The method according to claim 41, characterized in that, The forward and reverse directions of each of the at least two rotors are determined based on the blade angles of each of the at least two rotors.

51. The method according to claim 41, characterized in that, The unmanned aerial vehicle has a rescue mode, which includes at least one of a manual rescue mode, an automatic rescue mode, and an automatic rescue return mode.

52. The method according to claim 51, characterized in that, At least two of the rotors each have a rotor identification mark; The method further includes: storing a rescue strategy, so that the unmanned aerial vehicle can perform a rescue operation based on the rescue strategy in the automatic rescue mode or the automatic rescue return mode, wherein the rescue strategy includes at least one of the following: The first mapping relationship between angle and rotor markings; A second mapping relationship between angle, rotor markings, and lever modulus values; A third mapping relationship between angle, rotor identification, attribute information and lever modulus value, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, ambient air pressure information and number of rescue control command triggers.

53. The method according to claim 41, characterized in that, When the unmanned aerial vehicle is in the rescue-ready attitude: The resultant thrust provided by at least two of the rotors when rotating in the forward direction points towards the center of the Earth when projected onto the vertical line passing through the center of gravity of the unmanned aerial vehicle; and / or At least two of the rotor blades will interfere with the landing surface in the current attitude.

54. The method according to claim 41, characterized in that, When the unmanned aerial vehicle is capable of performing a rescue operation: at least some of the blades of at least two rotors are capable of rotating clockwise or counterclockwise, and the blades of at least some rotors are separated from the landing surface in the current attitude.

55. The method according to claim 42, characterized in that, When the unmanned aerial vehicle is in a normal takeoff attitude: The resultant thrust provided by at least two of the rotors when rotating in the forward direction is directed away from the Earth's center of gravity when projected onto a vertical line passing through the center of gravity of the unmanned aerial vehicle; and / or At least two of the rotor blades are separated from the landing surface in their current attitude.

56. The method according to claim 41, characterized in that, The unmanned aerial vehicle also includes: a communication interface for communicating with a control terminal; The receiving of rescue control commands includes: The unmanned aerial vehicle receives the rescue control command from the communication interface of the control terminal via its communication interface.

57. The method according to claim 56, characterized in that, The unmanned aerial vehicle's rescue modes include: manual rescue mode and automatic rescue mode; In the manual rescue mode, the rescue control commands include the lever modulus value, command direction, and motor rotation command input by the joystick of the control terminal; In the automatic emergency rescue mode, the emergency rescue control commands include motor rotation commands.

58. The method according to claim 57, for the manual recovery mode, characterized in that, At least a portion of at least two of the rotors is capable of providing the second thrust in response to the lever modulus, the command direction, and the motor rotation command.

59. The method according to claim 58, characterized in that, The inputs for the manual rescue mode include: the lever modulus value, the command direction, and the motor rotation command; The output of the manual rescue mode includes: the rotor indicator and lever modulus value corresponding to the motor performing the reverse rotation.

60. The method according to claim 57, characterized in that, Based on the initial attitude information and the motor rotation command, at least a portion of at least two of the rotors are subjected to open-loop control to provide the second thrust.

61. The method according to claim 60, characterized in that, The inputs to the open-loop control include: the initial attitude information, the takeoff attitude threshold, the motor rotation command, and attribute information. The attribute information includes at least one of the following: the voltage information of the power supply, the weight information of the unmanned aerial vehicle, the air pressure information of the environment, and the number of times the rescue control command is triggered. The outputs of the open-loop control include: rotor indicator, lever modulus value, and command output duration.

62. The method according to claim 57, characterized in that, Closed-loop control is performed on at least a portion of at least two of the rotors based on the current attitude information and the motor rotation command to provide the second thrust.

63. The method according to claim 62, characterized in that, The inputs to the closed-loop control include: current attitude information, takeoff attitude threshold, and motor rotation command; or, current attitude information, takeoff attitude threshold, motor rotation command, and attribute information, wherein the attribute information includes at least one of the following: power supply voltage information, unmanned aerial vehicle weight information, and ambient air pressure information. The outputs of the closed-loop control include: rotor indicator and lever modulus value.

64. The method according to claim 57, characterized in that, Also includes: Convert the rod modulus value into a safety rod modulus value; In the manual rescue mode, the rescue control commands include the safety bar magnitude value, command direction, and motor rotation command.

65. The method according to claim 57, characterized in that, Also includes: In the manual rescue mode, the unmanned aerial vehicle sends guidance prompts to the communication interface of the control terminal through the communication interface, so that the display screen of the control terminal can display the prompts to guide the user in rescuing the aircraft.

66. The method according to claim 65, characterized in that, The guidance prompt information includes at least one of the following: a stick-hitting diagram image and stick-hitting parameter values, wherein the stick-hitting diagram image is generated based on the stick-hitting parameter values, and the stick-hitting parameter values ​​are determined based at least on the attitude information of the machine body.

67. The method according to claim 56, characterized in that, Also includes: The system receives a rescue mode setting instruction from the communication interface of the control terminal via the communication interface. The rescue mode setting instruction includes at least one of the following: a rescue strategy setting instruction, and / or a takeoff attitude threshold setting instruction.

68. The method according to claim 41, characterized in that, Also includes: The thrust output by at least a portion of the at least two rotors is replaced by the thrust output by one of the at least two rotors other than the at least a portion of the rotors, or by the combined force output by the multiple rotors.

69. The method according to claim 68, characterized in that, Also includes: Monitor for power failures in the motors corresponding to at least two of the rotors in order to replace the motors with power failures.

70. The method according to any one of claims 41-69, characterized in that, The body includes a sensor assembly for acquiring sensor data, and the sensor assembly includes at least one of an inertial detection unit and an image sensor.

71. A rescue method, applied to a control terminal, characterized in that, The control terminal is communicatively connected to the unmanned aerial vehicle; The method includes: Obtain emergency control commands; Send the rescue control command to the unmanned aerial vehicle (UAV). The rescue control command is used to instruct the UAV to perform a rescue operation when the UAV is in a standby attitude and the UAV is capable of performing a rescue operation. The unmanned aerial vehicle is capable of performing rescue operations including at least: determining that at least a portion of the rotor blades have separated from the landing surface in the current attitude.

72. The method according to claim 71, characterized in that, The control terminal includes at least one of the following: a remote control or a wearable device.

73. The method according to claim 71, characterized in that, The acquisition of emergency control commands includes at least one of the following: Based on a first user operation on the joystick on the control terminal, a control command is generated that includes at least one of the following: joystick position, command direction, and motor rotation command. Based on a second user operation on the mode button on the control terminal, a control command is generated to control the unmanned aerial vehicle to switch to any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, open-loop control mode, or closed-loop control mode; or, a control command is generated to exit any one of the following modes: rescue mode, automatic rescue mode, manual rescue mode, automatic rescue return mode, open-loop control mode, or closed-loop control mode; and / or Emergency control commands are obtained via a virtual joystick and / or virtual buttons. The control terminal includes a display screen for displaying an interactive interface, which displays the virtual joystick and / or the virtual buttons.

74. The method according to claim 73, characterized in that, The control terminal includes a remote controller and a wearable device. The remote controller includes a communication interface, and the wearable device includes a communication interface. The communication interfaces of the remote controller and the wearable device communicate with the communication interface of the unmanned aerial vehicle.

75. The method according to claim 74, characterized in that, Also includes: The wearable device responds to the remote control setting operation by sending a rescue mode setting command to the remote control; The remote control responds to the emergency mode setting command by outputting a setting result prompt message to indicate the emergency mode setting result.

76. The method according to claim 74, characterized in that, Also includes: The wearable device displays a mode entry failure message in response to a mode entry failure message from the unmanned aerial vehicle, so that the user can locate the unmanned aerial vehicle.

77. The method according to claim 74, characterized in that, Also includes: In response to the rescue mode activation operation, a rescue mode activation command is sent to the unmanned aerial vehicle (UAV) so that the UAV enters the rescue mode in response to the rescue mode activation command.

78. The method according to claim 77, characterized in that, Also includes: In response to the mode switching operation, a mode switching command is sent to the unmanned aerial vehicle, the mode switching command including any one of the following: manual rescue mode selection command, automatic rescue mode selection command, or automatic rescue return mode selection command.

79. The method according to claim 74, characterized in that, Also includes: Output prompt information, which includes at least one of the following: current attitude information, initial attitude information, motor status information, bidirectional electronic speed controller status information, failure to enter rescue mode prompt information, current mode information, exit mode prompt information, or current flight status information.

80. The method according to claim 79, characterized in that, Also includes: Receive guidance prompts; The guidance prompts are displayed to guide the user in rescuing the device. The guidance prompts include at least one of the following: a diagram of the lever being used, and values ​​for the lever parameters.

81. A rescue system, characterized in that, include: An unmanned aerial vehicle (UAV) includes: a body; at least two rotors rotatably mounted on the body, each of the at least two rotors providing a first thrust in a first direction when rotating in a forward direction, and each of the at least two rotors providing a second thrust in a second direction when rotating in a reverse direction, the first direction being opposite to the second direction; and a first memory storing executable instructions that, when executed by one or more processors, cause one or more processors to perform the operation of the method as described in any one of claims 41 to 70. A control terminal includes: a second memory storing executable instructions that, when executed by one or more processors, cause one or more processors to perform the method as described in any one of claims 71 to 80.

82. A computer-readable storage medium, characterized in that, It stores executable instructions that, when executed by one or more processors, cause the one or more processors to perform the method as described in any one of claims 41 to 80.

83. A computer program product, characterized in that, Includes a computer program that, when executed, implements the method according to any one of claims 41 to 80.

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