Unmanned aerial vehicle control method based on undirected mode and combination of remote controller and aircraft thereof

Abstract

The invention provides an unmanned aerial vehicle control method based on an undirected mode and a remote controller and aircraft combination thereof. The unmanned aerial vehicle control method comprises the following steps: receiving first azimuth information sent by an unmanned aerial vehicle; obtaining second azimuth information which is provided by an electronic compass and is associated with a remote controller; obtaining operation angle information of an operation rod of the remote controller; and calculating the difference value between the sum of the second azimuth information and the operation angle information and the first azimuth information as the moving angle information of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to a method for controlling an unmanned aerial vehicle and a combination of its remote controller and aircraft, and more particularly to a method for controlling an unmanned aerial vehicle based on an undirected mode and a combination of its remote controller and aircraft. Background Art

[0002] An unmanned aerial vehicle can fly to any position in three-dimensional space; if the unmanned aerial vehicle is far away from the user and the remote controller held by the user, the user cannot visually judge the azimuth angle of the nose of the unmanned aerial vehicle, and it is difficult to control the unmanned aerial vehicle to return to the vicinity of the user under the forward, backward, leftward, and rightward movements in the directed mode. Therefore, the unmanned aerial vehicle can switch to the undirected mode to recall it. Traditional unmanned aerial vehicles do not judge the nose orientation of the unmanned aerial vehicle in its undirected mode, but obtain the flight direction of the unmanned aerial vehicle, and then receive the operation direction of the joystick of the remote controller for analysis and calculation by the unmanned aerial vehicle, and control the rotor of the unmanned aerial vehicle through the calculation result so that the flight direction of the unmanned aerial vehicle can be the same as the operation direction of the joystick; however, when the traditional unmanned aerial vehicle executes the undirected mode, the user and the remote controller held by the user cannot move the position or turn, otherwise the unmanned aerial vehicle will receive the wrong operation direction of the joystick, and at this time the calculated and executed flight direction of the unmanned aerial vehicle is different from the operation direction of the joystick.

[0003] Therefore, it is necessary to design a new method for controlling an unmanned aerial vehicle based on an undirected mode and a combination of its remote controller and aircraft to overcome the above defects. Summary of the Invention

[0004] The object of the present invention is to provide a method for controlling an unmanned aerial vehicle based on an undirected mode and a combination of its remote controller and aircraft, which can use the azimuth angle of the remote controller as a variable to calculate the movement angle information, so that the user can freely change the position and turn when holding the remote controller, and the operation method is simple.

[0005] To achieve the above object, the present invention provides a method for controlling an unmanned aerial vehicle based on an undirected mode, including: receiving the first azimuth information sent by the unmanned aerial vehicle; obtaining the second azimuth information associated with the remote controller provided by the electronic compass; obtaining the operation angle information of the operation lever of the remote controller; and calculating the difference between the sum of the second azimuth information and the operation angle information and the first azimuth information as the movement angle information of the unmanned aerial vehicle.

[0006] Preferably, it is applied to the remote controller having the electronic compass to control the movement of the unmanned aerial vehicle to be in the same direction as the operation angle information.

[0007] Preferably, it further includes: sending the movement angle information to the unmanned aerial vehicle by using the wireless transmission module of the remote controller.

[0008] Preferably, the first orientation information is the absolute coordinate orientation of the drone, and the second orientation information is the absolute coordinate orientation of the remote controller.

[0009] Preferably, the nose azimuth angle of the drone is determined using the first orientation information, and then the difference between the first orientation information and the second orientation information is calculated, so as to correct the operation angle information with the difference to obtain the movement angle information.

[0010] The present invention also provides a remote controller for controlling the movement of a drone. The remote controller includes: a wireless transmission module that receives the first orientation information sent by the drone; an electronic compass that provides the second orientation information of the remote controller; an operating lever that generates operation angle information according to the operation of the user; and an arithmetic processor that is electrically connected to the wireless transmission module, the electronic compass, and the operating lever respectively. The arithmetic processor calculates the difference between the sum of the second orientation information and the operation angle information and the first orientation information, and uses it as the movement angle information of the drone to control the movement of the drone to be in the same direction as the operation angle information.

[0011] Preferably, the arithmetic processor uses the wireless transmission module to send the movement angle information to the drone.

[0012] Preferably, the first orientation information is the absolute coordinate orientation of the drone, and the second orientation information is the absolute coordinate orientation of the remote controller.

[0013] Preferably, the arithmetic processor determines the nose azimuth angle of the drone using the first orientation information, and then calculates the difference between the first orientation information and the second orientation information, so as to correct the operation angle information with the difference to obtain the movement angle information.

[0014] The present invention also provides an aircraft combination, including: a drone that provides and sends the first orientation information; and a remote controller for controlling the movement of the drone. The remote controller includes: a wireless transmission module that receives the first orientation information; an electronic compass that provides a second orientation information of the remote controller; an operating lever that generates operation angle information according to the operation of the user; and an arithmetic processor that is electrically connected to the wireless transmission module, the electronic compass, and the operating lever respectively. The arithmetic processor calculates the difference between the sum of the second orientation information and the operation angle information and the first orientation information, and uses it as the movement angle information of the drone to control the movement of the drone to be in the same direction as the operation angle information.

[0015] Preferably, the arithmetic processor uses the wireless transmission module to send the movement angle information to the drone.

[0016] Preferably, the first orientation information is the absolute coordinate orientation of the drone, and the second orientation information is the absolute coordinate orientation of the remote controller.

[0017] Preferably, the arithmetic processor determines the nose azimuth angle of the UAV using the first azimuth information, then calculates the difference between the first azimuth information and the second azimuth information, and thereby corrects the operation angle information with the difference to obtain the movement angle information.

[0018] Compared with the prior art, for a UAV control method and a remote controller and aircraft combination thereof provided by an embodiment of the present invention, the UAV control method and the remote controller and aircraft combination thereof need to obtain the nose azimuth angle of the UAV, the remote controller executes the UAV control method, and then sends the calculated movement angle information to the UAV; because the UAV control method of the present invention uses the azimuth angle of the remote controller as a variable to calculate the movement angle information, when the user holds the remote controller, the user can change its position and orientation at will, the operation method is extremely simple and does not require complex learning, which is more helpful to improve the market competitiveness of the aircraft combination capable of executing the UAV control method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a functional block diagram of the aircraft combination in an embodiment of the present invention.

[0020] Figure 2 It is a schematic external view of the UAV in an embodiment of the present invention.

[0021] Figure 3 It is a schematic external view of the remote controller in an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the absolute coordinates applied to the aircraft combination in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the UAV and the remote controller in one example in an embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of the UAV and the remote controller in another example in an embodiment of the present invention.

[0025] Figure 7 It is a flowchart of the UAV control method in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To further understand the purpose, structure, features and functions of the present invention, the following is a detailed description in conjunction with the embodiments.

[0027] Please refer to Figures 1 to 3 , Figure 1 which is a functional block diagram of the aircraft combination 10 in an embodiment of the present invention, Figure 2 which is a schematic external view of the UAV 12 in an embodiment of the present invention, Figure 3This is a schematic diagram of the appearance of the remote controller 14 according to an embodiment of the present invention. The aircraft combination 10 may include a drone 12 and a remote controller 14. The drone 12 may be a multi-rotor drone, depending on the application requirements. The remote controller 14 outputs operation instructions to control the movement of the drone 12. In a preferred embodiment of the present invention, the drone 12 is a multi-rotor drone; the remote controller 14 usually has two joysticks. The left joystick controls the ascending, descending, left rotation, and right rotation of the drone 12, and the right joystick controls the forward, backward, left movement, and right movement of the drone 12. However, the actual application is not limited to this.

[0028] The remote controller 14 may include a wireless transmission module 16, an electronic compass 18, a joystick 20, and an arithmetic processor 22. The wireless transmission module 16 can receive the first orientation information A1 provided and transmitted by the drone 12; in this embodiment, the first orientation information A1 represents the nose azimuth angle of the drone 12. The electronic compass 18 provides the second orientation information A2 of the remote controller 14 itself, that is, the forward azimuth angle of the remote controller 14. Please refer to Figure 4 , Figure 4 This is a schematic diagram of the absolute coordinate system applied to the aircraft combination 10 according to an embodiment of the present invention. The first orientation information A1 and the second orientation information A2 are the absolute coordinate orientations of the drone 12 and the remote controller 14 respectively. The angle values of each orientation are as Figure 4 shown, and the conversion relationship between the orientation and the angle will not be described in detail here.

[0029] The remote controller 14 may further include electronic components such as a display screen, operation buttons, a universal serial bus connector, and a power storage element. These electronic components are electrically connected to the arithmetic processor 22 to execute related application programs, but are not drawn in the drawings and their descriptions are omitted.

[0030] Example A2 A1 A3 A4 No.1 360° 0° Up (0°) 0° / 360° No.2 360° 90° Up (0°) 270° No.3 360° 180° Up (0°) 180° No.4 360° 270° Up (0°) 90° No.5 360° 45° Up (0°) 315° No.6 360° 135° Up (0°) 225° No.7 360° 225° Up (0°) 135° No.7 360° 315° Up (0°) 45°

[0031] Table 1

[0032] The joystick 20 is not limited to the left or right joystick of the remote controller 14. It can generate operation angle information A3 according to the user's operation; the conversion relationship between the operation angle information A3 and the absolute coordinate orientation can also refer to the Figure 4 shown embodiment. The arithmetic processor 22 can be electrically connected to the wireless transmission module 16, the electronic compass 18, and the joystick 20 respectively. The arithmetic processor 22 can calculate the difference between the sum of the second orientation information A2 and the operation angle information A3 and the first orientation information A1, and use it as the movement angle information A4 of the drone 12, and use the wireless transmission module 16 to send the movement angle information A4 to the drone 12 to control the movement of the drone 12 to be in the same direction as the operation angle information A3, as shown in Table 1.

[0033] For example, the first orientation information A1 of the first example is zero degrees. Referring to Figure 4 it can be known that the nose azimuth angle of the drone 12 points north, and the second orientation information A2 provided by the electronic compass 18 is 360 degrees, indicating that the remote controller 14 also points north. At this time, if the joystick 20 is pushed upward towards the north, the operation angle information A3 can be regarded as zero degrees. Therefore, the arithmetic processor 22 will first calculate the sum of the second orientation information A2 and the operation angle information A3 to be 360 degrees, and then calculate the difference between this sum and the first orientation information A1 to be 360 degrees. Thus, the remote controller 14 can use the wireless transmission module 16 to send the movement angle information A4 (zero degrees or 360 degrees) to the drone 12, so that the movement of the drone 12 (towards the north) can be the same as the operation angle information A3.

[0034] Alternatively, still referring to the angle values of the first example, the arithmetic processor 22 can obtain the first orientation information A1 to judge the nose azimuth angle of the drone 12 (zero degrees or 360 degrees indicates pointing north), and first calculate the difference between the first orientation information A1 and the second orientation information A2 to be 360 degrees, and then calculate the sum of this difference and the operation angle information A3 for correction, and 360 degrees can be obtained as the movement angle information A4. In this way, the remote controller 14 can use the wireless transmission module 16 to send the movement angle information A4 (360 degrees) to the drone 12 to ensure that the movement of the drone 12 (towards the north) will be the same as the operation angle information A3.

[0035] Referring to the fifth example again, if the remote controller 14 receives that the first orientation information A1 provided by the drone 12 is 45 degrees, and the second orientation information A2 provided by the electronic compass 18 is 360 degrees. At this time, if the joystick 20 is pushed upward towards the north, the operation angle information A3 can be regarded as zero degrees. The arithmetic processor 22 can calculate the sum of the second orientation information A2 and the operation angle information A3 to be 360 degrees, and then calculate the difference between this sum and the first orientation information A1 to be 315 degrees. Thus, the remote controller 14 can use the wireless transmission module 16 to send the movement angle information A4 (315 degrees) to the drone 12, so that the movement of the drone 12 (towards the north) will be the same as the operation angle information A3.

[0036] Please refer to Figure 5 and Figure 6 , Figure 5 which is a schematic diagram of the drone 12 and the remote controller 14 of the embodiment of the present invention in the first example, Figure 6Schematic diagram of the drone 12 and the remote controller 14 in the fifth example of the embodiments of the present invention. For other examples in Table 1, corresponding calculations can be made with reference to the first example and the fifth example, and no diagrams are drawn to simplify the description; the first orientation information A1, the second orientation information A2, and the operation angle information A3 are not limited to the foregoing embodiments and can be changed according to actual usage requirements to obtain the required movement angle information A4.

[0037] Please refer to Figure 7 , Figure 7 Flowchart of the drone control method according to the embodiments of the present invention. Figure 7 The described drone control method can be applied to Figure 1 the drone 12 and the remote controller 14 of the aircraft combination 10 shown. The drone control method is preferably applied to the remote controller 14 with an electronic compass 18 to obtain the second orientation information A2 of the remote controller 14 itself for calibration, so as to control the movement of the drone 12 to be in the same direction as the operation angle information generated by the joystick 20 of the remote controller 14.

[0038] Regarding the drone control method, first, steps S100 and S102 are executed to receive the first orientation information A1 sent by the drone 12 and obtain the second orientation information A2 provided by the electronic compass 18; the order of steps S100 and S102 can also be executed in reverse. Then, step S104 is executed to obtain the operation angle information A3 generated by the joystick 20. Since the current nose azimuth angle of the drone 12 and the orientation of the user holding the remote controller 14 may vary in many possible ways according to the actual situation, in order to ensure that the movement of the drone 12 in the non-directional mode is in the same direction as the operation angle information A3, steps S106 and S108 can be continuously executed to calculate the required movement angle information A4 using the first orientation information A1, the second orientation information A2, and the operation angle information A3, and send it to the drone 12 for execution, so as to achieve the design purpose of the present invention.

[0039] In summary, the present invention provides a method for controlling a drone based on an undirected mode, as well as a combination of a remote controller and a flying vehicle thereof. The method for controlling a drone includes: receiving first orientation information sent by the drone; obtaining second orientation information associated with the remote controller provided by an electronic compass; obtaining operation angle information of an operating lever of the remote controller; calculating the difference between the sum of the second orientation information and the operation angle information and the first orientation information as the movement angle information of the drone. The drone can fly to any position in three-dimensional space. When the drone is far away from the user and the remote controller held by the user, it is difficult for the user to visually determine the nose azimuth angle of the drone, and it is also difficult to control the drone to move forward, backward, left, or right in the directed mode to return to the vicinity of the user. Therefore, the method for controlling a drone and the combination of the remote controller and the flying vehicle of the present invention can switch the drone to the undirected mode. At this time, the flying direction of the drone is based on the orientation of the user and the remote controller held by the user. The remote controller of the present invention can analyze the first orientation information of the drone, the second orientation information of the remote controller, and the operation angle information of the operating lever to calculate the movement angle information, and then send the movement angle information to the drone to control its traveling direction, so that the drone can be easily brought back to the vicinity of the user.

[0040] Compared with the prior art, the method for controlling a drone and the combination of the remote controller and the flying vehicle of the present invention need to obtain the nose azimuth angle of the drone, and the remote controller executes the method for controlling the drone, and then sends the calculated movement angle information to the drone. Since the method for controlling a drone of the present invention uses the azimuth angle of the remote controller as a variable to calculate the movement angle information, when the user holds the remote controller, the user can change its position and steering at will, and the operation method is extremely simple and does not require complex learning, which is more conducive to improving the market competitiveness of the flying vehicle combination that can execute the method for controlling a drone of the present invention.

[0041] Although the present invention has been described with reference to the accompanying drawings, the embodiments disclosed in the drawings are intended to exemplarily illustrate the preferred embodiments of the present invention and should not be construed as a limitation on the present invention. In order to clearly describe the required components, the ratios in the schematic drawings do not represent the ratio relationships of the actual components.

[0042] The present invention has been described by the above related embodiments. However, the above embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention fall within the scope of patent protection of the present invention.

Claims

1. A method for controlling an unmanned aerial vehicle based on an undirected pattern, characterized in that, Including: Receiving the first orientation information sent by the drone; Obtaining the second orientation information related to the remote controller provided by the electronic compass; Obtaining the operation angle information of the joystick of the remote controller; And Calculating the difference between the sum of the second orientation information and the operation angle information and the first orientation information as the movement angle information of the drone.

2. The drone control method based on the undirected mode according to claim 1, wherein Applied to the remote controller with the electronic compass to control the movement of the drone in the same direction as the operation angle information.

3. The method for controlling an unmanned aerial vehicle based on an undirected pattern according to claim 1, wherein, It also includes: Using the wireless transmission module of the remote controller to send the movement angle information to the drone.

4. The method for controlling an unmanned aerial vehicle based on an undirected pattern according to claim 1, wherein The first orientation information is the absolute coordinate orientation of the drone, and the second orientation information is the absolute coordinate orientation of the remote controller.

5. The method for controlling an unmanned aerial vehicle based on an undirected pattern according to claim 1, characterized in that, Using the first orientation information to judge the nose azimuth angle of the drone, and then calculating the difference between the first orientation information and the second orientation information, so as to correct the operation angle information with the difference to obtain the movement angle information.

6. A remote controller for controlling the movement of a drone, characterized in that, The remote controller includes: A wireless transmission module that receives the first orientation information sent by the drone; An electronic compass that provides the second orientation information of the remote controller; A joystick that generates operation angle information according to the user's operation; And An arithmetic processor, electrically connected to the wireless transmission module, the electronic compass and the joystick respectively. The arithmetic processor calculates the difference between the sum of the second orientation information and the operation angle information and the first orientation information to be used as the movement angle information of the drone to control the movement of the drone in the same direction as the operation angle information.

7. The remote controller according to claim 6, wherein The arithmetic processor uses the wireless transmission module to send the movement angle information to the drone.

8. The remote controller according to claim 6, characterized in that, The first orientation information is the absolute coordinate orientation of the drone, and the second orientation information is the absolute coordinate orientation of the remote controller.

9. The remote controller according to claim 6, characterized in that, The arithmetic processor uses the first orientation information to judge the nose azimuth angle of the drone, and then calculates the difference between the first orientation information and the second orientation information, so as to correct the operation angle information with the difference to obtain the movement angle information.

10. An aircraft combination, characterized in that, Including: A drone that provides and sends the first orientation information; and The remote controller according to any one of claims 6 to 9, used to control the movement of the drone.

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