Portable modular miniature unmanned aerial vehicle and control method

Abstract

The invention discloses a portable modularized miniature unmanned aerial vehicle and a control method, and relates to the technical field of modularized miniature unmanned aerial vehicles, the portable modularized miniature unmanned aerial vehicle comprises an unmanned aerial vehicle body, a multifunctional machine sleeve and a handheld control end, and the bottom of the unmanned aerial vehicle body is provided with a magnetic type plug-and-play interface; the multifunctional machine sleeve is detachably connected with the unmanned aerial vehicle body, and the handheld control end is detachably connected with the unmanned aerial vehicle body through a magnetic type plug-and-play interface; the portable modularized miniature unmanned aerial vehicle supports dual-mode operation: the miniature unmanned aerial vehicle is additionally provided with a multifunctional machine sleeve and a handheld control end, so that the equipment can be flexibly switched between a handheld use mode and a flight use mode: in the handheld mode, a traditional pocket camera can be replaced, and the unmanned aerial vehicle does not need to be continuously held by a single hand; in the flight mode, aerial shooting can be achieved without a machine sleeve, the problem that an existing device is portable and cannot achieve the view angle at the same time is solved, and various use scenes such as daily selfie, outdoor recording and aerial high-angle shooting are covered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of modular micro unmanned aerial vehicle, in particular to a portable modular micro unmanned aerial vehicle and a control method. BACKGROUND

[0002] With the popularity of consumer-level cameras and aerial photography equipment, users' demand for portability and functional diversity of the equipment is increasingly prominent, but the related equipment on the current market still has obvious technical pain points, which is difficult to meet the core demands of users at the same time, as follows: Although the existing pocket camera has high portability and can be easily stored in a pocket or bag, it still needs to be held and operated with at least one hand in actual use. On the one hand, single-handed operation limits the user's multitasking ability. On the other hand, the fixed posture of the hand holding limits the shooting angle to the range that the hand can reach, and cannot realize flexible shooting functions such as aerial shooting and multi-angle surround, so the use scenarios are greatly limited.

[0003] Compared with the pocket camera, the existing micro unmanned camera can realize multi-angle and multi-directional shooting through flight, breaking through the angle limitation, but there are two major problems: first, the device size is relatively large, far exceeding the storage size of the pocket camera, making it difficult to carry around; second, a special remote controller is needed to realize flight control, which increases the cost and complexity of device carrying and operation, resulting in insufficient convenience in daily short trips, instant shooting and other scenarios, and cannot quickly respond to shooting needs.

[0004] In summary, in the existing technology, handheld camera equipment that is portable and easy to operate is separated from unmanned camera equipment that can shoot from multiple angles, and there is a clear technical demand gap in the market for an integrated device that can take advantage of both: it has extreme portability, does not need to be operated with one hand continuously, can realize flight shooting, and supports multi-functional expansion. SUMMARY

[0005] To solve the above technical problems, the present application provides a portable modular micro unmanned aerial vehicle and a control method. The following technical solutions are adopted: A portable modular micro unmanned aerial vehicle, comprising an unmanned aerial vehicle body, a multifunctional machine cover, and a handheld control end, a magnetic type plug-and-play interface is arranged at the bottom of the unmanned aerial vehicle body; The multifunctional machine cover is detachably connected with the unmanned aerial vehicle body, and the handheld control end is detachably connected with the unmanned aerial vehicle body through the magnetic type plug-and-play interface; The portable modular micro unmanned aerial vehicle supports dual-mode operation: When the unmanned aerial vehicle body is assembled in the multifunctional machine cover, and the handheld control end is in a connected state, a handheld use mode is formed, the handheld control end is in communication connection with the flight control system of the unmanned aerial vehicle body, and the handheld control end is connected with the modular task component; When the UAV body is separated from the multifunctional machine cover, a flight use mode is formed, and the magnetic type plug-and-play interface is used to dock the task load; The flight control system automatically detects the current use mode of the portable modular micro unmanned aerial vehicle, automatically detects the type of task load connected to the UAV body, and switches to a data interaction mode matched with the current use mode and the type of terminal device.

[0006] Optionally, in the handheld use mode, the display and auxiliary control function is realized through wireless communication connection between the mobile phone terminal and the handheld control end; In the flight use mode, the display and auxiliary remote control function is realized through wireless communication connection between the mobile phone terminal and the flight control system.

[0007] Optionally, the multifunctional machine cover is integrated with a charging and discharging device, and the charging and discharging device has a bidirectional charging and discharging mode, which is used to charge the battery of the UAV body or charge external equipment.

[0008] Optionally, a display adaptation interface is arranged on the outer cylinder wall of the multifunctional machine cover, the display adaptation interface is used to plug in a miniature liquid crystal screen, and the miniature liquid crystal screen is used as a shooting monitor in the handheld use mode to display the shooting picture in real time.

[0009] Optionally, the handheld control end includes an omnidirectional force-sensitive control for adjusting the operation parameters of the equipment, a switch button for controlling the start and stop of the equipment, a charging and discharging interface for external power supply or output of electric energy, a pair of magnetic type interfaces of the handheld control end, a chip-based main control circuit board of the handheld control end, and a wireless communication module for connecting the mobile phone terminal. The omnidirectional force-sensitive control, the switch button, the charging and discharging interface, the pair of magnetic type interfaces of the handheld control end, and the wireless communication module are respectively in communication connection with the main control circuit board of the handheld control end. The pair of magnetic type interfaces of the handheld control end are respectively used to connect with the UAV body and the modular task component.

[0010] Optionally, the modular task component includes a shooting device, an illumination device, an electric shock device, and a data interaction device.

[0011] Optionally, the total weight of the UAV body after being assembled with the multifunctional machine cover and the handheld control end is not more than 500g.

[0012] Optionally, when in the flight use mode, the magnetic type plug-and-play interface of the UAV body is directly used to form an independent flight task unit with the task load, and the task load includes a shooting device and an illumination device.

[0013] A control method of a portable modular micro unmanned aerial vehicle is used to control a portable modular micro unmanned aerial vehicle. The flight control system judges whether the UAV body is assembled in the multifunctional machine cover to form a signal A through a trigger sensor at the contact position of the UAV body and the multifunctional machine cover. The communication feedback signal of the magnetic attraction type plug and play interface is used to determine whether the handheld control end is connected with the UAV body to form a signal B. If signal A is detected as assembled and signal B is detected as connected, the flight control system determines that the current mode is the handheld use mode; if signal A is detected as not assembled and signal B is detected as not connected, the flight control system determines that the current mode is the flight use mode.

[0014] Optionally, the flight control system interacts with the connected task load or the modular task component through the magnetic attraction type plug and play interface or the magnetic attraction type interface of the handheld control end: The flight control system sends an equipment identification instruction to the task load or the modular task component, reads the built-in equipment ID and function type code, matches the preset load type database according to the read function type code, and determines the specific type of the connected task load or the modular task component. The flight control system calls the preset data interaction logic according to the determined use mode and the identified load type, and switches to the corresponding data interaction mode: When the mode is the handheld use mode: if the load type is a shooting device, the data interaction mode is set as bidirectional transmission of shooting data, the flight control system transmits the shooting picture data to the mobile terminal through the wireless communication module of the handheld control end, and transmits the shooting parameter adjustment instruction sent by the mobile terminal or the handheld control end to the shooting device. If the load type is an illumination device, the data interaction mode is set as control instruction and state feedback, the flight control system transmits the start-stop and brightness adjustment instruction sent by the handheld control end or the mobile terminal to the illumination device, and transmits the power and working state data of the illumination device to the mobile terminal. If the load type is an electric shock device, the data interaction mode is set as authorization control and safety feedback, the flight control system verifies the long-press authorization instruction of the switch button of the handheld control end, transmits the start instruction to the electric shock device, and transmits the readiness state and remaining power data of the electric shock device to the mobile terminal. When the mode is the flight use mode: If the load type is a shooting device, the data interaction mode is set as flight control and shooting data synchronization, the flight control system converts the flight direction and height adjustment instruction sent by the mobile terminal into a power control signal of the UAV body, and transmits the real-time picture data of the shooting device to the mobile terminal, to realize the cooperative control of flight and shooting. If the load type is an illumination device, the data interaction mode is set as flight state associated control, the flight control system transmits the illumination start-stop instruction sent by the mobile terminal to the illumination device, and synchronously displays the flight position and height data of the UAV body and the working state of the illumination device on the mobile terminal.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: The present application can provide a portable modular micro unmanned aerial vehicle and a control method. By adding a multifunctional machine cover and a handheld control end to the micro unmanned aerial vehicle, the device can be flexibly switched between handheld use mode and flight use mode. In handheld mode, it can replace the traditional pocket camera and does not need to rely on single-handed continuous holding. In flight mode, it can be separated from the machine cover to realize aerial shooting, solving the problem that the existing device cannot be portable and have a wide viewing angle, covering various use scenarios such as daily selfie, outdoor recording, aerial shooting, etc.

[0016] Extreme miniaturization design greatly improves portability: the device adopts an ultra-small structure design, the unmanned aerial vehicle body size is slightly larger than a regular female lipstick tube, and the total weight after assembling the multifunctional machine cover is not more than 250g, which can be easily stored in a lipstick box, pocket or small backpack. Compared with the existing micro unmanned camera, which has a large volume and needs a remote controller, the portability is improved in quality, meeting the high-frequency needs of users for short trips and instant shooting.

[0017] Through a magnetic suction type plug-and-play interface, the device can quickly disassemble and assemble terminal devices such as cameras, panoramic cameras, strong light flashlights, and anti-wolf electric shock devices.

[0018] On the one hand, the device does not need a dedicated remote controller, and whether in handheld mode or flight mode, a mobile phone is used as a display and auxiliary control terminal, reducing the operation threshold. On the other hand, the control system can automatically detect the use mode and the type of connected terminal device, automatically switch to the matching operation interface, and further simplify the operation process by combining voice control and gesture control functions, so that even non-professional users can quickly get started.

[0019] The multifunctional machine cover integrates a charging and discharging device, which can simultaneously charge the unmanned aerial vehicle body and external devices such as mobile phones, solving the problem of insufficient device endurance in outdoor scenarios; the outer cylinder wall of the machine cover can also be plugged into a micro liquid crystal screen as a shooting monitor, so that the user can still view the shooting picture in real time when there is no mobile phone or the mobile phone has insufficient power, improving the reliability and flexibility of device use. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structure schematic diagram of a portable modular micro unmanned aerial vehicle of the present application in handheld use mode; Figure 2 is Figure 1 is a structure schematic diagram of the portable modular micro unmanned aerial vehicle of the present application in handheld use mode without the multifunctional machine cover 1; Figure 3 is a structure schematic diagram of the unmanned aerial vehicle body and task load of a portable modular micro unmanned aerial vehicle of the present application in a disassembled state; Figure 4 is a structure schematic diagram of the unmanned aerial vehicle body and task load of a portable modular micro unmanned aerial vehicle of the present application in a combined state. Figure 5 is a structural schematic diagram of configuring different modular task components when the portable modular micro unmanned aerial vehicle is in a handheld use mode; Figure 6 is a component connection principle schematic diagram of the portable modular micro unmanned aerial vehicle.

[0021] Mark explanation: 1, multifunctional machine cover; 2, handheld control end; 21, omnidirectional force sensitive control; 22, switch button; 23, charge and discharge interface; 24, hand control end magnetic suction type interface; 25, hand control end main control circuit board; 26, wireless communication module; 27, modular task component; 100, unmanned aerial vehicle body; 101, magnetic suction type plug and play interface; 102, flight control system; 103, mobile phone terminal; 104, task load. DETAILED DESCRIPTION

[0022] The application will be further described in detail below with reference to the drawings.

[0023] The embodiment of the application discloses a portable modular micro unmanned aerial vehicle and a control method.

[0024] Reference Figures 1-6 , embodiment 1, a portable modular micro unmanned aerial vehicle, comprising an unmanned aerial vehicle body 100, a multifunctional machine cover 1 and a handheld control end 2, the bottom of the unmanned aerial vehicle body 100 is provided with a magnetic suction type plug and play interface 101; The multifunctional machine cover 1 is detachably connected with the unmanned aerial vehicle body 100, and the handheld control end 2 is detachably connected with the unmanned aerial vehicle body 100 through the magnetic suction type plug and play interface 101; The portable modular micro unmanned aerial vehicle supports dual-mode operation: When the unmanned aerial vehicle body 100 is assembled in the multifunctional machine cover 1, and the handheld control end 2 is in a connected state, a handheld use mode is formed, the handheld control end 2 is in communication connection with the flight control system 102 of the unmanned aerial vehicle body 100, and the handheld control end 2 is connected with the modular task component 27; When the unmanned aerial vehicle body 100 is separated from the multifunctional machine cover 1, a flight use mode is formed, and the magnetic suction type plug and play interface 101 is connected with the task load 104; The flight control system 102 automatically detects the current use mode of the portable modular micro unmanned aerial vehicle, and automatically detects the type of the task load 104 connected with the unmanned aerial vehicle body 100, and switches to a data interaction mode matched with the current use mode and the terminal equipment type.

[0025] By adopting the above technical scheme, the essence of the dual mode is to change the hardware assembly combination to trigger the flight control system 102 to call the corresponding control logic, and the switching between the two modes does not need manual setting, but relies completely on the automatic identification of the hardware state, and the specific principle is as follows: Handheld use mode: dual assembly of machine cover and handheld end triggers cooperative control Trigger condition: the unmanned aerial vehicle body 100 is assembled in the multifunctional machine cover 1, the sensor sends an assembled signal, and the handheld control end 2 is connected with the unmanned aerial vehicle body 100 through the magnetic attraction type plug and play interface 101, and the flight control system 102 receives the two signals at the same time to determine that the current is the handheld use mode.

[0026] The multifunctional machine cover 1 provides holding support, and the handheld control end 2 is connected with the modular task component 27 to form a stable handheld structure of machine cover-unmanned aerial vehicle body-handheld end-task component, replacing the single-handed holding of the traditional pocket camera and freeing the user's hand operation; The flight control system 102 establishes communication with the handheld control end 2 through the magnetic attraction interface, transmits the working state of the task component to the handheld end, and then feeds back to the user; at the same time, the user sends control instructions through the omnidirectional force-sensitive control of the handheld end and the switch button, and the instructions are processed by the flight control system 102 and then sent to the task component for execution, realizing the control-feedback closed loop.

[0027] The unmanned aerial vehicle body 100 is separated from the multifunctional machine cover 1, the sensor sends an un-assembled signal, and the handheld control end 2 is removed from the magnetic attraction type plug and play interface 101, the interface feeds back an unconnected signal, and the flight control system 102 receives the two signals to determine that the current is the flight use mode.

[0028] After removing the handheld control end 2, the magnetic attraction type plug and play interface 101 at the bottom of the unmanned aerial vehicle body 100 is directly connected with the task load 104 required by the flight scene, reducing the weight and volume of unnecessary components and ensuring that the unmanned aerial vehicle meets the power demand of miniaturized flight; Control independence: the flight control system 102 switches to flight control logic, on the one hand, realizes flight attitude stability control through its own gyroscope, accelerometer and other sensors, and on the other hand, communicates with the task load 104 through the magnetic attraction interface, transmits the picture data collected by the load during flight to the mobile terminal, and receives the flight control instructions (such as direction and height adjustment) sent by the mobile terminal, realizing the cooperative control of flight and shooting.

[0029] The flight control system 102 is the core of realizing automatic adaptation of scene and function without manual intervention, and its principle can be divided into two steps of detection and one step of switching, ensuring that the equipment can work stably in different modes and different loads: First step: logical judgment based on hardware state signal; The flight control system 102 collects two key hardware signals in real time, and determines the current mode through preset logic: Signal 1: assembly state signal of multifunctional machine cover 1 (output by sensor contacting machine cover and body, high level represents assembled, low level represents not assembled); Signal 2: connection state signal of handheld control end 2 (output by communication pin of magnetic plug-and-play interface 101, existing data interaction represents connected, no data interaction represents not connected); Determination logic: when signal 1 = high level and signal 2 = connected, it is determined as handheld use mode; when signal 1 = low level and signal 2 = not connected, it is determined as flight use mode.

[0030] Second step: device identification based on interface protocol The flight control system 102 interacts with the connected task load 104 / modular task component 27 through the magnetic plug-and-play interface 101, and the principle is as follows: Flight control actively sends device identification instruction: sends query instruction to external component through communication bus (such as I2C) of interface, requiring to feedback device ID and function type code; Load passively feedbacks characteristic information: all adapted task loads 104, such as camera, flashlight, and electric shock device, prestore unique function type code, for example: shooting device = 01, lighting device = 02, electric shock device = 03, after receiving the identification instruction, the device ID and type code of itself will be returned to the flight control; Flight control matches database: the flight control system 102 has a built-in load type-control protocol corresponding database, according to the received type code, the communication protocol and control instruction format (such as instruction code for adjusting focal length, authorization code for starting electric shock) corresponding to the load are matched to complete load type identification.

[0031] Third step: logic calling based on mode and load The flight control system 102 calls the corresponding interaction rules from the pre-stored data interaction logic library according to the detection results (use mode + load type) of the previous two steps, to ensure the adaptability of data transmission and control instruction, for example: Scenario 1: handheld mode + shooting device (such as gimbal camera) - switch to bidirectional data interaction mode: the flight control transmits the real-time picture data of the shooting device to the handheld end / mobile phone, and at the same time transmits the user's focal length adjustment shooting start-stop instruction to the shooting device; Scenario 2: handheld mode and anti-wolf electric shock device - switch to authorization control mode: the flight control first verifies the long-press switch authorization signal of the handheld end, and then issues the start instruction to the electric shock device, and at the same time returns the readiness status of the electric shock device to the mobile phone, to avoid accidental triggering; Scene 3: flight mode and shooting device (such as panoramic camera) - switch to flight-shooting cooperative mode: the flight control simultaneously transmits two types of data: one is to transmit flight attitude instructions (such as turning and hovering) to the unmanned aerial vehicle power system, and the other is to transmit shooting control instructions (such as panoramic splicing start) to the camera, and simultaneously transmit flight position data and shooting picture data to the mobile phone, realizing the seen is the flown.

[0032] In the handheld use mode, the mobile terminal 103 is wirelessly connected with the handheld control end 2 to realize display and auxiliary control functions. In the flight use mode, the mobile terminal 103 is wirelessly connected with the flight control system 102 to realize display and auxiliary remote control functions.

[0033] In the flight use mode, the mobile terminal 103 is wirelessly connected with the flight control system 102 to realize display and auxiliary remote control functions.

[0034] The handheld control end 2 transmits the working data of the modular task component 27 to the mobile terminal 103 to realize the display of picture and state information; at the same time, the auxiliary control instructions sent by the mobile terminal 103 are transmitted through the handheld control end 2 to adjust the working parameters and start-stop state of the modular task component 27, and the auxiliary control is completed.

[0035] In the flight use mode, the mobile terminal 103 is wirelessly connected with the flight control system 102. The flight control system 102 transmits the flight state data of the unmanned aerial vehicle body 100 and the working data of the task load 104 to the mobile terminal 103 to realize the display of flight parameters and shooting pictures; the auxiliary remote control instructions sent by the mobile terminal 103 are directly transmitted to the flight control system 102 to adjust the flight direction, height and working state of the task load 104 of the unmanned aerial vehicle, and the auxiliary remote control is completed.

[0036] In the flight use mode, the mobile terminal 103 is wirelessly connected with the flight control system 102. The flight control system 102 transmits the flight state data of the unmanned aerial vehicle body 100 and the working data of the task load 104 to the mobile terminal 103 to realize the display of flight parameters and shooting pictures; the auxiliary remote control instructions sent by the mobile terminal 103 are directly transmitted to the flight control system 102 to adjust the flight direction, height and working state of the task load 104 of the unmanned aerial vehicle, and the auxiliary remote control is completed.

[0037] In the flight use mode, the mobile terminal 103 is wirelessly connected with the flight control system 102. The flight control system 102 transmits the flight state data of the unmanned aerial vehicle body 100 and the working data of the task load 104 to the mobile terminal 103 to realize the display of flight parameters and shooting pictures; the auxiliary remote control instructions sent by the mobile terminal 103 are directly transmitted to the flight control system 102 to adjust the flight direction, height and working state of the task load 104 of the unmanned aerial vehicle, and the auxiliary remote control is completed.

[0038] The hand-held control end 2 includes an omnidirectional force-sensitive control 21 for adjusting the operating parameters of the device, a switch button 22 for controlling the start and stop of the device, a charge and discharge interface 23 for external power supply or output of electric energy, a pair of magnetic suction type interfaces 24 for the hand-held control end, a chip-based hand-held control end main control circuit board 25, and a wireless communication module 26 for connecting the mobile phone terminal 103. The omnidirectional force-sensitive control 21, the switch button 22, the charge and discharge interface 23, the pair of magnetic suction type interfaces 24, and the wireless communication module 26 are respectively in communication connection with the hand-held control end main control circuit board 25. The pair of magnetic suction type interfaces 24 are respectively used for connecting the unmanned aerial vehicle body 100 and the modular task component 27.

[0039] The modular task component 27 includes a shooting device, an illumination device, an electric shock device, and a data interaction device.

[0040] By adopting the above technical scheme, the hand-held control end 2 takes the hand-held control end main control circuit board 25 as the core hub to realize the cooperative control and data interaction of various components.

[0041] The omnidirectional force-sensitive control 21 is used for collecting the adjustment signal of the user to the operating parameters of the device, which is directly transmitted to the hand-held control end main control circuit board 25 and converted into a corresponding control instruction after being processed by the hand-held control end main control circuit board 25. The switch button 22 collects the start and stop signal of the device, which is also transmitted to the hand-held control end main control circuit board 25 to trigger the operation logic of starting or closing the device.

[0042] The user applies pressure to the omnidirectional force-sensitive control 21 in different directions by fingers, such as pushing left to adjust the brightness to decrease, pushing right to adjust the brightness to increase, pushing up to adjust the focal length to zoom in, pushing down to adjust the focal length to zoom out, or pressing the central area to confirm the function. The corresponding nodes of the sensor array will generate resistance value changes according to the pressure.

[0043] Signal conversion and transmission: The signal processing module monitors the resistance value changes of each node in real time, converts them into corresponding voltage signals, amplifies them, converts them into digital signals through an AD conversion chip, and then transmits the digital signals to the hand-held control end main control circuit board 25 through an SPI communication interface.

[0044] After receiving the digital signal, the hand-held control end main control circuit board 25 generates a specific control instruction according to the preset force direction-parameter adjustment mapping logic (such as leftward pressure corresponding to “brightness-5%” and rightward pressure corresponding to “brightness+5%”). Then the instruction is transmitted to the flight control system 102 through the magnetic suction type interface, and then issued to the corresponding modular task component (such as the illumination device and the shooting device) by the flight control system 102 to complete the parameter adjustment. At the same time, the adjusted state of the task component (such as the current brightness value and the current focal length) is transmitted back to the main control circuit board, processed, and then transmitted to the mobile phone terminal 103 through the wireless communication module 26 for display, forming an operation-feedback closed loop.

[0045] The power input and output state of the charge-discharge interface 23 is monitored and managed by the hand control end master control circuit board 25. When power supply is needed for the hand control end or associated equipment, or external power supply is needed to supplement power, the master control circuit board regulates the working state of the charge-discharge interface 23.

[0046] The wireless communication module 26 establishes a wireless connection with the mobile phone terminal 103 under the control of the hand control end master control circuit board 25, realizes bidirectional data transmission, sends device working state data to the mobile phone terminal 103, and receives auxiliary control instructions issued by the mobile phone terminal 103 and transmits them to the hand control end master control circuit board 25.

[0047] A pair of hand control end magnetic suction type interfaces 24 undertake different connection functions, one of which is connected to the unmanned aerial vehicle body 100, and the other of which is connected to the modular task component 27. Both of them realize data and power transmission through the hand control end master control circuit board 25, and ensure the cooperative work between the hand control end and the unmanned aerial vehicle body and the modular task component 27.

[0048] In embodiment 7, the total weight of the unmanned aerial vehicle body 100 after being assembled with the multifunctional sleeve 1 and the hand control end 2 is not more than 500g.

[0049] By adopting the above technical scheme, the portable modular micro unmanned aerial vehicle is an ultra-small device, and the unmanned aerial vehicle body is slightly larger than a female lipstick tube. In addition, the multifunctional sleeve is also not more than 250g, and the portability is extremely realized.

[0050] In embodiment 8, when in the flight use mode, the magnetic suction type plug-and-play interface 101 of the unmanned aerial vehicle body 100 directly forms an independent flight task unit with the task load 104, which includes a shooting device and a lighting device.

[0051] In embodiment 9, a control method of a portable modular micro unmanned aerial vehicle is used for controlling a portable modular micro unmanned aerial vehicle. The flight control system 102 judges whether the unmanned aerial vehicle body 100 is assembled in the multifunctional sleeve 1 to form a signal A through a trigger sensor at the contact position of the multifunctional sleeve 1 and the unmanned aerial vehicle body 100. A communication feedback signal of the magnetic suction type plug-and-play interface 101 is used to judge whether the hand control end 2 is physically and communicatively connected with the unmanned aerial vehicle body 100 to form a signal B. If signal A is detected as assembled and signal B is detected as connected at the same time, the flight control system 102 determines that the current mode is the hand use mode. If signal A is detected as not assembled and signal B is detected as not connected, the flight control system 102 determines that the current mode is the flight use mode.

[0052] In the embodiment 10, the flight control system 102 interacts with the connected task load 104 or the modular task component 27 through the magnetic plug-and-play interface 101 or the hand-held control end 2. The device identification instruction is sent to the task load 104 or the modular task component 27 to read the built-in device ID and function type code; according to the read function type code, the preset load type database is matched to determine the specific type of the connected task load 104 or the modular task component 27. The flight control system 102 calls the preset data interaction logic according to the determined use mode and the identified load type, and switches to the corresponding data interaction mode. When the hand-held use mode is used, if the load type is a shooting device, the data interaction mode is set as bidirectional transmission of shooting data, the flight control system 102 transmits the shooting picture data to the mobile terminal 103 through the wireless communication module 26 of the hand-held control end 2 for display, and transmits the shooting parameter adjustment instruction sent by the mobile terminal 103 or the hand-held control end 2 to the shooting device. If the load type is an illumination device, the data interaction mode is set as control instruction and state feedback, the flight control system 102 transmits the start-stop and brightness adjustment instruction sent by the hand-held control end 2 or the mobile terminal 103 to the illumination device, and transmits the power and working state data of the illumination device to the mobile terminal 103 for display. If the load type is an electric shock device, the data interaction mode is set as authorization control and safety feedback, the flight control system 102 verifies the long-press authorization instruction of the switch button 22 of the hand-held control end 2, and then transmits the start instruction to the electric shock device, and transmits the readiness state and remaining power data of the electric shock device to the mobile terminal 103. When the flight use mode is used: If the load type is a shooting device, the data interaction mode is set as flight control and shooting data synchronization, the flight control system 102 converts the flight direction and height adjustment instruction sent by the mobile terminal 103 into the power control signal of the unmanned aerial vehicle body 100, and transmits the real-time picture data of the shooting device to the mobile terminal 103, so as to realize the cooperative control of flight and shooting. If the load type is an illumination device, the data interaction mode is set as flight state associated control, the flight control system 102 transmits the illumination start-stop instruction sent by the mobile terminal 103 to the illumination device, and synchronously displays the flight position and height data of the unmanned aerial vehicle body 100 and the working state of the illumination device on the mobile terminal 103.

[0053] The following uses specific embodiments to illustrate the implementation principle of the present application: Take the user outdoor short trip park play scene as an example, complete show portable modular micro unmanned aerial vehicle assembly, mode switching and function application, cover each embodiment core technology scheme, as follows: I. Equipment initial configuration and portability: User travel, unmanned aerial vehicle body 100, multifunctional machine cover 1, handheld control end 2 and modular task components 27 (gimbal camera, strong light flashlight, anti-wolf electric shock device, panoramic camera) are stored in a small portable bag. Among them, the size of the unmanned aerial vehicle body 100 is slightly larger than the regular lipstick tube, and the total weight of the assembled multifunctional machine cover 1 and handheld control end 2 is 240g, which does not exceed the upper limit of 500g, and meets the requirement of extreme portability, which can be easily carried to the park scene.

[0054] II. Application of handheld use mode: 1. Mode triggering and equipment assembly: After the user arrives at the park, he needs to take close-up flower details, and selects the handheld use mode. First, the unmanned aerial vehicle body 100 is assembled into the multifunctional machine cover 1, and the trigger sensor at the contact position of the cover and the body sends an "assembled" signal (signal A); then through the magnetic type plug and play interface 101 at the bottom of the unmanned aerial vehicle body 100, the handheld control end 2 is connected with the unmanned aerial vehicle body 100, and the interface communication pin feedback "connected" signal (signal B). The flight control system 102 receives signals A and B at the same time, automatically determines that the current is handheld use mode, and starts the control logic in handheld mode.

[0055] 2. Use with shooting equipment (gimbal camera): The user connects the gimbal camera through the hand control end magnetic type interface 24 of the handheld control end 2, and the flight control system 102 sends equipment identification instructions to the gimbal camera through the interface, reads its function type code as "01" (shooting equipment), and after matching the preset database, switches to "shooting data bidirectional transmission" mode.

[0056] During use, the user adjusts the focal length of the gimbal camera through the omnidirectional force sensitive control 21 of the handheld control end 2, and controls the shooting start and stop through the switch button 22; at the same time, the wireless communication module 26 of the handheld control end 2 establishes wireless connection with the mobile phone terminal 103, and transmits the real-time flower shooting picture of the gimbal camera to the mobile phone screen display, which is convenient for the user to confirm the shooting effect. If the mobile phone power is insufficient, the user can insert the miniature liquid crystal screen through the display adaptation interface of the multifunctional machine cover 1 outer cylinder wall, replace the mobile phone as a shooting monitor, and view the picture in real time.

[0057] 3. Switch to lighting equipment (strong light flashlight) use: At dusk, the user needs to switch to the lighting function. Remove the gimbal camera, and connect the flashlight through the magnetic interface 24 on the hand control end 2. The flight control system 102 re-identifies the components and reads the function type code as "02" (lighting device), switching to the "control command and state feedback" mode.

[0058] The user adjusts the brightness of the flashlight through the omnidirectional force-sensitive control 21, and the on-off button 22 controls the flashlight start-stop; the flight control system 102 transmits the state data such as the remaining power and current brightness level of the flashlight to the mobile terminal 103 through the wireless communication module 26 for display, so that the user can master the device's endurance.

[0059] 4. Use with electric shock device (anti-wolf electric shock device): The user needs to turn on the safety protection function when passing through the remote area of the park, remove the flashlight, and connect the anti-wolf electric shock device. The flight control system 102 identifies its function type code as "03" (electric shock device) and switches to the "authorized control and safety feedback" mode.

[0060] When in use, the user long-presses the on-off button 22 of the hand control end 2, and the flight control system 102 verifies the authorization command before issuing a start signal to the anti-wolf electric shock device; at the same time, it returns the "ready state" and "remaining power" data of the anti-wolf electric shock device to the mobile terminal 103, avoiding accidental triggering and allowing the user to master the device's state in real time. If the mobile phone runs out of power during this period, the user can connect the mobile phone to the charge-discharge interface through the charge-discharge device integrated in the multifunctional machine cover 1, and start the bidirectional charge-discharge mode to supplement the power of the mobile phone.

[0061] Three, flight use mode application: 1. Mode triggering and device assembly: The user needs to shoot the panoramic picture of the park and select the flight use mode. First, remove the multifunctional machine cover 1, and trigger the sensor to send the "uninstalled" signal (signal A); then remove the hand control end 2, and the magnetic interface 101 feedbacks the "unconnected" signal (signal B). The flight control system 102 receives signal A and signal B, automatically determines that the current is the flight use mode, and switches to the flight control logic.

[0062] The user directly connects the panoramic camera through the magnetic interface 101 at the bottom of the unmanned aerial vehicle body 100 to form an independent flight task unit (in line with the connection requirements of the task load 104 in flight mode). The flight control system 102 sends an identification command to the panoramic camera, reads the function type code as "01" (shooting device), and switches to the "flight control and shooting data synchronization" mode.

[0063] 2. Flight shooting control: The mobile phone terminal 103 establishes wireless communication with the flight control system 102, the user operates the flight control interface on the mobile phone, sends instructions such as “rise to 5 meters high” and “fly horizontally around”, the flight control system 102 converts the instructions into power control signals of the unmanned aerial vehicle body 100, and drives the unmanned aerial vehicle to fly stably; at the same time, the panoramic pictures collected by the panoramic camera are transmitted back to the mobile phone screen in real time, the user can adjust the flight direction and height according to the pictures, realize “flight and shooting cooperative control”, and complete panoramic material shooting.

[0064] 3. Use with lighting equipment (emergency light): In the event of an emergency at night, the user needs to use the unmanned aerial vehicle to provide aerial lighting. Remove the panoramic camera, and connect the emergency light to the unmanned aerial vehicle body 100 through the magnetic plug-and-play interface 101. The flight control system 102 recognizes that the function type code of the emergency light is “02” (lighting equipment), and switches to the “flight state associated control” mode.

[0065] The user sends the “lighting on” instruction through the mobile phone terminal 103, the flight control system 102 transmits the instruction to the emergency light, and synchronously displays the flight position (latitude and longitude), flight height, etc. of the unmanned aerial vehicle and the “on state” of the emergency light on the mobile phone screen, so as to facilitate the user to accurately control the unmanned aerial vehicle to fly to the area that needs lighting, and provide stable aerial lighting support.

[0066] Four, mode switching and dynamic adaptation: During the whole park tour, the user can switch the use mode at any time according to the needs. For example, when switching from the flight mode back to the handheld mode, only need to reassemble the multifunctional machine cover 1 and the handheld control end 2, the flight control system 102 detects the change of signal A and signal B, automatically re-determines the mode and switches the corresponding data interaction logic, without manual setting; when replacing the modular task component 27, the flight control system 102 will also real-time re-identify the component type, adjust the control mode, and ensure that the device function and user demand are accurately matched.

[0067] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A portable modular micro drone, characterized by: The unmanned aerial vehicle body (100) is provided with a magnetic type plug and play interface (101) at the bottom. The multifunctional machine cover (1) is detachably connected with the unmanned aerial vehicle body (100), and the handheld control end (2) is detachably connected with the unmanned aerial vehicle body (100) through the magnetic type plug and play interface (101). The portable modular micro unmanned aerial vehicle supports dual-mode operation. When the unmanned aerial vehicle body (100) is assembled in the multifunctional machine cover (1), and the handheld control end (2) is in a connected state, a handheld use mode is formed, the handheld control end (2) is in communication connection with the flight control system (102) of the unmanned aerial vehicle body (100), and the handheld control end (2) is connected with the modular task component (27). When the unmanned aerial vehicle body (100) is separated from the multifunctional machine cover (1), a flight use mode is formed, and the magnetic type plug and play interface (101) is connected with the task load (104). The flight control system (102) automatically detects the current use mode of the portable modular micro unmanned aerial vehicle, automatically detects the type of the task load (104) connected with the unmanned aerial vehicle body (100), and switches to a data interaction mode matched with the current use mode and the terminal device type.

2. The portable modular micro drone of claim 1, wherein: In the handheld use mode, the mobile phone terminal (103) is in wireless communication connection with the handheld control end (2), and display and auxiliary control functions are realized. In the flight use mode, the mobile phone terminal (103) is in wireless communication connection with the flight control system (102), and display and auxiliary remote control functions are realized.

3. The portable modular micro drone of claim 2, wherein: The multifunctional machine cover (1) is integrated with a charging and discharging device, and the charging and discharging device has a bidirectional charging and discharging mode.

4. The portable modular micro drone of claim 3, wherein: A display adaptation interface is arranged on the outer cylinder wall of the multifunctional machine cover (1), the display adaptation interface is used for inserting a micro liquid crystal screen, and the micro liquid crystal screen is used as a shooting monitor in the handheld use mode and displays a shooting picture in real time.

5. The portable modular micro drone of claim 4, wherein: The handheld control end (2) comprises an omnidirectional force-sensitive control (21) for adjusting operation parameters of the device, a switch button (22) for controlling start and stop of the device, a charging and discharging interface (23) for external power supply or output of electric energy, a pair of handheld control end magnetic type interfaces (24), a handheld control end main control circuit board (25) based on a chip, and a wireless communication module (26) for connecting the mobile phone terminal (103), and the omnidirectional force-sensitive control (21), the switch button (22), the charging and discharging interface (23), the pair of handheld control end magnetic type interfaces (24), and the wireless communication module (26) are respectively in communication connection with the handheld control end main control circuit board (25), and the pair of handheld control end magnetic type interfaces (24) are respectively used for connecting the unmanned aerial vehicle body (100) and the modular task component (27).

6. The portable modular micro drone of claim 5, wherein: The modular task component (27) comprises a shooting device, an illumination device, an electric shock device, and a data interaction device.

7. The portable modular micro drone of claim 6, wherein: The total weight of the unmanned aerial vehicle body (100) after being assembled with the multifunctional machine cover (1) and the handheld control end (2) is not more than 500 g.

8. The portable modular micro drone of claim 7, wherein: When in flight use mode, the unmanned aerial vehicle body (100) directly forms an independent flight task unit with the task load (104) through the magnetic plug-and-play interface (101) of the unmanned aerial vehicle body (100), and the task load (104) includes a shooting device and an illuminating device.

9. A control method of the portable modular micro unmanned aerial vehicle of claim 8, characterized in that: The flight control system (102) judges whether the unmanned aerial vehicle body (100) is assembled in the multifunctional machine cover (1) to form a signal A through the trigger sensor at the contact position of the unmanned aerial vehicle body (100) and the multifunctional machine cover (1); The handheld control end (2) is judged whether to establish physical and communication connection with the unmanned aerial vehicle body (100) to form a signal B through the communication feedback signal of the magnetic plug-and-play interface (101); If signal A is detected as assembled and signal B is detected as connected, the flight control system (102) determines that the current is in handheld use mode; if signal A is detected as not assembled and signal B is detected as not connected, the flight control system (102) determines that the current is in flight use mode.

10. The control method of the portable modular micro unmanned aerial vehicle of claim 9, characterized in that: The flight control system (102) interacts with the connected task load (104) or modular task component (27) through the magnetic plug-and-play interface (101) or the hand control end magnetic plug-and-play interface (24) of the handheld control end (2): Send a device identification instruction to the task load (104) or modular task component (27) to read the built-in device ID and function type code; according to the read function type code, match the preset load type database to determine the specific type of the currently connected task load (104) or modular task component (27); The flight control system (102) calls the preset data interaction logic according to the determined use mode and the identified load type, and switches to the corresponding data interaction mode: When in handheld use mode: if the load type is a shooting device, the data interaction mode is set to bidirectional transmission of shooting data, and the flight control system (102) transmits the shooting picture data to the mobile phone terminal (103) for display through the wireless communication module (26) of the handheld control end (2), and transmits the shooting parameter adjustment instruction sent by the mobile phone terminal (103) or the handheld control end (2) to the shooting device; If the load type is an illuminating device, the data interaction mode is set to control instruction and state feedback, and the flight control system (102) transmits the start-stop and brightness adjustment instructions sent by the handheld control end (2) or the mobile phone terminal (103) to the illuminating device, and transmits the power and working state data of the illuminating device back to the mobile phone terminal (103) for display; If the load type is an electric shock device, the data interaction mode is set to authorization control and safety feedback, and the flight control system (102) first verifies the long-press authorization instruction of the switch button (22) of the handheld control end (2), and then transmits the start instruction to the electric shock device, and transmits the readiness state and remaining power data of the electric shock device back to the mobile phone terminal (103); When in flight use mode: If the load type is a shooting device, the data interaction mode is set as flight control and shooting data synchronization, the flight control system (102) converts the flight direction and height adjustment instructions sent by the mobile terminal (103) into power control signals of the unmanned aerial vehicle body (100), and simultaneously returns the real-time picture data of the shooting device to the mobile terminal (103), so as to realize the cooperative control of flight and shooting. If the load type is an illumination device, the data interaction mode is set as flight state associated control, the flight control system (102) transmits the illumination start-stop instructions sent by the mobile terminal (103) to the illumination device, and simultaneously synchronously displays the flight position and height data of the unmanned aerial vehicle body (100) and the working state of the illumination device on the mobile terminal (103).

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