Unmanned device control method, device, storage medium, and electronic device

Abstract

The present disclosure provides an unmanned equipment control method, device, storage medium and electronic device, in which the method determines the thrust required for the unmanned equipment and a target rotation speed required to provide the required thrust for the unmanned equipment based on status information and / or environmental information of the unmanned equipment, and adjusts the voltage input to the motor of the unmanned equipment based on the target rotation speed, and controls the unmanned equipment with the adjusted voltage.

Description

[Technical Field]

[0001] The present disclosure relates to the technical field of unmanned operation, and in particular to an unmanned device control method, device, storage medium, and electronic device. [Background technology]

[0002] With the continuous development of unmanned driving technology and new energy technology, electric unmanned equipment driven by electricity is becoming more and more common. Unlike those that use oil or coal as energy, the main power of electric unmanned equipment comes from a power battery installed in the equipment itself.

[0003] Taking an electric unmanned aircraft as an example, a power battery is attached to the electric unmanned aircraft, and while the electric unmanned aircraft is flying, each motor in the electric unmanned aircraft obtains power to rotate the drone through the voltage input from the power battery to the drone, and as each motor rotates, the electric unmanned aircraft obtains the power required for flight. Summary of the Invention [Means for solving the problem]

[0004] The present disclosure provides a method for controlling an unmanned equipment, which includes determining a thrust required for the unmanned equipment and a target rotation speed required when a motor of the unmanned equipment provides the thrust based on status information and / or environmental information of the unmanned equipment, determining whether a difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is smaller than a first threshold, and if the difference is smaller than the first threshold, adjusting the first voltage input to the motor of the unmanned equipment based on the target rotation speed to obtain a target voltage, and controlling the unmanned equipment using the target voltage.

[0005] In some embodiments, the rotational speed thresholds include an upper rotational speed threshold and a lower rotational speed threshold.

[0006] In some embodiments, the state information of the unmanned device includes at least one of a weight, an acceleration, and a velocity of the unmanned device.

[0007] In some embodiments, determining the thrust required for the unmanned equipment based on state information and / or environmental information for the unmanned equipment includes determining a target state that the unmanned equipment needs to reach at a specified time, and determining the thrust required for the unmanned equipment based on state information of the unmanned equipment at a current time, the environmental information, and the target state.

[0008] In some embodiments, adjusting the first voltage input to the motor of the unmanned equipment based on the target rotational speed to obtain a target voltage and controlling the unmanned equipment using the target voltage includes determining a target rotational speed threshold corresponding to the target rotational speed based on the target rotational speed, determining the target voltage corresponding to the target rotational speed threshold based on the target rotational speed threshold, and adjusting the first voltage input to the motor of the unmanned equipment based on the target voltage.

[0009] In some embodiments, the difference between the target rotation speed and a rotation speed threshold corresponding to the target voltage is greater than or equal to a second threshold.

[0010] In some embodiments, determining a target rotation speed threshold corresponding to the target rotation speed includes determining a target rotation speed upper limit threshold and a target rotation speed lower limit threshold corresponding to the target rotation speed, and determining the target voltage corresponding to the target rotation speed threshold based on the target rotation speed threshold includes determining a target rotation speed range corresponding to the target rotation speed lower limit threshold to the target rotation speed upper limit threshold based on the target rotation speed upper limit threshold and the target rotation speed lower limit threshold, and determining the target voltage corresponding to the target rotation speed range based on the target rotation speed range.

[0011] The present disclosure provides an unmanned equipment control device, which includes a target voltage determination module for determining the thrust required for the unmanned equipment and the target rotation speed required when the motor of the unmanned equipment provides the thrust based on status information and / or environmental information of the unmanned equipment, and a voltage adjustment module for determining whether the difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is smaller than a first threshold, and if the difference is smaller than the first threshold, adjusting the first voltage input to the motor of the unmanned equipment based on the target rotation speed to obtain a target voltage and controlling the unmanned equipment using the target voltage.

[0012] The present disclosure provides a computer-readable storage medium having a computer program stored therein, which, when executed by a processor, implements the unmanned equipment control method described above.

[0013] The present disclosure provides an unmanned equipment, which includes a memory, a processor, and a computer program stored in the memory and executable by the processor, the program implementing the unmanned equipment control method when executed by the processor. [Effects of the Invention]

[0014] The above at least one technical solution used by the present disclosure can achieve the following beneficial effects:

[0015] In the unmanned equipment control method disclosed herein, the thrust required for the unmanned equipment and the target rotation speed required for the motor of the unmanned equipment to provide the thrust are determined based on the status information and / or environmental information of the unmanned equipment, and the voltage input to the motor of the unmanned equipment is adjusted based on the target rotation speed, and the unmanned equipment is controlled with the adjusted voltage.

[0016] As can be seen from the above method, the method can avoid the problem of power saturation in the unmanned equipment by adjusting the voltage input to the motor of the unmanned equipment. [Brief explanation of the drawings]

[0017] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure, and the schematic examples of the present disclosure and the description thereof are used to interpret the present disclosure and are not intended to limit the present disclosure. [Figure 1] 1 is a flowchart of a method for controlling an unmanned device according to an embodiment of the present disclosure. [Figure 2] 1 is a schematic diagram of an unmanned equipment control device according to an embodiment of the present disclosure. [Figure 3] 2 is a schematic diagram of an electronic device corresponding to FIG. 1 according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0018] An unmanned device obtains power from the rotation of a motor attached to the unmanned device, and the rotational power of the motor comes from the voltage output from a power battery attached to the unmanned device. When an unmanned device receives external interference during operation, it will increase or decrease the motor's rotation speed so that the unmanned device can continue to operate normally. If the motor's rotation speed is too close to the upper or lower limit of the rotation speed corresponding to the current voltage, a power saturation problem will occur, even though the rotation speed is still within the range corresponding to the upper and lower limits of the rotation speed, which will reduce the control performance of the electric unmanned device. Furthermore, the electric unmanned device will lose control and will not be able to fly in the preset target state.

[0019] When an electric unmanned aerial vehicle experiences significant external resistance during flight, for example, when flying against a wind, the motors of the electric unmanned vehicle increase their rotation speeds to ensure sufficient thrust for the vehicle to fly normally. Alternatively, when the electric unmanned vehicle encounters an updraft, the motors decrease their rotation speeds to reduce the thrust for the vehicle to fly normally. However, if the rotation speeds of the motors are too high or too low, the power of the electric unmanned vehicle will be saturated. Therefore, how to control unmanned equipment to avoid power saturation when performing a task is an issue that needs to be addressed urgently.

[0020] In this aspect, by adjusting the voltage input to the motor of the unmanned equipment and changing the rotation speed threshold of the motor of the unmanned equipment, power saturation problems in the unmanned equipment can be avoided while the unmanned equipment can still perform tasks in the target state.

[0021] In order to clarify the objectives, technical solutions and advantages of the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with specific embodiments of the present disclosure and corresponding drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and are not all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0022] Hereinafter, the technical solutions according to the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0023] FIG. 1 is a flowchart of an unmanned device control method according to an embodiment of the present disclosure, including steps S100 to S104.

[0024] S100: Determine a thrust required for the unmanned equipment and a target number of revolutions required for the motor of the unmanned equipment to provide the thrust based on state information and / or environmental information of the unmanned equipment.

[0025] The unmanned device control method according to the present disclosure may be executed by an unmanned device or by an electronic device capable of controlling an unmanned device, such as a laptop computer, a mobile phone, a server, etc., but the present disclosure is not limited thereto. In the following, only the case where the execution entity is an unmanned device will be described as an example.

[0026] The unmanned devices referred to in the present disclosure may include devices capable of autonomous driving, such as unmanned aerial vehicles, unmanned vehicles, robots, and automated delivery devices. Based on this, an unmanned device using the unmanned device control method according to the present disclosure can be used to perform delivery tasks in the delivery field, such as business scenarios in which an unmanned device performs deliveries, logistics, food delivery, and the like. In the following, an example will be described in which the unmanned device is an unmanned aerial vehicle.

[0027] In some embodiments, the unmanned driving system in the drone can plan a target route for the drone during task execution based on the received task information sent by the server. During task execution, the drone can fly according to the pre-planned target route, that is, the drone needs to reach the pre-planned target state at each time, and the drone can monitor its own status information and the information of the environment in which it is located in real time to ensure safety when the drone executes the task.

[0028] The state information includes at least one of the drone's weight, speed, and acceleration, where the drone's weight may include the drone's own weight and may further include the weight of the drone's load. For example, when a drone performs a logistics delivery task, after the drone loads the goods to be delivered, the drone's weight increases, and the drone's motor increases its rotation speed so that the drone can fly in the target state. At this time, the rotation speed of the drone's motor may reach an upper rotation speed threshold, causing the drone to experience a power saturation problem. Similarly, after the drone delivers the goods, the drone's load decreases, and the drone decreases its rotation speed so that the drone can still fly in the target state. At this time, the rotation speed of the drone's motor may reach a lower rotation speed threshold, causing the drone to experience a power saturation problem.

[0029] The target state may also include at least one of the speed and acceleration of the drone. The environmental information monitored by the drone may include wind speed and may further include other environmental conditions such as rainfall, although this disclosure is not limited thereto. If the unmanned device is an unmanned vehicle, the environmental information may further include the slope on which the unmanned vehicle is traveling.

[0030] To ensure that the drone can always fly in the target state, the drone can determine the resistance it will encounter based on the environment at the current time, and determine the thrust required for the drone to reach the target state at a specified time based on the difference between the drone's actual state at the current time and the target state. The specified time may be the current time or another time, and the present disclosure is not limited thereto.

[0031] The power that a drone derives during flight comes from the rotation of its motor; the higher the motor's rotation speed, the greater the thrust the drone can obtain; conversely, the lower the motor's rotation speed, the less thrust the drone can obtain. Therefore, based on the required thrust, the drone can determine the target rotation speed required for the motor to provide that thrust.

[0032] For example, if a drone needs to fly from point A to point C at a speed of 10 m / s according to a pre-planned route in a windless environment, and the voltage input to the drone's motor is 4 V and the drone's motor rotation speed is 1500 rpm, the drone can fly at a speed of 10 m / s, and if the motor rotation speed range corresponding to 4 V voltage is 1000 rpm to 2000 rpm, the drone will not experience power saturation problems. During the drone's flight, the drone monitors its own actual state and environmental conditions, such as wind speed, at its location in real time.

[0033] If the drone encounters strong winds while flying to point B and flies into a headwind, and the current motor speed remains at 1500 rpm, the drone can only fly at a speed of 5 m / s. Based on the monitored wind speed, the actual state at the current time, and the target state the drone needs to reach, the drone can determine that the thrust required for the drone at the current time is 20 N, and based on the 20 N of thrust required for the drone at the current time, the drone can determine that the target speed required for the drone's motor to provide said 20 N of thrust is 1900 rpm.

[0034] S102: Determine whether the difference between the target rotation speed and the rotation speed threshold value corresponding to the first voltage is smaller than a first threshold value, and if so, execute S104.

[0035] In some embodiments, to avoid the problem of power saturation in the unmanned aerial vehicle, the unmanned operation system in the unmanned aerial vehicle determines whether the difference between the target rotation speed determined in step S100 and a rotation speed threshold corresponding to the first voltage is smaller than a first threshold, and thereby determines whether the first voltage input to the motor of the unmanned aerial vehicle needs to be adjusted, for example, by determining whether the value obtained by subtracting a lower rotation speed threshold corresponding to the first voltage input to the motor of the unmanned aerial vehicle from the target rotation speed is smaller than the first threshold, or by determining whether the value obtained by subtracting the target rotation speed from an upper rotation speed threshold corresponding to the first voltage input to the motor of the unmanned aerial vehicle is smaller than the first threshold. The first voltage may be the voltage input to the motor of the unmanned aerial vehicle at the current time, and the present disclosure is not limited thereto.

[0036] If the rotation speed of the drone's motor is too fast or too slow, a power saturation problem will occur, so the rotation speed threshold includes an upper rotation speed threshold and a lower rotation speed threshold.

[0037] S104: Based on the target rotation speed, adjust a first voltage input to a motor of the unmanned equipment to obtain a target voltage, and control the unmanned equipment using the target voltage.

[0038] If the absolute value of the difference between the target rotation speed and the rotation speed threshold at the current time is smaller than the first threshold, it indicates that the target rotation speed is about to reach the rotation speed threshold, and the drone will encounter a power saturation problem. The drone can avoid the power saturation problem by adjusting the voltage.

[0039] In some embodiments, as can be seen from step S100, when the rotation speed of the drone's motor is close to the rotation speed threshold corresponding to the first voltage (the voltage at the current time), the drone will generally experience a power saturation problem. To ensure that the power saturation problem does not occur when the drone reaches the target rotation speed, a target rotation speed upper limit threshold and a target rotation speed lower limit threshold are determined, the difference from the target rotation speed being greater than or equal to a second threshold, and a rotation speed range corresponding to the rotation speed lower limit threshold to the rotation speed upper limit threshold is determined, and the determined rotation speed range can be set as the target rotation speed range.

[0040] The motor speed is not only dependent on the structural parameters of the motor itself, but also on the voltage input to the motor. The maximum and minimum speeds of a drone motor vary with different voltages, and as the voltage increases or decreases, the maximum and minimum speeds of the motor also increase or decrease.

[0041] Therefore, the unmanned device can determine a target voltage corresponding to the target rotation speed threshold based on the target rotation speed threshold. Note that the range from the target rotation speed lower limit threshold to the target rotation speed upper limit threshold is a target rotation speed range, and each rotation speed range corresponds to one target voltage, so the target rotation speed lower limit threshold and the target rotation speed upper limit threshold corresponding to the same target rotation speed correspond to the same target voltage.

[0042] The rotation speed threshold corresponding to the target voltage includes a target rotation speed upper limit threshold and a target rotation speed lower limit threshold, and as can be seen from the above explanation, the difference between the target rotation speed and the rotation speed threshold corresponding to the target voltage (target rotation speed upper limit threshold, target rotation speed lower limit threshold) is greater than or equal to the second threshold.

[0043] In an embodiment of the present disclosure, a transformer module capable of adjusting the voltage input to the motor is installed between the power battery of the drone and each motor. After the drone determines the target voltage input to the motor using the above method, it uses the transformer module to adjust the first voltage (the actual voltage at the current time) to the target voltage, thereby allowing the motor to reach the target rotation speed at the adjusted voltage (target voltage) and preventing power saturation problems.

[0044] Continuing with the example above, the target RPM does not exceed the upper RPM limit of 2000 rpm, which corresponds to the actual voltage of 4V at the current time. However, the difference between the target RPM of 1900 rpm and the current upper RPM limit of 2000 rpm is only 100 rpm, which may cause the drone to experience a power saturation problem. Therefore, based on the target RPM of 1900 rpm, the drone can determine a target RPM lower threshold of 1400 rpm and an upper target RPM threshold of 2400 rpm, which are greater than or equal to 500 rpm, thereby determining the target RPM range as 1400 rpm to 2400 rpm.

[0045] Based on the target rotation speed range of 1400 rpm to 2400 rpm, the drone can determine that the target voltage corresponding to the target rotation speed range of 1400 rpm to 2400 rpm is 4.8V.

[0046] The transformer module installed on the drone previously adjusts the 4V voltage input to the motor to 4.8V. After adjusting the voltage input to the drone to 4.8V, when the drone's motor reaches the target RPM of 1900 rpm, the current lower RPM threshold is 1400 rpm and the current upper RPM threshold is 2400 rpm. Because the drone's motor RPM and the current upper and lower RPM thresholds are both above 500 rpm, the drone can still fly at a speed of 10 m / s in a headwind environment at the current time without experiencing power saturation.

[0047] If the absolute value of the difference between the target rotation speed and the rotation speed threshold at the current time is equal to or greater than the first threshold, it indicates that the drone is not currently experiencing a power saturation problem, and therefore there is no need to adjust the voltage input to the drone's motor. The drone can continue to be controlled using the actual voltage at the current time.

[0048] In addition to the need to adjust the voltage input to the motor when the drone encounters a power saturation problem, the drone can also use this method to adjust the voltage input to the motor when the drone's target rotation speed is higher than an upper rotation speed threshold corresponding to a first voltage (the actual voltage input to the motor at the current time) or lower than a lower rotation speed threshold corresponding to the first voltage (the actual voltage input to the motor at the current time). In some embodiments, before adjusting the voltage input to the motor, the drone can determine an actual rotation speed range corresponding to the first voltage (the actual voltage input to the motor at the current time). If it determines that the target rotation speed is not within the actual rotation speed range, it adjusts the voltage input to the motor based on the target rotation speed, where the actual rotation speed range includes an upper rotation speed threshold and a lower rotation speed threshold corresponding to the actual voltage input to the motor.

[0049] Furthermore, when the target rotation speed of the drone reaches or is close to the upper rotation speed threshold corresponding to the voltage input to the motor at the current time, this also belongs to the power saturation problem in the drone, and when the target rotation speed of the drone reaches or is close to the lower rotation speed threshold corresponding to the first voltage (the voltage input to the motor at the current time), this also belongs to the power saturation problem in the drone, and the drone can adjust the voltage input to the motor using steps S100 to S104, thereby avoiding the power saturation problem in the drone.

[0050] As can be seen from the above method, this method adjusts the upper or lower rotation speed threshold that the motor of the unmanned equipment can reach by adjusting the voltage input to the motor of the unmanned equipment, thereby avoiding the problem of power saturation in the unmanned equipment, that is, avoiding the problem of the motor's rotation speed reaching the motor's rotation speed threshold corresponding to the current voltage.

[0051] In actual operation, during flight of the drone, a power module attached to the drone transmits a rotation speed command to a motor, and upon receiving the rotation speed command transmitted by the power module, the motor can adjust its own rotation speed to a specified rotation speed corresponding to the rotation speed command. The rotation speed command includes a specified rotation speed ratio for operating the motor of the drone at a rotation speed corresponding to the specified rotation speed ratio, and the specified rotation speed ratio is a percentage of a rotation speed range corresponding to a lower rotation speed threshold and an upper rotation speed threshold at a current voltage. In some embodiments, the motor of the drone can determine a specified rotation speed corresponding to the specified rotation speed ratio based on the specified rotation speed ratio in the received rotation speed command and the rotation speed range corresponding to the current voltage, and operate at the determined specified rotation speed. For example, when the rotation speed ratio specified in the rotation speed command is 0%, the corresponding rotation speed is the lower rotation speed threshold at the current voltage, and when the rotation speed ratio specified in the rotation speed command is 100%, the corresponding rotation speed is the upper rotation speed threshold at the current voltage. In actual operation, to ensure the controllability of the drone and to fly the drone in the most ideal condition, the motor rotation speed is generally controlled with a rotation speed command specified as a 50% rotation speed ratio.

[0052] Therefore, the transformer module of the drone determines the target RPM threshold based on the RPM command and the target RPM at the current time, and then determines the target voltage corresponding to the target RPM threshold based on the determined target RPM threshold. In this way, by simply changing the voltage, the drone can always keep the RPM of the drone's motor within an ideal range and avoid power saturation problems in the drone.

[0053] For example, the drone determines the target rotation speed to be 1750 rpm based on step S100, and the drone's transformer module determines the target rotation speed range to be 1500 rpm to 2000 rpm based on the rotation speed command with a specified rotation speed ratio of 50% and the target rotation speed of 1750 rpm. The transformer module determines the target voltage corresponding to the target rotation speed range of 1500 rpm to 2000 rpm to be 4.7 V, and adjusts the voltage output from the power battery to the target voltage of 4.7 V and inputs it to the motor.

[0054] In addition to drones being able to use the method, other unmanned equipment can also use the method, for example unmanned cars, drones that are powered by power batteries attached to them.

[0055] The above is an unmanned equipment control method according to one or more embodiments of the present disclosure. Based on a similar idea, the present disclosure further provides a corresponding unmanned equipment control device, as shown in FIG.

[0056] FIG. 2 is a schematic diagram of an unmanned equipment control device according to the present disclosure, which includes a target voltage determination module 201 and a voltage adjustment module 202.

[0057] The target voltage determination module 201 is used to determine a thrust required for the unmanned equipment and a target rotational speed required for the motor of the unmanned equipment to provide the thrust based on state information and / or environmental information of the unmanned equipment; The voltage adjustment module 202 determines whether the difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is smaller than a first threshold, and if the difference is smaller than the first threshold, adjusts the first voltage input to the motor of the unmanned equipment based on the target rotation speed to obtain a target voltage, and is used to control the unmanned equipment using the target voltage.

[0058] In some embodiments, the rotational speed thresholds include an upper rotational speed threshold and a lower rotational speed threshold.

[0059] In some embodiments, the state information of the unmanned device includes at least one of a weight, an acceleration, and a velocity of the unmanned device.

[0060] In some embodiments, the target voltage determination module 201 is used to determine a target state that the unmanned equipment needs to reach at a specified time and to determine the thrust required for the unmanned equipment based on the unmanned equipment's current state information, the environmental information, and the target state.

[0061] In some embodiments, the voltage adjustment module 202 is used to determine a target rotation speed threshold corresponding to the target rotation speed based on the target rotation speed, determine the target voltage corresponding to the target rotation speed threshold based on the target rotation speed threshold, and adjust the first voltage input to a motor of an unmanned equipment based on the target voltage.

[0062] In some embodiments, the difference between the target rotation speed and a rotation speed threshold corresponding to the target voltage is greater than or equal to a second threshold.

[0063] In some embodiments, the target voltage determination module 201 is used to determine a target rotation speed upper threshold and a target rotation speed lower threshold corresponding to the target rotation speed, determine a target rotation speed range corresponding to the target rotation speed lower threshold to the target rotation speed upper threshold based on the target rotation speed upper threshold and the target rotation speed lower threshold, and determine a target voltage corresponding to the target rotation speed range based on the target rotation speed range.

[0064] The present disclosure further provides a computer-readable storage medium, in which a computer program is stored, and the computer program may be used to perform the unmanned equipment control method according to FIG. 1 above.

[0065] The present disclosure further provides a schematic structural diagram of an electronic device, shown in FIG. 3. As shown in FIG. 3, the unmanned device includes, at the hardware level, a processor 301, an internal bus 302, a network interface 303, an internal memory 304, and a non-volatile memory 305, and may further include hardware required for other operations. The processor loads a corresponding computer program from the non-volatile memory into the internal memory and executes it to implement the unmanned device control method described in FIG. 1 above. In addition to software implementation, the present disclosure does not exclude other implementation forms, such as a logical device or a combination of software and hardware. In other words, the execution entity of the following process flow is not limited to each logical unit, but may also be hardware or a logical device.

[0066] In the 1990s, technological improvements could be clearly distinguished between hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, and switches) and software improvements (improvements to method flow). However, with the development of technology, many current method flow improvements can be considered direct improvements to hardware circuit structures. Designers often obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that a method flow improvement cannot be realized by a hardware entity module. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logical function is determined by user programming of the device. Designers can program and "integrate" a digital system into a single PLD, eliminating the need for chip manufacturers to design and manufacture dedicated integrated circuit chips.Nowadays, instead of manually creating integrated circuit chips, such programming is often achieved using "logic compiler" software, which is similar to the software compilers used in program development and writing. The original code before compilation must also be written in a specific programming language, called a hardware description language (HDL). There is not just one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). The most commonly used HDLs at present are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by programming a method flow logically using some of the above hardware description languages ​​and programming it into an integrated circuit, a hardware circuit that implements the logical method flow can be easily obtained.

[0067] The controller can be implemented in any suitable form. For example, the controller can be implemented in the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, microcontrollers such as the ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. A memory controller may also be implemented as part of the memory control logic. Those skilled in the art will recognize that, in addition to implementing the controller entirely in the form of computer-readable program code, the controller can also be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered structures within the hardware component. Alternatively, the apparatus for realizing various functions may be considered to be software modules that implement a method, or may be structures within hardware components.

[0068] The systems, devices, modules, or units described in the above embodiments may be specifically implemented by computer chips or entities, or may be implemented by products having certain functions. One typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0069] For convenience of explanation, the functions of the above-described apparatus are described by dividing them into various units. Of course, when implementing the present disclosure, the functions of each unit may be realized by the same or multiple pieces of software and / or hardware.

[0070] Those skilled in the art should understand that the embodiments of the present disclosure may be provided as a method, a system, or a computer program product. Therefore, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Also, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0071] The present disclosure will be described with reference to flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, and the instructions, executed by the processor of the computer or other programmable data processing device, generate an apparatus for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0072] These computer program instructions may be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a particular manner to produce an article of manufacture that includes an instruction apparatus, the instruction apparatus implementing the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0073] These computer program instructions may be loaded into a computer or other programmable data processing device and execute a series of operational steps on the computer or other programmable device to generate a computer-implemented process, whereby the instructions executing on the computer or other programmable device provide steps for implementing the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0074] In one typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and internal memory.

[0075] The internal memory may include non-persistent memory in the form of a computer-readable medium, such as random access memory (RAM) and / or non-volatile internal memory, for example, read-only memory (ROM) or flash RAM. The internal memory is an example of a computer-readable medium.

[0076] Computer-readable media include both persistent and non-persistent media, and removable and non-removable media may implement information storage by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, read-only disks (CD-ROMs), digital versatile disks (DVDs) or other optical memory, magnetic cassette tapes, magnetic tape magnetic disk memory or other magnetic memory devices, or any other non-transmission media that may be used to store information accessible by a computing device. As defined herein, computer-readable media includes transitory media, such as modulated data signals and carriers.

[0077] However, the terms "comprise," "include," or any other variation thereof are intended to cover a non-exclusive inclusion, whereby a process, method, article, or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed or further elements inherent in such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude that other identical elements are also present in the process, method, article, or apparatus comprising said element.

[0078] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Also, the present disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0079] The present disclosure may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present disclosure may also be practiced in distributed computing environments where remote processing devices that are linked through a communications network perform tasks. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0080] The embodiments in the present disclosure will be described step by step, and the same or similar parts between the embodiments may be referred to each other, and the description of each embodiment will focus on the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description will be relatively simple, and you may refer to the description of some of the method embodiments for related points.

[0081] The above is merely an example of the present disclosure and is not used to limit the present disclosure. The present disclosure allows various modifications and variations for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure should be included within the scope of the claims of the present disclosure.

Claims

1. 1. A method for controlling an unmanned device, comprising: determining, based on state information and environmental information for the airborne unmanned vehicle, a thrust required for movement of the unmanned vehicle and a target number of revolutions required for a motor of the unmanned vehicle to provide the thrust; determining whether the target rotation speed is between a lower limit rotation speed boundary value and an upper limit rotation speed boundary value of a rotation speed range of the motor when a first voltage is input; determining whether a difference between the target rotation speed and the rotation speed boundary value is smaller than a first threshold value when the target rotation speed is between the rotation speed lower boundary value and the rotation speed upper boundary value; When an absolute value of a difference between the target rotation speed and the upper rotation speed boundary value or an absolute value of a difference between the target rotation speed and the lower rotation speed boundary value is smaller than the first threshold value, or when the target rotation speed is not between the lower rotation speed boundary value and the upper rotation speed boundary value, adjusting the first voltage input to the motor of the unmanned equipment to a target voltage based on the target rotation speed, and controlling the unmanned equipment using the target voltage; adjusting the first voltage input to the motor of the unmanned equipment to the target voltage based on the target rotation speed and controlling the unmanned equipment using the target voltage; determining the target rotation speed range so that an absolute value of a difference between a target rotation speed upper boundary value of the target rotation speed range and the target rotation speed, and an absolute value of a difference between a target rotation speed lower boundary value of the target rotation speed range and the target rotation speed, are equal to or greater than a second threshold value that is greater than the first threshold value; determining the target voltage so that a rotation speed range of the motor when the target voltage is input falls within the target rotation speed range; The environmental information includes at least one of wind speed and rainfall amount. Unmanned equipment control method.

2. The method of claim 1 , wherein the state information of the unmanned equipment includes at least one of a weight, an acceleration, and a velocity of the unmanned equipment.

3. Determining the thrust required for the unmanned vehicle based on the state information and the environmental information of the unmanned vehicle includes: determining a target state that the unmanned equipment must reach at a specified time; and determining the thrust required for the unmanned vehicle based on the state information of the unmanned vehicle at the current time, the environmental information, and the target state.

4. A computer-readable storage medium having a computer program stored therein, the computer program performing the method of any one of claims 1 to 3 when executed by a processor.

5. An unmanned aircraft capable of flight, comprising: a memory; a processor; and a computer program stored in the memory and executable by the processor, wherein, when the processor executes the program, determining a thrust required for movement of the unmanned device and a target number of revolutions required for a motor of the unmanned device to provide the thrust based on state information and environmental information of the unmanned device; determining whether the target rotation speed is between a lower limit rotation speed boundary value and an upper limit rotation speed boundary value of a rotation speed range of the motor when a first voltage is input; determining whether a difference between the target rotation speed and the rotation speed boundary value is smaller than a first threshold value when the target rotation speed is between the rotation speed lower boundary value and the rotation speed upper boundary value; If the absolute value of the difference between the target rotation speed and the upper rotation speed boundary value or the absolute value of the difference between the target rotation speed and the lower rotation speed boundary value is smaller than the first threshold value, or if the target rotation speed is not located between the lower rotation speed boundary value and the upper rotation speed boundary value, adjust the first voltage input to the motor of the unmanned equipment to a target voltage based on the target rotation speed, and control the unmanned equipment using the target voltage; adjusting the first voltage input to the motor of the unmanned equipment to the target voltage based on the target rotation speed and controlling the unmanned equipment using the target voltage; determining the target rotation speed range so that an absolute value of a difference between a target rotation speed upper boundary value of the target rotation speed range and the target rotation speed, and an absolute value of a difference between a target rotation speed lower boundary value of the target rotation speed range and the target rotation speed, are equal to or greater than a second threshold value that is greater than the first threshold value; determining the target voltage so that a rotation speed range of the motor when the target voltage is input falls within the target rotation speed range; The environmental information includes at least one of wind speed and rainfall amount. Unmanned equipment.

6. The unmanned device of claim 5 , wherein the status information of the unmanned device includes at least one of a weight, an acceleration, and a velocity of the unmanned device.

7. Determining the thrust required for the unmanned vehicle based on the state information and the environmental information of the unmanned vehicle includes: determining a target state that the unmanned equipment must reach at a specified time; and determining the thrust required for the unmanned equipment based on the current state information of the unmanned equipment, the environmental information, and the target state.

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