Unmanned device control

Patent metadata

Field	Value
Publication number	US-12420939-B2
Application number	US-202218570634-A
Country	US
Kind code	B2
Filing date	Apr 11, 2022
Priority date	Sep 22, 2021
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

Provided is an unmanned device control method and apparatus, a storage medium, and an electronic device. In the method, thrust force required for an unmanned device and a target rotation speed required for providing the thrust force to the unmanned device are determined according to state information and/or environment information of the unmanned device, a voltage inputted into a motor of the unmanned device is adjusted according to the target rotation speed, and the unmanned device is controlled by using an adjusted voltage.

First claim

The invention claimed is:

1. An unmanned device control method, comprising:
determining, according to state information and environment information of an unmanned device, thrust force required for the unmanned device and a target rotation speed required for a motor of the unmanned device to provide the thrust force, wherein the environment information comprises a wind speed;
determining whether a difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is less than a first threshold; and
adjusting, in response to determining that the difference is less than the first threshold, the first voltage inputted into the motor of the unmanned device according to the target rotation speed to obtain a target voltage, and controlling the unmanned device by using the target voltage.

2. The method according to claim 1 , wherein the rotation speed threshold comprises a rotation speed upper limit threshold and a rotation speed lower limit threshold.

3. The method according to claim 1 , wherein the state information of the unmanned device comprises: at least one of a weight, an acceleration, or a speed of the unmanned device.

4. The method according to claim 1 , wherein determining, according to state information and/or environment information of the unmanned device, the thrust force required for the unmanned device comprises:
determining a target state that the unmanned device needs to reach at a specified moment; and
determining the thrust force required for the unmanned device according to the state information, the environment information, and the target state of the unmanned device at a current moment.

5. The method according to claim 2 , wherein adjusting the first voltage inputted into the motor of the unmanned device according to the target rotation speed to obtain the target voltage, and controlling the unmanned device by using the target voltage comprises:
determining, according to the target rotation speed, a target rotation speed threshold corresponding to the target rotation speed;
determining, according to the target rotation speed threshold, the target voltage corresponding to the target rotation speed threshold; and
adjusting the first voltage inputted into the motor of the unmanned device according to the target voltage.

6. The method according to claim 5 , wherein a difference between the target rotation speed and a rotation speed threshold corresponding to the target voltage is not less than a second threshold.

7. The method according to claim 5 , wherein determining the target rotation speed threshold corresponding to the target rotation speed comprises:
determining a target rotation speed upper limit threshold and a target rotation speed lower limit threshold corresponding to the target rotation speed; and
determining, according to the target rotation speed threshold, the target voltage corresponding to the target rotation speed threshold comprises:
determining, according to the target rotation speed upper limit threshold and the target rotation speed lower limit threshold, a target rotation speed range from the target rotation speed lower limit threshold to the target rotation speed upper limit threshold; and
determining, according to the target rotation speed range, the target voltage corresponding to the target rotation speed range.

8. A non-volatile computer-readable storage medium, storing a computer program, wherein the computer program is executed by a processor to implement:
determining, according to state information and/or environment information of an unmanned device, thrust force required for the unmanned device and a target rotation speed required for a motor of the unmanned device to provide the thrust force, wherein the environment information comprises a wind speed;
determining whether a difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is less than a first threshold; and
adjusting, in response to determining that the difference is less than the first threshold, the first voltage inputted into the motor of the unmanned device according to the target rotation speed to obtain a target voltage, and controlling the unmanned device by using the target voltage.

9. An unmanned device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor is configured to execute the computer program to implement:
determining, according to state information and/or environment information of the unmanned device, thrust force required for the unmanned device and a target rotation speed required for a motor of the unmanned device to provide the thrust force, wherein the environment information comprises a wind speed;
determining whether a difference between the target rotation speed and a rotation speed threshold corresponding to a first voltage is less than a first threshold; and
adjusting, in response to determining that the difference is less than the first threshold, the first voltage inputted into the motor of the unmanned device according to the target rotation speed to obtain a target voltage, and controlling the unmanned device by using the target voltage.

10. The unmanned device according to claim 9 , wherein the rotation speed threshold comprises a rotation speed upper limit threshold and a rotation speed lower limit threshold.

11. The unmanned device according to claim 9 , wherein the state information of the unmanned device comprises: at least one of a weight, an acceleration, or a speed of the unmanned device.

12. The unmanned device according to claim 9 , wherein determining, according to state information and/or environment information of the unmanned device, the thrust force required for the unmanned device comprises:
determining a target state that the unmanned device needs to reach at a specified moment; and
determining the thrust force required for the unmanned device according to the state information, the environment information, and the target state of the unmanned device at a current moment.

13. The unmanned device according to claim 10 , wherein adjusting the first voltage inputted into the motor of the unmanned device according to the target rotation speed to obtain the target voltage, and controlling the unmanned device by using the target voltage comprises:
determining, according to the target rotation speed, a target rotation speed threshold corresponding to the target rotation speed;
determining, according to the target rotation speed threshold, the target voltage corresponding to the target rotation speed threshold; and
adjusting the first voltage inputted into the motor of the unmanned device according to the target voltage.

14. The unmanned device according to claim 13 , wherein a difference between the target rotation speed and the target rotation speed threshold is not less than a second threshold.

15. The unmanned device according to claim 13 , wherein determining the target rotation speed threshold corresponding to the target rotation speed comprises:
determining a target rotation speed upper limit threshold and a target rotation speed lower limit threshold corresponding to the target rotation speed; and
determining, according to the target rotation speed threshold, the target voltage corresponding to the target rotation speed threshold comprises:
determining, according to the target rotation speed upper limit threshold and the target rotation speed lower limit threshold, a target rotation speed range from the target rotation speed lower limit threshold to the target rotation

Assignees

• Beijing Sankuai Online Tech Co Ltd

Inventors

• Teng Xiong
• Zhang Tianbao
• Liu Baoxu
• Chen Gang

Classifications

• B64U50/19 Primary

  using electrically powered motors · CPC title

• B60L2200/10

  Air crafts · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64D31/06 Primary

  actuated automatically · CPC title

• Y02T50/60

  Efficient propulsion technologies, e.g. for aircraft · CPC title