CN106406331A - Flight control method, device and system for aircraft - Google Patents
Flight control method, device and system for aircraft Download PDFInfo
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- CN106406331A CN106406331A CN201611063096.1A CN201611063096A CN106406331A CN 106406331 A CN106406331 A CN 106406331A CN 201611063096 A CN201611063096 A CN 201611063096A CN 106406331 A CN106406331 A CN 106406331A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 50
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- 230000009471 action Effects 0.000 claims description 2
- 230000000644 propagated effect Effects 0.000 claims 1
- 230000035807 sensation Effects 0.000 claims 1
- 230000003238 somatosensory effect Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 15
- 230000006854 communication Effects 0.000 description 12
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 8
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- 230000008859 change Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 210000004247 hand Anatomy 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
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- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
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- 238000010295 mobile communication Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a flight control method, device and system for an aircraft, which belongs to the technical field of aircraft control. The method comprises the steps that an intelligent terminal collects the attitude information of the intelligent terminal in real time, wherein the attitude information comprises at least the front end direction and the inclination direction of the intelligent terminal; a flight instruction is generated according to the attitude information and is transmitted to the aircraft; the aircraft controls the flight status of the aircraft according to the flight instruction, wherein the nose direction of the aircraft is kept in line with the front end direction of the intelligent terminal in real time, and the flight direction of the aircraft is the same as the inclination direction of the intelligent terminal. According to the invention, the flight of the aircraft is controlled by controlling the attitude of the intelligent terminal; the flight attitude of the aircraft is synchronized with the attitude of the intelligent terminal in real time; the somatosensory operation flight of the aircraft based on the intelligent terminal is realized without paying attention to the orientation and position of the aircraft; and the aircraft has the advantage of simple control, and is suitable for over visual range flight.
Description
Technical field
The present invention relates to flying vehicles control technical field, more particularly, to a kind of flight control method of aircraft, device and
System.
Background technology
Multi-rotor aerocraft is a kind of small aircraft providing power by multiple (typically at least 4) rotor.Due to
Multi-rotor aerocraft has VTOL and the ability of hovering, and has a smooth flight, and advantage of lower cost is therefore widely used in
Personal entertainment, video display are taken photo by plane, land mapping, agriculture and forestry are patrolled and examined, many industries such as power circuit polling and police monitoring.
Control mode currently for small aircraft mainly has two kinds：A kind of mode is to use remote control, and manipulation handss can
Directly to control throttle, attitude angle and flight speed of aircraft etc. by remote control.This mode can be carried out to aircraft
Point-device manipulation, but the technical merit requirement to manipulation handss is very high, and be not suitable for over the horizon flight, when aircraft and manipulation
Erroneous judgement is easily caused because observation is unclear when handss are distant.Another way is to be equipped with the self-driving of perfect in shape and function for aircraft
Instrument, which relies on GPS (Global Positioning System, global positioning system) positioning, by earth station to flight
Device send take off, land, by instructions such as advertised route flights although being easily manipulated, but cannot indoors or unopen environment
Flight, and cannot be carried out real-time control.
Content of the invention
In view of this, it is an object of the invention to provide a kind of flight control method of aircraft, device and system, with reality
Existing aircraft is easy to manipulate and be suitable to over the horizon flight.
The technical scheme that present invention solution above-mentioned technical problem is adopted is as follows：
According to an aspect of the present invention, a kind of flight control method of the aircraft providing, is applied to intelligent terminal, should
Method includes：
The attitude information of Real-time Collection intelligent terminal；
Flight directive is generated according to attitude information；
Flight directive is sent to aircraft；
Wherein, attitude information at least includes front extreme direction and the incline direction of intelligent terminal, and flight directive is used for indicating winged
The heading of row device is consistent with the front extreme direction of intelligent terminal, the heading of aircraft and the inclination side of intelligent terminal
To consistent.
Preferably, the attitude information of Real-time Collection intelligent terminal further includes：
By the attitude information of the first built-in or external attitude transducer Real-time Collection intelligent terminal of intelligent terminal, its
In, the first attitude transducer includes：Three-axis gyroscope, three axis accelerometer and three axle electronic compass.
Preferably, also include before the method：
User is detected after the slide that takes off on intelligent terminal user graphical interfaces, generating takes off instructs and send
Aircraft；Wherein, instruction of taking off is used for indicating that aircraft completes whole takeoff maneuver, and hovers over default height.
Preferably, also include after the method：
Detect after user clicks on " making a return voyage " operation on the graphical interface of user of intelligent terminal, generate instruction of making a return voyage concurrent
Give aircraft, instruction of making a return voyage is used for indicating that aircraft returns to takeoff point overhead and hovers over default height；
And/or
Detect after user clicks on " landing " operation on the graphical interface of user of intelligent terminal, generate landing instruction concurrent
Give aircraft, landing instruction is used for indicating aircraft in current location landing simultaneously locking screw oar.
Preferably, attitude information also includes angle of inclination, flight speed and/or flying height, also carries in flight directive
Angle of inclination, flight speed and/or flying height, for indicating aircraft by angle of inclination, flight speed and/or flying height
Control flight.
Preferably, flight speed includes：Default initialization speed and corresponding with the angle of inclination of intelligent terminal
Acceleration.
According to another aspect of the present invention, a kind of flight control method of the aircraft providing, is applied to aircraft, should
Method includes：
Receive the flight directive that intelligent terminal sends, flight directive carries front extreme direction and the incline direction of intelligent terminal；
Control the state of flight of aircraft according to flight directive, the heading keeping aircraft in real time is with intelligent terminal's
Front end is consistent, and the heading of aircraft is consistent with the incline direction of intelligent terminal.
Preferably, the heading of holding aircraft is consistent with the front end of intelligent terminal in real time further includes：
The direction of the three axle electronic compass of real-time control aircraft is kept with the direction of the three axle electronic compass of intelligent terminal
Unanimously.
Preferably, also include before the method：
After receiving the instruction of taking off of intelligent terminal's transmission, complete whole takeoff maneuver, and hover over default height.
Preferably, also include after the method：
After receiving the instruction of making a return voyage of intelligent terminal's transmission, then return to takeoff point overhead and hover over default height；
And/or
After receiving the landing instruction of intelligent terminal's transmission, then in current location landing simultaneously locking screw oar.
Preferably, also carry angle of inclination, flight speed and/or flying height in flight directive, control flying of aircraft
Row state also includes controlling aircraft to fly by angle of inclination, flight speed and/or flight altitude control.
According to a further aspect of the invention, a kind of flight control method of the aircraft providing, the method includes：
The attitude information of intelligent terminal Real-time Collection intelligent terminal, attitude information at least includes the front extreme direction of intelligent terminal
And incline direction；
Flight directive is generated according to attitude information；
Flight directive is sent to aircraft；
Aircraft controls the state of flight of aircraft according to flight directive, keeps heading and the intelligence of aircraft in real time
The front end of terminal is consistent, and the heading of aircraft is consistent with the incline direction of intelligent terminal.
According to a further aspect of the invention, a kind of flight control assemblies of the aircraft providing, are applied to intelligent terminal,
This device includes：
Acquisition module, for the attitude information of Real-time Collection intelligent terminal；Wherein, attitude information at least includes intelligent terminal
Front extreme direction and incline direction；
Directive generation module, for generating flight directive according to attitude information；Wherein, flight directive is used for indicating aircraft
Heading be consistent with the front extreme direction of intelligent terminal, the incline direction one of the heading of aircraft and intelligent terminal
Cause；
Sending module, for being sent to aircraft by flight directive.
Preferably, acquisition module specifically for：
By the attitude information of the first built-in attitude transducer Real-time Collection intelligent terminal of intelligent terminal, wherein, first
Attitude transducer includes：Three-axis gyroscope, three axis accelerometer and three axle electronic compass.
Preferably, this device also includes：
Take off indicating module, for user is detected after the slide that takes off on intelligent terminal user graphical interfaces,
Generation is taken off and is instructed and send aircraft；Wherein, instruction of taking off is used for indicating that aircraft completes whole takeoff maneuver, and hovers over
Default height.
Preferably, this device also includes make a return voyage indicating module and/or landing indicating module, wherein：
Make a return voyage indicating module, clicks on " making a return voyage " operation for user is detected on the graphical interface of user of intelligent terminal
Afterwards, generate to make a return voyage and instruct and be sent to aircraft, instruction of making a return voyage is used for indicating that aircraft returns to takeoff point overhead and hovers over
Default height；
Landing indicating module, clicks on " landing " operation for user is detected on the graphical interface of user of intelligent terminal
Afterwards, generate landing and instruct and be sent to aircraft, landing instruction is used for indicating aircraft in current location landing simultaneously locking screw
Oar.
Preferably, attitude information also includes angle of inclination, flight speed and/or flying height, and directive generation module is also used
In：Also carry angle of inclination, flight speed and/or flying height in flight directive, for indicate aircraft by angle of inclination, fly
Scanning frequency degree and/or flight altitude control flight.
According to a further aspect of the invention, a kind of flight control assemblies of the aircraft providing, are applied to aircraft, should
Device includes：
Receiver module, for receiving the flight directive of intelligent terminal's transmission, carries the front end of intelligent terminal in flight directive
Direction and incline direction；
Control module, for controlling the state of flight of aircraft according to flight directive, keeps the head side of aircraft in real time
To consistent with the front end of intelligent terminal, the heading of aircraft is consistent with the incline direction of intelligent terminal.
Preferably, control module specifically for：
The direction of the electronic compass of real-time control aircraft is consistent with the direction of the electronic compass of intelligent terminal.
Preferably, this device also includes module of taking off, and for receiving after the instruction of taking off that intelligent terminal sends, completes whole
Individual takeoff maneuver, and hover over default height.
Preferably, this device also includes make a return voyage module and/or landing module, wherein：
Make a return voyage module, for receiving after the instruction of making a return voyage of intelligent terminal's transmission, return to takeoff point overhead and hover over
Default height；
Landing module, after the landing for receiving intelligent terminal's transmission instructs, in current location landing simultaneously locking screw oar.
Preferably, angle of inclination, flight speed and/or flying height are also carried in flight directive, control module is additionally operable to：
Aircraft is controlled to press angle of inclination, flight speed and/or flight altitude control flight.
According to a further aspect of the invention, a kind of aerocraft system providing, this system includes intelligent terminal and flight
Device, this intelligent terminal includes the above-mentioned flight control assemblies being applied to intelligent terminal；Aircraft includes above-mentioned being applied to aircraft
Flight control assemblies.
Preferably, intelligent terminal includes mobile phone, panel computer, or has the remote control of body-sensing sensor.
A kind of flight control method of aircraft, device and system that the present invention provides, by intelligent terminal's Real-time Collection
The attitude information of itself, generates flight directive according to attitude information and is sent to the attitude that flying vehicles control aircraft flies in the air
With the attitude real-time synchronization of intelligent terminal it is achieved that the somatosensory operation based on intelligent terminal for the aircraft is flown, flight need not be paid close attention to
The direction of device and position are so that aircraft manipulation is simple and be suitable to over the horizon and fly.
Further, it is also possible to the graphical interface of user in combined with intelligent terminal realizes clicking on and slip manipulation aircraft is entered
Row is further to be controlled, and reaches a key and realizes taking off, land and making a return voyage etc. so that the flight manipulation of aircraft becomes simply easy
OK, user need not train and pass through motion sensing manipulation and can achieve the accurate manipulation to unmanned plane similar with remote control, minimizing because
The safety risks that human error is brought.
Brief description
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Fig. 1 be the present embodiments relate to applied environment system construction drawing.
Fig. 2 is a kind of flow process of the flight control method of aircraft being applied to intelligent terminal provided in an embodiment of the present invention
Figure.
Fig. 3 is a kind of graphical interface of user schematic diagram being applied to intelligent terminal provided in an embodiment of the present invention.
Fig. 4 is a kind of flow chart of flight control method being applied to aircraft provided in an embodiment of the present invention.
Fig. 5 A is the original state schematic diagram of a kind of intelligent terminal provided in an embodiment of the present invention and aircraft.
Fig. 5 B is a kind of sweptback state of flight schematic diagram of intelligent terminal provided in an embodiment of the present invention.
Fig. 5 C is the state of flight schematic diagram that a kind of intelligent terminal provided in an embodiment of the present invention turns forward.
Fig. 5 D is a kind of hovering flight view provided in an embodiment of the present invention.
Fig. 5 E is that a kind of intelligent terminal provided in an embodiment of the present invention illustrates to the state of flight of anticlockwise in the horizontal plane
Figure.
Fig. 5 F is that illustrate in the horizontal plane by dextrorotary state of flight for a kind of intelligent terminal provided in an embodiment of the present invention
Figure.
Fig. 5 G is the state of flight schematic diagram that a kind of intelligent terminal provided in an embodiment of the present invention is tilted to the left.
Fig. 5 H is the state of flight schematic diagram that a kind of intelligent terminal provided in an embodiment of the present invention is tilted to the right.
Fig. 6 is a kind of flow chart of the flight control method of aircraft provided in an embodiment of the present invention.
Fig. 7 is a kind of function structure chart of flight control assemblies being applied to intelligent terminal provided in an embodiment of the present invention.
Fig. 8 is a kind of function structure chart of flight control assemblies being applied to aircraft provided in an embodiment of the present invention.
Fig. 9 is that a kind of structural diagrams of mobile phone provided in an embodiment of the present invention are intended to.
Specific embodiment
In order that the technical problem to be solved, technical scheme and beneficial effect are clearer, clear, below tie
Close drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
In order to explain the present invention, it is not intended to limit the present invention.
Shown in Fig. 1, the present embodiments relate to applied environment system construction drawing, this system includes：Intelligent terminal 10
With aircraft 20.
Intelligent terminal 10, which is provided with the first attitude transducer 101, first memory 102, first processor 103 and
One radio communication unit 104, the first attitude transducer 101, first memory 102 and the first radio communication unit 104 are all with
One processor 103 is connected.APP program code is stored on memorizer 102, first processor 103 runs this APP program code, leads to
Cross the attitude information of the Real-time Collection intelligent terminal 10 of the first attitude transducer 101, the attitude information collecting is changed into winged
Row instruction, and aircraft 20 control state of flight is issued by the first radio communication unit 104.Attitude information includes but is not limited to
The front extreme direction of intelligent terminal and incline direction, state of flight includes but is not limited to the heading of aircraft with intelligent terminal's
Front extreme direction is consistent, and the heading of aircraft is consistent with the incline direction of intelligent terminal.
Wherein, the first attitude transducer 101 includes the first three-axis gyroscope, the first three axis accelerometer and the one or three axle electricity
The motion sensors such as sub- compass.First three-axis gyroscope is for monitoring the level of intelligent terminal, vertical, pitching, course and angle
Speed.First three axis accelerometer be used for monitoring can only in terminal all directions acceleration size, also can detect that when static
The size of the gravity of intelligent terminal and direction.First three axle electronic compass is used for monitoring the direction of intelligent terminal.
Aircraft 20, which is provided with the second attitude transducer 201, second memory 202, second processing device 203 and second
Radio communication unit 204.Second attitude transducer 201, second memory 202 and the second radio communication unit 204 are all with second
Processor 203 connects.Wherein, the second attitude transducer 201 is corresponding with the second attitude transducer 101, the second attitude transducer
201 include the motion sensors such as the second three-axis gyroscope, the second three axis accelerometer and the second three axle electronic compass.Two or three axle
Gyroscope is for monitoring the level of aircraft, vertical, pitching, course and angular velocity.Second three axis accelerometer is used for monitoring
The size of acceleration in aircraft all directions, also can detect that size and the direction of gravity when static.Two or three axle electronics sieve
Disk is used for monitoring the direction of aircraft.Aircraft 20 receives the flight of intelligent terminal 10 by the second radio communication unit 204
After instruction, second processing device 203 according to flight directive control aircraft state of flight, that is, control the second attitude transducer according to
The change of the first attitude transducer and change.
Based on the hardware configuration of above-mentioned aircraft and intelligent terminal, each embodiment of the inventive method is proposed.
As shown in Fig. 2 a kind of flight control method of aircraft provided in an embodiment of the present invention, it is applied to intelligent terminal,
The method includes：
S201, the attitude information of Real-time Collection intelligent terminal, wherein, attitude information at least includes the front end side of intelligent terminal
To and incline direction.
Specifically, the first three-axis gyroscope (is included, the one or three axle adds by the first built-in attitude transducer of intelligent terminal
Velometer and the first three axle electronic compass) Real-time Collection intelligent terminal attitude information.Attitude information at least includes intelligent terminal
Front extreme direction and incline direction.The front extreme direction of intelligent terminal refer to user under normal circumstances hand-held intelligent terminal when intelligence
The direction of terminal top institute direction.
S202, according to attitude information generate flight directive.
Specifically, intelligent terminal generates flight directive according to attitude information, at least carries intelligent terminal in this flight directive
Front extreme direction and incline direction, for indicating that the heading of aircraft is consistent with the front extreme direction of intelligent terminal, fly
The heading of row device is consistent with the incline direction of intelligent terminal.
Additionally, in order to allow aircraft to circle in the air in the air with the incarnation of intelligent terminal completely, attitude information can also include inclining
Angle of inclination is also carried, for indicating the angle of inclination of aircraft and the angle of inclination of intelligent terminal in rake angle, flight directive
It is consistent.
Certainly, in order to more flexible, attitude information can also include any one or two kinds of flight speed or flying height,
Any one or two kinds of flight speed and flying height are also carried, for indicating aircraft according to flight speed in flight directive
And/or flight altitude control flight.The acceleration of wherein flight can have by three axis angular rate meters detections, and angle of inclination is bigger,
Acceleration is bigger.Flight speed is according to default initialization speed and the acceleration corresponding with the angle of inclination of intelligent terminal
It is calculated.Flying height can be preset it is also possible to pass through intelligent terminal by user during flight in advance in systems
Graphical interface of user be modified.
S203, flight directive is sent to aircraft.
Specifically, intelligent terminal pass through wireless telecommunication system by flight directive be sent to aircraft control aircraft fly
Row state.
The embodiment of the present invention passes through intelligent terminal's Real-time Collection attitude information of itself, generates flight according to attitude information and refers to
Order is sent to the state of flight of flying vehicles control aircraft it is achieved that the somatosensory operation based on intelligent terminal for the aircraft is flown, no
The direction of aircraft and position need to be paid close attention to so that aircraft manipulation is simple and be suitable to over the horizon and fly.
The graphical interface of user schematic diagram of intelligent terminal as shown in Figure 3, can be combined with the user's figure on intelligent terminal
Shape interface realizes clicking on and slip manipulation aircraft is further controlled.Such as click on the left portion of screen in figure 3
Shortcut icon realize one-key operation and the operation such as take off, make a return voyage or land, the shortcut icon adjustment of slip screen right middle is unmanned
The flying height of aircraft, further, it is also possible to change steer mode etc., simple.
As a kind of preferred embodiment, before the method, also include the step of instruction of taking off：
User is detected after the slide that takes off on intelligent terminal user graphical interfaces, generating takes off instructs and send
Aircraft；Wherein, instruction of taking off is used for indicating that aircraft completes whole takeoff maneuver, and hovers over default height.
As another kind of preferred embodiment, after the method, also include the step of instruction of making a return voyage：
Detect after user clicks on " making a return voyage " operation on the graphical interface of user of intelligent terminal, generate instruction of making a return voyage concurrent
Give aircraft, instruction of making a return voyage is used for indicating that aircraft returns to takeoff point overhead and hovers over default height.
As another kind of preferred embodiment, after the method, also include the step of instruction of landing：
Detect after user clicks on " landing " operation on the graphical interface of user of intelligent terminal, generate landing instruction concurrent
Give aircraft, landing instruction is used for indicating aircraft in current location landing simultaneously locking screw oar.
Realize clicking on by the graphical interface of user on intelligent terminal and slip manipulation is carried out further to aircraft
Control, reach a key and realize taking off, land and making a return voyage etc. so that the flight manipulation of aircraft becomes simple, user need not
Train and pass through motion sensing manipulation and can achieve the accurate manipulation to unmanned plane similar with remote control, reduce and carried because of human error
The safety risks coming.
As shown in figure 4, a kind of flight control method of aircraft provided in an embodiment of the present invention, it is applied to aircraft, should
Method includes：
The flight directive that S401, reception intelligent terminal send；Wherein, flight directive carry intelligent terminal front extreme direction and
Incline direction.
Specifically, aircraft receives the flight directive that intelligent terminal sends, this flight directive by its radio communication unit
Carry front extreme direction and the incline direction of intelligent terminal, for indicating heading and the intelligent terminal of aircraft holding aircraft
Front end consistent, the heading of aircraft is consistent with the incline direction of intelligent terminal.
Additionally, in order to allow aircraft to circle in the air in the air with the incarnation of intelligent terminal completely, also carrying inclination in flight directive
Angle, for indicating that the angle of inclination of aircraft is consistent with the angle of inclination of intelligent terminal.
Certainly, in order to more flexible, can also carry in flight directive flight speed and flying height any one or two
Kind, for indicating aircraft according to flight speed and/or flight altitude control flight.The acceleration of wherein flight can have by three
Axis angular rate meter detects, angle of inclination is bigger, and acceleration is bigger.Flight speed according to default initialization speed and with intelligence
The acceleration calculation that the angle of inclination of terminal is corresponding obtains.Flying height can be preset in advance in systems it is also possible to fly
It is modified by the graphical interface of user of intelligent terminal by user in the process of row.
S402, the state of flight according to flight directive control aircraft, keep heading and the intelligence of aircraft in real time
The front end of terminal is consistent, and the heading of aircraft is consistent with the incline direction of intelligent terminal.
Specifically, the direction of the electronic compass of real-time control aircraft and the direction of the electronic compass of intelligent terminal keep one
Cause, control the heading of aircraft consistent with the incline direction of intelligent terminal.
As a kind of preferred embodiment, when also carrying angle of inclination in flight directive, also can real-time control aircraft
Angle of inclination consistent with the angle of inclination of intelligent terminal, allow aircraft to circle in the air in the air with the incarnation of intelligent terminal completely.When
When also carrying flight speed and/or flying height in flight directive, control aircraft is high with the flight speed carrying and/or flight
Degree flight, thus improve motility.Wherein, flight speed is default initialization speed and the angle of inclination with intelligent terminal
Corresponding acceleration, angle of inclination is bigger, and speed is bigger.
For clearer explanation, give several concrete manipulation process example with reference to Fig. 5 as follows：
When initial, as shown in Figure 5A, if user's hand-held intelligent terminal, screen level upward, the front end direction of intelligent terminal
(it is assumed to be direct north), then the heading of corresponding aircraft is also towards the front (direct north) of user in front of user.
Next, as shown in Figure 5 B, if intelligent terminal is tilted by user to oneself, it is the screen of intelligent terminal by level
Direction tilts towards due south direction, then the heading of corresponding aircraft will be consistent with the incline direction of intelligent terminal.I.e. right
The heading of the aircraft answered is due south direction, and aircraft flies to due south direction.
Next, as shown in Figure 5 C, if intelligent terminal is forwards tilted by user, it is the screen of intelligent terminal by level
Direction tilts to direct north, then the heading of corresponding aircraft will be changed into direct north, and aircraft flies to direct north.
Next, as shown in Figure 5 D, if intelligent terminal is returned to screen level horizontality upward by user, corresponding
Aircraft will hover in current location, and heading is still with the front end of intelligent terminal towards consistent (direct north).
Next, as shown in fig. 5e, if user rotates intelligent terminal in the horizontal plane so as to the left side of user is pointed in front end
Handss direction (i.e. due west direction), then the head of corresponding aircraft also by the horizontal rotation in surface being located at it until pointing to due west
Direction).Certainly, intelligent terminal horizontal plane rotational angle be do not have conditional, such as, if user by intelligent terminal in level
Rotation in surface is so as to the direction (i.e. 45 degree of north-westward) of 45 degree of the left front of user, the then machine of corresponding aircraft are pointed in front end
Head also by the rotation with surface being located at it until pointing to 45 degree of north-westward.If the front end of intelligent terminal is in the horizontal plane by positive north
Direction rotates to due south direction always, and the head of aircraft also unanimously rotates to due south direction by direct north in the horizontal plane.
As illustrated in figure 5f, then when being that intelligent terminal is rotated to due east direction by user in the horizontal plane, the now heading of aircraft
Also towards due east direction.
Next, as depicted in fig. 5g, if intelligent terminal is tilted by user to the left hand direction (i.e. due west direction) of oneself,
The heading of corresponding aircraft translates into due west direction.
Next, as illustrated in fig. 5h, if intelligent terminal is tilted by user to the right-hand lay (i.e. due east direction) of oneself,
The heading of corresponding aircraft translates into due east direction.
In the embodiment of the present invention, in heading be exactly intelligent terminal the direction of forward direction in the case of, user only need grasp
The incline direction of control intelligent terminal, just can control aircraft to be with reference to the flight of corresponding direction so that flying with its heading
The manipulation of row device becomes more directly perceived and easy.When aircraft flies to far place, user's naked eyes cannot be clearly seen that winged
During row device, plane nose direction is consistent with intelligent terminal direction, if manipulation intelligent terminal so that side from intelligent terminal to user
To inclination, aircraft will fly back towards user, solve traditional remote controller manipulation aircraft, be easily lost the feelings of aircraft
Condition.
As shown in fig. 6, a kind of flight control method of aircraft provided in an embodiment of the present invention, the method includes：
S601, the attitude information of intelligent terminal Real-time Collection intelligent terminal, wherein, attitude information at least includes intelligent terminal
Front extreme direction and incline direction.
S602, according to attitude information generate flight directive.
S603, flight directive is sent to aircraft.
S604, aircraft control the state of flight of aircraft according to flight directive, keep the heading of aircraft in real time
Consistent with the front end of intelligent terminal, the heading of aircraft is consistent with the incline direction of intelligent terminal.
In the present embodiment, step S601-S603 is corresponding with the S201-S203 of above-described embodiment identical respectively, S604 with
Step S502 in above-described embodiment is identical, no longer repeats here.
As shown in fig. 7, a kind of flight control assemblies of aircraft provided in an embodiment of the present invention, it is applied to intelligent terminal,
This device includes acquisition module 701, directive generation module 702 and sending module 703.
Acquisition module 701, for the attitude information of Real-time Collection intelligent terminal；Wherein, attitude information at least includes intelligence
The front extreme direction of terminal and incline direction.
Specifically, acquisition module 701 specifically for：By the first built-in attitude transducer Real-time Collection intelligence of intelligent terminal
The attitude information of energy terminal, wherein, the first attitude transducer includes：First three-axis gyroscope, the first three axis accelerometer and
One three axle electronic compass.
Directive generation module 702, for generating flight directive according to attitude information；Wherein, flight directive be used for indicating winged
The heading of row device is consistent with the front extreme direction of intelligent terminal, the heading of aircraft and the inclination side of intelligent terminal
To consistent.
Preferably, attitude information also includes a kind of of angle of inclination, flight speed or flying height or arbitrarily several combination,
Directive generation module is additionally operable to：Also carry angle of inclination, flight speed and/or flying height in flight directive, winged for indicating
Row device presses angle of inclination, flight speed and/or flight altitude control flight.
Sending module 703, for being sent to aircraft by flight directive.
As a kind of preferred embodiment, this device also include taking off indicating module, make a return voyage indicating module or landing instruction mould
A kind of or arbitrarily several combination of block.Wherein：
Take off indicating module, for user is detected after the slide that takes off on intelligent terminal user graphical interfaces,
Generation is taken off and is instructed and send aircraft；Wherein, instruction of taking off is used for indicating that aircraft completes whole takeoff maneuver, and hovers over
Default height.
Make a return voyage indicating module, clicks on " making a return voyage " operation for user is detected on the graphical interface of user of intelligent terminal
Afterwards, generate to make a return voyage and instruct and be sent to aircraft, instruction of making a return voyage is used for indicating that aircraft returns to takeoff point overhead and hovers over
Default height.
Landing indicating module, clicks on " landing " operation for user is detected on the graphical interface of user of intelligent terminal
Afterwards, generate landing and instruct and be sent to aircraft, landing instruction is used for indicating aircraft in current location landing simultaneously locking screw
Oar.
As shown in figure 8, a kind of flight control assemblies of aircraft provided in an embodiment of the present invention, it is applied to aircraft, should
Device includes receiver module 801 and control module 802.
Receiver module 801, for receiving the flight directive of intelligent terminal's transmission, wherein, carries intelligent end in flight directive
The front extreme direction at end and incline direction.
Control module 802, for controlling the state of flight of aircraft according to flight directive, keeps the head of aircraft in real time
Direction is consistent with the front end of intelligent terminal, and the heading of aircraft is consistent with the incline direction of intelligent terminal.
Specifically, control module 802 is used for the direction of electronic compass of real-time control aircraft and the electronics of intelligent terminal
The direction of compass is consistent.When also carrying angle of inclination, flight speed and/or flying height in flight directive, control mould
Block 802 is additionally operable to：Aircraft is controlled to press angle of inclination, flight speed and/or flight altitude control flight.
Preferably, this device also includes take off one of module, module of making a return voyage or landing module or arbitrarily several combination,
Wherein：
Take off module, for receiving after the instruction of taking off of intelligent terminal's transmission, complete whole takeoff maneuver, and hover over
Default height.
Make a return voyage module, for receiving after the instruction of making a return voyage of intelligent terminal's transmission, return to takeoff point overhead and hover over
Default height；
Landing module, after the landing for receiving intelligent terminal's transmission instructs, in current location landing simultaneously locking screw oar.
The embodiment of the present invention additionally provides a kind of aerocraft system, and this system includes intelligent terminal and aircraft, this intelligence
Terminal includes the flight control assemblies being applied to intelligent terminal of above-described embodiment；The application that aircraft includes above-described embodiment flies
The flight control assemblies of row device.This intelligent terminal can be including mobile phone, panel computer, PDA (Personal Digital
Assistant, personal digital assistant) etc. any intelligent terminal.
So that intelligent terminal is as mobile phone as a example illustrate, Fig. 9 is illustrated that and intelligent terminal provided in an embodiment of the present invention
The block diagram of the related part-structure of mobile phone.This mobile phone includes：Radio frequency (Radio Frequency, RF) circuit 910, memorizer
920th, input block 930, display unit 940, sensor 950, voicefrequency circuit 960, Wireless Fidelity (wireless fidelity,
WiFi) the part such as module 970, processor 980 and power supply 990.It will be understood by those skilled in the art that the handss shown in Fig. 9
Machine structure does not constitute the restriction to mobile phone, can include ratio and illustrate more or less of part, or combine some parts, or
The different part arrangement of person.
With reference to Fig. 9, each component parts of mobile phone are specifically introduced：
RF circuit 910 can be used for receiving and sending messages or communication process in, the reception of signal and transmission, especially, by base station
After downlink information receives, process to processor 980；In addition, up data is activation will be designed to base station.Generally, RF circuit bag
Include but be not limited to antenna, at least one amplifier, transceiver, bonder, low-noise amplifier (Low Noise
Amplifier, LNA), duplexer etc..Additionally, RF circuit 60 can also be communicated with network and other equipment by radio communication.
Above-mentioned radio communication can use arbitrary communication standard or agreement, including but not limited to global system for mobile communications (Global
System of Mobile communication, GSM), general packet radio service (General Packet Radio
Service, GPRS), CDMA (Code Division Multiple Access, CDMA), WCDMA
(Wideband Code Division Multiple Access, WCDMA), Long Term Evolution (Long Term Evolution,
LTE), Email, Short Message Service (Short Messaging Service, SMS) etc..
Memorizer 920 can be used for storing software program and module, and processor 980 is stored in memorizer 920 by operation
Software program and module, thus executing various function application and the data processing of mobile phone.Memorizer 920 can mainly include
Storing program area and storage data field, wherein, storing program area can application journey needed for storage program area, at least one function
Sequence (such as sound-playing function, image player function etc.) etc.；Storage data field can store according to mobile phone using being created
Data (such as voice data, phone directory etc.) etc..Additionally, memorizer 920 can include high-speed random access memory, acceptable
Including nonvolatile memory, for example, at least one disk memory, flush memory device or other volatile solid-state
Part.
Input block 930 can be used for numeral or the character information of receives input, and produces the user setup with mobile phone 600
And the key signals input that function control is relevant.Specifically, input block 930 may include contact panel 931 and other inputs
Equipment 932.Contact panel 931, also referred to as touch screen, can collect user thereon or neighbouring touch operation (such as user makes
With any suitable object such as finger, stylus or adnexa on contact panel 931 or the operation near contact panel 931), and
Corresponding attachment means are driven according to formula set in advance.Optionally, contact panel 931 may include touch detecting apparatus and touches
Touch two parts of controller.Wherein, touch detecting apparatus detect the touch orientation of user, and detect the letter that touch operation brings
Number, transmit a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and is converted into
Contact coordinate, then give processor 980, and can the order sent of receiving processor 980 being executed.Furthermore, it is possible to adopt
The polytypes such as resistance-type, condenser type, infrared ray and surface acoustic wave realize contact panel 931.Except contact panel 931, defeated
Enter unit 930 and can also include other input equipments 932.Specifically, other input equipments 932 can include but is not limited to physics
One or more of keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, action bars etc..
Display unit 940 can be used for display and by the information of user input or is supplied to the information of user and the various of mobile phone
Menu.Display unit 940 may include display floater 941, optionally, can adopt liquid crystal display (Liquid Crystal
Display, LCD), the form such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED) aobvious to configure
Show panel 941.Further, contact panel 931 can cover display floater 941, when contact panel 931 detect thereon or attached
After near touch operation, send processor 980 to determine the type of touch event, with preprocessor 980 according to touch event
Type corresponding visual output is provided on display floater 941.Although in fig .9, contact panel 931 and display floater 941
It is input and the input function to realize mobile phone as two independent parts, but in some embodiments it is possible to by touch-control
Panel 931 is integrated with display floater 941 and realizes mobile phone input and output function.
Mobile phone may also include sensor 950, and attitude transducer 950 includes three-axis gyroscope, three axis accelerometer and three axles
The motion sensors such as electronic compass and other sensors, for obtaining movable information and the other information of mobile phone itself.Three axles add
Velometer can detect the size of acceleration in all directions, can detect that size and the direction of gravity, can be used for identifying when static
The application (such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating) of mobile phone attitude, Vibration identification correlation function are (such as
Pedometer, percussion) etc..Be stored with memorizer 934 APP code.Processor 933 calls APP code from memorizer 934 and transports
OK.Mobile phone A PP by the roll angle of attitude transducer 950 acquisition mobile phone, the angle of pitch, yaw angle, and can pass through operating and controlling interface
Module 931 obtains the draw runner position for controlling aircraft altitude.
Voicefrequency circuit 960, speaker 961, microphone 962 can provide the audio interface between user and mobile phone.Audio-frequency electric
The signal of telecommunication after the voice data receiving conversion can be transferred to speaker 961, is converted to sound by speaker 961 by road 960
Signal output；On the other hand, the acoustical signal of collection is converted to the signal of telecommunication by microphone 962, turns after being received by voicefrequency circuit 960
It is changed to voice data, then after voice data output processor 980 is processed, through RF circuit 910 to be sent to such as another mobile phone,
Or voice data is exported to memorizer 920 to process further.
WiFi belongs to short range wireless transmission technology, and mobile phone can help user's transceiver electronicses postal by WiFi module 970
Part, browse webpage and access streaming video etc., it has provided the user wireless broadband internet and has accessed.Although Fig. 9 shows
WiFi module 970, but it is understood that, it is simultaneously not belonging to must be configured into of mobile phone, can not change as needed completely
Omit in the scope of the essence becoming invention.
Processor 980 is the control centre of mobile phone, using the various pieces of various interfaces and connection whole mobile phone, leads to
Cross and run or software program and/or module that execution is stored in memorizer 920, and call and be stored in memorizer 920
Data, the various functions of execution mobile phone and processing data, thus carry out integral monitoring to mobile phone.Optionally, processor 980 can wrap
Include one or more processing units；Preferably, processor 980 can integrated application processor and modem processor, wherein, should
Mainly process operating system, user interface and application program etc. with processor, modem processor mainly processes radio communication.
It is understood that above-mentioned modem processor can not also be integrated in processor 980.
This mobile phone also includes the power supply 990 (such as battery) powered to all parts it is preferred that power supply can pass through power supply
Management system is logically contiguous with processor 980, thus realizing management charging, electric discharge and power consumption pipe by power-supply management system
The functions such as reason.
Although not shown, mobile phone can also include photographic head, bluetooth module etc., will not be described here.
In embodiments of the present invention, the processor 980 included by this mobile phone also has following functions：
Above-mentioned processor 980, is additionally operable to gather the attitude information of intelligent terminal in real time by sensor 950；Wherein, attitude
Information at least includes front extreme direction and the incline direction of intelligent terminal.
Above-mentioned processor 980, is additionally operable to generate flight directive according to attitude information；Wherein, flight directive be used for indicating winged
The heading of row device is consistent with the front extreme direction of intelligent terminal, the heading of aircraft and the inclination side of intelligent terminal
To consistent.
Above-mentioned processor 980, is additionally operable to flight directive and passes through through RF circuit 910 aircraft.
Additionally, above-mentioned aircraft includes all kinds of unmanned vehicles and manned vehicle, the processor of this aircraft is additionally operable to
Receive the flight directive that intelligent terminal sends, control the state of flight of aircraft according to flight directive, keep aircraft in real time
Heading is consistent with the front end of intelligent terminal, and the heading of aircraft is consistent with the incline direction of intelligent terminal.Wherein, fly
Front extreme direction and the incline direction of intelligent terminal is carried in row instruction.
It should be noted that the embodiment of said apparatus and system and embodiment of the method belong to same design, it is specifically real
The technical characteristic that existing process refers in embodiment of the method, and embodiment of the method is all corresponding applicable, in device in device embodiment
Repeat no more with system.Additionally, what above-mentioned unit was simply divided according to function logic, but it is not limited to above-mentioned
Division, as long as being capable of corresponding function；In addition, the specific name of each functional unit is also only to facilitate mutually
Distinguish, be not limited to protection scope of the present invention.
A kind of flight control method of aircraft, device and system that the present invention provides, by intelligent terminal's Real-time Collection
The attitude information of itself, generates the state of flight that flight directive is sent to flying vehicles control aircraft, flight according to attitude information
The attitude real-time synchronization of the attitude that device flies in the air and intelligent terminal is it is achieved that the somatosensory operation based on intelligent terminal for the aircraft
Flight, need not pay close attention to the direction of aircraft and position so that aircraft manipulation is simple and be suitable to over the horizon and fly.
Further, it is also possible to the graphical interface of user in combined with intelligent terminal realizes clicking on and slip manipulation aircraft is entered
Row is further to be controlled, and reaches a key and realizes taking off, land and making a return voyage etc. so that the flight manipulation of aircraft becomes simply easy
OK, user need not train and pass through motion sensing manipulation and can achieve the accurate manipulation to unmanned plane similar with remote control, minimizing because
The safety risks that human error is brought.
One of ordinary skill in the art will appreciate that all or part of step realized in above-mentioned each method embodiment is can
Completed with the hardware instructing correlation by program, corresponding program can be stored in a kind of computer-readable recording medium,
Storage medium mentioned above can be read only memory, disk or CD etc..
These are only the present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope that the embodiment of the present invention discloses, the change that can readily occur in or replace
Change, all should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Enclose and be defined.
Claims (24)
1. a kind of flight control method of aircraft, is applied to intelligent terminal it is characterised in that the method includes：
The attitude information of intelligent terminal described in Real-time Collection；
Flight directive is generated according to described attitude information；
Described flight directive is sent to described aircraft；
Wherein, described attitude information at least includes front extreme direction and the incline direction of intelligent terminal, and described flight directive is used for referring to
Show that the heading of described aircraft is consistent with the front extreme direction of described intelligent terminal, the heading of described aircraft with
The incline direction of described intelligent terminal is consistent.
2. aircraft according to claim 1 flight control method it is characterised in that described in described Real-time Collection intelligence
The attitude information of terminal further includes：
By the attitude information of the built-in or external intelligent terminal described in the first attitude transducer Real-time Collection of intelligent terminal, its
In, described first attitude transducer includes：Three-axis gyroscope, three axis accelerometer and three axle electronic compass.
3. the flight control method of aircraft according to claim 1 is it is characterised in that also include before the method：
User is detected after the slide that takes off on described intelligent terminal user graphical interfaces, generating takes off instructs and send
Described aircraft；Wherein, described instruction of taking off is used for indicating that described aircraft completes whole takeoff maneuver, and hovers over default
Highly.
4. the flight control method of aircraft according to claim 1 is it is characterised in that also include after the method：
Detect after user clicks on " making a return voyage " operation on the graphical interface of user of described intelligent terminal, generate instruction of making a return voyage concurrent
Give described aircraft, described instruction of making a return voyage is used for indicating that described aircraft returns to takeoff point overhead and hovers over default height
Degree；
And/or
Detect after user clicks on " landing " operation on the graphical interface of user of described intelligent terminal, generate landing instruction concurrent
Give described aircraft, described landing instructs for indicating described aircraft in current location landing simultaneously locking screw oar.
5. the flight control method of the aircraft according to claim 1-4 any one claim is it is characterised in that institute
State attitude information and also include angle of inclination, flight speed and/or flying height, in described flight directive, also carry described inclination angle
Degree, flight speed and/or flying height are high by described angle of inclination, flight speed and/or flight for indicating described aircraft
Degree controls flight.
6. the flight control method of aircraft according to claim 5 is it is characterised in that described flight speed includes：In advance
If initialization speed and the acceleration corresponding with the angle of inclination of intelligent terminal.
7. a kind of flight control method of aircraft, is applied to aircraft it is characterised in that the method includes：
Receive the flight directive that intelligent terminal sends, described flight directive carries front extreme direction and the inclination side of described intelligent terminal
To；
Control the state of flight of described aircraft according to described flight directive, keep the heading of aircraft and described intelligence in real time
The front end of energy terminal is consistent, and the heading of described aircraft is consistent with the incline direction of described intelligent terminal.
8. the flight control method of aircraft according to claim 7 is it is characterised in that described real-time keep aircraft
Heading is consistent with the front end of described intelligent terminal to be further included：
The direction of the three axle electronic compass of the direction of the three axle electronic compass of aircraft described in real-time control and described intelligent terminal
It is consistent.
9. the flight control method of aircraft according to claim 7 is it is characterised in that also include before the method：
After receiving the instruction of taking off that described intelligent terminal sends, complete whole takeoff maneuver, and hover over default height.
10. the flight control method of aircraft according to claim 7 is it is characterised in that also include after the method：
After receiving the instruction of making a return voyage that described intelligent terminal sends, then return to takeoff point overhead and hover over default height；
And/or
After receiving the landing instruction that described intelligent terminal sends, then in current location landing simultaneously locking screw oar.
The flight control method of 11. aircraft according to claim 7-10 any one claim it is characterised in that
Described angle of inclination, flight speed and/or flying height is also carried, the flying of the described described aircraft of control in described flight directive
Row state also includes controlling described aircraft to fly by described angle of inclination, flight speed and/or flight altitude control.
A kind of 12. flight control methods of aircraft are it is characterised in that the method includes：
The attitude information of intelligent terminal described in intelligent terminal's Real-time Collection, described attitude information at least includes the front end of intelligent terminal
Direction and incline direction；
Flight directive is generated according to described attitude information；
Described flight directive is sent to described aircraft；
Described aircraft controls the state of flight of described aircraft according to described flight directive, keeps the machine of described aircraft in real time
Head direction is consistent with the front end of described intelligent terminal, the incline direction one of the heading of described aircraft and described intelligent terminal
Cause.
A kind of 13. flight control assemblies of aircraft, are applied to intelligent terminal it is characterised in that this device includes：
Acquisition module, for the attitude information of intelligent terminal described in Real-time Collection；Wherein, described attitude information at least includes intelligence
The front extreme direction of terminal and incline direction；
Directive generation module, for generating flight directive according to described attitude information；Wherein, described flight directive is used for indicating institute
The front extreme direction of the heading and described intelligent terminal of stating aircraft is consistent, the heading of described aircraft with described
The incline direction of intelligent terminal is consistent；
Sending module, for being sent to described aircraft by described flight directive.
The flight control assemblies of 14. aircraft according to claim 13 are it is characterised in that described acquisition module is specifically used
In：
By the attitude information of the built-in intelligent terminal described in the first attitude transducer Real-time Collection of intelligent terminal, wherein, described
First attitude transducer includes：Three-axis gyroscope, three axis accelerometer and three axle electronic compass.
The flight control assemblies of 15. aircraft according to claim 13 are it is characterised in that this device also includes：
Take off indicating module, for user is detected after the slide that takes off on described intelligent terminal user graphical interfaces,
Generation is taken off and is instructed and send described aircraft；Wherein, described instruction of taking off is used for indicating that described aircraft completes entirely to take off
Action, and hover over default height.
The flight control assemblies of 16. aircraft according to claim 13 are it is characterised in that this device also includes the finger that makes a return voyage
Show module and/or landing indicating module, wherein：
The described indicating module that makes a return voyage, clicks on " making a return voyage " behaviour for user is detected on the graphical interface of user of described intelligent terminal
After work, generate and make a return voyage and instructs and be sent to described aircraft, described instruction of making a return voyage is used for indicating that described aircraft returns to takes off
Point overhead simultaneously hovers over default height；
Described landing indicating module, clicks on " landing " behaviour for user is detected on the graphical interface of user of described intelligent terminal
After work, generate landing and instruct and be sent to described aircraft, described landing instructs for indicating described aircraft in current location
Landing locking screw oar.
The flight control assemblies of 17. aircraft according to claim 13-16 any one claim, its feature exists
In described attitude information also includes angle of inclination, flight speed and/or flying height, and described directive generation module is additionally operable to：?
Flight directive also carries described angle of inclination, flight speed and/or flying height, for indicating described aircraft by described inclination
Angle, flight speed and/or flight altitude control flight.
A kind of 18. flight control assemblies of aircraft, are applied to aircraft it is characterised in that this device includes：
Receiver module, for receiving the flight directive of intelligent terminal's transmission, carries described intelligent terminal's in described flight directive
Front extreme direction and incline direction；
Control module, for controlling the state of flight of described aircraft according to described flight directive, keeps the machine of aircraft in real time
Head direction is consistent with the front end of described intelligent terminal, the incline direction one of the heading of described aircraft and described intelligent terminal
Cause.
The flight control assemblies of 19. aircraft according to claim 18 are it is characterised in that described control module is specifically used
In：
The direction of the electronic compass of aircraft described in real-time control is consistent with the direction of the electronic compass of described intelligent terminal.
The flight control assemblies of 20. aircraft according to claim 18 are it is characterised in that this device also includes the mould that takes off
Block, for receiving after the instruction of taking off that described intelligent terminal sends, completes whole takeoff maneuver, and hovers over default height
Degree.
The flight control assemblies of 21. aircraft according to claim 18 are it is characterised in that this device also includes the mould that makes a return voyage
Block and/or landing module, wherein：
Described module of making a return voyage, for receiving after the instruction of making a return voyage that described intelligent terminal sends, returns to takeoff point overhead and hangs
It is parked in default height；
Described landing module, for receiving after the landing instruction that described intelligent terminal sends, lands in current location and locks spiral shell
Rotation oar.
The flight control assemblies of 22. aircraft according to claim 18-21 any one claim, its feature exists
In also carrying described angle of inclination, flight speed and/or flying height in described flight directive, described control module is additionally operable to：
Described aircraft is controlled to fly by described angle of inclination, flight speed and/or flight altitude control.
A kind of 23. aerocraft systems it is characterised in that this system includes intelligent terminal and aircraft, this intelligent terminal include as
The flight control assemblies of the aircraft described in claim 13-17 any one claim；Described aircraft includes right will
Seek the flight control assemblies of the aircraft described in 18-22 any one claim.
24. aerocraft systems according to claim 23, described intelligent terminal includes mobile phone, panel computer, or has body
The remote control of propagated sensation sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063096.1A CN106406331A (en) | 2016-11-25 | 2016-11-25 | Flight control method, device and system for aircraft |
| PCT/CN2017/106196 WO2018095158A1 (en) | 2016-11-25 | 2017-10-13 | Flight control method, apparatus and system for use in aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063096.1A CN106406331A (en) | 2016-11-25 | 2016-11-25 | Flight control method, device and system for aircraft |
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| WO (1) | WO2018095158A1 (en) |
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