CN110069078A

CN110069078A - A kind of flight control method, device, system and unmanned plane

Info

Publication number: CN110069078A
Application number: CN201910423076.8A
Authority: CN
Inventors: 钟自鸣
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2019-05-21
Filing date: 2019-05-21
Publication date: 2019-07-30
Anticipated expiration: 2039-05-21
Also published as: WO2020233605A1; CN110069078B

Abstract

The present embodiments relate to unmanned aerial vehicle (UAV) control technical field, a kind of flight control method, device, system and unmanned plane are disclosed.Wherein, flight control method includes: to obtain flight program information；According to flight program information, rod volume control instruction is generated；Rod volume control instruction is sent to remote controler, so that remote controler switches rocking bar position according to rod volume control instruction and generates flight control instruction；Flight control instruction is received, unmanned plane during flying is controlled according to flight control instruction.Through the above way, the embodiment of the present invention can be done directly the operation to remote controler, not needing operator cooperates navigation map and camera figure biography picture to operate remote controler, intelligentized operation auxiliary is provided for operator, simplify the process that operator operates unmanned plane, the use difficulty of unmanned plane is reduced, user's operation experience is improved.

Description

A kind of flight control method, device, system and unmanned plane

Technical field

The present embodiments relate to unmanned aerial vehicle (UAV) control technical fields, more particularly to a kind of flight control method, device, are System and unmanned plane.

Background technique

Currently, unmanned plane does not have the ability of autonomous flight still in relative complex flight environment of vehicle, it is still necessary to operator Manipulation and control is carried out by remote controler.And when being controlled by remote controler unmanned plane, what only remote controler was sent flies Row control instruction can control unmanned plane during flying, and the autokinetic movement planning module in unmanned aerial vehicle control system does not have pair at this time The control of unmanned plane movement, i.e. unmanned plane cannot achieve the function such as automatic obstacle avoiding in the case where being controlled by remote controler Can, in this scenario, after needing operator that navigation map and camera figure is cooperated to pass the judgements such as picture planning avoidance route, by distant It controls device manipulation unmanned plane and realizes avoidance.In this process, according to navigation map when operator needs while remote controller And camera figure passes the real-time planning and adjusting flight path of picture, such flight control undoubtedly increases the use difficulty of unmanned plane, Reduce the operating experience of user.

Summary of the invention

The embodiment of the present invention is intended to provide a kind of flight control method, device, system and unmanned plane, it may be possible to provide remote controler The operation at end assists, and is further simplified the process that operator operates unmanned plane, reduces the use difficulty of unmanned plane, improves user behaviour It experiences.

In order to solve the above technical problems, a technical solution used in the embodiment of the present invention is: providing a kind of flight control Method, is applied to unmanned plane, and the unmanned plane and remote controler communicate to connect, which comprises

Obtain flight program information；

According to the flight program information, rod volume control instruction is generated；

The rod volume control instruction is sent to the remote controler, so that the remote controler is according to the rod volume control instruction Switching rocking bar position simultaneously generates flight control instruction；

The flight control instruction is received, the unmanned plane during flying is controlled according to the flight control instruction.

It is optionally, described to obtain the flight program information, comprising:

The flight environment of vehicle information of the unmanned plane is acquired by the sensor of the unmanned plane；

According to the flight environment of vehicle information, the flight path of the unmanned plane is planned；

According to the flight path, the flight program information is generated.

Optionally, the remote controler is connected with mobile terminal, and the mobile terminal is connect with the UAV Communication；Then,

It is described to obtain the flight program information, comprising:

The offline mode information that the mobile terminal is sent is received, and is believed the offline mode information as flight program Breath.

Optionally, described according to the flight program information, generate the rod volume control instruction, comprising:

According to the flight program information, flight control parameter is extracted；

It is inverse to resolve the flight control parameter, to obtain rod volume parameter；

The rod volume parameter is encapsulated, to generate the rod volume control instruction.

Optionally, the flight control parameter includes flying speed and/or heading；Then,

The inverse resolving flight control parameter, to obtain the rod volume parameter, comprising:

It is inverse to calculate the rod volume parameter, wherein the rod volume according to the flying speed and/or the heading Parameter includes rocking bar mark and rocking bar amount.

Optionally, the flight control parameter includes the flying speed, and the rocking bar mark includes that the first rocking bar identifies, The rocking bar amount includes the first rocking bar amount；Then,

The encapsulation rod volume parameter, to generate the rod volume control instruction, comprising:

The first rocking bar mark and the first rocking bar amount are calculated according to the flying speed is inverse；

First rocking bar mark and the first rocking bar amount are packaged into the rod volume control instruction.

Optionally, the flight control parameter includes the heading, and the rocking bar mark includes that the second rocking bar identifies, The rocking bar amount includes the second rocking bar amount；Then,

The second rocking bar mark and the second rocking bar amount are calculated according to the heading is inverse；

Second rocking bar mark and the second rocking bar amount are packaged into the rod volume control instruction.

Optionally, the flight control parameter further includes flight duration；Then,

It is inverse to resolve the flight duration, to obtain the rod volume retention time；

Then, the encapsulation rod volume parameter, to generate the rod volume control instruction, comprising:

Rocking bar mark, the rocking bar amount and the rod volume retention time are packaged into the rod volume control instruction.

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: providing a kind of flight control Device processed is applied to unmanned plane, and the unmanned plane and remote controler communicate to connect, and described device includes:

Module is obtained, the acquisition module is for obtaining flight program information；

Generation module, the generation module are used to generate rod volume control instruction according to the flight program information；

Sending module, the sending module is used to the rod volume control instruction being sent to the remote controler, so that described Remote controler switches rocking bar position according to the rod volume control instruction and generates flight control instruction；

Receiving module, the receiving module is for receiving the flight control instruction, according to the flight control instruction control Make the unmanned plane during flying.

Optionally, the acquisition module is specifically used for:

According to the flight path, the flight program information is generated.

The acquisition module is specifically used for:

Optionally, the generation module is specifically used for:

The generation module is specifically used for:

It is inverse to resolve the flight duration, to obtain the rod volume retention time；And

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: a kind of unmanned plane is provided, Include:

Fuselage；

Horn is connected with the fuselage；

Power device is set to the horn, for providing the power of flight to the unmanned plane；

Sensor is connected with the fuselage；

At least one processor；And

The memory being connect at least one described processor communication；Wherein, the memory be stored with can by it is described extremely The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing Device can be used in executing above-described flight control method.

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: providing a kind of flight control System processed, comprising:

Above-described unmanned plane；And

Remote controler, the remote controler are connect with the UAV Communication, and the remote controler includes rod volume executing agency, described The rod volume control instruction that rod volume executing agency is used to be sent according to the unmanned plane switches rocking bar position and generates flight control and refers to It enables.

Optionally, the remote controler is connected with mobile terminal, and the mobile terminal is connect with the UAV Communication, described Mobile terminal is used to send offline mode information to the unmanned plane.

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: providing a kind of non-volatile Property computer readable storage medium, the non-volatile computer readable storage medium storing program for executing are stored with computer executable instructions, institute Computer executable instructions are stated for making unmanned plane execute above-described flight control method.

The beneficial effect of the embodiment of the present invention is: being in contrast to the prior art down, the embodiment of the present invention provides one kind Flight control method, device, system and unmanned plane, in flight control method, unmanned plane is raw by obtaining flight program information At rod volume control instruction, remote controler switching rocking bar position is then controlled by rod volume control instruction and generates control unmanned plane during flying Flight control instruction, enable unmanned plane to be done directly the operation to remote controler, do not need operator cooperate navigation map And camera figure passes picture and operates to remote controler, provides intelligentized operation auxiliary for operator, simplifies operator behaviour The process for making unmanned plane reduces the use difficulty of unmanned plane, improves user's operation experience.

Detailed description of the invention

One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove Non- to have special statement, composition does not limit the figure in attached drawing.

Fig. 1 is a kind of structural schematic diagram for flight control system that one embodiment of the invention provides；

Fig. 2 is the structural schematic diagram of the unmanned plane in flight control system shown in FIG. 1；

Fig. 3 is a kind of flow diagram for flight control method that one embodiment of the invention provides；

Fig. 4 is a kind of structural schematic diagram for flight control assemblies that one embodiment of the invention provides；

Fig. 5 is a kind of hardware structural diagram for unmanned plane that one embodiment of the invention provides.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.It should be appreciated that specific embodiment described herein is only to solve The present invention is released, is not intended to limit the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not making Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.

It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element, Or there may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be with It is directly to another element or there may be one or more elements placed in the middle therebetween.Used in this specification Term "vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.

As long as in addition, technical characteristic involved in each embodiment of invention described below non-structure each other It can be combined with each other at conflict.

The present invention provides a kind of flight control method and device, this method and device are applied to unmanned plane, so that The unmanned plane can generate rod volume control instruction and come after communicating to connect with remote controler according to acquired flight program information It controls remote controler and switches rocking bar position, realize the autonomous operation of remote controler, provide intelligentized operation auxiliary, letter for operator Change the process that operator operates unmanned plane, reduced the use difficulty of unmanned plane, improves user's operation experience.Wherein, unmanned plane It can be High Altitude UAV or the low latitude unmanned plane, including fixed-wing unmanned plane, rotor wing unmanned aerial vehicle etc. of any suitable type.

In the following, will be illustrated by specific embodiment to the present invention.

Embodiment one

Referring to Fig. 1, be the present invention wherein an embodiment provide a kind of flight control system, including mobile terminal 100, Remote controler 200 and unmanned plane 300, mobile terminal 100 are connect with remote controler 200, also, unmanned plane 300 respectively with mobile terminal 100 and remote controler 200 communicate to connect.

Wherein, mobile terminal 100 is the electronic equipment that smart phone, tablet computer etc. can run application program, packet One or more input/output component is included, such as: display screen, button, Touch Screen etc., which is used for will The interactive interface for the application program that mobile terminal 100 is run is shown to user and acquires triggering behaviour of the user in interactive interface Make, realizes the interaction between user and mobile terminal 100.

Specifically, run in mobile terminal 100 be unmanned plane 300 supplier or the flight that provides of service provider Program is controlled, program is controlled by the flight, one or more user can bind or register one or more nobody Machine 300, so that user interacts with the interactive interface realization that unmanned plane 300 can control program by the flight.

In the interactive interface of flight control program, it is provided with the offline mode select button that quantity is at least 1, each Offline mode select button corresponds to an offline mode information, when user is touched in interactive interface by modes such as click, long-pressings After sending out offline mode select button, it is corresponding that mobile terminal 100 can collect the offline mode select button that user is triggered Offline mode information, and offline mode information collected is sent in the unmanned plane 300 of communication connection.

Preferably, the offline mode select button being arranged in the interactive interface of flight control program includes teaching offline mode Select button and/or constant speed offline mode select button.Wherein, the corresponding offline mode information of teaching offline mode select button For flight information of imparting knowledge to students；The corresponding offline mode information of constant speed offline mode select button is constant speed flight information.

Further, different offline mode information correspond to different preset flight control parameters.When offline mode information For teaching flight information when, corresponding preset flight control parameter include preset flying speed, preset heading and Preset flight duration；When offline mode information is constant speed flight information, corresponding preset flight control parameter includes pre- If flying speed.Wherein, preset flight control parameter is that user is preset by the interactive interface of flight control program The flight parameter for instructing unmanned plane 300 to fly, such as: when needing to instruct unmanned plane 300 to carry out according to the speed of 10m/s When flying at a constant speed, then in constant speed offline mode, preset flight control parameter is set by 10m/s.

Remote controler 200 then includes rocking bar 210 and rod volume executing agency 220, and rod volume executing agency 220 connect with rocking bar 210, For controlling 210 switching position of rocking bar.Wherein, control 210 switching position of rocking bar control rocking bar 210 in rocking bar initial position and Displacement is generated between rocking bar final position.In embodiments of the present invention, rocking bar final position includes First terminal point position and second Final position, and First terminal point position and the second final position are symmetrical with respect to rocking bar initial position, are based on this, rocking bar 210 exists The displacement and rocking bar 210 that rocking bar initial position and First terminal point position generate are generated in rocking bar initial position and the second final position Direction of displacement it is opposite.

Specifically, rocking bar 210 includes speed rocking bar, direction rocking bar and lifting rocking bar.

Speed rocking bar is moved down or is moved up using rocking bar initial position as starting point, for controlling flying for unmanned plane 300 Scanning frequency degree.When speed rocking bar moves down, control unmanned plane 300 slows down；When speed rocking bar moves up, unmanned plane is controlled 300 accelerate.Wherein, the mobile distance of speed rocking bar is different, then the flying speed of unmanned plane 300 is different, specifically, speed rocking bar The distance moved down is bigger, and the flying speed of unmanned plane 300 is slower；The distance that speed rocking bar moves up is bigger, unmanned plane 300 flying speed is faster.

Direction rocking bar and lifting rocking bar are then used to control the heading of unmanned plane 300.

Direction rocking bar is moved to the left or moves right using rocking bar initial position as starting point, for controlling unmanned plane 300 to the left Flight is flown to the right.When direction, rocking bar is moved to the left, control unmanned plane 300 flies to the left；When direction, rocking bar moves right When, control unmanned plane 300 flies to the right.

Lifting rocking bar then move down or move up using rocking bar initial position as starting point, for control unmanned plane 300 to Flight or flight forward afterwards.When lifting rocking bar moves down, control unmanned plane 300 flies backward；When lifting rocking bar is to moving up When dynamic, 300 flight forward of unmanned plane is controlled.Certainly, in some other alternate embodiments, lifting rocking bar is for controlling nobody Machine 300 is down or up, at this point, control unmanned plane 300 declines when lifting rocking bar moves down；When lifting rocking bar is to moving up When dynamic, control unmanned plane 300 rises.

Further, the mobile direction of rocking bar 210 and mobile distance can determine that the rocking bar amount is to shake by rocking bar amount The ratio of the maximum movable distance of the displacement and rocking bar 210 of bar 210, in the range of [- 1,1].Wherein, the maximum of rocking bar 210 Movable distance is the distance between rocking bar initial position and rocking bar final position, when rocking bar 210 is located at rocking bar initial position, Rocking bar amount is 0, and when rocking bar 210 is located at rocking bar final position, the absolute value of rocking bar amount is 1.

When determining the mobile direction of rocking bar 210 by rocking bar amount, if rocking bar amount is -1≤S < 0, it is determined that speed rocking bar It moves down, direction rocking bar is moved to the left, goes up and down rocking bar moves down；If rocking bar amount be 0 < S≤1, it is determined that speed rocking bar to Upper movement, direction rocking bar, which move right, goes up and down rocking bar moves up.

When by rocking bar amount determine rocking bar 210 it is mobile apart from when, by the maximum movable distance of rocking bar 210 and rocking bar amount The absolute value of product is determined as the mobile distance of rocking bar 210.

When further, due to the mobile distance difference of speed rocking bar, the flying speed of unmanned plane 300 is different, therefore speed The different rocking bar amounts of rocking bar can represent the different flying speeds of unmanned plane 300.Such as: when the rocking bar amount of speed rocking bar is 1, generation The flying speed of table unmanned plane 300 is 10m/s；When the rocking bar amount of speed rocking bar is -0.5, the flying speed of unmanned plane 300 is represented For -5m/s.

Rod volume executing agency 220 then includes enforcement division 221 and control unit 222, and control unit 222 and enforcement division 221 connect It connects, executes movement for controlling enforcement division 221.

Wherein, the quantity of enforcement division 221 is consistent with the quantity of rocking bar 210, including speed rocking bar enforcement division, direction rocking bar are held Row portion and lifting rocking bar enforcement division.Rod volume executing agency 220 is correspondingly connected with by enforcement division 221 with rocking bar 210, is executed with passing through The movement in portion 221 drives 210 switching position of rocking bar.Specifically, speed rocking bar enforcement division is connect with speed rocking bar, to drive speed Rocking bar switching position；Direction rocking bar enforcement division is connect with direction rocking bar, to drive direction rocking bar switching position；Rocking bar is gone up and down to execute Portion is connect with lifting rocking bar, goes up and down rocking bar switching position to drive.

It is additionally provided with identifier number in each enforcement division 221, is corresponded to so that control unit 222 is controlled by identifier number Enforcement division 221 execute movement.Such as: it is 1 that identifier number, which is arranged, in speed rocking bar enforcement division, direction rocking bar enforcement division setting mark Number is 2, and lifting rocking bar enforcement division setting identifier number is 3.If the identifier number that control unit 222 recognizes is 2, control Direction rocking bar enforcement division executes movement, to drive direction rocking bar switching position.

Control unit 222 then be the processor with certain logical operation capability, such as: single-chip microcontroller, microprocessor or CPU etc., which is used to communicate to connect with unmanned plane 300, to receive the rod volume control instruction of the transmission of unmanned plane 300, And corresponding 221 execution of enforcement division movement is controlled to drive the rocking bar connecting with enforcement division 221 210 to cut according to rod volume control instruction Change place, and flight control instruction is generated after 210 switching position of rocking bar.

Wherein, rod volume control instruction includes rocking bar mark and rocking bar amount, and control unit 222 can be identified according to rocking bar and be determined The enforcement division 221 of execution movement can control the movement range and direction of action of enforcement division 221 according to rocking bar amount.Certainly, at it In his some alternate embodiments, rod volume control instruction further includes the rod volume retention time, and control unit 222 can be protected according to rod volume Hold the duration that time control enforcement division 221 maintains movement range and direction of action.

Further, the corresponding relationship of identifier number and rocking bar mark is stored in control unit 222, such as: speed is shaken Bar identifies corresponding identifier number 1, direction rocking bar identifies corresponding identifier number 2, lifting rocking bar identifies corresponding identifier number 3.It is based on This can identify according to rocking bar when control unit 222 receives rocking bar mark and determine corresponding identifier number, and then basis Identifier number controls corresponding enforcement division 221 and executes movement.For example, when the rocking bar that control unit 222 receives is identified as When speed rocking bar identifies, determines that identifier number is 1, because the enforcement division 221 that identifier number is 1 is speed rocking bar enforcement division, then control Unit 222 processed controls speed rocking bar enforcement division and executes movement.

Please refer to Fig. 1 and Fig. 2, unmanned plane 300 then include fuselage 310, horn 320, power device 330, sensor 340, Undercarriage 350, flight program subsystem 360 and flight subsystem 370.Horn 320, sensor 340 and undercarriage 350 It is connect with fuselage 310, power device 330 is then set on horn 320, flight program subsystem 360 and flight control subsystem System 370 is then set in fuselage 310.Wherein, sensor 340 and flight program subsystem 360 communicate to connect, so that flight program Subsystem 360 can acquire the flight environment of vehicle information of unmanned plane 300 by sensor 340；Power device 330 and undercarriage 350 communicate to connect with flight subsystem 370, and flight subsystem 370 is controlled by power device 330 The flight of unmanned plane 300, additionally it is possible to control the opening of undercarriage 350 and pack up.

Preferably, 320 quantity of horn is 4,310 surrounding of fuselage is uniformly distributed in, for carrying power device 330.

Power device 330 include motor and the propeller with motor axis connection, motor be able to drive propeller rotation with Lift is provided for unmanned plane 300, realizes flight；Motor can also change unmanned plane by changing revolving speed and the direction of propeller 300 heading.When power device 330 and flight subsystem 370 communicate to connect, 370 energy of flight subsystem The enough flight that unmanned plane 300 is controlled by control motor.

The power device 330 is set to one end that horn 320 is not connect with fuselage 310, and connects horn by motor 320。

Preferably, it is provided with power device 330 on 4 horns of unmanned plane 300, so that unmanned plane 300 can be put down Steady flight.

Sensor 340 is depth transducer, for acquiring the flight environment of vehicle information on 300 heading of unmanned plane.Pass through The flight environment of vehicle information that sensor 340 acquires can determine the reality of object and unmanned plane 300 on 300 heading of unmanned plane Distance, and then can determine that whether there are obstacles on the heading of unmanned plane 300.

Undercarriage 350 is then set to 310 bottom opposite sides of fuselage, is connected via drive in fuselage 310, undercarriage 350 are able to carry out opening under the drive of the drive and pack up.Unmanned plane 300 when being contacted with ground, driving device control Undercarriage 350 is opened, so that unmanned plane 300 passes through undercarriage 350 and ground face contact；In 300 flight course of unmanned plane, driving Device control undercarriage 350 is packed up, and is influenced unmanned plane 300 to avoid undercarriage 350 and is flown.When undercarriage 350 and flight control When subsystem 370 communicates to connect, flight subsystem 370 can control beating for undercarriage 350 by control driving device It opens and packs up.

Flight program subsystem 360 is then communicated by way of wired connection or wireless connection with sensor 340 Connection；Flight subsystem 370 then passes through wired connection or wireless connection with power device 330 and undercarriage 350 Mode is communicatively coupled.Wherein, wireless connection includes but is not limited to: WiFi, bluetooth, ZigBee etc..

Wherein, when unmanned plane 300 and mobile terminal 100 and remote controler 200 communicate to connect, unmanned plane 300 passes through flight Plan that subsystem 360 and mobile terminal 100 communicate to connect, unmanned plane 300 passes through flight program subsystem 360 and flight control System 370 is communicated to connect with the control unit 222 of remote controler 200 respectively.

Based on this, unmanned plane 300 executes flight control method, to realize the autonomous operation of remote controler, simplifies operator behaviour The process for making unmanned plane, specifically includes:

Flight program subsystem 360 obtains flight program information, and generates rod volume control instruction according to flight program information.

Wherein, when flight program subsystem 360 obtains flight program information, it can be obtained by sensor 340, also can It is obtained by mobile terminal 100.

When obtaining flight program information by sensor 340, flight program subsystem 360 is acquired by sensor 340 The flight environment of vehicle information of unmanned plane 300, then according to the flight path of flight environment of vehicle information planning unmanned plane 300 collected, And flight program information is generated according to the flight path planned.

Wherein, flight program subsystem 360 is according to the flight path of flight environment of vehicle information planning unmanned plane 300 collected When, it is necessary first to judge that whether there are obstacles on the heading of unmanned plane 300, works as unmanned plane according to flight environment of vehicle information There are when barrier on 300 heading, 360 ability of flight program subsystem plans unmanned plane 300 according to the position of barrier Flight path so that unmanned plane 300 get around barrier, realization barrier is hidden.I.e. flight program subsystem 360 is advised The flight path drawn is the path that unmanned plane 300 can be made to get around barrier, which is made of flight control parameter, is wrapped At least one of flying speed, heading and flight duration are included, for example, after flight path is flight 40s to the right When flight forward, then the flight control parameter that the flight path includes is heading and flight duration.

When flight program subsystem 360 generates flight program information according to the flight path planned, flight path is sealed Flight program information is dressed up, so that flight program information carries flight path.Wherein, since flight path is that can make unmanned plane 300 get around the path of barrier, therefore the flight program information generated is avoidance flight information, is generated by avoidance flight information Rod volume control executes to operate to remote controler, can find that barrier carries out avoidance in time, reduce unmanned plane crash risk, Improve safety.

When obtaining flight program information by mobile terminal 100, flight program subsystem 360 receives mobile terminal 100 The offline mode information of transmission, then using the received offline mode information of institute as flight program information.At this point, flight program is believed Breath is related to offline mode information, if the offline mode information that flight program subsystem 360 receives is teaching flight information, Flight program information is teaching flight information, at this point, the flight program information carries preset flying speed, preset flight side To with preset flight duration；If the offline mode information that flight program subsystem 360 receives is constant speed flight information, fly Row planning information is constant speed flight information, at this point, the flight program information carries preset flying speed.

Further, when flight program subsystem 360 generates rod volume control instruction according to flight program information, basis first Flight program information extracts flight control parameter.Specifically, when flight program information is teaching flight information, extraction flies Row control parameter includes flying speed, heading and flight duration；When flight program information is constant speed flight information, extract Flight control parameter include flying speed；When flight program information is avoidance flight information, carried from avoidance flight information Flight path in extract flight control parameter, which includes in flying speed, heading and flight duration At least one.

Secondly the inverse flight control parameter that resolves is to obtain rod volume parameter.Specifically, when extracted flight control parameter packet It is inverse to calculate rocking bar mark and rocking bar amount according to flying speed and/or heading when including flying speed and/or heading； When extracted flight control parameter further includes flight duration, also need according to flight duration, it is inverse to calculate the rod volume retention time.

Wherein, inverse when calculating rocking bar mark and rocking bar amount according to flying speed and/or heading, it can be according to flying Scanning frequency degree and heading are inverse respectively to calculate corresponding rocking bar mark and rocking bar amount.When flight control parameter includes flying speed When, rocking bar mark includes that the first rocking bar identifies, and rocking bar amount includes the first rocking bar amount；When flight control parameter includes heading When, rocking bar mark includes that the second rocking bar identifies, and rocking bar amount includes the second rocking bar amount.Such as: when flight control parameter includes flight When speed or heading, the first rocking bar mark and the first rocking bar amount are calculated according to flying speed is inverse, alternatively, according to flight side The second rocking bar mark and the second rocking bar amount are calculated to inverse；When flight control parameter includes flying speed and heading, root The first rocking bar mark and the first rocking bar amount are calculated according to flying speed is inverse, and, the second rocking bar is calculated according to heading is inverse Mark and the second rocking bar amount.

Further, rocking bar mark and rocking bar amount can be according to the type of flight control parameter and default rocking bar setting ginsengs Inverse resolve of number obtains.

Specifically, table 1 is please referred to, parameter is set for default rocking bar provided in an embodiment of the present invention.In table 1, setting speed Degree rocking bar accelerates or slows down for controlling unmanned plane, and is arranged when rocking bar amount is 0 < S≤1, and control unmanned plane accelerates, that is, flies Scanning frequency degree is greater than 0, and when rocking bar amount is -1≤S < 0, control unmanned plane slows down, i.e. flying speed is arranged speed and shakes less than 0 The maximum flying speed that bar can control is 10m/s, which is when speed rocking bar is located at rocking bar final position Speed；Setting direction rocking bar is arranged for controlling unmanned plane left-hand rotation or turning right when rocking bar amount is 0 < S≤1, controls nobody Machine is turned right, and when rocking bar amount is -1≤S < 0, control unmanned plane turns left；Setting lifting rocking bar for control unmanned plane advance or It retreats, and is arranged when rocking bar amount is 0 < S≤1, control unmanned plane advances, when rocking bar amount is -1≤S < 0, after controlling unmanned plane It moves back.

Table 1

When flight control parameter is flying speed, rocking bar mark is obtained according to inverse resolve of the type of flight control parameter, Inverse resolve of parameter is set according to default rocking bar and obtains rocking bar amount.

Wherein, speed rocking bar mark is identified as according to the inverse obtained rocking bar that resolves of flying speed.

When obtaining rocking bar amount according to the inverse resolving of default rocking bar setting parameter, by the ratio of flying speed and maximum flying speed It is determined as rocking bar amount.Such as: when flying speed is -5m/s, then rocking bar amount is (- 5m/s)/(10m/s)=- 0.5.

When flight control parameter is heading, parameter is arranged according to the type of flight control parameter and default rocking bar Inverse resolve obtains rocking bar mark and rocking bar amount.

Wherein, heading is carried out matching determining rocking bar mark and rocking bar amount with default rocking bar setting parameter.Such as: when When heading is flight to the right, determine that the heading match with direction rocking bar, and the heading and rocking bar amount for 0 < S≤ It is matched when 1, then rocking bar mark in direction is identified as according to the inverse obtained rocking bar that resolves of heading, rocking bar amount is appointing in 0 < S≤1 Meaning numerical value, it is preferable that rocking bar amount is determined as 1.

Encapsulate rod volume parameter finally to generate rod volume control instruction.

When the inverse rod volume parameter calculated is rocking bar mark and rocking bar amount, rocking bar mark and rocking bar amount are packaged into rod volume Control instruction；When the inverse rod volume parameter calculated is rocking bar mark, rocking bar amount and rod volume retention time, by rocking bar mark, shake Rod volume and rod volume retention time are packaged into rod volume control instruction.

Such as: when the inverse rod volume parameter calculated is the first rocking bar mark and the first rocking bar amount, and/or, the second rocking bar mark When knowing with the second rocking bar amount, then the first rocking bar mark and the first rocking bar amount are packaged into the first rod volume control instruction, and/or, it will Second rocking bar mark and the second rocking bar amount are packaged into the second rod volume control instruction.

When the inverse rod volume parameter calculated is the first rocking bar mark, the first rocking bar amount and rod volume retention time, then by the One rocking bar mark, the first rocking bar amount and rod volume retention time are packaged into third rod volume control instruction.

After flight program subsystem 360 generates rod volume control instruction, rod volume control instruction generated is sent to remote control The control unit 222 of device 200, control unit 222 switch rocking bar position according to rod volume control instruction and generate flight control instruction.

Specifically, control unit 222 corresponding 221 execution of enforcement division movement controlled according to rod volume control instruction with drive with 210 switching position of rocking bar that enforcement division 221 connects, and flight control instruction is generated after 210 switching position of rocking bar.

When rod volume control instruction includes rocking bar mark and rocking bar amount, control unit 222 identifies according to rocking bar and determines execution Then the enforcement division 221 of movement controls the movement range and direction of action of identified enforcement division 221 according to rocking bar amount.

When rod volume control instruction further includes the rod volume retention time, control unit 222 makes institute also according to the rod volume retention time Determining enforcement division 221 maintains certain duration in the movement range and direction of action.

Wherein, control unit 222 identifies determining corresponding in the corresponding relationship that rocking bar identifies with identifier number according to rocking bar Identifier number, and then according to identified identifier number determine execution movement enforcement division 221.

For example, when rod volume control instruction includes speed rocking bar mark and rocking bar amount 1, control unit 222 is according to speed Spending rocking bar to identify determining identifier number is 1, because the enforcement division that identifier number is 1 is speed rocking bar enforcement division, therefore control unit 222 Determine that enforcement division is speed rocking bar enforcement division；Meanwhile control unit 222 determines that speed rocking bar moves up according to rocking bar amount 1, and It is moved to rocking bar final position, then, control unit 222 controls speed rocking bar enforcement division to speed rocking bar can be made to move up Direction act to amplitude peak, to drive speed rocking bar to be moved upward to rocking bar final position.

After control unit 222 generates flight control instruction, flight control instruction is sent to flight subsystem 370, Flight subsystem 370 receives flight control instruction, and controls unmanned plane 300 according to flight control instruction and fly.

In embodiments of the present invention, unmanned plane controls remote control by obtaining flight program information generation rod volume control instruction Device switches rocking bar position, realizes the autonomous operation of remote controler, does not need operator and navigation map and camera figure is cooperated to pass picture pair Remote controler is operated, and is provided intelligentized operation auxiliary for operator, is simplified the process that operator operates unmanned plane, reduce The use difficulty of unmanned plane improves user's operation experience.

Embodiment two

Referring to Fig. 3, being a kind of flow diagram of present invention flight control method that wherein an embodiment provides, application In unmanned plane, the unmanned plane and remote controler are communicated to connect, which is unmanned plane 300 described in above-described embodiment, this hair The method that bright embodiment provides is executed by unmanned plane, for realizing the autonomous operation of remote controler, is provided for operator intelligentized Operation auxiliary, simplifies the process that operator operates unmanned plane, which includes:

S100: flight program information is obtained.

After unmanned plane is connect with communication of mobile terminal, unmanned plane can obtain flight program information by sensor, Acquisition for mobile terminal flight program information can be passed through.

When obtaining flight program information by sensor, firstly, being believed by the flight environment of vehicle that sensor acquires unmanned plane Breath；Then, according to the flight path of flight environment of vehicle information planning unmanned plane collected；Finally, according to the flight road planned Diameter generates flight program information.

Wherein, flight environment of vehicle information is the environmental information on unmanned plane during flying direction, can by the flight environment of vehicle information It determines the actual range of the object and unmanned plane on unmanned plane during flying direction, and then can determine on the heading of unmanned plane and be It is no that there are barriers.

When according to the flight path of flight environment of vehicle information planning unmanned plane collected, it is necessary first to be believed according to flight environment of vehicle Breath judges that whether there are obstacles on the heading of unmanned plane, when on the heading of unmanned plane there are when barrier, ability root According to the flight path of the position planning unmanned plane of barrier, so that unmanned plane gets around barrier, barrier is hidden in realization.I.e. Flight path is the path that unmanned plane can be made to get around barrier, which is made of flight control parameter, including flight At least one of speed, heading and flight duration, for example, Xiang Qianfei after flight path is flight 40s to the right When row, then the flight control parameter that the flight path includes is heading and flight duration.

When generating flight program information according to the flight path planned, flight path is packaged into flight program information, So that flight program information carries flight path.Wherein, since flight path is the path that unmanned plane can be made to get around barrier, Therefore the flight program information generated is avoidance flight information, the rod volume control generated by avoidance flight information executes come to remote control Device is operated, and can be found that barrier carries out avoidance in time, be reduced unmanned plane crash risk, improve safety.

When passing through acquisition for mobile terminal flight program information, unmanned plane receives the offline mode letter that mobile terminal is sent Breath, then using the received offline mode information of institute as flight program information.At this point, flight program information and offline mode information It is related.

Wherein, offline mode information triggers the offline mode select button in mobile terminal by user and generates, difference flight Pattern information corresponds to different preset flight control parameters.It is corresponding pre- when offline mode information is teaching flight information If flight control parameter include preset flying speed, preset heading and preset flight duration；Work as offline mode When information is constant speed flight information, corresponding preset flight control parameter includes preset flying speed.Wherein, preset to fly Row control parameter is that the interactive interface for the flight control program that user is shown by mobile terminal is pre-set for instructing nothing The flight parameter of man-machine flight, such as: when needing the speed for instructing unmanned plane 10m/s to be flied at a constant speed, then fly in constant speed In row mode, preset flight control parameter is set by 10m/s.

Based on this, if the offline mode information that unmanned plane receives is teaching flight information, flight program information is religion Flight information is learned, at this point, when the flight program information carries preset flying speed, preset heading and preset flight It is long；If the offline mode information that flight program subsystem receives is constant speed flight information, flight program information flies for constant speed Row information, at this point, the flight program information carries preset flying speed.

S200: according to the flight program information, rod volume control instruction is generated.

When unmanned plane generates rod volume control instruction according to flight program information, first according to flight program information, extracts and fly Row control parameter.Specifically, when flight program information is teaching flight information, the flight control parameter of extraction includes flight speed Degree, heading and flight duration；When flight program information is constant speed flight information, the flight control parameter of extraction includes flying Scanning frequency degree；When flight program information is avoidance flight information, flight is extracted from the flight path that avoidance flight information carries Control parameter, the flight control parameter include at least one of flying speed, heading and flight duration.

Wherein, since remote controler includes speed rocking bar, direction rocking bar and lifting rocking bar, therefore rocking bar mark includes speed rocking bar Mark, direction rocking bar mark and lifting rocking bar mark.

Specifically, table 1 is please referred to, in table 1, setting speed rocking bar accelerates or slows down for controlling unmanned plane, and sets It sets when rocking bar amount is 0 < S≤1, control unmanned plane accelerates, i.e., flying speed is greater than 0, when rocking bar amount is -1≤S < 0, control Unmanned plane slows down, i.e. flying speed is less than 0, while it is 10m/s that the maximum flying speed that speed rocking bar can control, which is arranged, this is most Big flying speed is speed when speed rocking bar is located at rocking bar final position；Setting direction rocking bar for control unmanned plane turn left or Person turns right, and is arranged when rocking bar amount is 0 < S≤1, and control unmanned plane is turned right, and when rocking bar amount is -1≤S < 0, controls unmanned plane Turn left；Setting lifting rocking bar is arranged for controlling unmanned plane advance or retreating when rocking bar amount is 0 < S≤1, controls nobody Machine advances, and when rocking bar amount is -1≤S < 0, control unmanned plane is retreated.

S300: being sent to the remote controler for the rod volume control instruction, so that the remote controler is according to the rod volume control System instruction switching rocking bar position simultaneously generates flight control instruction.

When rod volume control instruction includes rocking bar mark and rocking bar amount, after remote controler identifies determining rocking bar according to rocking bar, root The movement range and direction of action of identified rocking bar are controlled according to rocking bar amount.

When rod volume control instruction further includes the rod volume retention time, remote controler makes identified shake according to the rod volume retention time Bar maintains mobile duration in the movement range and direction of action.

S400: receiving the flight control instruction, controls the unmanned plane during flying according to the flight control instruction.

In embodiments of the present invention, remote controler switching is controlled by obtaining flight program information generation rod volume control instruction The autonomous operation of remote controler is realized in rocking bar position, does not need operator and navigation map and camera figure is cooperated to pass picture to remote controler It is operated, provides intelligentized operation auxiliary for operator, simplify the process that operator operates unmanned plane, reduce unmanned plane Control difficulty, improve user's operation experience.

Embodiment three

Term " module " used below is the combination that the software and/or hardware of predetermined function may be implemented.Although with Device described in lower embodiment can be realized with software, but the combined realization of hardware or software and hardware is also It may be contemplated.

Referring to Fig. 4, being a kind of present invention flight control assemblies that wherein an embodiment provides, which is applied to nobody Machine, the unmanned plane and remote controler communicate to connect, which is unmanned plane 300 described in above-described embodiment, and the present invention is implemented The function for the device modules that example provides is executed by unmanned plane, for realizing the autonomous operation of remote controler, simplifies operator behaviour Make the process of unmanned plane, which includes:

Module 400 is obtained, the acquisition module 400 is for obtaining flight program information；

Generation module 500, the generation module 500 are used to generate rod volume control instruction according to the flight program information；

Sending module 600, the sending module 600 are used to the rod volume control instruction being sent to the remote controler, with So that the remote controler is switched rocking bar position according to the rod volume control instruction and generates flight control instruction；

Receiving module 700, the receiving module 700 are controlled for receiving the flight control instruction according to the flight Instruction controls the unmanned plane during flying.

Further, module 400 is obtained to be specifically used for:

According to the flight path, the flight program information is generated.

Further, the remote controler is connected with mobile terminal, and the mobile terminal is connect with the UAV Communication； Then,

Module 400 is obtained to be specifically used for:

Further, generation module 500 is specifically used for:

Further, the flight control parameter includes flying speed and/or heading；Then,

Generation module 500 is specifically used for:

Further, the flight control parameter includes the flying speed, and the rocking bar mark includes the first rocking bar mark Know, the rocking bar amount includes the first rocking bar amount；Then,

Generation module 500 is specifically used for:

Further, the flight control parameter includes the heading, and the rocking bar mark includes the second rocking bar mark Know, the rocking bar amount includes the second rocking bar amount；Then,

The generation module 500 is specifically used for:

Further, the flight control parameter further includes flight duration；Then,

Generation module 500 is specifically used for:

Certainly, in some other alternate embodiments, above-mentioned acquisition module 400, generation module 500 and sending module 600 can be the processing chip of flight program subsystem 360, and above-mentioned receiving module 700 can be flight subsystem 370 Handle chip.

Since Installation practice and embodiment of the method under the premise of content does not conflict mutually, are filled based on same design The content for setting embodiment can be with quoting method embodiment, and this is no longer going to repeat them.

In embodiments of the present invention, remote controler switching is controlled by obtaining flight program information generation rod volume control instruction The autonomous operation of remote controler is realized in rocking bar position, does not need operator and navigation map and camera figure is cooperated to pass picture to remote controler It is operated, provides intelligentized operation auxiliary for operator, simplify the process that operator operates unmanned plane, reduce unmanned plane Use difficulty, improve user's operation experience.

Example IV

Referring to Fig. 5, being a kind of hardware structural diagram of present invention unmanned plane that wherein an embodiment provides, the present invention Embodiment provide hardware module be integrated in unmanned plane 300 described in above-described embodiment so that unmanned plane 300 be able to carry out with A kind of flight control method described in upper embodiment, moreover it is possible to realize a kind of each of flight control assemblies described in above embodiments The function of module.The unmanned plane 300 includes:

One or more processors 380 and memory 390.Wherein, in Fig. 5 by taking a processor 380 as an example.

Processor 380 can be connected with memory 390 by bus or other modes, to be connected by bus in Fig. 5 For.

Memory 390 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey Sequence, non-volatile computer executable program and module, such as one of the above embodiment of the present invention flight control method pair The program instruction and a kind of corresponding module of flight control assemblies answered are (for example, obtaining module 400, generation module 500, sending Module 600 and receiving module 700 etc.).Processor 380 by operation be stored in memory 390 non-volatile software program, Instruction and module thereby executing the various function application and data processing of a kind of flight control method realize above-mentioned side The function of one of method embodiment flight control method and the modules of above-mentioned apparatus embodiment.

Memory 390 may include storing program area and storage data area, wherein storing program area can store operation system Application program required for system, at least one function；Storage data area, which can be stored, uses institute according to a kind of flight control assemblies The data etc. of creation.

The storage data area is also stored with preset data, including parameter is arranged in default rocking bar.

In addition, memory 390 may include high-speed random access memory, it can also include nonvolatile memory, example Such as at least one disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, it deposits Optional reservoir 390 includes the memory remotely located relative to processor 380, these remote memories can pass through network connection To processor 380.The example of above-mentioned network include but is not limited to internet, intranet, local area network, mobile radio communication and its Combination.

Described program instruction and one or more module are stored in the memory 390, when by one or When multiple processors 380 execute, each step of one of above-mentioned any means embodiment flight control method is executed, or Person realizes the function of one of the above-mentioned any device embodiment modules of flight control assemblies.

Method provided by the above embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method And beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to side provided by the above embodiment of the present invention Method.

The embodiment of the invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage Media storage has computer executable instructions, which is executed by one or more processors, such as in Fig. 5 A processor 380, may make computer to execute each of one of above-mentioned any means embodiment flight control method Step, alternatively, realizing the function of one of the above-mentioned any device embodiment modules of flight control assemblies.

The embodiment of the invention also provides a kind of computer program product, the computer program product is non-including being stored in Computer program on volatile computer readable storage medium storing program for executing, the computer program include program instruction, work as described program Instruction is executed by one or more processors, such as in Fig. 5 a processor 380, and it is above-mentioned any to may make that computer executes Each step of one of embodiment of the method flight control method, alternatively, realizing one of above-mentioned any device embodiment The function of the modules of flight control assemblies.

The apparatus embodiments described above are merely exemplary, wherein described, module can as illustrated by the separation member It is physically separated with being or may not be, the component shown as module may or may not be physics list Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs In some or all of the modules achieve the purpose of the solution of this embodiment.

By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage All or part of the process in solution realization above-described embodiment method is can be by the relevant hardware of computer program instructions come complete At the program can be stored in a computer-readable storage medium, and the program is when being executed, it may include such as above-mentioned each side The process of the implementation method of method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (RandomAccessMemory, RAM) etc..

The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills Art field, is included within the scope of the present invention.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill Art feature is equivalently replaced；And these are modified or replaceed, each reality of the application that it does not separate the essence of the corresponding technical solution Apply the range of a technical solution.

Claims

1. a kind of flight control method is applied to unmanned plane, which is characterized in that the unmanned plane and remote controler communicate to connect, institute The method of stating includes:

Obtain flight program information；

The rod volume control instruction is sent to the remote controler, so that the remote controler switches according to the rod volume control instruction Rocking bar position simultaneously generates flight control instruction；

2. the method according to claim 1, wherein described obtain the flight program information, comprising:

According to the flight path, the flight program information is generated.

3. the movement is eventually the method according to claim 1, wherein the remote controler is connected with mobile terminal End is connect with the UAV Communication；Then,

It is described to obtain the flight program information, comprising:

The offline mode information that the mobile terminal is sent is received, and using the offline mode information as flight program information.

4. according to the method in any one of claims 1 to 3, which is characterized in that it is described according to the flight program information, Generate the rod volume control instruction, comprising:

5. according to the method described in claim 4, it is characterized in that, the flight control parameter includes flying speed and/or flies Line direction；Then,

It is inverse to calculate the rod volume parameter, wherein the rod volume parameter according to the flying speed and/or the heading Including rocking bar mark and rocking bar amount.

6. according to the method described in claim 5, it is characterized in that, the flight control parameter includes the flying speed, institute Stating rocking bar mark includes that the first rocking bar identifies, and the rocking bar amount includes the first rocking bar amount；Then,

7. method according to claim 5 or 6, which is characterized in that the flight control parameter includes the heading, The rocking bar mark includes that the second rocking bar identifies, and the rocking bar amount includes the second rocking bar amount；Then,

8. according to the method described in claim 5, it is characterized in that, the flight control parameter further includes flight duration；Then,

9. a kind of flight control assemblies are applied to unmanned plane, which is characterized in that the unmanned plane and remote controler communicate to connect, institute Stating device includes:

Sending module, the sending module is used to the rod volume control instruction being sent to the remote controler, so that the remote control Device switches rocking bar position according to the rod volume control instruction and generates flight control instruction；

Receiving module, the receiving module control institute for receiving the flight control instruction, according to the flight control instruction State unmanned plane during flying.

10. device according to claim 9, which is characterized in that the acquisition module is specifically used for:

According to the flight path, the flight program information is generated.

11. device according to claim 9, which is characterized in that the remote controler is connected with mobile terminal, described mobile whole End is connect with the UAV Communication；Then,

The acquisition module is specifically used for:

12. the device according to any one of claim 9 to 11, which is characterized in that the generation module is specifically used for:

13. device according to claim 12, which is characterized in that the flight control parameter include flying speed and/or Heading；Then,

The generation module is specifically used for:

14. device according to claim 13, which is characterized in that the flight control parameter includes the flying speed, The rocking bar mark includes that the first rocking bar identifies, and the rocking bar amount includes the first rocking bar amount；Then,

The generation module is specifically used for:

15. device described in 3 or 14 according to claim 1, which is characterized in that the flight control parameter includes the flight side To the rocking bar mark includes that the second rocking bar identifies, and the rocking bar amount includes the second rocking bar amount；Then,

The generation module is specifically used for:

16. device according to claim 13, which is characterized in that the flight control parameter further includes flight duration；Then,

The generation module is specifically used for:

17. a kind of unmanned plane characterized by comprising

Fuselage；

Horn is connected with the fuselage；

Sensor is connected with the fuselage；

At least one processor；And

The memory being connect at least one described processor communication；Wherein, be stored with can be by described at least one for the memory The instruction that a processor executes, described instruction is executed by least one described processor, so that at least one described processor energy It is enough in execution such as flight control method of any of claims 1-8.

18. a kind of flight control system characterized by comprising

Unmanned plane as claimed in claim 17；And

Remote controler, the remote controler are connect with the UAV Communication, and the remote controler includes rod volume executing agency, the rod volume The rod volume control instruction that executing agency is used to be sent according to the unmanned plane switches rocking bar position and generates flight control instruction.

19. flight control system according to claim 18, which is characterized in that the remote controler is connected with mobile terminal, The mobile terminal is connect with the UAV Communication, and the mobile terminal is used to send offline mode letter to the unmanned plane Breath.

20. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the non-volatile computer readable storage medium Matter is stored with computer executable instructions, and the computer executable instructions are for executing unmanned plane as in claim 1-8 Described in any item flight control methods.