CN113574487A - Unmanned aerial vehicle control method and device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method and device and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113574487A CN113574487A CN202080018844.2A CN202080018844A CN113574487A CN 113574487 A CN113574487 A CN 113574487A CN 202080018844 A CN202080018844 A CN 202080018844A CN 113574487 A CN113574487 A CN 113574487A
- Authority
- CN
- China
- Prior art keywords
- waypoint
- aerial vehicle
- unmanned aerial
- information
- control terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 76
- 230000008569 process Effects 0.000 claims description 28
- 230000002452 interceptive effect Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 9
- 238000009826 distribution Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A control method and device for an unmanned aerial vehicle and the unmanned aerial vehicle are provided, the method comprises the following steps: acquiring waypoint information (101) of a waypoint sent by a control terminal, and controlling an unmanned aerial vehicle to fly to the waypoint (102) according to the waypoint information of the waypoint; controlling the unmanned aerial vehicle to hover (103) before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint sent by the control terminal; and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint (104). According to the invention, before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint, the unmanned aerial vehicle is controlled to hover. In addition, the user can realize the stepping type air route planning, the flexibility of the air route planning is improved, and the flight safety is fully guaranteed.
Description
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle control method and device and an unmanned aerial vehicle.
Unmanned aerial vehicle course flight wide application is in fields such as agricultural, patrolling and examining, can show improvement task execution efficiency and degree of automation. Airline flight missions typically include: flight by flight. The air route flight refers to the process that an unmanned aerial vehicle automatically flies along an air route formed by connecting a plurality of air points;
at present, the specific execution of airline flight missions includes: a user configures a flight waypoint of the unmanned aerial vehicle at a client; the route planning algorithm of the unmanned aerial vehicle plans a route meeting the task requirement according to the configuration of a user; the client uploads the planned air route task to the unmanned aerial vehicle; the unmanned aerial vehicle automatically executes the airline flight. According to the process, the unmanned aerial vehicle can automatically fly according to the planned air route, so that the operation requirement is met.
However, in the current scheme, because the flight space environment of the unmanned aerial vehicle is often unknown and complicated and changeable, the route of the unmanned aerial vehicle is often difficult to plan in advance, and in addition, even if the route of the unmanned aerial vehicle is planned in advance, the route of the unmanned aerial vehicle is difficult to smoothly execute under the influence of the complicated flight space environment.
Disclosure of Invention
The invention provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, a control terminal and an unmanned aerial vehicle, and aims to solve the problem that the flight path planning of the unmanned aerial vehicle in the prior art is not high in flexibility.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle control method, where the method may include:
acquiring waypoint information of a waypoint sent by a control terminal, wherein the waypoint information at least comprises a two-dimensional position of the waypoint;
controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint;
controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive waypoint information of the next waypoint sent by the control terminal;
and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle control apparatus, where the unmanned aerial vehicle control apparatus may include: a communication device and a processor, wherein,
the communication device is used for executing: acquiring waypoint information of a waypoint sent by a control terminal, wherein the waypoint information at least comprises a two-dimensional position of the waypoint;
the processor is configured to perform:
controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint;
controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive waypoint information of the next waypoint sent by the control terminal;
and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
In a third aspect of the embodiments of the present invention, a computer-readable storage medium is provided, where a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements the steps of the unmanned aerial vehicle control method described above.
In a fourth aspect of the embodiments of the present invention, an unmanned aerial vehicle is provided, including: the power system is used for providing flight power for the unmanned aerial vehicle; the drone control of the second aspect.
In the embodiment of the invention, the waypoint information of one waypoint sent by a control terminal is obtained, wherein the waypoint information at least comprises a two-dimensional position of the waypoint; controlling the unmanned aerial vehicle to fly to a waypoint according to waypoint information of the waypoint; controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint sent by the control terminal; and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint. According to the invention, before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint, the unmanned aerial vehicle is limited to be in a safe position by controlling the hovering mode of the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from being interfered by interference factors in an unknown airspace, and the flying risk is reduced. In addition, a user does not need to plan a complete air route before a flight task starts, but can realize the air route planning of the unmanned aerial vehicle in a step-by-step planning mode from one air point to the next air point in the task execution process, so that each step of planning can be based on the current latest environmental information of the unmanned aerial vehicle, and the flight safety is fully guaranteed.
Fig. 1 is a flowchart illustrating steps of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic working diagram of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic working diagram of another unmanned aerial vehicle control method provided by the embodiment of the present invention;
fig. 4 is an interface diagram of a control terminal according to an embodiment of the present invention;
fig. 5 is a block diagram of an unmanned aerial vehicle control apparatus according to an embodiment of the present invention;
fig. 6 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of steps of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method may include:
Specifically, the user plans the flight path of the unmanned aerial vehicle by planning a waypoint in the flight path, wherein the waypoint is a characteristic point in the flight path of the unmanned aerial vehicle and is a point that the unmanned aerial vehicle needs to reach. The waypoint indication information of the waypoint at least comprises two-dimensional positions of the waypoint, wherein the two-dimensional positions of the waypoint are longitude and latitude. In some cases, the waypoint information also includes altitude information. In some cases, the waypoint indication information further includes task indication information, and when the unmanned aerial vehicle flies to the waypoint, a work task corresponding to the task indication information is executed.
Referring to fig. 2, which shows a working schematic diagram of an unmanned aerial vehicle control method provided by an embodiment of the present invention, the unmanned aerial vehicle control method provided by the embodiment of the present invention may be applied to an unmanned aerial vehicle 10, and an unmanned aerial vehicle control device is disposed on the unmanned aerial vehicle, and the control method may be executed by the unmanned aerial vehicle control device.
Further, the user can plan the waypoint through the control terminal 20, and transmit the waypoint to the unmanned aerial vehicle 10 through wireless connection, and the control terminal 20 can be one or more of a remote controller, a personal computer, and a mobile terminal. Specifically, an interactive interface, for example, a corresponding waypoint planning interface, may be displayed in the control terminal 20, so that the user performs waypoint selection or waypoint addition operation in the interactive interface. And operating the interactive interface displayed by the control terminal by the user, and generating the waypoint information of the waypoint by the control terminal through retrieving the operation.
Specifically, referring to fig. 2, in an actual application scenario, assuming that an area outside the unknown airspace 30 is a known airspace, and the unmanned aerial vehicle 10 needs to perform a flight task in the unknown airspace 30, before starting the flight task, the control terminal 20 may designate a waypoint a close to the unknown airspace 30, and send waypoint information of the waypoint a to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can fly to the position of the waypoint a to wait for a subsequent waypoint planning entering the unknown airspace 30.
In this step, the waypoint information of one waypoint transmitted by the control terminal 20 may be a certain waypoint in the unknown airspace 30. The embodiment of the present invention is not limited thereto.
And step 102, controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint.
In this step, the unmanned aerial vehicle can add the waypoint information of the waypoint to its own navigation system, and control the movable equipment unmanned aerial vehicle to fly to the waypoint according to the waypoint information with the waypoint as the destination point.
And 103, controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive the waypoint information of the next waypoint sent by the control terminal.
In the embodiment of the present invention, referring to fig. 2, since the environment in the unknown airspace 30 is complex and variable, and there may be more interference factors, such as obstacles, strong winds, etc., that interfere with the operation of the unmanned aerial vehicle 10, so that before the unmanned aerial vehicle 10 has flown to a waypoint (e.g., waypoint a) but has not received waypoint information of a next waypoint (e.g., waypoint B) sent by the control terminal, the unmanned aerial vehicle 10 may maintain a hovering working state at the waypoint a position to avoid being interfered by the interference factors in the unknown airspace 30, and reduce the flight risk.
And 104, when the waypoint information of the next waypoint sent by the control terminal is obtained, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint and the waypoint information.
In the embodiment of the present invention, when the unmanned aerial vehicle acquires the waypoint information of the next waypoint sent by the control terminal, the unmanned aerial vehicle may add the waypoint information of the next waypoint to its own navigation system, and control the unmanned aerial vehicle to fly to the next waypoint with the next waypoint as a destination point.
Specifically, the control terminal sends the waypoint information of one waypoint A to the unmanned aerial vehicle, the unmanned aerial vehicle flies to the waypoint A, and the unmanned aerial vehicle is controlled to hover before the unmanned aerial vehicle flies to the waypoint A and does not receive the waypoint information of the next waypoint sent by the control terminal. When the unmanned aerial vehicle hovers at the waypoint A or flies to the waypoint A, the next waypoint B waypoint information sent by the control terminal is sent to the unmanned aerial vehicle, the unmanned aerial vehicle flies from the waypoint A to the waypoint B, and the unmanned aerial vehicle is controlled to hover before the unmanned aerial vehicle flies to the waypoint B and does not receive the next waypoint B waypoint information sent by the control terminal. In this way, the unmanned aerial vehicle 10 moves from the B-C-D-E moving path in the unknown airspace 30, and the flexibility of air route planning is improved.
Optionally, the waypoint information further includes task indication information, and the method may further include:
and A1, when the unmanned aerial vehicle flies to the waypoint, executing a work task corresponding to the task indication information according to the waypoint information of the waypoint.
And A2, when the unmanned aerial vehicle flies to the next waypoint, executing a work task corresponding to the task indication information according to the waypoint information of the next waypoint.
In the embodiment of the present invention, the unmanned aerial vehicle may have a load device, such as a shooting device, a cradle head corresponding to the shooting device, and other devices capable of executing a work task.
Specifically, the waypoint information that control terminal sent still includes task instruction information, and task instruction information can be used for instructing unmanned aerial vehicle to carry out corresponding work task, if shoot, rotate cloud platform to suitable angle etc. through the shooting device. When the unmanned aerial vehicle flies to the waypoint, the unmanned aerial vehicle can be controlled to execute a corresponding work task according to the task indication information. The task indication information may be identification information corresponding to a work task, such as an identification code for starting a photographing or video recording function of the photographing device, a rotational angle of the pan/tilt head, and the like.
Optionally, the drone includes a camera, and the method may further include:
and step B1, acquiring indication information of the observation object, wherein the indication information at least comprises two-dimensional position information.
In the embodiment of the present invention, the unmanned aerial vehicle may include a shooting device to perform a shooting task on the observation object, and in order to ensure the quality of the shooting task, the unmanned aerial vehicle may obtain indication information of the observation object, where the indication information at least includes two-dimensional position information (e.g., longitude and latitude) of the observation object to indicate the position of the observation object, so that the shooting device may adjust a shooting direction according to the indication information during shooting to enable the shooting device to always shoot or observe the observation object, thereby improving shooting quality.
Specifically, the acquiring the indication information of the observation object may include: and acquiring observation information sent by the control terminal. The user can operate the interactive interface displayed by the control terminal, and the control terminal can detect the operation of the user and generate the indication information of the observation object.
In an embodiment, the sending, by the drone, the image captured by the capturing device to the control terminal to enable the control terminal to display the image, and the obtaining the indication information of the observation object may include: and acquiring the position information of the observation object in the image, which is sent by the control terminal, wherein the position information of the observation object in the image is determined by the control terminal through detecting the observation object selection operation of the user on the displayed image. Further, the user can click or frame the observation object in the displayed image, and the control terminal can send the position information of the observation object clicked or frame by the user in the image to the unmanned aerial vehicle. The unmanned aerial vehicle can determine the observation information of the observation object according to the position information of the observation object in the image.
In some embodiments, the indication information may also include other information of the observed object, such as an identification of the observed object, and the like.
And step B2, in the process that the unmanned aerial vehicle flies to the one waypoint and the next waypoint, adjusting the shooting direction of the shooting device according to the indication information of the observed object so that the shooting direction points to the observed object.
For example, referring to fig. 3, which shows a working schematic diagram of another drone control method provided by an embodiment of the present invention, during the process that the drone 10 flies to one waypoint and the next waypoint, the shooting direction of the shooting device 101 may be adjusted according to the indication information of the observed object X, so that the shooting direction points to the observed object X.
And step B3, in the process that the unmanned aerial vehicle flies to the waypoint and the next waypoint, sending the image acquired by the shooting device to the control terminal so that the control terminal displays the image.
In the embodiment of the invention, the control terminal can comprise a display device, and the unmanned aerial vehicle can send the image acquired by the shooting device to the control terminal through wireless connection, so that the control terminal can display the image in real time, and a user can know the condition of an observed object in real time. For example, the display device may display an interactive interface as described above, which may include an area for displaying the image.
Optionally, the waypoint information of the one waypoint and the waypoint of the next waypoint is generated by operating an interactive interface displayed by the control terminal by a user, and the method may further include:
step C1, acquiring obstacle information indicating the distribution of obstacles around the drone, during the flight of the drone to the waypoint, and/or while the drone is hovering at the one waypoint.
In the embodiment of the present invention, referring to fig. 4, an interactive interface diagram of a control terminal provided in the embodiment of the present invention is shown, where the control terminal may generate a navigation map interface 40 through positioning data generated by a positioning system of the control terminal itself or receiving positioning data sent by a positioning system of an unmanned aerial vehicle, where the navigation map interface 40 may include a plurality of candidate waypoints, such as waypoints B to G, and a user may obtain waypoint information of each waypoint from waypoint B to waypoint E through selection operations on waypoints B to E.
Further, at unmanned aerial vehicle flight extremely the in-process of waypoint, and/or when unmanned aerial vehicle suspends at a waypoint, unmanned aerial vehicle can also obtain the barrier information that is used for instructing the barrier distribution around the unmanned aerial vehicle, and this barrier can be for having the object that disturbs unmanned aerial vehicle normal operating, like high building, big tree etc..
Optionally, the obstacle information includes a point cloud or depth information obtained by a sensor of the drone.
Wherein, unmanned aerial vehicle can be provided with some cloud sensor or depth sensor for gather some clouds or depth information respectively.
And step C2, sending the obstacle information to the control terminal, so that the control terminal displays an area capable of setting a waypoint around the unmanned aerial vehicle in the interactive interface according to the obstacle information.
In the embodiment of the present invention, referring to fig. 4, after receiving the obstacle information, the control terminal may display, in the navigation map interface 40 (i.e., an interactive interface), the position of the corresponding obstacle 401 and the size range of the obstacle 401 according to the obstacle information, and an area around the unmanned aerial vehicle where a waypoint may be set may be an area in the navigation map interface 40 except for the size range of the obstacle 401.
Optionally, step 104 may specifically include:
in the substep 1041, when the waypoint information of the next waypoint sent by the control terminal is acquired and the waypoint is located in the area where the waypoint can be set, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
In this step, for a next waypoint in the area where the waypoint can be set, which is selected by the user in the interactive interface, the unmanned aerial vehicle can control the unmanned aerial vehicle to fly to the next waypoint according to waypoint information of the next waypoint.
Optionally, step 104 may specifically include:
and a substep 1042 of controlling the unmanned aerial vehicle to output prompt information when the waypoint is outside the region where the waypoint can be set.
In this step, when the waypoint is located outside the region that can set up the waypoint, can think that there is barrier or the interference phenomenon that influences unmanned aerial vehicle normal flight around the waypoint of selecting, can control unmanned aerial vehicle output prompt information this moment, like control unmanned aerial vehicle lights the warning light, whistle, send alarm information to control terminal etc..
Optionally, the method further includes:
and D1, when the unmanned aerial vehicle flies to the waypoints, sending waypoint request information to the control terminal so that the control terminal displays the request prompt notice of the next waypoint.
In this step, when the unmanned aerial vehicle flies to a higher or farther position or the visibility of the flying area is low, the user often has difficulty in observing the position where the unmanned aerial vehicle flies, and thus the user cannot observe whether the unmanned aerial vehicle flies to a waypoint by naked eyes.
Therefore, when the unmanned aerial vehicle flies to a waypoint, waypoint request information can be sent to the control terminal so that the control terminal can display a request prompt notice of the next waypoint, and a user can plan the next waypoint corresponding to the unmanned aerial vehicle through the request prompt notice of the next waypoint, so that the flight continuity of the unmanned aerial vehicle is improved.
Optionally, the method further includes:
step E1, in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if the cancel instruction information of the next waypoint is received, controlling the unmanned aerial vehicle to hover at the current position.
In the embodiment of the invention, the control terminal can also send cancellation indication information of the next waypoint to the unmanned aerial vehicle according to actual requirements, the unmanned aerial vehicle can cancel the planned next waypoint according to the cancellation indication information and control the unmanned aerial vehicle to hover at the current position to wait for receiving a new waypoint, and through the cancellation indication information, a user can cancel the planned next waypoint under the condition that the user judges that the planned next waypoint is not appropriate.
Optionally, the method further includes:
step F1, in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if waypoint information of the next updated waypoint is received, controlling the unmanned aerial vehicle to fly to the next updated waypoint.
In the embodiment of the present invention, the control terminal may further send waypoint information of a next updated waypoint to the unmanned aerial vehicle according to an actual demand, and the unmanned aerial vehicle may cancel the planned next waypoint according to the waypoint information of the next updated waypoint, and control the unmanned aerial vehicle to fly to the next updated waypoint with the next updated waypoint as a target point. And updating the next waypoint into the updated waypoint by the user under the condition that the planned next waypoint is judged to be not appropriate through the waypoint information of the next updated waypoint.
To sum up, in the method for controlling an unmanned aerial vehicle provided by the embodiment of the present invention, waypoint information of a waypoint sent by a control terminal is obtained, where the waypoint information at least includes a two-dimensional position of the waypoint; controlling the unmanned aerial vehicle to fly to a waypoint according to waypoint information of the waypoint; controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint sent by the control terminal; and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint. According to the invention, before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint, the unmanned aerial vehicle is limited to be in a safe position by controlling the hovering mode of the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from receiving interference of interference factors in an unknown airspace, and the flying risk is reduced. In addition, a user does not need to plan a complete air route before a flight task starts, but can realize the air route planning of the unmanned aerial vehicle in a step-by-step planning mode from one air point to the next air point in the task execution process, so that each step of planning can be based on the current latest environmental information of the unmanned aerial vehicle, and the flight safety is fully guaranteed.
Fig. 5 is a block diagram of an unmanned aerial vehicle control device according to an embodiment of the present invention, and as shown in fig. 5, the unmanned aerial vehicle control device 500 may include: a communication device 501 and a processor 502;
the communication device 501 is configured to perform: acquiring waypoint information of a waypoint sent by a control terminal, wherein the waypoint information at least comprises a two-dimensional position of the waypoint;
the processor 502 is configured to perform:
controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint;
controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive waypoint information of the next waypoint sent by the control terminal;
and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
In some embodiments, the waypoint information further includes task indication information, the processor is further configured to perform:
when the unmanned aerial vehicle flies to the waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the waypoint;
and when the unmanned aerial vehicle flies to the next waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the next waypoint.
In certain embodiments, the drone comprises a camera 503, the processor being configured to perform: acquiring indication information of an observation object, wherein the indication information at least comprises two-dimensional position information;
and in the process that the unmanned aerial vehicle flies to the one waypoint and the next waypoint, adjusting the shooting direction of the shooting device according to the indication information of the observation object so as to enable the shooting direction to point to the observation object.
In certain embodiments, the drone includes a camera, the processor is further configured to perform: and in the process that the unmanned aerial vehicle flies to the waypoint and the next waypoint, the image acquired by the shooting device is sent to the control terminal so that the control terminal displays the image.
In some embodiments, the navigation system further comprises an observation sensor, the waypoint information of the one waypoint and the next waypoint is generated by a user operating an interactive interface displayed by the control terminal, and the processor is further configured to execute: acquiring obstacle information indicating a distribution of obstacles around the drone during flight to the waypoint and/or while the movable device is hovering at the one waypoint;
the communication device is further configured to perform:
sending the obstacle information to the control terminal, so that the control terminal displays an area where waypoints can be set around the unmanned aerial vehicle in the interactive interface according to the obstacle information;
the processor is specifically configured to perform:
and when the waypoint information of the next waypoint sent by the control terminal is acquired and the waypoint is located in the area where the waypoint can be set, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
In certain embodiments, the obstacle information includes point clouds or depth information acquired by sensors of the drone.
In certain embodiments, the processor is further configured to perform: and when the waypoint is positioned outside the region where the waypoint can be set, controlling the unmanned aerial vehicle to output prompt information.
In certain embodiments, the communications apparatus is further configured to perform: and when the unmanned aerial vehicle flies to the waypoint, sending waypoint request information to the control terminal so that the control terminal displays a request prompt notice of the next waypoint.
In certain embodiments, the processor is further configured to perform: and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if cancel indication information of the next waypoint is received, controlling the unmanned aerial vehicle to hover at the current position.
In certain embodiments, the processor is further configured to perform: and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if waypoint information of the next updated waypoint is received, controlling the unmanned aerial vehicle to fly to the next updated waypoint.
To sum up, the unmanned aerial vehicle control device provided by the embodiment of the present invention obtains waypoint information of a waypoint sent by the control terminal, where the waypoint information at least includes a two-dimensional position of the waypoint; controlling the unmanned aerial vehicle to fly to a waypoint according to waypoint information of the waypoint; controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint sent by the control terminal; and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint. According to the invention, before the unmanned aerial vehicle flies to a waypoint and does not receive waypoint information of the next waypoint, the unmanned aerial vehicle is limited to be in a safe position by controlling the hovering mode of the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from receiving interference of interference factors in an unknown airspace, and the flying risk is reduced. In addition, a user does not need to plan a complete air route before a flight task starts, but can realize the air route planning of the unmanned aerial vehicle in a step-by-step planning mode from one air point to the next air point in the task execution process, so that each step of planning can be based on the current latest environmental information of the unmanned aerial vehicle, and the flight safety is fully guaranteed.
Referring to fig. 6, an embodiment of the present invention further provides an unmanned aerial vehicle 600, including the unmanned aerial vehicle control apparatus 602 and the power system 601. Wherein, the driving system 601 is used for providing flight power for the unmanned aerial vehicle 600.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the unmanned aerial vehicle control method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, control terminal, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create control terminals for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction control terminals which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present application is described in detail above, and the principles and embodiments of the present application are described herein by using specific examples, which are only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (22)
- An unmanned aerial vehicle control method, comprising:acquiring waypoint information of a waypoint sent by a control terminal, wherein the waypoint information at least comprises a two-dimensional position of the waypoint;controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint;controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive waypoint information of the next waypoint sent by the control terminal;and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
- The method of claim 1, wherein the waypoint information further comprises task indication information, the method further comprising:when the unmanned aerial vehicle flies to the waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the waypoint;and when the unmanned aerial vehicle flies to the next waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the next waypoint.
- The method of claim 1 or 2, the drone comprising a camera, characterized in that the method further comprises:acquiring indication information of an observation object, wherein the indication information at least comprises two-dimensional position information;and in the process that the unmanned aerial vehicle flies to the one waypoint and the next waypoint, adjusting the shooting direction of the shooting device according to the indication information of the observation object so as to enable the shooting direction to point to the observation object.
- The method of any of claims 1-3, the drone including a camera, characterized in that the method further comprises:and in the process that the unmanned aerial vehicle flies to the waypoint and the next waypoint, the image acquired by the shooting device is sent to the control terminal so that the control terminal displays the image.
- The method according to any one of claims 1-4, wherein the waypoint information of the one waypoint and the next waypoint is generated by a user operating an interactive interface displayed by the control terminal, and the method further comprises:acquiring obstacle information for indicating obstacle distribution around the unmanned aerial vehicle during the process that the unmanned aerial vehicle flies to the waypoints and/or when the unmanned aerial vehicle hovers at the waypoint;sending the obstacle information to the control terminal, so that the control terminal displays an area where waypoints can be set around the unmanned aerial vehicle in the interactive interface according to the obstacle information;when the waypoint information of the next waypoint sent by the control terminal is obtained, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint, comprising the following steps:and when the waypoint information of the next waypoint sent by the control terminal is acquired and the waypoint is located in the area where the waypoint can be set, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
- The method of claim 5, wherein the obstacle information comprises a point cloud or depth information acquired by a sensor of the drone.
- The method of claim 5 or 6, further comprising:and when the waypoint is positioned outside the region where the waypoint can be set, controlling the unmanned aerial vehicle to output prompt information.
- The method according to any one of claims 1-7, further comprising:and when the unmanned aerial vehicle flies to the waypoint, sending waypoint request information to the control terminal so that the control terminal displays a request prompt notice of the next waypoint.
- The method according to any one of claims 1-8, further comprising:and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if cancel indication information of the next waypoint is received, controlling the unmanned aerial vehicle to hover at the current position.
- The method according to any one of claims 1-9, further comprising:and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if waypoint information of the next updated waypoint is received, controlling the unmanned aerial vehicle to fly to the next updated waypoint.
- An unmanned aerial vehicle control device, characterized in that, the device includes: a communication device and a processor, wherein,the communication device is used for executing: acquiring waypoint information of a waypoint sent by a control terminal, wherein the waypoint information at least comprises a two-dimensional position of the waypoint;the processor is configured to perform:controlling the unmanned aerial vehicle to fly to the waypoint according to the waypoint information of the waypoint;controlling the unmanned aerial vehicle to hover before the unmanned aerial vehicle flies to the waypoint and does not receive waypoint information of the next waypoint sent by the control terminal;and when the waypoint information of the next waypoint sent by the control terminal is acquired, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
- The apparatus of claim 11, wherein the waypoint information further comprises task indication information, and wherein the processor is further configured to perform:when the unmanned aerial vehicle flies to the waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the waypoint;and when the unmanned aerial vehicle flies to the next waypoint, controlling the unmanned aerial vehicle to execute a work task corresponding to the task indication information according to the waypoint information of the next waypoint.
- The apparatus of claim 11 or 12, wherein the drone comprises a camera, the processor to perform: acquiring indication information of an observation object, wherein the indication information at least comprises two-dimensional position information;and in the process that the unmanned aerial vehicle flies to the one waypoint and the next waypoint, adjusting the shooting direction of the shooting device according to the indication information of the observation object so as to enable the shooting direction to point to the observation object.
- The apparatus of any of claims 11 to 13, wherein the drone includes a camera, the processor further configured to perform: and in the process that the unmanned aerial vehicle flies to the waypoint and the next waypoint, the image acquired by the shooting device is sent to the control terminal so that the control terminal displays the image.
- The apparatus according to any one of claims 11 to 14, further comprising an observation sensor, wherein the waypoint information of the one waypoint and the next waypoint is generated by a user operating an interactive interface displayed by the control terminal, and the processor is further configured to perform: acquiring obstacle information indicating a distribution of obstacles around the drone during flight to the waypoint and/or while the movable device is hovering at the one waypoint;the communication device is further configured to perform:sending the obstacle information to the control terminal, so that the control terminal displays an area where a navigation point can be set around the unmanned aerial vehicle in the interactive interface according to the obstacle information;the processor is specifically configured to perform:and when the waypoint information of the next waypoint sent by the control terminal is acquired and the waypoint is located in the area where the waypoint can be set, controlling the unmanned aerial vehicle to fly to the next waypoint according to the waypoint information of the next waypoint.
- The apparatus of claim 15, wherein the obstacle information comprises a point cloud or depth information acquired by a sensor of the drone.
- The apparatus of claim 15 or 16, wherein the processor is further configured to perform: and when the waypoint is positioned outside the region where the waypoint can be set, controlling the unmanned aerial vehicle to output prompt information.
- The apparatus according to any of claims 11 to 17, wherein the communication apparatus is further configured to perform: and when the unmanned aerial vehicle flies to the waypoint, sending waypoint request information to the control terminal so that the control terminal displays a request prompt notice of the next waypoint.
- The apparatus according to any one of claims 11 to 18, wherein the processor is further configured to perform: and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if cancel indication information of the next waypoint is received, controlling the unmanned aerial vehicle to hover at the current position.
- The apparatus according to any one of claims 11 to 19, wherein the processor is further configured to perform: and in the process that the unmanned aerial vehicle flies from the one waypoint to the next waypoint, if waypoint information of the next updated waypoint is received, controlling the unmanned aerial vehicle to fly to the next updated waypoint.
- A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the drone control method of any one of claims 1 to 10.
- An unmanned aerial vehicle, comprising:the power system is used for providing flight power for the unmanned aerial vehicle;the unmanned aerial vehicle control apparatus of any of claims 11 to 20.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/077231 WO2021168810A1 (en) | 2020-02-28 | 2020-02-28 | Unmanned aerial vehicle control method and apparatus, and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113574487A true CN113574487A (en) | 2021-10-29 |
Family
ID=77489727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080018844.2A Pending CN113574487A (en) | 2020-02-28 | 2020-02-28 | Unmanned aerial vehicle control method and device and unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113574487A (en) |
| WO (1) | WO2021168810A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115167500A (en) * | 2022-05-19 | 2022-10-11 | 北京远度互联科技有限公司 | Unmanned aerial vehicle flight control method, device and system and readable storage medium |
| CN117032294B (en) * | 2023-10-09 | 2023-12-12 | 中国电信股份有限公司无人科技技术创新中心 | Unmanned aerial vehicle route planning system and planning method based on 5G networking |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN107735737A (en) * | 2016-10-31 | 2018-02-23 | 深圳市大疆创新科技有限公司 | A kind of destination edit methods, device, equipment and aircraft |
| CN107943082A (en) * | 2017-12-01 | 2018-04-20 | 亿航智能设备（广州）有限公司 | Unmanned plane flies to control method, apparatus and computer-readable medium |
| CN109542119A (en) * | 2018-12-08 | 2019-03-29 | 深圳飞马机器人科技有限公司 | Aircraft flight course planning method and system |
| CN110570692A (en) * | 2018-06-06 | 2019-12-13 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle air route detection method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19803659A1 (en) * | 1998-01-30 | 1999-08-05 | Nokia Mobile Phones Ltd | Navigation methods, in particular for vehicles |
| US10156855B2 (en) * | 2014-05-30 | 2018-12-18 | SZ DJI Technology Co., Ltd. | Heading generation method and system of unmanned aerial vehicle |
| CN108089596B (en) * | 2014-12-15 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Aircraft control method and device and aircraft |
| CN105867420B (en) * | 2016-05-16 | 2020-06-02 | 深圳市智璟科技有限公司 | Rapid mode switching system and method applied to unmanned aerial vehicle |
| CN106406351B (en) * | 2016-10-28 | 2020-01-14 | 易瓦特科技股份公司 | Method and apparatus for controlling a flight path of an unmanned aerial vehicle |
| WO2019090480A1 (en) * | 2017-11-07 | 2019-05-16 | 深圳市大疆创新科技有限公司 | Three-dimensional reconstruction method, system and apparatus based on aerial photography by unmanned aerial vehicle |
-
2020
- 2020-02-28 CN CN202080018844.2A patent/CN113574487A/en active Pending
- 2020-02-28 WO PCT/CN2020/077231 patent/WO2021168810A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105790155A (en) * | 2016-04-08 | 2016-07-20 | 四川桑莱特智能电气设备股份有限公司 | Differential-GPS-based unmanned-aerial-vehicle autonomous routing inspection system and method for power transmission line |
| CN107735737A (en) * | 2016-10-31 | 2018-02-23 | 深圳市大疆创新科技有限公司 | A kind of destination edit methods, device, equipment and aircraft |
| CN107943082A (en) * | 2017-12-01 | 2018-04-20 | 亿航智能设备（广州）有限公司 | Unmanned plane flies to control method, apparatus and computer-readable medium |
| CN110570692A (en) * | 2018-06-06 | 2019-12-13 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle air route detection method and device |
| CN109542119A (en) * | 2018-12-08 | 2019-03-29 | 深圳飞马机器人科技有限公司 | Aircraft flight course planning method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021168810A1 (en) | 2021-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111656424B (en) | Automatic flying unmanned aerial vehicle system based on big data and automatic flying method thereof | |
| US11776413B2 (en) | Aerial vehicle flight control method and device thereof | |
| US11794890B2 (en) | Unmanned aerial vehicle inspection system | |
| JP6974640B2 (en) | Flight permission airspace setting device and flight permission airspace setting method | |
| US11189180B2 (en) | Unmanned aerial vehicle visual line of sight control | |
| US20200026720A1 (en) | Construction and update of elevation maps | |
| JP2020098567A (en) | Adaptive detection/avoidance system | |
| WO2017139282A1 (en) | Unmanned aerial vehicle privacy controls | |
| KR102025687B1 (en) | Autonomous flight system using dual GPS and method thereof | |
| CN110785355A (en) | Unmanned aerial vehicle testing method, device and storage medium | |
| JP7029565B2 (en) | Maneuvering equipment, information processing methods, and programs | |
| CN113574487A (en) | Unmanned aerial vehicle control method and device and unmanned aerial vehicle | |
| US20220392353A1 (en) | Unmanned aerial vehicle privacy controls | |
| EP3731053B1 (en) | Management device, management system, moving body and program | |
| WO2024067133A1 (en) | 3d-map-based flight control method and system for unmanned aircraft, and medium | |
| KR20220075682A (en) | Automatic Driving AI DRONE and the automatic driving method thereof | |
| KR20190048688A (en) | Autonomous flight system using drone and method thereof | |
| CN114521248A (en) | Information processing apparatus, information processing method, and program | |
| US10802685B2 (en) | Vehicle marking in vehicle management systems | |
| US20230042820A1 (en) | Systems and methods for providing obstacle information to aircraft operator displays | |
| KR20200080379A (en) | Safety flight path creation system and method for big data based drone | |
| US11586225B2 (en) | Mobile device, mobile body control system, mobile body control method, and program | |
| EP4141841A1 (en) | Systems and methods for providing obstacle information to aircraft operator displays | |
| CN113433965B (en) | Unmanned aerial vehicle obstacle avoidance method and device, storage medium and electronic equipment | |
| CN117647999A (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle and readable medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |