CN106774416B - Information processing method and device, control device and unmanned aerial vehicle system - Google Patents
Information processing method and device, control device and unmanned aerial vehicle system Download PDFInfo
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- CN106774416B CN106774416B CN201710020325.XA CN201710020325A CN106774416B CN 106774416 B CN106774416 B CN 106774416B CN 201710020325 A CN201710020325 A CN 201710020325A CN 106774416 B CN106774416 B CN 106774416B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention discloses an information processing method, an information processing device, a control device and an unmanned aerial vehicle system, wherein the information processing method comprises the following steps: acquiring the movement direction of a first control rod in a first preset direction; based on the direction of motion of first control lever in first preset orientation, control unmanned aerial vehicle is at the ascending direction of motion of first preset orientation, and unmanned aerial vehicle is the same with first control lever in the ascending direction of motion of first preset orientation. According to the information processing method provided by the embodiment of the invention, when the unmanned aerial vehicle is controlled to fly, the moving direction of the unmanned aerial vehicle in the first preset direction is always the same as the moving direction of the first control rod in the first preset direction, and direction calibration is not required to be realized by identifying the indicator lamp on the unmanned aerial vehicle, so that the phenomenon of control error caused by the fact that the indicator lamp on the unmanned aerial vehicle cannot be accurately identified when the flying distance is long is avoided, and the control error rate in the flying process of controlling the unmanned aerial vehicle is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an information processing method, an information processing device, a control device and an unmanned aerial vehicle system.
Background
A drone is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device. Along with the development of science, unmanned aerial vehicle's application is more and more extensive. The existing unmanned aerial vehicle is provided with an indicator light in the battery access direction, when a controller of the unmanned aerial vehicle is aligned to the indicator light, the moving direction of a pull rod on the controller corresponds to the flying direction of the unmanned aerial vehicle, namely when the controller is over against the indicator light, the pull rod moves forwards, and the unmanned aerial vehicle flies forwards; when the controller was carried the pilot lamp direction back to, the pull rod moved forward, and unmanned aerial vehicle flies backward.
However, in the above control method, when the flying distance of the unmanned aerial vehicle is far away, the operator of the unmanned aerial vehicle cannot accurately identify the indicator light, so that it is difficult to make the moving direction of the upper pull rod of the controller consistent with the flying direction of the unmanned aerial vehicle in the visual field range of the operator all the time in the control process, and the control error probability is high.
Disclosure of Invention
In order to solve the technical problem, an embodiment of the present invention provides an information processing method to reduce a control error rate in a flight process of controlling an unmanned aerial vehicle.
In order to solve the above problems, the embodiments of the present invention provide the following technical solutions:
an information processing method is applied to an unmanned aerial vehicle and comprises the following steps:
acquiring the movement direction of a first control rod in a first preset direction;
based on first control lever is in the ascending direction of motion of first preset side, control unmanned aerial vehicle is in the ascending direction of motion of first preset side, unmanned aerial vehicle is in the ascending direction of motion of first preset side with first control lever is in the direction of motion is the same in the first preset side.
Preferably, the first preset direction includes: the fore-and-aft direction in the unmanned aerial vehicle operator field of vision scope and/or left right direction in the unmanned aerial vehicle operator field of vision scope.
Preferably, the acquiring the movement direction of the first control rod in the first preset direction includes:
and acquiring the movement direction of the first control rod in a first preset direction detected by a global positioning system.
Preferably, the method further comprises:
acquiring the movement direction of the second control rod in a second preset direction;
and controlling the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod in the second preset direction.
Preferably, when the second control rod moves along the positive direction of the second preset direction, the unmanned aerial vehicle rotates clockwise; when the second control rod moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise;
and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
Preferably, the method further comprises:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
An information processing apparatus comprising:
the acquisition unit is used for acquiring the movement direction of the first control rod in a first preset direction;
the control unit is used for controlling the unmanned aerial vehicle to be in based on the motion direction of the first control rod in the first preset direction, and the unmanned aerial vehicle is in the motion direction in the first preset direction and the motion direction of the first control rod in the first preset direction are the same.
Preferably, the acquiring unit is further configured to acquire a moving direction of the second control rod in a second preset direction;
the control unit is also used for controlling the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod in the second preset direction.
Preferably, the obtaining unit is further configured to obtain a current movement direction of the unmanned aerial vehicle in the first preset direction;
the control unit is still used for judging unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in whether unanimous in the ascending direction of motion of first the direction of predetermineeing, works as unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in when the ascending direction of motion of first the direction of predetermineeing is inconsistent, adjusts unmanned aerial vehicle is in the ascending direction of motion of first the direction of predetermineeing makes unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in the ascending direction of motion of first the direction of predetermineeing is unanimous.
A control device, comprising: the device comprises a first control rod, a first detection element and a processing device, wherein the first detection element is used for detecting the movement direction of the first control rod in a first preset direction;
the processing apparatus is used for obtaining the direction of motion of first control lever in first preset direction that first detecting element detected, and based on the direction of motion of first control lever in first preset direction, control unmanned aerial vehicle is in the direction of motion in first preset direction, unmanned aerial vehicle is in the direction of motion in first preset direction with first control lever is in the direction of motion is the same in first preset direction.
Preferably, the control device further comprises a second control lever;
the first detection element is also used for detecting the movement direction of the second control rod in a second preset direction;
the processing device is also used for acquiring the motion direction of the second control rod in the second preset direction, and controlling the rotation direction of the unmanned aerial vehicle based on the motion direction of the second control rod in the second preset direction.
Preferably, the processing device is further configured to:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
Preferably, the first detection element is a global positioning system.
An unmanned aerial vehicle system comprising an unmanned aerial vehicle and a control device, the control device comprising: the device comprises a first control rod, a first detection element and a processing device;
the first detection element is used for detecting the movement direction of the first control rod in a first preset direction;
the processing apparatus is used for obtaining the direction of motion of first control lever in first preset direction that first detecting element detected, and based on the direction of motion of first control lever in first preset direction, control unmanned aerial vehicle is in the direction of motion in first preset direction, unmanned aerial vehicle is in the direction of motion in first preset direction with first control lever is in the direction of motion is the same in first preset direction.
Preferably, the control device further comprises a second control lever;
the first detection element is also used for detecting the movement direction of the second control rod in a second preset direction;
the processing device is also used for acquiring the motion direction of the second control rod in the second preset direction, and controlling the rotation direction of the unmanned aerial vehicle based on the motion direction of the second control rod in the second preset direction.
Preferably, the unmanned aerial vehicle further comprises a second detection element, and the second detection element is used for detecting the current movement direction of the unmanned aerial vehicle in the first preset direction.
Preferably, the processing device is further configured to:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction, which is detected by the second detection element;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
Compared with the prior art, the technical scheme has the following advantages:
the information processing method provided by the embodiment of the invention comprises the following steps: acquiring the movement direction of a first control rod in a first preset direction; based on first control lever is in the ascending direction of motion of first preset side, control unmanned aerial vehicle is in the ascending direction of motion of first preset side, unmanned aerial vehicle is in the ascending direction of motion of first preset side with first control lever is in the direction of motion is the same in the first preset side. Therefore, according to the information processing method provided by the embodiment of the invention, when the unmanned aerial vehicle is controlled to fly, the moving direction of the unmanned aerial vehicle in the first preset direction is always the same as the moving direction of the first control rod in the first preset direction, and direction calibration is not required to be realized by identifying the indicator lamp on the unmanned aerial vehicle, so that the phenomenon of control error caused by the fact that the indicator lamp on the unmanned aerial vehicle cannot be accurately identified when the flying distance is long is avoided, and the control error rate in the flying process of controlling the unmanned aerial vehicle is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an information processing method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an information processing method according to another embodiment of the present invention;
FIG. 3 is a flow chart of an information processing method according to another embodiment of the invention;
FIG. 4 is a schematic structural diagram of an information processing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an information processing apparatus according to another embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an information processing apparatus according to yet another embodiment of the present invention;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
An embodiment of the present invention provides an information processing method, which is applied to an unmanned aerial vehicle, and as shown in fig. 1, the method includes:
s1: acquiring the movement direction of a first control rod in a first preset direction;
s2: based on first control lever is in the ascending direction of motion of first preset side, control unmanned aerial vehicle is in the ascending direction of motion of first preset side, unmanned aerial vehicle is in the ascending direction of motion of first preset side with first control lever is in the direction of motion is the same in the first preset side.
Specifically, in one embodiment of the invention, when the first control lever moves forward, the drone flies forward; when the first control rod moves backwards, the unmanned aerial vehicle flies backwards; when first control lever moves left, unmanned aerial vehicle flies left, works as when first control lever moves right, unmanned aerial vehicle flies right. It should be noted that, unmanned aerial vehicle's all around left right direction of flight is all around the unmanned aerial vehicle operator field of vision within range.
On the basis of the above embodiment, in an embodiment of the present invention, the first preset direction includes a front-back direction within a visual field of the unmanned aerial vehicle operator; in another embodiment of the invention, the first preset direction comprises a left-right direction within the field of view of the drone operator; in another embodiment of the present invention, the first preset direction includes a front-back direction within the visual field range of the operator of the unmanned aerial vehicle and a left-right direction within the visual field range of the operator of the unmanned aerial vehicle.
On the basis of any one of the above embodiments, in an embodiment of the present invention, the acquiring the movement direction of the first control lever in the first preset direction includes: and acquiring the movement direction of the first control rod in a first preset direction detected by a global positioning system. That is, in the embodiment of the present invention, the movement direction of the first control lever in the first preset direction is detected by a global positioning system, and in other embodiments of the present invention, the movement direction of the first control lever in the first preset direction may also be detected by other manners, which is not limited in this respect, and the present invention is optionally limited thereto.
On the basis of any of the above embodiments, in an embodiment of the present invention, as shown in fig. 2, the method further includes:
s3: acquiring the movement direction of the second control rod in a second preset direction;
s4: and controlling the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod in the second preset direction.
Optionally, in the embodiment of the present invention, when the second control rod moves in the positive direction of the second preset direction, the drone rotates clockwise; when the second control rod moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise; and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
On the basis of the above embodiment, in an embodiment of the present invention, the second control rod is a rotating rod, the positive direction of the second preset direction is a clockwise direction, and the negative direction of the second preset direction is a counterclockwise direction; in another embodiment of the present invention, the second control lever may also be a sliding lever, the positive direction of the second preset direction is one direction in which the sliding lever slides, and the negative direction of the second preset direction is another direction in which the sliding lever slides, which is not limited in this respect, and is determined as the case may be.
On the basis of the above embodiment, in an embodiment of the present invention, as shown in fig. 3, the method further includes:
s5: acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction;
s6: judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
s7: work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
It should be noted that, on the basis of the above embodiment, in an embodiment of the present invention, the current movement direction of the unmanned aerial vehicle in the first preset direction may be directly obtained; in another embodiment of the present invention, the current movement direction of the drone may also be obtained by recording a rotation angle of the drone in a second preset direction. If the rotation angle of the unmanned aerial vehicle is smaller than 360 degrees, the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod in the first preset direction is the rotation angle of the unmanned aerial vehicle; when the rotation angle of the unmanned aerial vehicle is greater than 360 degrees, subtracting 360 degrees × n from the rotation angle of the unmanned aerial vehicle by the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod in the first preset direction, wherein n is an integer greater than zero, and 360 degrees × n is smaller than the rotation angle of the unmanned aerial vehicle; when unmanned aerial vehicle's rotation angle equals 360, then unmanned aerial vehicle's current direction of motion with first control lever is in deviation between the direction of motion in the first predetermined direction is zero, promptly unmanned aerial vehicle is in the direction of motion in the first predetermined direction with first control lever is in the direction of motion in the first predetermined direction is unanimous.
As can be seen from the above, in the information processing method provided by the embodiment of the present invention, when the unmanned aerial vehicle is controlled to fly, the direction of motion of the unmanned aerial vehicle in the first preset direction is always the same as the direction of motion of the first control rod in the first preset direction, so that the unmanned aerial vehicle can be easily controlled as long as the unmanned aerial vehicle is in a longer distance within the visual field of an operator, and particularly, when the unmanned aerial vehicle is retracted, the control rod only needs to be pulled back consistently, and the direction calibration does not need to be implemented by identifying an indicator light on the unmanned aerial vehicle, thereby avoiding a phenomenon of control error caused by an inability to accurately identify the indicator light on the unmanned aerial vehicle when the unmanned aerial vehicle is in a longer flying distance, and reducing a control error rate in the process of controlling the unmanned aerial vehicle to fly.
Correspondingly, an embodiment of the present invention further provides an information processing apparatus, as shown in fig. 4, the information processing apparatus includes:
the acquiring unit 10 is used for acquiring the movement direction of the first control rod in a first preset direction;
control unit 20 for based on first control lever is in the ascending direction of motion of first predetermined direction, control unmanned aerial vehicle is in the ascending direction of motion of first predetermined direction, unmanned aerial vehicle is in the ascending direction of motion of first predetermined direction with first control lever is in the direction of motion is the same on the first predetermined direction.
Specifically, in one embodiment of the invention, when the first control lever moves forward, the drone flies forward; when the first control rod moves backwards, the unmanned aerial vehicle flies backwards; when first control lever moves left, unmanned aerial vehicle flies left, works as when first control lever moves right, unmanned aerial vehicle flies right. It should be noted that, unmanned aerial vehicle's all around left right direction of flight is all around the unmanned aerial vehicle operator field of vision within range.
On the basis of the above embodiment, in an embodiment of the present invention, the first preset direction includes a front-back direction within a visual field of the unmanned aerial vehicle operator; in another embodiment of the invention, the first preset direction comprises a left-right direction within the field of view of the drone operator; in another embodiment of the present invention, the first preset direction includes a front-back direction within the visual field range of the operator of the unmanned aerial vehicle and a left-right direction within the visual field range of the operator of the unmanned aerial vehicle.
On the basis of any of the above embodiments, in an embodiment of the present invention, the obtaining unit 10 is configured to obtain the moving direction of the first control rod in the first preset direction, and specifically configured to: and acquiring the movement direction of the first control rod in a first preset direction detected by a global positioning system. That is, in the embodiment of the present invention, the movement direction of the first control lever in the first preset direction is detected by a global positioning system, and in other embodiments of the present invention, the movement direction of the first control lever in the first preset direction may also be detected by other manners, which is not limited in this respect, and the present invention is optionally limited thereto.
On the basis of any of the above embodiments, in one implementation of the present invention, the obtaining unit 10 is further configured to obtain a moving direction of the second control rod in a second preset direction;
the control unit 20 is further configured to control the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control lever in the second preset direction.
Optionally, in the embodiment of the present invention, when the second control rod moves in the positive direction of the second preset direction, the drone rotates clockwise; when the second control rod moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise; and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
On the basis of the above embodiment, in an embodiment of the present invention, the second control rod is a rotating rod, the positive direction of the second preset direction is a clockwise direction, and the negative direction of the second preset direction is a counterclockwise direction; in another embodiment of the present invention, the second control lever may also be a sliding lever, the positive direction of the second preset direction is one direction in which the sliding lever slides, and the negative direction of the second preset direction is another direction in which the sliding lever slides, which is not limited in this respect, and is determined as the case may be.
On the basis of any of the foregoing embodiments, in an embodiment of the present invention, the obtaining unit 10 is further configured to obtain a current movement direction of the unmanned aerial vehicle in the first preset direction;
control unit 20 still is used for judging unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in whether the ascending direction of motion in first the direction of predetermineeing is unanimous, works as unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in when the ascending direction of motion in first the direction of predetermineeing is inconsistent, adjusts unmanned aerial vehicle is in the ascending direction of motion in first the direction of predetermineeing makes unmanned aerial vehicle is in first the ascending current direction of motion in the direction of predetermineeing with first control lever is in the ascending direction of motion in first the direction of predetermineeing is unanimous.
It should be noted that, on the basis of the above embodiment, in an embodiment of the present invention, the obtaining unit 10 may directly obtain the current moving direction of the unmanned aerial vehicle in the first preset direction; in another embodiment of the present invention, the obtaining unit 10 may further obtain the current movement direction of the unmanned aerial vehicle by recording a rotation angle of the unmanned aerial vehicle in a second preset direction. If the rotation angle of the unmanned aerial vehicle is smaller than 360 degrees, the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod in the first preset direction is the rotation angle of the unmanned aerial vehicle; when the rotation angle of the unmanned aerial vehicle is greater than 360 degrees, subtracting 360 degrees × n from the rotation angle of the unmanned aerial vehicle by the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod in the first preset direction, wherein n is an integer greater than zero, and 360 degrees × n is smaller than the rotation angle of the unmanned aerial vehicle; when unmanned aerial vehicle's rotation angle equals 360, then unmanned aerial vehicle's current direction of motion with first control lever is in deviation between the direction of motion in the first predetermined direction is zero, promptly unmanned aerial vehicle is in the direction of motion in the first predetermined direction with first control lever is in the direction of motion in the first predetermined direction is unanimous.
As can be seen from the above, in the information processing apparatus provided in the embodiment of the present invention, when controlling the flight of the unmanned aerial vehicle, the direction of motion of the unmanned aerial vehicle in the first preset direction is always the same as the direction of motion of the first control rod in the first preset direction, so that when the unmanned aerial vehicle is in a longer distance, the unmanned aerial vehicle can be easily controlled as long as the unmanned aerial vehicle is within the visual field range of an operator, and particularly when the unmanned aerial vehicle is retracted, the control rod only needs to be pulled back consistently, and calibration of the direction does not need to be implemented by identifying an indicator light on the unmanned aerial vehicle, thereby avoiding a phenomenon of control error due to an inability to accurately identify an indicator light on the unmanned aerial vehicle when the flight distance is longer, and reducing a control error rate in the flight process of controlling the unmanned aerial.
In addition, an embodiment of the present invention further provides a control device, as shown in fig. 5, where the control device includes: the control device comprises a first control rod 30, a first detection element 40 and a processing device 50, wherein the first detection element 40 is used for detecting the movement direction of the first control rod 30 in a first preset direction;
processing apparatus 50 is used for acquireing the first control lever 30 that first detecting element 40 detected is at the ascending direction of motion of first predetermined direction, and based on the direction of motion of first control lever 30 on first predetermined direction, control unmanned aerial vehicle is in the ascending direction of motion of first predetermined direction, unmanned aerial vehicle is in the ascending direction of motion of first predetermined direction with first control lever 30 is in the ascending direction of motion of first predetermined direction is the same.
Specifically, in one embodiment of the present invention, when the first control stick 30 moves forward, the drone flies forward; when the first control lever 30 moves backward, the drone flies backward; when first control lever 30 moves to the left, unmanned aerial vehicle flies to the left, when first control lever 30 moves to the right, unmanned aerial vehicle flies to the right. It should be noted that, unmanned aerial vehicle's all around left right direction of flight is all around the unmanned aerial vehicle operator field of vision within range.
On the basis of the above embodiment, in an embodiment of the present invention, the first preset direction includes a front-back direction within a visual field of the unmanned aerial vehicle operator; in another embodiment of the invention, the first preset direction comprises a left-right direction within the field of view of the drone operator; in another embodiment of the present invention, the first preset direction includes a front-back direction within the visual field range of the operator of the unmanned aerial vehicle and a left-right direction within the visual field range of the operator of the unmanned aerial vehicle.
On the basis of any of the above embodiments, in one embodiment of the present invention, the first detection element is preferably a global positioning system. However, the present invention is not limited thereto, as the case may be.
On the basis of the above embodiment, in one embodiment of the present invention, as shown in fig. 6, the control device further includes a second control lever 60;
the first detecting element 40 is also used for detecting the moving direction of the second control rod 60 in a second preset direction;
the processing device 50 is further configured to obtain a movement direction of the second control rod 60 in a second preset direction, and control a rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod 60 in the second preset direction.
Optionally, in the embodiment of the present invention, when the second control rod 60 moves in the positive direction of the second preset direction, the drone rotates clockwise; when the second control rod 60 moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise; and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
On the basis of the above embodiment, in an embodiment of the present invention, the second control rod 60 is a rotating rod, the positive direction of the second preset direction is a clockwise direction, and the negative direction of the second preset direction is a counterclockwise direction; in another embodiment of the present invention, the second control lever 60 may also be a sliding lever, the positive direction of the second preset direction is one direction of sliding of the sliding lever, and the negative direction of the second preset direction is another direction of sliding of the sliding lever, which is not limited in this respect, as the case may be.
On the basis of the above embodiment, in an embodiment of the present invention, the processing device 50 is further configured to:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod 30 in the first preset direction;
work as unmanned aerial vehicle is in the ascending current direction of motion in first preset direction with first control lever 30 is in when the ascending direction of motion in first preset direction is inconsistent, adjust unmanned aerial vehicle is in the ascending direction of motion in first preset direction makes unmanned aerial vehicle is in the ascending current direction of motion in first preset direction with first control lever 30 is in the ascending direction of motion in first preset direction is consistent.
It should be noted that, on the basis of the above embodiment, in an embodiment of the present invention, the processing device 50 may directly obtain the current movement direction of the unmanned aerial vehicle in the first preset direction; in another embodiment of the present invention, the processing device 50 may further obtain the current movement direction of the drone by recording a rotation angle of the drone in a second preset direction. If the rotation angle of the drone is less than 360 °, the deviation between the current motion direction of the drone and the motion direction of the first control lever 30 in the first preset direction is the rotation angle of the drone; when the rotation angle of the unmanned aerial vehicle is greater than 360 °, the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod 30 in the first preset direction is obtained by subtracting 360 ° from the rotation angle of the unmanned aerial vehicle, where n is an integer greater than zero, and 360 ° n is smaller than the rotation angle of the unmanned aerial vehicle; when unmanned aerial vehicle's rotation angle equals 360, then unmanned aerial vehicle's current direction of motion with first control lever 30 is in deviation between the direction of motion in the first predetermined direction is zero, promptly unmanned aerial vehicle is in the first predetermined ascending current direction of motion with first control lever 30 is in the first predetermined ascending direction of motion is unanimous.
In addition, an embodiment of the present invention further provides an unmanned aerial vehicle system, as shown in fig. 7, including an unmanned aerial vehicle 100 and a control device 200, where the control device 200 includes: the device comprises a first control rod, a first detection element and a processing device;
the first detection element is used for detecting the movement direction of the first control rod in a first preset direction;
the processing apparatus is used for obtaining the direction of motion of first control lever in first preset direction that first detecting element detected, and based on the direction of motion of first control lever in first preset direction, control unmanned aerial vehicle is in the direction of motion in first preset direction, unmanned aerial vehicle is in the direction of motion in first preset direction with first control lever is in the direction of motion is the same in first preset direction.
Specifically, in one embodiment of the invention, when the first control lever moves forward, the drone flies forward; when the first control rod moves backwards, the unmanned aerial vehicle flies backwards; when first control lever moves left, unmanned aerial vehicle flies left, works as when first control lever moves right, unmanned aerial vehicle flies right. It should be noted that, unmanned aerial vehicle's all around left right direction of flight is all around the unmanned aerial vehicle operator field of vision within range.
On the basis of the above embodiment, in an embodiment of the present invention, the first preset direction includes a front-back direction within a visual field of the unmanned aerial vehicle operator; in another embodiment of the invention, the first preset direction comprises a left-right direction within the field of view of the drone operator; in another embodiment of the present invention, the first preset direction includes a front-back direction within the visual field range of the operator of the unmanned aerial vehicle and a left-right direction within the visual field range of the operator of the unmanned aerial vehicle.
On the basis of any of the above embodiments, in one embodiment of the present invention, the first detection element is preferably a global positioning system. However, the present invention is not limited thereto, as the case may be.
On the basis of the above embodiment, in one embodiment of the present invention, the control device 200 further comprises a second control rod;
the first detection element is also used for detecting the movement direction of the second control rod in a second preset direction;
the processing device is also used for acquiring the motion direction of the second control rod in the second preset direction, and controlling the rotation direction of the unmanned aerial vehicle based on the motion direction of the second control rod in the second preset direction.
Optionally, in the embodiment of the present invention, when the second control rod moves in the positive direction of the second preset direction, the drone rotates clockwise; when the second control rod moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise; and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
On the basis of the above embodiment, in an embodiment of the present invention, the second control rod is a rotating rod, the positive direction of the second preset direction is a clockwise direction, and the negative direction of the second preset direction is a counterclockwise direction; in another embodiment of the present invention, the second control lever may also be a sliding lever, the positive direction of the second preset direction is one direction in which the sliding lever slides, and the negative direction of the second preset direction is another direction in which the sliding lever slides, which is not limited in this respect, and is determined as the case may be.
On the basis of the above embodiment, in an embodiment of the present invention, the unmanned aerial vehicle further includes a second detection element, and the second detection element is configured to detect a current movement direction of the unmanned aerial vehicle in the first preset direction.
On the basis of the above embodiment, in an embodiment of the present invention, the processing apparatus is further configured to:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction, which is detected by the second detection element;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
It should be noted that, on the basis of the above embodiment, in an embodiment of the present invention, the processing device may directly acquire, through the second detection element, a current movement direction of the unmanned aerial vehicle in the first preset direction; in another embodiment of the present invention, the processing device may further obtain the current movement direction of the drone by recording a rotation angle of the drone in a second preset direction. If the rotation angle of the drone is less than 360 °, the deviation between the current motion direction of the drone and the motion direction of the first control lever 30 in the first preset direction is the rotation angle of the drone; when the rotation angle of the unmanned aerial vehicle is greater than 360 °, the deviation between the current motion direction of the unmanned aerial vehicle and the motion direction of the first control rod 30 in the first preset direction is obtained by subtracting 360 ° from the rotation angle of the unmanned aerial vehicle, where n is an integer greater than zero, and 360 ° n is smaller than the rotation angle of the unmanned aerial vehicle; when unmanned aerial vehicle's rotation angle equals 360, then unmanned aerial vehicle's current direction of motion with first control lever 30 is in deviation between the direction of motion in the first predetermined direction is zero, promptly unmanned aerial vehicle is in the first predetermined ascending current direction of motion with first control lever 30 is in the first predetermined ascending direction of motion is unanimous.
To sum up, according to the control device and the unmanned aerial vehicle system comprising the control device provided by the embodiment of the invention, when the unmanned aerial vehicle is controlled to fly, the moving direction of the unmanned aerial vehicle in the first preset direction is always the same as the moving direction of the first control rod in the first preset direction, and the direction calibration is not required to be realized by identifying the indicator lamp on the unmanned aerial vehicle, so that the phenomenon of control errors caused by the fact that the indicator lamp on the unmanned aerial vehicle cannot be accurately identified when the flying distance is long is avoided, and the control error rate in the flying process of controlling the unmanned aerial vehicle is reduced.
In the description, each part is described in a progressive manner, each part is emphasized to be different from other parts, and the same and similar parts among the parts are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. An information processing method is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps:
acquiring the movement direction of a first control rod in a first preset direction;
the method comprises the steps that the current movement direction of the unmanned aerial vehicle in a first preset direction is obtained by recording the rotation angle of the unmanned aerial vehicle in a second preset direction;
based on first control lever is in the ascending direction of motion of first preset side, control unmanned aerial vehicle is in the ascending direction of motion of first preset side, unmanned aerial vehicle is in the ascending direction of motion of first preset side all the time with first control lever is in the direction of motion is the same in the first preset side.
2. The information processing method according to claim 1, wherein the first preset direction includes: the fore-and-aft direction in the unmanned aerial vehicle operator field of vision scope and/or left right direction in the unmanned aerial vehicle operator field of vision scope.
3. The information processing method according to claim 1, wherein the acquiring of the movement direction of the first control lever in the first preset direction includes:
and acquiring the movement direction of the first control rod in a first preset direction detected by a global positioning system.
4. The information processing method according to any one of claims 1 to 3, characterized by further comprising:
acquiring the movement direction of the second control rod in a second preset direction;
and controlling the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod in the second preset direction.
5. The information processing method according to claim 4, wherein the drone rotates clockwise when the second control lever moves in the positive direction of the second preset direction; when the second control rod moves along the negative direction of the second preset direction, the unmanned aerial vehicle rotates anticlockwise;
and the positive direction and the negative direction of the second preset direction are parallel to two opposite directions of the second preset direction.
6. The information processing method according to claim 5, characterized by further comprising:
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
7. An information processing apparatus characterized by comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the motion direction of a first control rod in a first preset direction and acquiring the current motion direction of the unmanned aerial vehicle in the first preset direction by recording the rotation angle of the unmanned aerial vehicle in a second preset direction;
the control unit is used for controlling the unmanned aerial vehicle to be in based on the motion direction of the first control rod in the first preset direction, and the unmanned aerial vehicle is in the motion direction in the first preset direction and the motion direction of the first control rod in the first preset direction are the same.
8. The information processing apparatus according to claim 7, wherein the acquisition unit is further configured to acquire a moving direction of the second joystick in a second preset direction;
the control unit is also used for controlling the rotation direction of the unmanned aerial vehicle based on the movement direction of the second control rod in the second preset direction.
9. The information processing apparatus according to claim 8, wherein the control unit is further configured to determine whether a current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with a movement direction of the first control lever in the first preset direction, and adjust the movement direction of the unmanned aerial vehicle in the first preset direction to make the current movement direction of the unmanned aerial vehicle in the first preset direction consistent with the movement direction of the first control lever in the first preset direction when the current movement direction of the unmanned aerial vehicle in the first preset direction is inconsistent with the movement direction of the first control lever in the first preset direction.
10. A control device, comprising: the device comprises a first control rod, a first detection element and a processing device, wherein the first detection element is used for detecting the movement direction of the first control rod in a first preset direction;
processing apparatus is used for acquireing the first control lever that first detecting element detected is at the ascending direction of motion of first preset side and through the rotation angle of record unmanned aerial vehicle in the ascending direction of second preset side, acquireing unmanned aerial vehicle is at the ascending current direction of motion of first preset side, and based on first control lever is at the ascending direction of motion of first preset side, control unmanned aerial vehicle is in the ascending direction of motion of first preset side, unmanned aerial vehicle is in the ascending direction of motion of first preset side all the time with first control lever is in the direction of motion is the same on the first preset side.
11. The control device of claim 10, further comprising a second control lever;
the first detection element is also used for detecting the movement direction of the second control rod in a second preset direction;
the processing device is also used for acquiring the motion direction of the second control rod in the second preset direction, and controlling the rotation direction of the unmanned aerial vehicle based on the motion direction of the second control rod in the second preset direction.
12. The control device of claim 11, wherein the processing device is further configured to:
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
13. The control device of any one of claims 10-12, wherein the first sensing element is a global positioning system.
14. An unmanned aerial vehicle system, characterized in that, includes unmanned aerial vehicle and controlling means, controlling means includes: the device comprises a first control rod, a first detection element, a second detection element and a processing device;
the first detection element is used for detecting the movement direction of the first control rod in a first preset direction;
the second detection element is used for detecting the current movement direction of the unmanned aerial vehicle in the first preset direction by recording the rotation angle of the unmanned aerial vehicle in the second preset direction;
the processing apparatus is used for obtaining the direction of motion of first control lever in first preset direction that first detecting element detected, and based on the direction of motion of first control lever in first preset direction, control unmanned aerial vehicle is in the direction of motion in first preset direction, unmanned aerial vehicle is in the direction of motion in first preset direction all the time with first control lever is in the direction of motion is the same in first preset direction.
15. The drone system of claim 14, wherein the control device further includes a second control lever;
the first detection element is also used for detecting the movement direction of the second control rod in a second preset direction;
the processing device is also used for acquiring the motion direction of the second control rod in the second preset direction, and controlling the rotation direction of the unmanned aerial vehicle based on the motion direction of the second control rod in the second preset direction.
16. The drone system of claim 14, wherein the processing device is further to:
acquiring the current movement direction of the unmanned aerial vehicle in the first preset direction, which is detected by the second detection element;
judging whether the current movement direction of the unmanned aerial vehicle in the first preset direction is consistent with the movement direction of the first control rod in the first preset direction;
work as unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in when first predetermine ascending direction of motion not unanimous, adjust unmanned aerial vehicle is in first predetermine ascending direction of motion, make unmanned aerial vehicle is in first predetermine ascending current direction of motion in the direction with first control lever is in first predetermine ascending direction of motion consistent.
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