CN102298799B - Hand-held device and method for controlling unmanned flying vehicle by utilizing same - Google Patents
Hand-held device and method for controlling unmanned flying vehicle by utilizing same Download PDFInfo
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- CN102298799B CN102298799B CN201010209870.1A CN201010209870A CN102298799B CN 102298799 B CN102298799 B CN 102298799B CN 201010209870 A CN201010209870 A CN 201010209870A CN 102298799 B CN102298799 B CN 102298799B
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Abstract
The invention discloses a hand-held device and a method for controlling an unmanned flying vehicle by utilizing the hand-held device. The method comprises the following steps of: altering the position of a repeater station where the unmanned flying vehicle stops by virtue of a touch control type screen of the hand-held device; planning a new flight line according to the alteration of the repeater station and estimating the voyage capability of the unmanned flying vehicle according to the data of the new flight line; if the new flight line does not exceed the voyage capability of the unmanned flying vehicle, controlling the unmanned flying vehicle to execute the flying task of the new flight line according to the repeater station altered by a user; and after the unmanned flying vehicle reaches the altered repeater station, going to a next syn-position repeater station to carry out stopping operation according a preset flying path, and executing rest flying tasks. By utilizing the hand-held device and the method, the flying path of the unmanned flying vehicle can be altered by virtue of the touch control type screen of the hand-held device.
Description
Technical field
The present invention relates to a kind of electronic installation and method, relate in particular to a kind of hand-held device and utilize it to control the method for unmanned vehicle.
Background technology
At present, unmanned vehicle (Unmanned Aerial Vehicle, UAV) is used to carry out security monitoring work.But, traditional unmanned vehicle is controlled software and is arranged on central control host, if user need to change the flight path of unmanned vehicle, must get back to control machine room, by main frame, login the setting interface that unmanned vehicle is controlled software, the flight path of change unmanned vehicle.If user, not near main frame, when field conditions changes, just cannot change in time the flight path of unmanned vehicle, brings security monitoring risk.
Summary of the invention
In view of above content, be necessary to provide a kind of method of controlling unmanned vehicle, it can change the flight path of unmanned vehicle by the touch control screen of hand-held device, control unmanned vehicle and fly according to path after changing.
In one embodiment, the method comprises the steps: the repeating station spacing of stopping by the touch control screen change unmanned vehicle of hand-held device; According to the change of relay station, plan new course line, and according to the voyage ability of new en-route data assessment unmanned vehicle; If this new course line does not surpass the voyage ability of unmanned vehicle, control unmanned vehicle and carry out the aerial mission in this new course line according to the relay station of user's change; When unmanned vehicle arrives after the relay station of change, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out remaining aerial mission.
In another embodiment, the method comprises the steps: that the touch control screen by hand-held device draws the flight path of change; Search the repeating station spacing nearest with the terminal of this flight path drawing; The flight path drawing according to this and nearest repeating station spacing are planned new course line, and according to the voyage ability of new en-route data assessment unmanned vehicle; If this new course line does not surpass the voyage ability of unmanned vehicle, control the flight path flight that unmanned vehicle draws according to this, until flight is to nearest relay station; When unmanned vehicle arrives after nearest relay station, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out remaining aerial mission.
Preceding method can be carried out by hand-held device, and wherein this hand-held device has and attached touch control screen, one or more processor, the storer of graphic user interface (GUI) and be kept in storer for carrying out one or more modules, program or the instruction set of these methods.In certain embodiments, this hand-held device provides the several functions that comprises radio communication.
For the instruction of carrying out preceding method, can be included in and be configured to the computer program carried out by one or more processors.
Compared to prior art, described hand-held device and utilize its method of controlling unmanned vehicle, the flight path of the touch control screen change unmanned vehicle that it can be by hand-held device, controls unmanned vehicle according to path flight after changing.Utilize the present invention to improve efficiency and the dirigibility of security monitoring work.
Accompanying drawing explanation
Fig. 1 is the block diagram of hand-held device preferred embodiment of the present invention.
Fig. 2 utilizes hand-held device to control the process flow diagram of the first embodiment of the method for unmanned vehicle.
Fig. 3 utilizes hand-held device to control the process flow diagram of the second embodiment of the method for unmanned vehicle.
Fig. 4 to Fig. 9 is the interface schematic diagram of hand-held device while carrying out the first embodiment.
Figure 10 to Figure 15 is the interface schematic diagram of hand-held device while carrying out the second embodiment.
Main element symbol description
| Hand-held |
2 |
| |
21 |
| |
22 |
| |
23 |
| Unmanned |
210 |
Embodiment
As shown in Figure 1, be the block diagram of hand-held device preferred embodiment of the present invention.In the present embodiment, this hand-held device 2 comprises storer 21, touch control screen 22 and processor 23.Wherein, in described storer 21, store unmanned vehicle control system 210, this unmanned vehicle control system 210, for changing the flight path of unmanned vehicle, is controlled unmanned vehicle and is flown according to path after changing, and detailed process is referring to the description of Fig. 2 and Fig. 3.In the present embodiment, described unmanned vehicle 12 includes, but not limited to the flight carriers such as RC Goblin, telecontrolled aircraft and remote vehicle.Described unmanned vehicle is provided with GPS (Global Positioning System, GPS), so that the position at the current place of detecting real-time unmanned vehicle (comprising longitude, latitude and height etc.).
In the present embodiment, described unmanned vehicle control system 210 can be divided into one or more modules, and described one or more modules are configured to be carried out by one or more processors (the present embodiment is a processor 23), to complete the present invention.The alleged module of the present invention has been the computer program code segments of a specific function, than program, is more suitable for, in describing the implementation of software in computing machine, therefore below the present invention, software description all being described with module.
In the present embodiment, in described unmanned vehicle, store the flight path that sets in advance and position of relay station (Relay Station) etc.The position of described relay station comprises: the longitude of relay station, latitude and height etc.Wherein, each relay station is provided with fuel or electric power supplemental facilities and a main frame.Unmanned vehicle will land at each relay station, with postcombustion or electric power, and the data that gather in the preceding paragraph flight path will be sent to the main frame of relay station.Then, described main frame is passed to main control station by the data that receive and is preserved.
Described touch control screen 22 is for to by stylus or finger and the physical contact carrying out at one or more contact points is made response.
As shown in Figure 2, be to utilize hand-held device to control the process flow diagram of the first embodiment of the method for unmanned vehicle.
Step S10, user logins in the unmanned vehicle control system 210 of handheld apparatus 2.When unmanned vehicle carries out detection task according to the flight path setting in advance, if the repeating station spacing (for example the relay station of former stop suffers damage temporarily cannot provide stop) that user needs temporary changes unmanned vehicle to stop for some reason, first login in the unmanned vehicle control system 210 of hand-held device 2, consult shown in Fig. 4.Then, user chooses " designate relay stations point " function choosing-item with finger or various stylus on the touch control screen 22 of hand-held device 2, consults shown in Fig. 5.
Step S11, the repeating station spacing of stopping by touch control screen 22 change unmanned vehicles.Consult shown in Fig. 6, the flight path setting in advance is: A → B → C → D → E → F, and wherein, relay station is followed successively by A, B, C, D, E, F, and S is main control station, and the current location of unmanned vehicle is A1.For example, if it is relay station E (relay station B damage that user need change the repeating station spacing that unmanned vehicle stops next time, or relay station E generation major accident need be gone to scouting), first click the icon (be the icon of A1 representative) of unmanned vehicle in touch control screen 22.Then on touch control screen 22, draw the line segment A1E of ordering to E from A1 point, consult shown in Fig. 6.Mode of operation is for first clicking A1 point, then is connected to E point in the mode of drawing, and then clicks confirming button.In the present embodiment, when user changes the repeating station spacing that unmanned vehicle is stopped, need to first by unmanned vehicle control system 210, control unmanned vehicle groung.
Step S12, unmanned vehicle control system 210 is planned new course line (being A1E) according to the change of relay station, and according to the voyage ability of new en-route data assessment unmanned vehicle.Confirm after the repeating station spacing of change unmanned vehicle stop, unmanned vehicle control system 210 will be calculated the distance in this new course line, and according to whether can the be finished aerial mission in this course line of the data assessment unmanned vehicles such as residual capacity of the current fuel of unmanned vehicle, electric power and storage device.In the present embodiment, the current location that the distance in this new course line is unmanned vehicle arrives the distance of repeating station spacing after changing, the i.e. length of A1E.Wherein, the current location of unmanned vehicle is obtained by GPS.
Step S13, unmanned vehicle control system 210 judges whether this new course line surpasses the voyage ability of unmanned vehicle.In the present embodiment, if current fuel, the electric power of unmanned vehicle can not be supported the fly distance in this new course line of unmanned vehicle, or the residual capacity of unmanned vehicle memory storage is not enough to record the image data in this new course line, unmanned vehicle control system 210 judges that this new course line surpasses the voyage ability of unmanned vehicle, then performs step S14.If current fuel, the electric power of unmanned vehicle can be supported the fly distance in this new course line of unmanned vehicle, and the residual capacity of unmanned vehicle memory storage enough records the image data in this new course line, unmanned vehicle control system 210 judges that this new course line does not surpass the voyage ability of unmanned vehicle, then performs step S16.
Step S14, unmanned vehicle control system 210 is sent information warning, and whether inquiry user adheres to the repeating station spacing that change is stopped, and consults shown in Fig. 7.Because the relay station E that cannot arrive after changing may cause unmanned vehicle forced landing or damage, the importance of visual its reconnaissance mission of user selects whether to change the repeating station spacing of stop.
Step S15, unmanned vehicle control system 210 judges whether user adheres to the repeating station spacing that change is stopped.If user selects "Yes" in step S14, judge that user adheres to the repeating station spacing that change is stopped, execution step S16.If user selects "No" in step S14, judge that user abandons the repeating station spacing that change is stopped, flow process finishes, and unmanned vehicle is still carried out aerial mission according to the flight path setting in advance.
In other embodiments, if this new course line surpasses the voyage ability of unmanned vehicle, also can not send information warning, and direct process ends removes step S14 and step S15.
Step S16, unmanned vehicle control system 210 is controlled the aerial mission that unmanned vehicle is carried out this new course line A1E according to the relay station E of user's change, consults shown in Fig. 8.
Step S17, when unmanned vehicle arrives after the relay station E of change, according to the flight path setting in advance, goes to the relay station of next cis-position to stop operation, carries out remaining aerial mission.Consult shown in Fig. 9, after unmanned vehicle completes user's appointed task and rests against relay station E, then unmanned vehicle will go to next cis-position relay station F to continue to carry out the reconnaissance flight task setting in advance.
As shown in Figure 3, be to utilize hand-held device to control the process flow diagram of the second embodiment of the method for unmanned vehicle.
Step S20, user logins in the unmanned vehicle control system 210 of handheld apparatus 2.When unmanned vehicle carries out detection task according to the flight path setting in advance, if the repeating station spacing (for example generation emergency situations in somewhere need be gone to scouting immediately) that user needs temporary changes unmanned vehicle to stop for some reason, first login in the unmanned vehicle control system 210 of hand-held device 2, consult shown in Fig. 4.Then, user chooses " making flight path by oneself " function choosing-item with finger or various stylus on the touch control screen 22 of hand-held device 2, consults shown in Figure 10.
Step S21 draws the flight path that wish changes on touch control screen 22.Consult shown in Figure 11, the flight path setting in advance is: A → B → C → D → E → F, and wherein, relay station is followed successively by A, B, C, D, E, F, and S is main control station, and the current location of unmanned vehicle is A1.For example, user first clicks the icon (be the icon of A1 representative) of unmanned vehicle in touch control screen 22.Then on touch control screen 22, draw the flight path A1A2 from A1 point to another A2.Mode of operation is for first clicking A1 point, then is connected to A2 point in the mode of drawing, and then clicks confirming button.In the present embodiment, when user changes the repeating station spacing that unmanned vehicle is stopped, need to first by unmanned vehicle control system 210, control unmanned vehicle groung.In the present embodiment, A2 can be any point on touch control screen 22.
Step S22, unmanned vehicle control system 210 is searched the repeating station spacing nearest with the terminal A2 of this flight path A1A2 drawing, usings the stop website that carries out the operations such as data in fuel, electric power supply and storage device passes down after finishing as unmanned vehicle task.Consult shown in Figure 12, relay station D is the repeating station spacing nearest apart from terminal A2.
Step S23, the flight path A1A2 that unmanned vehicle control system 210 draws according to this and nearest repeating station spacing are planned new course line (A1A2+A2D), and according to the voyage ability of new en-route data assessment unmanned vehicle.Confirm after the flight path of change unmanned vehicle, unmanned vehicle control system 210 will be calculated the distance of this flight path A1A2 drawing, and according to whether can the be finished aerial mission of this flight path A1A2 drawing of the data assessment unmanned vehicles such as residual capacity of the current fuel of unmanned vehicle, electric power and storage device, and continue flight to nearest relay station D, the i.e. length of length+line segment A2D of curve A 1A2.
Step S24, unmanned vehicle control system 210 judges whether this new course line surpasses the voyage ability of unmanned vehicle.In the present embodiment, if current fuel, the electric power of unmanned vehicle can not support unmanned vehicle flight to nearest relay station D, or the residual capacity of unmanned vehicle memory storage is not enough to the data that record-setting flight gathers to nearest relay station D, unmanned vehicle control system 210 judges that this new course line surpasses the voyage ability of unmanned vehicle, then performs step S25.If current fuel, the electric power of unmanned vehicle can support unmanned vehicle flight to nearest relay station D, and the data that the enough record-setting flights of the residual capacity of unmanned vehicle memory storage gather to nearest relay station D, unmanned vehicle control system 210 judges that this new course line does not surpass the voyage ability of unmanned vehicle, then performs step S27.
Step S25, unmanned vehicle control system 210 is sent information warning, and whether inquiry user adheres to carrying out the aerial mission in this new course line, consults shown in Figure 13.Owing to cannot arriving nearest relay station D, may cause unmanned vehicle forced landing or damage, the importance of visual its reconnaissance mission of user selects whether to continue to carry out reconnaissance flight task.
Step S26, unmanned vehicle control system 210 judges whether user adheres to carrying out the aerial mission in this new course line.If user selects "Yes" in step S25, judge that user adheres to carrying out the aerial mission in this new course line, execution step S27.If user selects "No" in step S25, judge that user abandons carrying out the aerial mission in this new course line, flow process finishes, and unmanned vehicle is still carried out aerial mission according to the flight path setting in advance.
In other embodiments, if this new course line surpasses the voyage ability of unmanned vehicle, also can not send information warning, and direct process ends removes step S25 and step S26.
Step S27, unmanned vehicle control system 210 is controlled the flight path A1A2 flight that unmanned vehicle draws according to this, until flight is to nearest relay station D, consults shown in Figure 14.
Step S28, when unmanned vehicle arrives after nearest relay station D, according to the flight path setting in advance, goes to the relay station of next cis-position to stop operation, carries out remaining aerial mission.Consult shown in Figure 15, after unmanned vehicle completes user's appointed task and rests against relay station D, then unmanned vehicle will go to next cis-position relay station E to continue to carry out the reconnaissance flight task setting in advance, and relay station F then flies to.
In other embodiments, if there are many unmanned vehicles need to change flight path, user can be online to long-range control host machine by hand-held device 2, obtain after the state of the unmanned vehicle that needs control, the unmanned vehicle control system 210 of recycling hand-held device 2 is controlled each unmanned vehicle respectively.
Finally it should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not depart from the spirit and scope of technical solution of the present invention.
Claims (10)
1. a method of controlling unmanned vehicle, is characterized in that, the method comprises the steps:
The repeating station spacing of stopping by the touch control screen change unmanned vehicle of hand-held device;
According to the change of relay station, plan new course line, and according to the voyage ability of new en-route data assessment unmanned vehicle, in this new course line, deleted the relay station between the current location of unmanned vehicle and repeating station spacing after changing;
If this new course line surpasses the voyage ability of unmanned vehicle, control unmanned vehicle from current location flight repeating station spacing extremely after changing; And
When unmanned vehicle arrives after repeating station spacing after changing, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out remaining aerial mission.
2. the method for control unmanned vehicle as claimed in claim 1, is characterized in that, the step of the voyage ability of the new en-route data assessment of described basis unmanned vehicle comprises:
If current fuel, the electric power of unmanned vehicle can not be supported the fly distance in this new course line of unmanned vehicle, or the residual capacity of unmanned vehicle memory storage is not enough to record the image data in this new course line, judge that this new course line surpasses the voyage ability of unmanned vehicle; And
If current fuel, the electric power of unmanned vehicle can be supported the fly distance in this new course line of unmanned vehicle, and the residual capacity of unmanned vehicle memory storage enough records the image data in this new course line, judge that this new course line does not surpass the voyage ability of unmanned vehicle.
3. the method for control unmanned vehicle as claimed in claim 2, is characterized in that, the method also comprises step:
If this new course line surpasses the voyage ability of unmanned vehicle, send information warning, whether inquiry user adheres to the repeating station spacing that change is stopped.
4. the method for control unmanned vehicle as claimed in claim 3, is characterized in that, the method also comprises step:
If user adheres to the repeating station spacing that change is stopped, control unmanned vehicle and carry out the aerial mission in this new course line according to the relay station of user's change.
5. a method of controlling unmanned vehicle, is characterized in that, the method comprises the steps:
By the touch control screen of hand-held device, draw the flight path of change;
Search the repeating station spacing nearest with the terminal of this flight path drawing;
The flight path drawing according to this and nearest repeating station spacing are planned new course line, and according to the voyage ability of new en-route data assessment unmanned vehicle, the current location of unmanned vehicle and the relay station between this nearest repeating station spacing in this new course line, have been deleted;
If this new course line does not surpass the voyage ability of unmanned vehicle, control the terminal of unmanned vehicle from current location flight to this flight path drawing, and the flight of the terminal of the flight path drawing from this is to nearest relay station; And
When unmanned vehicle arrives after nearest relay station, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out remaining aerial mission.
6. the method for control unmanned vehicle as claimed in claim 5, is characterized in that, the step of the voyage ability of the new en-route data assessment of described basis unmanned vehicle comprises:
If current fuel, the electric power of unmanned vehicle can not support unmanned vehicle flight to nearest relay station, or the residual capacity of unmanned vehicle memory storage is not enough to the data that record-setting flight to nearest relay station gathers, judge that this new course line surpasses the voyage ability of unmanned vehicle; And
If current fuel, the electric power of unmanned vehicle can support unmanned vehicle flight to nearest relay station, and the data that the enough record-setting flights of the residual capacity of unmanned vehicle memory storage to nearest relay station gathers, judge that this new course line does not surpass the voyage ability of unmanned vehicle.
7. the method for control unmanned vehicle as claimed in claim 6, is characterized in that, the method also comprises step:
If this new course line surpasses the voyage ability of unmanned vehicle, send information warning, whether inquiry user adheres to carrying out the aerial mission in this new course line.
8. the method for control unmanned vehicle as claimed in claim 7, is characterized in that, the method also comprises step:
If user adheres to carrying out the aerial mission in this new course line, control the flight path flight that unmanned vehicle draws according to this, until flight is to nearest relay station.
9. a hand-held device, comprising:
Touch control screen;
Storer;
One or more processors; And
One or more modules, described one or more modules are stored in described storer and are configured to and carried out by described one or more processors, and described one or more modules comprise for carrying out the instruction of following steps:
The instruction of the repeating station spacing of stopping by the touch control screen change unmanned vehicle of hand-held device;
According to the change of relay station, plan new course line, and according to the instruction of the voyage ability of new en-route data assessment unmanned vehicle, in this new course line, deleted the relay station between the current location of unmanned vehicle and repeating station spacing after changing;
If this new course line surpasses the voyage ability of unmanned vehicle, control unmanned vehicle from the instruction of current location flight repeating station spacing extremely after changing; And
When unmanned vehicle arrives after repeating station spacing after changing, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out the instruction of remaining aerial mission.
10. a hand-held device, comprising:
Touch control screen;
Storer;
One or more processors; And
One or more modules, described one or more modules are stored in described storer and are configured to and carried out by described one or more processors, and described one or more modules comprise for carrying out the instruction of following steps:
By the touch control screen of hand-held device, draw the instruction of the flight path of change;
Search the instruction of the repeating station spacing nearest with the terminal of this flight path drawing;
The flight path drawing according to this and nearest repeating station spacing are planned new course line, and according to the instruction of the voyage ability of new en-route data assessment unmanned vehicle, the current location of unmanned vehicle and the relay station between this nearest repeating station spacing in this new course line, have been deleted;
If this new course line does not surpass the voyage ability of unmanned vehicle, control the terminal of unmanned vehicle from current location flight to this flight path drawing, and the flight of the terminal of the flight path drawing from this is to the instruction of nearest relay station;
When unmanned vehicle arrives after nearest relay station, according to the flight path setting in advance, go to the relay station of next cis-position to stop operation, carry out the instruction of remaining aerial mission.
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| CN201010209870.1A CN102298799B (en) | 2010-06-25 | 2010-06-25 | Hand-held device and method for controlling unmanned flying vehicle by utilizing same |
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| CN201010209870.1A CN102298799B (en) | 2010-06-25 | 2010-06-25 | Hand-held device and method for controlling unmanned flying vehicle by utilizing same |
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| CN103345826B (en) * | 2013-07-05 | 2017-07-18 | 深圳市大疆创新科技有限公司 | Remote terminal, flight assisting system and the method for unmanned vehicle |
| CN107203219B (en) * | 2013-07-05 | 2020-10-23 | 深圳市大疆创新科技有限公司 | Flight assistance system and method for unmanned aerial vehicle |
| CN107615822B (en) | 2015-04-10 | 2021-05-28 | 深圳市大疆创新科技有限公司 | Method, apparatus and system for providing communication coverage to an unmanned aerial vehicle |
| CN106843243A (en) * | 2016-03-22 | 2017-06-13 | 北京京东尚科信息技术有限公司 | The management method of UAS and unmanned plane route |
| CN105956700A (en) * | 2016-04-29 | 2016-09-21 | 温崇维 | Flight path optimization method of air vehicle |
| WO2017214821A1 (en) | 2016-06-13 | 2017-12-21 | SZ DJI Technology Co., Ltd. | Techniques for location access management in a movable object environment |
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| US8521339B2 (en) * | 2008-09-09 | 2013-08-27 | Aeryon Labs Inc. | Method and system for directing unmanned vehicles |
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| TWI226582B (en) * | 2003-11-28 | 2005-01-11 | Chung Shan Inst Of Science | Client/server control system applied to unmanned aerial vehicle |
| CN200976108Y (en) * | 2006-11-24 | 2007-11-14 | 中国科学院沈阳自动化研究所 | Small-size unmanned helicopter is flight control system independently |
| CN101354264A (en) * | 2007-07-24 | 2009-01-28 | 爱信艾达株式会社 | Navigation apparatuses, methods, and programs |
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