CN104890861A - Control method of multi-rotor aircraft and multi-rotor aircraft - Google Patents
Control method of multi-rotor aircraft and multi-rotor aircraft Download PDFInfo
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Abstract
The invention provides a control method of a multi-rotor aircraft. The control method comprises the steps of: receiving a quick instruction, and reading a corresponding action command of the multi-rotor aircraft according to the quick instruction; executing the action command of the multi-rotor aircraft according to the flight attitude of the multi-rotor aircraft; detecting the executing process of the action command of the multi-rotor aircraft; and switching the multi-rotor aircraft to the preset flight attitude when the execution process is completed. The invention also provides the multi-rotor aircraft. The control method of the multi-rotor aircraft and the multi-rotor aircraft have the advantages that the preset action command in the multi-rotor aircraft is executed through the quick instruction, so that the operation of the multi-rotor aircraft is simplified.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, particularly relate to a kind of control method and multi-rotor aerocraft of multi-rotor aerocraft.
Background technology
Multi-rotor aerocraft can be used for multiple aerial mission, as Aerial photography, article delivery, flight effect present.Fly hand shift by veteran, multi-rotor aerocraft can realize above-mentioned functions to a certain extent, especially in the field of taking photo by plane, obtains the extensive accreditation of user.Along with multi-rotor aerocraft enters consumption market, a lot of general public also brings into use multi-rotor aerocraft to realize some amusement functions, defines the new trend of multi-rotor aerocraft industry development.
After multi-rotor aerocraft carries out consumption market, along with reducing and the lifting of flying power of multi-rotor aerocraft volume, increasing people starts the operation of multi-rotor aerocraft to like as one, thus can realize unique enjoyment.
But the highly difficult operation of multi-rotor aerocraft can become again the road blocking tiger of a lot of user, has drawn back a lot of user with fear simultaneously.Therefore how to make user by shirtsleeve operation, realize the flight course of the complexity of multi-rotor aerocraft, become the problem that multi-rotor aerocraft industry is urgently to be resolved hurrily.
In order to improve the completeness of the complexity flight of multi-rotor aerocraft, application number is that the flight control method of the multi-rotor aerocraft of 201410164108.4 and system disclose a kind of outputting power to rotor mechanism and carry out detection adjustment, to ensure the multi-rotor aerocraft of the stabilized flight of multi-rotor aerocraft, but wherein not to the improvement that the function part of multi-rotor aerocraft is simplified.
Simultaneously application number be 201410201627.3 many rotary wing changings disclose a kind of pitch to rotor apart from the control method of aircraft and control setup and change, to ensure the multi-rotor aerocraft of the stabilized flight of multi-rotor aerocraft, wherein also not to the improvement that the function part of multi-rotor aerocraft is simplified.
Therefore, be necessary control method and multi-rotor aerocraft that a kind of multi-rotor aerocraft is provided, to solve the problem existing for prior art.
Summary of the invention
The embodiment of the present invention provide a kind of can to the control method of the multi-rotor aerocraft of the simple operation of multi-rotor aerocraft and multi-rotor aerocraft; Solve the technical matters of the control method of existing multi-rotor aerocraft and the complicated operation of multi-rotor aerocraft.
For solving the problem, technical scheme provided by the invention is as follows:
The embodiment of the present invention provides a kind of control method of multi-rotor aerocraft, and it comprises:
Receive quick instruction, and according to the action command of the corresponding described multi-rotor aerocraft of described quick instruction fetch; Wherein said action command comprises flight directive and flight directive trigger interval;
According to the flight attitude of described multi-rotor aerocraft, perform the action command of described multi-rotor aerocraft;
Detect the implementation of the action command of described multi-rotor aerocraft; And
At the end of described implementation, described multi-rotor aerocraft is switched to default flight attitude.
In the control method of multi-rotor aerocraft of the present invention, described control method also comprises step:
Receiving record sign on, and according to described recording start command, record the action command of described multi-rotor aerocraft; And
Receiving record END instruction, and according to described end of record instruction, storage operation is carried out to the action command of described multi-rotor aerocraft.
In the control method of multi-rotor aerocraft of the present invention, the described flight attitude according to described multi-rotor aerocraft, the step performing the action command of described multi-rotor aerocraft comprises:
Whether the flight attitude detecting described multi-rotor aerocraft meets executive condition corresponding to the action command of described multi-rotor aerocraft;
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then perform the action command of described multi-rotor aerocraft; And
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then described multi-rotor aerocraft is switched to default flight attitude.
In the control method of multi-rotor aerocraft of the present invention, as as described in multi-rotor aerocraft flight attitude meet as described in executive condition, after then described multi-rotor aerocraft being switched to default flight attitude, re-execute the action command of described multi-rotor aerocraft.
In the control method of multi-rotor aerocraft of the present invention, described control method also comprises:
As described in implementation, receive flight directive, then terminate the implementation of the action command of described multi-rotor aerocraft, and perform described flight directive.
In the control method of multi-rotor aerocraft of the present invention, described control method also comprises:
Setting-up time before described implementation terminates, carries out implementation and terminates prompting, so that user inputs described flight directive.
The embodiment of the present invention also provides a kind of multi-rotor aerocraft, and it comprises:
Body;
Multiple rotor;
Action command data bank, for storing the action command of described multi-rotor aerocraft;
At least one shortcut key, for sending quick instruction;
Action command read module, for receiving described quick instruction, and reads the action command of corresponding described multi-rotor aerocraft from described action command data bank according to described quick instruction;
Action command execution module, for the flight attitude according to described multi-rotor aerocraft, performs the action command of described multi-rotor aerocraft; And
Action command detection module, for detecting the implementation of the action command of described multi-rotor aerocraft; And at the end of described implementation, described multi-rotor aerocraft is switched to default flight attitude.
In multi-rotor aerocraft of the present invention, described multi-rotor aerocraft also comprises:
Record button, for sending recording start command;
End key, for sending end of record instruction;
Logging modle, for receiving described recording start command, and according to described recording start command, records the action command of described multi-rotor aerocraft; And
Memory module, for receiving described end of record instruction, and according to described end of record instruction, carries out storage operation to the action command of described multi-rotor aerocraft.
In multi-rotor aerocraft of the present invention, described action command execution module, specifically for:
Whether the flight attitude detecting described multi-rotor aerocraft meets executive condition corresponding to the action command of described multi-rotor aerocraft;
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then perform the action command of described multi-rotor aerocraft; And
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then described multi-rotor aerocraft is switched to default flight attitude.
In multi-rotor aerocraft of the present invention, described multi-rotor aerocraft also comprises:
IO interface, for inputing or outputing the action command of described multi-rotor aerocraft to described action command data bank.
Compared to control method and the multi-rotor aerocraft of the multi-rotor aerocraft of prior art, the control method of multi-rotor aerocraft of the present invention and multi-rotor aerocraft perform the action command preset in multi-rotor aerocraft by quick instruction, make the simple operation of multi-rotor aerocraft; Solve the technical matters of the control method of existing multi-rotor aerocraft and the complicated operation of multi-rotor aerocraft.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of the first preferred embodiment of the control method of multi-rotor aerocraft of the present invention;
Fig. 2 is the diagram of circuit of the step S102 of the first preferred embodiment of the control method of multi-rotor aerocraft of the present invention;
Fig. 3 is the diagram of circuit of the second preferred embodiment of the control method of multi-rotor aerocraft of the present invention;
Fig. 4 is the structural representation of the first preferred embodiment of multi-rotor aerocraft of the present invention;
Fig. 5 is the structural representation of the second preferred embodiment of multi-rotor aerocraft of the present invention;
Fig. 6 is the diagram of circuit of the specific embodiment of the control method of multi-rotor aerocraft of the present invention and the record-setting flight instruction of multi-rotor aerocraft;
Fig. 7 is the control method of multi-rotor aerocraft of the present invention and the diagram of circuit being carried out the specific embodiment of flight operation by quick instruction of multi-rotor aerocraft.
Detailed description of the invention
Please refer to graphic, wherein identical element numbers represents identical assembly, and principle of the present invention implements to carry out casehistory in a suitable computing environment.The following description is based on the illustrated specific embodiment of the invention, and it should not be regarded as limiting the present invention not at other specific embodiment that this describes in detail.
The control method of multi-rotor aerocraft of the present invention can be arranged in existing multi-rotor aerocraft, to control the operation that multi-rotor aerocraft is simplified, thus promote user to the experience satisfaction of multi-rotor aerocraft, and improve the operating efficiency of multi-rotor aerocraft.
Please refer to Fig. 1, Fig. 1 is the diagram of circuit of the first preferred embodiment of the control method of multi-rotor aerocraft of the present invention.The control method of the multi-rotor aerocraft of this preferred embodiment comprises:
Step S101, receives quick instruction, and according to the action command of the corresponding multi-rotor aerocraft of quick instruction fetch;
Step S102, according to the flight attitude of multi-rotor aerocraft, performs the action command of multi-rotor aerocraft;
Step S103, detects the implementation of the action command of multi-rotor aerocraft; At the end of implementation, multi-rotor aerocraft is switched to default flight attitude.
The following detailed description of the idiographic flow of each step of the control method of the multi-rotor aerocraft of this preferred embodiment.
In step S101, multi-rotor aerocraft receives the quick instruction of user's input, as user sends quick instruction by the shortcut key on the remote controller of multi-rotor aerocraft.The action command of multi-rotor aerocraft that prestores according to this quick instruction fetch of multi-rotor aerocraft subsequently.This action command comprises flight directive and flight directive trigger interval.Flight directive comprises perpendicular movement instruction, luffing instruction, flip-flop movement instruction, yawing rotation instruction, seesaw instruction and sideway movement instruction etc.Flight directive trigger interval refers to the activation lasts time of flight directive and the trigger interval time etc. of adjacent flight directive.Certainly quick instruction here also sends by other buttons clicked on remote controller, as time click both direction button, long-time by certain button or double-click certain button etc.Forward step S102 to subsequently.
In step s 102, multi-rotor aerocraft, according to the flight attitude of multi-rotor aerocraft, performs the action command of the multi-rotor aerocraft that step S101 obtains.Here flight attitude refers to the state of flight of multi-rotor aerocraft before the action command performing the multi-rotor aerocraft preset and flying speed etc., as floating state, and level flight condition, lift mode and high-speed flight state etc.Certainly if do not needed the action command of the flight attitude limiting multi-rotor aerocraft, the action command that multi-rotor aerocraft all can perform this execution multi-rotor aerocraft under any state of flight can also be set.
Specifically please refer to Fig. 2, Fig. 2 is the diagram of circuit of the step S102 of the first preferred embodiment of the control method of multi-rotor aerocraft of the present invention.This step S102 comprises:
Step S1021, detects the flight attitude of multi-rotor aerocraft and whether meets executive condition corresponding to the action command of multi-rotor aerocraft; Here executive condition refers to that multi-rotor aerocraft performs the prerequisite flight attitude of certain action command; As multi-rotor aerocraft needed a dropping action time, and the multi-rotor aerocraft being in high-speed flight state directly performs dropping action that multi-rotor aerocraft may be made directly to fall, therefore each action command is provided with corresponding executive condition here.Flight attitude as multi-rotor aerocraft meets executive condition and then forwards step S1022 to; Flight attitude as multi-rotor aerocraft does not meet executive condition and then forwards step S1023 to.
Step S1022, the flight attitude as multi-rotor aerocraft meets executive condition, then the order that performs an action that multi-rotor aerocraft can be safe, therefore multi-rotor aerocraft performs the action command of multi-rotor aerocraft.Forward step S103 to subsequently.
Step S1023, the state of flight as multi-rotor aerocraft does not meet executive condition, then in order to ensure the stabilized flight of multi-rotor aerocraft, multi-rotor aerocraft switches to default flight attitude, as hovering posture etc.Certainly default flight attitude can be set to the executive condition that most of action commands of multi-rotor aerocraft are corresponding here, after such multi-rotor aerocraft switches to default flight attitude, also can re-execute step S1021.Forward step S103 to subsequently.
In step s 103, detect the implementation of the action command of multi-rotor aerocraft, and at the end of implementation, flight attitude is switched to default flight attitude by multi-rotor aerocraft, as hovering posture etc.
As multi-rotor aerocraft in the process of implementation, when receiving the flight directive that user sent by remote controller, then directly terminate the implementation of the action command of multi-rotor aerocraft, perform the flight directive just received.
Preferably, the setting-up time before the implementation of multi-rotor aerocraft terminates, as 3 seconds or 5 seconds etc., implementation of can carrying out multi-rotor aerocraft terminates prompting, as acousto-optic hint etc., so that user inputs flight directive in time, carry out the subsequent operation after the implementation of action command.
So namely, complete the control process of the control method of the multi-rotor aerocraft of this preferred embodiment.
The control method of the multi-rotor aerocraft of this preferred embodiment performs the action command preset in multi-rotor aerocraft by quick instruction, make the simple operation of multi-rotor aerocraft.
Please refer to Fig. 3, Fig. 3 is the diagram of circuit of the second preferred embodiment of the control method of multi-rotor aerocraft of the present invention.The control method of the multi-rotor aerocraft of this preferred embodiment comprises:
Step S301, receiving record sign on, and according to recording start command, the action command of record multi-rotor aerocraft;
Step S302, receiving record END instruction, and according to end of record instruction, storage operation is carried out to the action command of multi-rotor aerocraft;
Step S303, receives quick instruction, and according to the action command of the corresponding multi-rotor aerocraft of quick instruction fetch;
Step S304, according to the flight attitude of multi-rotor aerocraft, performs the action command of multi-rotor aerocraft;
Step S305, detects the implementation of the action command of multi-rotor aerocraft; At the end of implementation, multi-rotor aerocraft is switched to default flight attitude.
The following detailed description of the idiographic flow of each step of the control method of the multi-rotor aerocraft of this preferred embodiment.
In step S301, multi-rotor aerocraft receives the recording start command that user sends, and this recording start command sends by the record button arranged on a remote control.Multi-rotor aerocraft starts according to this recording start command the action command recording multi-rotor aerocraft subsequently.Forward step S302 to subsequently.
In step s 302, multi-rotor aerocraft receives the end of record instruction that user sends, this end of record instruction also sends by the end key arranged on a remote control, this end key can be same button with record button, during as being in action command recording status when multi-rotor aerocraft, this button sends end of record instruction; When multi-rotor aerocraft is not in action command recording status, then this button sends recording start command.Or the different operating to same button, then this button can send recording start command or end of record instruction, as short by sending recording start command, long by sending end of record instruction etc.
Multi-rotor aerocraft carries out storage operation according to this end of record instruction to the action command of the multi-rotor aerocraft recorded subsequently.Forward step S303 to subsequently.
Step S101 in first preferred embodiment of the control method of step S303 to step S305 and above-mentioned multi-rotor aerocraft is same or similar to the description in step S103, specifically refers to the associated description in the first preferred embodiment of the control method of above-mentioned multi-rotor aerocraft.
So namely, complete the control process of the control method of the multi-rotor aerocraft of this preferred embodiment.
The control method of the multi-rotor aerocraft of this preferred embodiment is on the basis of the first preferred embodiment, achieved the record of the flight directive of user's input by recording start command and end of record instruction, make simple operation and the variation of multi-rotor aerocraft further.
The present invention also provides a kind of multi-rotor aerocraft, please refer to Fig. 4, and Fig. 4 is the structural representation of the first preferred embodiment of multi-rotor aerocraft of the present invention.The multi-rotor aerocraft 40 of this preferred embodiment comprises body 41, remote controller 42, multiple rotor 43, action command data bank 44, at least one shortcut key 45, action command read module 46, action command execution module 47, action command detection module 48 and reminding module 49.Rotor 43 is arranged on body 41.Action command data bank 44 can be arranged on body 41 or on remote controller 42, for storing the action command of multi-rotor aerocraft 40.Shortcut key 45 can be arranged on the remote controller 42 of multi-rotor aerocraft 40, for sending quick instruction.Action command read module 46 is arranged on body 41 or on remote controller 42, for receiving quick instruction, and reads the action command of corresponding multi-rotor aerocraft 40 from action order data storehouse 44 according to quick instruction.Action command execution module 47 is arranged on body 41, for the flight attitude according to multi-rotor aerocraft 40, and the action command of the multi-rotor aerocraft 40 that the order read module 46 that performs an action obtains.Action command detection module 48 is arranged on body 41, for detecting the implementation of the action command of multi-rotor aerocraft 40, and at the end of implementation, multi-rotor aerocraft 40 is switched to default flight attitude.Reminding module 49 is arranged on body 41, for the setting-up time before implementation terminates, carries out implementation and terminates prompting, so that user inputs flight directive.
When the multi-rotor aerocraft 40 of this preferred embodiment uses, first action command read module 46 receives the quick instruction of user's input, as user sends quick instruction by the shortcut key 45 on the remote controller 42 of multi-rotor aerocraft 40.The action command of multi-rotor aerocraft 40 that prestores according to this quick instruction fetch action command data bank 44 of action command read module 46 subsequently.This action command comprises flight directive and flight directive trigger interval.Flight directive comprises perpendicular movement instruction, luffing instruction, flip-flop movement instruction, yawing rotation instruction, seesaw instruction and sideway movement instruction etc.Flight directive trigger interval refers to the activation lasts time of flight directive and the trigger interval time etc. of adjacent flight directive.
Action command execution module 47 is according to the flight attitude of multi-rotor aerocraft 40 subsequently, the action command of the multi-rotor aerocraft that the order read module 46 that performs an action obtains.Here flight attitude refers to the state of flight of multi-rotor aerocraft 40 before the action command performing the multi-rotor aerocraft 40 preset and flying speed etc., as floating state, and level flight condition, lift mode and high-speed flight state etc.Specifically comprise:
Whether the flight attitude that action command execution module 47 detects multi-rotor aerocraft 40 meets executive condition corresponding to the action command of multi-rotor aerocraft 40; Here executive condition refers to that multi-rotor aerocraft 40 performs the prerequisite flight attitude of certain action command; As multi-rotor aerocraft 40 needed a dropping action time, and the direct dropping action that performs of the multi-rotor aerocraft 40 being in high-speed flight state may make multi-rotor aerocraft 40 directly fall, therefore each action command is provided with corresponding executive condition here.
Flight attitude as multi-rotor aerocraft 40 meets executive condition, then the order that performs an action that multi-rotor aerocraft 40 can be safe, therefore action command execution module 47 order multi-rotor aerocraft 40 performs the action command of multi-rotor aerocraft 40.State of flight as multi-rotor aerocraft 40 does not meet executive condition, then in order to ensure the stabilized flight of multi-rotor aerocraft 40, action command execution module 47 order multi-rotor aerocraft 40 switches to default flight attitude, as hovering posture etc.Certainly default flight attitude can be set to the executive condition that most of action commands of multi-rotor aerocraft 40 are corresponding here, after such multi-rotor aerocraft 40 switches to default flight attitude, action command execution module 47 order multi-rotor aerocraft 40 performs the action command of multi-rotor aerocraft 40.
Then action command detection module 48 detects the implementation of the action command of multi-rotor aerocraft 40, and at the end of implementation, the flight attitude of multi-rotor aerocraft 40 is switched to default flight attitude, as hovering posture etc.
As multi-rotor aerocraft 40 in the process of implementation, when receiving the flight directive that user sent by remote controller 42, then action command detection module 48 directly terminates the implementation of the action command of multi-rotor aerocraft 40, performs the flight directive just received.
Preferably, the setting-up time before the implementation of multi-rotor aerocraft 40 terminates, as 3 seconds or 5 seconds etc., implementation of can carrying out reminding module 49 terminates prompting, as acousto-optic hint etc., so that user inputs flight directive in time, carry out the subsequent operation after the implementation of action command.
So namely, complete the control process of the multi-rotor aerocraft 40 of this preferred embodiment.
The multi-rotor aerocraft of this preferred embodiment performs the action command preset in multi-rotor aerocraft by quick instruction, make the simple operation of multi-rotor aerocraft.
Please refer to Fig. 5, Fig. 5 is the structural representation of the second preferred embodiment of multi-rotor aerocraft of the present invention.The multi-rotor aerocraft 50 of this preferred embodiment also comprises record button 53, end key 54, record mould 55 pieces and memory module 56 on the basis of the first preferred embodiment.Record button 53 is arranged on remote controller 52, for sending recording start command; End key 54 is also arranged on remote controller 52, for sending end of record instruction; Logging modle 55 is arranged on body 51 or remote controller 52, for receiving record sign on, and according to recording start command, and the action command of record multi-rotor aerocraft 50; Memory module 56 is also arranged on body 51 or remote controller 52, for receiving record END instruction, and according to end of record instruction, carries out storage operation to the action command of multi-rotor aerocraft 50.
When the multi-rotor aerocraft 50 of this preferred embodiment uses, first logging modle 55 receives the recording start command that user sends, and this recording start command sends by the record button 53 be arranged on remote controller 52.Logging modle 55 starts according to this recording start command the action command recording multi-rotor aerocraft 50 subsequently.
Memory module 56 receives the end of record instruction that user sends subsequently, this end of record instruction also sends by the end key 54 be arranged on remote controller 52, this end key 54 can be same button with record button 53, as when multi-rotor aerocraft 50 is in action command recording status, this button sends end of record instruction; When multi-rotor aerocraft 50 is not in action command recording status, then this button sends recording start command.
Then memory module 56 carries out storage operation according to the action command of this end of record instruction to the multi-rotor aerocraft 50 recorded.
Description subsequently in the principle of work of multi-rotor aerocraft 50 and the first preferred embodiment of multi-rotor aerocraft 40 is same or similar, specifically refers to the associated description in the first preferred embodiment of above-mentioned multi-rotor aerocraft 40.
So namely, complete the control process of the multi-rotor aerocraft 50 of this preferred embodiment.
Preferably, the multi-rotor aerocraft 50 of this preferred embodiment also comprises the IO interface 57 be arranged on remote controller 52 or body 51, and this IO interface 57 can input or output the action command of multi-rotor aerocraft 50 to action command data bank 44.The action command of the multi-rotor aerocraft 50 of output can be shared with other users by such user, or the action command of the multi-rotor aerocraft 50 directly using other users to set.This IO interface 57 can be wireline interface or the wave points such as USB interface, network card interface, Wifi interface, infrared interface or bluetooth.
The multi-rotor aerocraft of this preferred embodiment is on the basis of the first preferred embodiment, achieved the record of the flight directive of user's input by recording start command and end of record instruction, make simple operation and the variation of multi-rotor aerocraft further.
By by a specific embodiment, the control method of multi-rotor aerocraft of the present invention and the principle of work of multi-rotor aerocraft are described below.Please refer to Fig. 6, Fig. 6 is the diagram of circuit of the specific embodiment of the control method of multi-rotor aerocraft of the present invention and the record-setting flight instruction of multi-rotor aerocraft.This specific embodiment comprises:
Step S601, sends recording start command, the action command of multi-rotor aerocraft record multi-rotor aerocraft by record button; Here in recording process, multi-rotor aerocraft by acousto-optic hint just in operation of recording order; Forward step S602 to subsequently.
Step S602, sends end of record instruction by end key, and multi-rotor aerocraft stops the action command of record multi-rotor aerocraft; Stop acousto-optic hint simultaneously; Forward step S603 to subsequently.
Step S603, whether user selects to store this action command, as storage action order then forwards step S604 to; If storage action order does not then forward step S605 to.
Step S604, carries out storage operation to the action command of the multi-rotor aerocraft of step S602 record.
The action command of the multi-rotor aerocraft of step S605, delete step S602 record.
So namely, complete the control process of the multi-rotor aerocraft of this specific embodiment.
Please refer to Fig. 7, Fig. 7 is the control method of multi-rotor aerocraft of the present invention and the diagram of circuit being carried out the specific embodiment of flight operation by quick instruction of multi-rotor aerocraft.This specific embodiment comprises:
Step S701, sends quick instruction by shortcut key;
Step S702, multi-rotor aerocraft reads the action command of multi-rotor aerocraft corresponding to quick instruction, and performs this action command;
Step S703, judges whether the implementation of this action command terminates, and as this implementation does not terminate, then forwards step S704 to, as implementation terminates, then forwards step S706 to; In this step, as judged, implementation closes to an end, and multi-rotor aerocraft can carry out acousto-optic hint user, so that user inputs flight directive, carries out the subsequent operation after the implementation of action command.
Step S704, judges whether to receive flight directive, as received flight directive, then forwards step S705 to; As do not received flight directive, then forward step S703 to;
Step S705, carries out flight operation by the flight directive received;
Step S706, switches to default flight attitude, as floating state etc.
So namely, complete the control process of the multi-rotor aerocraft of this specific embodiment.
The control method of multi-rotor aerocraft of the present invention and multi-rotor aerocraft perform the action command preset in multi-rotor aerocraft by quick instruction, make the simple operation of multi-rotor aerocraft; Solve the technical matters of the control method of existing multi-rotor aerocraft and the complicated operation of multi-rotor aerocraft.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.The above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.Above-mentioned each device or system, can perform the method in correlation method embodiment.
In sum; although the present invention discloses as above with preferred embodiment; but above preferred embodiment is also not used to limit the present invention; those of ordinary skill in the art; without departing from the spirit and scope of the present invention; all can do various change and retouching, the scope that therefore protection scope of the present invention defines with claim is as the criterion.
Claims (10)
1. a control method for multi-rotor aerocraft, is characterized in that, comprising:
Receive quick instruction, and according to the action command of the corresponding described multi-rotor aerocraft of described quick instruction fetch; Wherein said action command comprises flight directive and flight directive trigger interval;
According to the flight attitude of described multi-rotor aerocraft, perform the action command of described multi-rotor aerocraft;
Detect the implementation of the action command of described multi-rotor aerocraft; And
At the end of described implementation, described multi-rotor aerocraft is switched to default flight attitude.
2. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, described control method also comprises step:
Receiving record sign on, and according to described recording start command, record the action command of described multi-rotor aerocraft; And
Receiving record END instruction, and according to described end of record instruction, storage operation is carried out to the action command of described multi-rotor aerocraft.
3. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, the described flight attitude according to described multi-rotor aerocraft, and the step performing the action command of described multi-rotor aerocraft comprises:
Whether the flight attitude detecting described multi-rotor aerocraft meets executive condition corresponding to the action command of described multi-rotor aerocraft;
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then perform the action command of described multi-rotor aerocraft; And
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then described multi-rotor aerocraft is switched to default flight attitude.
4. the control method of multi-rotor aerocraft according to claim 3, it is characterized in that, as as described in multi-rotor aerocraft flight attitude meet as described in executive condition, after then described multi-rotor aerocraft being switched to default flight attitude, re-execute the action command of described multi-rotor aerocraft.
5. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, described control method also comprises:
As described in implementation, receive flight directive, then terminate the implementation of the action command of described multi-rotor aerocraft, and perform described flight directive.
6. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, described control method also comprises:
Setting-up time before described implementation terminates, carries out implementation and terminates prompting.
7. a multi-rotor aerocraft, is characterized in that, comprising:
Body;
Multiple rotor, is arranged on described body;
Remote controller, for carrying out Remote to described body and described rotor;
Action command data bank, for storing the action command of described multi-rotor aerocraft;
At least one shortcut key, for sending quick instruction;
Action command read module, for receiving described quick instruction, and reads the action command of corresponding described multi-rotor aerocraft from described action command data bank according to described quick instruction;
Action command execution module, for the flight attitude according to described multi-rotor aerocraft, performs the action command of described multi-rotor aerocraft; And
Action command detection module, for detecting the implementation of the action command of described multi-rotor aerocraft; And at the end of described implementation, described multi-rotor aerocraft is switched to default flight attitude.
8. multi-rotor aerocraft according to claim 7, is characterized in that, described multi-rotor aerocraft also comprises:
Record button, for sending recording start command;
End key, for sending end of record instruction;
Logging modle, for receiving described recording start command, and according to described recording start command, records the action command of described multi-rotor aerocraft; And
Memory module, for receiving described end of record instruction, and according to described end of record instruction, carries out storage operation to the action command of described multi-rotor aerocraft.
9. multi-rotor aerocraft according to claim 7, is characterized in that, described action command execution module, specifically for:
Whether the flight attitude detecting described multi-rotor aerocraft meets executive condition corresponding to the action command of described multi-rotor aerocraft;
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then perform the action command of described multi-rotor aerocraft; And
As described in multi-rotor aerocraft flight attitude meet as described in executive condition, then described multi-rotor aerocraft is switched to default flight attitude.
10. multi-rotor aerocraft according to claim 7, is characterized in that, described multi-rotor aerocraft also comprises:
IO interface, for inputing or outputing the action command of described multi-rotor aerocraft to described action command data bank.
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