CN104890861B - The control method and multi-rotor aerocraft of multi-rotor aerocraft - Google Patents
The control method and multi-rotor aerocraft of multi-rotor aerocraft Download PDFInfo
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- CN104890861B CN104890861B CN201510225574.3A CN201510225574A CN104890861B CN 104890861 B CN104890861 B CN 104890861B CN 201510225574 A CN201510225574 A CN 201510225574A CN 104890861 B CN104890861 B CN 104890861B
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Abstract
The present invention provides a kind of control method of multi-rotor aerocraft, and the control method includes receiving quick instruction, and the action command of the corresponding multi-rotor aerocraft is read according to the quick instruction；According to the flight attitude of the multi-rotor aerocraft, the action command of the multi-rotor aerocraft is performed；Detect the implementation procedure of the action command of the multi-rotor aerocraft；And at the end of the implementation procedure, the multi-rotor aerocraft is switched into default flight attitude.The present invention also provides a kind of multi-rotor aerocraft.The control method and multi-rotor aerocraft of multi-rotor aerocraft of the invention are by default action command in quick instruction execution multi-rotor aerocraft so that the simple operation of multi-rotor aerocraft.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, the control method and many rotors of more particularly to a kind of multi-rotor aerocraft
Aircraft.
Background technology
Multi-rotor aerocraft can be used to complete various aerial missions, and such as Aerial photography, article delivery, flight effect is presented
Deng.By veteran winged hand control, multi-rotor aerocraft can to a certain extent realize above-mentioned functions, especially in boat
Bat field, has obtained being widely recognized as user.As multi-rotor aerocraft enters consumption market, many general publics also begin to make
Some amusement functions are realized with multi-rotor aerocraft, the new trend of multi-rotor aerocraft industry development is formd.
When multi-rotor aerocraft carries out consumption market after, diminution and endurance with multi-rotor aerocraft volume
Lifting, increasing people starts to like the operation of multi-rotor aerocraft as one kind, so that it can be appreciated that the enjoyment of uniqueness.
But the highly difficult operation of multi-rotor aerocraft can turn into the road blocking tiger of many users simultaneously, draw back with fear many again
User.Therefore how to make user by shirtsleeve operation, the complicated flight course of multi-rotor aerocraft is realized, as many rotors
An aircraft industry problem urgently to be resolved hurrily.
In order to improve the completeness of the complicated flight of multi-rotor aerocraft, many rotors of Application No. 201410164108.4
The flight control method and system of aircraft disclose a kind of output power to rotor mechanism and carry out detection adjustment, many to ensure
The multi-rotor aerocraft of the stabilized flight of rotor craft, but the operation part wherein not to multi-rotor aerocraft carries out letter
The improvement of listization.
Control method and control device of many rotary wing changings of Application No. 201410201627.3 away from aircraft are disclosed simultaneously
A kind of pitch to rotor changes, to ensure the multi-rotor aerocraft of the stabilized flight of multi-rotor aerocraft, wherein also not right
The improvement that the operation part of multi-rotor aerocraft is simplified.
Therefore, it is necessary to the control method and multi-rotor aerocraft of a kind of multi-rotor aerocraft are provided, to solve prior art
The problems of.
The content of the invention
Embodiment of the present invention offer is a kind of can be to the control of the multi-rotor aerocraft of the simple operation of multi-rotor aerocraft
Method and multi-rotor aerocraft；Solve the control method of existing multi-rotor aerocraft and the complex operation of multi-rotor aerocraft
Technical problem.
To solve the above problems, the technical scheme that the present invention is provided is as follows：
The embodiment of the present invention provides a kind of control method of multi-rotor aerocraft, and it includes：
Quick instruction is received, and the action command of the corresponding multi-rotor aerocraft is read according to the quick instruction；
Wherein described action command includes flight directive and flight directive trigger interval；
According to the flight attitude of the multi-rotor aerocraft, the action command of the multi-rotor aerocraft is performed；
Detect the implementation procedure of the action command of the multi-rotor aerocraft；And
At the end of the implementation procedure, the multi-rotor aerocraft is switched into default flight attitude.
In the control method of multi-rotor aerocraft of the present invention, the control method also includes step：
Receiving record sign on, and according to the recording start command, record the action life of the multi-rotor aerocraft
Order；And
Receiving record END instruction, and instructed according to the record end, to the action command of the multi-rotor aerocraft
Carry out storage operation.
In the control method of multi-rotor aerocraft of the present invention, the flight according to the multi-rotor aerocraft
The step of posture, action command for performing the multi-rotor aerocraft, includes：
Detect whether the flight attitude of the multi-rotor aerocraft meets the action command correspondence of the multi-rotor aerocraft
Execution condition；
The flight attitude of multi-rotor aerocraft meets the execution condition as described, then perform the multi-rotor aerocraft
Action command；And
The flight attitude of multi-rotor aerocraft is unsatisfactory for the execution condition as described, then cut the multi-rotor aerocraft
Shift to default flight attitude.
In the control method of multi-rotor aerocraft of the present invention, the flight attitude of multi-rotor aerocraft is not as described
Meet the execution condition, then after the multi-rotor aerocraft being switched into default flight attitude, re-execute many rotations
The action command of rotor aircraft.
In the control method of multi-rotor aerocraft of the present invention, the control method also includes：
Such as in the implementation procedure, flight directive is received, then terminate the action command of the multi-rotor aerocraft
Implementation procedure, and perform the flight directive.
In the control method of multi-rotor aerocraft of the present invention, the control method also includes：
Setting time before the implementation procedure terminates, carries out implementation procedure and terminates prompting, so as to described in user input
Flight directive.
The embodiment of the present invention also provides a kind of multi-rotor aerocraft, and it includes：
Body；
Multiple rotors；
Action command database, the action command for storing the multi-rotor aerocraft；
At least one shortcut key, for sending quick instruction；
Action command read module, for receiving the quick instruction, and according to the quick instruction from the action life
Database is made to read the action command of the corresponding multi-rotor aerocraft；
Action command performing module, for the flight attitude according to the multi-rotor aerocraft, performs many rotors and flies
The action command of row device；And
Action command detection module, the implementation procedure of the action command for detecting the multi-rotor aerocraft；And work as institute
At the end of stating implementation procedure, the multi-rotor aerocraft is switched into default flight attitude.
In multi-rotor aerocraft of the present invention, the multi-rotor aerocraft also includes：
Record button, for sending recording start command；
End key, for sending record end instruction；
Logging modle, for receiving the recording start command, and according to the recording start command, records many rotations
The action command of rotor aircraft；And
Memory module, for receiving the record end instruction, and instructs, to many rotors according to the record end
The action command of aircraft carries out storage operation.
In multi-rotor aerocraft of the present invention, the action command performing module, specifically for：
Detect whether the flight attitude of the multi-rotor aerocraft meets the action command correspondence of the multi-rotor aerocraft
Execution condition；
The flight attitude of multi-rotor aerocraft meets the execution condition as described, then perform the multi-rotor aerocraft
Action command；And
The flight attitude of multi-rotor aerocraft is unsatisfactory for the execution condition as described, then cut the multi-rotor aerocraft
Shift to default flight attitude.
In multi-rotor aerocraft of the present invention, the multi-rotor aerocraft also includes：
Input/output interface, the action for the multi-rotor aerocraft to be input into or exported to the action command database
Order.
Compared to the control method and multi-rotor aerocraft of the multi-rotor aerocraft of prior art, many rotors of the invention fly
The control method and multi-rotor aerocraft of row device are by default action command in quick instruction execution multi-rotor aerocraft so that
The simple operation of multi-rotor aerocraft；Solve the control method of existing multi-rotor aerocraft and the behaviour of multi-rotor aerocraft
Make complicated technical problem.
Brief description of the drawings
Fig. 1 is the flow chart of the first preferred embodiment of the control method of multi-rotor aerocraft of the invention；
The flow of the step of Fig. 2 is the first preferred embodiment of the control method of multi-rotor aerocraft of the invention S102
Figure；
Fig. 3 is the flow chart of the second preferred embodiment of the control method of multi-rotor aerocraft of the invention；
Fig. 4 is the structural representation of the first preferred embodiment of multi-rotor aerocraft of the invention；
Fig. 5 is the structural representation of the second preferred embodiment of multi-rotor aerocraft of the invention；
Fig. 6 is the specific of the record-setting flight instruction of the control method and multi-rotor aerocraft of multi-rotor aerocraft of the invention
The flow chart of embodiment；
Fig. 7 is the control method of multi-rotor aerocraft of the invention and being flown by quick instruction for multi-rotor aerocraft
The flow chart of the specific embodiment of row operation.
Specific embodiment
Schema is refer to, wherein identical element numbers represent identical component, and principle of the invention is to implement one
Illustrated in appropriate computing environment.The following description is that, based on the illustrated specific embodiment of the invention, it should not be by
It is considered as the limitation present invention other specific embodiments not detailed herein.
The control method of multi-rotor aerocraft of the invention may be provided in existing multi-rotor aerocraft, so as to many rotations
The operational control that rotor aircraft is simplified, so as to lift experience satisfaction of the user to multi-rotor aerocraft, and improves many
The operating efficiency of rotor craft.
Fig. 1 is refer to, Fig. 1 is the flow of the first preferred embodiment of the control method of multi-rotor aerocraft of the invention
Figure.The control method of the multi-rotor aerocraft of this preferred embodiment includes：
Step S101, receives quick instruction, and the action command of corresponding multi-rotor aerocraft is read according to quick instruction；
Step S102, according to the flight attitude of multi-rotor aerocraft, performs the action command of multi-rotor aerocraft；
Step S103, detects the implementation procedure of the action command of multi-rotor aerocraft；At the end of implementation procedure, will revolve more
Rotor aircraft switches 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 input, and such as user can be flown by many rotors
Shortcut key on the remote control of row device sends quick instruction.Subsequent multi-rotor aerocraft reads what is prestored according to the quick instruction
The action command of multi-rotor aerocraft.The action command includes flight directive and flight directive trigger interval.Flight directive bag
Include vertical movement instruction, elevating movement instruction, flip-flop movement is instructed, yawing rotation is instructed, move forward and backward instruction and lateral fortune
Dynamic instruction etc..Between flight directive trigger interval refers to the triggering of triggering duration and adjacent flight directive of flight directive
Every time etc..Certainly quick instruction here can also be sent by other buttons clicked on remote control, as when click on two
Direction key, by certain button or double-click certain button etc. for a long time.Then pass to step S102.
In step s 102, multi-rotor aerocraft performs step S101 and obtains according to the flight attitude of multi-rotor aerocraft
Multi-rotor aerocraft action command.Here flight attitude refers to that multi-rotor aerocraft is performing default many rotor flyings
State of flight and flying speed before the action command of device etc., such as floating state, level flight condition, lift mode
And high-speed flight state etc..Certainly the action command of the flight attitude of multi-rotor aerocraft need not be such as limited, can be also set
Multi-rotor aerocraft can perform the action command of the execution multi-rotor aerocraft under any state of flight.
Fig. 2 is specifically refer to, Fig. 2 is the step of the first preferred embodiment of the control method of multi-rotor aerocraft of the invention
The flow chart of rapid S102.Step S102 includes：
Step S1021, detects whether the flight attitude of multi-rotor aerocraft meets the action command pair of multi-rotor aerocraft
The execution condition answered；Here execution condition refers to that multi-rotor aerocraft performs the prerequisite flight appearance of certain action command
Gesture；When needing to complete a dropping action such as multi-rotor aerocraft, and the multi-rotor aerocraft for being in high-speed flight state is direct
Perform dropping action and may be such that multi-rotor aerocraft directly falls, therefore each action command is provided with accordingly here
Execution condition.Flight attitude such as multi-rotor aerocraft goes to step S1022 if meeting execution condition；Such as multi-rotor aerocraft
Flight attitude is unsatisfactory for execution condition and then goes to step S1023.
The flight attitude of step S1022, such as multi-rotor aerocraft meets execution condition, then multi-rotor aerocraft can be safe
Execution action command, therefore multi-rotor aerocraft perform multi-rotor aerocraft action command.Then pass to step S103.
The state of flight of step S1023, such as multi-rotor aerocraft is unsatisfactory for execution condition, then in order to ensure many rotor flyings
The stabilized flight of device, multi-rotor aerocraft switches to default flight attitude, posture of such as hovering.Certainly here can will be default
Flight attitude is set to the corresponding execution condition of most of action commands of multi-rotor aerocraft, such multi-rotor aerocraft switching
After to default flight attitude, step S1021 can be also re-executed.Then pass to step S103.
In step s 103, the implementation procedure of the action command of detection multi-rotor aerocraft, and at the end of implementation procedure,
Flight attitude is switched to default flight attitude by multi-rotor aerocraft, posture of such as hovering.
Such as multi-rotor aerocraft in the process of implementation, when receiving the flight directive that user is sent by remote control, then directly
The implementation procedure of the action command of binding beam multi-rotor aerocraft, performs the flight directive that rigid connection is received.
Preferably, the setting time before the implementation procedure of multi-rotor aerocraft terminates, such as 3 seconds or 5 seconds, many rotors flew
The implementation procedure that row device can carry out terminates to point out, such as acousto-optic hint, so that user is input into flight directive in time, carries out action command
Implementation procedure after subsequent operation.
So 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 by pre- in quick instruction execution multi-rotor aerocraft
If action command so that the simple operation of multi-rotor aerocraft.
Fig. 3 is refer to, Fig. 3 is the flow of the second preferred embodiment of the control method of multi-rotor aerocraft of the invention
Figure.The control method of the multi-rotor aerocraft of this preferred embodiment includes：
Step S301, receiving record sign on, and according to recording start command, record the action life of multi-rotor aerocraft
Order；
Step S302, receiving record END instruction, and instructed according to record end, to the action command of multi-rotor aerocraft
Carry out storage operation；
Step S303, receives quick instruction, and the action command of corresponding multi-rotor aerocraft is read according to quick instruction；
Step S304, according to the flight attitude of multi-rotor aerocraft, performs the action command of multi-rotor aerocraft；
Step S305, detects the implementation procedure of the action command of multi-rotor aerocraft；At the end of implementation procedure, will revolve more
Rotor aircraft switches 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 the recording start command can
Sent by the record button for setting on a remote control.Subsequent multi-rotor aerocraft is more according to the recording start command start recording
The action command of rotor craft.Then pass to step S302.
In step s 302, multi-rotor aerocraft receives the record end instruction that user sends, record end instruction
Can be sent by the end key for setting on a remote control, the end key can be same button with record button, ought such as revolve more
When rotor aircraft is in action command recording status, the button sends record end instruction；When multi-rotor aerocraft is not in moving
When making command record state, then the button sends recording start command.Or to the different operating of same button, then the button can be sent out
Recording start command or record end is sent to instruct, such as short by recording start command is sent, long pressing sends record end instruction etc..
Subsequent multi-rotor aerocraft instructs the action command of the multi-rotor aerocraft to having recorded to enter according to the record end
Row storage operation.Then pass to step S303.
In step S303 to step S305 and the first preferred embodiment of the control method of above-mentioned multi-rotor aerocraft
Description in step S101 to step S103 is same or similar, specifically refers to the of the control method of above-mentioned multi-rotor aerocraft
Associated description in one preferred embodiment.
So 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 on the basis of first preferred embodiment, by record
Sign on and record end instruction realize the record of the flight directive of user input, further such that multi-rotor aerocraft
Simple operation and variation.
The present invention also provides a kind of multi-rotor aerocraft, refer to Fig. 4, and Fig. 4 is the of multi-rotor aerocraft of the invention
The structural representation of one preferred embodiment.The multi-rotor aerocraft 40 of this preferred embodiment includes body 41, remote control 42, multiple
Rotor 43, action command database 44, at least one shortcut key 45, action command read module 46, action command perform mould
Block 47, action command detection module 48 and reminding module 49.Rotor 43 is arranged on body 41.Action command database 44 can
It is arranged on body 41 or on remote control 42, the action command for storing multi-rotor aerocraft 40.Shortcut key 45 can be set
On the remote control 42 of multi-rotor aerocraft 40, for sending quick instruction.Action command read module 46 is arranged on body 41
On upper or remote control 42, for receiving quick instruction, and read from action command database 44 according to quick instruction corresponding many
The action command of rotor craft 40.Action command performing module 47 is arranged on body 41, for according to multi-rotor aerocraft
40 flight attitude, performs the action command of the multi-rotor aerocraft 40 that action command read module 46 is obtained.Action command is examined
Survey module 48 to be arranged on body 41, the implementation procedure of the action command for detecting multi-rotor aerocraft 40, and ought perform
At the end of journey, multi-rotor aerocraft 40 is switched into default flight attitude.Reminding module 49 is arranged on body 41, for
Implementation procedure terminate before setting time, carry out implementation procedure terminate prompting, so as to user input flight directive.
When the multi-rotor aerocraft 40 of this preferred embodiment is used, action command read module 46 receives user input first
Quick instruction, such as user sends quick instruction by the shortcut key 45 on the remote control 42 of multi-rotor aerocraft 40.Then
Action command read module 46 is according to the dynamic of the quick multi-rotor aerocraft 40 for instructing read action command database 44 to prestore
Order.The action command includes flight directive and flight directive trigger interval.Flight directive includes vertical movement instruction, bows
Face upward movement instruction, flip-flop movement are instructed, yawing rotation is instructed, move forward and backward instruction and lateral movement is instructed etc..Flight directive
Trigger interval refers to trigger interval time for triggering duration and adjacent flight directive of flight directive etc..
Subsequent action command performing module 47 performs action command and reads mould according to the flight attitude of multi-rotor aerocraft 40
The action command of the multi-rotor aerocraft that block 46 is obtained.Here flight attitude refers to multi-rotor aerocraft 40 default in execution
State of flight and flying speed before the action command of multi-rotor aerocraft 40 etc., such as floating state, level flight condition,
Lift mode and high-speed flight state etc..Specifically include：
Whether the flight attitude of the detection multi-rotor aerocraft 40 of action command performing module 47 meets multi-rotor aerocraft 40
The corresponding execution condition of action command；Here execution condition refer to multi-rotor aerocraft 40 perform certain action command it is necessary
The flight attitude for possessing；When needing to complete a dropping action such as multi-rotor aerocraft 40, and it is in many of high-speed flight state
Rotor craft 40 directly performs dropping action and may be such that multi-rotor aerocraft 40 directly falls, therefore each action here
Order is provided with corresponding execution condition.
Flight attitude such as multi-rotor aerocraft 40 meets execution condition, then the execution that multi-rotor aerocraft 40 can be safe
Action command, therefore 47 order multi-rotor aerocraft of action command performing module 40 performs the action life of multi-rotor aerocraft 40
Order.State of flight such as multi-rotor aerocraft 40 is unsatisfactory for execution condition, then fly to ensure the stabilization of multi-rotor aerocraft 40
OK, the order multi-rotor aerocraft 40 of action command performing module 47 switches to default flight attitude, posture of such as hovering.Certainly
Here the corresponding execution condition of most of action commands that default flight attitude can be set to multi-rotor aerocraft 40, so
After multi-rotor aerocraft 40 switches to default flight attitude, the order multi-rotor aerocraft 40 of action command performing module 47 is performed
The action command of multi-rotor aerocraft 40.
Then action command detection module 48 detects the implementation procedure of the action command of multi-rotor aerocraft 40, and is performing
At the end of process, the flight attitude of multi-rotor aerocraft 40 is switched into default flight attitude, posture of such as hovering.
Such as multi-rotor aerocraft 40 in the process of implementation, when receiving the flight directive that user is sent by remote control 42,
Then action command detection module 48 directly terminates the implementation procedure of the action command of multi-rotor aerocraft 40, performs what rigid connection was received
Flight directive.
Preferably, the setting time before the implementation procedure of multi-rotor aerocraft 40 terminates, such as 3 seconds or 5 seconds, points out mould
The implementation procedure that block 49 can carry out terminates to point out, such as acousto-optic hint, so that user is input into flight directive in time, carries out action command
Implementation procedure after subsequent operation.
So complete the control process of the multi-rotor aerocraft 40 of this preferred embodiment.
The multi-rotor aerocraft of this preferred embodiment is by default action life in quick instruction execution multi-rotor aerocraft
Order so that the simple operation of multi-rotor aerocraft.
Fig. 5 is refer to, Fig. 5 is the structural representation of the second preferred embodiment of multi-rotor aerocraft of the invention.This is excellent
Select the multi-rotor aerocraft 50 of embodiment also include on the basis of first preferred embodiment record button 53, end key 54,
Record 55 pieces of mould and memory module 56.Record button 53 is arranged on remote control 52, for sending recording start command；Terminate
Button 54 is also disposed on remote control 52, for sending record end instruction；Logging modle 55 is arranged on body 51 or remote control
On 52, for receiving record sign on, and according to recording start command, the action command of multi-rotor aerocraft 50 is recorded；Deposit
Storage module 56 is also disposed on body 51 or remote control 52, for receiving record END instruction, and is instructed according to record end, right
The action command of multi-rotor aerocraft 50 carries out storage operation.
When the multi-rotor aerocraft 50 of this preferred embodiment is used, the record that the reception of logging modle 55 user sends first is opened
Begin to instruct, the recording start command can be sent by the record button 53 being arranged on remote control 52.Subsequent logging modle 55
According to the action command of the recording start command start recording multi-rotor aerocraft 50.
Subsequent memory module 56 receives the record end instruction that user sends, and record end instruction also can be by being arranged on
End key 54 on remote control 52 sends, and the end key 54 can be same button with record button 53, such as when many rotors fly
When row device 50 is in action command recording status, the button sends record end instruction；When multi-rotor aerocraft 50 is not in moving
When making command record state, then the button sends recording start command.
Then memory module 56 instructs the action command of the multi-rotor aerocraft 50 to having recorded to enter according to the record end
Row storage operation.
Description in the subsequent operation principle of multi-rotor aerocraft 50 and the first preferred embodiment of multi-rotor aerocraft 40
It is same or similar, specifically refer to the associated description in the first preferred embodiment of above-mentioned multi-rotor aerocraft 40.
So 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 includes being arranged on defeated on remote control 52 or body 51
Enter output interface 57, the input/output interface 57 can be input into action command database 44 or export the dynamic of multi-rotor aerocraft 50
Order.So user can be shared the action command of the multi-rotor aerocraft 50 of output with other users, or directly be made
The action command of the multi-rotor aerocraft 50 set with other users.The input/output interface 57 can connect for USB interface, network interface card
Wireline interface or the wave point such as mouth, Wifi interfaces, infrared interface or bluetooth.
The multi-rotor aerocraft of this preferred embodiment on the basis of first preferred embodiment, by recording start command with
And record end instruction realizes the record of the flight directive of user input, further such that multi-rotor aerocraft is simple to operate
Change and variation.
The control method and many rotor flyings of multi-rotor aerocraft of the invention will be illustrated by a specific embodiment below
The operation principle of device.Fig. 6 is refer to, Fig. 6 is the control method of multi-rotor aerocraft of the invention and the note of multi-rotor aerocraft
Record the flow chart of the specific embodiment of flight directive.The specific embodiment includes：
Step S601, recording start command is sent by recording button, multi-rotor aerocraft record multi-rotor aerocraft
Action command；Here in recording process, multi-rotor aerocraft can be by acousto-optic hint just in operation of recording order；Then pass to
Step S602.
Step S602, sends record end and instructs by end key, many rotor flyings of multi-rotor aerocraft stop recording
The action command of device；Stop acousto-optic hint simultaneously；Then pass to step S603.
Whether step S603, user is selected to store the action command, and step S604 is gone to if storage action command；If not
Storage action command then goes to step S605.
Step S604, the action command to the multi-rotor aerocraft of step S602 records carries out storage operation.
The action command of the multi-rotor aerocraft of step S605, delete step S602 record.
So complete the control process of the multi-rotor aerocraft of this specific embodiment.
Refer to Fig. 7, Fig. 7 be multi-rotor aerocraft of the invention control method and multi-rotor aerocraft by quick
Instruction carries out the flow chart of the specific embodiment of flight operation.The specific embodiment includes：
Step S701, quick instruction is sent by shortcut key；
Step S702, multi-rotor aerocraft reads the action command for fast instructing corresponding multi-rotor aerocraft, and performs
The action command；
Step S703, judges whether the implementation procedure of the action command terminates, and such as implementation procedure does not terminate, then go to step
Rapid S704, such as implementation procedure terminates, then go to step S706；In this step, as judged that implementation procedure closes to an end, many rotors
Aircraft can carry out acousto-optic hint user, so as to user input flight directive, carry out follow-up after the implementation procedure of action command
Operation.
Step S704, judges whether to receive flight directive, such as receives flight directive, then go to step S705；As not
Flight directive is received, then goes to step S703；
Step S705, flight operation is carried out by the flight directive for receiving；
Step S706, switches to default flight attitude, such as floating state.
So complete the control process of the multi-rotor aerocraft of this specific embodiment.
The control method and multi-rotor aerocraft of multi-rotor aerocraft of the invention perform many rotors and fly by quick instruction
Default action command in row device so that the simple operation of multi-rotor aerocraft；Solve existing multi-rotor aerocraft
The technical problem of the complex operation of control method and multi-rotor aerocraft.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, or unit list
Solely it is physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated module can both be used
The form of hardware is realized, it would however also be possible to employ the form of software function module is realized.If the integrated module is with software function
The form of module is realized and as independent production marketing or when using, it is also possible to which storage is situated between in an embodied on computer readable storage
In matter.Storage medium mentioned above can be read-only storage, disk or CD etc..Above-mentioned each device or system, can be with
Perform the method in correlation method embodiment.
In sum, although the present invention it is disclosed above with preferred embodiment, but above preferred embodiment and be not used to limit
The system present invention, one of ordinary skill in the art without departing from the spirit and scope of the present invention, can make various changes and profit
Adorn, therefore protection scope of the present invention is defined by the scope that claim is defined.
Claims (10)
1. a kind of control method of multi-rotor aerocraft, it is characterised in that including：
Quick instruction is received, and the action command of the corresponding multi-rotor aerocraft is read according to the quick instruction；Wherein
The action command includes flight directive and flight directive trigger interval；
According to the flight attitude of the multi-rotor aerocraft, the action command of the multi-rotor aerocraft is performed；
Detect the implementation procedure of the action command of the multi-rotor aerocraft；And
At the end of the implementation procedure, the multi-rotor aerocraft is switched into default flight attitude.
2. the control method of multi-rotor aerocraft according to claim 1, it is characterised in that the control method also includes
Step：
Receiving record sign on, and according to the recording start command, record the action command of the multi-rotor aerocraft；With
And
Receiving record END instruction, and instructed according to the record end, the action command to the multi-rotor aerocraft is carried out
Storage operation.
3. the control method of multi-rotor aerocraft according to claim 1, it is characterised in that described according to many rotors
The step of flight attitude of aircraft, action command for performing the multi-rotor aerocraft, includes：
Detect whether the flight attitude of the multi-rotor aerocraft meets the action command of the multi-rotor aerocraft and corresponding hold
Row condition；
The flight attitude of multi-rotor aerocraft meets the execution condition as described, then perform the action of the multi-rotor aerocraft
Order；And
The flight attitude of multi-rotor aerocraft is unsatisfactory for the execution condition as described, then switch to the multi-rotor aerocraft
Default flight attitude.
4. the control method of multi-rotor aerocraft according to claim 3, it is characterised in that multi-rotor aerocraft as described
Flight attitude be unsatisfactory for the execution condition, then after the multi-rotor aerocraft being switched into default flight attitude, again
Perform the action command of the multi-rotor aerocraft.
5. the control method of multi-rotor aerocraft according to claim 1, it is characterised in that the control method is also wrapped
Include：
Such as in the implementation procedure, the flight directive that user is sent by remote control is received, then terminate many rotors and fly
The implementation procedure of the action command of row device, and perform the flight directive that the user is sent by remote control.
6. the control method of multi-rotor aerocraft according to claim 1, it is characterised in that the control method is also wrapped
Include：
Setting time before the implementation procedure terminates, carries out implementation procedure and terminates prompting.
7. a kind of multi-rotor aerocraft, it is characterised in that including：
Body；
Multiple rotors, are arranged on the body；
Remote control, for carrying out Remote to the body and the rotor；
Action command database, the action command for storing the multi-rotor aerocraft；
At least one shortcut key, for sending quick instruction；
Action command read module, for receiving the quick instruction, and according to the quick instruction from the action command number
The action command of the corresponding multi-rotor aerocraft is read according to storehouse；
Action command performing module, for the flight attitude according to the multi-rotor aerocraft, performs the multi-rotor aerocraft
Action command；And
Action command detection module, the implementation procedure of the action command for detecting the multi-rotor aerocraft；And held when described
At the end of row process, the multi-rotor aerocraft is switched into default flight attitude.
8. multi-rotor aerocraft according to claim 7, it is characterised in that the multi-rotor aerocraft also includes：
Record button, for sending recording start command；
End key, for sending record end instruction；
Logging modle, for receiving the recording start command, and according to the recording start command, records many rotors and flies
The action command of row device；And
Memory module, for receiving the record end instruction, and instructs, to many rotor flyings according to the record end
The action command of device carries out storage operation.
9. multi-rotor aerocraft according to claim 7, it is characterised in that the action command performing module, it is specific to use
In：
Detect whether the flight attitude of the multi-rotor aerocraft meets the action command of the multi-rotor aerocraft and corresponding hold
Row condition；
The flight attitude of multi-rotor aerocraft meets the execution condition as described, then perform the action of the multi-rotor aerocraft
Order；And
The flight attitude of multi-rotor aerocraft is unsatisfactory for the execution condition as described, then switch to the multi-rotor aerocraft
Default flight attitude.
10. multi-rotor aerocraft according to claim 7, it is characterised in that the multi-rotor aerocraft also includes：
Input/output interface, the action for being input into the action command database or export the multi-rotor aerocraft is ordered
Order.
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| CN105185083A (en) * | 2015-09-21 | 2015-12-23 | 深圳飞豹航天航空科技有限公司 | Intelligent device and system capable of controlling mobile device to follow |
| CN105676866A (en) * | 2016-04-20 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | Unmanned aerial vehicle flight control method and device |
| CN109324605A (en) * | 2018-11-19 | 2019-02-12 | 广州极飞科技有限公司 | A kind of flying vehicles control method, apparatus, equipment and storage medium |
| CN112702713B (en) * | 2020-12-25 | 2021-11-16 | 北京航空航天大学 | Low-altitude unmanned-machine communication deployment method under multi-constraint condition |
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