CN104932526B - Control method of flight equipment and flight equipment - Google Patents
Control method of flight equipment and flight equipment Download PDFInfo
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- CN104932526B CN104932526B CN201510288273.5A CN201510288273A CN104932526B CN 104932526 B CN104932526 B CN 104932526B CN 201510288273 A CN201510288273 A CN 201510288273A CN 104932526 B CN104932526 B CN 104932526B
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Abstract
The embodiment of the invention discloses a control method of flight equipment and the flight equipment, wherein the method comprises the following steps: the flight equipment receives a route instruction sent by a control end and flies according to a preset route corresponding to the route instruction; when a switching instruction sent by a control end is received, acquiring a new air route according to the switching instruction; the flight equipment is switched from the preset air route to the new air route; the flight equipment flies according to the new flight path, so that the purpose of temporarily changing the flight path during the flying of the flight equipment is realized, accidents possibly caused to the flight equipment when the outside environment suddenly changes during the flying can be avoided, the current task can be interrupted, a new task is executed, and the controllability, the safety and the flexibility of the flying are effectively improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle flight, in particular to a control method of flight equipment and the flight equipment.
Background
Small unmanned aerial vehicles have been widely used in various fields, which can fly autonomously according to a predetermined route or be manually controlled by a manual remote control device provided at a ground station; for example, in monitoring, a target course of action is monitored; or in the aspect of optical framing, various different types of cameras are used for shooting in daytime and at night, and the shooting can be transmitted to a ground monitoring system through a wireless link for displaying and recording; or when the system is used for military, the small unmanned aerial vehicle is used for starting attack, striking actions can be carried out on a ground fixed target when the ground target is determined, and wireless electronic equipment of an enemy can be interfered; in agriculture, the pesticide spraying device can be used for spraying pesticides on large-area farms; the device can be used for meteorological monitoring, and atmospheric monitoring activities are carried out at high altitude by using a meteorological sensor; can also be used for searching and rescuing activities, and can perform the activities of searching and rescuing people in the disaster area.
However, the existing scheme can not realize pre-judgment according to the performance of the unmanned aerial vehicle, the geographic environment of the fly-through, the threat environment and other factors, so that the unmanned aerial vehicle has accidents such as collision with obstacles in the operation process.
Disclosure of Invention
The invention provides a control method of flight equipment and the flight equipment, which can solve the problem that the flight line of the flight equipment cannot be flexibly changed midway during flying in the prior art.
The invention provides a control method of flight equipment in a first aspect, which is characterized by comprising the following steps:
the flight equipment receives a route instruction sent by a control end and flies according to a preset route corresponding to the route instruction;
when a switching instruction sent by a control end is received, acquiring a new air route according to the switching instruction;
the flight equipment is switched from the preset air route to the new air route;
and the flying equipment flies according to the new flight route.
With reference to the first aspect, in a first implementation manner of the first aspect of the present invention, the flying apparatus is in a cruise mode, and after the flying apparatus flies according to the new airline, the flying apparatus further includes:
and after finishing the flight according to the new flight path, the flight equipment is switched back to the preset flight path.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect of the present invention, in a process that the flight device flies according to a preset route, the method further includes:
after the flight equipment detects that an obstacle exists, acquiring relevant data of the obstacle;
and the flight equipment reports a message containing the relevant data of the obstacle.
With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect of the present invention, after receiving a switching instruction sent by a control end, the flying device obtains a new flight path according to the switching instruction, where the obtaining includes one of the following conditions:
after the flight equipment receives the switching instruction, planning the new flight path according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
With reference to the second to third implementation manners of the first aspect, in a fourth implementation manner of the first aspect of the present invention, the obstacle is an object whose relative distance to a preset route is less than or equal to a safe distance of the flying apparatus when the flying apparatus flies according to the preset route.
With reference to the first implementation manner of the first aspect, in a fifth implementation manner of the first aspect of the present invention, the flying device is in a cruise mode, and after receiving a switching instruction sent by a control end, the flying device acquires a new airline according to the switching instruction, where the method includes one of the following cases:
after the flight equipment receives the switching instruction, planning the new air route according to the switching instruction;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
With reference to the first aspect, in a sixth implementation manner of the first aspect of the present invention, the flying device is in a cruise mode, and after receiving a switching instruction sent by a control end, the flying device further includes a switching unit before switching from the preset airline to the new airline;
and the flying equipment exits the cruising mode, stops flying according to the preset air route and flies according to the new air route.
With reference to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect of the present invention, after receiving the switching instruction sent by the control end, the flying device obtains the new flight route according to the switching instruction, where the obtaining includes one of the following cases:
after receiving the switching instruction, the flying equipment plans the new flight path according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flying equipment to plan the new flight path at least enabling the flying equipment to reach the destination at the fastest speed;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
With reference to the first aspect, the first to third implementation manners of the first aspect, and the fifth to seventh implementation manners of the first aspect, in an eighth implementation manner of the first aspect of the present invention, the preset route at least includes one of a regular shape and an irregular shape, and the preset route is planned according to at least 2 reference points.
With reference to the first aspect, the first to third implementation manners of the first aspect, and the fifth to seventh implementation manners of the first aspect, in a ninth implementation manner of the first aspect of the present invention, the method further includes:
the flight equipment selects a starting point, and flies to a first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first air route flying from the starting point to the first reference point;
the flying equipment flies to a second reference point after receiving a second instruction sent by the control end from the first reference point, wherein the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and the flight equipment plans the preset air route according to the first reference point and the second reference point.
With reference to the first aspect, the first to third implementation manners of the first aspect, and the fifth to seventh implementation manners of the first aspect, in a tenth implementation manner of the first aspect of the present invention, the preset airline includes a plurality of segmental airlines, and each of the segmental airlines includes at least one of an airline direction, a flight speed, and an airline distance.
With reference to the first aspect, the first to third implementation manners of the first aspect, and the fifth to seventh implementation manners of the first aspect, in an eleventh implementation manner of the first aspect of the present invention, the method further includes at least one of the following cases:
the flight equipment returns to the starting point after detecting that the power supply electric quantity of the flight equipment is lower than a preset threshold value;
and after detecting the self fault, the flight equipment turns around and returns to the starting point along the preset route.
A second aspect of the invention provides a method of controlling a flying apparatus, the method comprising:
acquiring a preset route;
if a switching instruction is received, acquiring a new air route according to the switching instruction;
and switching from the preset air route to the new air route.
With reference to the second aspect, in a first implementation manner of the second aspect of the present invention, before the step of obtaining a new route according to the switching instruction, the method includes:
detecting obstacles, acquiring related data of the obstacles, and reporting a message containing the related data of the obstacles.
With reference to the second aspect, in a second implementation manner of the second aspect of the present invention, the acquiring a new route according to the switching instruction specifically includes:
the switching instruction comprises new airline information, and the new airline information included in the switching instruction is obtained;
or, according to the switching instruction, the new air route is planned autonomously.
With reference to the second aspect, in a third implementation manner of the second aspect of the present invention, after the step of switching from the preset route to the new route, the method includes:
and after the new route is finished, switching back to the preset route.
With reference to the second aspect and the first to third implementation manners of the second aspect, in a fourth implementation manner of the second aspect of the present invention, in the cruise mode, the lane is switched according to the switching instruction.
With reference to the second aspect, in a fifth implementation manner of the second aspect of the present invention, before the step of obtaining the preset route, the method further includes:
and acquiring a first reference point and a second reference point, and planning the preset air route according to the first reference point and the second reference point.
With reference to the fifth implementation manner of the second aspect, in a sixth implementation manner of the second aspect of the present invention, the preset route includes a plurality of segmented routes.
With reference to the sixth implementation manner of the second aspect, in a seventh implementation manner of the second aspect of the present invention, the acquiring the preset route includes:
at least one or all of the segmented airways are acquired.
With reference to the second aspect, an eighth implementation manner of the second aspect of the present invention further includes:
and returning to the starting point when the information that the power supply electric quantity is lower than the preset threshold value or the fault information is acquired.
A third aspect of the invention provides a flying apparatus, characterized in that it comprises:
the power assembly is used for providing power output for the flight equipment;
the flight control system is used for acquiring a preset air route; if a switching instruction is received, acquiring a new air route according to the switching instruction; controlling the power assembly to switch the flying equipment from the preset course to the new course.
With reference to the third aspect, in a first implementation manner of the third aspect of the present invention, the flight device is in a cruise mode, and the flight control system is specifically configured to:
and after the flying equipment finishes flying according to the new flight path, controlling the power assembly to enable the flying equipment to be switched back to the preset flight path.
With reference to the first implementation manner of the third aspect, in a second implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
and after the obstacle is detected to exist, acquiring relevant data of the obstacle, and reporting a message containing the relevant data of the obstacle.
With reference to the second implementation manner of the third aspect, in a third implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
after the switching instruction is received, planning the new air route according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle;
or after receiving the switching instruction, extracting the new flight line from the switching instruction.
With reference to the second to third implementation manners of the third aspect, in a fourth implementation manner of the third aspect of the present invention, the obstacle is an object whose relative distance to a preset route is less than or equal to a safe distance of the flying apparatus when the flying apparatus flies according to the preset route.
With reference to the first implementation manner of the third aspect, in a fifth implementation manner of the third aspect, the flight device is in a cruise mode, and the flight control system is specifically configured to:
after the switching instruction is received, planning the new air route according to the switching instruction;
and after receiving the switching instruction, extracting the new flight line from the switching instruction.
With reference to the third aspect, in a sixth implementation manner of the third aspect of the present invention, the flight device is in a cruise mode, and the flight control system is specifically configured to:
and before the preset air route is switched to the new air route, controlling the flying equipment to exit from the cruise mode, stopping flying according to the preset air route, and flying according to the new air route.
With reference to the sixth implementation manner of the third aspect, in a seventh implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
after the switching instruction is received, planning the new airline according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flight equipment to plan the new airline at least enabling the flight equipment to reach a destination at the fastest speed;
or after receiving the switching instruction, extracting the new flight line from the switching instruction.
With reference to the third aspect, the first to third implementation manners of the third aspect, and the fifth to seventh implementation manners of the third aspect, in an eighth implementation manner of the third aspect of the present invention, the preset route includes at least one of a regular shape and an irregular shape, and the preset route is planned according to at least 2 reference points.
With reference to the third aspect, the first to third implementation manners of the third aspect, and the fifth to seventh implementation manners of the third aspect, in a ninth implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
selecting a starting point, and controlling the flying equipment to fly to a first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first route flying from the starting point to the first reference point;
after the first reference point receives a second instruction sent by the control end, the flying equipment is controlled to fly to a second reference point, and the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and planning the preset air route according to the first reference point and the second reference point.
With reference to the third aspect, the first to third implementation manners of the third aspect, and the fifth to seventh implementation manners of the third aspect, in a tenth implementation manner of the third aspect of the present invention, the preset airline includes a plurality of segmental airlines, and each of the segmental airlines includes at least one of an airline direction, a flight speed, and an airline distance.
With reference to the third aspect, the first to third implementation manners of the third aspect, and the fifth to seventh implementation manners of the third aspect, in an eleventh implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
returning to the starting point after the power supply quantity of the self-body is detected to be lower than a preset threshold value;
or after the self fault is detected, controlling the flight equipment to turn around and return to the starting point along the preset route.
With reference to the third aspect, the first to third implementation manners of the third aspect, and the fifth to seventh implementation manners of the third aspect, in a twelfth implementation manner of the third aspect of the present invention, the flight control system is specifically configured to:
and when the command is not received, controlling the flight equipment to hover until a new command is received.
According to the technical scheme, after the flying equipment receives the switching instruction sent by the control end, the flying equipment acquires the new flight line according to the switching instruction, switches the flight line to the new flight line and continues flying, so that the purpose of temporarily changing the flight line during the flying of the flying equipment is achieved, accidents possibly caused to the flying equipment due to sudden changes of the external environment during the flying can be avoided, the current task can be interrupted, the new task is executed, and the controllability, the safety and the flexibility of the flying are effectively improved.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention applied to agriculture in this embodiment;
fig. 2 is a schematic diagram of an embodiment of a control method of a flight device in the present embodiment;
FIG. 2-1 is a schematic diagram of an embodiment of the selected point planning route in the present embodiment;
2-2 are diagrams of another embodiment of the selected point planning route in the embodiment;
FIG. 3 is a schematic diagram of an embodiment of a method for controlling a flight device in the present embodiment;
fig. 4 is a schematic structural diagram of a flight device in this embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprise," "include," and "have," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules expressly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, the division of modules herein shown is merely a logical division and may be implemented in a practical application in a different manner, such that multiple modules may be combined or integrated into another system or certain features may be omitted or not implemented, and such that mutual or direct coupling or communicative coupling between the modules shown or discussed may be through interfaces, and indirect coupling or communicative coupling between the modules may be electrical or other similar, are not intended to be limiting herein. Moreover, the modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may not be separated into multiple circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
The embodiment of the invention provides a method and a system for controlling flight equipment to fly, which are used in the field of unmanned aerial vehicles. The flying device related in the embodiment of the present invention may be a robot, an unmanned aerial vehicle, an automobile or other flying machines equipped with a visual imaging system, and the method set forth in the present invention is applicable to any object moving at a high speed, and is not limited in the specific text.
The method can be applied to flight equipment, such as medicine spraying operation, high-altitude parabolic operation, short-distance transportation, aerial view shooting, road condition shooting and the like for crops, and can also be applied to game application or flight simulation software and the like, and specific application scenes are not limited in the text.
As shown in fig. 1, when the unmanned aerial vehicle is applied to agricultural applications, an autonomous flight route planning can be designed without depending on the calculation of a notebook computer or other portable terminals, so that autonomous flight of the unmanned aerial vehicle is realized, and the unmanned aerial vehicle can mainly adopt three operation modes of full manual operation, full automatic operation and semi-automatic operation during flight, for example, pesticide can be sprayed in certain areas more.
By adopting the technical scheme of the invention, the unmanned aerial vehicle can autonomously hover when reaching a specified target point, and can be controlled to avoid and have power-off memory function when meeting an obstacle, and the mode can be called as a semi-automatic fixed-point operation mode. By adopting a semi-automatic fixed-point operation mode, the functions of manually pausing a local air route and avoiding obstacles in the operation process of the unmanned aerial vehicle, participating in providing tracks meeting requirements based on known target planning and the like can be realized, so that real-time local modification can be carried out as required in the actual flight. Under any condition, the semi-automatic fixed-point operation mode can be manually adjusted to participate in the course adjustment, the operation of the next target point can be selected through the execution instruction, the accidents that the unmanned aerial vehicle collides with obstacles and the like caused by incapability of real-time control or manual negligence and the like in the operation process can be effectively avoided, and the personal and property safety is protected to a great extent.
Referring to fig. 2, a detailed description is given of a control method of a flight device in an embodiment of the present invention from a flight device side, where the method includes:
101. the flight equipment receives a route instruction sent by a control end and flies according to a preset route corresponding to the route instruction;
102. when a switching instruction sent by a control end is received, the flight equipment acquires a new flight line according to the switching instruction;
103. the flight equipment is switched from the preset air route to the new air route;
104. and the flying equipment flies according to the new flight route.
In the embodiment of the invention, after the flying equipment receives the switching instruction sent by the control end, the flying equipment acquires the new flight line according to the switching instruction, switches the flight line to the new flight line and continues flying, thereby achieving the purpose of temporarily changing the flight line during the flying of the flying equipment, avoiding accidents possibly caused to the flying equipment due to sudden change of the external environment during the flying, also being capable of interrupting the current task and executing the new task, and effectively improving the controllability, the safety and the flexibility of the flying.
Optionally, on the basis of the embodiment corresponding to fig. 1, in a first optional embodiment of the present invention, the flying apparatus is in a cruise mode, and after the flying apparatus flies according to the new flight line, the flying apparatus further includes:
in this optional embodiment, there are mainly two cases that the flying apparatus will switch back to the preset route:
1. due to the surrounding environment influence (such as sudden increase of wind speed) of the flight, temporary route switching is needed to avoid yawing, or temporary tasks are newly added, for example, a picture in a direction which is not defined in advance is taken, the original preset route is returned after the shooting is finished, and the predefined tasks are continued;
2. when the aircraft encounters obstacles (such as air floats, other flight equipment, buildings and the like) during flight, temporary route switching is needed to avoid the obstacles so as to avoid collision accidents.
Optionally, on the basis of the first optional embodiment, in a second optional embodiment of the present invention, during a process that the flight device flies according to a preset route, the method further includes:
after detecting that an obstacle exists, the flight device acquires relevant data of the obstacle, where the relevant data includes all measurable data related to the obstacle, such as coordinate data, shape, size, distance from a preset route, and the like of the obstacle, and the data is not limited in the specific text;
the flight equipment reports a message containing the relevant data of the obstacle, wherein after the flight equipment acquires the relevant data, the flight equipment can analyze the relevant data and select relevant parameters from the relevant data to judge whether the obstacle interferes or destroys the flight of the flight equipment, and the specific judgment mechanism is not limited in the text. Of course, the flight device may also directly report the message to the control end, and the control end analyzes the relevant data and determines whether a switching instruction needs to be sent to the flight device, and the specific operation is not limited herein.
The obstacle may be an obstacle to the flight of the flight device in a physical space, or magnetic interference, electromagnetic interference, or the like to the flight device.
Optionally, on the basis of the second optional embodiment, in a third optional embodiment of the embodiments of the present invention, after receiving the switching instruction sent by the control end, the flight device acquires the new flight path according to the switching instruction, where the method includes one of the following cases:
after the flight equipment receives the switching instruction, planning the new flight path according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle, wherein the switching instruction is used for indicating the flight equipment to plan the new flight path which at least enables the flight equipment to safely avoid the obstacle point;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
Optionally, on the basis of the second to third optional embodiments, in a fourth optional embodiment of the present invention, the obstacle is an object whose relative distance to a preset route is less than or equal to a safe distance of the flying apparatus when the flying apparatus flies according to the preset route.
Optionally, on the basis of the embodiment corresponding to fig. 1, in a fifth optional embodiment of the present invention, the flight device is in the cruise mode, and after receiving the switching instruction sent by the control end, the flight device acquires the new route according to the switching instruction, where the method includes one of the following cases:
after receiving the switching instruction, the flight equipment plans the new flight path according to the switching instruction, wherein the switching instruction is used for indicating the flight equipment to plan the new flight path for temporarily changing the flight track;
specifically, after the flight device receives the switching instruction, the control system of the flight device plans a new route which can avoid the obstacle according to the data related to the obstacle obtained by the sensor, such as a visual sensor, an ultrasonic sensor and the like, or according to the data related to the obstacle given in the switching instruction.
And after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
Specifically, the switching instruction plans a new airline according to the reported relevant data of the obstacle, and transmits the planned information of the new airline, such as the direction of the airline, the starting point of the airline, the flying speed and the like, to the flying equipment, so that the flying equipment can directly extract the new airline from the switching instruction and switch to the new airline to continue flying.
Optionally, on the basis of the embodiment corresponding to fig. 1, in a sixth optional embodiment of the present invention, after receiving the switching instruction sent by the control end, the flying apparatus further includes a switching unit before switching from the preset route to the new route;
and the flying equipment exits the cruising mode, stops flying according to the preset air route and flies according to the new air route.
Optionally, on the basis of the sixth optional embodiment, in a seventh optional embodiment of the embodiments of the present invention, after receiving the switching instruction sent by the control end, the flight device acquires the new flight path according to the switching instruction, where the method includes one of the following cases:
after receiving the switching instruction, the flying equipment plans the new flight path according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flying equipment to plan the new flight path at least enabling the flying equipment to reach the destination at the fastest speed;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
Optionally, on the basis of the embodiment corresponding to fig. 1, the first to third optional embodiments, and the fifth to seventh optional embodiments, in an eighth optional embodiment of the present invention, the preset route at least includes one of a regular shape and an irregular shape, and the preset route is planned according to at least 2 reference points.
Optionally, on the basis of the embodiment corresponding to fig. 1, the first to third optional embodiments, and the fifth to seventh optional embodiments, in a ninth optional embodiment of the present invention, the method further includes:
the flight equipment selects a starting point, and flies to a first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first air route flying from the starting point to the first reference point;
the flying equipment flies to a second reference point after receiving a second instruction sent by the control end from the first reference point, wherein the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and the flight equipment plans the preset air route according to the first reference point and the second reference point.
It can be understood that the optional embodiment may be applied to a preset air route required to be planned for initial operation of flight equipment, or the new air route required to be planned when the air route is temporarily changed according to a switching instruction, or the new air route corresponding to a new task required to be planned again when the new task is required to be executed according to the switching instruction, and a specific application scenario is not limited herein.
In practical application, as shown in fig. 2-1, a reference point A, B, C may be selected, or A, B, C and four points D (as shown in fig. 2-2) may be selected, a course may be planned according to a trajectory shown in the drawing, and a specific shape of the course varies according to actual task needs or environmental factors, which are not limited herein, and similar contents are not repeated. It is understood that the reference points may be two, five, etc. in other numbers, and the number of reference points selected by a particular planned route is not limited.
Optionally, on the basis of the embodiment corresponding to fig. 1, the first to third optional embodiments, and the fifth to seventh optional embodiments, in a tenth optional embodiment of the present invention, the preset airline includes a plurality of segmental airlines, and each of the segmental airlines includes at least one of an airline direction, a flight speed, and an airline distance.
Optionally, on the basis of the embodiment corresponding to fig. 1, the first to third alternative embodiments, and the fifth to seventh alternative embodiments, in an eleventh alternative embodiment of the present invention, the method further includes at least one of the following cases:
the flight equipment returns to the starting point after detecting that the power supply electric quantity of the flight equipment is lower than a preset threshold value;
and after detecting the self fault, the flight equipment turns around and returns to the starting point along the preset route, wherein the fuselage fault at least comprises one of performance indexes of all parts as low as a preset range, loss of at least one functional part or maintenance requirement, and the method is not limited specifically.
The invention can be applied to scenes such as game software, flight simulation software or game machines, and particularly can also be used for embedding a module capable of realizing the technical scheme of the invention into equipment so as to realize the function of the invention. Referring to fig. 2, a method for controlling a flight device according to an embodiment of the present invention includes:
201. acquiring a preset route;
202. if a switching instruction is received, acquiring a new air route according to the switching instruction;
203. and switching from the preset air route to the new air route.
In the embodiment of the invention, the preset air route is obtained, the new air route is obtained according to the switching instruction after the switching instruction is received, and the new air route is switched from the preset air route to the new air route, so that temporary air route changing can be realized, and the controllability and the flexibility of flight are effectively improved.
Specifically, the switching instruction may be from a control end or from a flight control system of the aircraft itself. If the obstacle is sensed by the flying equipment or the simulated flying flag sensor in the flying process along the preset air route or in the simulated flying process, the obstacle is fed back to the flight control system, and the flight control system gives a switching instruction to switch the air route.
Optionally, on the basis of the embodiment corresponding to fig. 2, in a first optional embodiment of the present invention, before the step of obtaining a new lane according to the switching instruction, the method includes:
detecting obstacles, acquiring related data of the obstacles, and reporting a message containing the related data of the obstacles.
Optionally, on the basis of the embodiment corresponding to fig. 2, in a second optional embodiment of the present invention, the obtaining a new flight path according to the switching instruction specifically includes:
the switching instruction comprises new airline information, and the new airline information included in the switching instruction is obtained;
or, according to the switching instruction, the new air route is planned autonomously. Specifically, a flight control system of the flight equipment or the flight simulator automatically calculates and obtains an optimal obstacle avoidance new route according to a switching instruction.
Optionally, on the basis of the embodiment corresponding to fig. 2, in a third optional embodiment of the present invention, after the step of switching from the preset airline to the new airline, the method includes:
and after the new route is finished, switching back to the preset route.
Optionally, on the basis of the embodiment corresponding to fig. 2 and the first to third alternative embodiments, in a fourth alternative embodiment of the present invention, in the cruise mode, the routes are switched according to the switching command.
Optionally, on the basis of the embodiment corresponding to fig. 2, in a fifth optional embodiment of the present invention, before the step of obtaining the preset route, the method further includes:
and acquiring a first reference point and a second reference point, and planning the preset air route according to the first reference point and the second reference point. Namely planning a preset air route, and planning the air route according to the acquired reference point.
Optionally, on the basis of the fifth optional embodiment, in a sixth optional embodiment of the present invention, the preset air route includes a plurality of segmental air routes. Specifically, the distance and the direction of each section of the route are determined according to the determined multiple reference points, and scanning is carried out according to the rules of the segmented routes in all directions.
Optionally, on the basis of the sixth optional embodiment, in a seventh optional embodiment of the embodiments of the present invention, the acquiring a preset route includes:
at least one or all of the segmented airways are acquired. Specifically, the obtaining of the preset route may obtain a certain route or a specific number of routes in the multi-step scanned multiple routes. The change to the new route is made during the flight along said particular route section or during a certain section of the flight along the entire route.
Optionally, on the basis of the embodiment corresponding to fig. 2, an eighth optional embodiment of the present invention further includes:
and returning to the starting point when the information that the power supply electric quantity is lower than the preset threshold value or the fault information is acquired.
In the above description of the method for controlling the flight of the flight device and the method for controlling the flight device in the embodiment of the present invention, referring to fig. 4, a flight device in the embodiment of the present invention is illustrated below, where the flight device 1 includes:
the power assembly 11 is used for providing power output for the flight equipment;
the flight control system 12 is used for acquiring a preset air route; if a switching instruction is received, acquiring a new air route according to the switching instruction; controlling the power assembly 11 to switch the flying apparatus 1 from the preset course to the new course.
The new flight route acquired here may be a new flight route generated by the flight control system 12 itself according to the switching instruction, or a new flight route transmitted from a control terminal, such as a remote controller, according to the switching instruction.
In the embodiment of the invention, the preset air route is obtained through the flight control system 12, the new air route is obtained according to the switching instruction after the switching instruction is received, and the power assembly 11 is controlled to switch the flight equipment 1 from the preset air route to the new air route, so that the purpose of temporarily changing the air route in the midway of the flight equipment 1 can be realized, the accident possibly caused to the flight equipment when the external environment suddenly changes in the midway of the flight can be avoided, the current task can be interrupted, the new task can be executed, and the controllability, the safety and the flexibility of the flight are effectively improved.
Optionally, on the basis of the embodiment corresponding to fig. 4, in a first optional embodiment of the present invention, the flight device 1 is in the cruise mode, and the flight control system 12 is specifically configured to:
and after the flying equipment 1 finishes flying according to the new flight path, controlling the power assembly 11 to switch the flying equipment back to the preset flight path.
Optionally, on the basis of the first optional embodiment, in a second optional embodiment of the present invention, the flight control system 12 is specifically configured to:
and after the obstacle is detected to exist, acquiring relevant data of the obstacle, and reporting a message containing the relevant data of the obstacle. The obstacle may be an obstacle to the flight of the flight device in a physical space, or magnetic interference, electromagnetic interference, or the like to the flight device. It can be understood that the data related to reporting the obstacle may be reported to the flight control system itself for recording, or to a control end such as a remote controller or a ground remote control application.
Optionally, on the basis of the second optional embodiment, in a third optional embodiment of the present invention, the flight control system 12 is specifically configured to:
after the switching instruction is received, planning the new air route according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle;
specifically, the new flight route is planned by combining the switching instruction and relevant data of the obstacle, such as the size of the obstacle, the distance from the flight equipment 1, the relative position and the like.
Or after receiving the switching instruction, extracting the new flight line from the switching instruction.
Specifically, the switching instruction plans a new airline according to the reported relevant data of the obstacle, and transmits the planned information of the new airline, such as the direction of the airline, the starting point of the airline, the flying speed and the like, to the flight control system 12 of the flight device 1, and the flight control system 12 directly extracts the new airline from the switching instruction and controls the flight device 1 to switch to the new airline for flying.
Optionally, on the basis of the embodiment corresponding to fig. 4 and the second to third optional embodiments, in a fourth optional embodiment of the present invention, the obstacle is an object whose relative distance to the preset route is less than or equal to the safe distance of the flying apparatus 1 when the flying apparatus 1 flies according to the preset route.
Optionally, on the basis of the first optional embodiment, in a fifth optional embodiment of the present invention, the flight device is in the cruise mode, and the flight control system 12 is specifically configured to:
after the switching instruction is received, planning the new air route according to the switching instruction;
specifically, the flight control system 12 obtains the switching instructions and autonomously plans new routes.
And after receiving the switching instruction, extracting the new flight line from the switching instruction.
Specifically, flight control system 12 obtains the switching command and extracts the information of the new route provided therewith from the switching command.
Optionally, on the basis of the embodiment corresponding to fig. 4, in a sixth optional embodiment of the present invention, the flight device is in the cruise mode, and the flight control system 12 is specifically configured to:
and before the preset air route is switched to the new air route, controlling the flying equipment to exit from the cruise mode, stopping flying according to the preset air route, and flying according to the new air route.
Optionally, on the basis of the sixth optional embodiment, in a seventh optional embodiment of the present invention, the flight control system 12 is specifically configured to:
after receiving the switching instruction, planning the new flight path according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is further used for instructing the flying equipment 1 to plan the new flight path at least enabling the flying equipment to reach the destination at the fastest speed;
or after receiving the switching instruction, extracting the new flight line from the switching instruction.
Optionally, on the basis of the embodiment corresponding to fig. 4, the first to third optional embodiments, and the fifth to seventh optional embodiments, in an eighth optional embodiment of the present invention, the preset route at least includes one of a regular shape and an irregular shape, and the preset route is planned according to at least 2 reference points.
Specifically, according to the determined multiple reference points, the moving direction and the distance in one direction are determined by two adjacent reference points, so that a multi-direction movement rule is determined, and scanning is performed according to the movement rule to realize fixed-point scanning.
Optionally, on the basis of the embodiment corresponding to fig. 4, the first to third alternative embodiments, and the fifth to seventh alternative embodiments, in a ninth alternative embodiment of the present invention, the flight control system 12 is specifically configured to:
selecting a starting point, and controlling the flying equipment to fly to a first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first route flying from the starting point to the first reference point;
after the first reference point receives a second instruction sent by the control end, the flying equipment is controlled to fly to a second reference point, and the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and planning the preset air route according to the first reference point and the second reference point.
Optionally, on the basis of the embodiment corresponding to fig. 4, the first to third optional embodiments, and the fifth to seventh optional embodiments, in a tenth optional embodiment of the present invention, the preset airline includes a plurality of segmental airlines, and each of the segmental airlines includes at least one of an airline direction, a flight speed, and an airline distance.
Optionally, on the basis of the embodiment corresponding to fig. 4, the first to third alternative embodiments, and the fifth to seventh alternative embodiments, in an eleventh alternative embodiment of the present invention, the flight control system 12 is specifically configured to:
returning to the starting point after the power supply quantity of the self-body is detected to be lower than a preset threshold value;
or after the self fault is detected, controlling the flying equipment 1 to turn around and return to the starting point along the preset route.
Optionally, on the basis of the embodiment corresponding to fig. 4, the first to third alternative embodiments, and the fifth to seventh alternative embodiments, in a twelfth alternative embodiment of the present invention, the flight control system 12 is specifically configured to:
when the instruction is not received, the flight device 1 is controlled to hover until a new instruction is received.
The present invention also provides a computer storage medium storing a program that includes some or all of the steps of the above method of scheduling network node data when executed.
The invention also provides a computer storage medium, which stores a program that when executed comprises the above-mentioned flying apparatus performing part or all of the steps of a method of controlling a flying apparatus or a method of controlling a flying apparatus.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above detailed description is provided for the control method of the flight device and the flight device, and the principle and the implementation of the invention are explained in the present document by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (25)
1. A method of controlling a flying apparatus, comprising:
the flight equipment receives a route instruction sent by a control end and flies according to a preset route corresponding to the route instruction;
when a switching instruction sent by a control end is received, acquiring a new air route according to the switching instruction; wherein the control end is operated by an operator;
the flight equipment is switched from the preset air route to the new air route;
the flying equipment flies according to the new flight route;
the flight equipment acquires a new flight path according to the switching instruction, and specifically comprises one of the following conditions:
the switching instruction comprises new airline information, and the new airline information included in the switching instruction is obtained;
after receiving the switching instruction, the flying equipment plans the new flight path according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flying equipment to plan the new flight path at least enabling the flying equipment to reach the destination at the fastest speed;
and the flight equipment plans the preset air route according to a first reference point sent by the control end and a second reference point sent by the control end and received at the first reference point.
2. The method of claim 1, wherein during the flight of the flying apparatus according to the predetermined pattern, the method further comprises:
after the flight equipment detects that an obstacle exists, acquiring relevant data of the obstacle;
and the flight equipment reports a message containing the relevant data of the obstacle.
3. The method according to claim 2, wherein the flying equipment acquires a new flight line according to the switching instruction after receiving the switching instruction sent by the control terminal, wherein the method comprises one of the following conditions:
after the flight equipment receives the switching instruction, planning the new flight path according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle;
and after receiving the switching instruction, the flight equipment extracts the new flight line from the switching instruction.
4. The method according to claim 2 or 3, wherein the obstacle is an object whose relative distance to a preset route is less than or equal to the safe distance of the flying apparatus when the flying apparatus flies according to the preset route.
5. The method according to claim 1, wherein the flying equipment is in a cruise mode, and the flying equipment further comprises the following steps of switching the flying equipment from the preset air route to the new air route after receiving a switching instruction sent by a control end;
and the flying equipment exits the cruising mode, stops flying according to the preset air route and flies according to the new air route.
6. The method of any one of claims 1 to 3 and 5, wherein the predetermined course comprises at least one of a regular shape and an irregular shape, and the predetermined course is planned according to at least 2 reference points.
7. The method of any one of claims 1 to 3, 5, further comprising:
the flight equipment selects a starting point, and flies to the first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first route flying from the starting point to the first reference point;
the flying equipment flies to the second reference point after receiving a second instruction sent by the control end from the first reference point, wherein the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and the flight equipment plans the preset air route according to the first reference point and the second reference point.
8. The method of any one of claims 1 to 3, 5, wherein the predetermined course comprises a plurality of sectional courses, each of the sectional courses including at least one of a course direction, a flight speed, and a course distance.
9. The method according to any one of claims 1 to 3, 5, wherein the method further comprises at least one of:
the flight equipment returns to the starting point after detecting that the power supply electric quantity of the flight equipment is lower than a preset threshold value;
and after detecting the self fault, the flight equipment turns around and returns to the starting point along the preset route.
10. A method of controlling a flying apparatus, comprising:
acquiring a preset route;
if a switching instruction sent by a control end is received, acquiring a new air route according to the switching instruction; wherein the control end is operated by an operator;
switching from the preset air route to the new air route;
the obtaining of the new route according to the switching instruction specifically includes one of the following conditions:
the switching instruction comprises new airline information, and the new airline information included in the switching instruction is obtained;
after the switching instruction is received, planning the new airline according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flight equipment to plan the new airline at least enabling the flight equipment to reach a destination at the fastest speed;
and planning the preset air route according to a first reference point sent by the control end and a second reference point sent by the control end and received at the first reference point.
11. The method of claim 10, wherein the step of switching from the pre-determined route to the new route is followed by:
and after the new route is finished, switching back to the preset route.
12. The method according to any one of claims 10 to 11, characterized in that in cruise mode, the route is switched according to the switching command.
13. The method of claim 10, wherein the predetermined course comprises a plurality of segmented courses.
14. The method of claim 13, wherein said obtaining a predetermined route comprises:
at least one or all of the segmented airways are acquired.
15. The method of claim 10, further comprising:
and returning to the starting point when the information that the power supply electric quantity is lower than the preset threshold value or the fault information is acquired.
16. A flying apparatus, characterized in that the flying apparatus comprises:
the power assembly is used for providing power output for the flight equipment;
the flight control system is used for acquiring a preset air route; if a switching instruction sent by a control end is received, acquiring a new air route according to the switching instruction; controlling the power assembly to enable the flying equipment to be switched from the preset air route to the new air route; wherein the control end is operated by an operator;
the flight control system is specifically configured to:
after the switching instruction is received, acquiring new lane information included in the switching instruction;
or after receiving the switching instruction, planning the new airline according to the switching instruction, wherein the switching instruction comprises destination data of a new flight task, and the switching instruction is also used for indicating the flight equipment to plan the new airline at least enabling the flight equipment to reach the destination at the fastest speed;
and planning the preset air route according to a first reference point sent by the control end and a second reference point sent by the control end and received at the first reference point.
17. The flying apparatus as claimed in claim 16, wherein the flight control system is specifically configured to:
and after the obstacle is detected to exist, acquiring relevant data of the obstacle, and reporting a message containing the relevant data of the obstacle.
18. The flying apparatus as claimed in claim 17, wherein the flight control system is specifically configured to:
after the switching instruction is received, planning the new air route according to the switching instruction and the relevant data of the obstacle so as to avoid the obstacle;
or after receiving the switching instruction, extracting the new flight line from the switching instruction.
19. The flying apparatus according to claim 17 or 18, wherein the obstacle is an object whose relative distance to a preset course is less than or equal to a safe distance of the flying apparatus when the flying apparatus flies according to the preset course.
20. The flying apparatus as claimed in claim 16, wherein the flying apparatus is in cruise mode, the flight control system being in particular configured to:
and before the preset air route is switched to the new air route, controlling the flying equipment to exit from the cruise mode, stopping flying according to the preset air route, and flying according to the new air route.
21. The flying apparatus as claimed in any one of claims 16 to 18 or 20, wherein:
the preset route at least comprises one of a regular shape and an irregular shape, and the preset route is planned according to at least 2 reference points.
22. The flying apparatus as claimed in any one of claims 16 to 18 or 20, wherein the flight control system is specifically configured to:
selecting a starting point, and controlling the flying equipment to fly to the first reference point after receiving a first instruction sent by the control end, wherein the first instruction comprises coordinate data of the first reference point and a first route flying from the starting point to the first reference point;
after the first reference point receives a second instruction sent by the control end, the flying equipment is controlled to fly to the second reference point, and the second instruction comprises coordinate data of the second reference point and a second route flying from the first reference point to the second reference point;
and planning the preset air route according to the first reference point and the second reference point.
23. The flying apparatus as claimed in any one of claims 16 to 18 or 20, wherein: the preset route comprises a plurality of segmented routes, and each segmented route comprises at least one of route direction, flight speed and route distance.
24. The flying apparatus as claimed in any one of claims 16 to 18 or 20, wherein the flight control system is specifically configured to:
returning to the starting point after the power supply quantity of the self-body is detected to be lower than a preset threshold value;
or after detecting the fault of the airplane body, controlling the flight equipment to turn around and return to the starting point along the preset route.
25. The flying apparatus as claimed in any one of claims 16 to 18 or 20, wherein the flight control system is specifically configured to:
and when the command is not received, controlling the flight equipment to hover until a new command is received.
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| CN201510288273.5A CN104932526B (en) | 2015-05-29 | 2015-05-29 | Control method of flight equipment and flight equipment |
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