CN105109672B - The method and apparatus that aircraft is controlled in flight control system - Google Patents
The method and apparatus that aircraft is controlled in flight control system Download PDFInfo
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- CN105109672B CN105109672B CN201510504947.0A CN201510504947A CN105109672B CN 105109672 B CN105109672 B CN 105109672B CN 201510504947 A CN201510504947 A CN 201510504947A CN 105109672 B CN105109672 B CN 105109672B
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Abstract
The disclosure is directed to control the method and apparatus of aircraft in a kind of flight control system, belong to flight control technique field.This method includes：The control data that aircraft receiving control apparatus is sent, the control data include the first control command, and first control command is the control command based on USA standard code for information interchange ASCII；The aircraft is converted to first control command the second control command based on binary data；The aircraft is performed and operated corresponding to second control command according to second control command.The device includes：First receiving module, modular converter and execution module.The first control command is the control command based on ASCII in the disclosure, is communicated so as to meet the language of the word language of mankind description between aircraft and control device, improves man-machine interaction, and reduces the difficulty in exploitation debugging.
Description
Technical field
The disclosure is directed to flight control technique field, especially with respect to the method and dress that aircraft is controlled in a kind of flight control system
Put.
Background technology
With the progress of flight control technique, the application of unmanned plane is more and more extensive, and at present, unmanned plane is not only applied only to military affairs
On, also begin to apply on commercial or civilian.For example, user can be shot by unmanned plane, to record fine scape
Color etc..When using unmanned plane, the control device such as control station or remote control on ground needs to control unmanned plane, so that nobody
Machine completes user-defined task；For example, when being shot using unmanned plane, control device needs to control the camera on unmanned plane
Start to shoot, stop shooting or control shooting angle of camera etc..
At present, control device is that unmanned plane is controlled by the communication protocol based on hexadecimal data；For example, ten
Senary data 0x01, which is represented, starts shooting order, and 0x02, which is represented, stops shooting order etc..
Disclosure
The problem of in order to overcome correlation technique, present disclose provides the method and dress that aircraft is controlled in a kind of flight control system
Put.
On the one hand, present disclose provides one according to the first aspect of the embodiment of the present disclosure, there is provided controlled in a kind of flight control system
The method of aircraft processed, including：
The control data that aircraft receiving control apparatus is sent, the control data include the first control command, and described the
One control command is the control command based on USA standard code for information interchange ASCII；
The aircraft is converted to first control command the second control command based on binary data；
The aircraft is performed and operated corresponding to second control command according to second control command.
Optionally, the control data also includes the control parameter of operation corresponding to first control command, and in institute
State and separated described in control data between the first control command and the control parameter by preset characters；
The aircraft is according to second control command, operation corresponding to execution second control command, including：
It is corresponding to perform second control command according to second control command and the control parameter for the aircraft
Operation.
Optionally, the control data includes at least one first control command and at least one first control command
In each first control command corresponding to operation control parameter；
The position of the control parameter corresponding with its of each first control command described in the control data is adjacent and two
Person is separated by preset characters.
Optionally, methods described also includes：
The aircraft receives the key request that the control device is sent, and the key request includes key and obtains life
Order, it is the order based on ASCII that the key, which obtains order,；
The aircraft is obtained according to the key and ordered, and generates communication key；
The aircraft sends key response to the control device, and the key response includes the communication key.
Optionally, the control data is encrypted with the communication key；
Methods described also includes：
The control data is decrypted according to the communication key for the aircraft, obtains the first control life
Order.
Optionally, methods described also includes：
When detecting that the aircraft breaks down, the aircraft sends first message, institute to the control device
Stating first message includes type of message and fault message, and the type of message is based on ASCII and for indicating that described first disappears
Cease the type of message for response message or notification message.
Optionally, camera is installed, methods described also includes on the aircraft：
If first control command is the control command for controlling the camera, the aircraft is according to described
Two control commands, perform and operated corresponding to second control command, including：
The aircraft sends second control command to the camera, to control the camera to perform second control
Operated corresponding to system order.
On the one hand, present disclose provides one according to the second aspect of the embodiment of the present disclosure, there is provided controlled in a kind of flight control system
The device of aircraft processed, including：
First receiving module, the control data sent for receiving control apparatus, the control data include the first control
Order, first control command is the control command based on USA standard code for information interchange ASCII；
Modular converter, for first control command to be converted to the second control command based on binary data；
Execution module, for according to second control command, performing and being operated corresponding to second control command.
Optionally, the control data also includes the control parameter of operation corresponding to first control command, and in institute
State and separated described in control data between the first control command and the control parameter by preset characters；
The execution module, it is additionally operable to according to second control command and the control parameter, performs second control
Operated corresponding to system order.
Optionally, the control data includes at least one first control command and at least one first control command
In each first control command corresponding to operation control parameter；
The position of the control parameter corresponding with its of each first control command described in the control data is adjacent and two
Person is separated by preset characters.
Optionally, described device also includes：
Second receiving module, the key request sent for receiving the control device, the key request include key
Order is obtained, it is the order based on ASCII that the key, which obtains order,；
Generation module, ordered for being obtained according to the key, generate communication key；
First sending module, for sending key response to the control device, the key response includes the communication
Key.
Optionally, the control data is encrypted with the communication key；
Described device also includes：
Deciphering module, for the control data to be decrypted according to the communication key, obtain first control
Order.
Optionally, described device also includes：
Second sending module, for when detecting that the aircraft breaks down, first to be sent to the control device
Message, the first message include type of message and fault message, and the type of message is based on ASCII and described for indicating
First message is the type of message of response message or notification message.
Optionally, camera is installed, described device also includes on the aircraft：
If first control command is the control command for controlling the camera, the execution module, it is additionally operable to
Second control command is sent to the camera, to control the camera to perform operation corresponding to second control command.
On the one hand, present disclose provides one according to the third aspect of the embodiment of the present disclosure, there is provided controlled in a kind of flight control system
The device of aircraft processed, including：
Processor；
For storing the memory of the processor-executable instruction；
Wherein, the processor is configured as：
The control data that receiving control apparatus is sent, the control data include the first control command, first control
Order as the control command based on USA standard code for information interchange ASCII；
First control command is converted to the second control command based on binary data；
According to second control command, perform and operated corresponding to second control command.
In the disclosed embodiments, the control data that aircraft receiving control apparatus is sent, control data include the first control
System order, the first control command is the control command based on ASCII, so as to meet the mankind's between aircraft and control device
The language of word language description is communicated, and improves man-machine interaction, and reduces the difficulty in exploitation debugging.Aircraft will
First control command is converted to the second control command based on binary data, it is achieved thereby that aircraft will meet the text of the mankind
The language conversion of word language description is the language that aircraft can be understood；According to the second control command, the second control command is performed
Corresponding operation, it is achieved thereby that the purpose of control aircraft.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the disclosure, forms the part of the application, not
Form the restriction to the disclosure.In the accompanying drawings：
Fig. 1 is the flow chart for the method that aircraft is controlled in a kind of flight control system according to an exemplary embodiment；
Fig. 2 is the flow chart for the method that aircraft is controlled in a kind of flight control system according to an exemplary embodiment；
Fig. 3-1 is the apparatus structure signal that aircraft is controlled in a kind of flight control system according to an exemplary embodiment
Figure；
Fig. 3-2 is to control the apparatus structure of aircraft to show in another flight control system according to an exemplary embodiment
It is intended to；
Fig. 4 is that the structural representation that aircraft is controlled in a kind of flight control system according to an exemplary embodiment (flies
The general structure of row device).
Embodiment
For the purpose, technical scheme and advantage of the disclosure are more clearly understood, below in conjunction with embodiment and accompanying drawing,
The disclosure is described in further details.Here, the exemplary embodiment of the disclosure and its illustrate be used for explain the disclosure, but
It is not intended as the restriction to the disclosure.
Fig. 1 is the flow chart for the method that aircraft is controlled in a kind of flight control system according to an exemplary embodiment,
As shown in figure 1, controlling the method for aircraft to be used in aircraft in flight control system, comprise the following steps.
In step S101, the control data of aircraft receiving control apparatus transmission, control data, which includes the first control, orders
Order, the first control command is the control command based on USA standard code for information interchange ASCII；
In step s 102, aircraft is converted to the first control command the second control command based on binary data；
In step s 103, aircraft is performed and operated corresponding to the second control command according to the second control command.
In the disclosed embodiments, the control data that aircraft receiving control apparatus is sent, control data include the first control
System order, the first control command is the control command based on ASCII, so as to meet the mankind's between aircraft and control device
The language of word language description is communicated, and improves man-machine interaction, and reduces the difficulty in exploitation debugging.Aircraft will
First control command is converted to the second control command based on binary data, it is achieved thereby that aircraft will meet the text of the mankind
The language conversion of word language description is the language that aircraft can be understood；According to the second control command, the second control command is performed
Corresponding operation, it is achieved thereby that the purpose of control aircraft.
Fig. 2 is the flow chart for the method that aircraft is controlled in a kind of flight control system according to an exemplary embodiment,
As shown in Fig. 2 controlling the method for aircraft to be used in aircraft in flight control system, comprise the following steps.
In step s 201, the key request that aircraft receiving control apparatus is sent, the key request obtain including key
Order；
Control device can be controlled to aircraft in the disclosed embodiments, for example, control device controls aircraft
Take off, land, turn left or turn right.For control device when being controlled to aircraft, sending control to aircraft please
Ask, in order to ensure the security of data transfer, it is necessary to aircraft negotiation communication key, by the communication key to control data
It is encrypted.
Then for control device before aircraft is controlled, control device sends key request, the key request bag to aircraft
Include key and obtain order, it is based on ASCII (American Standard Code for that the key, which obtains order,
Information Interchange, USA standard code for information interchange) control command, aircraft receiving control apparatus hair
The key request sent.
Wherein, the control command based on ASCII is to meet the control command of the word language description of the mankind；For example, key
It can be " getkey " to obtain order, so as to meet the language of the word language of mankind description between aircraft and control device
Communicated, improve man-machine interaction.Control device can be ground control station, aircraft remote control or mobile phone etc..
Optionally, camera can be installed, then control device can also be controlled to camera on aircraft；For example, control
Equipment control camera starts to shoot, stops shooting or shooting angle etc..Then before control device control camera, it is also desirable to phase
Machine negotiation communication key, pass through the control data of the communication key control extension camera.Therefore, aircraft receives key request
When, determine whether the key request is used for the camera arranging key with installing thereon, please if it is, sending the key to camera
Ask.
Wherein, if the key request is for asking the key request with camera arranging key, the key request is removed
Carrying key obtains order, also carries the mark of camera, for example, key request can be " cmd_id ", 2, and " getkey ".Then
Can be in this step：
The key request that aircraft receiving control apparatus is sent, if the key request carries key and obtains order and camera
Mark, then according to the mark of the camera, key request is forwarded to camera；Camera receives the key request of aircraft forwarding.
Wherein, if control device is the control device for controlling camera, control device can also be that camera is remotely controlled
Device or head etc..
In step S202, aircraft is obtained according to key and ordered, and generates communication key；
Aircraft is obtained according to key and ordered, and obtains key schedule；It is close according to key schedule, generation communication
Key；For example, the communication key of aircraft generation is 555.
If the key request is for asking the key request with camera arranging key, this step can be：Camera
Obtained and ordered according to key, obtain key schedule, generated communication key, the communication key is sent to aircraft；Aircraft
Receive the communication key that camera is sent.
Optionally, aircraft or camera obtain the device identification of control device, by the device identification of control device and are somebody's turn to do
Communication key is stored in the corresponding relation of device identification and communication key, please in order to receive the control of control device transmission
When asking, the communication key is obtained, and the control data is decrypted according to the communication key.
In step S203, aircraft sends key response to control device, and the key response includes the communication key；
Wherein, in key response in addition to including the communication key, key identification can also be included, the key identification can be with
For the data based on ASCII, for example, key identification can be key etc.；The then key response can be " key ", 555.
Control device receives the key response that aircraft is sent, and the communication key is obtained from the key response, and storage should
Communication key.
It should be noted that step S201- steps S203 is between control device and aircraft or control device and phase
The process of protocol communication key between machine, step S201- steps S203 only need to perform once, the flight of control device control afterwards
When device or camera, it is not necessary to perform step S201- step S203, directly perform following steps S204- steps S207.
When control device needs to control aircraft, control device obtains control data, and the control data includes the first control
System order, the control data can also include the control parameter of operation corresponding to the first control command；Control device is logical according to this
Letter key control data is encrypted the control data after being encrypted；The control data after encryption is sent to aircraft.
Wherein, separated in control data between the first control command and control parameter with preset characters, for the ease of area
Point, the preset characters between the first control command and control parameter are referred to as default first character.The first control in control data
System order is bracketed with default second character and control data is bracketed with default 3rd character.
Default first character can be "：", it can be " " or () etc. to preset the second character, and default 3rd character can be
{ } or [] etc..For example, default first character for "：", it is " " to preset the second character, and default 3rd character is { }, and first controls
Order as cmd_nub, the control parameter of operation is 1 corresponding to the first control command, then control data can be { " cmd_nub "：
1}。
Optionally, can also include in control data each in multiple first control commands and multiple first control commands
The control parameter of operation corresponding to first control command, then each first control command and control corresponding to it in control data
The position of parameter is adjacent and the two is separated by default first character；And lead in control data between each first control command
Default 4th character is crossed to separate.
Default 4th character can be ", " etc.；For another example, control data can be { " cmd_nub "：1, " format "：Avi,
“enc”：h264}.It is h264, avi that control data, which is used to control camera to start to record a video and preserve video file format,.
It should be noted that all requests in the disclosed embodiments are all bracketed with default 3rd character, and please
The order included is asked to be bracketed with default second character, if the ginseng for the order operation corresponding with the order that request includes
Separated between number with default first character；If request is included corresponding to each order in multiple orders and multiple orders
The parameter of operation, then the position of each order parameter corresponding with its is adjacent and the two is separated by default first character, and
Separated between each order with default 4th character, it is specific to represent as follows：
{ " command number 1 "：Parameter 1, " command number 2 "：Parameter 2 ... ..., " command number N "：Parameter N }
In step S204, the control data of aircraft receiving control apparatus transmission, the control data includes the first control
Order；
Wherein, control parameter, or multiple first control commands and each first control can also be included in control data
Control parameter corresponding to system order.
In step S205, the control data is decrypted according to the communication key for aircraft, obtains the first control life
Order；
Aircraft obtains the device identification of control device, according to the device identification of control device, slave unit mark and communication
Communication key is obtained in the corresponding relation of key, the control data after the encryption is decrypted according to the communication key, obtained
First control command.
Optionally, if the control data is the control data for controlling camera, the first control command also includes phase
The mark of machine；Aircraft detects whether the first control command includes the mark of camera；If the first control command includes camera
Mark, then aircraft determines that the first control command is the control command for controlling camera；If the first control command does not include
The mark of camera, then aircraft determine that the first control command is the control command for controlling aircraft.
Wherein, the mark of camera can be the numbering of camera, the position that camera is installed on board the aircraft, or the type of camera
Number etc..
In step S206, aircraft is converted to the first control command the second control command based on binary data；
Before this step, aircraft control command of the storage based on ASCII and the control command based on binary data
Corresponding relation, accordingly, in this step, aircraft is according to the first control command, from control command and base based on ASCII
The second control command based on binary data is obtained in the corresponding relation of the control command of binary data.
Optionally, can be with this step aircraft if the first control command is the control command for controlling camera
According to the mark of camera, the first control command is sent to camera, is converted to the first control command based on binary number by camera
According to the second control command, or the first control command is converted to the second control command based on binary data by aircraft,
The second control command is sent to camera.
Optionally, pair of the control command based on ASCII and the control command based on binary data is also stored in camera
It should be related to, then the step of the first control command is converted to the second control command based on binary data by camera can be：
Camera is according to the first control command, from the control command based on ASCII and the control command based on binary data
Corresponding relation in obtain the second control command based on binary data.
Optionally, if control data includes multiple first control commands, aircraft or camera by multiple first
Each first control command in control command is converted to the second control command based on binary data, obtains multiple second controls
System order.
In step S207, aircraft is performed and operated corresponding to the second control command according to the second control command.
If control data includes the control parameter of operation corresponding to the first control command, aircraft is according to the second control
Order and the control parameter, perform and operated corresponding to the second control command.
If control data includes multiple first control commands, aircraft performs every according to each second control command
Operated corresponding to individual second control command.
If control data includes the control ginseng of operation corresponding to multiple first control commands and each first control command
Number, then the control parameter that aircraft operates according to corresponding to each second control command and each first control command, perform every
Operated corresponding to individual second control command.
Optionally, if control data is the control data for controlling camera, camera is according to second in this step
Control command, perform and operated corresponding to the second control command；Or camera is held according to the second control command and the control parameter
Operated corresponding to the control command of row second；Or camera performs each second control command pair according to each second control command
The operation answered；Or the control parameter that camera operates according to corresponding to each second control command and each first control command,
Perform and operated corresponding to each second control command.
Optionally, after aircraft or camera perform operation corresponding to the second control command, send and control to control device
System response, the control response include response identification, and response identification is the response identification based on ASCII.
For example, when control data is { " cmd_nub "：1, " format "：Avi, " enc "：H264 } when, camera starts to record a video
And it is h264 to preserve video file format, after avi, sent to control device for indicating that successfully control rings for video recording
Should, control response can be { " cmd_nub "：1, " ret ", OK }, control response is used to indicate to record a video successfully.
Optionally, whether the real-time sense aircraft of aircraft breaks down, when detecting that aircraft breaks down, flight
Device sends first message to control device, and first message includes type of message and fault message, type of message for based on ASCII and
For indicating first message for response message or the type of message of notification message.
Wherein, if after control device sends control data to aircraft, aircraft there occurs failure, then aircraft with
Response message informs that control device aircraft breaks down, and now the type of message of first message is response message type.Example
Such as, first message is { " cmd_id "：2, " response "：erron1}.
If control device does not send control data to aircraft, when aircraft breaks down in an idle state, then
Aircraft informs that control device aircraft breaks down with notification message, and now the type of message of first message is notification message
Type.For example, when the type of message of first message is type of notification message, first message can be { " cmd_id "：2,
“notify”：erron1}.
In the disclosed embodiments, the control data that aircraft receiving control apparatus is sent, control data include the first control
System order, the first control command is the control command based on ASCII, so as to meet the mankind's between aircraft and control device
The language of word language description is communicated, and improves man-machine interaction, and reduces the difficulty in exploitation debugging.Aircraft will
First control command is converted to the second control command based on binary data, it is achieved thereby that aircraft will meet the text of the mankind
The language conversion of word language description is the language that aircraft can be understood；According to the second control command, the second control command is performed
Corresponding operation, it is achieved thereby that the purpose of control aircraft.
Fig. 3-1 is the schematic device that aircraft is controlled in a kind of flight control system according to an exemplary embodiment.
Referring to Fig. 3-1, the device includes：
First receiving module 301, the control data sent for receiving control apparatus, control data, which includes the first control, orders
Order, the first control command is the control command based on USA standard code for information interchange ASCII；
Modular converter 302, for the first control command to be converted to the second control command based on binary data；
Execution module 303, for according to the second control command, performing and being operated corresponding to the second control command.
Optionally, control data also includes the control parameter of operation corresponding to the first control command, and in control data
Separated between first control command and control parameter by preset characters；
Execution module 303, it is additionally operable to according to the second control command and control parameter, performs and grasped corresponding to the second control command
Make.
Optionally, control data includes each at least one first control command and at least one first control command
The control parameter of operation corresponding to first control command；
In control data the position of each first control command control parameter corresponding with its it is adjacent and the two pass through it is pre-
If character separates.
Optionally, also include referring to Fig. 3-2, device：
Second receiving module 304, the key request sent for receiving control apparatus, key request include key and obtain life
Order, it is the order based on ASCII that key, which obtains order,；
Generation module 305, ordered for being obtained according to key, generate communication key；
First sending module 306, for sending key response to control device, key response includes communication key.
Optionally, control data is encrypted with communication key；
Device also includes：
Deciphering module 307, for control data to be decrypted according to communication key, obtain the first control command.
Optionally, device also includes：
Second sending module 308, for when detecting that aircraft breaks down, first message to be sent to control device,
First message includes type of message and fault message, and type of message is based on ASCII and for indicating that first message is that response disappears
The type of message of breath or notification message.
Optionally, camera is installed, device also includes on aircraft：
If the first control command is the control command for controlling camera, execution module 303, it is additionally operable to send to camera
Second control command, to control camera to perform operation corresponding to the second control command.
In the disclosed embodiments, the control data that aircraft receiving control apparatus is sent, control data include the first control
System order, the first control command is the control command based on ASCII, so as to meet the mankind's between aircraft and control device
The language of word language description is communicated, and improves man-machine interaction, and reduces the difficulty in exploitation debugging.Aircraft will
First control command is converted to the second control command based on binary data, it is achieved thereby that aircraft will meet the text of the mankind
The language conversion of word language description is the language that aircraft can be understood；According to the second control command, the second control command is performed
Corresponding operation, it is achieved thereby that the purpose of control aircraft.
The device of aircraft, another example of the disclosure are provided in the flight control system provided corresponding to above-mentioned example embodiment
Property embodiment provides a kind of aircraft 400, referring to Fig. 4.For example, aircraft 400 can be mobile phone, and computer, numeral
Broadcast terminal, messaging devices, game console, tablet device, Medical Devices, body-building equipment, personal digital assistant, terminal
Deng.Alternatively, aircraft 400 can also be that intelligent router, Intelligent air purifier, intelligent water purifier, intelligent camera are first-class.
Reference picture 4, aircraft 400 can include following one or more assemblies：Processing component 402, memory 404, electricity
Power component 406, multimedia groupware 408, audio-frequency assembly 410, the interface 412 of input/output (I/O), sensor cluster 414, with
And communication component 416.
Processing component 402 generally controls the integrated operation of aircraft 400, is such as communicated with display, call, data,
The operation that aircraft operation and record operation are associated.Processing component 402 can include one or more processors 420 to perform
Instruction, to complete all or part of step of above-mentioned method.In addition, processing component 402 can include one or more modules,
The interaction being easy between processing component 402 and other assemblies.For example, processing component 402 can include multi-media module, with convenient
Interaction between multimedia groupware 408 and processing component 402.
Memory 404 is configured as storing various types of data to support the operation in equipment 400.These data are shown
Example includes being used for the instruction of any application program or method operated on aircraft 400, contact data, telephone book data,
Message, picture, video etc..Memory 404 can by any kind of volatibility or non-volatile memory device or they
Combination is realized, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), it is erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
Electric power assembly 406 provides electric power for the various assemblies of aircraft 400.Electric power assembly 406 can include power management
System, one or more power supplys, and other components associated with generating, managing and distributing electric power for aircraft 400.
Multimedia groupware 408 is included in the screen of one output interface of offer between the aircraft 400 and user.
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch and passed
Sensor is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or slip be dynamic
The border of work, but also detect the duration and pressure related to the touch or slide.In certain embodiments, it is more
Media component 408 includes a front camera and/or rear camera.When equipment 400 is in operator scheme, such as screening-mode
Or during video mode, front camera and/or rear camera can receive outside multi-medium data.Each front camera
It can be a fixed optical lens system with rear camera or there is focusing and optical zoom capabilities.
Audio-frequency assembly 410 is configured as output and/or input audio signal.For example, audio-frequency assembly 410 includes a Mike
Wind (MIC), when aircraft 400 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone quilt
It is configured to receive external audio signal.The audio signal received can be further stored in memory 404 or via communication
Component 416 is sent.In certain embodiments, audio-frequency assembly 410 also includes a loudspeaker, for exports audio signal.
I/O interfaces 412 provide interface between processing component 402 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 414 includes one or more sensors, and the state for providing various aspects for aircraft 400 is commented
Estimate.For example, sensor cluster 414 can detect opening/closed mode of equipment 400, and the relative positioning of component, for example, it is described
Component is the display and keypad of aircraft 400, and sensor cluster 414 can be with sense aircraft 400 or aircraft 400 1
The position of individual component changes, the existence or non-existence that user contacts with aircraft 400, the orientation of aircraft 400 or acceleration/deceleration with
The temperature change of aircraft 400.Sensor cluster 414 can include proximity transducer, be configured in no any thing
The presence of object nearby is detected during reason contact.Sensor cluster 414 can also include optical sensor, as CMOS or ccd image are passed
Sensor, for being used in imaging applications.In certain embodiments, the sensor cluster 414 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 416 is configured to facilitate the communication of wired or wireless way between aircraft 400 and other equipment.Fly
Row device 400 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.It is exemplary at one
In embodiment, communication component 416 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 416 also includes near-field communication (NFC) module, to promote short distance to lead to
Letter.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) can be based in NFC module
Technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, aircraft 400 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 404 of instruction, above-mentioned instruction can be performed to complete the above method by the processor 420 of aircraft 400.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, it is random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
In the disclosed embodiments, aircraft is installed on aircraft, aircraft, which receives, records commencing signal, and according to this
Commencing signal is recorded, starts to shoot video information；Aircraft starts to record also according to the recording commencing signal includes aircraft
The caption information of the attitude information of trace information and aircraft, it is achieved thereby that caption information and video information synchronously generate；And
And aircraft sends the caption information to aircraft, video information is stored in video file by aircraft, and captions are believed
Breath is stored in subtitle file, it is achieved thereby that the separate type of caption information and video information stores, such caption information is just not
It can be directly superimposed on video, destruction will not be produced to video content, while also shorten the scramble time of video information.
In the disclosed embodiments, the control data that aircraft receiving control apparatus is sent, control data include the first control
System order, the first control command is the control command based on ASCII, so as to meet the mankind's between aircraft and control device
The language of word language description is communicated, and improves man-machine interaction, and reduces the difficulty in exploitation debugging.Aircraft will
First control command is converted to the second control command based on binary data, it is achieved thereby that aircraft will meet the text of the mankind
The language conversion of word language description is the language that aircraft can be understood；According to the second control command, the second control command is performed
Corresponding operation, it is achieved thereby that the purpose of control aircraft.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. the method for aircraft is controlled in a kind of flight control system, it is characterised in that methods described includes：
The key request that aircraft receiving control apparatus is sent, the key request include key and obtain order, and the key obtains
It is the order based on USA standard code for information interchange ASCII to take order；
The aircraft is obtained according to the key and ordered, and generates communication key；
The aircraft sends key response to the control device, and the key response includes the communication key；
The aircraft receives the control data that the control device is sent, and the control data is added with the communication key
It is close, and the control data includes the first control command, first control command is the control command based on ASCII；
The control data is decrypted according to the communication key for the aircraft, obtains first control command；
The aircraft is converted to first control command the second control command based on binary data；
The aircraft is performed and operated corresponding to second control command according to second control command；
When detecting that the aircraft breaks down, the aircraft sends first message to the control device, and described the
One message includes type of message and fault message, and the type of message is based on ASCII and for indicating that the first message is
The type of message of response message or notification message.
2. the method as described in claim 1, it is characterised in that it is corresponding that the control data also includes first control command
Operation control parameter, and described in the control data between the first control command and the control parameter by default
Character separates；
The aircraft is according to second control command, operation corresponding to execution second control command, including：
The aircraft is performed and grasped corresponding to second control command according to second control command and the control parameter
Make.
3. the method as described in claim 1, it is characterised in that the control data include at least one first control command and
The control parameter of operation corresponding to each first control command at least one first control command；
The position of the control parameter corresponding with its of each first control command described in the control data is adjacent and the two is logical
Preset characters are crossed to separate.
4. the method as described in claim 1, it is characterised in that camera is installed on the aircraft, methods described also includes：
If first control command is the control command for controlling the camera, the aircraft is according to the described second control
System order, perform and operated corresponding to second control command, including：
The aircraft sends second control command to the camera, is ordered with controlling the camera to perform second control
Operated corresponding to order.
5. the device of aircraft is controlled in a kind of flight control system, it is characterised in that described device includes：
Second receiving module, the key request sent for receiving control apparatus, the key request include key and obtain order,
It is the order based on USA standard code for information interchange ASCII that the key, which obtains order,；
Generation module, ordered for being obtained according to the key, generate communication key；
First sending module, for sending key response to the control device, the key response includes the communication key；
First receiving module, the control data sent for receiving the control device, the control data are close with the communication
Key is encrypted, and the control data includes the first control command, and first control command is the control life based on ASCII
Order；
Deciphering module, for the control data to be decrypted according to the communication key, obtain first control command；
Modular converter, for first control command to be converted to the second control command based on binary data；
Execution module, for according to second control command, performing and being operated corresponding to second control command；
Second sending module, for when detecting that the aircraft breaks down, first message to be sent to the control device,
The first message includes type of message and fault message, and the type of message is based on ASCII and for indicating described first
Message is the type of message of response message or notification message.
6. device as claimed in claim 5, it is characterised in that it is corresponding that the control data also includes first control command
Operation control parameter, and described in the control data between the first control command and the control parameter by default
Character separates；
The execution module, it is additionally operable to according to second control command and the control parameter, performs the second control life
Operated corresponding to order.
7. device as claimed in claim 5, it is characterised in that the control data include at least one first control command and
The control parameter of operation corresponding to each first control command at least one first control command；
The position of the control parameter corresponding with its of each first control command described in the control data is adjacent and the two is logical
Preset characters are crossed to separate.
8. device as claimed in claim 5, it is characterised in that camera is installed on the aircraft, described device also includes：
If first control command is the control command for controlling the camera, the execution module, it is additionally operable to institute
State camera and send second control command, to control the camera to perform operation corresponding to second control command.
9. the device of aircraft is controlled in a kind of flight control system, it is characterised in that described device includes：
Processor；
For storing the memory of the processor-executable instruction；
Wherein, the processor is configured as：
The key request that receiving control apparatus is sent, the key request include key and obtain order, and the key obtains order
For the order based on USA standard code for information interchange ASCII；
Obtained and ordered according to the key, generate communication key；Key response, the key response are sent to the control device
Including the communication key；
The control data that the control device is sent is received, the control data is encrypted with the communication key, and described
Control data includes the first control command, and first control command is the control command based on ASCII；
The control data is decrypted according to the communication key, obtains first control command；
First control command is converted to the second control command based on binary data；
According to second control command, perform and operated corresponding to second control command；
When detecting that the aircraft breaks down, first message is sent to the control device, the first message includes
Type of message and fault message, the type of message be based on ASCII and for indicate the first message be response message or
The type of message of person's notification message.
10. a kind of computer-readable recording medium, computer program is stored with the computer-readable recording medium, its feature
It is, following steps is realized when described program is executed by processor：
The key request that receiving control apparatus is sent, the key request include key and obtain order, and the key obtains order
For the order based on USA standard code for information interchange ASCII；
Obtained and ordered according to the key, generate communication key；Key response, the key response are sent to the control device
Including the communication key；
The control data that the control device is sent is received, the control data is encrypted with the communication key, and described
Control data includes the first control command, and first control command is the control command based on ASCII；
The control data is decrypted according to the communication key, obtains first control command；
First control command is converted to the second control command based on binary data；
According to second control command, perform and operated corresponding to second control command；
When detecting that aircraft breaks down, first message is sent to the control device, the first message includes message
Type and fault message, the type of message are based on ASCII and for indicating that the first message is response message or led to
Know the type of message of message.
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| WO2017096604A1 (en) | 2015-12-10 | 2017-06-15 | 深圳市大疆创新科技有限公司 | Method and system for exchange, transmission, and reception of flight data, storage device, and aircraft |
| CN107222852A (en) * | 2017-05-23 | 2017-09-29 | 成都环磊科技有限公司 | Unmanned plane antidirection finding sound control method |
| CN108089597B (en) * | 2017-12-29 | 2021-06-11 | 易瓦特科技股份公司 | Method and device for controlling unmanned aerial vehicle based on ground station |
| CN110769364B (en) * | 2019-10-16 | 2020-12-18 | 广东美嘉欣创新科技股份有限公司 | Unmanned aerial vehicle flight data and image transmission system |
| CN113724482B (en) * | 2021-08-05 | 2023-05-30 | 北京三快在线科技有限公司 | Radio frequency remote control method and device, storage medium and electronic equipment |
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| CN102647522A (en) * | 2012-04-07 | 2012-08-22 | 西北工业大学 | Multifunctional universal remote control system based on mobile phone platform |
| CN104656660A (en) * | 2015-01-22 | 2015-05-27 | 南京航空航天大学 | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof |
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| CN102035648B (en) * | 2010-09-29 | 2012-11-14 | 北京航天自动控制研究所 | Safe and real-time soft recovery system and method for aircraft state information |
| CN104167087B (en) * | 2014-07-25 | 2017-12-29 | 小米科技有限责任公司 | Information transferring method, device and system |
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| CN102647522A (en) * | 2012-04-07 | 2012-08-22 | 西北工业大学 | Multifunctional universal remote control system based on mobile phone platform |
| CN104656660A (en) * | 2015-01-22 | 2015-05-27 | 南京航空航天大学 | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof |
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