CN105610977A - Shared control method and device for unmanned aerial vehicle - Google Patents
Shared control method and device for unmanned aerial vehicle Download PDFInfo
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- CN105610977A CN105610977A CN201610098200.4A CN201610098200A CN105610977A CN 105610977 A CN105610977 A CN 105610977A CN 201610098200 A CN201610098200 A CN 201610098200A CN 105610977 A CN105610977 A CN 105610977A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
Abstract
The invention discloses a shared control method and device for an unmanned aerial vehicle. The method comprises the following steps of receiving a control request message sent by a server and/or a client; controlling the unmanned aerial vehicle to fly to a shared initial position in a preset flight area from a parking base; judging whether the unmanned aerial vehicle reaches the shared initial position, if yes, sending an in-place prompting message to the client; sending an aerial video shot by the unmanned aerial vehicle to the client; receiving an user control instruction sent by the client; controlling the unmanned aerial vehicle to fly or carry out aerial photography in the flight area according to the user control instruction; and after receiving a shared end instruction sent by the server and/or the client or obtaining low battery information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to return to the parking base or the other parking base when the unmanned aerial vehicle takes off. According to the control method or system for the unmanned aerial vehicle, which is provided by the invention, the automation control for network sharing of the unmanned aerial vehicle is realized.
Description
Technical field
The present invention relates to unmanned plane field, particularly a kind of unmanned plane is shared control method, control device.
Background technology
Civilian Development of UAV was swift and violent in recent years, especially the unmanned plane field of taking photo by plane. Existing most technology, unmanned plane manipulationPerson can only manipulate unmanned plane and take photo by plane near of several kilometers.
Unmanned plane is just connected and can be manipulated by the network user with internet, and the network user's unmanned plane manipulation level is eachDifferent, object is different, requires high to the automation control of unmanned plane.
Summary of the invention
In order to solve the problem of correlation technique, the embodiment of the present invention provides a kind of unmanned plane to share control method, controlDevice. Described technical scheme is as follows:
First aspect, provides a kind of unmanned plane to share control method, and described method comprises:
The control solicited message that reception server and/or client send;
Controlling unmanned plane flies to and is positioned at the shared initial position of default flying area from parking base;
Judge whether described unmanned plane arrives described shared initial position, if described unmanned plane arrives described shared initial position, be dealt into positionPrompting message is given described client;
The video of taking photo by plane that described unmanned plane is taken is issued described client;
The user who receives described client transmission manipulates instruction;
Manipulate unmanned plane described in instruction control according to described user flies or takes photo by plane in flying area;
Receiving after the shared END instruction that described client and/or described server send or getting described unmanned plane electric weightAfter not enough information, control described unmanned plane return while taking off park base or other park base.
Second aspect, provides a kind of unmanned plane to share control device, and described control device comprises:
The first receiver module, for the control solicited message of reception server and/or client transmission;
The first control module, flies to and is positioned at the shared initial position of default flying area from parking base for controlling unmanned plane;
Prompting module, for judging whether described unmanned plane arrives described shared initial position, if described unmanned plane arrives described sharingInitial position, is dealt into a prompting message to described client;
The first sending module, issues described client for the video of taking photo by plane that described unmanned plane is taken;
The second receiver module, manipulates instruction for the user who receives described client transmission;
The second control module is flown or navigates for manipulate unmanned plane described in instruction control according to described user in flying areaClap;
The 3rd control module, for receiving after the shared END instruction that described client and/or described server send or obtainingGet after the not enough information of described unmanned plane electric weight, control described unmanned plane return while taking off park base or other park baseGround.
The beneficial effect that the present invention brings is: unmanned plane provided by the invention is shared control method or control device, responseRequest Control unmanned plane automatically takes off from base, flies in flying area according to network user's instruction or takes photo by plane, controls unmannedMachine drops to base, has realized the shared automation control of unmanned plane network.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, required making in describing embodiment belowWith accompanying drawing be briefly described, apparently, the accompanying drawing in the following describes is only some embodiments of the present invention, forThose of ordinary skill in the art, are not paying under the prerequisite of creative work, can also obtain other according to these accompanying drawingsAccompanying drawing.
Fig. 1 is that a kind of unmanned plane that one embodiment of the invention provides is shared the related implementation environment signal of control methodFigure.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the invention process sideFormula is described in further detail.
As shown in Figure 1, it shows the shared related enforcement ring of control method of unmanned plane that the embodiment of the present invention providesBorder schematic diagram. As shown in Figure 1, unmanned plane is shared control method and is operated in control device 103, and unmanned plane shared system comprises clothesBusiness device 101, client 102, server 101, client 102 and control device 103 should be understood to main by explanation secretaryThe computer program carrying is realized the functional module construction of this solution, and not should be understood to mainly realize by hardware modeThe entity apparatus of this solution. Wherein, server 101 is arranged on the equipment such as private server or common computer. ClientEnd 102 is arranged on the equipment such as computer or panel computer or mobile phone or virtual reality or augmented reality, and client 102 is special visitorsFamily end can be also browser client. Server 101 connects by internet communication with at least one control device 103 in advanceConnect a corresponding control device 103 of unmanned plane 100; Control device 103 be arranged on remote controller or mobile phone or panel computer orComputers etc. pass through on the remote control of radio signal remotely pilotless machine 100, the remote control distance of mobile phone or panel computer or computerShort, can be connected with remote controller or dedicated antenna, improve the remote control distance to unmanned plane 100, what the same region of taking photo by plane was corresponding ownsControl device 103 can be arranged on a remote control; Control device 103 also can be arranged on the unmanned plane 100 of its controlUpper, be connected with server 101 by the mobile network such as 3G or 4G or 5G accessing Internet, or pass through and ground-plane antenna radio companyTap into and accessing Internet is connected with server 101; Respectively take photo by plane region together all control device 103 also can concentrated setting oneOn individual Control Server, by internet and the each self-corresponding unmanned plane 100 of mobile Internet control; Control device 103 also canFractionation is arranged on any in two or three in remote control, unmanned plane 100, Control Server three. Unmanned plane 100 comprisesCamera, optionally also comprises The Cloud Terrace, flies or takes photo by plane or transceiving data according to the instruction of control device; Unmanned plane 100 canBeing many rotor wing unmanned aerial vehicles, can be single rotor wing unmanned aerial vehicle, can be also fixed-wing unmanned plane.
Concrete unmanned plane is shared control method and is referred to following each embodiment:
First the lower unmanned plane relevant to the shared control method of unmanned plane of explanation shared some embodiment of method, is mainly divided intoFollowing five steps.
Step 1: user end to server sends sharing request.
Optionally, accessing server by customer end is transmission sharing request, has logged on as user name login or useless name in an account bookLogin, if there is user name login to need user to input username and password, and registration in advance username and password.
Optionally, client is obtained the range searching information of taking photo by plane of user's input, then will be with the range searching letter of taking photo by planeThe sharing request of breath is issued server.
Step 2: server receives the sharing request that client sends, and at least one region recommended information of taking photo by plane is sent outGive client, select to take photo by plane region for user.
The region recommended information of taking photo by plane comprises: the introduction literary composition of scenery in the photo of scenery and/or the region of taking photo by plane in the region of taking photo by planeIn word and/or the region of taking photo by plane, scenery introduces video and/or the text description information of the regional location of taking photo by plane and/or the district that takes photo by planeThe positional information of territory on electronic chart and/or the text description information of the regional geography scope of taking photo by plane and/or the region of taking photo by plane existRegional extent information on electronic chart. The corresponding region recommended information of taking photo by plane in each region of taking photo by plane, the region of taking photo by plane is introducedInformation is uploaded onto the server by the participator of unmanned plane.
Optionally, the sharing request that client sends comprises the range searching information of taking photo by plane, and server will be searched with the region of taking photo by planeThe region recommended information of taking photo by plane that rope information is relevant is issued client, selects to confirm for user.
Optionally, the region recommended information of taking photo by plane in each region of taking photo by plane also comprises: the available unmanned plane that the region of taking photo by plane is correspondingQuantity. Do not have the recommended information in the region of taking photo by plane of available unmanned plane can send out the region recommended information of taking photo by plane, its available unmanned plane yetQuantity is zero, or recommended information comprises this explanation of region without available unmanned plane of taking photo by plane.
Optionally, the server region recommended information of respectively taking photo by plane sorts by pouplarity, also can be by available unmanned planeQuantity sequence, also can recommend sequence by server admin side. Server is issued the region recommended information of taking photo by plane after sequence successivelyClient; User that server also can obtain according to the client region recommended information sequence that requires respectively to take photo by plane, then will sortAfter the region recommended information of taking photo by plane issue successively client; Or multiple region recommended informations of taking photo by plane are issued client by serverAfter, client is according to the user that the obtains region recommended information sequence that requires respectively to take photo by plane.
Step 3: at least one region recommended information of taking photo by plane that client server sends; Display server sendsThe region recommended information of taking photo by plane, select for user the region of taking photo by plane; Obtain the region of taking photo by plane of user's input and select information; To take photo by planeRegion selection information is issued server.
Optionally, get user and click the recommended information such as picture or word or video in certain region of taking photo by plane, eject bagPicture and/or word and/or the video etc. of drawing together this region of taking photo by plane are introduced the window of content, ACK button and exit button in detail,Get the clicked code name of this being taken photo by plane to region of the ACK button region selection information of taking photo by plane and issue server, get and move backGo out the clicked window that exits of button.
Optionally, get user and click the recommended information such as picture or word or video in certain region of taking photo by plane, shouldThe code name in region of the taking photo by plane region selection information of taking photo by plane is issued server.
Optionally, the station location marker that gets certain region of taking photo by plane on electronic chart is clicked, ejects and comprises this district that takes photo by planePicture and/or word and/or the video etc. in territory introduced the window of content, ACK button and exit button in detail, gets confirmationThe clicked code name of this being taken photo by plane to region of the button region selection information of taking photo by plane is issued server, gets exit button by pointHit and exit window.
Step 4: server receives the region of taking photo by plane of user's input of client transmission and selects information; According to the region of taking photo by planeSelection information is determined the user-selected region of taking photo by plane, by all unmanned planes that can the be shared corresponding user-selected region of taking photo by planeAt least one control device and client establish a communications link, thereby client can be by the manipulation of user's input of obtainingInstruction is issued control device to control unmanned plane during flying or to take photo by plane, and the taking photo by plane of unmanned plane shooting that receiving control device sends lookedFrequently; Control device manipulates instruction control unmanned plane during flying or takes photo by plane for the user who sends according to client, and unmanned plane is clappedThe video of taking photo by plane of taking the photograph is issued client.
Optionally, by the control dress of in all unmanned planes that can the be shared corresponding user-selected region of taking photo by planePut with client and establish a communications link; Such client can manipulate a unmanned plane corresponding to the selected region of taking photo by plane. AlsoOf course, by multiple control device and client in all unmanned planes that can the be shared corresponding user-selected region of taking photo by planeEstablish a communications link; Such client can manipulate multiple unmanned planes corresponding to the selected region of taking photo by plane.
The unmanned plane that optionally, can be shared refers to be connected with server and is not connected with other clients of renting userUnmanned plane.
The corresponding one or more unmanned planes in the region of taking photo by plane, are difficult to ensure that each user can rent this district that takes photo by plane at onceThe unmanned plane in territory, has following several method here to process this problem.
Method one, what the user that server reception client sends inputted takes photo by plane after region selection information, by user-selectedThe region of taking photo by plane has the time period information of available unmanned plane to issue client; If there is the time period of available unmanned plane to comprise the time instantlyShowing has available unmanned plane instantly, if there is the time period of available unmanned plane not comprise that the time shows instantly not have available instantlyUnmanned plane. There is the time period information of available unmanned plane in the user-selected region of taking photo by plane that client server sends; Show and useThere is the time period information of available unmanned plane in the selected region of taking photo by plane, family; Obtain the rental period segment information that user selects or inputs, rentWithin having the time period of available unmanned plane with the time period in the region of taking photo by plane; Rental period segment information is issued to server. ServerReceive user's selection of client transmission or the rental period segment information of input. Server is according to described rental period segment information,Judge that described rental period section is whether from instantly; If rental period section is taken photo by plane user-selected from instantly starting serverControl device and the client of at least one in all unmanned planes that can be shared corresponding to region establish a communications link; IfRental period, Duan Bucong started instantly, server wait until rent the time started then or near time send out and preengage then prompting messageGive client, client server rent the time started then or near time send then prompting message of reservation, visitorFamily end reminding user is preengage then, and client is obtained the start information of renting of user's input, and client sends the rent of user's inputWith start information, to server, what the user that server reception client sends inputted rents start information, and server is by userThe control device of at least one in all unmanned planes that can be shared corresponding to the selected region of taking photo by plane and client are set up logicalLetter connects.
Like this, multiple users can take photo by plane in the same region of taking photo by plane in the different time, and the region that not only makes to take photo by plane is by abundantShare, and the shared time also can be specified by user, improved user's experience.
Method two, what the user that server reception client sends inputted takes photo by plane after region selection information, by user-selectedThe region of taking photo by plane has the time period information of available unmanned plane to issue client, if this is taken photo by plane, region has other client users to navigateClap, and described other client users net cast of agreeing to be taken photo by plane shares, server is also taken photo by plane this, and region is each sharesInformation remaining time of live video of taking photo by plane is issued client; If there is the time period of available unmanned plane to comprise that the time shows instantlyInstantly there is available unmanned plane, if there is the time period of available unmanned plane not comprise that the time shows instantly not have available unmanned instantlyMachine. The information that client display server send; Client is obtained the rental period segment information that user selects or inputs,Or live video selection information, within rental period section has the time period of available unmanned plane in the region of taking photo by plane; Client will be rentedTime period information or live video selection information are issued server. The user that server reception client sends selects or inputsRental period segment information or live video are selected information. If what server was received client transmission is rental period segment information, clothesBusiness device, according to described rental period segment information, judges that described rental period section is whether from instantly; If rental period section is from working asLower beginning server by least one the control in all unmanned planes that can the be shared corresponding user-selected region of taking photo by planeDevice processed and client establish a communications link; If the rental period, Duan Bucong started instantly, server is waited until and is rented the time startedThen or near time send out and preengage then prompting message to client, client server is being rented the time started then or soonThe then prompting message of reservation then sending, client reminding user is preengage then, and client is obtained renting out of user's inputBeginning information, what client transmission user inputted rents start information to server, and the user that server reception client sends is defeatedWhat enter rents start information, server by all unmanned planes that can the be shared corresponding user-selected region of taking photo by plane at leastControl device and the client of one establish a communications link. If server is received the live video selection information that client sends,User-selected live video is issued to this client, this client is also play live video.
Like this, multiple users can take photo by plane in the same region of taking photo by plane in the different time, and the region that not only makes to take photo by plane is by abundantShare, and the shared time also can be specified by user, what simultaneously user also can select to watch other users taking photo by plane is straightBroadcast video, further improved user's experience.
Method three, if the user-selected region of taking photo by plane does not temporarily have available unmanned plane, server notification client is usedThe selected region of taking photo by plane, family does not temporarily have available unmanned plane, and client also shows that the user-selected region of taking photo by plane does not temporarily have availableThe information of unmanned plane.
Method four, if the user-selected region of taking photo by plane does not temporarily have available unmanned plane, server notification client is usedThe selected region of taking photo by plane, family does not temporarily have available unmanned plane, and the queuing number of users in this region of taking photo by plane is issued to client; ClientReceive and show that the user-selected region of taking photo by plane does not temporarily have the information of available unmanned plane and the queuing number of users in this region of taking photo by plane, soAfter obtain user and whether be ready the information of waiting in line, be ready to wait in line if obtain user, user is ready to wait in lineInformation issue server; Server is put into queue by client code after obtaining the information that user is ready to wait in line,While being discharged to this client, server is sent out prompting message to client; The prompting message that client server sends, demonstration is carriedWake up information or clock alarming user, obtain user and agree to take photo by plane or cancel the information of taking photo by plane, if what obtain is that user agrees to boatThe information of clapping, agrees to user that the information of taking photo by plane issues server; The user that server obtains client transmission agrees to take photo by planeInformation, by all unmanned planes that can the be shared corresponding user-selected region of taking photo by plane at least one control device withClient establishes a communications link. Optionally, server jumps the queue the user who hands over advnace money on a contract above.
Method five, if the user-selected region of taking photo by plane does not temporarily have available unmanned plane, server notification client is usedThe selected region of taking photo by plane, family does not temporarily have available unmanned plane, and this region of taking photo by plane have available unmanned plane can subscription time section letterBreath is issued client; Client also shows that the user-selected region of taking photo by plane does not temporarily have the information of available unmanned plane and can preengageTime period information, the subscription time section of obtaining user input or selecting, subscription time section is user from can subscription time Duan ZhongxuanThe a period of time going out or input the one section time period information in can subscription time section, then client is believed subscription time sectionBreath is issued server; Server receives subscription time segment information, when subscription time then or near time send out prompting message to clientEnd; The prompting message that client server sends, display alarm information or clock alarming user, obtain user and agree to take photo by planeOr cancel the information of taking photo by plane, if what obtain is that user agrees to the information of taking photo by plane, user is agreed to the information of taking photo by plane issues clothesBusiness device; Server obtains the user that client sends and agrees to the information of taking photo by plane, by corresponding the user-selected region of taking photo by plane all canEstablish a communications link with at least one control device and the client in the unmanned plane being shared.
Be more than Lung biopsy, also can have other method.
Alternatively, the unmanned plane that can be shared is also to check the unmanned plane passing through, and by control device, unmanned plane is carried outCheck, if all inspections all send out and check by information to server by control device, check comprise the following steps in extremelyFew one:
Whether the electric weight that checks unmanned plane sufficient, if electric weight abundance electric weight inspection pass through;
Check unmanned plane whether in default takeoff setting, if unmanned plane in default takeoff setting, position detection is passed through; IfUnmanned plane will not fly to shared initial position in takeoff setting, and the path of unmanned plane is uncertain, dangerous, therefore rising unmanned planeFly position detection important, unmanned plane positional information is from the satellite positioning information such as GPS or the Big Dipper of unmanned plane, or unmanned plane shootingBase area mark not Pan Duan positional information;
Whether the attitude that checks unmanned plane is correct, if attitude is correct, attitude inspection is passed through; If the attitude of unmanned plane is not justReally, take off unsuccessfully, even go out security incident;
Control unmanned plane and take a flight test through at least one position, if unmanned plane is through all positions in the given time, or each positionPutting unmanned plane can pass through within the predetermined time, and the inspection of taking a flight test is passed through; If unmanned plane can not pass through within the predetermined timeAll positions, or have the position can not be within the predetermined time through taking a flight test unsuccessfully; Take a flight test and check and can further guaranteeUnmanned plane fault-free is shared.
The first connected mode of control device and client is: server forwards; Unmanned plane is sent out the live video of taking photo by planeGive control device, control device is issued server, and server is transmitted to client; Client manipulates instruction by user and issues serviceDevice, server manipulates instruction by user and issues control device, control device according to user manipulate instruction control unmanned plane motion andTake photo by plane. The second connected mode of control device and client is: under the help of server, control device and client are set upEnd-to-end connection is that P2P connects; The video P2P that takes photo by plane receiving from unmanned plane is issued client by control device, and client will be usedFamily manipulation instruction P2P issues control device; This connected mode forwards without server, has reduced the bandwidth requirement of server.The third connected mode of control device and client is: the video P2P that takes photo by plane large data volume is issued client by control device,Client manipulates instruction by user little data volume and issues server, then by server, manipulation instruction is transmitted to control device.Above three kinds of connected modes also can be combined with, such as second or the third connected mode P2P penetrate and unsuccessfully use afterwards the firstMode; The connected mode of control device and client is not limited to above three kinds of modes, also can have other connected modes. Therefore clothesBetween business device and client, the communication mode of reception or the information of transmission can be P2P communication, also can be forwarded by serverCommunication.
Optionally, for multiple unmanned planes in the same region of taking photo by plane, server circulates in order successively by itself and clientConnect, thereby avoid always using certain unmanned plane, reduce the life-span of unmanned plane.
Optionally, server is rented the time of unmanned plane and/or the fund that number of times button goes user account to be filled with according to user.
Optionally, server is rented user before or after unmanned plane, collects the corresponding fund of user.
Step 5: the video of taking photo by plane of client control device transmission also shows the video of taking photo by plane, and obtains user's manipulation and refers toOrder, by user manipulate instruction issue control device with control unmanned plane take photo by plane.
Client is issued in the net cast of taking photo by plane that unmanned plane is taken, thereby user can appreciate the wind in the region of taking photo by plane in real timeScape, user also can will take photo by plane by client operation, and video is preserved, unmanned plane during flying etc. is taken pictures, controlled to control camera.
Optionally, client is obtained the shared END instruction of user's input, will share END instruction and issue control device; ControlDevice processed receives shares END instruction, when then controlling unmanned plane auto-returned and taking off park base or other park base.
Optionally, client is obtained the shared END instruction of user's input, will share END instruction and issue server. ServiceDevice has judged whether that client waits in line to use this unmanned plane; If wait in line to use this unmanned plane without client, serviceDevice is sent out and is shared END instruction to this control device, and control device receives shares END instruction, then controls unmanned plane auto-returnedWhile taking off park base or other park base; If there is client to wait in line to use this unmanned plane, server will comeBefore the client that waits be connected with this control device, client manipulation unmanned plane during flying or take photo by plane.
Optionally, client is obtained the shared END instruction of user's input, will share END instruction and issue server. ServiceDevice judges whether that client reservation is used the subscription time of this unmanned plane near, and whether the electric weight of this unmanned plane is enough; IfNear or unmanned plane electric weight is inadequate without client subscription time, server is sent out and is shared END instruction to this control device, controlsDevice receives shares END instruction, when then controlling unmanned plane auto-returned and taking off park base or other park base; IfHave that client subscription time is near and unmanned plane electric weight is enough, server is by client near reservation and this control device companyConnect, client manipulates unmanned plane during flying or takes photo by plane.
Unmanned plane is described in detail in detail below and shares control method and device.
The control solicited message that control device reception server and/or client send; Control unmanned plane from parking baseFly to and be positioned at the shared initial position of default flying area; Judge whether unmanned plane arrives shared initial position, share if unmanned plane arrivesInitial position, is dealt into a prompting message to client; The video of taking photo by plane that unmanned plane is taken is issued client; Reception client sendsUser manipulate instruction; Manipulate instruction control unmanned plane according to user flies or takes photo by plane in flying area; Receiving clientAnd/or after the shared END instruction that sends of server or get after the not enough information of unmanned plane electric weight, control unmanned plane and returnedWhile flying park base or other park base.
The control solicited message that control device reception server and/or client send, specific explanations is as follows: server is receivedWhat send to client take photo by plane after region selection information, in the unmanned plane being shared corresponding to the user-selected region of taking photo by planeThe control device of one sends controls solicited message; And/or server is connected client with control device after, client is logicalCross server and forward control solicited message to control device, or P2P sends out control solicited message to control device. Control solicited messageRefer to the information that can be judged as the request of control, the information that when P2P penetrates, server or client send to control device alsoCan be judged as control solicited message.
Control device control unmanned plane flies to the shared initial position in flying area from parking base, just by user's controlInstruction control unmanned plane during flying, to ensure the safety of unmanned plane. Optionally, being total to of different unmanned planes corresponding to the same region of taking photo by planeEnjoy initial position difference, to prevent the unmanned plane collision of taking off simultaneously.
The prompting message that puts in place is can be judged as unmanned plane by client to arrive the information of sharing initial position, if unmanned plane arrivesAfter reaching shared initial position, control device is just sent out and is taken photo by plane video to client, and video information also can be regarded as the prompting message that puts in place. WhenSo, after control device is connected with client, the video that control device just can be taken unmanned plane camera is issued client, like thisUser can see the video of taking photo by plane before can manipulating unmanned plane, reduced user's wait sense.
In flying area, user could manipulate unmanned plane, has ensured the flight safety of unmanned plane. The one of flying areaConstituted mode is: at least three different GPS location points with longitude and latitude value, the region of a sealing of composition, adds the highestFlying area with a sealing of minimum altitude formation; In flying area, also can establish and avoid spatial domain, to avoid in flying areaBuilding, mountain etc., prevent that unmanned aerial vehicle is on these scenery, and a kind of constituted mode of avoiding spatial domain is: at least three different GPSLocation point, the region of a sealing of composition, adds the spatial domain of avoiding the highest and a sealing of minimum altitude formation. User canThe unmanned plane manipulation instruction of selecting comprises: either direction rectilinear motion and rotation, time-out, speed increase, speed reduces, cloudPlatform moves, takes pictures, the live video of taking photo by plane is preserved, cancelled and renting etc. The another kind of constituted mode of flying area is: at least twoThe limited course line of the individual different some composition with height and GPS position, limited course line is closed loop or open loop, shares initial position and existsOn course line, user can only control unmanned plane and on-course flies or take photo by plane, and the unmanned plane manipulation instruction that user can select comprises:Advance, retreat, time-out, speed increase, speed reduces, unmanned plane rotate, The Cloud Terrace moves, take pictures, by the live video guarantor that takes photo by planeDepositing, withdrawing disappears rents etc. Here said GPS position also can the Big Dipper etc. the position of other navigation systems.
Control device manipulates instruction control unmanned plane according to user and in flying area, flies or take photo by plane, and is specially: foundationUser manipulates instruction control unmanned plane during flying, and timing judges according to the positional information of unmanned plane whether unmanned plane exceeds flight skyTerritory, preserves positional information if unmanned plane does not exceed flying area, if unmanned plane exceeds flying area according to before preservingThe positional information control unmanned plane in flying area of judgement returns to corresponding position once or several times. Here provided controlThe concrete grammar that unmanned plane flies in flying area, also can have other method, such as according to the positional information of unmanned planeJudge the distance of unmanned plane and center, distance is greater than a value and just controls afterwards unmanned plane deceleration, then is greater than a value controlUnmanned plane stops, or distance is greater than and controls that unmanned plane returns until distance is less than a value after a value.
Optionally, after the control solicited message that control device reception server and/or client send, first unmanned plane is enteredRow checks, all inspections all by after control again the unmanned plane shared initial position that flies to, check at least one in comprising the following steps:
Whether the electric weight that checks unmanned plane sufficient, if electric weight abundance electric weight inspection pass through;
Check unmanned plane whether in default takeoff setting, if unmanned plane in default takeoff setting, position detection is passed through; IfUnmanned plane will not fly to shared initial position in takeoff setting, and the path of unmanned plane is uncertain, dangerous, therefore rising unmanned planeFly position detection important, unmanned plane positional information is from the satellite positioning information such as GPS or the Big Dipper of unmanned plane, or unmanned plane shootingBase area mark not Pan Duan positional information;
Whether the attitude that checks unmanned plane is correct, if attitude is correct, attitude inspection is passed through; If the attitude of unmanned plane is not justReally, take off unsuccessfully, even go out security incident;
Control unmanned plane and take a flight test through at least one position, if unmanned plane is through all positions in the given time, or each positionPutting unmanned plane can pass through within the predetermined time, and the inspection of taking a flight test is passed through; If unmanned plane can not pass through within the predetermined timeAll positions, or have the position can not be within the predetermined time through taking a flight test unsuccessfully; Take a flight test and check and can further guaranteeUnmanned plane fault-free is shared.
Alternatively, when stopping dropping on, unmanned plane parks base or in when flight, if unmanned plane electric weight deficiency, control device controlUnmanned plane processed flies to and changes the battery of electric weight abundance on battery replacement device; Or, park base or flying when unmanned plane stops dropping onWhen row, if unmanned plane electric weight deficiency is controlled unmanned plane and flown on charging device and charge. Automatically control unmanned plane change battery orCharging, can make unmanned plane repeatedly be shared to use and not need people to follow to change battery or charging, make unmanned plane shared system more fromMovingization.
Optionally, on each unmanned plane, configure ultrasonic wave or camera obstacle module, to prevent same taking photo by plane the region whileThe unmanned plane of flight bumps against, and also can prevent that unmanned plane and other objects from bumping against.
Control device described in the embodiment of the present invention, comprising:
The first receiver module, for the control solicited message of reception server and/or client transmission;
The first control module, flies to and is positioned at the shared initial position of default flying area from parking base for controlling unmanned plane;
Judge module, user judges whether unmanned plane arrives shared initial position, shares initial position if unmanned plane arrives, and first sends mouldPiece is dealt into a prompting message to client;
The first sending module, issues client for the video of taking photo by plane that unmanned plane is taken;
The second receiver module, manipulates instruction for the user who receives client transmission;
The second control module is flown or takes photo by plane for manipulate instruction control unmanned plane according to user in flying area;
The 3rd control module, for receiving after the shared END instruction that client and/or server send, or gets unmannedAfter dynamo-electric quantity not sufficient information, control unmanned plane return while taking off park base or other park base.
Optionally, control device also comprises checking module, sends at the first receiver module reception server and/or clientControl solicited message after, checking module first checks unmanned plane, all inspections all by after control again unmanned plane and fly toShare initial position, checking module comprises with at least one in lower module:
Electric weight checking module, whether sufficient for checking the electric weight of unmanned plane, if electric weight abundance electric weight inspection pass through;
Takeoff setting checking module, for checking that whether unmanned plane is in default takeoff setting, if unmanned plane is in default taking offPosition, position detection is passed through; If unmanned plane will not fly to shared initial position in takeoff setting, the path of unmanned plane is uncertain,Dangerous, therefore important to the takeoff setting inspection of unmanned plane, unmanned plane positional information is defended from GPS or the Big Dipper etc. of unmanned planeStar locating information, or unmanned plane camera base area mark not Pan Duan positional information;
Attitude checking module, whether correct for checking the attitude of unmanned plane, if attitude is correct, attitude inspection is passed through; IfThe attitude of unmanned plane is incorrect, takes off unsuccessfully, even goes out security incident;
The checking module of taking a flight test, takes a flight test through at least one position for controlling unmanned plane, if unmanned plane process in the given timeAll positions, or each position unmanned plane can pass through within the predetermined time, taking a flight test checks and passes through; If unmanned plane can not beThrough all positions, or there is the position can not be within the predetermined time through taking a flight test unsuccessfully in predetermined time; The inspection of taking a flight testLook into and can further guarantee that unmanned plane fault-free is shared.
Alternatively, control device also comprises battery altering module or charging module, and battery altering module is for working as unmanned planeStop dropping on and park base or in when flight, if unmanned plane electric weight deficiency is controlled unmanned plane and flown on battery replacement device and changeThe battery of electric weight abundance; Charging module for when unmanned plane stop dropping on park base or fly time, if unmanned plane electric weight deficiency,Controlling unmanned plane flies on charging device and charges. Automatically control unmanned plane and change battery or charging, can make unmanned plane by manyInferior shared use and do not need people to follow to change battery or charging, make the more automation of unmanned plane shared system.
Unmanned plane provided by the invention is shared control method or control device, and response request control unmanned plane is automatically from baseTake off, flying in flying area according to network user's instruction or taking photo by plane, control unmanned plane drops to base, has realized unmanned planeThe automation control that network is shared.
It should be noted that: the control device that above-described embodiment provides is in the time realizing the shared control of unmanned plane, only with above-mentionedThe division of each functional module is illustrated, and in practical application, can as required above-mentioned functions be distributed by differentFunctional module completes, and is divided into different functional modules by the internal structure of control device, described above whole to completeOr partial function. Described in above-described embodiment, the shared system of client and server composition is not unique embodiment in addition,Unmanned plane is shared control method and device and is not limited to the shared system of client and server composition described in above-described embodiment.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can pass through programCarry out the hardware that instruction is relevant and complete, described program can be stored in a kind of computer-readable recording medium, above-mentioned mentioningStorage medium can be read-only storage, disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all in spirit of the present invention andWithin principle, any amendment of doing, be equal to replacement, improvement etc., within protection scope of the present invention all should be included in.
Claims (8)
1. unmanned plane is shared a control method, it is characterized in that, comprises the following steps:
The control solicited message that reception server and/or client send;
Controlling unmanned plane flies to and is positioned at the shared initial position of default flying area from parking base;
Judge whether described unmanned plane arrives described shared initial position, if described unmanned plane arrives described shared initial position, be dealt into positionPrompting message is given described client;
The video of taking photo by plane that described unmanned plane is taken is issued described client;
The user who receives described client transmission manipulates instruction;
Manipulate unmanned plane described in instruction control according to described user flies or takes photo by plane in flying area;
Receiving after the shared END instruction that described client and/or described server send or getting described unmanned plane electric weightAfter not enough information, control described unmanned plane return while taking off park base or other park base.
2. unmanned plane is shared control method according to claim 1, it is characterized in that, also comprises step:
After receiving control solicited message, unmanned plane is checked, after all inspections of described unmanned plane are all passed through, control again instituteState the unmanned plane described shared initial position that flies to, at least one during described inspection comprises the following steps:
Whether the electric weight that checks described unmanned plane sufficient, if described electric weight abundance electric weight inspection pass through;
Check that whether described unmanned plane is in default takeoff setting, if described unmanned plane in default takeoff setting, position inspectionLook into and pass through;
Whether the attitude that checks described unmanned plane is correct, if described attitude is correct, attitude inspection is passed through;
Control described unmanned plane and take a flight test through at least one position, if described unmanned plane is through all positions in the given time,Or each position unmanned plane can pass through within the predetermined time, taking a flight test checks and passes through.
3. unmanned plane is shared control method according to claim 1, it is characterized in that, also comprises step:
When stopping dropping on, unmanned plane parks base or in when flight, if unmanned plane electric weight deficiency is controlled the described unmanned plane electricity that flies toThe battery of electric weight abundance is more changed in pond on changing device;
Or,
When stopping dropping on, unmanned plane parks base or in when flight, if unmanned plane electric weight deficiency is controlled described unmanned plane and flown to and fillOn electric installation, charge.
4. unmanned plane is shared control method according to claim 1, it is characterized in that, described step, according to described user behaviourDescribed in control instruction control, unmanned plane flies or takes photo by plane in flying area, is specially: manipulate instruction control unmanned plane according to userFlight, timing judges according to the positional information of unmanned plane whether unmanned plane exceeds flying area, if unmanned plane does not exceed flightDescribed positional information is preserved in spatial domain, if unmanned plane exceeds flying area according to front the flying of judgement once or several times of preservingPositional information control unmanned plane in line space territory returns to corresponding position.
5. unmanned plane is shared a control device, it is characterized in that, comprising:
The first receiver module, for the control solicited message of reception server and/or client transmission;
The first control module, flies to and is positioned at the shared initial position of default flying area from parking base for controlling unmanned plane;
Prompting module, for judging whether described unmanned plane arrives described shared initial position, if described unmanned plane arrives described sharingInitial position, is dealt into a prompting message to described client;
The first sending module, issues described client for the video of taking photo by plane that described unmanned plane is taken;
The second receiver module, manipulates instruction for the user who receives described client transmission;
The second control module is flown or navigates for manipulate unmanned plane described in instruction control according to described user in flying areaClap;
The 3rd control module, for receiving after the shared END instruction that described client and/or described server send or obtainingGet after the not enough information of described unmanned plane electric weight, control described unmanned plane return while taking off park base or other park baseGround.
6. unmanned plane is shared control device according to claim 5, it is characterized in that, also comprises:
Checking module: for unmanned plane being checked receiving to control after solicited message, to all inspections of described unmanned planeAll by after control again the described unmanned plane described shared initial position that flies to, described checking module comprises in following checking module at leastOne:
Electric weight checking module, whether sufficient for checking the electric weight of described unmanned plane, if electric weight inspection is logical for described electric weight abundanceCross;
Takeoff setting checking module, for checking that whether described unmanned plane is in default takeoff setting, if described unmanned plane is in advanceIf takeoff setting, position detection is passed through;
Attitude checking module, whether correct for checking the attitude of described unmanned plane, if described attitude is correct, attitude inspection is logicalCross;
The checking module of taking a flight test, takes a flight test through at least one position for controlling described unmanned plane, if described nothing in the given timeAll positions of man-machine process, or each position unmanned plane can pass through within the predetermined time, taking a flight test checks and passes through.
7. unmanned plane is shared control device according to claim 5, it is characterized in that, also comprises:
Battery altering module, parks base or in when flight, if unmanned plane electric weight deficiency is controlled for stopping dropping on when unmanned planeDescribed unmanned plane flies to and changes the battery of electric weight abundance on battery replacement device;
Or,
Charging module, parks base or in when flight for stopping dropping on when unmanned plane, if unmanned plane electric weight deficiency, described in controllingUnmanned plane flies on charging device and charges.
8. unmanned plane according to claim 5 is shared control device, it is characterized in that, and described the second control module, forManipulate instruction control unmanned plane during flying according to user, timing judges according to the positional information of unmanned plane whether unmanned plane exceeds flightSpatial domain, preserves described positional information if unmanned plane does not exceed flying area, if unmanned plane exceeds flying area according to protectingThe front positional information control unmanned plane in flying area of judgement once or several times of depositing returns to corresponding position.
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