CN105620731B - A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system - Google Patents
A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system Download PDFInfo
- Publication number
- CN105620731B CN105620731B CN201610007383.4A CN201610007383A CN105620731B CN 105620731 B CN105620731 B CN 105620731B CN 201610007383 A CN201610007383 A CN 201610007383A CN 105620731 B CN105620731 B CN 105620731B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- signal
- unmanned aerial
- unmanned plane
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012545 processing Methods 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000011161 development Methods 0.000 abstract description 7
- 230000000875 corresponding effect Effects 0.000 description 38
- 238000012549 training Methods 0.000 description 7
- 230000002452 interceptive effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The present invention provides a kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control systems, it is related to unmanned aerial vehicle (UAV) control technical field, manipulates process complexity to solve unmanned plane in the prior art, operator is in short supply, problem with high costs, causing consumer level unmanned plane market development slow.The unmanned aerial vehicle (UAV) control method includes: reception input signal；Judge the corresponding function command of the input signal；One or more continuous action commands are converted by the function command；It controls unmanned plane and executes the action command.The unmanned aerial vehicle (UAV) control method simplifies the manipulation process of unmanned plane for controlling unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical fields, more particularly, to a kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle (UAV) control
System.
Background technique
Unmanned plane refers to the not manned vehicle controlled using wireless remote control device and the control device of itself.
Unmanned plane is becoming increasingly popular in recent years due to its high-adaptability to environment, is widely used in military affairs, is rescued
The fields such as calamity, electric power, agricultural, for providing network and acquisition data etc..And in addition to other than these professional domains, unmanned plane also by
It is progressive enter ordinary people daily life in, that is, consumer level unmanned plane.Consumer level unmanned plane is widely used, and is had a extensive future,
For example, being applied to photography and vedio recording or transport express delivery etc..
But existing unmanned plane manipulation process is extremely complex, each step movement of unmanned plane all needs operator's moment
Control, it is therefore necessary to it to be manipulated by the personnel Jing Guo professional training, and the operator of the manipulation unmanned plane of profession is in short supply
And employ operator's required cost of the manipulation unmanned plane of profession high.Therefore, although the consumer level unmanned plane market demand is prosperous
It contains, but since manipulation process is complicated, operator is in short supply, it is with high costs, cause consumer level unmanned plane market development slow.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned aerial vehicle (UAV) control methods, are manipulated with solving unmanned plane in the prior art
Journey is complicated, and operator is in short supply, with high costs, the problem for causing consumer level unmanned plane market development slow.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
Unmanned aerial vehicle (UAV) control method provided by the invention, comprising:
Receive input signal；
Judge the corresponding function command of the input signal；
One or more continuous action commands are converted by the function command；
It controls unmanned plane and executes the action command.
Preferably, the function command include: starting, pause, landing, identification target, advance, retrogressing, up and down,
Rotation is stacked around flight, vrille, parallel reciprocal flight, vertically reciprocating flight, intermittent flight, shooting or step
Article.
Further, when the function command is shooting instruction, one or more connect is converted by the function command
The step of continuous action command, specifically includes:
Transmission identification instruction:
Identify the coordinate of photographic subjects, and the coordinate signal of feedback identifying pass signal and the photographic subjects；
The action command is generated according to the coordinate signal of the photographic subjects, the action command includes: starting, control
The camera lens of filming apparatus controls the filming apparatus and starts to shoot towards the photographic subjects direction.
Further, when the shooting instruction is 360 ° of full angle shootings, the action command includes:
Control unmanned plane flies towards the photographic subjects to being set distance with the distance between photographic subjects；
It is radius around flight using set distance using the photographic subjects as the center of circle；
The camera lens of the filming apparatus is controlled always towards the photographic subjects direction, and controls the filming apparatus and starts
Shooting.
Further, when the function command be step stacked items when, by the function command be converted into one or
The step of multiple continuous action commands, specifically includes:
Transmission identification instruction:
Identify the coordinate of the step to stacked items, and feedback identifying pass signal and the step to stacked items
Coordinate signal；
The action command is generated according to the coordinate signal of the step to stacked items, the action command includes:
Starting, towards the flying overhead of the step to stacked items, setting time of hovering is described wait stack article to be deposited into
On the step of article, next step to stacked items is identified.
Compared with the existing technology, unmanned aerial vehicle (UAV) control method of the present invention has the advantage that
During being applied to manipulation unmanned plane using unmanned aerial vehicle (UAV) control method provided by the invention, operator only needs root
According to the function that required control unmanned plane is completed, by inputting corresponding instruction, control system can judge automatically input signal pair
The function command answered, and corresponding one or more action commands are converted by function command, it then automatically controls unmanned plane and holds
Row movement corresponding with action command, to reach function needed for operator.The corresponding action command of function command can
Think an action command, or multiple action commands.It is complete that unmanned plane is controlled by operator's moment in the prior art
It compares at the control method of each movement, in unmanned aerial vehicle (UAV) control method provided by the invention, need to only input needed for primary indicate
The information of function just can be automatically controled unmanned plane and execute multiple movements to meet the corresponding functional requirement of operator, simplify pair
The manipulation process of unmanned plane, so that the manipulation process of unmanned plane is easy to learn, hence for the professional demand of operator
It reduces, it is shorter to the training time of operator, cost is reduced, and then improve the utilization rate of consumer level unmanned plane, promotes consumption
The market development of grade unmanned plane.
Another object of the present invention is to propose a kind of unmanned aerial vehicle control system, to solve unmanned plane behaviour in the prior art
Control process is complicated, and operator is in short supply, with high costs, the problem for causing consumer level unmanned plane market development slow.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of unmanned aerial vehicle control system, comprising: mobile terminal and the controller being set on unmanned plane, the mobile terminal
Including input terminal, judgment module and signal processing module are instructed,
The input terminal is for receiving input signal and the input signal being transferred to described instruction judgment module；
Described instruction judgment module passes the function command for judging the corresponding function command of the input signal
It is defeated by signal processing module；
The signal processing module is used to convert the function command to one or more continuous action commands and passes
It is defeated by the controller；
The controller executes the action command for controlling the unmanned plane.
Preferably, the unmanned aerial vehicle control system further includes the identification module being set on the unmanned plane, the movement
Terminal further includes input module,
The coordinate of identification module target for identification, and the coordinate signal of identification success signal and the target is passed
It is defeated by the input module；
The input module is used to the coordinate signal of the target being transferred to the signal processing module.
Preferably, the mobile terminal further includes output module, and the output module is for receiving the signal processing mould
The action command is simultaneously transferred to the controller by the action command of block transmission.
Preferably, the unmanned aerial vehicle control system further includes ground-based transceiver, and the ground-based transceiver is used for will be described defeated
The action command of module feedback is transferred to the controller out.
Preferably, the identification success signal and the bat that the ground-based transceiver is also used to feed back the identification module
The coordinate signal for taking the photograph target is transferred to the input module.
When using practical unmanned aerial vehicle control system manipulation unmanned plane provided by the invention, operator only need to be according to required
The function that unmanned plane is completed is controlled, corresponding instruction is inputted by input terminal, signal processing module can turn according to function command
One or more action commands are turned to, so that controller control unmanned plane executes movement corresponding with action command, with
Function needed for reaching operator.The corresponding action command of function command can be an action command, or multiple
Action command.Compared with controlling the control system that unmanned plane completes each movement by operator's moment in the prior art, this hair
During the manipulation of the unmanned aerial vehicle control system of bright offer, it is only necessary to the process of an input signal is carried out in input terminal, nobody
Machine control system just can be automatically controled unmanned plane and execute multiple movements to meet the corresponding functional requirement of operator, simplify pair
The manipulation process of unmanned plane, so that the manipulation process of unmanned plane is easy to learn, hence for the professional demand of operator
It reduces, it is shorter to the training time of operator, cost is reduced, and then improve the utilization rate of consumer level unmanned plane, promotes consumption
The market development of grade unmanned plane.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart one of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 2 is the flowchart 2 of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 3 is the flow chart 3 of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 4 is the flow chart four of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention；
Fig. 5 is that the signal of unmanned aerial vehicle control system provided in an embodiment of the present invention transmits schematic diagram one；
Fig. 6 is that the signal of unmanned aerial vehicle control system provided in an embodiment of the present invention transmits schematic diagram two；
Fig. 7 is the signal in unmanned aerial vehicle control system provided in an embodiment of the present invention between signal processing module and controller
Transmit schematic diagram one；
Fig. 8 is the signal in unmanned aerial vehicle control system provided in an embodiment of the present invention between signal processing module and controller
Transmit schematic diagram two.
Appended drawing reference:
10- input terminal；20- instructs judgment module；30- signal processing module；
40- controller；50- unmanned plane；60- identification module；
70- input module；80- output module；90- ground-based transceiver.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and is manipulated with specific orientation, therefore be not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Refering to fig. 1-8, unmanned aerial vehicle (UAV) control method provided by the invention, comprising:
Step 110 receives input signal；
Step 120 judges the corresponding function command of input signal；
Function command is converted one or more continuous action commands by step 130；
Step 140, control unmanned plane 50 execute action command.
When this unmanned aerial vehicle (UAV) control method is applied in unmanned aerial vehicle control system, specifically by input terminal 10, instruction judgment module
20, the common control process completed to unmanned plane 50 of controller 40 of signal processing module 30, unmanned plane 50, at this point, corresponding
Rate-determining steps are as follows:
Step 210, input terminal 10 receive input signal, and input signal is transferred to instruction judgment module 20；
Step 220, instruction judgment module 20 judge the corresponding function command of input signal, and function command are transferred to letter
Number processing module 30；
Step 230, signal processing module 30 convert one or more continuous action commands for function command and transmit
To the controller 40 of unmanned plane 50；
Step 240, controller 40 control unmanned plane 50 and execute action command.
During being applied to manipulation unmanned plane 50 using unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, people is manipulated
The function that member need to only complete according to required control unmanned plane 50, by inputting corresponding instruction, control system can be judged automatically
The corresponding function command of input signal, and corresponding one or more action commands are converted by function command, then automatic control
Unmanned plane 50 processed executes movement corresponding with action command, to reach function needed for operator.Function command is corresponding
Action command can be an action command, such as rise, or multiple action commands, such as first rise, then advance, connect
Get off around flight.With the control method phase that unmanned plane 50 completes each movement is controlled by operator's moment in the prior art
Than in unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, the information of function needed for need to only inputting primary indicate can be certainly
Dynamic control unmanned plane 50 executes multiple movements to meet the corresponding functional requirement of manipulator, simplifies the manipulation to unmanned plane 50
Journey reduces, to manipulation people so that the manipulation process of unmanned plane 50 is easy to learn hence for the professional demand of operator
The training time of member is shorter, reduces cost, and then improve the utilization rate of the unmanned plane 50 of consumer level, promotes the unmanned plane of consumer level
50 market development.
Above-mentioned input terminal 10 can be mobile phone, plate or other equipment that there is reception to transmit wireless signal.If using hand
Machine can first install corresponding application software as input terminal 10 on mobile phone, select in the interactive interface selection function of application software
, instruction judgment module 20 judges out the corresponding function command of the signal inputted.The interactive interface of above-mentioned application software can be with
It is designed more concise, it can be readily appreciated that how grasp the people without professional training can also quickly manipulates the execution of unmanned plane 50
Specified function.
Above-mentioned function command include but is not limited to start, pause, landing, identification target, advance, retrogressing, up and down,
Rotation is stacked around flight, vrille, parallel reciprocal flight, vertically reciprocating flight, intermittent flight, shooting or step
Article.
For example, when the corresponding function command of signal of operator's input is shooting instruction, function command is turned
The step of turning to one or more continuous action commands specifically includes:
Step 131, transmission identification instruction:
Step 132, the coordinate for identifying photographic subjects, and the coordinate signal of feedback identifying pass signal and photographic subjects；
Step 133 generates action command according to the coordinate signal of photographic subjects, and action command includes: starting, control shooting
The camera lens of device controls filming apparatus and starts to shoot towards photographic subjects direction.
When it is implemented, by signal processing module 30, controller 40, identification module 60, input module 70 and controller 40
Common to complete above-mentioned steps, implementation procedure is as follows:
Step 231, signal processing module 30 transmit identification instruction to controller 40:
Step 232, controller 40 control the coordinate that the identification module 60 on unmanned plane 50 identifies photographic subjects, and to input
The coordinate signal of 70 feedback identifying pass signal of module and photographic subjects；
The coordinate signal of photographic subjects is transferred to signal processing module 30 by step 233, input module 70；
Step 234, signal processing module 30 generate action command according to the coordinate signal of photographic subjects and are transferred to control
Device 40.
Specifically, operator shoots corresponding text or icon, input terminal 10 in the interactive interface selection of input terminal 10
By corresponding signal be transferred to instruction judgment module 20, instruction judgment module 20 identify signal it is corresponding be shooting function, letter
Number processing module 30 transmits identification instruction to controller 40, and controller 40 controls the identification module 60 on unmanned plane 50 and identifies shooting
Target is successful to 30 feedback identifying of signal processing module by input module 70 after identification module 60 identifies photographic subjects
The coordinate signal of signal and photographic subjects, signal processing module 30 generate corresponding a series of actions and instruct and be transferred to control
Device 40, controller 40 control unmanned plane 50 and execute corresponding a series of actions instruction.
Shooting instruction can also further be segmented in interaction page, such as including shooting or 360 ° of full angles from the distant to the near
Shooting etc., when operator's selection is shot from the distant to the near, coordinate, flight rail of the signal processing module 30 according to photographic subjects
A series of actions instruction that the factors such as the function of mark, flight time and aspect generate can be with are as follows: camera is towards shooting mesh
Mark, starts to shoot, fly at a constant speed towards photographic subjects.
When operator selects the shooting of 360 ° of full angles, action command can be with are as follows: control unmanned plane is towards the shooting
Target flight is to being set distance with the distance between photographic subjects；Using the photographic subjects as the center of circle, with set distance
It is radius around flight；The camera lens of the filming apparatus is controlled always towards the photographic subjects direction, and controls the shooting
Device starts to shoot.The movement such as turning, advance without operator's real-time control unmanned plane 50, so that for
The operating process of unmanned plane 50 is greatly simplified.Above-mentioned set distance can be selected in interactive interface, meanwhile, it can also select around flight
Number, with control unmanned plane 50 around photographic subjects flight one circle, two circle or multi-turn.
In one of embodiment of the invention, signal processing module 30 is generated according to the coordinate signal of photographic subjects
Action command and the step of being transferred to controller 40 specifically includes:
Signal processing module 30 generates action command according to the coordinate signal of photographic subjects and is transferred to output module 80；
Action command is transferred to controller 40 by output module 80.
Action command directly can be transferred to controller 40 by output module 80, alternatively, output module 80 can also pass through
Action command is transferred to controller 40 by ground-based transceiver 90.When output module 80 is passed action command by ground-based transceiver 90
When being defeated by controller 40, the step of action command is transferred to controller 40 by output module 80, is specifically included:
Action command is transferred to ground-based transceiver 90 by output module 80；
The action command that output module 80 is fed back is transferred to controller 40 by ground-based transceiver 90.
Likewise, controller 40 can directly to 70 feedback signal of input module, can also by ground-based transceiver 90 to
Input module 70 transmits signal.When controller 40 transmits signal by ground-based transceiver 90, controller 40 controls unmanned plane 50
On identification module 60 identify the coordinates of photographic subjects, and to 70 feedback identifying pass signal of input module and photographic subjects
The step of coordinate signal, specifically includes:
Controller 40 controls the coordinate that the identification module 60 on unmanned plane 50 identifies photographic subjects, and transceiver 90 to the ground
The coordinate signal of feedback identifying pass signal and photographic subjects；
The coordinate signal of identification success signal and photographic subjects is transferred to input module 70 by ground-based transceiver 90.
It should be noted that above-mentioned identification module 60 can be integrated into signal processing module 30, above-mentioned 70 He of input module
Output module 80 is desirably integrated into signal processing module 30, at this point, the signal between signal processing module 30 and controller 40
Transmission can be directly to transmit or by 90 indirect communication of ground-based transceiver.
Below by operator for interaction page selects " step stacked items ", again to above-mentioned unmanned aerial vehicle (UAV) control
Method is described in detail.
When function command is step stacked items, one or more continuous action commands are converted by function command
The step of specifically include:
Transmission identification instruction:
Identify the coordinate of the step to stacked items, and the seat of feedback identifying pass signal and the step to stacked items
Mark signal；
Action command is generated according to the coordinate signal of the step to stacked items, action command includes: starting, towards to heap
The flying overhead of the step of article is put, setting time of hovering identifies next being deposited into article on the step to stacked items
A step to stacked items.
It says in further detail, instruction judgment module 20 judges the corresponding function command of signal of the input of input terminal 10 for " platform
Stepwise stacked items ", signal processing module 30 transmits a series of actions instruction to controller 40, when unmanned plane 50 successfully identifies mesh
After marking (after first step of stacked items), signal processing module 30 is with recognize target (first to stacked items
Step) coordinate centered on, according to interval flight path, intermittently staying time needed for unmanned plane 50 and time and unmanned plane
The function of 50 postures generates a series of action command.Controller 40, which controls unmanned plane 50 and executes to act accordingly in order, to be referred to
It enables, unmanned plane 50 flies according to corresponding track, and the certain time that hovers on first step to stacked items, and by goods
Object is released, and reaches cargo on first step of stacked items, and then unmanned plane 50 identifies next to stacked items
Step, and the coordinate signal of next step to stacked items is fed back into signal processing module 30, signal processing module 30
Centered on the coordinate of next step, interval flight path, intermittently staying time in conjunction with needed for unmanned plane 50 and time and nothing
The function of man-machine 50 posture generates a series of actions instruction, and is transferred to controller 40 to control the execution of unmanned plane 50；So follow
Ring, when unmanned plane 50 is identified less than next step to stacked items, unmanned plane 50 voluntarily hovers, and waits and ordering in next step
It enables.By above-mentioned unmanned aerial vehicle (UAV) control method, operator do not need real time monitoring unmanned plane 50, and constantly control unmanned plane 50 into
The movements such as row starting, hovering, rising, operate greatly simplified.
Refering to Fig. 5-8, the embodiment of the present invention additionally provides a kind of unmanned aerial vehicle control system simultaneously, comprising: mobile terminal and
The controller 40 being set on unmanned plane 50, mobile terminal include input terminal 10, instruction judgment module 20 and signal processing module
30, input terminal 10 is for receiving input signal and input signal being transferred to instruction judgment module 20；Judgment module 20 is instructed to use
In judging the corresponding function command of input signal, and function command is transferred to signal processing module 30；Signal processing module 30
For converting one or more continuous action commands for function command and being transferred to controller 40；Controller 40 is for controlling
Unmanned plane 50 executes action command.
When using unmanned aerial vehicle control system provided in an embodiment of the present invention manipulation unmanned plane 50, operator only needs basis
The function that required control unmanned plane 50 is completed, inputs corresponding instruction by input terminal 10, the signal in unmanned aerial vehicle control system
Processing module 30 can be converted into one or more action commands according to function command, so that controller 40 controls unmanned plane
50 it is automatic execute movements corresponding with action command, with function needed for reaching operator.The corresponding movement of function command
Instruction can be an action command, or multiple action commands.With nothing is controlled by operator's moment in the prior art
Man-machine 50 control systems for completing each movement are compared, the manipulation process of unmanned aerial vehicle control system provided in an embodiment of the present invention
In, it is only necessary to as soon as carrying out the process of time input signal in input terminal, unmanned aerial vehicle control system can be automatically controled unmanned plane 50 and hold
The multiple movements of row simplify the manipulation process to unmanned plane 50, so that unmanned plane to meet the corresponding functional requirement of operator
50 manipulation process is easy to learn, and reduces hence for the professional demand of operator, to the training time of operator
It is shorter, cost is reduced, and then improve the utilization rate of the unmanned plane 50 of consumer level, the market of the unmanned plane 50 of consumer level is promoted to send out
Exhibition.
Above-mentioned input terminal 10 can be mobile phone, plate or other equipment that there is reception to transmit wireless signal.If using hand
Machine can first install corresponding application software as input terminal 10 on mobile phone, select in the interactive interface selection function of application software
, instruction judgment module 20 judges out the corresponding function command of the signal inputted.The interactive interface of above-mentioned application software can be with
It is designed more concise, it can be readily appreciated that how grasp the people without professional training can also quickly manipulates the execution of unmanned plane 50
Specified function.
In the present embodiment, unmanned aerial vehicle control system further includes the identification module 60 being set on unmanned plane 50, mobile terminal
It further include input module 70, the coordinate of the target for identification of identification module 60, and the coordinate of identification success signal machine target is believed
Number it is transferred to input module 70；Input module 70 is used to the coordinate signal of target being transferred to signal processing module 30.Namely
It says, the signal that identification module 60 is fed back is transferred to signal processor by input module 70 by mobile terminal.
In the present embodiment, mobile terminal further includes output module 80, and output module 80 is for receiving signal processing module 30
Action command is simultaneously transferred to controller 40 by the action command of transmission.
In the present embodiment, unmanned aerial vehicle control system further includes ground-based transceiver 90, and ground-based transceiver 90 will be for that will export mould
The action command that block 80 is fed back is transferred to controller 40.
In the present embodiment, identification success signal that ground-based transceiver 90 is also used to feed back identification module 60 and target
Coordinate signal is transferred to input module 70.
It should be noted that above-mentioned identification module 60 can be integrated into controller 40, above-mentioned input module 70 and output mould
Block 80 can be integrated into signal processing module 30, at this point, the information transmission between controller 40 and signal processing module 30 can be with
Directly to transmit or by 90 indirect communication of ground-based transceiver.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of unmanned aerial vehicle (UAV) control method characterized by comprising
Receive input signal；
Judge that the corresponding function command of the input signal, the function command include shooting or step stacked items；
Multiple continuous action commands are converted by the function command；
It controls unmanned plane and executes the action command；
When the function command is step stacked items, multiple continuous action commands are converted by the function command
Step specifically includes:
Transmission identification instruction:
Identify the coordinate of the step to stacked items, and the seat of feedback identifying pass signal and the step to stacked items
Mark signal；
The action command is generated according to the coordinate signal of the step to stacked items, the action command includes: starting,
Towards the flying overhead of the step to stacked items, setting time of hovering is described to stacked items article to be deposited into
On step, next step to stacked items is identified.
2. unmanned aerial vehicle (UAV) control method according to claim 1, which is characterized in that the function command further include: start, temporarily
Stop, land, identifies target, advance, retrogressing, up and down, rotation, surround flight, vrille, back and forth fly in parallel, is vertical
Reciprocal flight and intermittent flight.
3. unmanned aerial vehicle (UAV) control method according to claim 2, which is characterized in that when the function command is shooting instruction
When, the step of converting multiple continuous action commands for the function command, specifically includes:
Transmission identification instruction:
Identify the coordinate of photographic subjects, and the coordinate signal of feedback identifying pass signal and the photographic subjects；
The action command is generated according to the coordinate signal of the photographic subjects, the action command includes: starting, control shooting
The camera lens of device controls the filming apparatus and starts to shoot towards the photographic subjects direction.
4. unmanned aerial vehicle (UAV) control method according to claim 3, which is characterized in that when the shooting instruction is 360 ° of full angles
When shooting, the action command includes:
Control unmanned plane flies towards the photographic subjects to being set distance with the distance between photographic subjects；
It is radius around flight using set distance using the photographic subjects as the center of circle；
The camera lens of the filming apparatus is controlled always towards the photographic subjects direction, and controls the filming apparatus and starts to clap
It takes the photograph.
5. a kind of unmanned aerial vehicle control system, comprising: mobile terminal and the controller being set on unmanned plane, the mobile terminal packet
Include input terminal, instruction judgment module and signal processing module, which is characterized in that
The input terminal is for receiving input signal and the input signal being transferred to described instruction judgment module；
The function command is transferred to by described instruction judgment module for judging the corresponding function command of the input signal
Signal processing module, the function command include shooting or step stacked items；
The signal processing module is for converting multiple continuous action commands for the function command and being transferred to the control
Device processed；
The controller executes the action command for controlling the unmanned plane；
The unmanned aerial vehicle control system further includes the identification module being set on the unmanned plane, and the mobile terminal further includes defeated
Enter module,
The coordinate of identification module target for identification, and the coordinate signal of identification success signal and the target is transferred to
The input module；
The input module is used to the coordinate signal of the target being transferred to the signal processing module.
6. unmanned aerial vehicle control system according to claim 5, which is characterized in that the mobile terminal further includes output mould
Block, the output module are used to receive the action command of the signal processing module transmission and the action command are transferred to institute
State controller.
7. unmanned aerial vehicle control system according to claim 6, which is characterized in that the unmanned aerial vehicle control system further includes ground
Face transceiver, the action command that the ground-based transceiver is used to feed back the output module are transferred to the controller.
8. unmanned aerial vehicle control system according to claim 7, which is characterized in that the ground-based transceiver is also used to will be described
The identification success signal of identification module feedback and the coordinate signal of the photographic subjects are transferred to the input module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007383.4A CN105620731B (en) | 2016-01-06 | 2016-01-06 | A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system |
| PCT/CN2016/079386 WO2017117887A1 (en) | 2016-01-06 | 2016-04-15 | Unmanned aerial vehicle control method and unmanned aerial vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007383.4A CN105620731B (en) | 2016-01-06 | 2016-01-06 | A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620731A CN105620731A (en) | 2016-06-01 |
| CN105620731B true CN105620731B (en) | 2019-03-05 |
Family
ID=56036163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610007383.4A Expired - Fee Related CN105620731B (en) | 2016-01-06 | 2016-01-06 | A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105620731B (en) |
| WO (1) | WO2017117887A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020492A (en) * | 2016-06-07 | 2016-10-12 | 赵武刚 | Method for generating signals for remotely controlling unmanned aerial vehicle and accessories through hand motions and gestures |
| CN106598061A (en) * | 2016-07-15 | 2017-04-26 | 深圳曼塔智能科技有限公司 | Aircraft flight control method and apparatus |
| CN106681354B (en) * | 2016-12-02 | 2019-10-08 | 广州亿航智能技术有限公司 | The flight control method and device of unmanned plane |
| CN110654537B (en) * | 2017-10-13 | 2021-05-28 | 南京涵曦月自动化科技有限公司 | Four rotor unmanned aerial vehicle intelligent control terminals |
| CN108573629B (en) * | 2018-04-13 | 2020-06-09 | 扬州宇安电子科技有限公司 | Unmanned aerial vehicle airborne radar confrontation simulation training system and training method |
| CN109669478A (en) * | 2019-02-20 | 2019-04-23 | 广州愿托科技有限公司 | The adherent circular control method of unmanned plane spacing and unmanned plane based on distance measuring sensor |
| CN109976370B (en) * | 2019-04-19 | 2022-09-30 | 深圳市道通智能航空技术股份有限公司 | Control method and device for vertical face surrounding flight, terminal and storage medium |
| CN111176328B (en) * | 2020-01-17 | 2021-04-27 | 浙江大学 | Multi-AUV distributed target trapping control method based on under-information |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1672465A1 (en) * | 2004-12-16 | 2006-06-21 | Topseed Technology Corp. | Method of power on/off management for electronic device |
| CN103034139A (en) * | 2012-12-04 | 2013-04-10 | 深圳Tcl新技术有限公司 | Method and system for long-distance intelligent remote controlling |
| CN203372389U (en) * | 2013-06-07 | 2014-01-01 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN104678995A (en) * | 2015-03-09 | 2015-06-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle control method and unmanned aerial vehicle control system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103426282A (en) * | 2013-07-31 | 2013-12-04 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| KR102219698B1 (en) * | 2014-04-30 | 2021-02-24 | 엘지전자 주식회사 | Apparatus and method for controlling unmanned aerial vehicle |
| CN104796611A (en) * | 2015-04-20 | 2015-07-22 | 零度智控（北京）智能科技有限公司 | Method and system for remotely controlling unmanned aerial vehicle to implement intelligent flight shooting through mobile terminal |
| CN105138126B (en) * | 2015-08-26 | 2018-04-13 | 小米科技有限责任公司 | Filming control method and device, the electronic equipment of unmanned plane |
| CN105391939B (en) * | 2015-11-04 | 2017-09-29 | 腾讯科技（深圳）有限公司 | Unmanned plane filming control method and device, unmanned plane image pickup method and unmanned plane |
-
2016
- 2016-01-06 CN CN201610007383.4A patent/CN105620731B/en not_active Expired - Fee Related
- 2016-04-15 WO PCT/CN2016/079386 patent/WO2017117887A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1672465A1 (en) * | 2004-12-16 | 2006-06-21 | Topseed Technology Corp. | Method of power on/off management for electronic device |
| CN103034139A (en) * | 2012-12-04 | 2013-04-10 | 深圳Tcl新技术有限公司 | Method and system for long-distance intelligent remote controlling |
| CN203372389U (en) * | 2013-06-07 | 2014-01-01 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN104678995A (en) * | 2015-03-09 | 2015-06-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle control method and unmanned aerial vehicle control system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017117887A1 (en) | 2017-07-13 |
| CN105620731A (en) | 2016-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105620731B (en) | A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system | |
| CN110011223B (en) | Multi-unmanned aerial vehicle cooperative inspection method and system suitable for regional power transmission line | |
| CN104995575B (en) | A kind of data processing method, device and aircraft | |
| CN106909167A (en) | A kind of three-dimensional task system of multimachine multistation joint and method | |
| Song et al. | Persistent UAV service: An improved scheduling formulation and prototypes of system components | |
| US20160309124A1 (en) | Control system, a method for controlling an uav, and a uav-kit | |
| CN104243132B (en) | A kind of method of data synchronization and relevant device | |
| RU2018130996A (en) | USE OF UNMANNED AERIAL VEHICLES (UAVS OR DRONS) IN APPLICATIONS WITH THE POSSIBILITY OF CONNECTING WITH FORESTRY MACHINES | |
| Chae et al. | The IoT based automate landing system of a drone for the round-the-clock surveillance solution | |
| CN110716579B (en) | Target tracking method and unmanned aerial vehicle | |
| CN107343177A (en) | A kind of filming control method of unmanned plane panoramic video | |
| CN106628211A (en) | Ground guiding type unmanned aerial vehicle flying landing system and method based on LED dot matrix | |
| CN107195167B (en) | The communication system and method for controlled plant and the application controlled plant | |
| CN106054926A (en) | Unmanned aerial vehicle following system and following flight control method | |
| CN104243918A (en) | Robot monitoring system automatically patrolling based on Bluetooth positioning | |
| CN109154832A (en) | Inspection planing method, controlling terminal, unmanned plane and the UAV system of unmanned plane | |
| CN105847682A (en) | Panoramic image photographing method, device and system | |
| CN204408502U (en) | Application bluetooth locates the robot monitoring system automatically gone on patrol | |
| CN110291482A (en) | It makes a return voyage control method, device and equipment | |
| CN107305395A (en) | Unmanned plane method and system | |
| CN109445460A (en) | A kind of unmanned plane guidance system that view-based access control model is conveyed | |
| CN107918402A (en) | One kind is based on mobile network's unmanned plane cluster flight system | |
| CN206485252U (en) | A kind of fire communication command car of use unmanned plane wireless video transmission system | |
| CN113568427B (en) | Unmanned aerial vehicle autonomous landing mobile platform method and system | |
| CN110333736A (en) | Unmanned plane during flying system, method and remote control method and controlled method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190305 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |