CN105676863A - Unmanned aerial vehicle control method and control device - Google Patents
Unmanned aerial vehicle control method and control device Download PDFInfo
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- CN105676863A CN105676863A CN201610207412.1A CN201610207412A CN105676863A CN 105676863 A CN105676863 A CN 105676863A CN 201610207412 A CN201610207412 A CN 201610207412A CN 105676863 A CN105676863 A CN 105676863A
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- unmanned vehicle
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
Abstract
The invention provides an unmanned aerial vehicle control method, which comprises the following steps: receiving a manual flight control instruction; obtaining a first mode switching position of an unmanned aerial vehicle according to the manual flight control instruction, and interrupting an automatic flight state of the unmanned aerial vehicle; executing the manual flight control instruction to carry out manual flight control of the unmanned aerial vehicle; after executing the manual flight control instruction, controlling the unmanned aerial vehicle to return to the first mode switching position; and recovering the automatic flight state of the unmanned aerial vehicle according to the first mode switching position. The invention also provides a control device of the unmanned aerial vehicle. The unmanned aerial vehicle control method and control device realize fast switching between a manual flight mode and an automatic flight mode by recording the first mode switching position or the flight path of the unmanned aerial vehicle under the automatic flight mode.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of control method of unmanned vehicle and control dressPut.
Background technology
Existing unmanned vehicle mainly has two kinds of offline mode: offline mode and the mould that manually flies automaticallyFormula. Under automatic offline mode, fly hand and can set air objective ground to unmanned vehicle in advance or temporarilyOr flight track, then unmanned vehicle is according to navigation system and automatic flight control system, according in advanceDetermine flight track and fly, in whole flight course without manual intervention. Under artificial offline mode,Fly hand and send flight control instruction by ground control station to unmanned vehicle, unmanned vehicle is according to flight controlFlight operation is carried out in instruction processed.
Common unmanned vehicle fly hand, generally can use the automatic offline mode of unmanned vehicle to carry out nothingThe flight control of people's aircraft, does not need to carry out long-term training on operation to flying hand like this, can be due to behaviour yetMake the improper aircraft accident that causes. But above-mentioned automatic offline mode is only applicable to take photo by plane, aerial survey, remote sensing andThe situation that the tasks of taking photo by plane such as metering are relatively fixed.
When unmanned vehicle need to carry out flight operation in comparatively complicated landform, or there are emergency case needsFly hand while processing, fly hand and unmanned vehicle need to be switched to artificial offline mode and fly and control behaviourDo, flying hand as follow-up need to switch back automatic offline mode from artificial offline mode again by unmanned vehicle,Relate to the operations such as flight track are reorientated and redesigned to unmanned vehicle, aforesaid operations difficultySpend higher and comparatively complexity of operating procedure, the common hand that flies has generally been difficult to.
Application number is that the estimation & disposing method of a kind of no-manned machine distant control chain circuit interruption of 200810100988.3 is taken offShow how the unmanned vehicle under automatic offline mode completes aerial mission automatically, and how to have kept and peopleHow the link of work offline mode, under proper condition, be switched to artificial offline mode. But wherein notHow disclosure controls unmanned vehicle is being reorientated fast and is redesigning under artificial offline modeFlight track, thereby under the automatic offline mode before returning to, and then alleviate the operation easier that flies hand.
Therefore, be necessary to provide a kind of control method and control device of unmanned vehicle, to solve prior artExisting problem.
Summary of the invention
The embodiment of the present invention provides one and automatically between offline mode, to carry out fast at artificial offline modeControl method and the control device of the unmanned vehicle switching, to solve manually flying of existing unmanned vehicleHigher and the pattern handover operation step of pattern handover operation difficulty between row mode and automatically offline modeFor complicated technical problem.
The embodiment of the present invention provides a kind of control method of unmanned vehicle, under automatic offline modeThe unmanned vehicle control of flying, it comprises:
Receive manually flight control instruction, and according to described manual flight control instruction obtain described nobody flyThe first mode switching position of row device, and interrupt the automatic state of flight of described unmanned vehicle;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, controlling described unmanned vehicle and return to described first mode and cutChange place; And
According to described first mode switching position, recover the automatic state of flight of described unmanned vehicle.
In the control method of unmanned vehicle of the present invention, described in the described manual flight control of executionAfter instruction, control the step that described unmanned vehicle returns to described first mode switching position and comprise:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the first mode switching position of described unmanned vehicle and the second pattern switching position, control instituteState unmanned vehicle and return to first mode switching position.
In the control method of unmanned vehicle of the present invention, the described manual flight control of described execution refers toOrder, comprises with the step of the manual flight control of carrying out described unmanned vehicle:
Whether the control time that judges described manual flight control instruction is less than or equal to setting value;
As described in control time of manual flight control instruction be less than or equal to setting value, carry out describedly manually flyingRow control instruction; And
As described in control time of manual flight control instruction be greater than as described in setting value, right in described setting valueIn the control time of answering, carry out described manual flight control instruction.
In the control method of unmanned vehicle of the present invention, return at the described unmanned vehicle of controlIn the process of described first mode switching position, stop receiving manual flight control instruction.
The embodiment of the present invention provides a kind of control method of unmanned vehicle, under automatic offline modeThe unmanned vehicle control of flying, it comprises:
Receive manually flight control instruction, and obtain described unmanned flight according to described manual flight control instructionThe first mode switching position of device and air objective ground;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, controlling described unmanned vehicle and return to described first mode and cutChange place;
According to described first mode switching position and described air objective ground, generate flight control instruction automatically;And
Carry out described automatic flight control instruction, to carry out the automatic flight control of described unmanned vehicle.
In the control method of unmanned vehicle of the present invention, described in the described manual flight control of executionAfter instruction, control the step that described unmanned vehicle returns to described first mode switching position and comprise:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the first mode switching position of described unmanned vehicle and the second pattern switching position, control instituteState unmanned vehicle and return to first mode switching position.
The embodiment of the present invention provides a kind of control method of unmanned vehicle, under automatic offline modeThe unmanned vehicle control of flying, it comprises:
Receive manually flight control instruction, and obtain described unmanned flight according to described manual flight control instructionThe flight path of device;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, control described unmanned vehicle and return in described flight path;
According to described flight path, generate flight control instruction automatically; And
Carry out described automatic flight control instruction, to carry out the automatic flight control of described unmanned vehicle.
In the control method of unmanned vehicle of the present invention, described in the described manual flight control of executionAfter instruction, control the step that described unmanned vehicle returns in described flight path and comprise:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the second pattern switching position and the described flight path of described unmanned vehicle, with beeline,Controlling described unmanned vehicle returns in described flight path.
The embodiment of the present invention also provides a kind of control device of unmanned vehicle, under automatic offline modeThe unmanned vehicle control of flying, it comprises:
Automatically state of flight interrupt module, for receiving manual flight control instruction, and according to described manualFlight control instruction is obtained the first mode switching position of described unmanned vehicle, and interrupts described unmanned flightThe automatic state of flight of device;
Manually flight control instruction Executive Module, for carrying out described manual flight control instruction, to carry out instituteState the manual flight control of unmanned vehicle, and carrying out after described manual flight control instruction, described in controlUnmanned vehicle returns to described first mode switching position; And
Automatically state of flight is recovered module, for according to described first mode switching position, recovers described unmannedThe automatic state of flight of aircraft.
The embodiment of the present invention also provides a kind of control device of unmanned vehicle, under automatic offline modeThe unmanned vehicle control of flying, it comprises:
Flight parameter acquisition module, for receiving manual flight control instruction, and according to described manual flight controlFirst mode switching position and the air objective ground of described unmanned vehicle is obtained in instruction processed;
Manually flight control instruction Executive Module, for carrying out described manual flight control instruction, to carry out instituteState the manual flight control of unmanned vehicle, and carrying out after described manual flight control instruction, described in controlUnmanned vehicle returns to described first mode switching position;
Automatically flight control instruction generation module, for according to described first mode switching position and described in flyRow destination, generates flight control instruction automatically; And
Automatically flight control instruction Executive Module, for carrying out described automatic flight control instruction, to carry out instituteState the automatic flight control of unmanned vehicle.
Compared to prior art, the control method of unmanned vehicle of the present invention and control device are by automaticallyFirst mode switching position or flight path under offline mode are carried out record, realized artificial offline mode withAnd the quick switching between offline mode automatically; The artificial offline mode that has solved existing unmanned vehicle withAnd automatically the pattern handover operation difficulty between offline mode is higher and pattern handover operation step is comparatively complicatedTechnical problem.
Brief description of the drawings
Fig. 1 is the flow chart of the first preferred embodiment of the control method of unmanned vehicle of the present invention;
Fig. 2 is the flow chart of the second preferred embodiment of the control method of unmanned vehicle of the present invention;
Fig. 3 is the flow chart of the 3rd preferred embodiment of the control method of unmanned vehicle of the present invention;
Fig. 4 is the structural representation of the first preferred embodiment of the control device of unmanned vehicle of the present invention;
Fig. 5 is the structural representation of the second preferred embodiment of the control device of unmanned vehicle of the present invention;
Fig. 6 is the structural representation of the 3rd preferred embodiment of the control device of unmanned vehicle of the present invention;
Fig. 7 is the work of the control method of unmanned vehicle of the present invention and the first specific embodiment of control deviceMake flow chart;
Fig. 8 is the work of the control method of unmanned vehicle of the present invention and the second specific embodiment of control deviceMake flow chart.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearlyChu, intactly description, obviously, described embodiment is only the present invention's part embodiment, instead ofWhole embodiment. Based on the embodiment in the present invention, those skilled in the art are not making creative laborThe every other embodiment obtaining under moving prerequisite, belongs to the scope of protection of the invention.
The control device of unmanned vehicle of the present invention can be implemented on various types of unmanned vehicles,This unmanned vehicle can receive manually flight control instruction under offline mode automatically, and has realized artificial flightPattern and the automatically quick switching between offline mode, thus the offline mode handover operation that flies hand reducedDifficulty, simplified the step of offline mode handover operation.
Please refer to Fig. 1, the first preferred embodiment of the control method that Fig. 1 is unmanned vehicle of the present inventionFlow chart. The control method of the unmanned vehicle of this preferred embodiment can be used above-mentioned unmanned vehicle to carry outImplement, this control method comprises:
Step S101, receives manually flight control instruction, and obtains unmanned according to manual flight control instructionThe first mode switching position of aircraft, and interrupt the automatic state of flight of unmanned vehicle;
Step S102, carries out manually flight control instruction, to carry out the manual flight control of unmanned vehicle,And carrying out after manual flight control instruction, control unmanned vehicle and return to first mode switching position;
Step S103, according to first mode switching position, recovers the automatic state of flight of unmanned vehicle.
Describe the concrete stream of each step of the control method of the unmanned vehicle of this preferred embodiment below in detailJourney. Unmanned vehicle comprises automatic offline mode and artificial offline mode. The unmanned flight of this preferred embodimentThe control method of device is for control that the unmanned vehicle under automatic offline mode is flown.
In step S101, when unmanned vehicle is in automatic offline mode lower time, the control of unmanned vehicleDevice receives the manual flight control instruction that user sends, and the manual flight control instruction here refers to that user pleaseAsk the control instruction of temporary transient control unmanned vehicle, as user observes the barrier in flight path, to oneselfUnmanned vehicle under moving offline mode carries out urgent danger prevention operation; Or user wants to determine by control instructionCommunication connection between unmanned vehicle and control terminal etc.
The control device of unmanned vehicle, according to above-mentioned manual flight control instruction, obtains unmanned vehicle subsequentlyThe flight parameter such as first mode switching position. The first mode switching position is here that unmanned vehicle receivesCurrent location during to manual flight control instruction. Return automatic offline mode for the ease of follow-up quick switching,Here the part flight parameter of the unmanned vehicle under automatic offline mode is preserved. Then unmanned flightThe control device of device interrupts the automatic state of flight of unmanned vehicle. Forward subsequently step S102 to.
In step S102, the response priority level of setting the manual flight control instruction that user provides is here highIn the response priority level of automatic flight control instruction. Therefore the control device of unmanned vehicle can directly be carried outThe manual flight control instruction that step S101 obtains, to carry out the manual flight control of unmanned vehicle, as tightlyOther flare maneuvers that anxious hedging operation or user set.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control device of unmanned vehicle can judge that this is manualWhether the control time of flight control instruction is less than or equal to setting value (as the different setting such as 0.5 second to 5 secondsTime range value); As the control time of manual flight control instruction is less than or equal to setting value, unmanned flightThe control device of device is directly carried out this manually flight control instruction; As the control time of manual flight control instructionBe greater than setting value, the control device of unmanned vehicle, within control time corresponding to setting value, is carried out manuallyFlight control instruction, in order to avoid user's maloperation impacts the self-navigation flight of unmanned vehicle.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, unmanned vehicleControl device control unmanned vehicle return to first mode switching position. Be specially:
The control device of unmanned vehicle, carrying out after manual flight control instruction, can obtain unmanned vehicleThe second pattern switching position, this second pattern switching position is that unmanned vehicle completes manual flight control instructionCurrent location after corresponding flight operation.
The control device of unmanned vehicle is according to first mode switching position and the second pattern switching position, rawBecome to make unmanned vehicle return to the flight directive of first mode switching position, and carry out this flight directive, makeObtain unmanned vehicle and return to first mode switching position.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process of first mode switching position, and the control device of unmanned vehicle stops reception and manually fliesRow control instruction. Forward subsequently step S103 to.
In step S103, because unmanned vehicle has been positioned at first mode switching position, therefore nobody fliesThe automatic state of flight that the control device of row device can recovering step S101 interrupts.
So, completed the flight control procedure of the control method of the unmanned vehicle of this preferred embodiment.
The control method of the unmanned vehicle of this preferred embodiment is passed through the first mode under automatic offline modeSwitching position is carried out record, has realized artificial offline mode and the quick switching between offline mode automatically.
Please refer to Fig. 2, the first preferred embodiment of the control method that Fig. 2 is unmanned vehicle of the present inventionFlow chart. The control method of the unmanned vehicle of this preferred embodiment can be used above-mentioned unmanned vehicle to carry outImplement, this control method comprises:
Step S201, receives manually flight control instruction, and obtains nobody according to manual flight control instruction and flyThe first mode switching position of row device and air objective ground;
Step S202, carries out manually flight control instruction, to carry out the manual flight control of unmanned vehicle,And carrying out after manual flight control instruction, control unmanned vehicle and return to first mode switching position;
Step S203, according to first mode switching position and air objective ground, generates flight control automatically and refers toOrder;
Step S204, carries out flight control instruction automatically, to carry out the automatic flight control of unmanned vehicle.
Describe the concrete stream of each step of the control method of the unmanned vehicle of this preferred embodiment below in detailJourney. Unmanned vehicle comprises automatic offline mode and artificial offline mode. The unmanned flight of this preferred embodimentThe control method of device is for control that the unmanned vehicle under automatic offline mode is flown.
In step S201, when unmanned vehicle is in automatic offline mode lower time, the control of unmanned vehicleDevice receives the manual flight control instruction that user sends, and the manual flight control instruction here refers to that user pleaseAsk the control instruction of temporary transient control unmanned vehicle, as user observes the barrier in flight path, to oneselfUnmanned vehicle under moving offline mode carries out urgent danger prevention operation; Or user wants to determine by control instructionCommunication connection between unmanned vehicle and control terminal etc.
The control device of unmanned vehicle, according to above-mentioned manual flight control instruction, obtains unmanned vehicle subsequentlyThe flight parameter such as first mode switching position and air objective ground. The first mode switching position hereCurrent location when unmanned vehicle receives manual flight control instruction is air objective unmanned vehicleNext destination of self-navigation flight while receiving manual flight control instruction. Cut fast for the ease of follow-upGain automatic offline mode, here the part flight parameter of the unmanned vehicle under automatic offline mode is carried outPreserve. Forward subsequently step S202 to.
In step S202, the response priority level of setting the manual flight control instruction that user provides is here highIn the response priority level of automatic flight control instruction. Therefore the control device of unmanned vehicle can directly be carried outThe manual flight control instruction that step S201 obtains, to carry out the manual flight control of unmanned vehicle, as tightlyOther flare maneuvers that anxious hedging operation or user set.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control device of unmanned vehicle can judge that this is manualWhether the control time of flight control instruction is less than or equal to setting value (as the different setting such as 0.5 second to 5 secondsTime range value); As the control time of manual flight control instruction is less than or equal to setting value, unmanned flightThe control device of device is directly carried out this manually flight control instruction; As the control time of manual flight control instructionBe greater than setting value, the control device of unmanned vehicle, within control time corresponding to setting value, is carried out manuallyFlight control instruction, in order to avoid user's maloperation impacts the self-navigation flight of unmanned vehicle.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, unmanned vehicleControl device control unmanned vehicle return to first mode switching position. Be specially:
The control device of unmanned vehicle, carrying out after manual flight control instruction, can obtain unmanned vehicleThe second pattern switching position, this second pattern switching position is that unmanned vehicle completes manual flight control instructionCurrent location after corresponding flight operation.
The control device of unmanned vehicle is according to first mode switching position and the second pattern switching position, rawBecome to make unmanned vehicle return to the flight directive of first mode switching position, and carry out this flight directive, makeObtain unmanned vehicle and return to first mode switching position.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process of first mode switching position, and the control device of unmanned vehicle stops reception and manually fliesRow control instruction. Forward subsequently step S203 to.
In step S203, because unmanned vehicle has been positioned at first mode switching position, therefore nobody fliesThe control device of row device can be according to the air objective ground of first mode switching position and step S201 record, lifeBecome flight control instruction automatically. Forward subsequently step S204 to.
In step S204, the control device control unmanned vehicle of unmanned vehicle switches back flight mould automaticallyFormula, and perform step the automatic flight control instruction that S203 generates, to carry out the automatic flight of unmanned vehicleControl.
So, completed the flight control procedure of the control method of the unmanned vehicle of this preferred embodiment.
The control method of the unmanned vehicle of this preferred embodiment is passed through the first mode under automatic offline modeCarry out record to switching position and air objective, realized artificial offline mode and automatically offline mode itBetween quick switching.
Please refer to Fig. 3, the second preferred embodiment of the control method that Fig. 3 is unmanned vehicle of the present inventionFlow chart. The control method of the unmanned vehicle of this preferred embodiment can be used above-mentioned unmanned vehicle to carry outImplement, this control method comprises:
Step S301, receives manually flight control instruction, and obtains nobody according to manual flight control instruction and flyThe flight path of row device;
Step S302, carries out manually flight control instruction, to carry out the manual flight control of unmanned vehicle,And carrying out after manual flight control instruction, control unmanned vehicle and return in flight path;
Step S303, according to flight path, generates flight control instruction automatically;
Step S304, carries out flight control instruction automatically, to carry out the automatic flight control of unmanned vehicle.
Describe the concrete stream of each step of the control method of the unmanned vehicle of this preferred embodiment below in detailJourney.
In step S301, when unmanned vehicle is in automatic offline mode lower time, the control of unmanned vehicleDevice receives the manual flight control instruction that user sends.
The control device of unmanned vehicle, according to above-mentioned manual flight control instruction, obtains unmanned vehicle subsequentlyFlight path. The flight path is here the current flight track of unmanned vehicle under automatic offline mode.Return automatic offline mode for the ease of follow-up quick switching, here to the unmanned vehicle under automatic offline modeCurrent flight track preserve. Forward subsequently step S302 to.
In step S302, the response priority level of setting the manual flight control instruction that user provides is here highIn the response priority level of automatic flight control instruction. Therefore the control device of unmanned vehicle can directly be carried outThe manual flight control instruction that step S301 obtains, to carry out the manual flight control of unmanned vehicle, as tightlyOther flare maneuvers that anxious hedging operation or user set.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control device of unmanned vehicle can judge that this is manualWhether the control time of flight control instruction is less than or equal to setting value (as 0.5 second to 5 seconds etc.); As manuallyThe control time of flight control instruction is less than or equal to setting value, and the control device of unmanned vehicle is directly carried outThis is flight control instruction manually; As the control time of manual flight control instruction is greater than setting value, nobody fliesThe control device of row device, within control time corresponding to setting value, is carried out manually flight control instruction, Yi MianyongThe maloperation at family impacts the self-navigation flight of unmanned vehicle.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, unmanned vehicleControl device control unmanned vehicle return to flight path. Be specially:
The control device of unmanned vehicle, carrying out after manual flight control instruction, can obtain unmanned vehicleThe second pattern switching position, this second pattern switching position is that unmanned vehicle completes manual flight control instructionCurrent location after corresponding flight operation.
The control device of unmanned vehicle, according to flight path and the second pattern switching position, generates and makes nobodyAircraft returns to the flight directive in flight path, as makes the unmanned flight in the second pattern switching positionIt is first-class that device returns to flight path with beeline. The control device of unmanned vehicle is carried out this flight and is referred to subsequentlyOrder, returns in flight path unmanned vehicle.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process in flight path, and the control device of unmanned vehicle stops receiving manual flight controlInstruction. Forward subsequently step S303 to.
In step S303, because unmanned vehicle has been positioned in flight path, therefore unmanned vehicleControl device can be according to the flight path of step S301 record, generates flight control instruction automatically. Forward to subsequentlyStep S304.
In step S304, the control device control unmanned vehicle of unmanned vehicle switches back flight mould automaticallyFormula, and perform step the automatic flight control instruction that S303 generates, to carry out the automatic flight of unmanned vehicleControl.
So, completed the flight control procedure of the control method of the unmanned vehicle of this preferred embodiment.
The control method of the unmanned vehicle of this preferred embodiment is passed through the flight path under automatic offline modeCarry out record, realized artificial offline mode and the quick switching between offline mode automatically.
The present invention also provides a kind of control device of unmanned vehicle, please refer to Fig. 4, and Fig. 4 is of the present inventionThe structural representation of the first preferred embodiment of the control device of unmanned vehicle. This preferred embodiment unmannedThe control device of aircraft can use the first preferred embodiment of the control method of above-mentioned unmanned vehicle to carry outImplement. The control device 40 of this unmanned vehicle comprises automatic state of flight interrupt module 41, manually flightControl instruction Executive Module 42 and automatically state of flight are recovered module 43.
Automatically state of flight interrupt module 41 is for receiving manual flight control instruction, and according to manual flightControl instruction is obtained the first mode switching position of unmanned vehicle, and interrupts the automatic flight of unmanned vehicleState. Manually flight control instruction Executive Module 42 is for carrying out manual flight control instruction, unmanned to carry outThe manual flight control of aircraft, and carrying out after manual flight control instruction, control unmanned vehicle and recoverTo first mode switching position; Automatically state of flight is recovered module 43 for according to first mode switching position,Recover the automatic state of flight of unmanned vehicle.
When the control device of the unmanned vehicle of this preferred embodiment uses, when unmanned vehicle is in automatically flyingIn row mode lower time,, state of flight interrupt module 41 receives the manual flight control instruction that user sends automatically, thisIn manual flight control instruction refer to that user asks temporarily to control the control instruction of unmanned vehicle, as userObserve the barrier in flight path, the unmanned vehicle under automatic offline mode is carried out to urgent danger prevention behaviourDo; Or user wants to determine by control instruction communication connection between unmanned vehicle and control terminal etc.
Automatically state of flight interrupt module 41, according to above-mentioned manual flight control instruction, obtains unmanned flight subsequentlyThe flight parameters such as the first mode switching position of device. The first mode switching position is here that unmanned vehicle connectsCurrent location while receiving manual flight control instruction. Return automatic offline mode for the ease of follow-up quick switching,Here the part flight parameter of the unmanned vehicle under automatic offline mode is preserved. Then flight automaticallyState interrupt module 41 is interrupted the automatic state of flight of unmanned vehicle.
Here set subsequently the response priority level of the manual flight control instruction that user provides higher than automatic flightThe response priority level of control instruction. Therefore the control instruction Executive Module 42 that manually flies can directly be carried out automaticallyThe manual flight control instruction that state of flight interrupt module 41 obtains, to carry out the manual flight of unmanned vehicleControl, as other flare maneuvers of urgent danger prevention operation or user's setting.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control instruction of manually flying Executive Module 42 can judgementManually whether control time of flight control instruction is less than or equal to setting value (as the difference such as 0.5 second to 5 seconds for thisSetting-up time value range); As the control time of manual flight control instruction is less than or equal to setting value, handMoving flight control instruction Executive Module 42 is directly carried out this manually flight control instruction; As manual flight control refers toThe control time of order is greater than setting value, and the control instruction Executive Module 42 that manually flies is in control corresponding to setting valueIn time processed, carry out manually flight control instruction, in order to avoid the automatic guide of user's maloperation to unmanned vehicleBoat flight impacts.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, manually flight controlInstruction Executive Module 42 processed is controlled unmanned vehicle and is returned to first mode switching position. Be specially:
Manually flight control instruction Executive Module 42, carrying out after manual flight control instruction, can obtain nobody and flyThe second pattern switching position of row device, this second pattern switching position is that unmanned vehicle completes manual flight controlCurrent location after flight operation corresponding to instruction processed.
Manually flight control instruction Executive Module 42 switches according to first mode switching position and the second patternPosition, generates and makes unmanned vehicle return to the flight directive of first mode switching position, and carry out this flightInstruction, makes unmanned vehicle return to first mode switching position.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process of first mode switching position, and the control instruction of manually flying Executive Module 42 stops receivingManually flight control instruction.
Because unmanned vehicle has been positioned at first mode switching position, therefore state of flight is recovered module automatically43 can recover the automatic state of flight that automatic state of flight interrupt module 41 interrupts.
So, completed the flight control procedure of the control device of the unmanned vehicle of this preferred embodiment.
The control device of the unmanned vehicle of this preferred embodiment passes through the first mode under automatic offline modeSwitching position is carried out record, has realized artificial offline mode and the quick switching between offline mode automatically.
Please refer to Fig. 5, the first preferred embodiment of the control device that Fig. 5 is unmanned vehicle of the present inventionStructural representation. The control device of the unmanned vehicle of this preferred embodiment can use above-mentioned unmanned vehicleThe first preferred embodiment of control method implement. The control device 50 of this unmanned vehicle comprises flightParameter acquisition module 51, manually fly control instruction Executive Module 52, the control instruction generation module that flies automatically53 and the control instruction Executive Module 54 that automatically flies.
Flight parameter acquisition module 51 is for receiving manual flight control instruction, and refers to according to manual flight controlFirst mode switching position and the air objective ground of unmanned vehicle is obtained in order; Manually flight control instruction is heldRow module 52 is for carrying out manual flight control instruction, to carry out the manual flight control of unmanned vehicle, andCarrying out after manual flight control instruction, control unmanned vehicle and return to first mode switching position; AutomaticallyFlight control instruction generation module 53, for according to first mode switching position and air objective ground, generates certainlyMoving flight control instruction; Automatically fly control instruction Executive Module 34 for carrying out automatic flight control instruction,To carry out the automatic flight control of unmanned vehicle.
When the control device 50 of the unmanned vehicle of this preferred embodiment uses, first when unmanned vehicle inAutomatically in offline mode lower time,, flight parameter acquisition module 51 receives the manual flight control instruction that user sends,The manual flight control instruction here refers to that user asks temporarily to control the control instruction of unmanned vehicle, as usedThe barrier in flight path is observed at family, and the unmanned vehicle under automatic offline mode is carried out to urgent danger preventionOperation; Or user wants to determine by control instruction communication connection between unmanned vehicle and control terminal etc.
Flight parameter acquisition module 51 is according to above-mentioned manual flight control instruction subsequently, obtains unmanned vehicleThe flight parameters such as first mode switching position and air objective ground. The first mode switching position is here nothingCurrent location when people's aircraft receives manual flight control instruction is air objective that unmanned vehicle connectsNext destination of self-navigation flight while receiving manual flight control instruction. For the ease of follow-up quick switchingReturn automatic offline mode, here the part flight parameter of the unmanned vehicle under automatic offline mode is protectedDeposit.
Here set subsequently the response priority level of the manual flight control instruction that user provides higher than automatic flightThe response priority level of control instruction. Therefore the control instruction Executive Module 52 that manually flies can directly be carried out flightThe manual flight control instruction that parameter acquisition module is obtained, to carry out the manual flight control of unmanned vehicle,As other flare maneuvers of urgent danger prevention operation or user's setting.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control instruction of manually flying Executive Module 52 can judgementManually whether control time of flight control instruction is less than or equal to setting value (as 0.5 second to 5 seconds etc.) for this;As the control time of manual flight control instruction is less than or equal to setting value, the control instruction of manually flying is carried out mouldPiece 52 is directly carried out this manually flight control instruction; As the control time of manual flight control instruction is greater than settingValue, manually flies control instruction Executive Module 52 within control time corresponding to setting value, carries out and manually fliesRow control instruction, in order to avoid user's maloperation impacts the self-navigation flight of unmanned vehicle.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, manually flight controlInstruction Executive Module 52 processed is controlled unmanned vehicle and is returned to first mode switching position. Be specially:
Manually flight control instruction Executive Module 52, carrying out after manual flight control instruction, can obtain nobody and flyThe second pattern switching position of row device, this second pattern switching position is that unmanned vehicle completes manual flight controlCurrent location after flight operation corresponding to instruction processed.
Manually flight control instruction Executive Module 52 switches according to first mode switching position and the second patternPosition, generates and makes unmanned vehicle return to the flight directive of first mode switching position, and carry out this flightInstruction, makes unmanned vehicle return to first mode switching position.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process of first mode switching position, and the control instruction of manually flying Executive Module 52 stops receivingManually flight control instruction.
Then because unmanned vehicle has been positioned at first mode switching position, the control instruction of therefore automatically flyingGeneration module 53 can be according to the air objective of first mode switching position and flight parameter acquisition module recordGround, generates flight control instruction automatically.
The last control instruction of flight automatically Executive Module 54 is controlled unmanned vehicle and is switched back automatic offline mode,And carry out the automatic flight control instruction that flight control instruction generation module 53 generates automatically, fly to carry out nobodyThe automatic flight control of row device.
So, completed the flight control procedure of the control device 50 of the unmanned vehicle of this preferred embodiment.
The control device of the unmanned vehicle of this preferred embodiment passes through the first mode under automatic offline modeCarry out record to switching position and air objective, realized artificial offline mode and automatically offline mode itBetween quick switching.
Please refer to Fig. 6, the second preferred embodiment of the control device that Fig. 6 is unmanned vehicle of the present inventionStructural representation. The control device of the unmanned vehicle of this preferred embodiment can use above-mentioned unmanned vehicleThe second preferred embodiment of control method implement. The control device 60 of this unmanned vehicle comprises flightParameter acquisition module 61, manually fly control instruction Executive Module 62, the control instruction generation module that flies automatically63 and the control instruction Executive Module 64 that automatically flies.
Flight parameter acquisition module 61 is for receiving manual flight control instruction, and refers to according to manual flight controlThe flight path of unmanned vehicle is obtained in order; Manually flight control instruction Executive Module 62 flies for carrying out manuallyRow control instruction, to carry out the manual flight control of unmanned vehicle, and is carrying out manually flight control instructionAfter, control unmanned vehicle and return in flight path; Automatically flight control instruction generation module 63 is for rootAccording to flight path, generate flight control instruction automatically; Automatically flight control instruction Executive Module 64 is for carrying outAutomatically flight control instruction, to carry out the automatic flight control of unmanned vehicle.
When the control device 60 of the unmanned vehicle of this preferred embodiment uses, first when unmanned vehicle inAutomatically in offline mode lower time,, flight parameter acquisition module 61 receives the manual flight control instruction that user sends.
Flight parameter acquisition module 61 is according to above-mentioned manual flight control instruction subsequently, obtains unmanned vehicleFlight path. The flight path is here the current flight track of unmanned vehicle under automatic offline mode.Return automatic offline mode for the ease of follow-up quick switching, here to the unmanned vehicle under automatic offline modeCurrent flight track preserve.
Here set subsequently the response priority level of the manual flight control instruction that user provides higher than automatic flightThe response priority level of control instruction. Therefore the control instruction Executive Module 62 that manually flies can directly be carried out flightThe manual flight control instruction that parameter acquisition module is obtained, to carry out the manual flight control of unmanned vehicle,As other flare maneuvers of urgent danger prevention operation or user's setting.
Preferably, because user controls unmanned vehicle for a long time as need, should be by the flight of unmanned vehiclePattern switches to artificial offline mode. Therefore the manual flight control instruction under automatic offline mode should be oneProvisional injunction. In the time carrying out manual flight control instruction, the control instruction of manually flying Executive Module 62 can judgementManually whether control time of flight control instruction is less than or equal to setting value (as 0.5 second to 5 seconds etc.) for this;As the control time of manual flight control instruction is less than or equal to setting value, the control instruction of manually flying is carried out mouldPiece 62 is directly carried out this manually flight control instruction; As the control time of manual flight control instruction is greater than settingValue, manually flies control instruction Executive Module 62 within control time corresponding to setting value, carries out and manually fliesRow control instruction, in order to avoid user's maloperation impacts the self-navigation flight of unmanned vehicle.
Carrying out after manual flight control instruction, for the ease of switching to automatic offline mode, manually flight controlInstruction Executive Module 62 processed is controlled unmanned vehicle and is returned to flight path. Be specially:
Manually flight control instruction Executive Module 62, carrying out after manual flight control instruction, can obtain nobody and flyThe second pattern switching position of row device, this second pattern switching position is that unmanned vehicle completes manual flight controlCurrent location after flight operation corresponding to instruction processed.
Manually flight control instruction Executive Module 62, according to flight path and the second pattern switching position, generatesMake unmanned vehicle return to the flight directive in flight path, as make the nothing in the second pattern switching positionIt is first-class that people's aircraft returns to flight path with beeline. Control instruction Executive Module 62 subsequently manually fliesCarry out this flight directive, unmanned vehicle is returned in flight path.
Preferably, in order to prevent that unmanned vehicle from occurring maloperation in the recovery process of position, in unmanned flightDevice returns in the process in flight path, and the control instruction of manually flying Executive Module 62 stops reception and manually fliesRow control instruction.
Then because unmanned vehicle has been positioned in flight path, the control instruction of therefore automatically flying generates mouldPiece 63 can be according to the flight path of flight parameter acquisition module record, generates flight control instruction automatically.
The last control instruction of flight automatically Executive Module 64 is controlled unmanned vehicle and is switched back automatic offline mode,And carry out the automatic flight control instruction that flight control instruction generation module 63 generates automatically, fly to carry out nobodyThe automatic flight control of row device.
So, completed the flight control procedure of the control device 60 of the unmanned vehicle of this preferred embodiment.
The control device of the unmanned vehicle of this preferred embodiment passes through the flight path under automatic offline modeCarry out record, realized artificial offline mode and the quick switching between offline mode automatically.
Below by specific embodiment, the control method of unmanned vehicle of the present invention and the tool of control device are describedBody running principle. Please refer to Fig. 7, the control method that Fig. 7 is unmanned vehicle of the present invention and control deviceThe workflow diagram of the first specific embodiment. The control device setting of the unmanned vehicle of this preferred embodimentIn unmanned vehicle, when this unmanned vehicle carries out flight operation under automatic offline mode, comprise followingStep is controlled in flight:
Step S701, flies hand and finds to occur with flight obstacle suddenly in the flight path of unmanned vehicle, because ofThis sends the manual flight control instruction of hiding accordingly this flight obstacle;
Step S702, because the response of the control instruction of manually flying is preferably superior to automatic flight control instructionThe preferred rank of response, therefore unmanned vehicle is recording current location and the air objective of unmanned vehicleAfter ground, carry out this manually flight control instruction, to hide this flight obstacle;
Step S703, unmanned vehicle is being carried out after this manual flight control instruction, note before automatically restoring toThe current location of the unmanned vehicle of record;
Step S704, before unmanned vehicle basis, air objective ground and the current location of record, generate certainlyMoving flight control instruction;
Step S705, unmanned vehicle switches to automatic offline mode, and carries out this flight control instruction automatically.
So, the control method of unmanned vehicle and the control of control device of specific embodiment have been completedJourney.
Please refer to Fig. 8, the second tool of the control method that Fig. 8 is unmanned vehicle of the present invention and control deviceThe workflow diagram of body embodiment. The control device of the unmanned vehicle of this preferred embodiment is arranged on nobody and fliesIn row device, when this unmanned vehicle carries out flight operation under automatic offline mode, comprise following flight controlStep:
Step S801, flies hand and finds to occur with fixed obstacle suddenly in the flight path of unmanned vehicle, because ofThis sends the manual flight control instruction of hiding accordingly this fixed obstacle;
Step S802, because the response of the control instruction of manually flying is preferably superior to automatic flight control instructionThe preferred rank of response, therefore unmanned vehicle, after recording the current flight track of unmanned vehicle, is heldThis control instruction of manually flying of row, to hide this fixed obstacle;
Step S803, unmanned vehicle carrying out this manually after flight control instruction, obtains unmanned vehicleCurrent location, and calculate current location and the beeline of flight path of record before, and the shortest according to thisDistance generates recovers control instruction automatically;
Step S804, unmanned vehicle is carried out this and is automatically recovered control instruction, the flight rail before automatically getting back toOn mark;
Step S805, unmanned vehicle, according to the flight path recording before, generates flight control instruction automatically;
Step S806, unmanned vehicle switches to automatic offline mode, and carries out this flight control instruction automatically.
So, the control method of unmanned vehicle and the control of control device of specific embodiment have been completedJourney.
The control method of unmanned vehicle of the present invention and control device pass through first under automatic offline modePattern switching position or flight path are carried out record, realized artificial offline mode and automatically offline mode itBetween quick switching; Solved the artificial offline mode of existing unmanned vehicle and automatically offline mode itBetween the comparatively complicated technical problem of the higher and pattern handover operation step of pattern handover operation difficulty.
Term " assembly ", " module ", " system ", " interface ", " process " etc. are general as used in this applicationGround is intended to refer to computer related entity: combination, software or the executory software of hardware, hardware and software.For example, assembly can be but be not limited to be to operate in process, processor, object on processor, can carry outApplication, thread, program and/or the computer carried out. By diagram, operate in application on controller andThe two can be assembly for this controller. One or more assemblies can have process and/or the line of the execution of beingIn journey, and assembly can and/or be distributed between two or more computers on a computer.
The various operations of embodiment are provided herein. In one embodiment, described one or more operationsCan form the computer-readable instruction of storing on one or more computer-readable mediums, it is being established by electronicsWhen standby execution, will make computing equipment carry out described operation. The order of describing some or all of operations should be byBe interpreted as implying that these operations must be that order is relevant. It will be appreciated by those skilled in the art that and there is this descriptionThe alternative sequence of benefit. And, should be appreciated that not all operation must be provided in this articleIn each embodiment, exist.
And the word " preferably " using herein means as example, example or illustration. Feng Wen describesFor " preferably " any aspect or design needn't be interpreted as than other aspects or design more favourable. On the contrary, wordThe use of language " preferably " is intended to propose concept in concrete mode. Term "or" purport as used in this applicationIn the "or" that means to comprise but not get rid of "or". That is, unless otherwise or clear from the context, " XUse A or B " mean any one that nature comprises arrangement. , if X uses A; X uses B; OrX use A and B the two, " X uses A or B " is met in aforementioned arbitrary example.
And, although illustrate and described the disclosure with respect to one or more implementations, thisReading and the understanding of those skilled in the art based on to this description and accompanying drawing will be expected equivalent variations and amendment.The disclosure comprises all such amendments and modification, and is only limited by the scope of claims. EspeciallyGround is about the various functions of such as, being carried out by said modules (element, resource etc.), for describing such groupThe term of part is for example intended to, corresponding to the appointed function (it is of equal value in function) of carrying out described assemblyRandom component (unless otherwise instructed), though structurally with carry out exemplary reality of the present disclosure shown in this articleThe open structure of the function in existing mode is not equal to. In addition, although special characteristic of the present disclosure with respect toIn some implementations only one be disclosed, but this feature can with as can to given or specific shouldWith being to expect and one or more other Feature Combinations of favourable other implementations. And, with regard to artLanguage " comprises ", " having ", " containing " or its distortion are used in detailed description of the invention or claim,Such term is intended to comprise " to comprise " similar mode to term.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, can be also eachThe independent physics in unit exists, and also can be integrated in a module two or more unit. Above-mentioned integratedModule both can adopt hardware form realize, also can adopt software function module form realize. InstituteIf stating integrated module realizes also as independently production marketing or use using the form of software function moduleTime, also can be stored in a computer read/write memory medium. The above-mentioned storage medium of mentioning can beRead-only storage, disk or CD etc. Above-mentioned each device or system, can carry out correlation method embodimentIn method.
In sum, although the present invention discloses as above with preferred embodiment, above preferred embodiment notIn order to limit the present invention, those of ordinary skill in the art, without departing from the spirit and scope of the present invention,All can do various changes and retouching, the scope that therefore protection scope of the present invention defines with claim is as the criterion.
Claims (10)
1. a control method for unmanned vehicle, carries out for the unmanned vehicle under automatic offline modeFlight is controlled, and it is characterized in that, comprising:
Receive manually flight control instruction, and according to described manual flight control instruction obtain described nobody flyThe first mode switching position of row device, and interrupt the automatic state of flight of described unmanned vehicle;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, controlling described unmanned vehicle and return to described first mode and cutChange place; And
According to described first mode switching position, recover the automatic state of flight of described unmanned vehicle.
2. the control method of unmanned vehicle according to claim 1, is characterized in that, is carrying out instituteState after manual flight control instruction, control described unmanned vehicle and return to described first mode switching positionStep comprises:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the first mode switching position of described unmanned vehicle and the second pattern switching position, control instituteState unmanned vehicle and return to first mode switching position.
3. the control method of unmanned vehicle according to claim 1, is characterized in that, described executionDescribed manual flight control instruction, comprises with the step of the manual flight control of carrying out described unmanned vehicle:
Whether the control time that judges described manual flight control instruction is less than or equal to setting value;
As described in control time of manual flight control instruction be less than or equal to setting value, carry out describedly manually flyingRow control instruction; And
As described in control time of manual flight control instruction be greater than as described in setting value, right in described setting valueIn the control time of answering, carry out described manual flight control instruction.
4. the control method of unmanned vehicle according to claim 1, is characterized in that, is controlling instituteState in the process that unmanned vehicle returns to described first mode switching position, stop receiving manual flight controlInstruction.
5. a control method for unmanned vehicle, carries out for the unmanned vehicle under automatic offline modeFlight is controlled, and it is characterized in that, comprising:
Receive manually flight control instruction, and obtain described unmanned flight according to described manual flight control instructionThe first mode switching position of device and air objective ground;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, controlling described unmanned vehicle and return to described first mode and cutChange place;
According to described first mode switching position and described air objective ground, generate flight control instruction automatically;And
Carry out described automatic flight control instruction, to carry out the automatic flight control of described unmanned vehicle.
6. the control method of unmanned vehicle according to claim 5, is characterized in that, described holdingAfter the described manual flight control instruction of row, control described unmanned vehicle and return to described first mode toggle bitThe step of putting comprises:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the first mode switching position of described unmanned vehicle and the second pattern switching position, control instituteState unmanned vehicle and return to first mode switching position.
7. a control method for unmanned vehicle, carries out for the unmanned vehicle under automatic offline modeFlight is controlled, and it is characterized in that, comprising:
Receive manually flight control instruction, and obtain described unmanned flight according to described manual flight control instructionThe flight path of device;
Carry out described manual flight control instruction, to carry out the manual flight control of described unmanned vehicle, andCarrying out after described manual flight control instruction, control described unmanned vehicle and return in described flight path;
According to described flight path, generate flight control instruction automatically; And
Carry out described automatic flight control instruction, to carry out the automatic flight control of described unmanned vehicle.
8. the control method of unmanned vehicle according to claim 7, is characterized in that, described holdingAfter the described manual flight control instruction of row, control described unmanned vehicle and return to the step in described flight pathSuddenly comprise:
Carrying out after described manual flight control instruction, obtaining the second pattern toggle bit of described unmanned vehiclePut; And
According to the second pattern switching position and the described flight path of described unmanned vehicle, with beeline,Controlling described unmanned vehicle returns in described flight path.
9. a control device for unmanned vehicle, carries out for the unmanned vehicle under automatic offline modeFlight is controlled, and it is characterized in that, comprising:
Automatically state of flight interrupt module, for receiving manual flight control instruction, and according to described manualFlight control instruction is obtained the first mode switching position of described unmanned vehicle, and interrupts described unmanned flightThe automatic state of flight of device;
Manually flight control instruction Executive Module, for carrying out described manual flight control instruction, to carry out instituteState the manual flight control of unmanned vehicle, and carrying out after described manual flight control instruction, described in controlUnmanned vehicle returns to described first mode switching position; And
Automatically state of flight is recovered module, for according to described first mode switching position, recovers described unmannedThe automatic state of flight of aircraft.
10. a control device for unmanned vehicle, for entering the unmanned vehicle under automatic offline modeRow flight is controlled, and it is characterized in that, comprising:
Flight parameter acquisition module, for receiving manual flight control instruction, and according to described manual flight controlFirst mode switching position and the air objective ground of described unmanned vehicle is obtained in instruction processed;
Manually flight control instruction Executive Module, for carrying out described manual flight control instruction, to carry out instituteState the manual flight control of unmanned vehicle, and carrying out after described manual flight control instruction, described in controlUnmanned vehicle returns to described first mode switching position;
Automatically flight control instruction generation module, for according to described first mode switching position and described in flyRow destination, generates flight control instruction automatically; And
Automatically flight control instruction Executive Module, for carrying out described automatic flight control instruction, to carry out instituteState the automatic flight control of unmanned vehicle.
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