CN105867407A - Unmanned aerial vehicle as well as control device and control method thereof - Google Patents
Unmanned aerial vehicle as well as control device and control method thereof Download PDFInfo
- Publication number
- CN105867407A CN105867407A CN201610408948.XA CN201610408948A CN105867407A CN 105867407 A CN105867407 A CN 105867407A CN 201610408948 A CN201610408948 A CN 201610408948A CN 105867407 A CN105867407 A CN 105867407A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- course line
- control
- positional information
- default
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 45
- 230000009471 action Effects 0.000 claims description 16
- 238000010586 diagram Methods 0.000 description 6
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The embodiment of the invention provides an unmanned aerial vehicle as well as a control device and a control method thereof. The control method of the unmanned aerial vehicle comprises the following steps: collecting position information of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to be positioned on a preset air route according to the position information of the unmanned aerial vehicle and the preset air route; receiving a control instruction, and controlling the unmanned aerial vehicle to execute a flying operation corresponding to the control instruction on the preset air route. The control device is capable of freely controlling the unmanned aerial vehicle to execute back-and-forth movement, hovering and other operations on the preset air route according to demands of an operator; the unmanned aerial vehicle can automatically ensure that a flightpath conforms to the preset air route, and the flightpath is controlled by an operator without complicated operation.
Description
Technical field
The present invention relates to UAV Flight Control technical field, in particular to a kind of nothing
Man-machine, UAV Flight Control device and method.
Background technology
Unmanned flight's control system in correlation technique, operator scheme generally have manual mode and
Course line pattern.Unmanned plane can fly automatically according to course line set in advance, this pattern
Do course line pattern.General course line pattern needs pre-set wish unmanned plane process one
Or several location point, and set the speed of flight, height and relevant job task.This
A little assignment instructions are referred to as route information.Unmanned plane, will after receiving the instruction starting course line
According to predetermined route information at a predetermined rate with highly automated flight, fulfil assignment appoint
Business.Unmanned plane performs course line task automatically when, it is to be not responding to remote controller to unmanned plane
The control of attitude.Such as unmanned plane is for the course rudder of remote controller, elevator, aileron rudder all
Will not respond.Only after receiving the instruction exiting course line, just can respond remote controller for nothing
The relevant control of man-machine attitude.Certainly, some unmanned plane is set as that monitoring remote controller sends
After gesture stability information, course line pattern, the operation of response remote controller will be automatically exited from.Tradition
Course line pattern be full automatic, it is impossible to enough Non-follow control unmanned planes the most freely before
Rear movement.
Unmanned plane can also manually complete aerial mission, and this pattern is called manual mode.Hands
Dynamic model formula can move before and after freely controlling unmanned plane, but is controlled in real time by remote controller
Unmanned plane completes aerial mission, need operator have the highest training level guarantee without
Man-machine flight path, operation is complicated, difficulty is big.And manually flight does not has course line automatic
The route of flight is accurate, there is operating error.
Summary of the invention
It is an object of the invention to provide a kind of unmanned plane, UAV Flight Control device and side
Method, solves that cannot freely to control unmanned plane under the pattern of general course line movable, manually
Control the lower shortcoming that cannot ensure unmanned plane during flying track and desired course inregister.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows:
First aspect, embodiments provides a kind of UAV Flight Control device, institute
State UAV Flight Control device to include: acquisition module, for gathering the position letter of unmanned plane
Breath；Control module, is used for the positional information according to described unmanned plane and default course line, controls
Described unmanned plane is positioned on described default course line；Receiver module, is used for receiving control instruction；
Described control module is additionally operable to control described unmanned plane and performs and institute on described default course line
State the flare maneuver that control instruction is corresponding.
Second aspect, the embodiment of the present invention additionally provides a kind of UAV Flight Control method,
Described UAV Flight Control method includes: gather the positional information of unmanned plane, according to described
The positional information of unmanned plane and default course line, control described unmanned plane and be positioned at described default course line
On；Receive control instruction, control described unmanned plane and perform with described on described default course line
The flare maneuver that control instruction is corresponding.
The third aspect, the embodiment of the present invention additionally provides a kind of unmanned plane, described unmanned plane bag
Include described UAV Flight Control device.
A kind of unmanned plane of embodiment of the present invention offer, UAV Flight Control device and method
By gathering the positional information of unmanned plane, navigate with presetting according to the positional information of described unmanned plane
Line, controls described unmanned plane and is positioned on described default course line；Receive control instruction, control institute
State unmanned plane on described default course line, perform the flare maneuver corresponding with described control instruction.
The present invention can be needed by operator, just can pass through after the relevant parameter in course line is preset in input
The propelling movement of rocking bar controls the flight of unmanned plane, makes unmanned plane automatically accurate on default course line
Execution move forward and backward, hover, the action such as turning, compensate for cannot under the pattern of general course line
Freely control that unmanned plane is movable, flight path and expectation boat cannot be ensured under manual mode
The shortcoming of line inregister.Operator can control unmanned plane freely and go forward in default course line
Rear movement, unmanned plane can ensure that flight path is to meet prebriefed pattern, need not operate automatically
Person controls track by complicated operation.Also will not be unmanned as under general course line pattern
Machine runs to terminal from departure point automatically, it is impossible to manually adjust position at any time.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, cited below particularly
Preferred embodiment, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to embodiment
The accompanying drawing used required in is briefly described, it will be appreciated that the following drawings illustrate only
Certain embodiments of the present invention, is therefore not construed as the restriction to scope, for ability
From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to according to
These accompanying drawings obtain the accompanying drawing that other are relevant.
Fig. 1 shows unmanned plane, the UAV Flight Control device that the embodiment of the present invention provides
And the applied environment schematic diagram of method；
Fig. 2 shows the merit of the UAV Flight Control device that first embodiment of the invention provides
Can module map；
Fig. 3 shows the stream of the UAV Flight Control method that second embodiment of the invention provides
Cheng Tu；
Fig. 4 shows the UAV Flight Control System that fourth embodiment of the invention provides
Functional block diagram；
Fig. 5 shows that the one of the unmanned plane that the present invention provides presets the schematic diagram in course line.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present invention
Case is clearly and completely described, it is clear that described embodiment is only the present invention one
Section Example rather than whole embodiments.Generally herein described in accompanying drawing and illustrate
The assembly of the embodiment of the present invention can arrange with various different configurations and design.Cause
This, the detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit below
The scope of claimed invention processed, but it is merely representative of the selected embodiment of the present invention.
Based on embodiments of the invention, those skilled in the art are not before making creative work
Put the every other embodiment obtained, broadly fall into the scope of protection of the invention.
It should also be noted that similar label and letter represent similar terms in following accompanying drawing, because of
This, be defined in the most a certain Xiang Yi accompanying drawing, then it is right to need not in accompanying drawing subsequently
It defines further and explains.Meanwhile, in describing the invention, term " first ",
" second " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint relative importance.
Refer to Fig. 1, be a kind of unmanned plane of embodiment of the present invention offer, unmanned plane during flying
The applied environment schematic diagram of control device and method.User can by remote terminal 300 to
Unmanned plane 100 sends control instruction.UAV Flight Control device 200 can be installed on nothing
Man-machine 100, so that unmanned plane 100 is carried out flight control.
In the embodiment of the present invention, remote terminal 300 is preferably general unmanned set remote-controller,
Certainly, above-mentioned remote terminal 300 can also be mobile terminal device, such as, can include
Smart mobile phone, panel computer, E-book reader, pocket computer on knee, vehicle mounted electric
Brain, Wearable mobile terminal etc..
First embodiment
Fig. 2 shows the UAV Flight Control device 200 that first embodiment of the invention provides
Functional block diagram.The UAV Flight Control device 200 that first embodiment of the invention provides
Including: receiver module 210, acquisition module 220 and control module 230.
Receiver module 210, is used for receiving triggering command.
In embodiments of the present invention, user can send triggering command to unmanned plane 100, should
Triggering command is to trigger unmanned plane 100 to enter the instruction of intelligence course line pattern, in intelligence course line
Under pattern, unmanned plane 100 can be automatically held on default course line.This triggering command is permissible
Triggered by the button of remote terminal 300 or inputted by the mode such as acoustic control, gesture, this
Invention is not limiting as the input mode of triggering command.Refer to for triggering the triggering of input with button
Order, user triggers button, and this triggering command is sent to nothing with signal form by wireless network
Man-machine 100, it is possible to be received by the antenna being arranged at unmanned plane 100.For with sound
The triggering command of prosecutor formula input, user can input the acoustic control instruction specified, such as " preparation
Flight ", this unmanned plane 100 receives acoustic control by voice operated sensor and instructs as triggering command.
For the triggering command inputted in gesture mode, user can make the gesture instruction specified,
Such as gestures such as palm swing up and down, this unmanned plane 100 receives gesture by image collecting device
Instruction is as triggering command.In the above-described embodiments, the antenna of unmanned plane 100, acoustic control pass
Sensor, image collecting device etc. can be as receiver modules 210.
Further, after receiver module 210 receives triggering command, unmanned plane 100 enters
Enter intelligence course line pattern, the announcement that warning information is sent on described unmanned plane 100 can be generated
Alarm device has been enter into intelligence course line pattern with prompting this unmanned plane 100 of user.Alarm device can
Think the existing LED light arranged on unmanned plane 100, such as, at unmanned plane 100
During normal flight, LED light can be shown in green, when receiver module 210 receives
After triggering command enters intelligence course line pattern, LED light can be shown in red, and
And fast blink etc..It addition, alarm device can also be existing for being different from unmanned plane 100
The alarm lamp of LED light or phonetic alarm.If alarm device employing alarm lamp, such as,
When unmanned plane 100 normal flight, alarm lamp can be shown in green, when receiver module 210
After receiving triggering command entrance intelligence course line pattern, alarm lamp can be shown in red,
And fast blink etc.；If alarm device uses phonetic alarm, such as, work as receiver module
After 210 receive triggering command entrance intelligence course line pattern, phonetic alarm can send
The voice signal such as " will take off ".It should be noted that alarm device can be depending on being actually needed
Being configured, those skilled in the art can be from the warning way of line translation alarm device.
Acquisition module 220, for gathering the position of unmanned plane 100 after receiving triggering command
Confidence ceases.
In embodiments of the present invention, acquisition module 220 can be to be arranged on unmanned plane 100
GPS sensor.After receiving triggering command, triggering command instruction GPS sensing
Device starts the longitude of Real-time Collection unmanned plane 100 current location, latitude and course, described
Longitude, latitude and the course of unmanned plane 100 current location are positional information, and should
Positional information is sent to control module 230, to realize being accurately positioned of unmanned plane 100.
Control module 230 is used for the positional information according to described unmanned plane and default flight course control
Unmanned plane 100 is positioned on described default course line.
In embodiments of the present invention, in advance unmanned plane 100 can be set one and preset course line,
Wherein, default course line includes start position, final position and start position and final position
Between several points, to form continuous print boat between start position and final position
Line.After unmanned plane 100 receives triggering command entrance intelligence course line pattern, triggering command
The position letter of the unmanned plane 100 that instruction control module 230 collects according to acquisition module 220
Breath and the information in this default course line, control unmanned plane 100 during performing to preset course line
Always situated on this default course line, therefore, the everything of unmanned plane 100 all can be at this
Preset and perform on course line.
Control module 230 is additionally operable to when the position indicated by the positional information of described unmanned plane is
During a preset on described default course line, control the hovering of described unmanned plane.Wherein, described
Preset can be the starting point in described default course line, intermediate point, terminal, and described intermediate point is
Remove the point on the default course line of beginning and end.
Such as, it is described default course line when the position indicated by the positional information of unmanned plane 100
Start position time, control module 230 control described unmanned plane hovering；When unmanned plane 100
The position indicated by positional information when not being the start position in described default course line, control institute
State unmanned plane during flying to the start position in described default course line and to hover.
In embodiments of the present invention, the start position presetting course line can pass through longitude, latitude
And the positional information such as course determines, when acquisition module 220 collects unmanned plane 100
During positional information, control module 230 can be respectively by right for the positional information institute of unmanned plane 100
Longitude, latitude and the course answered and the longitude corresponding to start position in default course line, latitude
Degree and course compare, when the longitude corresponding to the positional information of unmanned plane 100, latitude
When degree, course and the longitude of default departure point position, latitude, course are the most consistent, then say
The position indicated by positional information of bright unmanned plane 100 is the start position in default course line,
Unmanned plane 100 is currently located at the start position in default course line, and control module 230 i.e. controls nothing
Man-machine 100 hoverings.When the longitude corresponding to unmanned plane 100 positional information, latitude, course
With the longitude of default departure point position, latitude, boat wherein any one is inconsistent time, then
Illustrate that the position indicated by unmanned plane 100 positional information is not the start position presetting course line,
Unmanned plane 100 is not currently in the start position in default course line, and control module 230 can control
Unmanned plane 100 first fly to preset course line start position hover the most again.Unmanned plane 100
Under floating state, wait control instruction to be received.
Receiver module 210 is additionally operable to receive control instruction.
In embodiments of the present invention, control instruction can include controlling unmanned plane 100 along presetting
The direction flight forward in course line, backward flight or the certain point hovering etc. on default course line
The instruction of action.Control instruction can be sent by user operation remote terminal 300 to unmanned
Machine 100 is also received by receiver module 210.
Further, after receiver module 210 receives control instruction, control instruction is sent out
Give control module 230.
Control module 230 be additionally operable to control unmanned plane 100 performs on described default course line and
The flare maneuver that described control instruction is corresponding.
When remote terminal 300 is remote controller, user can be by the lifting of remote controller
Rudder stock position controls the unmanned plane 100 action in intelligence course line pattern.Such as, raise forward
Fall rudder stock position can be defined as controlling the instruction of unmanned plane 100 flight forward, pulls back lifting
Rudder stock position can be defined as controlling the instruction that unmanned plane 100 flies backward, and elevator horn position exists
The middle instruction that can be defined as controlling unmanned plane 100 hovering.Although at push-and-pull elevator horn
The action that elevator horn position tilts can be inevitably comprised during Wei, but nothing
Man-machine 100 will not go to respond these instructions corresponding to action tilted, it is ensured that boat
The accuracy of line flight.It should be noted that the flight forward mentioned in the embodiment of the present invention
Refer to unmanned plane 100 from current location along set course line to final position fly, fly backward
Refer to that unmanned plane 100 flies from current location along default course line to start position.
Further, when the elevator horn position of user operation remote controller, unmanned plane 100 edge
The flight speed in course line can be directly proportional to the angle of inclination of elevator horn position, such as, unmanned
The maximum flying speed of machine 100 is 70km/h, and the maximum tilt angle of elevator horn position is
60 degree, it is made to turn forward 60 degree when the elevator horn position of remote controller is promoted forward by user
Time, then unmanned plane 100 by the flight speed with 70km/h along course line flight forward；When
The elevator horn position of remote controller is pulled back when making it tilt backwards 30 degree by user, then
Flight speed with 35km/h is flown backward by unmanned plane 100 along course line, etc..
In embodiments of the present invention, when remote terminal 300 is smart mobile phone, user is permissible
Unmanned plane 100 moving in intelligence course line pattern is controlled by the button of operation smart mobile phone
Make.Such as, the volume of smart mobile phone is increased key definition to fly forward for controlling unmanned plane 100
The instruction of row, reduces key definition by the volume of smart mobile phone and flies backward for controlling unmanned plane 100
The instruction of row, etc..Further, unmanned plane 100 can be arranged a pre-set flight speed
Degree, when user clicks on volume increase key, unmanned plane 100 can be along default course line to preset
Flight speed flight forward；When user clicks on volume minimizing key, unmanned plane 100 can edge
Preset course line to fly backward with pre-set flight speed.Further, the pressing of above-mentioned smart mobile phone
Key can be physical button or virtual key.
It should be noted that the mode that the embodiment of the present invention sends control instruction is not limited to
It is transmitted by the elevator horn position of above-mentioned remote controller, the button of smart mobile phone, it is also possible to
It is the action bars of other equipment, or the button of other equipment etc..Further, the present invention is real
Execute the control instruction of example be also not limited to above-mentioned flight forward, fly backward, instruction of hovering,
Also dependent on needs, control unmanned plane on default course line, perform other actions, as overturn,
As long as not flying away from described default course line.
Further, in the position indicated by described positional information is described default course line
Between some time, control module 230 can control described unmanned plane hovering, when described positional information
When indicated position is not the intermediate point in described default course line, control module 230 can be controlled
Make described unmanned plane during flying to the intermediate point in described default course line and to hover.
For example, it is possible to arrange an intermediate point in described default course line in advance according to needs, so that
Unmanned plane interrupts current flare maneuver to perform other action at this intermediate point.When unmanned
When the intermediate point in described default course line is arrived in machine 100 flight, control module 230 can control institute
State unmanned plane 100 to hover, to wait that control instruction carries out next step action, when described position
When position indicated by information is not the intermediate point in described default course line, control module 230 can
To fly on default course line according to the control instruction described unmanned plane 100 of control, until flight
To the intermediate point in described default course line and hover.
Further, it is described when the position indicated by the positional information of described unmanned plane 100
When presetting the final position in course line, control module 230 controls described unmanned plane 100 and hovers；
When the position indicated by the positional information of described unmanned plane 100 is not the end in described default course line
During point position, control module 230 controls described unmanned plane 100 and continues on described default course line
The flare maneuver that continuous execution is corresponding with described control instruction, until unmanned plane 100 flight is to pre-
If during the terminal in course line, control module 230 controls unmanned plane 100 and hovers.
In embodiments of the present invention, longitude, latitude can be passed through in the final position presetting course line
And course determines.When unmanned plane 100 is at the direction flight forward along described default course line
Time, the positional information collecting unmanned plane 100 is sent to control module by acquisition module 220
230, control module 230 can be respectively by the warp corresponding to the positional information of unmanned plane 100
Degree, latitude and course and the longitude corresponding to final position in default course line, latitude and
Course compares, when the longitude corresponding to the positional information of unmanned plane 100, latitude, boat
When the most consistent with the longitude of default air terminal position, latitude, course, then explanation is unmanned
Position indicated by machine 100 positional information is the final position presetting course line, unmanned plane 100
Being currently located at the final position in default course line, control module 230 i.e. controls unmanned plane 100 and hangs
Stop waiting new control instruction.When the longitude corresponding to the positional information of unmanned plane 100,
Latitude, course and the longitude of default air terminal position, latitude, course wherein any one
Time inconsistent, then the position indicated by positional information of explanation unmanned plane 100 is not to preset boat
The final position of line, unmanned plane 100 does not currently also arrive the final position in default course line, control
Molding block 230 can control described unmanned plane and continues executing with on described default course line and control
The flare maneuver that instruction is corresponding is until unmanned plane during flying hangs to the final position presetting course line again
Stop waiting new instruction.
When unmanned plane 100 arrives the final position presetting course line, unmanned plane 100 exits intelligence
Energy course line pattern, can send warning signal to remind this unmanned plane of user by alarm device
100 have dropped out intelligence course line pattern.Alarm device can be on unmanned plane 100 arrange show
Having LED light, such as, unmanned plane 100 is when intelligence course line pattern, and LED indicates
Lamp can shown in red and fast blink, unmanned plane 100 is exiting intelligence course line pattern
Afterwards, LED light can be shown in green.
In embodiments of the present invention, control module 230 can be flight controller (flying control).
Second embodiment
Fig. 3 shows a kind of UAV Flight Control method that second embodiment of the invention provides
Flow chart, second embodiment of the invention provide a kind of UAV Flight Control method include
Following steps:
Step S110, receives triggering command.
In embodiments of the present invention, step S110 can be performed by receiver module 210.With
Family can send triggering command to this unmanned plane 100, and this triggering command is for triggering unmanned plane 100
Entering the instruction of intelligence course line pattern, under the pattern of intelligence course line, unmanned plane 100 can be certainly
Move and be maintained on default course line.This triggering command can be touched by the button of remote terminal 300
Send out or inputted by the mode such as acoustic control, gesture and received by receiver module 210.Need
Bright, the present invention is not limiting as the input mode of triggering command.
Step S120, after receiving triggering command, gathers the positional information of unmanned plane 100.
In embodiments of the present invention, step S120 can be performed by acquisition module 220.?
After receiving described triggering command, acquisition module 220 starts Real-time Collection unmanned plane 100
The longitude of current location, latitude and course, the longitude of described unmanned plane 100 current location,
Latitude and course are the positional information of unmanned plane 100.Acquisition module 220 can be by position
Information sends to control module 230.
Further, triggering command instruction control module 230 is according to the position of unmanned plane 100
Information is positioned on described default course line with unmanned plane 100 described in default flight course control.Further,
When the position indicated by the positional information of described unmanned plane 100 is on described default course line one
During preset, described unmanned plane 100 can be controlled and hover.Wherein, described preset is permissible
For the starting point in described default course line, intermediate point, terminal, described intermediate point for remove starting point and
Point on the default course line of terminal.
Further, triggering command triggers unmanned plane 100 and enters intelligence course line pattern, permissible
The alarm device that generation warning information is sent on described unmanned plane 100 is to remind this nothing of user
Man-machine 100 have been enter into intelligence course line pattern.Alarm device can be to arrange on unmanned plane 100
Existing LED light, such as, when unmanned plane 100 normal flight, LED indicate
Lamp can be shown in green, enters intelligence course line when receiver module 210 receives triggering command
After pattern, LED light can be shown in red, and fast blink etc..It addition,
Alarm device can also be for be different from the alarm lamp of existing LED light on unmanned plane 100
Or phonetic alarm.If alarm device uses alarm lamp, such as, normal at unmanned plane 100
During flight, alarm lamp can be shown in green, when receiver module 210 receives triggering command
After entering intelligence course line pattern, alarm lamp can be shown in red, and fast blink etc.；
If alarm device uses phonetic alarm, such as, refer to when receiver module 210 receives triggering
After order enters intelligence course line pattern, phonetic alarm can send voices such as " will take off "
Signal.It should be noted that alarm device can be configured depending on being actually needed, this area
Technical staff can be from the warning way of line translation alarm device.
Step S130, it is judged that unmanned plane whether start position in default course line, works as unmanned plane
When position indicated by the positional information of 100 is the start position in described default course line, control
Described unmanned plane 100 hovers；When the position indicated by the positional information of unmanned plane 100 is not
During the start position in described default course line, control the flight of described unmanned plane 100 and preset to the most described
The start position in course line also hovers.
In embodiments of the present invention, step S130 can be performed by control module 230.In advance
If the start position in course line can be determined by longitude, latitude and course, when gathering mould
When block 220 collects the positional information of unmanned plane 100, control module 230 can respectively by
Longitude, latitude and course corresponding to unmanned plane 100 positional information is risen with default course line
Point longitude, latitude and course corresponding to position compares, when unmanned plane 100 position
Longitude corresponding to information, latitude, course and the longitude of default departure point position, latitude,
When course is all consistent, then the position indicated by positional information of explanation unmanned plane 100 is default
The start position in course line, unmanned plane 100 is currently located at the start position in default course line, controls
Module 230 i.e. controls unmanned plane 100 and hovers.When corresponding to the positional information of unmanned plane 100
Longitude, latitude, the longitude of course and default departure point position, latitude, boat wherein appoint
Anticipate one inconsistent time, then explanation unmanned plane 100 the position indicated by positional information be not
Presetting the start position in course line, unmanned plane 100 is not currently in the start position in default course line,
Control module 230 can control unmanned plane 100 and first fly to the start position presetting course line
Hover the most again.Unmanned plane 100, under floating state, waits control instruction to be received.
Step S140, receives control instruction.
In embodiments of the present invention, step S140 can be performed by receiver module 210.With
Family can send control instruction by remote terminal 300 to unmanned plane 100.Control instruction can
With include control unmanned plane 100 along default course line direction flight forward, backward flight or
The instruction of the actions such as the certain point hovering on default course line.Receiver module 210 receives control
After system instruction, control instruction is sent to control module 230.
Step S150, controls unmanned plane 100 and performs on described default course line and described control
The action that instruction is corresponding.
In embodiments of the present invention, step S150 can be performed by control module 230.
When remote terminal 300 is remote controller, user can be by the lifting of remote controller
Rudder stock position is to send control instruction, such as, promotes forward elevator horn position to be defined as unmanned plane
The instruction of flight forward, pulls back elevator horn position and is defined as the finger that unmanned plane flies backward
Order, when the elevator horn position of remote controller is promoted forward by user, then control module 230 will
Control unmanned plane 100 along default course line flight forward；When user is by the elevator horn of remote controller
Position pulls back, then control unmanned plane 100 is flown backward by control module 230 along course line,
Etc..When remote terminal 300 is smart mobile phone, user can be by operation smart mobile phone
Button control the unmanned plane 100 action in intelligence course line pattern.Such as, by intelligence hands
It is the instruction controlling unmanned plane 100 flight forward that the volume of machine increases key definition, by intelligence hands
It is to control the instruction that unmanned plane 100 flies backward that the volume of machine reduces key definition, etc..Enter
One step, unmanned plane 100 can be arranged a pre-set flight speed, when user clicks on volume
When increasing key, unmanned plane 100 can be along default course line with pre-set flight speed flight forward；
When user clicks on volume minimizing key, unmanned plane 100 can be along default course line with pre-set flight
Speed is flown backward.
Further, in the position indicated by described positional information is described default course line
Between some time, control module 230 can control described unmanned plane 100 and hover, when described position
When position indicated by information is not the intermediate point in described default course line, control module 230 can
To control the intermediate point in described unmanned plane during flying extremely described default course line and to hover.
For example, it is possible to arrange an intermediate point in described default course line in advance according to needs, so that
Unmanned plane interrupts current flare maneuver to perform other action at this intermediate point.When unmanned
When the intermediate point in described default course line is arrived in machine 100 flight, control module 230 can control institute
State unmanned plane 100 to hover, to wait that control instruction carries out next step action, when described position
When position indicated by information is not the intermediate point in described default course line, control module 230 can
To fly on default course line according to the control instruction described unmanned plane 100 of control, until flight
To the intermediate point in described default course line and hover.
Step S160, it is judged that whether unmanned plane completes to preset course line, when the position of unmanned plane 100
During the final position that position is described default course line indicated by confidence breath, control described unmanned
Machine hovers；When the position indicated by the positional information of described unmanned plane is not described default course line
Final position time, control described unmanned plane and continue executing with described on described default course line
The flare maneuver that control instruction is corresponding, until unmanned plane 100 flight is to the terminal presetting course line
Time, control module 230 controls unmanned plane 100 and hovers.
In embodiments of the present invention, step S160 can be performed by control module 230.In advance
If the final position in course line can be determined by longitude, latitude and course.Work as unmanned plane
100 when the direction flight forward in course line is preset on edge, and control module 230 can be respectively by nothing
Longitude, latitude and course corresponding to the positional information of man-machine 100 and the end in default course line
Point longitude, latitude and course corresponding to position compares, when the position of unmanned plane 100
Longitude, latitude, course and the longitude of default air terminal position, latitude corresponding to confidence breath
When degree, course are all consistent, then the position indicated by positional information of explanation unmanned plane 100 is
Presetting the final position in course line, unmanned plane 100 is currently located at the final position in default course line,
Control module 230 i.e. controls unmanned plane 100 and hovers to wait new instruction, unmanned plane 100
Exit intelligence course line pattern.When the longitude corresponding to the positional information of unmanned plane 100, latitude,
Course and the longitude of default air terminal position, latitude, boat be time wherein any one is inconsistent,
Then the position indicated by positional information of explanation unmanned plane 100 is not the terminal position presetting course line
Putting, unmanned plane 100 does not currently also arrive the final position in default course line, control module 230
Described unmanned plane 100 can be controlled continue executing with on described default course line and refer to described control
The flare maneuver that order is corresponding, until unmanned plane 100 flight is to the final position in default course line,
Control module 230 controls unmanned plane 100 and hovers, and unmanned plane 100 exits intelligence course line pattern.
3rd embodiment
It addition, corresponding to above-mentioned based on a kind of UAV Flight Control method, at the present embodiment
In, additionally providing a kind of UAV Flight Control device, this device is used for realizing above-mentioned enforcement
Example and preferred implementation, carried out repeating no more of explanation.As used below,
Term " module " can realize the software of predetermined function and/or the combination of hardware.Although this reality
Execute the device described by example preferably to realize with software, but hardware, or software is with hard
The realization of the combination of part also may and be contemplated.
This UAV Flight Control device 200 includes:
Acquisition module 220, for gathering the positional information of unmanned plane；
Control module 230, controls with default course line for the positional information according to described unmanned plane
Make described unmanned plane to be positioned on described default course line；
Receiver module 210, is used for receiving control instruction；
Described control module 230 is additionally operable to control described unmanned plane and holds on described default course line
The flare maneuver that row is corresponding with described control instruction.
It should be noted that the connecing of UAV Flight Control device 200 that the present embodiment provides
Receiving module 210, acquisition module 220 and control module 230 can be software function module.
Unmanned plane 100 can include memorizer, processor and UAV Flight Control device 200,
Each software function module of described UAV Flight Control device 200 is deposited described in can being installed on
Perform in reservoir and by described processor.
4th embodiment
Fig. 4 shows the merit of the UAV Flight Control System that fourth embodiment of the invention provides
Can module map.The UAV Flight Control System that fourth embodiment of the invention provides includes: connect
Receive module 210, acquisition module 220, control module 230, surface control module 310, show
Show module 320, mode switch module 330, parameter input module 340 and wireless module
350.Wherein, surface control module 310, display module 320, mode switch module 330,
Parameter input module 340 and wireless module 350 can be integrated in remote terminal.
Receiver module 210 is used for receiving triggering command and control instruction.
Acquisition module 220 is for gathering the position letter of unmanned plane after receiving triggering command
Breath.
Control module 230 is unmanned with default flight course control for the positional information according to unmanned plane
Machine is positioned on described default course line, and control unmanned plane performs with described on default course line
The flare maneuver that control instruction is corresponding.
Surface control module 310 refers to for sending control by wireless module 350 to unmanned plane
Order, surface control module 310 can be button or the rocking bar of remote terminal.
Display module 320 is for showing the position of the unmanned plane of acquisition module 220 Real-time Collection
Information enables a user to check the flight path of unmanned plane, and display module 320 can be
The display screen of remote terminal.
Mode switch module 330 is used for the control model of unmanned plane in manual mode and intelligence
Switch between the pattern of course line, and referred to unmanned plane transmission triggering by wireless module 350
Order.Mode switch module 330 can be button or the rocking bar of remote terminal.
Parameter input module 340 is for inputting the relevant parameter in the default course line of unmanned plane, example
Such as flying height, flying distance etc..Parameter input module 340 can be pressing of remote terminal
Key.
Fig. 5 shows that the one of unmanned plane presets the schematic diagram in course line.Utilize the embodiment of the present invention
The UAV Flight Control device and method provided controls unmanned plane along presetting shown in Fig. 5
The process of airline operation is as follows:
The control mode of unmanned plane is cut from manual mode by user by mode switch module 330
Change to intelligence course line pattern, and send the first triggering command to receiving by wireless module 350
Module 210, triggering command is sent to control module 230 by receiver module 210, controls mould
Block 230 controls unmanned plane according to the first triggering command and enters intelligence course line pattern.
User inputs, by parameter input module 340, the flying distance that unmanned plane is preset in course line
Value a rice, spacer distance values b rice and flying height h rice, and will by wireless module 350
Above-mentioned parameter value is transferred to receiver module 210, and parameter value is sent to control by receiver module 210
Molding block 230, control module 230 controls unmanned plane according to the above-mentioned parameter value in default course line
Always situated on default course line during flight.
User starts the control parts of surface control module 310, such as by remote terminal
Elevator horn position is controlled, and sends control instruction to receiving mould by wireless module 350
Block 210, control instruction is sent to control module 230, control module by receiver module 210
230 control unmanned plane according to control instruction performs corresponding with control instruction on default course line
Flare maneuver, such as flight forward and automatically turning round.
During unmanned plane during flying, the positional information of acquisition module 220 Real-time Collection unmanned plane is also
Positional information is passed to control module 230, and it is current that control module 230 calculates unmanned plane in real time
Position and the distance value of starting point, when distance value reaches a rice, turn right automatically, then between flight
Automatically turn right after distance values b of spacing rice, until completing the default course line shown in Fig. 5.
During airline operation is preset on unmanned plane edge, if user stops operation ground control
The control parts (such as by elevator horn position in centre) of module 310, then unmanned plane stops
Only fly and hover over aerial.
After unmanned plane arrives the terminal in the default course line shown in Fig. 5, automatic suspension is parked in end
Point.Unmanned plane is switched by intelligence course line pattern by user again by mode switch module 330
For manual mode, and send the second triggering command to receiver module by wireless module 350
210, the second triggering command is sent to control module 230, control module by receiver module 210
230 control unmanned plane according to the second triggering command enters manual mode.Then, user is permissible
Controlling unmanned plane by surface control module 310 to land, unmanned plane completes to preset flying of course line
OK.
Embodiments of the invention additionally provide a kind of storage medium.Alternatively, at the present embodiment
In, this storage medium is arranged to storage for performing below UAV Flight Control method
Program code.
S1, gathers the positional information of unmanned plane, according to the positional information of described unmanned plane with pre-
If course line, control described unmanned plane and be positioned on described default course line；
S2, receive control instruction, control described unmanned plane performs on described default course line and
The flare maneuver that described control instruction is corresponding.
It addition, this storage medium is also configured to storage for performing UAV Flight Control side
Other program codes of method.
Alternatively, in the present embodiment, above-mentioned storage medium can include but not limited to: U
Dish, read only memory (Read-Only Memory, ROM), random access memory
(Random Access Memory, RAM), portable hard drive, magnetic disc or CD etc.
The various media that can store program code.
Alternatively, in the present embodiment, processor is according to the program stored in storage medium
Code performs UAV Flight Control method.
A kind of unmanned plane, UAV Flight Control device and the side that the embodiment of the present invention provides
Method, it is possible to need by operator, just can be by shaking after the relevant parameter in course line is preset in input
The propelling movement of bar controls the flight of unmanned plane, makes unmanned plane automatically accurate on default course line
The actions such as execution moves forward and backward, hovers, turning, compensate for cannoting under the pattern of general course line from
Flight path and desired course cannot be ensured by controlling that unmanned plane is movable, under manual mode
The shortcoming of inregister.Operator can control freely unmanned plane on default course line before and after
Mobile, unmanned plane can ensure that flight path is to meet prebriefed pattern, without operator automatically
Track is controlled by complicated operation.Also will not be as under general course line pattern, unmanned plane
Terminal is run to automatically, it is impossible to manually adjust position at any time from departure point.
It should be noted that in this article, the relational terms of such as first and second or the like
It is used merely to separate an entity or operation with another entity or operating space, and not
Necessarily require or imply the relation that there is any this reality between these entities or operation
Or order.And, term " includes ", " comprising " or its any other variant are intended to contain
Comprising of lid nonexcludability, so that include the process of a series of key element, method, article
Or equipment not only includes those key elements, but also other including being not expressly set out are wanted
Element, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, and
It is not precluded within and includes the process of described key element, method, article or equipment there is also additionally
Identical element.
The foregoing is only the preferred embodiments of the present invention, be not limited to this
Bright, for a person skilled in the art, the present invention can have various modifications and variations.
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement made
Deng, should be included within the scope of the present invention.It should also be noted that similar label and
Letter represents similar terms in following accompanying drawing, therefore, in the most a certain Xiang Yi accompanying drawing
It is defined, then need not it be defined further and explains in accompanying drawing subsequently.
Claims (11)
1. a UAV Flight Control device, it is characterised in that described unmanned plane during flying control
Device processed includes:
Acquisition module, for gathering the positional information of unmanned plane；
Control module, is used for the positional information according to described unmanned plane and default course line, controls institute
State unmanned plane to be positioned on described default course line；
Receiver module, is used for receiving control instruction；
Described control module be additionally operable to control described unmanned plane perform on described default course line with
The flare maneuver that described control instruction is corresponding.
2. UAV Flight Control device as claimed in claim 1, it is characterised in that institute
State receiver module to be additionally operable to: receive triggering command, wherein, adopt described in the instruction of described triggering command
Collection module gathers the positional information of unmanned plane, and indicates described control module according to described unmanned plane
Positional information and default flight course control described in unmanned plane be positioned on described default course line.
3. UAV Flight Control device as claimed in claim 1, it is characterised in that institute
State control module to be additionally operable to: control described unmanned plane and flying forward along the direction in described default course line
Row, backward flight or hovering on default course line.
4. UAV Flight Control device as claimed in claim 2, it is characterised in that institute
State acquisition module to be additionally operable to: after receiving triggering command, gather the position letter of described unmanned plane
Breath, described control module is additionally operable to: when the position indicated by the positional information of described unmanned plane is
In the case of preset on described default course line, control described unmanned plane on described preset
Hovering, or, when the position indicated by the positional information of described unmanned plane is not described default boat
In the case of preset on line, control described unmanned plane during flying presetting to described default course line
Point also hovers in described preset.
5. a UAV Flight Control method, it is characterised in that described unmanned plane during flying control
Method processed includes:
Gather the positional information of unmanned plane, navigate with presetting according to the positional information of described unmanned plane
Line, controls described unmanned plane and is positioned on described default course line；
Receive control instruction, control described unmanned plane and perform on described default course line and described control
The flare maneuver that system instruction is corresponding.
6. UAV Flight Control method as claimed in claim 5, it is characterised in that institute
State the positional information gathering unmanned plane, according to positional information and the default course line of described unmanned plane,
Control before described unmanned plane is positioned on described default course line, also to include:
Receiving triggering command, wherein, the instruction of described triggering command gathers the positional information of unmanned plane,
It is positioned at described pre-according to the positional information of described unmanned plane with unmanned plane described in default flight course control
If on course line.
7. UAV Flight Control method as claimed in claim 5, it is characterised in that institute
State the positional information according to described unmanned plane and be positioned at described with unmanned plane described in default flight course control
After presetting on course line, also include: generate warning information and be sent to the alarm on described unmanned plane
Device.
8. UAV Flight Control method as claimed in claim 5, it is characterised in that institute
State the described unmanned plane of control on described default course line, perform fly corresponding with described control instruction
Action work include: control described unmanned plane along described default course line direction flight forward, to
Rear flight or hovering on default course line.
9. UAV Flight Control method as claimed in claim 5, it is characterised in that institute
State UAV Flight Control method also to include: after receiving triggering command, gather described unmanned plane
Positional information, when the position indicated by the positional information of described unmanned plane is described default course line
On preset in the case of, control described unmanned plane and hover on described preset, or,
When the position indicated by the positional information of described unmanned plane is not presetting on described default course line
In the case of Dian, control described unmanned plane during flying to the preset in described default course line and described
Hover in preset.
10. UAV Flight Control method as claimed in claim 9, it is characterised in that institute
State the preset on default course line and include at least one of: the starting point in described default course line, institute
State the intermediate point in default course line, the terminal in described default course line.
11. 1 kinds of unmanned planes, it is characterised in that described unmanned plane includes Claims 1-4
UAV Flight Control device described in any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408948.XA CN105867407A (en) | 2016-06-12 | 2016-06-12 | Unmanned aerial vehicle as well as control device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408948.XA CN105867407A (en) | 2016-06-12 | 2016-06-12 | Unmanned aerial vehicle as well as control device and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105867407A true CN105867407A (en) | 2016-08-17 |
Family
ID=56649403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610408948.XA Pending CN105867407A (en) | 2016-06-12 | 2016-06-12 | Unmanned aerial vehicle as well as control device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105867407A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106483978A (en) * | 2016-12-09 | 2017-03-08 | 佛山科学技术学院 | A kind of unmanned machine operation voice guide devices and methods therefor |
| CN106603970A (en) * | 2016-11-11 | 2017-04-26 | 重庆零度智控智能科技有限公司 | Video shooting method and system and unmanned aerial vehicle |
| CN106652569A (en) * | 2017-01-16 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent air route planning system of unmanned aerial vehicle |
| CN106843263A (en) * | 2016-12-22 | 2017-06-13 | 深圳市书呆科技有限公司 | Unmanned aerial vehicle flight control method and system |
| CN108235743A (en) * | 2017-11-24 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | Task executing method, device, loose impediment and computer readable storage medium |
| CN108375986A (en) * | 2018-03-30 | 2018-08-07 | 深圳市道通智能航空技术有限公司 | Control method, device and the terminal of unmanned plane |
| WO2018166068A1 (en) * | 2017-03-16 | 2018-09-20 | 广州极飞科技有限公司 | Flight control method and device of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109144094A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN109292479A (en) * | 2018-09-20 | 2019-02-01 | 浙江大唐乌沙山发电有限责任公司 | Unmanned plane coal yard check system and disk coal method |
| CN109799838A (en) * | 2018-12-21 | 2019-05-24 | 金季春 | A kind of training method and system |
| KR20190077030A (en) * | 2016-11-28 | 2019-07-02 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | Method and Apparatus for Controlling UAV Flight |
| CN110275545A (en) * | 2019-05-29 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| CN111007868A (en) * | 2018-10-08 | 2020-04-14 | 成都新越科技有限公司 | Unmanned aerial vehicle autonomous control method |
| CN111727415A (en) * | 2019-06-12 | 2020-09-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium |
| CN111752297A (en) * | 2019-09-30 | 2020-10-09 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method and related device |
| CN112543899A (en) * | 2019-12-26 | 2021-03-23 | 深圳市大疆创新科技有限公司 | Control method and control device for movable carrier and computer readable storage medium |
| CN114115337A (en) * | 2016-09-22 | 2022-03-01 | 深圳市大疆创新科技有限公司 | Flight control method and device and intelligent terminal |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080014104A (en) * | 2008-01-17 | 2008-02-13 | 대한민국(관리부서:국립수산과학원) | Observation system of measurement the sea circumstances and aerial vehicle with unmanned and methods thereof |
| CN101419461A (en) * | 2008-11-19 | 2009-04-29 | 北京航空航天大学 | Double-mode ground control system for coaxial dual-rotor helidrone |
| CN102053619A (en) * | 2009-11-06 | 2011-05-11 | 北京理工大学 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
| CN204350174U (en) * | 2014-11-27 | 2015-05-20 | 昆山优力电能运动科技有限公司 | The aerial sight seeing system of over the horizon |
| CN104881023A (en) * | 2015-04-23 | 2015-09-02 | 杨珊珊 | Control method of multi-rotor type aircraft, and multi-rotor type aircraft |
| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
-
2016
- 2016-06-12 CN CN201610408948.XA patent/CN105867407A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080014104A (en) * | 2008-01-17 | 2008-02-13 | 대한민국(관리부서:국립수산과학원) | Observation system of measurement the sea circumstances and aerial vehicle with unmanned and methods thereof |
| CN101419461A (en) * | 2008-11-19 | 2009-04-29 | 北京航空航天大学 | Double-mode ground control system for coaxial dual-rotor helidrone |
| CN102053619A (en) * | 2009-11-06 | 2011-05-11 | 北京理工大学 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
| CN204350174U (en) * | 2014-11-27 | 2015-05-20 | 昆山优力电能运动科技有限公司 | The aerial sight seeing system of over the horizon |
| CN104881023A (en) * | 2015-04-23 | 2015-09-02 | 杨珊珊 | Control method of multi-rotor type aircraft, and multi-rotor type aircraft |
| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115337A (en) * | 2016-09-22 | 2022-03-01 | 深圳市大疆创新科技有限公司 | Flight control method and device and intelligent terminal |
| CN106603970A (en) * | 2016-11-11 | 2017-04-26 | 重庆零度智控智能科技有限公司 | Video shooting method and system and unmanned aerial vehicle |
| CN106603970B (en) * | 2016-11-11 | 2020-12-08 | 北京远度互联科技有限公司 | Video shooting method and system and unmanned aerial vehicle |
| KR20190077030A (en) * | 2016-11-28 | 2019-07-02 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | Method and Apparatus for Controlling UAV Flight |
| US11498676B2 (en) | 2016-11-28 | 2022-11-15 | Guangzhou Xaircraft Technology Co., Ltd. | Method and apparatus for controlling flight of unmanned aerial vehicle |
| KR102296455B1 (en) * | 2016-11-28 | 2021-09-02 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | Methods and devices for controlling the flight of drones |
| CN106483978A (en) * | 2016-12-09 | 2017-03-08 | 佛山科学技术学院 | A kind of unmanned machine operation voice guide devices and methods therefor |
| CN106843263A (en) * | 2016-12-22 | 2017-06-13 | 深圳市书呆科技有限公司 | Unmanned aerial vehicle flight control method and system |
| CN106843263B (en) * | 2016-12-22 | 2019-09-17 | 深圳市书呆科技有限公司 | Unmanned aerial vehicle flight control method and system |
| CN106652569A (en) * | 2017-01-16 | 2017-05-10 | 广东容祺智能科技有限公司 | Intelligent air route planning system of unmanned aerial vehicle |
| AU2017403361B2 (en) * | 2017-03-16 | 2021-04-22 | Guangzhou Xaircraft Technology Co., Ltd | Flight control method and device of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN108628336A (en) * | 2017-03-16 | 2018-10-09 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| KR20190103400A (en) * | 2017-03-16 | 2019-09-04 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | How to control drones, devices and drones |
| KR102301296B1 (en) * | 2017-03-16 | 2021-09-13 | 광저우 엑스에어크래프트 테크놀로지 씨오 엘티디 | UAV flight control method, device and drone |
| WO2018166068A1 (en) * | 2017-03-16 | 2018-09-20 | 广州极飞科技有限公司 | Flight control method and device of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109144094A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN108235743A (en) * | 2017-11-24 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | Task executing method, device, loose impediment and computer readable storage medium |
| CN108235743B (en) * | 2017-11-24 | 2021-08-06 | 深圳市道通智能航空技术股份有限公司 | Task execution method, device, movable object and computer readable storage medium |
| CN108375986A (en) * | 2018-03-30 | 2018-08-07 | 深圳市道通智能航空技术有限公司 | Control method, device and the terminal of unmanned plane |
| CN109292479A (en) * | 2018-09-20 | 2019-02-01 | 浙江大唐乌沙山发电有限责任公司 | Unmanned plane coal yard check system and disk coal method |
| CN111007868A (en) * | 2018-10-08 | 2020-04-14 | 成都新越科技有限公司 | Unmanned aerial vehicle autonomous control method |
| CN109799838A (en) * | 2018-12-21 | 2019-05-24 | 金季春 | A kind of training method and system |
| CN110275545B (en) * | 2019-05-29 | 2022-04-08 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| CN110275545A (en) * | 2019-05-29 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| WO2020248155A1 (en) * | 2019-06-12 | 2020-12-17 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, and terminal, unmanned aerial vehicle and storage medium |
| CN111727415A (en) * | 2019-06-12 | 2020-09-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium |
| CN111752297A (en) * | 2019-09-30 | 2020-10-09 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method and related device |
| CN112543899A (en) * | 2019-12-26 | 2021-03-23 | 深圳市大疆创新科技有限公司 | Control method and control device for movable carrier and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105867407A (en) | Unmanned aerial vehicle as well as control device and control method thereof | |
| US11370540B2 (en) | Context-based flight mode selection | |
| CN110325939B (en) | System and method for operating an unmanned aerial vehicle | |
| US9616993B1 (en) | Simplified auto-flight system coupled with a touchscreen flight control panel | |
| CN107577229B (en) | Mobile robot, movement control system, and movement control method | |
| CN106796761B (en) | System and method for supporting analog mobility | |
| US9691287B1 (en) | Graphical method to set vertical and lateral flight management system constraints | |
| KR20210121161A (en) | Autonomous and user-controlled vehicle calls to cross-reference targets for related applications | |
| US20170221368A1 (en) | Method and device for setting a flight route | |
| CN111552320B (en) | Return method, controller, unmanned aerial vehicle and storage medium | |
| US20200141755A1 (en) | Navigation processing method, apparatus, and control device | |
| WO2018187889A1 (en) | Flight processing method and control apparatus | |
| US20220388537A1 (en) | Trajectory Prediction for Autonomous Devices | |
| WO2018090208A1 (en) | Navigation method and device based on three-dimensional map | |
| CN105867405A (en) | UAV (unmanned aerial vehicle) as well as UAV landing control method and device | |
| US20190384788A1 (en) | Acoustic monitoring system | |
| CN107314772B (en) | Unmanned aerial vehicle self-learning waypoint track flight method and system thereof | |
| CN107450573B (en) | Flight shooting control system and method, intelligent mobile communication terminal and aircraft | |
| CN205028159U (en) | Unmanned aerial vehicle's controlling means and operation interface thereof | |
| CN105843245A (en) | Unmanned aerial vehicle control system and unmanned aerial vehicle control method | |
| EP3766735A1 (en) | Systems and methods for search and rescue light control for a rotorcraft | |
| CN108008730A (en) | UAV Flight Control method and its system | |
| KR20180057021A (en) | Method to control UAV and UAV controlling apparatus using the same | |
| KR101887314B1 (en) | Remote control device and method of uav, motion control device attached to the uav | |
| CN107305394B (en) | Control method, flight controller, terminal and control system of unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination |