CN105911573B

CN105911573B - Flight equipment method for retrieving and device

Info

Publication number: CN105911573B
Application number: CN201610204128.9A
Authority: CN
Inventors: 王维钊; 成悦; 朱君
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-04-01
Filing date: 2016-04-01
Publication date: 2019-03-15
Anticipated expiration: 2036-04-01
Also published as: CN105911573A

Abstract

The disclosure is directed to flight equipment method for retrieving and devices.This method comprises: obtaining the first identity information with associated first user of first terminal of access current local area network；When the flight equipment in working flight mode determines that electricity is less than given threshold, into landing operating mode；The flight equipment local environment described in descent samples, and obtains environmental information sample；The environmental information sample of acquisition is sent to controlling terminal after sampling every time, so that controlling terminal environmental information sample based on the received, determines the position in the flight equipment level point, carry out giving for change for the flight equipment.In the technical solution, flight equipment samples local environment in descent, and the environmental information sample of acquisition is sent to controlling terminal after each sample, so that controlling terminal can carry out giving for change for flight equipment according to environmental information sample.In this way, reducing the probability that flight equipment is lost, damaged.

Description

Flight equipment method for retrieving and device

Technical field

This disclosure relates to Internet technical field more particularly to flight equipment method for retrieving and device.

Background technique

Unmanned vehicle is a kind of not manned vehicle based on wireless remotecontrol or itself process control, can letter Referred to as flight equipment (UAV, Unmanned Aerial Vehicle).With the maturation of flight equipment technology, flight equipment is also obtained Public extensive concern is arrived.

Currently, it is similar to take photo by plane etc. about the flight equipment express delivery of flight equipment expansion, flight equipment in the related technology Business has very much, after flight equipment completes these tasks, can generally make a return voyage, and returns to the position of manipulator's setting, and when flight Equipment can generate some hidden danger when the remaining capacity on the way that makes a return voyage is lower, for example, low battery cannot make a return voyage to setting when making a return voyage Fixed position may fall down and damage the flight equipment.

Summary of the invention

The embodiment of the present disclosure provides flight equipment method for retrieving and device.The technical solution is as follows:

According to the first aspect of the embodiments of the present disclosure, a kind of flight equipment method for retrieving is provided, it may include:

When the flight equipment in working flight mode determines that electricity is less than given threshold, into landing operating mode；

The flight equipment local environment described in descent samples, and obtains environmental information sample；

The environmental information sample of acquisition is sent to controlling terminal after sampling every time so that the controlling terminal according to Received environmental information sample determines the position in the flight equipment level point, carries out giving for change for the flight equipment.

As it can be seen that can be carried out in descent to local environment when the electricity that flight equipment determines is less than given threshold Sampling, and the environmental information sample of acquisition is sent to controlling terminal after each sample, thus, controlling terminal can be according to reception Environmental information sample, determine the position in the flight equipment level point, carry out giving for change for flight equipment.In this way, reducing winged Row device losses, damage probability, further improve the controllability of flight equipment.

In one embodiment, described when the flight equipment in working flight mode determines that electricity is less than given threshold When, include: into landing operating mode

When the flight equipment determines that electricity is less than given threshold, Xiang Suoshu controlling terminal sends low battery alarm signal Breath；

The operating mode switching command that the controlling terminal is sent, and switching command according to the operation mode are received, from The working flight pattern switching to landing operating mode.

As it can be seen that the operating mode of flight equipment can be manipulated by controlling terminal, it is suitable for different scenes, is increased winged The safety of row equipment also improves the experience of user.

It is in one embodiment, described that the flight equipment local environment described in descent is sampled can include:

According to the time interval of setting, or the remaining capacity interval of the flight equipment according to setting, to descent The environment of the flight equipment local environment is sampled.

As it can be seen that the mode that sampling obtains environmental information sample is more flexible, also, environment letter is obtained by way of sampling Breath sample simultaneously sends controlling terminal to, the environmental information sample that controlling terminal can be given more, accurately to determine flight The position in equipment level point, and the kwh loss for the flight equipment taken into account avoid and frequently sample the electricity so that flight equipment Amount loss is excessive and cannot land safely.

In one embodiment, the acquisition environmental information sample includes:

The geographical location information of the flight equipment present position is obtained by global position system GPS, and is carried out Record；

The geographical location information of acquisition is determined as environmental information sample.

As it can be seen that environmental information sample can be determined by geographical location information, fly in this way, can be determined according to geographical location information The place of row equipment landing, it is comparable accurately to give flight equipment for change.

In one embodiment, the acquisition environmental information sample includes:

The image information of the flight equipment present position is obtained by picture pick-up device；

The geographical location information of acquisition and described image information are determined as the environmental information sample.

As it can be seen that environmental information sample may include geographical location information and image information.It is right according to different application demands Different environmental information samples is answered, the application scenarios of flight equipment has been further expanded, has improved user experience.

In one embodiment, the capacity of described image information is less than or equal to setting value.

Since the capacity to image information is controlled, the kwh loss to flight equipment is further reduced.

In one embodiment, the method also includes:

Whether the environmental information sample for judging that front and back double sampling obtains is identical；

If they are the same, then environmental information sample is sent to the controlling terminal without update message；

If it is different, the environmental information sample obtained after sampling is then sent to the controlling terminal.

As it can be seen that if not needing duplicate environmental information sample being sent to controlling terminal when environmental information sample is without updating, The kwh loss to flight equipment is further reduced, the probability of flight equipment safe landing is further improved.

According to the second aspect of an embodiment of the present disclosure, a kind of method that flight equipment is given for change is provided, which is characterized in that packet It includes:

When the electricity for determining the flight equipment in working flight mode is less than given threshold, the flight equipment is controlled Into landing operating mode；

Receive the environmental information sample that the flight equipment is sent every time, wherein the environmental information sample is described flies What row equipment descent obtained after sampling to local environment；

According to each received environmental information sample, determines the position in the flight equipment level point, carry out the flight Equipment is given for change.

As it can be seen that not only flight equipment can control to land when the electricity for determining flight equipment is less than given threshold, and And also can receive the environmental information sample that flight equipment is sent every time, and environmental information sample based on the received, determine described fly The position in row equipment level point, carries out giving for change for flight equipment.In this way, reducing the probability that flight equipment is lost, damaged, into one Step improves the controllability of flight equipment.

In one embodiment, described when the electricity for determining the flight equipment in working flight state is less than given threshold When, it controls the flight equipment and enters landing operating mode can include:

It receives the flight equipment and determines that electricity is less than the low battery warning message sent after given threshold；

Operating mode switching command is sent to the flight equipment, so that the flight equipment is cut according to the operation mode Instruction is changed, from the working flight pattern switching to landing operating mode.

As it can be seen that the operating mode that can control flight equipment different increases the peace of flight equipment to adapt to different scenes Quan Xing also improves the experience of user.

In one embodiment, the environmental information sample for receiving the flight equipment and sending every time can include:

The flight equipment is received every time according to the time interval of setting or the remaining capacity of the flight equipment of setting Interval, the flight equipment local environment described in descent carry out the environmental information sample of sampling acquisition.

As it can be seen that the mode that flight equipment sampling obtains environmental information sample is more flexible, also, obtained by way of sampling It obtains environmental information sample and sends controlling terminal to, the environmental information sample that controlling terminal can be given more, so as to accurately The kwh loss for the flight equipment for determining the position in flight equipment level point, and having taken into account avoids frequently sampling so that flight The kwh loss of equipment is excessive and cannot land safely.

It receives the flight equipment and passes through global position system GPS every time and obtain the flight equipment present position Geographical location information, and the geographical location information currently obtained is determined as to the environment sent after environmental information sample Message sample.

As it can be seen that environmental information sample may include geographical location information, fly in this way, can be determined according to geographical location information The place of equipment landing, it is comparable accurately to give flight equipment for change.

It receives the flight equipment and passes through global position system GPS every time and obtain the flight equipment present position Geographical location information, and the image information of the flight equipment present position is obtained by picture pick-up device, and will obtain The geographical location information and described image information be determined as the environmental information sample sent after the environmental information sample This.

In one embodiment, the method may also include that

Environmental information sample that the flight equipment is sent is received without update message, wherein the environmental information sample without Update message be the flight equipment determine double sampling obtain environmental information sample it is identical when send.

As it can be seen that only need to receive environmental information sample when the environmental information sample that double sampling obtains is identical and disappear without update Breath, in this way, reducing the loss to flight equipment electricity.

According to the third aspect of an embodiment of the present disclosure, a kind of flight equipment device for retrieving is provided, comprising:

Switching module, for entering when the flight equipment in working flight mode determines that electricity is less than given threshold Land operating mode；

Sampling module is sampled for the flight equipment local environment described in descent, obtains environmental information sample；

Sending module, for the environmental information sample of acquisition to be sent to controlling terminal after sampling every time, so that the control Terminal processed environmental information sample based on the received, determines the position in the flight equipment level point, carries out the flight equipment It gives for change.

In one embodiment, the switching module includes:

Sending submodule, for when the flight equipment determines that electricity is less than given threshold, Xiang Suoshu controlling terminal to be sent out Send low battery warning message；

Switching submodule, the operating mode switching command sent for receiving the controlling terminal, and according to the work Pattern switching instruction, from the working flight pattern switching to landing operating mode.

In one embodiment, the sampling module can include:

First sampling submodule, for the time interval according to setting, or the residue of the flight equipment according to setting Electricity interval, the flight equipment local environment described in descent sample.

In one embodiment, the sampling module can include:

First obtains submodule, for obtaining the flight equipment present position by global position system GPS Geographical location information, and recorded；

First determines submodule, for the geographical location information currently obtained to be determined as environmental information sample.

In one embodiment, the sampling module includes:

Second obtains submodule, for obtaining the flight equipment present position by global position system GPS Geographical location information, and recorded；

Third obtains submodule, and the image for obtaining the flight equipment present position by picture pick-up device is believed Breath；

Second determines submodule, for the geographical location information obtained and described image information to be determined as the ring Border message sample.

As it can be seen that environmental information sample can be with geographical location information and image information.According to different application demands, correspond to not Same environmental information sample, has further expanded the application scenarios of flight equipment, has improved user experience.

In one embodiment, described device further include:

Whether comparison module, the environmental information sample for judging that front and back double sampling obtains are identical；

Message transmission module, for when the environmental information sample for determining that front and back double sampling obtains is identical, environment to be believed It ceases sample and is sent to the controlling terminal without update message；

Calling module, for calling the hair when the environmental information sample for determining that front and back double sampling obtains is not identical Send module.

According to a fourth aspect of embodiments of the present disclosure, a kind of device that flight equipment is given for change is provided, comprising:

Control module, for controlling when the electricity for determining the flight equipment in working flight mode is less than given threshold It makes the flight equipment and enters landing operating mode；

Sample reception module, the environmental information sample sent every time for receiving the flight equipment, wherein the environment Message sample is obtained after the flight equipment descent samples local environment；

Recovery module, for determining the position in the flight equipment level point according to each received environmental information sample, Carry out giving for change for the flight equipment.

In one embodiment, the control module can include:

First receiving submodule determines that electricity is less than the electricity mistake sent after given threshold for receiving the flight equipment Low warning message；

Sending submodule is instructed, for sending operating mode switching command to the flight equipment, so that the flight is set Standby switching command according to the operation mode, from the working flight pattern switching to landing operating mode.

In one embodiment, the sample reception module can include:

First sample receiving submodule, for receiving the flight equipment every time according to the time interval of setting, or setting The flight equipment remaining capacity interval, the flight equipment local environment described in descent carry out sampling acquisition environment Message sample.

In one embodiment, the sample reception module can include:

First sample receiving unit, for receiving the flight equipment every time by described in global position system GPS acquisition The geographical location information of flight equipment present position, and the geographical location information currently obtained is determined as environment letter The environmental information sample sent after breath sample.

In one embodiment, the sample reception module can include:

Second sample reception unit, for receiving the flight equipment every time by described in global position system GPS acquisition The geographical location information of flight equipment present position, and the flight equipment is obtained by picture pick-up device and is currently located position The image information set, and after the geographical location information of acquisition and described image information are determined as the environmental information sample The environmental information sample sent.

In one embodiment, described device includes:

Message reception module, for receiving the environmental information sample of the flight equipment transmission without update message, wherein institute State environmental information sample without update message be the flight equipment determine double sampling obtain environmental information sample it is identical when hair It send.

According to a fifth aspect of the embodiments of the present disclosure, a kind of flight equipment device for retrieving is provided, terminal is used for, comprising:

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to:

The technical scheme provided by this disclosed embodiment can include the following benefits:

It, can be in descent to institute when the electricity that flight equipment determines is less than given threshold in above-mentioned technical proposal Place's environment is sampled, and the environmental information sample of acquisition is sent to controlling terminal after each sample, thus, controlling terminal Can environmental information sample based on the received, determine the position in the flight equipment level point, carry out giving for change for flight equipment.This Sample reduces the probability that flight equipment is lost, damaged, further improves the controllability of flight equipment.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure Example, and together with specification for explaining the principles of this disclosure.

Fig. 1 is the flow chart of flight equipment method for retrieving shown according to an exemplary embodiment.

Fig. 2 is the flow chart of flight equipment method for retrieving shown according to an exemplary embodiment

Fig. 3 is the flow chart according to the flight equipment method for retrieving shown in an exemplary embodiment one.

Fig. 4 is the flow chart according to the flight equipment method for retrieving shown in an exemplary embodiment two.

Fig. 5 is the schematic diagram that geographical location information is sent to mobile phone.

Fig. 6 is the schematic diagram that image information is sent to mobile phone.

Fig. 7 is the block diagram of flight equipment device for retrieving shown according to an exemplary embodiment.

Fig. 8 is the block diagram of flight equipment device for retrieving shown according to an exemplary embodiment.

Fig. 9 is the block diagram according to the flight equipment device for retrieving shown in an exemplary embodiment three.

Figure 10 is the block diagram according to the flight equipment device for retrieving shown in an exemplary embodiment four.

Figure 11 is a kind of block diagram of device 1200 given for change for flight equipment shown according to an exemplary embodiment.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.

The technical solution that the embodiment of the present disclosure provides can dropped when the electricity that flight equipment determines is less than given threshold Local environment is sampled during falling, and the environmental information sample that each sampling obtains is sent to controlling terminal, thus, Controlling terminal can environmental information sample based on the received, determine the position in flight equipment level point, carry out giving for change for flight equipment. Therefore, the recovery process of flight equipment will be described from flight equipment side and controlling terminal side.

First side, flight equipment side

Fig. 1 is the flow chart of flight equipment method for retrieving shown according to an exemplary embodiment, as shown in Figure 1, including Following steps S101-S103:

In step s101, when the flight equipment in working flight mode determines that electricity is less than given threshold, enter Land operating mode.

In the embodiment of the present disclosure, flight equipment is a kind of not manned winged based on wireless remotecontrol or itself process control Row device.There is intelligent control chip in flight equipment, corresponding program can be performed and complete different functions.In this way, flight equipment can The electricity of itself is detected, when the electricity detected is less than given threshold, landing operating mode can be entered.Such as: inspection When the electricity measured is less than the 10% of total electricity, operating mode can be switched, into landing operating mode.

Certainly, since flight equipment can be controlled by controlling terminal, at this point, when the flight in working flight mode is set When standby determining electricity is less than given threshold, into landing operating mode can include: when flight equipment determines that electricity is less than setting threshold When value, low battery warning message is sent to controlling terminal；And the operating mode switching command of controlling terminal transmission is received, and root According to operating mode switching command, from working flight pattern switching to landing operating mode.

Such as: controlling terminal is mobile phone terminal, can be by mobile phone end after flight equipment and mobile phone terminal establish wireless telecommunications End is controlled, i.e., when flight equipment determines that electricity is less than given threshold, sends low battery warning message to mobile phone terminal, And after mobile phone terminal receives low battery warning message, operating mode switching command can be sent to flight equipment, thus, fly Row equipment is according to operating mode switching command, from working flight pattern switching to landing operating mode.As it can be seen that the work of flight equipment Operation mode can be manipulated by controlling terminal, be suitable for different scenes, increased the safety of flight equipment, also improved use The experience at family.

In step s 102, descent flight equipment local environment is sampled, obtains environmental information sample.

Flight equipment need to need to sample flight equipment local environment in descent, obtain corresponding environmental information Sample.Wherein, since the descent of flight equipment be entering and landing operating mode, until flight equipment lands.

Also, in descent, the frequency of flight equipment sampling cannot be too low, and the environmental information sample being achieved in that is too It is few, controlling terminal is not easy to according to each received environmental information sample, determines the position in more accurate flight equipment level point. The frequency of flight equipment sampling can not be too high, because sampling obtains environmental information sample every time, and sends and obtains to control side The electricity that the environmental information sample obtained requires to expend flight equipment is unfavorable for the safety of flight equipment if electric quantity consumption is more It lands.

Therefore, the environmental information sample of descent flight equipment local environment can be obtained according to the time interval of setting, Such as: at intervals of two minutes or 3 minutes, obtain an environmental information sample.Alternatively, can be according to the residue of the flight equipment of setting Electricity interval obtains the environmental information sample of descent flight equipment local environment, such as: electricity is the 10% of total electricity When, obtain an environmental information sample；When electricity is the 8% of total electricity, an environmental information sample is obtained；Electricity is total electricity 6% when, obtain an environmental information sample；And so on, until flight equipment safe landing.Alternatively, according to by complete The geographical location information of ball positioning system (Global Positioning System, GPS) record obtains descent flight The environmental information sample of equipment local environment.In this way, time interval and geographical location information can be combined, specifically can include: It is spaced setting time, the geographical location information of flight equipment position is obtained by GPS, and is recorded；If current record The first geographical location information and last registration the second geographical location information it is not identical when, obtain descent flight equipment institute Locate the environmental information sample of environment.As it can be seen that only geographical location information is different, environmental information sample can be just obtained, this is avoided The repetition of identical information is sent, and further reduces the kwh loss to flight equipment.

Therefore, descent flight equipment local environment is sampled can include: according to the time interval or root of setting According to the remaining capacity interval of the flight equipment of setting, the environment of descent flight equipment local environment is sampled.

Certainly, in the embodiment of the present disclosure, environmental information sample can there are many forms, such as: environmental information sample is packet Include the first environment message sample of geographical location information.It certainly, is the position in the flight equipment level point that controlling terminal is determined Set more accurate, environmental information sample can be the second environment message sample including geographical location information and image information.

Therefore, flight equipment can obtain the ground of flight equipment present position during each sampling by GPS Location information is managed, the geographical location information of acquisition is determined as first environment message sample.It is set alternatively, obtaining flight by GPS The geographical location information of standby present position, and believed by the image that picture pick-up device obtains flight equipment present position Breath, is determined as second environment message sample for the geographical location information of acquisition and image information.

Therefore, environmental information sample is obtained can include: flight equipment is obtained by global position system GPS and is currently located position The geographical location information set, and recorded；The geographical location information currently obtained is determined as environmental information sample.Due to ring Border message sample includes geographical location information, at this point, environmental information sample is first environment message sample.

Alternatively, obtaining environmental information sample may include obtaining flight equipment by global position system GPS to be currently located position The geographical location information set, and recorded；The image information of flight equipment present position is obtained by picture pick-up device；It will The geographical location information and image information of acquisition are determined as environmental information sample.Since environmental information sample includes geographical location Information and image information, at this point, environmental information sample is second environment message sample.

Such as: in descent, flight equipment obtained flight equipment present position by GPS every two minutes The geographical location information of acquisition is determined as environmental information sample by geographical location information.At this point, environmental information sample can be first Environmental information sample.Alternatively, flight equipment when electricity is 10%, 7%, the 4% of total electricity, leads to respectively in descent The geographical location information that GPS obtains flight equipment present position is crossed, and current by picture pick-up device acquisition flight equipment The geographical location information of acquisition and image information are determined as environmental information sample by the image information of position.At this point, environment Message sample can be second environment message sample.Alternatively, flight equipment obtained the current institute of flight equipment by GPS every two minutes Geographical location information and record in position, if also, current record the first geographical location information and last registration second When geographical location information is not identical, the first geographical location information is obtained, and the current institute of flight equipment is obtained by picture pick-up device The first geographical location information and image information of acquisition are determined as second environment message sample by the image information in position.

To avoid image information excessive, cause transmission process power consumption big, the capacity of controllable image information is less than or equal to Setting value.I.e. during obtaining the image information of flight equipment present position by picture pick-up device, picture pick-up device is clapped Taking the photograph the size for obtaining picture and size can control to a minimum unit.Also, it in shooting process can single angle bat It takes the photograph, can also can also choose shooting with multi-angled shooting, the picture for shooting acquisition is all stored with minimum unit, is obtained pair The image information answered.

In step s 103, the environmental information sample of acquisition is sent to controlling terminal after sampling every time, so that control is eventually Environmental information sample based on the received is held, the position in flight equipment level point is determined, carries out giving for change for flight equipment.

It can be communicated between flight equipment and controlling terminal, after flight equipment obtains environmental information sample every time, The environmental information sample of acquisition directly can be sent to controlling terminal.Such as: after flight equipment obtains an environmental information sample, It is transmitted directly to controlling terminal, after two minutes, flight equipment obtains an environmental information sample again after, is still transmitted directly to control Terminal is successively gone down, until flight equipment safe landing.In this way, the environmental information sample that flight equipment obtains each sampling Originally it is sent to controlling terminal, and controlling terminal obtains one, after two or more environmental information samples, can believe these environment Breath sample is analyzed, and the position in flight equipment level point is determined, so as to give flight equipment for change quickly.

As it can be seen that can be carried out in descent to local environment when the electricity that flight equipment determines is less than given threshold Sampling, and the environmental information sample that each sampling obtains is sent to controlling terminal, thus, controlling terminal can ring based on the received Border message sample determines the position in flight equipment level point, carries out giving for change for flight equipment.It is lost in this way, reducing flight equipment It loses, the probability of damage, further improves the controllability of flight equipment.

In one embodiment of the disclosure, since the descent of flight equipment be entering and landing operating mode, until flight Equipment is landed.In descent, flight equipment can obtain environmental information sample according to the sample frequency of setting, every to obtain one The environmental information sample of acquisition can be sent to controlling terminal after a environmental information sample, in this way, controlling terminal is set in flight According to all received environmental information samples after standby landing, determines the position in flight equipment level point, carry out looking for for flight equipment It returns.And set sample frequency can be set according to time interval or the remaining capacity interval of flight equipment carry out Setting, or geographical location information is obtained by GPS and is set.Certainly, it is not limited to this, other modes can be set Sample frequency.And the specifying information that environmental information sample includes can also be varied, and such as: environmental information sample is to include ground The first environment message sample for managing location information, alternatively, environmental information sample is to include geographical location information and image information Second environment message sample.

Certainly, in the embodiment of the present disclosure, it can not only be determined whether control eventually according to the change of geographical location information End sends environmental information sample, and the environmental information sample that can also be obtained to each sampling is compared, and if front and back is obtained twice The environmental information sample obtained is not identical, then the environmental information sample obtained after sampling is sent to controlling terminal.

And if the environmental information sample that front and back obtains twice is identical, without to controlling terminal send environmental information sample, Alternatively, controlling terminal can be sent to without update message for environmental information sample.

Therefore, in the embodiment of the present disclosure, may also include that judge front and back double sampling obtain environmental information sample whether phase Together；If they are the same, then environmental information sample is sent to controlling terminal without update message；If it is different, the ring that will then be obtained after sampling Border message sample is sent to controlling terminal.

Second side, controlling terminal side

Fig. 2 is the flow chart of flight equipment method for retrieving shown according to an exemplary embodiment, as shown in Fig. 2, including Following steps S201-S203:

In step s 201, when the electricity for determining the flight equipment in working flight mode is less than given threshold, control Flight equipment processed enters landing operating mode.

Controlling terminal can be communicated with flight equipment, be controlled the operating mode of flight equipment, therefore, can be wrapped It includes: receiving flight equipment and determine that electricity is less than the low battery warning message sent after given threshold；Work is sent to flight equipment Operation mode switching command, so that flight equipment is according to operating mode switching command, from working flight pattern switching to landing work Mode.

In step S202, the environmental information sample that flight equipment is sent every time is received, wherein environmental information sample is winged What row equipment obtained after descent samples local environment.

Flight equipment can sample local environment in descent, and believe the environment of acquisition after sampling every time Breath sample is sent to controlling terminal.Wherein, since descent can be entering and landing operating mode, up to flight equipment Land.Also, in descent, flight equipment can obtain environmental information sample according to the sample frequency of setting, every to obtain one The environmental information sample of acquisition can be sent to controlling terminal after environmental information sample, be set so that controlling terminal can receive flight The standby environmental information sample sent every time.

Since the setting of sample frequency is different, controlling terminal receives the mistake for the environmental information sample that flight equipment is sent every time Journey is also different, it may include: flight equipment is received every time according to the time interval of setting, locating for the descent flight equipment of acquisition The environmental information sample of environment；Or, receive flight equipment every time according to the remaining capacity interval of the flight equipment of setting, acquisition The environmental information sample of descent flight equipment local environment；Or, receiving flight equipment every time according to the ground recorded by GPS Manage location information, the environmental information sample of the descent flight equipment local environment of acquisition.

As it can be seen that receiving the environmental information sample that flight equipment is sent every time can include: receiving flight equipment, basis is set every time The remaining capacity interval of the flight equipment of fixed time interval or setting samples descent flight equipment local environment The environmental information sample of acquisition.

Similarly, since the information for including in environmental information sample can not be identical, therefore, receive what flight equipment was sent every time Environmental information sample includes: the first environment message sample for receiving flight equipment and sending every time, wherein first environment message sample Pass through the geographical location information of the GPS flight equipment present position obtained including flight equipment；Or, it is every to receive flight equipment The second environment message sample of secondary transmission, wherein second environment message sample includes that flight equipment is set by the flight that GPS is obtained The geographical location information of standby present position, and the image of the flight equipment present position by picture pick-up device acquisition Information.

In this way, receiving the environmental information sample that flight equipment is sent every time includes: to receive flight equipment to pass through the whole world every time Position system GPS obtains the geographical location information of flight equipment present position, and the geographical location information that will currently obtain It is determined as the environmental information sample sent after environmental information sample.At this point, the environmental information sample determined can be believed for first environment Cease sample.

Certainly, receiving the environmental information sample that flight equipment is sent every time may also include that receive flight equipment passes through every time Global position system GPS obtains the geographical location information of flight equipment present position, and is flown by picture pick-up device The image information of row equipment present position, and the geographical location information of acquisition and image information are determined as environmental information sample The environmental information sample sent after this.At this point, the environmental information sample determined can be second environment message sample.

In step S203, according to each received environmental information sample, determines the position in flight equipment level point, carry out Flight equipment is given for change.

Controlling terminal has received that one, and two or more environmental information samples, descent finishes, and can dock The environmental information sample of receipts is analyzed, and determines the position in flight equipment level point, carries out giving for change for flight equipment.Due to environment Message sample may include geographical location information, and according to one, two or more geographical location information can deduce flight and set It makes preparation for dropping the geographical location information of drop point, so as to give flight equipment for change.Alternatively, environmental information sample may include geographical location Information and pictorial information, then can be according to one, and two or more geographical location information and pictorial information determine that flight equipment lands Point geographical location information and periphery scene, for example, mark building, the information such as billboard, in this way, can more quickly and Accurately give flight equipment for change.

As it can be seen that not only flight equipment can control to land when the electricity for determining flight equipment is less than given threshold, and And also can receive the environmental information sample that flight equipment is sent every time, and environmental information sample based on the received, determine that flight is set It makes preparation for dropping the position of drop point, carries out giving for change for flight equipment.In this way, reducing the probability that flight equipment is lost, damaged, further mention The high controllability of flight equipment.

Certainly, since the environmental information sample that flight equipment can obtain each sampling be compared, if front and back is twice Environmental information sample is identical, then sends environmental information sample without update message to controlling terminal, therefore, may also include that reception flies The environmental information sample that row equipment is sent is without update message, wherein environmental information sample is that flight equipment determines without update message What the environmental information sample that double sampling obtains was sent when identical.

Below by operating process set into specific embodiment, the method that the embodiment of the present disclosure provides is illustrated.

Embodiment one, in the present embodiment, flight equipment is in descent according to the remaining capacity of the flight equipment of setting Interval, samples environment, obtains corresponding environmental information sample.And environmental information sample is first environment message sample.

Fig. 3 is according to the flow chart of the flight equipment method for retrieving shown in an exemplary embodiment one, as shown in figure 3, packet Include following steps S301-S305:

In step S301, when the flight equipment in working flight mode determines that electricity is less than given threshold, into drop Fall operating mode.

In step s 302, in descent, flight equipment detects current electricity.

Do you in step S303, judge that in the electricity of setting include current electricity? if so, step S304 is executed, Otherwise, return step S302.

The electricity of setting may include: the 10% of total electricity, the 8% of total electricity, the 6% of total electricity, total electricity 4%, The 2% of total electricity.In this way, if step S304 can be performed, if current electricity is total when current electricity is the 10% of total electricity Electricity 5% when, then return step S302.

In step s 304, the geographical location information that flight equipment present position is obtained by GPS, by the ground of acquisition Reason location information is determined as first environment message sample.

In step S305, the first environment message sample of acquisition is sent to controlling terminal.And in return step S302.

In this way, after the descent, controlling terminal can one, two or more first environment information based on the received Sample determines the position in flight equipment level point, carries out giving for change for flight equipment.

As it can be seen that flight equipment adopts environment according to the remaining capacity interval of the flight equipment of setting in the present embodiment Sample, and after the corresponding first environment message sample of each acquisition, first environment message sample is sent to controlling terminal, thus, Controlling terminal environmental information sample based on the received, determines the position in flight equipment level point, carries out giving for change for flight equipment.This Sample reduces the probability that flight equipment is lost, damaged, further improves the controllability of flight equipment.

In embodiment two, the present embodiment, flight equipment samples environment according to the time interval of setting, acquisition pair Answer environmental information sample.And environmental information sample is second environment message sample.

Fig. 4 is according to the flow chart of the flight equipment method for retrieving shown in an exemplary embodiment two, as shown in figure 4, packet Include following steps S401-S405:

In step S401, when the flight equipment in working flight mode determines that electricity is less than given threshold, into drop Fall operating mode.

In step S402, in flight equipment descent, timer starts timing.

Do you in step S403, judge that timer reaches the time of setting? if so, executing step S404, otherwise, return Step S402.

For example, setting time is 3 minutes, then timer reaches 3 minutes, thens follow the steps S404, otherwise will continue to timing.

In step s 404, the geographical location information of flight equipment present position is obtained by GPS, and by taking the photograph As the image information of equipment acquisition flight equipment present position, the geographical location information of acquisition and image information are determined as Second environment message sample.

Here, picture pick-up device can be shot acquisition picture and be saved with minimum unit with camera with rotary taking, In this way, the capacity for obtaining image information is smaller.

In step S405, the second environment message sample of acquisition is sent to controlling terminal, and by counter O reset, and In return step S402.

Such as: controlling terminal is mobile phone, can be respectively by the geographical location information and image information in second environment information It is sent to mobile phone.

Fig. 5 is the schematic diagram that geographical location information is sent to mobile phone, is worked as shown in figure 5, obtaining flight equipment by GPS After the geographical location information of preceding position, geographical location information can be sent to mobile phone.

Fig. 6 is the schematic diagram that image information is sent to mobile phone, as shown in fig. 6, passing through during flight equipment decline Rotatable take pictures of camera obtains picture, and picture can be stored to obtain corresponding image information with minimum unit, and image is believed Breath is sent to mobile phone.

It is, of course, also possible to geographical location information and image information be sent jointly to mobile phone, i.e., by second environment information sample Originally it is sent to mobile phone.

In this way, after the descent, controlling terminal can one, two or more second environment information based on the received Sample determines the position in flight equipment level point, carries out giving for change for flight equipment.

As it can be seen that flight equipment samples environment according to the time interval of setting in the present embodiment, and obtaining every time After second environment message sample must be corresponded to, second environment message sample is sent to controlling terminal, thus, controlling terminal is according to connecing The environmental information sample of receipts, determines the position in flight equipment level point, carries out giving for change for flight equipment.Also, second environment is believed Breath sample not only has geographical location information, there are also image information, can according to the position for accurately determining flight equipment level point, Further reduce the probability that flight equipment is lost, damaged.

Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.

Fig. 7 is the block diagram that flight equipment shown according to an exemplary embodiment is given for change, which can be by software, hard Part or both is implemented in combination with as some or all of of electronic equipment.As shown in fig. 7, the flight equipment device for retrieving packet It includes: switching module 710, sampling module 720 and sending module 730.Wherein,

Switching module 710 is configured as determining that electricity is less than given threshold when the flight equipment in working flight mode When, into landing operating mode.

Sampling module 720 is configured as sampling descent flight equipment local environment, obtains environmental information sample This.

Sending module 730 is configured as that the environmental information sample of acquisition is sent to controlling terminal after sampling every time, so that Controlling terminal environmental information sample based on the received, determines the position in flight equipment level point, carries out giving for change for flight equipment.

As it can be seen that can be carried out in descent to local environment when the electricity that flight equipment determines is less than given threshold Sampling, and the environmental information sample of acquisition is sent to controlling terminal after each sample, thus, controlling terminal can be according to reception Environmental information sample, determine the position in flight equipment level point, carry out giving for change for flight equipment.It is set in this way, reducing flight The standby probability lost, damaged, further improves the controllability of flight equipment.

In one embodiment, switching module 710 includes:

Sending submodule is configured as sending electricity to controlling terminal when flight equipment determines that electricity is less than given threshold Measure too low warning message.

Switching submodule is configured as receiving the operating mode switching command that controlling terminal is sent, and according to operating mode Switching command, from working flight pattern switching to landing operating mode.

In one embodiment, sampling module 720 can include: the first sampling submodule.Wherein,

First sampling submodule, is configured as the time interval according to setting, or the residue of the flight equipment according to setting Electricity interval samples descent flight equipment local environment.

In one embodiment, sampling module 720 can include: first, which obtains submodule and first, determines submodule.

First obtains submodule, is configured as obtaining flight equipment present position by global position system GPS Geographical location information, and recorded.

First determines that submodule, the geographical location information for being configured as currently obtaining are determined as environmental information sample.

In one embodiment, sampling module 720 can include: second obtains submodule, and third obtains submodule and the Two determine submodule.Wherein,

Second obtains submodule, is configured as obtaining flight equipment present position by global position system GPS Geographical location information, and recorded.

Third obtains submodule, is configured as obtaining the image letter of flight equipment present position by picture pick-up device Breath.

Second determines submodule, is configured to the geographical location information of acquisition and image information being determined as environmental information sample This.

In one embodiment, which may also include that

Whether identical comparison module is configured as the environmental information sample for judging that front and back double sampling obtains.

Message transmission module is configured as when the environmental information sample for determining that front and back double sampling obtains is identical, by ring Border message sample is sent to controlling terminal without update message.

Calling module is configured as calling hair when the environmental information sample for determining that front and back double sampling obtains is not identical Send module.

Fig. 8 is the block diagram that flight equipment shown according to an exemplary embodiment is given for change, which can be by software, hard Part or both is implemented in combination with as some or all of of electronic equipment.As shown in figure 8, the flight equipment device for retrieving packet It includes: control module 810, sample reception module 820 and recovery module 830.Wherein,

Control module 810 is configured as being less than setting threshold when the electricity for determining the flight equipment in working flight mode When value, control flight equipment enters landing operating mode.

Sample reception module 820 is configured as receiving the environmental information sample that flight equipment is sent every time, wherein environment Message sample is obtained after flight equipment descent samples local environment.

Recovery module 830 is configured as determining the position in flight equipment level point according to each received environmental information sample It sets, carries out giving for change for flight equipment.

In one embodiment, control module 810 can include:

First receiving submodule is configured as reception flight equipment and determines that electricity is less than the electricity mistake sent after given threshold Low warning message.

Sending submodule is instructed, is configured as sending operating mode switching command to flight equipment, so that flight equipment root According to operating mode switching command, from working flight pattern switching to landing operating mode.

In one embodiment, sample reception module 820 can include: first sample receiving submodule.Wherein,

First sample receiving submodule is configured as receiving flight equipment every time according to the time interval of setting, or setting Flight equipment remaining capacity interval, to descent flight equipment local environment carry out sampling acquisition environmental information sample This.

In one embodiment, sample reception module 820 can include: first sample receiving unit, wherein

First sample receiving unit is configured as reception flight equipment and is flown every time by global position system GPS The geographical location information of equipment present position, and after the geographical location information currently obtained is determined as environmental information sample The environmental information sample of transmission.

In one embodiment, sample reception module 820 may also include that the second sample reception unit, wherein

Second sample reception unit is configured as reception flight equipment and is flown every time by global position system GPS The geographical location information of equipment present position, and the image by picture pick-up device acquisition flight equipment present position Information, and the geographical location information of acquisition and image information are determined as to the environmental information sample sent after environmental information sample.

Below by operating process set into specific embodiment, the device that the embodiment of the present disclosure provides is illustrated.

Embodiment three, in the present embodiment, flight equipment device for retrieving is in descent according to the flight equipment of setting The size order of electricity, samples environment, obtains corresponding environmental information sample.And environmental information sample is first environment letter Cease sample.

Fig. 9 is according to the block diagram of the flight equipment device for retrieving shown in an exemplary embodiment three, as shown in figure 9, the dress Set includes: switching module 710, sampling module 720 and sending module 730.Wherein, sampling module 720 includes the first sampling submodule Block 721, first obtains submodule 722 and the first determining submodule 723.

In the present embodiment, when switching module 710 determines that electricity is less than given threshold, into landing operating mode.And it samples Whether first sampling submodule 721 detects current electricity in descent in module 720, and wrap when in the electricity of setting When having included current electricity, first obtains submodule 722 is believed by the geographical location that GPS obtains flight equipment present position Breath, and first determines that the geographical location information of acquisition is determined as environmental information sample, i.e. first environment information sample by submodule 723 This.Then, the first environment message sample of acquisition is sent to controlling terminal by sending module 730.

To which after descent, controlling terminal can one, two or more first environment information based on the received Sample determines the position in flight equipment level point, carries out giving for change for flight equipment.

As it can be seen that in the present embodiment, flight equipment device for retrieving can according to the size order of the electricity of the flight equipment of setting, Environment is sampled, and after the corresponding first environment message sample of each acquisition, first environment message sample is sent to control Terminal processed, thus, controlling terminal environmental information sample based on the received determines the position in flight equipment level point, flies Equipment is given for change.In this way, reducing the probability that flight equipment is lost, damaged, the controllability of flight equipment is further improved.

Example IV, in embodiment, flight equipment device for retrieving samples environment according to the time interval of setting, Obtain corresponding environmental information sample.And environmental information sample is second environment message sample.

Figure 10 is the block diagram given for change according to the flight equipment shown in an exemplary embodiment four, as shown in Figure 10, the device It include: switching module 710, sampling module 720 and sending module 730.Wherein, sampling module 720 includes the first sampling submodule 721, second obtains submodule 724, and third obtains submodule 725 and the second determining submodule 726.

In the present embodiment, when switching module 710 determines electricity less than given threshold, into landing operating mode.Sampling module The first sampling submodule 721 in 720 is in flight equipment descent, and timer starts timing, and when timer arrival is set When the fixed time, the second acquisition submodule 724 obtains the geographical location information of flight equipment present position by GPS, with And third acquisition submodule 725 obtains the image information of flight equipment present position by picture pick-up device, and second determines The geographical location information of acquisition and image information are determined as environmental information sample, i.e. second environment message sample by submodule 726, And it can be by counter O reset.And after sampling every time, the second environment message sample of acquisition is sent to control eventually by sending module 730 End.

As it can be seen that flight equipment device for retrieving can sample environment according to the time interval of setting in the present embodiment, And after the corresponding second environment message sample of each acquisition, second environment message sample is sent to controlling terminal, thus, control Terminal environmental information sample based on the received, determines the position in flight equipment level point, carries out giving for change for flight equipment.Also, Second environment message sample not only has geographical location information, and there are also image informations, can be according to accurately determining flight equipment drop The position of drop point further reduces the probability that flight equipment is lost, damaged.

The embodiment of the present disclosure provides a kind of device that flight equipment is given for change, is used for terminal, comprising:

Processor；

It is configured as the memory of storage processor executable instruction；

Wherein, processor is configured as:

The above-mentioned technical proposal that embodiment of the disclosure provides, when the electricity that flight equipment determines is less than given threshold, Local environment can be sampled in descent, and the environmental information sample of acquisition is sent to control after each sample Terminal, thus, controlling terminal can environmental information sample based on the received, determine the position in the flight equipment level point, carry out Flight equipment is given for change.In this way, reducing the probability that flight equipment is lost, damaged, the controllable of flight equipment is further improved Property.

About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method Embodiment in be described in detail, no detailed explanation will be given here.

Figure 11 is a kind of block diagram of device 1200 given for change for flight equipment shown according to an exemplary embodiment, should Device is suitable for terminal device.For example, device 1200 can be mobile phone, computer, digital broadcast terminal, information receiving and transmitting set It is standby, game console, tablet device, Medical Devices, body-building equipment, personal digital assistant etc..

Referring to Fig.1 1, device 1200 may include following one or more components: processing component 1202, memory 1204, Power supply module 1206, multimedia component 1208, audio component 1210, the interface 1212 of input/output (I/O), sensor module 1214 and communication component 1216.

The integrated operation of the usual control device 1200 of processing component 1202, such as with display, telephone call, data communication, Camera operation and record operate associated operation.Processing component 1202 may include one or more processors 1220 to execute Instruction, to perform all or part of the steps of the methods described above.In addition, processing component 1202 may include one or more moulds Block, convenient for the interaction between processing component 1202 and other assemblies.For example, processing component 1202 may include multi-media module, To facilitate the interaction between multimedia component 1208 and processing component 1202.

Memory 1204 is configured as storing various types of data to support the operation in equipment 1200.These data Example includes the instruction of any application or method for operating on device 1200, contact data, telephone book data, Message, picture, video etc..Memory 1204 can by any kind of volatibility or non-volatile memory device or they Combination is realized, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), it is erasable can Program read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory Reservoir, disk or CD.

Power supply module 1206 provides electric power for the various assemblies of device 1200.Power supply module 1206 may include power management System, one or more power supplys and other with for device 1200 generate, manage, and distribute the associated component of electric power.

Multimedia component 1208 includes the screen of one output interface of offer between device 1200 and user.Some In embodiment, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen It may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensors To sense the gesture on touch, slide, and touch panel.Touch sensor can not only sense the boundary of a touch or slide action, But also detect duration point relevant to touch or slide and pressure.In some embodiments, multimedia component 1208 include a front camera and/or rear camera.When equipment 1200 is in operation mode, such as screening-mode or video When mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and postposition Camera can be a fixed optical lens system or have focusing and optical zoom capabilities.

Audio component 1210 is configured as output and/or input audio signal.For example, audio component 1210 includes a wheat Gram wind (MIC), when device 1200 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone quilt It is configured to receive external audio signal.The received audio signal can be further stored in memory 1204 or via communication Component 1216 is sent.In some embodiments, audio component 1210 further includes a loudspeaker, is used for output audio signal.

I/O interface 1212 provides interface, above-mentioned peripheral interface module between processing component 1202 and peripheral interface module It can be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and Locking press button.

Sensor module 1214 includes one or more sensors, and the state for providing various aspects for device 1200 is commented Estimate.For example, sensor module 1214 can detecte the state that opens/closes of equipment 1200, the relative positioning of component, such as group Part is the display and keypad of device 1200, and sensor module 1214 can be with 1,200 1 groups of detection device 1200 or device The position change of part, the existence or non-existence that user contacts with device 1200,1200 orientation of device or acceleration/deceleration and device 1200 temperature change.Sensor module 1214 may include proximity sensor, be configured to connect in not any physics It is detected the presence of nearby objects when touching.Sensor module 1214 can also include optical sensor, as CMOS or ccd image are sensed Device, for being used in imaging applications.In some embodiments, which can also include acceleration sensing Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.

Communication component 1216 is configured to facilitate the communication of wired or wireless way between device 1200 and other terminals.Dress The wireless network based on communication standard, such as WiFi can be accessed by setting 1200,2G or 3G or their combination.It is exemplary at one In embodiment, communication component 1216 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel Information.In one exemplary embodiment, communication component 1216 further includes near-field communication (NFC) module, to promote short range communication. For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) skill can be based in NFC module Art, bluetooth (BT) technology and other technologies are realized.

In the exemplary embodiment, device 1200 can be by one or more application specific integrated circuit (ASIC), number Signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.

In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided It such as include the memory 1204 of instruction, above-metioned instruction can be executed by the processor 820 of device 1200 to complete the above method.Example Such as, non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and Optical data storage devices etc..

A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is held by the processor of device 1200 When row, so that device 1200 is able to carry out method shown in Fig. 2, method includes:

When the electricity of the flight equipment for being in working flight state when determination is less than given threshold, the flight is controlled Equipment enters landing operating mode can include:

The environmental information sample for receiving the flight equipment and sending every time can include:

The method may also include that

Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following Claim is pointed out.

It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.

Claims

1. a kind of method that flight equipment is given for change characterized by comprising

The environmental information sample of acquisition is sent to controlling terminal after sampling every time, so that the controlling terminal is according to reception Environmental information sample, determine the position in the flight equipment level point, carry out giving for change for the flight equipment；

The flight equipment local environment described in descent samples, comprising:

According to the remaining capacity interval of the flight equipment of setting, the environment of flight equipment local environment described in descent It is sampled；

The method also includes:

If it is different, the environmental information sample obtained after sampling is then sent to the controlling terminal；

The flight equipment local environment described in descent samples, and obtains environmental information sample, comprising:

If when the first geographical location information of current record and not identical the second geographical location information of last registration, described in acquisition Environmental information sample.

2. the method as described in claim 1, which is characterized in that described when the flight equipment in working flight mode determines electricity When amount is less than given threshold, include: into landing operating mode

When the flight equipment determines that electricity is less than given threshold, Xiang Suoshu controlling terminal sends low battery warning message；

The operating mode switching command that the controlling terminal is sent, and switching command according to the operation mode are received, from described Working flight pattern switching to landing operating mode.

3. the method as described in claim 1, which is characterized in that the acquisition environmental information sample, comprising:

The geographical location information of the flight equipment present position is obtained by global position system GPS, and is recorded；

The geographical location information currently obtained is determined as environmental information sample.

4. the method as described in claim 1, which is characterized in that the acquisition environmental information sample, comprising:

5. method as claimed in claim 4, which is characterized in that the capacity of described image information is less than or equal to setting value.

6. a kind of method that flight equipment is given for change characterized by comprising

When the electricity for determining the flight equipment in working flight mode is less than given threshold, controls the flight equipment and enter Land operating mode；

Receive the environmental information sample that the flight equipment is sent every time, wherein the environmental information sample is that the flight is set What standby descent obtained after sampling to local environment；First geographical location information of the flight equipment in current record When not identical as the second geographical location information of last registration, the environmental information sample is obtained；

According to each received environmental information sample, determines the position in the flight equipment level point, carry out the flight equipment Give for change；

It is described to receive the environmental information sample that the flight equipment is sent every time and include:

The remaining capacity interval for receiving the flight equipment that the flight equipment is set every time, flies described in descent and sets Standby local environment carries out the environmental information sample of sampling acquisition；

The method also includes:

The environmental information sample of the flight equipment transmission is received without update message, wherein the environmental information sample is without update Message be the flight equipment determine double sampling obtain environmental information sample it is identical when send.

7. method as claimed in claim 6, which is characterized in that described to determine the flight equipment in working flight state Electricity be less than given threshold when, control the flight equipment enter landing operating mode include:

Operating mode switching command is sent to the flight equipment, is referred to so that the flight equipment switches according to the operation mode It enables, from the working flight pattern switching to landing operating mode.

8. method as claimed in claim 6, which is characterized in that the environmental information for receiving the flight equipment and sending every time Sample includes:

It receives the flight equipment and passes through the geography that global position system GPS obtains the flight equipment present position every time Location information, and the geographical location information currently obtained is determined as to the environmental information sent after environmental information sample Sample.

9. method as claimed in claim 6, which is characterized in that the environmental information for receiving the flight equipment and sending every time Sample includes:

It receives the flight equipment and passes through the geography that global position system GPS obtains the flight equipment present position every time Location information, and obtain by picture pick-up device the image information of the flight equipment present position, and by the institute of acquisition It states geographical location information and described image information is determined as the environmental information sample sent after the environmental information sample.

10. a kind of device that flight equipment is given for change characterized by comprising

Switching module, for when in working flight mode flight equipment determine electricity be less than given threshold when, into landing Operating mode；

Sending module, for the environmental information sample of acquisition to be sent to controlling terminal after sampling every time, so that the control Terminal processed environmental information sample based on the received, determines the position in the flight equipment level point, carries out the flight equipment It gives for change；

The sampling module includes:

First sampling submodule flies described in descent for the remaining capacity interval according to the flight equipment of setting Row equipment local environment is sampled；

Described device further include:

Message transmission module, when the environmental information sample for the double sampling acquisition before and after determining is identical, by environmental information sample This is sent to the controlling terminal without update message；

Calling module, for calling the transmission mould when the environmental information sample for determining that front and back double sampling obtains is not identical Block；

The sampling module is also used to:

11. device as claimed in claim 10, which is characterized in that the switching module includes:

Sending submodule, for when the flight equipment determines that electricity is less than given threshold, Xiang Suoshu controlling terminal to send electricity Measure too low warning message；

Switching submodule, the operating mode switching command sent for receiving the controlling terminal, and according to the operation mode Switching command, from the working flight pattern switching to landing operating mode.

12. device as claimed in claim 10, which is characterized in that the sampling module includes:

First obtains submodule, for obtaining the geography of the flight equipment present position by global position system GPS Location information, and recorded；

13. device as claimed in claim 10, which is characterized in that the sampling module includes:

Second obtains submodule, for obtaining the geography of the flight equipment present position by global position system GPS Location information, and recorded；

Third obtains submodule, for obtaining the image information of the flight equipment present position by picture pick-up device；

Second determines submodule, believes for the geographical location information obtained and described image information to be determined as the environment Cease sample.

14. a kind of device that flight equipment is given for change characterized by comprising

Control module, for controlling institute when the electricity for determining the flight equipment in working flight mode is less than given threshold It states flight equipment and enters landing operating mode；

Sample reception module, the environmental information sample sent every time for receiving the flight equipment, wherein the environmental information Sample is obtained after the flight equipment descent samples local environment；The flight equipment is in current record When the first geographical location information and not identical the second geographical location information of last registration, the environmental information sample is obtained；

Recovery module is carried out for determining the position in the flight equipment level point according to each received environmental information sample The flight equipment is given for change；

The sample reception module includes:

First sample receiving submodule, between the remaining capacity for receiving the flight equipment that the flight equipment is set every time Every the flight equipment local environment described in descent carries out the environmental information sample of sampling acquisition；

Described device includes:

Message reception module, for receiving the environmental information sample of the flight equipment transmission without update message, wherein the ring Border message sample without update message be the flight equipment determine double sampling obtain environmental information sample it is identical when send.

15. device as claimed in claim 14, which is characterized in that the control module includes:

First receiving submodule determines that electricity is less than the low battery report sent after given threshold for receiving the flight equipment Alert information；

Sending submodule is instructed, for sending operating mode switching command to the flight equipment, so that the flight equipment root According to the operating mode switching command, from the working flight pattern switching to landing operating mode.

16. device as claimed in claim 14, which is characterized in that the sample reception module includes:

First sample receiving unit passes through global position system GPS for receiving the flight equipment every time and obtains the flight The geographical location information of equipment present position, and the geographical location information currently obtained is determined as environmental information sample The environmental information sample sent after this.

17. device as claimed in claim 14, which is characterized in that the sample reception module includes:

Second sample reception unit passes through global position system GPS for receiving the flight equipment every time and obtains the flight The geographical location information of equipment present position, and the flight equipment present position is obtained by picture pick-up device Image information, and sent after the geographical location information of acquisition and described image information are determined as the environmental information sample The environmental information sample.

18. a kind of device that aircraft is given for change is used for terminal characterized by comprising

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to:

The processor is also configured to

19. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer instruction, which is characterized in that the finger The step of any one of claims 1 to 5 the method is realized when order is executed by processor.

20. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer instruction, which is characterized in that the finger The step of any one of claim 6 to 9 the method is realized when order is executed by processor.