CN106020234A - Unmanned aerial vehicle flight control method, device and equipment - Google Patents
Unmanned aerial vehicle flight control method, device and equipment Download PDFInfo
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- CN106020234A CN106020234A CN201610599483.0A CN201610599483A CN106020234A CN 106020234 A CN106020234 A CN 106020234A CN 201610599483 A CN201610599483 A CN 201610599483A CN 106020234 A CN106020234 A CN 106020234A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 137
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
Abstract
The invention discloses an unmanned aerial vehicle flight control method comprising the following steps that movement information of an operating end is captured so that first data flow including the movement trajectory information of the operating end is generated; the first data flow is processed and converted into second data flow including flight control instructions corresponding to the movement trajectory information of the operating end; and the flight control instructions of the second data flow are responded and an unmanned aerial vehicle is indicated to complete flight motions having the same movement trajectory with that of the operating end. With application of the unmanned aerial vehicle flight control method, flight control of the unmanned aerial vehicle is enabled to be more visual, the operation difficulty of the unmanned aerial vehicle is greatly reduced and the human-computer interaction mode of the unmanned aerial vehicle is enabled to be simpler and more convenient.
Description
[technical field]
The present invention relates to field of human-computer interaction, particularly relate to a kind of method of UAV Flight Control, device and equipment.
[background technology]
During unmanned plane occurs in the visual field of people the most frequently in recent years, civilian unmanned vehicle is commonly applied to agrisilviculture, mapping exploration, power-line patrolling, military investigation, emergency disaster relief, the fields such as application of taking photo by plane, and civilian unmanned plane has become as one of the hottest foundation field.
Mostly the at present manipulation of unmanned plane is to carry out operating by remote controller, and usually the virtual key etc. of rocking bar, button or smart machine is controlled.But the operation of unmanned plane generally requires operator and through training after a while or adapts to preferably to carry out, even some unmanned planes are applied when some special dimension, it is desirable to operator just can carry out unmanned plane during flying operation after being admitted to unmanned plane license.This kind of control mode, while affecting operator's experience, even there will be the air crash accident occurred because of misoperation.The combination being to need a series of flight control command owing to completing a set of flight path of tracing it to its cause can be carried out, when completing complex flight path, flight control command required in combination is also the most more, the most just has higher requirement the manipulation technology of operator.
There is also the control method of gesture instruction at present, this kind of method is by presetting gesture or action realization the most intuitively to unmanned plane during flying attitude and the control of heading, this kind of control mode is the most directly perceived, but owing to default flight control instruction is limited, when having needed the flight path different from preset instructions, still just can be carried out by the combination of multiple gesture instruction, the most this kind of control method can not meet the requirement realizing variation flight path in unmanned plane practical operation.
In view of this, the man-machine interaction mode more got close to is conducive to the convenient and flight safety that unmanned plane operates.
[summary of the invention]
In view of the problem of above-mentioned at least one aspect, the present invention provides a kind of UAV Flight Control method and corresponding device thereof, in order to realize simpler UAV Flight Control more intuitively.Accordingly, the present invention also provides for a kind of flight and controls end equipment, for the device implemented described in aforesaid method or operation.
For realizing this purpose, the present invention adopts the following technical scheme that
The present invention provides a kind of UAV Flight Control method, comprises the steps:
Capture operation end motion, generates the first data stream comprising operating side motion track information；
Process described first data stream, be converted into the second data stream including the flight control instruction corresponding with described operating side movable information；
Respond the flight path that the instruction unmanned plane of the described flight control instruction in described second data stream completes to have consistent movement locus with operating side.
In a kind of mode, in the step of capture operation end motion, catching mode is inertia sensing.
In another mode, in the step of capture operation end motion, catching mode is optics sensing.
Further, described first data stream packets includes route data and the speed data of operating side motion.
Described second data stream packets includes the route of unmanned plane during flying and controls data and speed control data.
Concrete, in described second data stream, the route control data of unmanned plane during flying are corresponding with route data and the speed data of operating side motion in described first data stream respectively with speed control data.
In a kind of embodiment, operating side moving line and speed relation proportional to the route of unmanned plane during flying and speed.
Further, the described proportionate relationship of different multiples is set out by setting different gear.
In a kind of embodiment, described first data stream was split by the time period, by the transmission that described operating side Kinematic Decomposition is one or more snippets interval.
Disclosed in the section Example of the present invention, this method is further comprising the steps of:
Operating side and flight control end and set up the step of Trusted channel.
Disclosed in the section Example of the present invention, this method is further comprising the steps of:
Open and close relevant physical switch and realize unmanned plane Track Imitation control model and be turned on and off.
Disclosed in embodiments of the invention, this method is further comprising the steps of:
Sense operation end and unmanned plane end gravity direction, direction in space and resting state respectively, and carry out the step of both state school inspections.
Disclosed in the section Example of the present invention, this method is further comprising the steps of:
Open and close relevant physical switch and realize unmanned plane Track Imitation control model and be turned on and off.
The present invention provides a kind of UAV Flight Control device, comprising:
Motion capture unit, for capture operation end motion, generates the first data stream comprising movable information；
Data processing unit, is used for processing described first data stream, is converted into the second data stream including the flight control instruction corresponding with described operating side movable information；
Flight control units, indicates unmanned plane to complete the flight path having consistent movement locus with operating side in response to the described flight control instruction in described second data stream.
In a kind of mode, described motion capture unit, catching mode is inertia sensing.
In another mode, described motion capture unit, catching mode is optics sensing.
Further, described first data stream packets includes route data and the speed data of operating side motion.
Described second data stream packets includes the route of unmanned plane during flying and controls data and speed control data.
Concrete, in described second data stream, the route control data of unmanned plane during flying are corresponding with route data and the speed data of operating side motion in described first data stream respectively with speed control data.
In a kind of embodiment, operating side moving line and speed relation proportional to the route of unmanned plane during flying and speed.
Further, the described proportionate relationship of different multiples is set out by setting different gear.
In a kind of embodiment, this device includes data stream cutting unit, is split according to the time period by described first data stream, by the transmission that described operating side Kinematic Decomposition is one or more snippets interval.
Disclosed in the section Example of the present invention, this device also includes:
Communication unit, controls end for operating side with flight and sets up Trusted channel.
Disclosed in the section Example of the present invention, this device also includes:
Opening/closing unit, for opening and closing relevant physical switch and realizing unmanned plane Track Imitation control model and be turned on and off.
Disclosed in embodiments of the invention, this device also includes:
School inspection unit, sensing operating side and unmanned plane end gravity direction, direction in space and resting state respectively, and carry out the school inspection of both states.
A kind of UAV Flight Control equipment that the present invention provides, comprising:
Capture module, is built-in with the first gyroscope, the first magnetometric sensor and the first acceleration transducer, for obtaining the movable information of operating side and obtaining azimuth information and the attitude information of operating side；
UAV Attitude acquisition module, is built-in with the second gyroscope, the second magnetometric sensor and the second acceleration transducer, for obtaining azimuth information and the flight attitude information of unmanned plane；
Communication module, controls the information communication between end for operating side and flight；
Flight control modules, completes flight path based on flight control instruction instruction unmanned plane；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and are configured to be performed by the one or more processor；
The one or more program is for driving the one or more processor to be configured to perform in claim 1 to 13 device of the method described in any one.
A kind of UAV Flight Control equipment that the present invention provides, comprising:
Capture module, is built-in with the first gyroscope, the first magnetometric sensor and the first acceleration transducer, for obtaining the movable information of operating side and obtaining azimuth information and the attitude information of operating side；
UAV Attitude acquisition module, is built-in with the second gyroscope, the second magnetometric sensor and the second acceleration transducer, for obtaining azimuth information and the flight attitude information of unmanned plane；
Communication module, controls the information communication between end for operating side and flight；
Flight control modules, completes flight path based on flight control instruction instruction unmanned plane；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and are configured to be performed by the one or more processor；
The one or more program is for driving the one or more processor to be configured to perform in claim 14 to 26 device described in any one.
Compared with prior art, the beneficial effect concrete manifestation of scheme provided by the present invention is as follows: for using operating side to carry out the user of UAV Flight Control, by moving operating side and coordinating the smart machine with sport monitoring device, realize the seizure to operating side movable information, it is consequently formed the first data stream with operating side motion track information, then by data processing unit, described first stream compression is changed to include the second data stream of flight control instruction.The mode of operation of this measure bar/key mapping many compared to remote controller in prior art, when completing complex flight path, it is no longer necessary to carry out logic arrangement combination according to all kinds of flight control instructions manipulate, and only need to make operating side complete the movement locus similar to completing path needed for unmanned plane, can make the movement locus of unmanned plane copy operation end thus complete required flight path, scheme the most provided by the present invention makes the flight of unmanned plane control simpler and directly perceived.Compared to based on default gesture instruction and in response to gesture instruction carry out flight control method, scheme provided by the present invention, the flight path making unmanned plane to be done directly is no longer limited to the quantity of preset instructions, is therefore more suitable for diversified flight path requirement.
In brief, the enforcement of the present invention, can control to become more to get close to user by the flight of unmanned plane, make unmanned plane operation user be no longer necessary to train for a long time or learn, be of value to the experience improving user.
The aspects of the invention or other aspects be meeting more straightforward in the following description.
[accompanying drawing explanation]
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those skilled in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 illustrates the theory diagram of the flight control system constructed by the motion-captured module in operating side of the present invention, data processing module, flight control modules；
Fig. 2 is the schematic flow sheet of a kind of embodiment of the UAV Flight Control method of the present invention.
Fig. 3 is the schematic flow sheet of the another kind of embodiment of the UAV Flight Control method of the present invention.
Fig. 4 is the schematic flow sheet of the another embodiment of the UAV Flight Control method of the present invention.
Fig. 5 is the schematic flow sheet of another embodiment of the UAV Flight Control method of the present invention.
Fig. 6 is the schematic flow sheet of another embodiment of the UAV Flight Control method of the present invention.
Fig. 7 is the schematic flow sheet of another embodiment of the UAV Flight Control method of the present invention.
Fig. 8 is the principle schematic of an embodiment of UAV Flight Control device of the present invention.
Fig. 9 is the principle schematic of an embodiment of UAV Flight Control device of the present invention.
Figure 10 is the principle schematic of an embodiment of UAV Flight Control device of the present invention.
Figure 11 is the principle schematic of an embodiment of UAV Flight Control device of the present invention.
Figure 12 is the principle schematic of an embodiment of UAV Flight Control device of the present invention.
[detailed description of the invention]
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
In some flow processs of description in description and claims of this specification and above-mentioned accompanying drawing, contain the multiple operations occurred according to particular order, but it should be clearly understood that, these operations can not perform or executed in parallel according to its order occurred in this article, the sequence number such as 101,102 etc. of operation, being only used for distinguishing each different operation, sequence number itself does not represent any execution sequence.It addition, these flow processs can include more or less of operation, and these operations can perform or executed in parallel in order.It should be noted that " first ", " second " herein etc. describe, it is that not limiting " first " and " second " is different types for distinguishing different message, equipment, module etc., not representing sequencing.Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those skilled in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Capture operation end motion information alleged by the present invention, refers to obtain the movable information at unmanned plane user operation position, including moving line information and the motion velocity information of described operating position.Common acquisition mode is inertia sensing, optical observation and inertia and optical joint sensing.Wherein, inertia sensing is mainly based on inertial sensor, such as with gravity sensor, gyroscope and Magnetic Sensor etc. sense the physical parameter of user limb action, it is respectively acceleration, angular velocity and magnetic field, tries to achieve the various actions in space of user detection site further according to these physical parameters；Optics sensing mainly obtains body image by optical pickocff, further, by using laser and photographic head to obtain body image information and image depth information, thus catches the 3D image of monitored site.
Operating side alleged by the present invention and the school inspection of unmanned plane end state, refer to by operating side and the dimensional orientation of the respective gyroscope of unmanned plane end, magnetometric sensor and acceleration transducer perception respectively and movement state information, i.e. include East, West, South, North, upper and lower azimuth information and the most residing movement state information, make operating side and unmanned plane end be in the same space coordinate system and both kinestates are examined in school, and when operating side and unmanned plane end are in resting state, school inspection is passed through.
For the ease of understanding the present invention, a kind of running environment of the present invention introduced below, it is possible to be considered as a kind of application scenarios of the present invention.
As it is shown in figure 1, unmanned plane take off after the flight attitude of Automatic Approach to Hovering, each equipment involved in the present invention establish by the way of Trusted channel in advance can the LAN of free communication, the information communication of each equipment room is transmitted by described Trusted channel.
An operating side movable information is had to catch equipment, a kind of mode is to be sensed the movable information of operating side by inertia sensing module, such as it is built-in with gravity sensor, the Intelligent bracelet of the inertia sensing module that gyroscope, magnetometric sensor and acceleration transducer collectively constitute, it is worn on the wrist portion of unmanned plane user, when unmanned plane user's wrist moves, described inertia sensing module captures the movement velocity in its movement locus and motor process.Another way is to be sensed the movable information of operating side by optics sensing module, such as it is built-in with the intelligent glasses of the optics sensing module that optical pickocff, laser and image recognition photographic head collectively constitute, set up unmanned plane user's hand by optics sensing module and affect information, and capture the velocity information in its motion track information and motor process when it moves.No matter which kind of mode, operating side movable information catches equipment all can at least obtain unmanned plane user movement locus when the operating position motion operating unmanned plane and motion velocity information.
There is a data handling equipment, being configured with memorizer, acceptable and storage includes the first data stream of operating side movable information, and storage has data converter, based on the described operating side movable information in described first data stream, it is converted to one to one flight control instruction.Described flight control instruction refers to the flight attitude action of unmanned plane, such as, when operating side action message is for raising, corresponding flight control instruction is for accelerating rotor wing rotation speed, so that unmanned plane during flying elevated height；And for example, when operating side action message is for moving towards a direction, corresponding flight control instruction is that rotor tilts towards this direction, so that unmanned plane flies towards this direction；For another example, when operating side action message is the curve with certain radian, corresponding flight control instruction also for have corresponding with the change of this curve tangential direction tilt towards change so that the movement locus of unmanned plane and described Similar Broken Line.Further, also at timed intervals described first data stream can be split, make the athletic performance of operating side be divided into multistage motion, so that segment data is processed by multiple processors in order simultaneously, and send in order, improve the response efficiency that data process.
There is a UAV Flight Control equipment, for receiving described flight control instruction and completing the flight directive of response based on described flight control instruction instruction unmanned plane.Such as, when flight control instruction is for accelerating rotor wing rotation speed, flight control unit then orders about the supply current strengthening rotor based on this instruction, makes unmanned plane rotor accelerate to rotate；And for example, flight control instruction be rotor towards a direction tilt time, then flight control unit instructs based on this, and trend rotor direction controlling module makes corresponding actions, makes unmanned plane rotor tilt towards respective direction；For another example, when flight control instruction is to have change corresponding with the change of a certain curve tangential direction, flight control unit changes combination accordingly based on this making of instructing, and makes the inclination of unmanned plane rotor have the change of corresponding direction with the change of this curve tangential direction towards having.
nullThe working mechanism running structure shown in Fig. 1 is: after described operating side movable information catches equipment startup，By sensing sensor element, the movable information of the operating position of unmanned plane user is caught，Form the first data stream including operating side movable information，Described first data stream is optionally divided into multiple segment data，Send to described data handling equipment，It is changed after accepting described first data stream by described data handling equipment，It is converted into the second data stream including the flight control instruction with described operating side movable information with corresponding relation，Optionally，Described corresponding relation can be identical，Also can be the ratio corresponding relation with different multiples，Described second data stream is sent to flight control unit，After described flight control unit accepts described second data stream，Indicate based on described flight control instruction unmanned plane to carry out corresponding action command and control unmanned plane during flying，So that the flight path of unmanned plane derive from operating side movement locus，Unmanned plane and operating side is made to have same or analogous movement locus.
About implementing of each concrete equipment, will be disclosed one by one in multiple embodiments of the follow-up present invention.
Refer to Fig. 2, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S11, the movable information of capture operation end, generate the first data stream comprising operating side motion track information, step S12, process described first data stream, it is converted into the second data stream including the flight control instruction corresponding with described operating side motion track information, step S13, responds the flare maneuver that the instruction unmanned plane of the described flight control instruction in described second data stream completes to have consistent movement locus with operating side.
Obviously, operating side action message catches equipment, data handling equipment and UAV Flight Control equipment room and establishes communication network by Trusted channel the most in advance.After the operating side of unmanned plane user produces motion, described operating side action message catches equipment can form the first data stream comprising operating side action message, described first data stream is sent to data handling equipment by set up communication network, carry out being changed to include by described first stream compression the step of the second data stream of the flight control instruction corresponding with described operating side motion track information, described second data stream passes through set up communication network and is sent to described flight control unit, based on the flight control instruction in described second data stream, flight control unit carries out corresponding UAV Flight Control.The enforcement of the method can make unmanned plane complete the flight path similar to the movement locus of operating side.
Refer to Fig. 3, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S21, the movement locus of monitoring operating side；Step S22, movable information based on the operating side monitored forms the first data stream including operating side movable information accordingly；Step S24, sends described first data stream to data handling equipment.
By monitoring the motion of operating side, its trace information is generated as the first data stream, and described first data stream is sent to data handling equipment.
More excellent, as shown in Figure 4, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S21, the movement locus of monitoring operating side；Step S22, movable information based on the operating side monitored forms the first data stream including operating side movable information accordingly；Step S23, splits described first data stream at timed intervals；Step S24, sends described first data stream to data handling equipment segmentation.
After the first data stream generates, its constant duration is divided into multiple segment data stream, the most sequentially sends to data handling equipment.The method can make the movable information comprised of every segment data stream reduce, on the one hand the data volume that data handling equipment processes every time can be reduced, on the other hand can be easy to processor multiple threads or multiple processor carries out the process of the first data stream simultaneously, be conducive to promoting data processing speed.
Refer to such as Fig. 5, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S31, the operating side motion track information included in described first data stream is sequentially decomposed into single athletic performance data；Described single athletic performance data are sequentially converted to corresponding flare maneuver director data by step S32, form the second data stream comprising flight control instruction；Step S33, sends described second data stream to flight control unit.
After receiving described first data stream, first data handling equipment is analyzed sequence to the information in described first data stream, extract operating side therein motion track information, and it is converted into the second data stream that corresponding flight control instruction is formed, then the second data stream is sent to flight control unit.Such as, the movable information comprised in one piece of data stream is: move 0.3 meter from north orientation south in operating side, used time 0.1s, after moved 0.5 meter the most from east to west, used time 0.15s, then it is classified as 2 steps to extract when information retrieval, first the movable information of 0.3 meter is extracted, and define its direction of motion and movement velocity, then extract the motion of 0.5 meter, and define the direction of motion and movement velocity, and before the movable information of 0.3 meter is put in 0.5 meter of motion, then form two flight control instructions, generate the second data stream.
It is pointed out that the movable information in the first data stream and the second data stream all includes movement locus and movement velocity, movement locus includes again moving line and the direction of motion.Wherein the moving line in the first data stream and the second data stream can be identical with the numerical values recited of movement velocity, such as, in first data stream, operating side has been moved 0.1 meter by north orientation south, used time 0.1s, in the second corresponding data stream, flight control instruction is for making unmanned plane be moved 0.1 meter by north orientation south, used time 0.1s；Also the proportionate relationship that both are set to have multiple can be set by gear, such as, in the first data stream, operating side has been moved 0.1 meter by north orientation south, used time 0.1s, in the second corresponding data stream, flight control instruction is for making unmanned plane be moved 0.2 meter by north orientation south, used time 0.1s；
Refer to Fig. 6, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S41, sequentially extract the flight control instruction in described second data stream；Step S42, indicates unmanned plane to complete corresponding flare maneuver based on described flight control instruction in order.
After reception includes the second data stream of flight control instruction, the most sequentially extracting flight control instruction, then content based on control instruction instruction unmanned plane completes corresponding flare maneuver.Such as, when flight control instruction is for accelerating rotor wing rotation speed, flight control unit then orders about the supply current strengthening rotor based on this instruction, makes unmanned plane rotor accelerate to rotate；And for example, flight control instruction be rotor towards a direction tilt time, then flight control unit instructs based on this, and trend rotor direction controlling module makes corresponding actions, makes unmanned plane rotor tilt towards respective direction；For another example, when flight control instruction is to have change corresponding with the change of a certain curve tangential direction, flight control unit changes combination accordingly based on this making of instructing, and makes the inclination of unmanned plane rotor have the change of corresponding direction with the change of this curve tangential direction towards having.
Refer to Fig. 7, in a kind of embodiment of the present invention, a kind of UAV Flight Control method of the present invention, comprise the steps: step S01, based on switching on, starting device sends spatial attitude perception and instructs to awareness apparatus；Step S02, awareness apparatus receives described spatial attitude perception instruction, senses the space motion state of operating side and the space motion state of unmanned plane respectively, and to school, both space motion status information feedbacks are examined equipment；Step S03, described space motion status information is examined in inspection equipment school, school, when operating side and unmanned plane are in the resting state of locus, school inspection is passed through, and sends unmanned plane Track Imitation control model open command to operating side motion capture equipment and UAV Flight Control equipment.
The startup step of unmanned plane Track Imitation control model includes that the unlatching of activate switch and spatial attitude synchronize two processes.After unmanned plane Track Imitation control model activate switch is opened, i.e. can send spatial attitude perception to instruct to awareness apparatus, after awareness apparatus senses the space motion state of operating side and unmanned plane respectively, the movable information sensed is fed back to school inspection equipment, the space motion status information of school inspection both unit checks, when operating side and unmanned plane are in the resting state of locus, school inspection is passed through, and sends unmanned plane Track Imitation control model open command.
According to the modular design concept of computer program, the present invention also provides corresponding device to be introduced for above-mentioned each method:
Referring to Fig. 8, UAV Flight Control device includes capture unit 11, data processing unit 12, flight control units 13.
After the operating side of unmanned plane user produces motion, captured the movable information of operating side by capture unit and form the first data stream comprising operating side action message, described first data stream is sent to data processing unit by set up communication network, carry out being changed to include by described first stream compression the second data stream of the flight control instruction corresponding with described operating side motion track information, described second data stream passes through set up communication network and is sent to described flight control units, based on the flight control instruction in described second data stream, flight control units carries out corresponding UAV Flight Control.This device can make unmanned plane complete the flight path similar to the movement locus of operating side.
Referring to Fig. 9, UAV Flight Control device includes: monitoring means 21, data stream signal generating unit 22, communication unit 24.
The motion of monitoring means monitoring operating side, trace information is generated as the first data stream by data generating unit, and described first data stream is sent to data processing unit by communication unit.
More excellent, as shown in Figure 10, UAV Flight Control device includes: monitoring means 21, data stream signal generating unit 22, cutting unit 23, communication unit 24
After the first data stream generates, its constant duration is divided into multiple segment data stream by cutting unit, the most sequentially sends to data handling equipment.This device can make the movable information comprised of every segment data stream reduce, on the one hand the data volume that data handling equipment processes every time can be reduced, on the other hand can be easy to processor multiple threads or multiple processor carries out the process of the first data stream simultaneously, be conducive to promoting data processing speed.
Referring to such as Figure 11, UAV Flight Control device includes: analytic unit 31, converting unit 31, communication unit 33.
After receiving described first data stream, analytic unit is analyzed sequence to the information in described first data stream, extract operating side therein motion track information, converting unit is converted into the second data stream that corresponding flight control instruction is formed, and is then sent the second data stream to flight control units by communication unit.Such as, the movable information comprised in one piece of data stream is: move 0.3 meter from north orientation south in operating side, used time 0.1s, after moved 0.5 meter the most from east to west, used time 0.15s, then it is classified as 2 steps to extract when information retrieval, first the movable information of 0.3 meter is extracted, and define its direction of motion and movement velocity, then extract the motion of 0.5 meter, and define the direction of motion and movement velocity, and before the movable information of 0.3 meter is put in 0.5 meter of motion, then form two flight control instructions, generate the second data stream.
It is pointed out that the movable information in the first data stream and the second data stream all includes movement locus and movement velocity, movement locus includes again moving line and the direction of motion.Wherein the moving line in the first data stream and the second data stream can be identical with the numerical values recited of movement velocity, such as, in first data stream, operating side has been moved 0.1 meter by north orientation south, used time 0.1s, in the second corresponding data stream, flight control instruction is for making unmanned plane be moved 0.1 meter by north orientation south, used time 0.1s；Also the proportionate relationship that both are set to have multiple can be set by gear, such as, in the first data stream, operating side has been moved 0.1 meter by north orientation south, used time 0.1s, in the second corresponding data stream, flight control instruction is for making unmanned plane be moved 0.2 meter by north orientation south, used time 0.1s；
Refer to Figure 12, UAV Flight Control device includes: extraction unit 41, indicating member 42.
After reception includes the second data stream of flight control instruction, extraction unit sequentially extracts flight control instruction, and indicating member content based on control instruction instruction unmanned plane completes corresponding flare maneuver.Such as, when flight control instruction is for accelerating rotor wing rotation speed, flight control unit then orders about the supply current strengthening rotor based on this instruction, makes unmanned plane rotor accelerate to rotate；And for example, flight control instruction be rotor towards a direction tilt time, then flight control unit instructs based on this, and trend rotor direction controlling module makes corresponding actions, makes unmanned plane rotor tilt towards respective direction；For another example, when flight control instruction is to have change corresponding with the change of a certain curve tangential direction, flight control unit changes combination accordingly based on this making of instructing, and makes the inclination of unmanned plane rotor have the change of corresponding direction with the change of this curve tangential direction towards having.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the system of foregoing description, the specific works process of device and unit, it is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematically, such as, the division of described unit, be only a kind of logic function to divide, actual can have when realizing other dividing mode, the most multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can ignore, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be the INDIRECT COUPLING by some interfaces, device or unit or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, and the parts shown as unit can be or may not be physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment can be by program and completes to instruct relevant hardware, this program can be stored in a computer-readable recording medium, storage medium may include that read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc..
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method can be by program and completes to instruct relevant hardware, described program can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read only memory, disk or CD etc..
Above series scheme provided by the present invention is described in detail, for one of ordinary skill in the art, according to the thought of the embodiment of the present invention, the most all will change, in sum, this specification content should not be construed as limitation of the present invention.
Claims (10)
1. a UAV Flight Control method, it is characterised in that comprise the steps:
The movable information of capture operation end, generates the first data stream comprising operating side motion track information；
Process described first data stream, be converted into the second data stream including the flight control instruction corresponding with described operating side motion track information；
Respond the flight path that the instruction unmanned plane of the described flight control instruction in described second data stream completes to have consistent movement locus with operating side.
Flight control method the most according to claim 1, it is characterised in that operating side moving line and speed relation proportional to the route of unmanned plane during flying and speed.
Flight control method the most according to claim 2, it is characterised in that the described proportionate relationship of different multiples is set out by setting different gear.
Flight control method the most according to claim 1, it is characterised in that described first data stream was split according to the time period, by the transmission that described operating side Kinematic Decomposition is one or more snippets interval.
5. a UAV Flight Control device, it is characterised in that including:
Motion capture unit, for the movable information of capture operation end, generates the first data stream comprising movable information；
Data processing unit, is used for processing described first data stream, is converted into the second data stream including the flight control instruction corresponding with described operating side movable information；
Flight control units, indicates unmanned plane to complete the flight path having consistent movement locus with operating side in response to the described flight control instruction in described second data stream.
Flight control assemblies the most according to claim 5, it is characterised in that operating side moving line and speed relation proportional to the route of unmanned plane during flying and speed.
Flight control assemblies the most according to claim 6, it is characterised in that include that gear arranges unit, for arranging out the described proportionate relationship of different multiples by setting different gear.
Flight control assemblies the most according to claim 5, it is characterised in that include data stream cutting unit, for splitting described first data stream according to the time period, by the transmission that described operating side Kinematic Decomposition is one or more snippets interval.
9. a UAV Flight Control equipment, it is characterised in that including:
Capture module, is built-in with the first gyroscope, the first magnetometric sensor and the first acceleration transducer, for obtaining the movable information of operating side and obtaining azimuth information and the attitude information of operating side；
UAV Attitude acquisition module, is built-in with the second gyroscope, the second magnetometric sensor and the second acceleration transducer, for obtaining azimuth information and the flight attitude information of unmanned plane；
Communication module, controls the information communication between end for operating side and flight；
Flight control modules, completes flight path based on flight control instruction instruction unmanned plane；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and are configured to be performed by the one or more processor；
The one or more program is for driving the one or more processor to be configured to perform in claim 1 to 4 device of the method described in any one.
10. a UAV Flight Control equipment, it is characterised in that including:
Capture module, is built-in with the first gyroscope, the first magnetometric sensor and the first acceleration transducer, for obtaining the movable information of operating side and obtaining azimuth information and the attitude information of operating side；
UAV Attitude acquisition module, is built-in with the second gyroscope, the second magnetometric sensor and the second acceleration transducer, for obtaining azimuth information and the flight attitude information of unmanned plane；
Communication module, controls the information communication between end for operating side and flight；
Flight control modules, completes flight path based on flight control instruction instruction unmanned plane；
One or more processors；
Memorizer；
One or more application programs, wherein said one or more application programs are stored in described memorizer and are configured to be performed by the one or more processor；
The one or more program is for driving the one or more processor to be configured to perform in claim 5 to 8 device described in any one.
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