CN106043694A

CN106043694A - Method for controlling flight of aircraft, mobile terminal, aircraft and system

Info

Publication number: CN106043694A
Application number: CN201610343343.7A
Authority: CN
Inventors: 周大军; 申俊峰; 王洁梅
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2016-05-20
Filing date: 2016-05-20
Publication date: 2016-10-26
Anticipated expiration: 2036-05-20
Also published as: CN106043694B

Abstract

The invention discloses a method for controlling the flight of an aircraft. The method is applied to an aircraft flight control system. The aircraft flight control system comprises the aircraft and a mobile terminal. The mobile terminal is in wireless communication with the aircraft. The method includes the steps that the mobile terminal determines sampling points from an input track of an operation interface, interface coordinates of each sampling point are determined and converted into corresponding space coordinates of each sampling point, and the space coordinates corresponding to each sampling point are sent to the aircraft; or, the interface coordinates of each sampling point are sent to the aircraft, the space coordinates corresponding to each sampling point are determined through the aircraft, and the space coordinates corresponding to each sampling point are used for controlling the flight of the aircraft. By the adoption of the scheme of the embodiment, the aircraft can be controlled to fly in the manner that a flight control track is input in the operation interface of the mobile terminal, so that the operation complexity is reduced, and the flight control flexibility of the aircraft is improved.

Description

A kind of control the method for aircraft flight, mobile terminal, aircraft and system

Technical field

The present invention relates to flying vehicles control technical field, be specifically related to a kind of control aircraft flight method, mobile eventually End, aircraft and system.

Background technology

Unpiloted aircraft is referred to as unmanned plane, and unmanned plane has a lot of application in national economy and military affairs, at present Unmanned plane oneself be widely used in taking photo by plane photography, electric inspection process, environmental monitoring, forest fire protection, the condition of a disaster inspection, anti-probably lifesaving, army The fields such as thing scouting and battle assessment, unmanned plane is to utilize radio robot and the presetting apparatus provided for oneself to handle not Manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus and information collecting device are installed, distant Control station personnel by the equipment such as radar, it be tracked, position, remote control, remote measurement and Digital Transmission.

In prior art, controlling unmanned plane during flying has two ways, one to be after unmanned plane takes off, and user passes through remote control Device, Non-follow control unmanned plane during flying, user's proficiency is required the highest by this method, and Non-follow control difficulty is the biggest.Another Planting is after unmanned plane takes off, and can select, in the case of having pre-set flight paths, the flight path preset, allow unmanned Machine flies automatically by fixed route.This flight control method generally only has several circuits, causes motility very poor.

Summary of the invention

In order to solve to control in prior art, UAV Flight Control difficulty is big and the problem of very flexible, present invention enforcement Example provides a kind of method controlling aircraft flight, can control track by input flight on the operation interface of mobile terminal Mode control aircraft flight, thus reduce operation complexity, improve the motility that aircraft flight controls.

First aspect present invention improves a kind of method controlling aircraft flight, and described method is applied to aircraft flight control System processed, described vehicle flight control system includes aircraft and mobile terminal, described mobile terminal and described aircraft it Between radio communication, described method includes:

Described mobile terminal determines that from the input trajectory at operation interface sampled point, described input trajectory are for controlling institute The flight stating aircraft flight and input controls track；

Described mobile terminal determines the interface coordinate of each sampled point；

The interface coordinate of described each sampled point is converted to the sky corresponding to described each sampled point by described mobile terminal Between coordinate, and send the space coordinates corresponding to described each sampled point to described aircraft；Or,

Described mobile terminal sends the interface coordinate of described each sampled point to described aircraft, described each sampled point Interface coordinate determines the space coordinates corresponding to described each sampled point for described aircraft, and described each sampled point is right The space coordinates answered is for controlling described aircraft flight.

Second aspect present invention improves a kind of method controlling aircraft flight, and described method is applied to aircraft flight control System processed, described vehicle flight control system includes aircraft and mobile terminal, described mobile terminal and described aircraft it Between radio communication, described method includes:

Described aircraft receives the interface coordinate of each sampled point that described mobile terminal sends, described each sampled point Being that described mobile terminal is determined from the input trajectory at operation interface, described input trajectory is for controlling described aircraft The flight flown and input controls track；Described aircraft according to the interface coordinate of described each sampled point, determine described often Space coordinates corresponding to individual sampled point；Or,

Described aircraft receives the space coordinates corresponding to described each sampled point that described mobile terminal sends；

Described aircraft controls flight according to the space coordinates corresponding to described each sampled point.

Third aspect present invention improves a kind of mobile terminal, and described mobile terminal is applied to vehicle flight control system, Described vehicle flight control system also includes aircraft, and radio communication between described mobile terminal and described aircraft is described Mobile terminal includes:

First determines unit, for from operation interface input trajectory determine sampled point, described input trajectory be for The flight controlling described aircraft flight and input controls track；

Second determines unit, for determining that described first determines that the interface of described each sampled point that unit is determined is sat Mark；

Coordinate transformation unit, for being converted to the interface coordinate of described each sampled point corresponding to described each sampled point Space coordinates；

Transmitting element, right for each sampled point institute being converted to the described aircraft described coordinate transformation unit of transmission The space coordinates answered；Or, send the described second interface determining described each sampled point that unit determines to described aircraft Coordinate, for described aircraft, the interface coordinate of described each sampled point determines that the space corresponding to described each sampled point is sat Mark, the space coordinates corresponding to described each sampled point is used for controlling described aircraft flight.

Fourth aspect present invention improves a kind of aircraft, and described aircraft applications is in vehicle flight control system, described Vehicle flight control system also includes mobile terminal, radio communication between described mobile terminal and described aircraft, described in fly Row device includes:

Receive unit, for receiving the interface coordinate of each sampled point that described mobile terminal sends, described each sampling Point is that described mobile terminal is determined from the input trajectory at operation interface, and described input trajectory is to fly described in controlling The flight that row device flies and inputs controls track；Or, for receiving described each sampled point institute that described mobile terminal sends Corresponding space coordinates；

Determine unit, the interface coordinate of the described each sampled point for receiving according to described reception unit, determine institute State the space coordinates corresponding to each sampled point；

Flight control units, for the space coordinates corresponding to the described each sampled point according to the reception of described reception unit Or the described space coordinates corresponding to described each sampled point determining that unit determines controls to fly.

Fifth aspect present invention improves a kind of vehicle flight control system, including aircraft and mobile terminal, described shifting Dynamic radio communication between terminal and described aircraft

Described mobile terminal is the mobile terminal described in the above-mentioned third aspect；

Described aircraft is the aircraft described in above-mentioned fourth aspect.

Compared with and very flexible big with UAV Flight Control difficulty in prior art, the one of embodiment of the present invention offer The method controlling aircraft flight, can control by the way of on the operation interface of mobile terminal, input flight controls track Aircraft flight processed, thus reduce operation complexity, improve the motility that aircraft flight controls.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those skilled in the art, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings Figure.

Figure 1A is an embodiment schematic diagram of flight control system in the embodiment of the present invention；

Figure 1B is an embodiment schematic diagram of flight control system in the embodiment of the present invention；

Fig. 2 A is an embodiment schematic diagram of the method controlling aircraft flight in the embodiment of the present invention；

Fig. 2 B is an example schematic diagram of input trajectory sampling in the embodiment of the present invention；

Fig. 2 C is another example schematic diagram of input trajectory sampling in the embodiment of the present invention；

Fig. 2 D is another embodiment schematic diagram of the method controlling aircraft flight in the embodiment of the present invention；

Fig. 3 is another embodiment schematic diagram of the method controlling aircraft flight in the embodiment of the present invention；

Fig. 4 is an embodiment schematic diagram of mobile terminal in the embodiment of the present invention；

Fig. 5 is another embodiment schematic diagram of mobile terminal in the embodiment of the present invention；

Fig. 6 is an embodiment schematic diagram of aircraft in the embodiment of the present invention；

Fig. 7 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Fig. 8 is another embodiment schematic diagram of mobile terminal in the embodiment of the present invention；

Fig. 9 is another embodiment schematic diagram of aircraft in the embodiment of the present invention.

Detailed description of the invention

The embodiment of the present invention provides a kind of method controlling aircraft flight, can be by the operation interface of mobile terminal The mode that upper input flight controls track controls aircraft flight, thus reduces operation complexity, improves aircraft and flies The motility that row controls.It is described in detail individually below.

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, the every other enforcement that those skilled in the art are obtained under not making creative work premise Example, broadly falls into the scope of protection of the invention.

Aircraft in the embodiment of the present invention is often referred to unmanned vehicle, including unmanned plane, telecontrolled aircraft, unmanned aviation Device, unmanned airship and unmanned balloon etc..

Figure 1A is an embodiment schematic diagram of flight control system in the embodiment of the present invention.

Refering to Figure 1A, the flight control system that the embodiment of the present invention provides includes aircraft 10 and mobile terminal 20, moves Dynamic radio communication between terminal 20 and aircraft 10, can be by Wireless Fidelity (wifi) network service, it is also possible to be to pass through The mode of wireless data sending communicates.

Mobile terminal 20 can be the terminal unit such as mobile phone and panel computer.User can install in the mobile terminal 20 and fly Row device controls application (APP), when needs control aircraft, as long as user opens this APP, enters aerobatic operation circle Face, can control aircraft 10 by mobile terminal 20 and fly, and the flight control mode of aircraft 10 is at mobile terminal 20 Inputting a flight on operation interface and control track, it can be that user is directly at the screen of mobile terminal 20 that this flight controls track Upper touch input.

Mobile terminal 20 can determine sampled point from the input trajectory at operation interface, it is then determined that each sampled point Interface coordinate, and the interface coordinate of described each sampled point is sent to aircraft 10.

The interface coordinate of sampled point refers to sampled point coordinate in flying vehicles control application interface, and mobile terminal is permissible First determine sampled point coordinate on the screen of the mobile terminal, then sit according to screen coordinate system and flying vehicles control application interface Mapping relations between mark system, are converted to the interface coordinate of sampled point by the screen coordinate of sampled point.The screen of mobile terminal is sat Mark system can be with the pixel in the upper left corner as zero.Flying vehicles control application interface coordinate system can be with in interface The heart is initial point, and certain coordinate system is not limited to the two kinds of situations enumerated at this.The either coordinate system of which kind of definition, between the two All can change according to mapping relations or proportionate relationship.

After aircraft 10 receives the interface coordinate of each sampled point that described mobile terminal sends, aircraft 10 can be by current The space coordinates of present position is as zero, then according to distance between pixel on the screen being previously obtained and space model The proportionate relationship enclosed, determines the space coordinates corresponding to the interface coordinate of each sampled point.Such as: when first sampled point Interface coordinate is (0,0), when the interface coordinate of second sampled point is (1,1), if the distance on screen between pixel and space The proportionate relationship of scope is 1:20, then the space coordinates corresponding to first sampled point is (0,0), corresponding to second sampled point Space coordinates be (20,20).It should be noted that the distance between pixel on screen and flying vehicles control application interface On pixel between distance be identical, be all the spacing using the pixel on screen.

Space coordinates corresponding to each sampled point refers to: with the sky corresponding to whole flying vehicles control application interface With the coordinate corresponding to the interface coordinate of sampled point determined by the range of between.

After the space coordinates corresponding to each sampled point determined by aircraft 10, aircraft 10 is according to described each sampled point Corresponding space coordinates controls flight.It is achieved thereby that user controls track by mobile terminal input flight controls flight The purpose of device flight.This flight control mode is simple to operate, but also improves the motility that flight controls.

Described above is that mobile terminal 20 is when aircraft 10 sends the interface coordinate of sampled point, it is achieved to aircraft 10 carry out the example that flight controls.Adopt it practice, mobile terminal 20 can also directly calculate according to the interface coordinate of sampled point Space coordinates corresponding to sampling point.Then the space coordinates corresponding to sampled point is directly transmitted to aircraft 10.Below in conjunction with figure 1B introduces the space coordinates sent corresponding to sampled point, thus realizes carrying out aircraft 10 situation that flight controls.

Figure 1B is an embodiment schematic diagram of flight control system in the embodiment of the present invention.

Refering to Figure 1B, the flight control system that the embodiment of the present invention provides includes aircraft 10 and mobile terminal 20, moves Dynamic radio communication between terminal 20 and aircraft 10, can be by Wireless Fidelity (wifi) network service, it is also possible to be to pass through The mode of wireless data sending communicates.

Mobile terminal 20 can determine sampled point from the input trajectory at operation interface, it is then determined that each sampled point Interface coordinate, and the interface coordinate of each sampled point is converted into the space coordinates corresponding to each sampled point.

The interface coordinate of individual sampled point is converted into the process of the space coordinates corresponding to each sampled point by mobile terminal can To be: mobile terminal will be presently in the space coordinates of position as zero, picture on the screen that then basis is previously obtained Distance between vegetarian refreshments and the proportionate relationship of spatial dimension, determine the space coordinates corresponding to the interface coordinate of each sampled point. Such as: when the interface coordinate of first sampled point is (0,0), and the interface coordinate of second sampled point is (1,1), if on screen The proportionate relationship of the distance between pixel and spatial dimension is 1:20, then the space coordinates corresponding to first sampled point be (0, 0), the space coordinates corresponding to second sampled point is (20,20).It should be noted that between pixel on screen away from The distance between pixel on flying vehicles control application interface is identical, is all to use between the pixel on screen Away from.

After mobile terminal 20 determines the space coordinates corresponding to each sampled point, each sampling can be sent to aircraft 10 Space coordinates corresponding to Dian.

Aircraft 10 controls flight according to the space coordinates corresponding to described each sampled point.It is achieved thereby that user passes through Mobile terminal input flight controls track and controls the purpose of aircraft flight.This flight control mode is simple to operate, and Also improve the motility that flight controls.

In conjunction with the introduction of the vehicle flight control system of Figure 1A and 1B part, below in conjunction with Fig. 2 A and Fig. 2 D, from movement The interaction of terminal and aircraft introduces the method for the control aircraft flight that the embodiment of the present invention is provided.

Refering to Fig. 2 A, an embodiment of the method for the control aircraft flight that the embodiment of the present invention is provided includes:

101, mobile terminal determines that from the input trajectory at operation interface sampled point, described input trajectory are for controlling institute The flight stating aircraft flight and input controls track.

Operation interface can be aerobatic operation interface.Flight control track can be user pass through mobile terminal touch Touching screen input, it can be that user inputs according to the control wish of oneself that this flight controls track.

The input trajectory at operation interface can be continuous print, it is also possible to be discontinuous.

Input trajectory comprises a lot of pixels, sampled point can be determined from numerous pixels.

Mobile terminal determines that the mode of sampled point can have a variety of, can be to randomly select, it is also possible to be equidistant choosing Taking, it is also possible to be to choose according to the amplitude of variation of input trajectory, an input trajectory can include multiple orbit segment, wherein, That determines in the orbit segment that the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is less than described change adopts The quantity of sampling point is many.

Wherein, the equidistant mode chosen may is that

Described mobile terminal, according to the number of required sampled point and the length of described input trajectory, determines sampled equidistant Length；

Described mobile terminal, from the beginning of the original position of described input trajectory, is carried out according to the length of described sampled equidistant Sampling, determines sampled point.

If mobile terminal determines that the number of required sampled point is 4, according to the length of input trajectory, it is assumed that be 3 centimetres, because of Original position for input trajectory is first sampled point, it is possible to determine a length of 1 centimetre of sampled equidistant, such as Fig. 2 B Shown in, start to determine first sampled point A from original position, then determine a sampled point every 1 centimetre, may determine that successively Second sampled point B, the 3rd sampled point C and the 4th sampled point D.

Wherein, the mode chosen according to the amplitude of variation of input trajectory may is that

From the beginning of the original position of described input trajectory, according to the amplitude of variation of orbit segment each in described input trajectory, really Make sampled point；Wherein, the rail that the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is less than described change The quantity of the sampled point determined in mark section is many.

As shown in Figure 2 C, input trajectory can include four orbit segments, first orbit segment is from the beginning of the screen left side Rising trace section, namely from the orbit segment of M point to P point, second orbit segment is from the orbit segment of P point to R point, the 3rd rail Mark section is that the 4th orbit segment is smoother orbit segment, namely from S point to U point from R point to the descending trajectory section of S point Orbit segment.Wherein, P point and R point belong to the second orbit segment, and S point belongs to the 3rd orbit segment.

In sampling process, from the beginning of the position in fact of input trajectory, determine first sampled point M, ensuing first Individual orbit segment is the most smoother, can choose a sampled point again, it is also possible to no longer determine sampled point on first orbit segment. The amplitude of variation of second orbit segment is bigger, it may be determined that tri-sampled points of P, Q and R.The decline process of the 3rd orbit segment is also Smoother, can only select mono-sampled point of S, the change of the 4th orbit segment is the most smoother, but longer, so from the 4th rail Mark section determines two sampled points of T and U.

102, mobile terminal determines the interface coordinate of each sampled point.

Determine that the scheme of the coordinate of each pixel may is that

Mobile terminal using first pixel in described input trajectory as first sampled point, and by described first The interface coordinate of sampled point is set to (0,0)；

Mobile terminal using each residue sampled point with the pixel side-play amount of described first sampled point as described each The interface coordinate of residue sampled point, described residue sampled point is the sampled point in addition to described first sampled point.

Certainly, this is the determination scheme of a kind of coordinate, as long as according to certain regulation, choose phase from input trajectory The sampled point answered can be understood as being the determination scheme of the sample point coordinate that the application is protected.

The interface coordinate of first sampled point is set to (0,0), and the interface coordinate of remaining each residue sampled point can be used (x y) represents；

Described x represents that fore-and-aft direction, described x are that positive number represents relative to described first sampled point forward direction, institute Stating x is that negative number representation is relative to described first sampled point rearwardly direction；

Described y represents that left and right directions, described y are that positive number represents relative to described first sampled point direction to the right, institute Stating y is negative number representation relative to described first sampled point direction to the left.

103, mobile terminal sends the interface coordinate of described each sampled point to described aircraft.

104, aircraft is according to the interface coordinate of described each sampled point, determines the sky corresponding to described each sampled point Between coordinate.

Alternatively, aircraft, according to the interface coordinate of described each sampled point, is determined corresponding to described each sampled point The scheme of space coordinates may is that

Described aircraft is presently in the space coordinates of position as zero by aircraft；

Aircraft, according to the proportionate relationship of distance between pixel on the screen being previously obtained with spatial dimension, is determined and is removed The space coordinates of each residue sampled point outside described first sampled point.About the conversion from interface coordinate to space coordinates Process can describe refering to example corresponding in Figure 1A and Figure 1B and understand, this place does not repeats repeating.

That is first sampled point correspondence aircraft is presently in the space coordinates of position, be zero (0, 0).Other space coordinatess corresponding to each residue sampled point can be with (m n) represents；

Described m represents that fore-and-aft direction, described m are that positive number represents that, relative to described zero forward direction, described m is Negative number representation is relative to described zero rearwardly direction；

Described n represents that left and right directions, described n are that positive number represents that described n is relative to described zero direction to the right Negative number representation is relative to described zero direction to the left.

The space coordinates of aircraft current location is as zero, according to the ratio of pixel with the reality of locus Relation, such as: distance maximum for the APP of mobile phone is 100CM, aircraft is multiplied by a coefficient of comparisons amplified, and just calculates down One aircraft needs the space coordinates arrived, and such as the 20CM of coordinate points, amplification coefficient is 10, then result of calculation is 200CM's Flying distance.It is to say, when the interface coordinate of sampled point is (1,1), the space coordinates corresponding to this sampled point is the most permissible The space coordinates corresponding to each sampled point thus can be calculated for (10,10).

105, aircraft controls flight according to the space coordinates corresponding to described each sampled point.

It is alternatively possible to be aircraft from the beginning of zero, according to the sampling order of described each residue sampled point, depend on Secondary according to the space coordinates control flight corresponding to described each residue sampled point.

Aircraft, in the case of interference-free, can fly to second space coordinates point from first space coordinates point, so After fly to next space coordinates point successively, until flying to last space coordinates point, terminate this flight.

Control with aircraft flight in prior art that difficulty is big and compared with very flexible, the one of embodiment of the present invention offer The method controlling aircraft flight, can control by the way of on the operation interface of mobile terminal, input flight controls track Aircraft flight processed, thus reduce operation complexity, improve the motility that aircraft flight controls.

In conjunction with Fig. 2 D, another embodiment bag of the method for the control aircraft flight of the offer that the embodiment of the present invention provides Include:

111, mobile terminal determines that from the input trajectory at operation interface sampled point, described input trajectory are for controlling institute The flight stating aircraft flight and input controls track.

112, mobile terminal determines the interface coordinate of each sampled point.

113, mobile terminal is according to the interface coordinate of described each sampled point, determines corresponding to described each sampled point Space coordinates.

114, mobile terminal sends the space coordinates corresponding to described each sampled point to described aircraft.

115, aircraft controls flight according to the space coordinates corresponding to described each sampled point.

Compared with the scheme described by Fig. 2 A, the scheme described by Fig. 2 D only determines that the space coordinates corresponding to sampled point Executive agent become mobile terminal by aircraft, the wherein transformation process from interface coordinate to space coordinates, and other Content can understand refering to the description of Fig. 2 part A, and it is no longer repeated at this place.

Scheme described by Fig. 2 D is conducive to saving the amount of calculation of aircraft, beneficially aircraft and preferably controls flight.

It addition, on the basis of such scheme, another of the method for the control aircraft flight that the embodiment of the present invention provides Embodiment can also include:

201, acquisition for mobile terminal interrupts controlling instruction information for the flight of described aircraft, and described flight is interrupted controlling Instruction information interrupts current flight for indicating described aircraft.

202, mobile terminal sends described flight interruption control instruction information to described aircraft.

203, aircraft receives the flight that described mobile terminal sends and interrupts controlling after instruction information, according to described in-flight The disconnected instruction controlling instruction information, interrupts current flight.

Aircraft is during flight, and the input to user keeps preferential answering, and user can interrupt flying of aircraft OK, control the flight of aircraft voluntarily, so can preferentially ensure the safety of aircraft, it is to avoid the abnormal conditions such as aircraft collision Occur.

The present invention uses mobile terminal to carry out setting-out input by user, and control aircraft carries out fixed route and automatically flies OK；Solve the problem that aircraft flight requirement user operation is high, reduce user's manual operation difficulty, allow user's zero gate sill play Turn aerobatics；The both hands of liberation user, complete aerobatics more ingenious.

The aerobatics of aircraft can be beaten by operation more higher than his priority and be continued, it is ensured that the manual operation of user obtains Preferential execution, ensures aircraft and the safety of user.

In conjunction with the description of Figure 1A to Fig. 3 part, introduce the mobile terminal 30 in the embodiment of the present invention below in conjunction with Fig. 4.

Participate in Fig. 4, the mobile terminal 30 that the embodiment of the present invention is provided is applied to vehicle flight control system, described in fly Row device flight control system also includes aircraft, radio communication between described mobile terminal and described aircraft, and described movement is eventually End 30 includes:

First determines unit 301, for determining that sampled point, described input trajectory are from the input trajectory at operation interface The flight inputted for controlling described aircraft flight controls track；

Second determines unit 302, for determining the described first boundary determining described each sampled point that unit 301 is determined Areal coordinate；

Coordinate transformation unit 303, for determining that by described second the interface coordinate of each sampled point that unit 302 determines turns It is changed to the space coordinates corresponding to described each sampled point；

Transmitting element 304, for sending, to described aircraft, each sampling that described coordinate transformation unit 303 is converted to Space coordinates corresponding to Dian；Or, send described second to described aircraft and determine described each sampling that unit 302 determines The interface coordinate of point, the interface coordinate of described each sampled point is determined corresponding to described each sampled point for described aircraft Space coordinates, the space coordinates corresponding to described each sampled point is used for controlling described aircraft flight.

In the embodiment of the present invention, first determines that unit 301 determines sampled point from the input trajectory at operation interface, described Input trajectory is that the flight inputted for controlling described aircraft flight controls track；Second determines that unit 302 determines described One interface coordinate determining described each sampled point that unit 301 is determined；Coordinate transformation unit 303 determines list by described second The interface coordinate of each sampled point that unit 302 determines is converted to the space coordinates corresponding to described each sampled point；Transmitting element 304 send the space coordinates corresponding to each sampled point that described coordinate transformation unit 303 is converted to described aircraft；Or Person, sends the described second interface coordinate determining described each sampled point that unit 302 determines to described aircraft, described each The interface coordinate of sampled point determines the space coordinates corresponding to described each sampled point for described aircraft, described each adopts Space coordinates corresponding to sampling point is used for controlling described aircraft flight.With aircraft flight in prior art control difficulty big and Very flexible is compared, the mobile terminal that the embodiment of the present invention provides, it is possible to use family is by the operation interface of mobile terminal Input flight controls the mode of track and controls aircraft flight, thus reduces operation complexity, improves aircraft flight The motility controlled.

Alternatively, described second determine unit 302 for:

Using first pixel in described input trajectory as first sampled point, and by described first sampled point Interface coordinate is set to (0,0)；

Each residue sampled point is sampled as described each residue with the pixel side-play amount of described first sampled point The interface coordinate of point, described residue sampled point is the sampled point in addition to described first sampled point.

Alternatively, described first determine unit 301 for:

Number according to required sampled point and the length of described input trajectory, determine the length of sampled equidistant；

From the beginning of the original position of described input trajectory, sample according to the length of described sampled equidistant, determine Sampled point.

Alternatively, described first determine unit 301 for:

From the beginning of the original position of described input trajectory, according to the amplitude of variation of orbit segment each in described input trajectory, really Make sampled point；Wherein, wherein, the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is less than described change Orbit segment in the quantity of sampled point determined many.

Alternatively, described coordinate transformation unit 303 is additionally operable to:

Described aircraft is presently in the space coordinates of position as zero；

According to the proportionate relationship of distance between pixel on the screen being previously obtained with spatial dimension, determine except described the The space coordinates of each residue sampled point outside one sampled point.

Alternatively, the interface coordinate of described each residue sampled point is with (x y) represents；

Alternatively, refering to Fig. 5, in another embodiment of the mobile terminal that the embodiment of the present invention is provided, described mobile whole End also includes acquiring unit 305,

Described acquiring unit 305, interrupts controlling instruction information for obtaining the flight for described aircraft；

Described transmitting element 304, for sending, to described aircraft, the described flight interruption that described acquiring unit 305 obtains Controlling instruction information, described flight is interrupted controlling instruction information for indicating described aircraft to interrupt current flight.

The correlation function of the mobile terminal that the embodiment of the present invention is provided can be in conjunction with the associated description of Figure 1A to Fig. 3 part Understanding, this place does not do and too much repeats.

Refering to Fig. 6, the aircraft 40 that the embodiment of the present invention is provided is applied to vehicle flight control system, described flight Device flight control system also includes mobile terminal, radio communication between described mobile terminal and described aircraft, described aircraft An embodiment include:

Receive unit 401, for receive described mobile terminal send each sampled point interface coordinate or described often Space coordinates corresponding to individual sampled point, described each sampled point is that described mobile terminal is from the input trajectory at operation interface Determining, described input trajectory is that the flight inputted for controlling described aircraft flight controls track；Or, it is used for connecing Receive the space coordinates corresponding to described each sampled point that described mobile terminal sends；

Determine unit 402, the interface coordinate of the described each sampled point for receiving according to described reception unit 401, really Make the space coordinates corresponding to described each sampled point；

Flight control units 403, for the sky corresponding to the described each sampled point according to the reception of described reception unit 401 Between coordinate or described determine that the space coordinates corresponding to described each sampled point that unit 402 determines controls flight.

In the embodiment of the present invention, receive unit 401 and receive the interface coordinate of each sampled point that described mobile terminal sends Or the space coordinates corresponding to described each sampled point, described each sampled point is that described mobile terminal is from operation interface Determining in input trajectory, described input trajectory is that the flight inputted for controlling described aircraft flight controls track； Or, for receiving the space coordinates corresponding to described each sampled point that described mobile terminal sends；Determine unit 402 basis The interface coordinate of described each sampled point that described reception unit 401 receives, determines the sky corresponding to described each sampled point Between coordinate；The space coordinates corresponding to described each sampled point that flight control units 403 receives according to described reception unit 401 Or the described space coordinates corresponding to described each sampled point determining that unit 402 determines controls to fly.With in prior art Aircraft flight controls difficulty and compares with very flexible greatly, and the aircraft that the embodiment of the present invention provides can pass through according to user On the operation interface of mobile terminal, the mode of input flight control track controls aircraft flight, thus it is multiple to reduce operation Miscellaneous degree, improves the motility that aircraft flight controls.

Alternatively, described determine unit 402 for:

Described aircraft is presently in the space coordinates of position as zero；

Alternatively, the space coordinates corresponding to described each residue sampled point is with (m n) represents；

Alternatively, described flight control units 403, for from the beginning of zero, according to described each residue sampled point Sampling order, successively according to corresponding to described each residue sampled point space coordinates control flight.

Alternatively, on the basis of the embodiment of above-mentioned aircraft, refering to Fig. 7, the aircraft that the embodiment of the present invention provides Another embodiment in, described aircraft also includes: interrupt control unit 404,

Described reception unit 401, is additionally operable to receive the flight interruption control instruction information that described mobile terminal sends；

Described interruption control unit 404, interrupts controlling instruction for the described flight received according to described reception unit 401 The instruction of information, interrupts current flight.

The correlation function of the aircraft that the embodiment of the present invention is provided can enter in conjunction with the associated description of Figure 1A to Fig. 3 part Row understands, this place does not do and too much repeats.

The embodiment of the present invention additionally provides another kind of mobile terminal, and this mobile terminal can be mobile phone.As shown in Figure 8, for Being easy to explanation, illustrate only the part relevant to the embodiment of the present invention, concrete ins and outs do not disclose, refer to the present invention Embodiment method part.

Fig. 8 is illustrated that the block diagram of the part-structure of the mobile terminal 800 provided with the embodiment of the present invention.With reference to Fig. 8, move Dynamic terminal includes: photographic head 810, memorizer 820, input block 830, display unit 840, sensor 850, voicefrequency circuit 860, The parts such as WiFi module 870, processor 880 and power supply 890.It will be understood by those skilled in the art that the shifting shown in Fig. 8 Dynamic terminal structure is not intended that the restriction to mobile terminal, can include that ratio illustrates more or less of parts, or combine certain A little parts, or different parts layouts.

Below in conjunction with Fig. 8 each component parts of mobile terminal carried out concrete introduction:

Photographic head 810 can be used for taking pictures；

Memorizer 820 can be used for storing software program and module, and processor 880 is stored in memorizer 820 by operation Software program and module, thus perform mobile terminal various functions application and data process.Memorizer 820 can be main Including storage program area and storage data field, wherein, answering needed for storage program area can store operating system, at least one function By program (such as sound-playing function, image player function etc.) etc.；Storage data field can store the use according to mobile terminal The data (such as voice data, phone directory etc.) etc. created.Additionally, memorizer 820 can include that high random access stores Device, it is also possible to include nonvolatile memory, for example, at least one disk memory, flush memory device or other volatibility are solid State memory device.

Input block 830 can be used for receiving the operational order of user, such as: input flight controls track, and produces and move The user setup of dynamic terminal 800 and function control relevant key signals input.Specifically, input block 830 can include touch-control Panel 831 and other input equipments 832.Contact panel 831, also referred to as touch screen, can collect user thereon or neighbouring (such as user uses any applicable object such as finger, stylus or adnexa on contact panel 831 or in touch surface in touch operation Operation near plate 831), and connect mobile terminal accordingly according to formula set in advance driving.Optionally, contact panel 831 can include touching detection mobile terminal and two parts of touch controller.Wherein, touch detection mobile terminal detection user's Touch orientation, and detect the signal that touch operation brings, transmit a signal to touch controller；Touch controller is from touching detection Receive touch information on mobile terminal, and be converted into contact coordinate, then give processor 880, and processor 880 can be received The order sent also is performed.Furthermore, it is possible to use the polytypes such as resistance-type, condenser type, infrared ray and surface acoustic wave Realize contact panel 831.Except contact panel 831, input block 830 can also include other input equipments 832.Specifically, Other input equipments 832 can include but not limited to physical keyboard, function key (such as volume control button, switch key etc.), One or more in trace ball, mouse, action bars etc..

Display unit 840 can be used for the input trajectory on operation display interface.Display unit 840 can include display lamp 841, Optionally, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic can be used Light-Emitting Diode, OLED) etc. form configure display lamp 841.Further, contact panel 831 can cover and refer to Show lamp 841, when contact panel 831 detects thereon or after neighbouring touch operation, sends processor 880 to determine touch The type of event, provides corresponding visual output with preprocessor 880 according to the type of touch event on display lamp 841.Though So the most in fig. 8, contact panel 831 and display lamp 841 are to realize the input of mobile terminal and defeated as two independent parts Enter function, but in some embodiments it is possible to by integrated with display lamp 841 for contact panel 831 and realize the defeated of mobile terminal Enter and output function.

Mobile terminal 800 may also include at least one sensor 850.

Voicefrequency circuit 860, speaker 861, microphone 862 can provide the audio interface between user and mobile terminal.Sound The signal of telecommunication after the voice data conversion that frequency circuit 860 can will receive, is transferred to speaker 861, speaker 861 is converted to Acoustical signal exports；On the other hand, the acoustical signal of collection is converted to the signal of telecommunication by microphone 862, voicefrequency circuit 860 receive After be converted to voice data, then after voice data output processor 880 is processed, through photographic head 810 be sent to such as another Mobile terminal, or voice data is exported to memorizer 820 to process further.

WiFi module 870 may be used for and aircraft radio communication.

Processor 880 is the control centre of mobile terminal, utilizes each of various interface and the whole mobile terminal of connection Individual part, is stored in the software program in memorizer 820 and/or module by running or performing, and calls and be stored in storage Data in device 820, perform the various functions of mobile terminal and process data, thus mobile terminal is carried out integral monitoring.Can Choosing, processor 880 can include one or more processing unit；Preferably, processor 880 can integrated application processor and modulation Demodulation processor, wherein, application processor mainly processes operating system, user interface and application program etc., and modulation /demodulation processes Device mainly processes radio communication.It is understood that above-mentioned modem processor can not also be integrated in processor 880.

Mobile terminal 800 also includes the power supply 890 (such as battery) powered to all parts, it is preferred that power supply can lead to Cross power-supply management system logically contiguous with processor 880, thus by power-supply management system realize management charging, electric discharge and The functions such as power managed.

Although not shown, mobile terminal 800 can also include radio frequency (Radio Frequency, RF) circuit, bluetooth module Deng, do not repeat them here.

In embodiments of the present invention, the processor 880 that this mobile terminal is included when controlling aircraft flight also has Following functions:

From the input trajectory at operation interface, determine that sampled point, described input trajectory are for controlling described aircraft flight And the flight inputted controls track；

Determine the interface coordinate of each sampled point；

The interface coordinate of described each sampled point is converted to the space coordinates corresponding to described each sampled point, and to institute State aircraft and send the space coordinates corresponding to described each sampled point；Or,

Send the interface coordinate of described each sampled point to described aircraft, the interface coordinate of described each sampled point is used for Described aircraft determines the space coordinates corresponding to described each sampled point, the space coordinates corresponding to described each sampled point For controlling described aircraft flight.

Alternatively, the described interface coordinate determining each sampled point, including:

Described using first pixel in described input trajectory as first sampled point, and by described first sampling The interface coordinate of point is set to (0,0)；

The described pixel side-play amount using each residue sampled point and described first sampled point is as described each residue The interface coordinate of sampled point, described residue sampled point is the sampled point in addition to described first sampled point.

Alternatively, described from operation interface input trajectory determine sampled point, including:

Described from the beginning of the original position of described input trajectory, according to the change width of orbit segment each in described input trajectory Degree, determines sampled point；Wherein, the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is less than described change Orbit segment in the quantity of sampled point determined many.

Needed for described basis, the number of sampled point and the length of described input trajectory, determine the length of sampled equidistant；

Described from the beginning of the original position of described input trajectory, sample according to the length of described sampled equidistant, really Make sampled point.

Alternatively, when described mobile terminal is to the space coordinates corresponding to described aircraft sends described each sampled point After described mobile terminal determines the interface coordinate of each sampled point, described method also includes:

Described described aircraft is presently in the space coordinates of position as zero；

On the screen that described basis is previously obtained, the distance between pixel and the proportionate relationship of spatial dimension, determine except institute State the space coordinates of each residue sampled point outside first sampled point.

Alternatively, described method also includes:

Described acquisition is interrupted controlling instruction information for the flight of described aircraft；

Described to described aircraft transmission described flight interruption control instruction information, control instruction information is interrupted in described flight For indicating described aircraft to interrupt current flight.

Fig. 9 is the structural representation of the aircraft 90 that the embodiment of the present invention provides.Aircraft applications is in aircraft flight control System processed, described vehicle flight control system also includes mobile terminal, wireless between described mobile terminal and described aircraft Communication.Described aircraft 90 includes processor 910, memorizer 950 and transceiver 930, WIFI module 940, and WIFI module 940 is used In with mobile terminal radio communication.Memorizer 950 can include read only memory and random access memory, and to processor 910 provide operational order and data.A part for memorizer 950 can also include nonvolatile RAM (NVRAM)。

In some embodiments, memorizer 950 stores following element, executable module or data structure, or Their subset of person, or their superset:

In embodiments of the present invention, by calling the operational order of memorizer 950 storage, (this operational order is storable in behaviour Make in system),

Receive the interface coordinate of each sampled point that described mobile terminal sends by transceiver 930 or described each adopt Space coordinates corresponding to sampling point, described each sampled point is that described mobile terminal determines from the input trajectory at operation interface Out, described input trajectory is that the flight inputted for controlling described aircraft flight controls track；Each adopt according to described The interface coordinate of sampling point, determines the space coordinates corresponding to described each sampled point；Or,

The space coordinates corresponding to described each sampled point that described mobile terminal sends is received by transceiver 930；

Flight is controlled according to the space coordinates corresponding to described each sampled point.

Control with aircraft flight in prior art that difficulty is big and compared with very flexible, the flight of embodiment of the present invention offer Device, can control aircraft according to user by the way of input flight controls track on the operation interface of mobile terminal and fly OK, thus reduce operation complexity, improve the motility that aircraft flight controls.

Processor 910 controls the operation of aircraft 90, and processor 910 can also be referred to as CPU (Central Processing Unit, CPU).Memorizer 950 can include read only memory and random access memory, and to processor 910 Instruction and data is provided.A part for memorizer 950 can also include nonvolatile RAM (NVRAM).Should Being coupled by bus system 920 with each assembly of middle aircraft 90, wherein bus system 920 is except including data/address bus Outside, it is also possible to include power bus, control bus and status signal bus in addition etc..But for the sake of understanding explanation, in the drawings Various buses are all designated as bus system 920.

The method that the invention described above embodiment discloses can apply in processor 910, or is realized by processor 910. Processor 910 is probably a kind of IC chip, has the disposal ability of signal.During realizing, said method each Step can be completed by the instruction of the integrated logic circuit of the hardware in processor 910 or software form.Above-mentioned process Device 910 can be general processor, digital signal processor (DSP), special IC (ASIC), ready-made programmable gate array Or other PLDs, discrete gate or transistor logic, discrete hardware components (FPGA).Can realize or Person performs disclosed each method, step and logic diagram in the embodiment of the present invention.General processor can be microprocessor or This processor of person can also be the processor etc. of any routine.Step in conjunction with the method disclosed in the embodiment of the present invention can be straight Connect and be presented as that hardware decoding processor has performed, or performed with the hardware in decoding processor and software module combination Become.Software module may be located at random access memory, flash memory, read only memory, and programmable read only memory or electrically-erasable can In the storage medium that this area such as programmable memory, depositor is ripe.This storage medium is positioned at memorizer 950, and processor 910 is read Information in access to memory 950, completes the step of said method in conjunction with its hardware.

Alternatively, processor 910 is used for:

Described aircraft is presently in the space coordinates of position as zero；

Alternatively, processor 910 is used for: from the beginning of zero, according to the sampling order of described each residue sampled point, Flight is controlled successively according to the space coordinates corresponding to described each residue sampled point.

Alternatively, transceiver 930 also receives the flight interruption control instruction information that described mobile terminal sends；

Processor 910, for interrupting controlling the instruction of instruction information according to described flight, interrupts current flight.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can Completing instructing relevant hardware by program, this program can be stored in a computer-readable recording medium, storage Medium may include that ROM, RAM, disk or CD etc..

The method of control aircraft flight, mobile terminal, the aircraft that above the embodiment of the present invention are provided and be System is described in detail, and principle and the embodiment of the present invention are set forth by specific case used herein, above The explanation of embodiment is only intended to help to understand method and the core concept thereof of the present invention；General skill simultaneously for this area Art personnel, according to the thought of the present invention, the most all will change, in sum, and this Description should not be construed as limitation of the present invention.

Claims

1. the method controlling aircraft flight, it is characterised in that described method is applied to vehicle flight control system, institute State vehicle flight control system and include aircraft and mobile terminal, channel radio between described mobile terminal and described aircraft Letter, described method includes:

Described mobile terminal determines that from the input trajectory at operation interface sampled point, described input trajectory are to fly described in controlling The flight that row device flies and inputs controls track；

The interface coordinate of described each sampled point is converted to the space corresponding to described each sampled point and sits by described mobile terminal Mark, and send the space coordinates corresponding to described each sampled point to described aircraft；Or,

Described mobile terminal sends the interface coordinate of described each sampled point, the interface of described each sampled point to described aircraft Coordinate determines the space coordinates corresponding to described each sampled point, corresponding to described each sampled point for described aircraft Space coordinates is used for controlling described aircraft flight.

Method the most according to claim 1, it is characterised in that described mobile terminal determines that the interface of each sampled point is sat Mark, including:

Described mobile terminal using first pixel in described input trajectory as first sampled point, and by described first The interface coordinate of sampled point is set to (0,0)；

Described mobile terminal using each residue sampled point with the pixel side-play amount of described first sampled point as described each The interface coordinate of residue sampled point, described residue sampled point is the sampled point in addition to described first sampled point.

Method the most according to claim 1 and 2, it is characterised in that described mobile terminal is from the input trajectory at operation interface In determine sampled point, including:

Described mobile terminal is from the beginning of the original position of described input trajectory, according to the change of orbit segment each in described input trajectory Amplitude, determines sampled point；Wherein, the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is than described change The quantity of the sampled point determined in little orbit segment is many.

Described mobile terminal, according to the number of required sampled point and the length of described input trajectory, determines the length of sampled equidistant Degree；

Described mobile terminal, from the beginning of the original position of described input trajectory, is adopted according to the length of described sampled equidistant Sample, determines sampled point.

Method the most according to claim 1 and 2, it is characterised in that described mobile terminal is by the boundary of described each sampled point Areal coordinate is converted to the space coordinates corresponding to described each sampled point, including:

Described aircraft is presently in the space coordinates of position as zero by described mobile terminal；

Described mobile terminal, according to the proportionate relationship of distance between pixel on the screen being previously obtained with spatial dimension, is determined The space coordinates of each residue sampled point in addition to described first sampled point.

Method the most according to claim 2, it is characterised in that the interface coordinate of described each residue sampled point with (x, y) Represent；

Described x represents that fore-and-aft direction, described x are that positive number represents that described x is relative to described first sampled point forward direction Negative number representation is relative to described first sampled point rearwardly direction；

Described y represents that left and right directions, described y are that positive number represents that described y is relative to described first sampled point direction to the right Negative number representation is relative to described first sampled point direction to the left.

7. the method controlling aircraft flight, it is characterised in that described method is applied to vehicle flight control system, institute State vehicle flight control system and include aircraft and mobile terminal, channel radio between described mobile terminal and described aircraft Letter, described method includes:

Described aircraft receives the interface coordinate of each sampled point that described mobile terminal sends, and described each sampled point is institute Stating what mobile terminal was determined from the input trajectory at operation interface, described input trajectory is for controlling described aircraft flight And the flight inputted controls track；Described aircraft, according to the interface coordinate of described each sampled point, determines described each adopt Space coordinates corresponding to sampling point；Or,

Method the most according to claim 7, it is characterised in that described aircraft is sat according to the interface of described each sampled point Mark, determines the space coordinates corresponding to described each sampled point, including:

Described aircraft is presently in the space coordinates of position as zero by described aircraft；

Described aircraft, according to the proportionate relationship of distance between pixel on the screen being previously obtained with spatial dimension, is determined and is removed The space coordinates of each residue sampled point outside described first sampled point.

Method the most according to claim 8, it is characterised in that the space coordinates corresponding to described each residue sampled point is used (m n) represents；

Described m represents that fore-and-aft direction, described m are that positive number represents that, relative to described zero forward direction, described m is negative Represent relative to described zero rearwardly direction；

Described n represents that left and right directions, described n are that positive number represents that described n is negative relative to described zero direction to the right Represent relative to described zero direction to the left.

10. according to the arbitrary described method of claim 7-9, it is characterised in that described aircraft is according to described each sampled point Corresponding space coordinates controls flight, including:

Described aircraft is from the beginning of zero, according to the sampling order of described each residue sampled point, successively according to described often Space coordinates corresponding to individual residue sampled point controls flight.

11. 1 kinds of mobile terminals, it is characterised in that described mobile terminal is applied to vehicle flight control system, described flight Device flight control system also includes aircraft, radio communication between described mobile terminal and described aircraft, described mobile terminal Including:

First determines unit, for determining that from the input trajectory at operation interface sampled point, described input trajectory are for controlling Described aircraft flight and the flight that inputs controls track；

Second determines unit, for determining the described first interface coordinate determining described each sampled point that unit is determined；

Coordinate transformation unit, for being converted to the sky corresponding to described each sampled point by the interface coordinate of described each sampled point Between coordinate；

Transmitting element, for sending corresponding to each sampled point that described coordinate transformation unit is converted to described aircraft Space coordinates；Or, send the described second interface coordinate determining described each sampled point that unit determines to described aircraft, The interface coordinate of described each sampled point determines the space coordinates corresponding to described each sampled point, institute for described aircraft State the space coordinates corresponding to each sampled point for controlling described aircraft flight.

12. mobile terminals according to claim 11, it is characterised in that

Described second determine unit for:

Using first pixel in described input trajectory as first sampled point, and by the interface of described first sampled point Coordinate is set to (0,0)；

Using the pixel side-play amount of each residue sampled point and described first sampled point as described each residue sampled point Interface coordinate, described residue sampled point is the sampled point in addition to described first sampled point.

13. according to the mobile terminal described in claim 11 or 12, it is characterised in that

Described first determine unit for:

From the beginning of the original position of described input trajectory, according to the amplitude of variation of orbit segment each in described input trajectory, determine Sampled point；Wherein, wherein, the rail that the quantity of the sampled point determined in the orbit segment that described amplitude of variation is big is less than described change The quantity of the sampled point determined in mark section is many.

14. according to the mobile terminal described in claim 11 or 12, it is characterised in that

Described first determine unit for:

From the beginning of the original position of described input trajectory, sample according to the length of described sampled equidistant, determine sampling Point.

15. according to the mobile terminal described in claim 11 or 12, it is characterised in that

Described coordinate transformation unit is used for:

Described aircraft is presently in the space coordinates of position as zero；

According to the proportionate relationship of distance between pixel on the screen being previously obtained with spatial dimension, determine except described first The space coordinates of each residue sampled point outside sampled point.

16. mobile terminals according to claim 12, it is characterised in that the interface coordinate of described each residue sampled point is used (x y) represents；

17. 1 kinds of aircraft, it is characterised in that described aircraft applications is in vehicle flight control system, and described aircraft flies Row control system also includes mobile terminal, radio communication between described mobile terminal and described aircraft, and described aircraft includes:

Receive unit, for receiving the interface coordinate of each sampled point that described mobile terminal sends, described each sampled point Being that described mobile terminal is determined from the input trajectory at operation interface, described input trajectory is for controlling described aircraft The flight flown and input controls track；Or, for receiving corresponding to described each sampled point that described mobile terminal sends Space coordinates；

Determine unit, for the interface coordinate of described each sampled point received according to described reception unit, determine described often Space coordinates corresponding to individual sampled point；

Flight control units, for according to described reception unit receive described each sampled point corresponding to space coordinates or The described space coordinates corresponding to described each sampled point determining that unit determines controls to fly.

18. aircraft according to claim 17, it is characterised in that

Described determine unit for:

Described aircraft is presently in the space coordinates of position as zero；

19. aircraft according to claim 18, it is characterised in that the space corresponding to described each residue sampled point is sat Mark is with (m n) represents；

20. according to the arbitrary described aircraft of claim 17-19, it is characterised in that

Described flight control units, for from the beginning of zero, according to the sampling order of described each residue sampled point, successively Flight is controlled according to the space coordinates corresponding to described each residue sampled point.

21. 1 kinds of vehicle flight control systems, it is characterised in that include aircraft and mobile terminal, described mobile terminal with Radio communication between described aircraft

Described mobile terminal is the arbitrary described mobile terminals of the claims 11-16；

Described aircraft is the arbitrary described aircraft of the claims 17-20.