CN106155084A - Flying vehicles control method, Apparatus and system - Google Patents
Flying vehicles control method, Apparatus and system Download PDFInfo
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- CN106155084A CN106155084A CN201610587011.3A CN201610587011A CN106155084A CN 106155084 A CN106155084 A CN 106155084A CN 201610587011 A CN201610587011 A CN 201610587011A CN 106155084 A CN106155084 A CN 106155084A
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- 230000009471 action Effects 0.000 description 5
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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
Abstract
The embodiment of the present application provides a kind of flying vehicles control method, Apparatus and system, and described method includes: receive discernible external signal；Determine the control command corresponding to the described external signal of reception according to pre-set commands list, described pre-set commands list is preserved the incidence relation of described external signal and control command；Send described control command to aircraft, so that described aircraft adjusts state parameter according to described control command.The method makes aircraft perform different control commands according to the change of external signal, to realize the interactivity between aircraft and external signal.
Description
Technical field
The application relates to vehicle technology field, in particular to a kind of flying vehicles control method, Apparatus and system.
Background technology
At present, the flight of aircraft is mostly based on default flight path or rule, is not responding to outside in flight course
Order, the most less with outside.Even if some demonstration flights seeming and there is human-computer interaction, but actually still people and aircraft
According to the action simultaneously of predetermined time, it is impossible to be referred to as real human-computer interaction.
Therefore, the demonstration flight process of current aircraft lacks interactive and interesting.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of flying vehicles control method, Apparatus and system, with improve above-mentioned not
The problem that aircraft performs different actions can be made according to the difference of external signal.
To achieve these goals, the technical scheme that the application uses is as follows:
A kind of flying vehicles control method, described method includes: receive discernible external signal；According to pre-set commands list
Determine the control command corresponding to described external signal of reception, described pre-set commands list is preserved described external signal with
The incidence relation of control command；Send described control command to aircraft, so that described aircraft is adjusted according to described control command
Whole state parameter.
A kind of flying vehicles control device, described device includes: signal receiving module, is used for receiving discernible outside letter
Number；Order determines module, for determining the control command corresponding to described external signal of reception, institute according to pre-set commands list
State the incidence relation preserving described external signal and control command in pre-set commands list；Order sending module, is used for sending
Described control command is to aircraft, so that described aircraft adjusts state parameter according to described control command.
A kind of flight control system, described system includes aircraft control device and aircraft, wherein, described aircraft
Control equipment is used for receiving discernible external signal, and determines that the described external signal institute of reception is right according to pre-set commands list
The control command answered, retransmits described control command to aircraft, preserves described external signal in described pre-set commands list
Incidence relation with control command；Described aircraft is for adjusting state parameter according to described control command.
The flying vehicles control method of the embodiment of the present application offer, Apparatus and system, receive discernible external signal, according to
Pre-set commands list determines the control command that the external signal received is corresponding, and this control command is sent to aircraft so that
Aircraft adjusts state parameter according to control command.External signal is different, and control command corresponding in pre-set commands list is not
With, make the state parameter of aircraft, such as flare maneuver, the state etc. of function device, different with the difference of external signal, it is achieved
Mutual between aircraft and external signal, adds the interest of the demonstration flight of aircraft and interactive.
For making the above-mentioned purpose of the application, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
For making the purpose of the embodiment of the present application, technical scheme and advantage clearer, below in conjunction with the embodiment of the present application
In accompanying drawing, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of the application protection.
Fig. 1 shows the flow chart of the flying vehicles control method that the embodiment of the present application provides；
Fig. 2 shows the flow process of a kind of specific embodiment of the flying vehicles control method that the embodiment of the present application provides
Figure；
Fig. 3 shows the flow process of the another kind of specific embodiment of the flying vehicles control method that the embodiment of the present application provides
Figure；
Fig. 4 shows the functional block diagram of the flying vehicles control device that the embodiment of the present application provides；
Fig. 5 shows the structured flowchart of the flight control system that the embodiment of the present application provides.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Ground describes, it is clear that described embodiment is only some embodiments of the present application rather than whole embodiments.Generally exist
Can arrange and design with various different configurations with the assembly of the embodiment of the present application that illustrates described in accompanying drawing herein.Cause
This, the detailed description to the embodiments herein provided in the accompanying drawings is not intended to limit claimed the application's below
Scope, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, broadly falls into the scope of the application protection.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.Meanwhile, the application's
In description, term " first ", " second " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint relative importance.
The embodiment of the present application provides a kind of flying vehicles control method, for aircraft control device according to external signal pair
Aircraft is controlled, and refers to Fig. 1, and the method includes:
Step S110: receive discernible external signal.
Described discernible external signal is to be produced by signal source, and the sensor can being connected with aircraft control device
The signal received, this external signal can be such as music signal or light signal, is not intended as in the present embodiment limiting.
It is understood that aircraft control device can be real by sensor in described external signal continues playing process
Time receive this external signal, and this discernible external signal of reception described in this step S110 and following example be
In the case of the sensor being connected with aircraft control device receives the external signal that this is complete, gather the portion that sensor has received
Point external signal processes as pending external signal.Namely flight control unit persistently receives external signal, and
The external signal persistently received is spaced at preset timed intervals and is acquired and processes.
In the covering area range of a kind of externally-located signal of embodiment aircraft control device, can be received and identified this outer
Portion's signal, may thereby determine that the frequency of this external signal, energy value etc..
Another kind of embodiment, for the external signal that can repeat playing, flight control unit preserves this external signal
Respective file, synchronizes to read the respective file of corresponding external signal, can effectively drop when signal source plays this external signal
Low external disturbance, as preserved music file in flight control unit, during signal source playing music, flight control unit is same
Step reads this music file.
Step S120: determine the control command corresponding to the described external signal of reception according to pre-set commands list, described
Pre-set commands list is preserved the incidence relation of described external signal and control command.
Changing over, the state such as the frequency of external signal, energy value may constantly change, such as the frequency of music signal
Rate is changing, and the amplitude of music signal changes, or the flicker frequency of light signal is changing, or light letter
Number brightness change.The most in the same time, the state of the external signal that aircraft control device receives may be different, need
The control command controlling aircraft that this external signal is corresponding is determined according to the state of external signal.
Aircraft control device can determine the control corresponding to described external signal of reception according to pre-set commands list
Order.This pre-set commands list can be pre-stored within aircraft control device, and, in this pre-set commands list, preserve
There is the control command corresponding to the external signal of the incidence relation of external signal and control command, i.e. different conditions.
In a kind of specific embodiment, the described external signal preserved in pre-set commands list and the pass of control command
Connection relation includes: the frequency range of external signal and the corresponding relation of control command.
Concrete, this external signal has frequency characteristic, and in each moment that external signal occurs, this external signal is corresponding
There is a frequency.Such as, this external signal is music signal, and the music signal of a piece of music had in each broadcasting moment
There is corresponding frequency.
Before aircraft control device receives external signal, in advance the frequency partition of external signal is become multiple frequency range,
The corresponding concrete frequency range of each frequency range.Corresponding each frequency range arranges control command, forms pre-set commands list.This control
The particular content of system order determines according to actual needs, could be for controlling aircraft and adjusts different state parameters, such as control
Set up the light on and off of the light being placed in aircraft, flicker, control the flight speed of aircraft, flight attitude, heading or control
Aircraft processed make other such as rise, decline, the flare maneuver such as rotation.
It is of course also possible to by the frequency of portion of external signal previously received for current time in external signal generating process
It is divided into multiple frequency range, the multiple frequency ranges that should divide are arranged control command.
Then, in pre-set commands list, corresponding to multiple frequency ranges corresponding including external signal and each frequency range
Control command.
As in figure 2 it is shown, aircraft control device includes step in the discernible external signal of reception of step S110
S110A: receive described external signal according to prefixed time interval with default sampling window.I.e. persistently receive at flight control unit
After external signal, carry out the acquisition process of an external signal, the then external signal every time gathered every prefixed time interval
It it is the external signal of a default sampling window.This default sampling window has regular time length, is used for gathering this and fixes
External information in the range of time span, such as, this default sampling window 25ms, outside gathering in 25ms time range the most every time
Portion's information；Described prefixed time interval is the time interval gathering external information with described default sampling window, such as, described pre-
If time interval is 50ms, then gather an external signal at interval of 50ms, in the external signal every time gathered is 25ms duration
External signal.Certainly, the specific size of this default sampling window is not intended as limiting in the present embodiment, can be according to specifically
Situation is arranged.
Then, in the control corresponding to the described external signal determining reception according to pre-set commands list of this step S120
In order, also include:
Step S121A: obtain the representative frequency of the external signal of current sampling window.
The external signal gathered due to a sampling window is the external signal continued for some time, outside each moment
Portion's signal has the frequency of correspondence, and therefore the external signal of a sampling window comprises multiple frequency, it is thus necessary to determine that this sample window
The representative frequency of the external signal of mouth, as the frequency of this sampling window.The determination mode representing frequency can be with pre-defined rule
Carry out, as chosen frequency the highest in current sampling window as representing frequency, choose the flat of frequency in current sampling window
Average is as representing frequency etc..
Step S122A: determine the described frequency range represented belonging to frequency.
Determine the frequency range belonging to representative frequency of current sampling window, i.e. determine which frequency range in pre-set commands list
Contain this and represent frequency, comprise this frequency range representing frequency and be this and represent the frequency range belonging to frequency.
Step S123A: according to the frequency range of external signal and the corresponding relation of control command and determined by described representative
Frequency range belonging to frequency obtains the control command that the external signal of current sampling window is corresponding.
In pre-set commands list, the corresponding control command of each frequency range, according to the generation of the current sampling window determined
Frequency range belonging to table frequency and this frequency range control command corresponding in pre-set commands list, can obtain present sample window
The control command corresponding to external signal of mouth.Control command corresponding to the external signal of current sampling window be corresponding to
The control command for controlling aircraft of the external signal being currently received.
It addition, the flying vehicles control method that present embodiment provides may be used for controlling multiple aircraft, multiple in control
During aircraft, a kind of embodiment, control command can be sent simultaneously to multiple aircraft so that multiple aircraft are simultaneously according to being somebody's turn to do
Control command makes identical action.Another kind of embodiment can be distinguished different control commands and be sent to different aircraft,
Make different aircraft make different actions respectively, such as, when external signal is music signal, the control that different frequency range is corresponding
Order is for controlling different aircraft.Then in pre-set commands list, it is also possible to include frequency range and the aircraft of external signal
The incidence relation of mark, each frequency range corresponding aircraft mark, the corresponding aircraft of each aircraft mark.
Then, in the present embodiment, also include: according to the incidence relation of the frequency range of external signal and aircraft mark with
The described frequency range represented belonging to frequency determined by and determines aircraft mark to be controlled.This aircraft to be controlled is designated
The aircraft mark of the aircraft that control command is to be controlled, i.e. with corresponding to the external signal of the sampling window being currently received
Frequency range and this frequency range corresponding to aircraft mark determine that control command corresponding to the external signal being currently received is wanted
The aircraft controlled.
When the control command that different frequency range in pre-set commands list is corresponding is used for controlling different aircraft, this control command
Itself can be that state parameter adjusts order, adjust, for controlling the aircraft of correspondence, the shape that the adjustment order of this state parameter is corresponding
State parameter, it is also possible to be to be used only for starting corresponding aircraft, makes the aircraft of this correspondence perform to be stored in aircraft
Predetermined parameter adjustment order.
A kind of concrete application scenarios of above-described embodiment controls aircraft formation performance, in default life for utilizing music signal
Make and list is preserved aircraft mark corresponding to different frequency range and the control command of correspondence, it is assumed that the frequency range divided is respectively
For a, b, c, d, frequency range is a-1 with the corresponding relation of aircraft mark 1～4, b-2, c-3, d-4, the control that different frequency range is corresponding
Order can be the same or different, and the control command that this suppositive scenario different frequency range is corresponding is identical, is downwards with default speed
Degree flight predeterminable range.Assume that aircraft control device gathers music signal with the sampling window of 25ms at interval of 50ms, if working as
The representative frequency of the music signal of front sampling window collection is x, and this represents frequency x and belongs to a frequency range, according to this pre-set commands list
Understanding, this frequency range is corresponding with No. 1 aircraft, and the control command obtained for downward with pre-set velocity flight predeterminable range, then to
No. 1 aircraft sends the downward control command with pre-set velocity flight predeterminable range.
It is understood that each frequency that represents of the music signal in order to ensure a piece of music can be transferred through above-mentioned presetting
Command list (CLIST) finds affiliated frequency range, in advance this song can be carried out frequency analysis, with the frequency according to this song
Renewal arranges described pre-set commands list.
Present invention also provides another embodiment, in this embodiment, external signal and the pass of control command
Connection relation includes the energy value of external signal and the corresponding relation of control command.
Concrete, this external signal has energy response, such as, when this external signal is music signal, and music signal
The corresponding energy value of each amplitude, can be squared with the amplitude in a certain moment of music signal, it is thus achieved that the sound in this moment
The energy value that music signal is corresponding.
Before aircraft control device receives external signal, set up the corresponding relation of energy value and control command, it is thus achieved that
Pre-set commands list.Concrete, the energy value of external signal can be normalized, each energy value is mapped as 0
Normalization numerical value to the numerical range of 1.Corresponding each normalization numerical value arranges the control command of correspondence, as the most corresponding 0,
0.1 ..., 0.9,1 different control commands is set, or the normalization numerical value of corresponding a certain numerical range arranges different controls
System order, as normalization numerical value arranges a kind of control command less than 0.5, normalization numerical value arranges a kind of control command more than 0.5.
Certainly, the different normalization numerical value after normalized are not intended as limit in the present embodiment with the corresponded manner of control command
System.Further, the numerical range that energy value maps is not necessarily 0 to 1 after normalized, it is also possible to be other, as can be by
Energy value is mapped in the numerical range of 0 to 5.
Certainly, energy value with the corresponding relation of control command it may be that the energy value of different size scope is corresponding identical
Or different control commands.
Alternatively, it is also possible in the playing process of external signal, with the previously received portion of external signal of current time
The corresponding relation with control command set up by energy value, it is thus achieved that pre-set commands list.
As it is shown on figure 3, aircraft control device is when the discernible external signal of reception of step S110, including step
S110B: with the prefixed time interval described external signal of sampling.I.e. carry out adopting of an external signal every prefixed time interval
Sample, the concrete gap length of this prefixed time interval in the present embodiment be not intended as limit, and, this prefixed time interval with
Prefixed time interval in step S110A is the most consistent.
The most in the present embodiment, the described external signal institute determining reception according to pre-set commands list in step S120
Corresponding control command also includes:
Step S121B: obtain the energy value of the external signal of current sample time.
Aircraft control device receives external signal, calculates the energy value of this external signal received.Such as, when this
When external signal is music signal, calculate current sample time obtain music signal amplitude square, as present sample
The energy value of the music signal in moment.
Step S122B: according to the energy value of external signal and the corresponding relation of control command and the present sample of acquisition
The energy value of the external signal in moment obtains the control command that the external signal of current sample time is corresponding.
Normalization after the energy value of external signal and the corresponding relation of control command are by energy value normalized
In the case of numerical value is corresponding with control command, the energy value of the external signal of current sample time is normalized, obtains
Obtain the normalization numerical value that the energy value of current sample time is corresponding.Further according to the normalizing that the energy value of this current sample time is corresponding
Change the control command that in numerical value and pre-set commands list, different normalization numerical value are corresponding, obtain the outside letter of current sample time
Number corresponding control command.In pre-set commands list, corresponding 0,0.1 ..., 0.9,1 it is provided with different control commands, and
After the energy value of current sample time is normalized, corresponding normalization numerical value is 0.2, then outside current sample time
The control command that portion's signal is corresponding is the control command of corresponding 0.2 in pre-set commands list.
Certainly, corresponding with the energy value that the corresponding relation of control command is different size scope when the energy value of external signal
Different control command, it is determined that the energy value scope at the energy value place of the external signal of current sample time, according to its institute
Energy value scope determine correspondence control command.
Further, the flying vehicles control method that present embodiment provides can be used for controlling multiple aircraft, including:
The control command obtained is sent to multiple aircraft simultaneously, or, different control commands is for controlling different aircraft.
In different control commands in the case of controlling different aircraft, described pre-set commands list also includes energy value and flight
The incidence relation of device mark.After energy value is normalized, with the corresponding different control of different normalization numerical value
During order, the incidence relation that energy value and aircraft identify is, the corresponding aircraft of the normalization numerical value of each control command
Mark.When control command of different corresponding with different energy value scope, the incidence relation that energy value and aircraft identify is,
The corresponding different aircraft mark of different-energy value scope of different control commands.
Then, in the present embodiment, also include: the incidence relation that identifies with aircraft according to energy value and being obtained
The energy value of external signal of current sample time determine aircraft mark to be controlled.
While obtaining the control command that the energy value of external signal of current sample time is corresponding, it is thus achieved that this control is ordered
The aircraft mark of the aircraft that order correspondence controls.
It should be understood that in the present embodiment, be similar to amplitude squared after energy value corresponding with control command close
System, it is also possible to directly using the corresponding relation of the absolute value of amplitude and control command associating as external signal and control command
System, i.e. can be normalized the absolute value of amplitude or be mapped in certain numerical range, then by maps values and control
Order carries out correspondence.
Further, in the present embodiment, when also including arranging each control command in pre-set commands list effective
It is long, after when this is effective, a length of described aircraft starts to adjust state parameter hold mode parameter adjustment according to described control command
The maximum of the duration of state, in the case of described duration reaches effective duration, described aircraft returns to adjust state parameter
Front state.The concrete time span of this effective duration can set as the case may be, is not intended as in the present embodiment limiting.
Aircraft starts timing from according to this control command adjustment state parameter the most in the present embodiment, thus whether judges timing duration
Reach effective duration.
It should be understood that in the embodiment of the present application, this external signal can also be temperature, external force, pressure etc., presets life
Making list peripheral signal is that the different parameters value according to external signal is correspondingly arranged control life with the incidence relation of control command
Order, such as the height of temperature, the size of external force and the size etc. of pressure, is not intended as limiting in the embodiment of the present application.
Furthermore it is possible to understand, in the embodiment of the present application, it is also possible to be to create for the external signal specified in advance to protect
Having the pre-set commands list of external signal and the incidence relation of control command, the control command in this pre-set commands list is with this
External signal changes in different time correspondence, and the music signal frequency from starting to ending up such as a first song is continually changing, then in advance
If in command list (CLIST), to having different control commands by music signal different frequency from starting to ending up.In this appointment
External signal start time, start the reading of control command in this pre-set commands list simultaneously, make this pre-set commands list
The Load Game of middle control command is consistent with the propelling progress of external signal, and the control command read is sent to aircraft
Control flight, perform the effect of different control commands with the difference of external signal producing aircraft.
Step S130: send described control command to aircraft, so that described aircraft adjusts according to described control command
State parameter.
The control command determined according to pre-set commands list is sent to aircraft, then aircraft is adjusted according to this control command
Whole state parameter.As, control command is to rise 10 meters with pre-set velocity, then aircraft performs moving with pre-set velocity rising 10 meters
Make, light if control command is the LED lamp being arranged at aircraft, then this LED lamp lighted by aircraft.
Further, in the present embodiment, when control command is sent to aircraft, simultaneously that this control command is corresponding
Effective duration be sent to aircraft.From aircraft according to this control command start to adjust state parameter as time zero,
When timing duration reaches effective duration, aircraft returns to the state before adjusting state parameter.As, the control sent to aircraft
Order is for turning on light, and time effective a length of 1 second, then the lamp being arranged at himself turned on by aircraft, and keeps lamp bright, until from turning on light
Time span reaches one second, returns to the state that original lamp extinguishes.Or the control command sent to aircraft is rising 10 meters,
Effectively duration 2 seconds, then aircraft rises 10 meters, and is maintained at this state rising to 10 meters, until the time from beginning to ramp up
Reach 2 seconds, decline 10 meters, return to rise front state.
Further, when the flying vehicles control method that the present embodiment is corresponding is used for controlling multiple aircraft, this aircraft
Control equipment sends the described control command aircraft to the aircraft mark correspondence described to be controlled determined.I.e. outside determining
After the aircraft mark that portion's signal is currently corresponding, the control command that external signal is currently corresponding is sent to this aircraft mark right
The aircraft answered, makes this control command only effective to the aircraft that this aircraft mark is corresponding, it is achieved according to external signal to many
Each aircraft in individual aircraft controls respectively.
Certainly, in the embodiment of the present application, it is also possible to be that aircraft determines the control life for flight according to external signal
Order, i.e. to the reception of discernible external signal and determine reception according to pre-set commands list described external signal corresponding to
Control command all can be completed by aircraft.
As shown in Figure 4, another embodiment of the application provides a kind of flying vehicles control device 200, and this device 200 is applied to
Aircraft control device, described device includes:
Signal receiving module 210, is used for receiving discernible external signal；Order determines module 220, for according to presetting
Command list (CLIST) determines the control command corresponding to described external signal of reception, described pre-set commands list is preserved described outside
Portion's signal and the incidence relation of control command；Order sending module 230, is used for sending described control command to aircraft, so that
Described aircraft adjusts state parameter according to described control command.
In an embodiment of the present embodiment, described external signal includes with the incidence relation of control command: outside
The frequency range of signal and the corresponding relation of control command, shown signal receiving module 210 is used for default sampling window according to presetting
Time interval receives described external signal.
In this embodiment, described order determines that module 220 also includes: represent frequency acquisition unit, works as obtaining
The representative frequency of the external signal of front sampling window；Frequency range determines unit, for determining the described frequency range represented belonging to frequency；Life
Order determines unit, for according to the frequency range of external signal and the corresponding relation of control command and determined by described represent frequency
Belonging to frequency range obtain the control command corresponding to external signal of current sampling window.
Further, this device may be used for controlling multiple aircraft, specifically, in the present embodiment, described default
Also including the frequency range of external signal and the incidence relation of aircraft mark in command list (CLIST), as shown in Figure 4, described device 200 is also
Including: aircraft mark determines module 240, the incidence relation identified with aircraft for the frequency range according to external signal and institute
The described frequency range represented belonging to frequency determined determines aircraft mark to be controlled；
Described order sending module 230 is additionally operable to send described control command to the aircraft mark described to be controlled determined
Know corresponding aircraft.
In the another embodiment of the present embodiment, described external signal includes with the incidence relation of control command: outer
The energy value of portion's signal and the corresponding relation of control command, described signal receiving module 210 is for sampling with prefixed time interval
Described external signal.
In the present embodiment, described order determines that module 220 includes: energy value acquiring unit, is used for obtaining and currently adopts
The energy value of the external signal in sample moment；Command determination unit, right for according to the energy value of external signal and control command
The external signal that the energy value of the external signal of the current sample time that should be related to and obtain obtains current sample time is corresponding
Control command.
Further, the device 200 that present embodiment provides may be used for controlling multiple aircraft, in present embodiment
In, described pre-set commands list also includes the incidence relation of energy value and aircraft mark, the aircraft mark of described device 200
Know and determine that module 240 is outside the incidence relation identified with aircraft according to energy value and the current sample time obtained
The energy value of portion's signal determines aircraft mark to be controlled；Described order sending module 230 is additionally operable to send described control orders
The aircraft of the aircraft mark correspondence described to be controlled determined is given in order.
Further, in the present embodiment, order sending module 230 is additionally operable to send effective duration of described control command
To aircraft, described effective time a length of described aircraft start to adjust state parameter hold mode ginseng according to described control command
The maximum of the duration of state after number adjustment, in the case of described duration reaches effective duration, described aircraft returns to adjust
State before state parameter.
Certainly, in the present embodiment, described external signal includes: music signal or light signal.Described state parameter bag
Include: aircraft maneuvers and/or aircraft light.
The another embodiment of the application provides a kind of flight control system 300, refers to Fig. 5, and described system 300 is wrapped
Include aircraft control device 310 and aircraft 320, wherein,
Described aircraft control device 310 is used for receiving discernible external signal, and determines according to pre-set commands list
The control command corresponding to described external signal received, retransmits described control command to aircraft, and described pre-set commands arranges
Table is preserved the incidence relation of described external signal and control command；Described aircraft 320 is for according to described control command
Adjust state parameter.
In sum, the flying vehicles control method of the embodiment of the present application offer, Apparatus and system, aircraft control device connects
The external signals such as radio reception music signal, light signal, according to the difference of external signal, are carried out aircraft with different control commands
Control, so that the state parameter of aircraft changes with the change of external signal, it is achieved the reality between aircraft and external signal
Time mutual, add during demonstration flight is interactive and interesting.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other mode realizes.Device embodiment described above is only schematically, such as, and the flow chart in accompanying drawing and block diagram
Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product,
Function and operation.In this, each square frame in flow chart or block diagram can represent a module, program segment or the one of code
Part, a part for described module, program segment or code comprises holding of one or more logic function for realizing regulation
Row instruction.It should also be noted that at some as in the implementation replaced, the function marked in square frame can also be to be different from
The order marked in accompanying drawing occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, and they are the most also
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can be with function or the special base of action performing regulation
System in hardware realizes, or can realize with the combination of specialized hardware with computer instruction.
It addition, each functional module in each embodiment of the application can integrate one independent portion of formation
Point, it is also possible to it is modules individualism, it is also possible to two or more modules are integrated to form an independent part.
If described function is using the form realization of software function module and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the application.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.Need
Illustrate, in this article, the relational terms of such as first and second or the like be used merely to by an entity or operation with
Another entity or operating space separate, and there is any this reality between not necessarily requiring or imply these entities or operating
The relation on border or order.And, term " includes ", " comprising " or its any other variant are intended to the bag of nonexcludability
Contain, so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also include
Other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including described key element
Process, method, article or equipment in there is also other identical element.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.All within spirit herein and principle, that is made any repaiies
Change, equivalent, improvement etc., within should be included in the protection domain of the application.It should also be noted that similar label and letter exist
Figure below represents similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, is then not required in accompanying drawing subsequently
It is defined further and explains.
The above, the only detailed description of the invention of the application, but the protection domain of the application is not limited thereto, and any
Those familiar with the art, in the technical scope that the application discloses, can readily occur in change or replace, should contain
Cover within the protection domain of the application.Therefore, the protection domain of the application should described be as the criterion with scope of the claims.
Claims (21)
1. a flying vehicles control method, it is characterised in that described method includes:
Receive discernible external signal；
The control command corresponding to the described external signal of reception is determined, in described pre-set commands list according to pre-set commands list
Preserve the incidence relation of described external signal and control command；
Send described control command to aircraft, so that described aircraft adjusts state parameter according to described control command.
Method the most according to claim 1, it is characterised in that described external signal and the incidence relation bag of control command
Including: the frequency range of external signal and the corresponding relation of control command, the discernible external signal of described reception includes:
Described external signal is received according to prefixed time interval with default sampling window.
Method the most according to claim 2, it is characterised in that described according to pre-set commands list determine reception described outside
Control command corresponding to portion's signal includes:
Obtain the representative frequency of the external signal of current sampling window；
Determine the described frequency range represented belonging to frequency；
The corresponding relation of the frequency range according to external signal and control command and determined by the described frequency range represented belonging to frequency
Obtain the control command that the external signal of current sampling window is corresponding.
The most according to the method in claim 2 or 3, it is characterised in that described pre-set commands list also includes external signal
The incidence relation of frequency range and aircraft mark, send described control command to aircraft before, described method also includes:
The incidence relation of the frequency range according to external signal and aircraft mark and determined by the described frequency represented belonging to frequency
Section determines aircraft mark to be controlled；
Send described control command to include to aircraft:
Send the described control command aircraft to the aircraft mark correspondence described to be controlled determined.
Method the most according to claim 1, it is characterised in that described external signal and the incidence relation bag of control command
Including: the energy value of external signal and the corresponding relation of control command, the discernible external signal of described reception includes:
With the prefixed time interval described external signal of sampling.
Method the most according to claim 5, it is characterised in that described according to pre-set commands list determine reception described outside
Control command corresponding to portion's signal includes:
Obtain the energy value of the external signal of current sample time；
The external signal of the current sample time of the energy value according to external signal and the corresponding relation of control command and acquisition
Energy value obtain the control command corresponding to external signal of current sample time.
7. according to the method described in claim 5 or 6, it is characterised in that described pre-set commands list also includes energy value with
Aircraft mark incidence relation, send described control command to aircraft before, described method also includes:
The energy of the external signal of the incidence relation identified with aircraft according to energy value and the current sample time obtained
Value determines aircraft mark to be controlled；
The described control command of described transmission includes to aircraft:
Send the described control command aircraft to the aircraft mark correspondence described to be controlled determined.
8. according to the method described in claim 1,2 or 5, it is characterised in that described external signal includes: music signal or light
Signal.
Method the most according to claim 1, it is characterised in that described state parameter includes:
Aircraft maneuvers and/or aircraft light.
Method the most according to claim 1, it is characterised in that send described control command and include to aircraft:
Send effective duration of described control command to aircraft, described effective time a length of described aircraft control life according to described
Order starts to adjust the maximum of the duration of state after state parameter hold mode parameter adjustment, when described duration reaches effective
In the case of length, described aircraft returns to the state before adjusting state parameter.
11. 1 kinds of flying vehicles control devices, it is characterised in that described device includes:
Signal receiving module, is used for receiving discernible external signal；
Order determines module, for determining the control command corresponding to described external signal of reception according to pre-set commands list,
Described pre-set commands list is preserved the incidence relation of described external signal and control command；
Order sending module, is used for sending described control command to aircraft, so that described aircraft is according to described control command
Adjust state parameter.
12. devices according to claim 11, it is characterised in that described external signal and the incidence relation bag of control command
Include: the frequency range of external signal and the corresponding relation of control command, shown signal receiving module for default sampling window according to
Prefixed time interval receives described external signal.
13. devices according to claim 12, it is characterised in that described order determines that module also includes:
Represent frequency acquisition unit, for obtaining the representative frequency of the external signal of current sampling window；
Frequency range determines unit, for determining the described frequency range represented belonging to frequency；
Command determination unit, for according to the frequency range of external signal and the corresponding relation of control command and determined by described generation
Frequency range belonging to table frequency obtains the control command that the external signal of current sampling window is corresponding.
14. according to the device described in claim 12 or 13, it is characterised in that also include outside letter in described pre-set commands list
Number the incidence relation of frequency range and aircraft mark, described device also includes: aircraft mark determines module, for according to outside
Incidence relation that the frequency range of signal identifies with aircraft and determined by the described frequency range represented belonging to frequency determine to be controlled
Aircraft mark；
Described order sending module is additionally operable to send described control command to the aircraft mark correspondence described to be controlled determined
Aircraft.
15. devices according to claim 11, it is characterised in that described external signal and the incidence relation bag of control command
Include: the energy value of external signal and the corresponding relation of control command, described signal receiving module is for adopting with prefixed time interval
External signal described in sample.
16. devices according to claim 15, it is characterised in that described order determines that module includes:
Energy value acquiring unit, for obtaining the energy value of the external signal of current sample time；
Command determination unit, for currently adopting according to the energy value of external signal and the corresponding relation of control command and acquisition
The energy value of the external signal in sample moment obtains the control command that the external signal of current sample time is corresponding.
17. according to the device described in claim 15 or 16, it is characterised in that also include energy value in described pre-set commands list
With the incidence relation of aircraft mark, described device also includes: aircraft mark determines module, for according to energy value and flight
The incidence relation of device mark and the energy value of the external signal of current sample time obtained determine aircraft to be controlled
Mark；
Described order sending module is additionally operable to send described control command to the aircraft mark correspondence described to be controlled determined
Aircraft.
18. according to the device described in claim 11,12 or 15, it is characterised in that described external signal includes: music signal or
Light signal.
19. devices according to claim 11, it is characterised in that described state parameter includes:
Aircraft maneuvers and/or aircraft light.
20. devices according to claim 11, it is characterised in that described order sending module is additionally operable to send described control
Effective duration of order to aircraft, described effective time a length of described aircraft start to adjust state ginseng according to described control command
The maximum of duration of state after number hold mode parameter adjustments, in the case of described duration reaches effective duration, described in fly
Row device returns to the state before adjusting state parameter.
21. 1 kinds of flight control systems, it is characterised in that described system includes aircraft control device and aircraft, wherein,
Described aircraft control device is used for receiving discernible external signal, and determines the institute of reception according to pre-set commands list
State the control command corresponding to external signal, retransmit described control command to aircraft, described pre-set commands list preserves
There is the incidence relation of described external signal and control command；
Described aircraft is for adjusting state parameter according to described control command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587011.3A CN106155084A (en) | 2016-07-22 | 2016-07-22 | Flying vehicles control method, Apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587011.3A CN106155084A (en) | 2016-07-22 | 2016-07-22 | Flying vehicles control method, Apparatus and system |
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| CN201610587011.3A Pending CN106155084A (en) | 2016-07-22 | 2016-07-22 | Flying vehicles control method, Apparatus and system |
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