CN106354032A - Unmanned aerial vehicle control method, device and system - Google Patents
Unmanned aerial vehicle control method, device and system Download PDFInfo
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- CN106354032A CN106354032A CN201510424486.6A CN201510424486A CN106354032A CN 106354032 A CN106354032 A CN 106354032A CN 201510424486 A CN201510424486 A CN 201510424486A CN 106354032 A CN106354032 A CN 106354032A
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- 230000008859 change Effects 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides an unmanned aerial vehicle control method, device and system. The method includes: receiving control instructions sent out by a control end, wherein the control instructions include first-type instructions and second-type instructions, the first-type instructions are used for controlling flying action of an unmanned aerial vehicle, and the second-type instructions are used for controlling action of an intelligent terminal; recognizing type of the control instructions; if the control instructions are the first-type instructions, forwarding the control instructions to a flying action execution system; if the control instructions are the second-type instructions, acting according to the control instructions.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field is and in particular to a kind of unmanned aerial vehicle (UAV) control method, device and be
System.
Background technology
At present, the software system of commercial unmanned plane is usually embedded system, specifically, sets in unmanned plane
There is control chip, this chip is used for running Flight Control Software, realize flare maneuver control by software.
Because a large amount of functions will operate in embedded system so that the control chip of unmanned plane needs compared with Gao Yun
Calculation ability, so leads to unmanned plane software system design to become complicated, the construction cycle is long, further, since
The limitation of embedded software, control system is difficult to be expanded and upgrade.
Content of the invention
For this reason, the technical problem to be solved is to improve the expansible of unmanned aerial vehicle control system
Property, and reduce the hardware and software cost of unmanned plane.
The present invention provides a kind of unmanned aerial vehicle (UAV) control method, comprising: receive the control instruction that control end sends,
Described control instruction includes first kind instruction and Second Type instruction, and the described first kind instructs for controlling
The flare maneuver of unmanned plane processed, described Second Type instruct be except the described first kind instruction in addition to other refer to
Order；Identify the type of described control instruction；If described control instruction instructs for the first kind, should
First kind instruction is forwarded to flare maneuver execution system；If described control instruction instructs for Second Type,
Then action is carried out according to the instruction of this Second Type.
Preferably, described control instruction includes instruction prefixes and command content, and the described control of described identification refers to
The type of order is instruction prefixes according to the described control instruction type to identify described control instruction.
Preferably, the form of described control instruction is tlv form.
Preferably, described action carried out according to this instruction include: collection image, receive gps information, to
Described control end sends described image and described gps information.
Preferably, described Second Type instruction includes destination information and obtains gps information, is receiving
After described Second Type instruction, methods described also includes: obtains gps according in the instruction of described Second Type
The instruction of information is obtaining the gps information being presently in position；According to the institute in the instruction of described Second Type
State destination information and the described gps information being presently in position to control described flare maneuver execution system.
Preferably, destination information can be coordinate information and destination's image information
Preferably, methods described also includes: receives the status information that clouds terrace system sends；To described control
End sends described status information.
Correspondingly, the present invention also provides a kind of unmanned aerial vehicle (UAV) control device, comprising: receiving unit, is used for connecing
Receive the control instruction that control end sends, described control instruction includes first kind instruction and Second Type instruction,
The described first kind instructs the flare maneuver for controlling unmanned plane, and it is except described that described Second Type instructs
Other instructions outside first kind instruction；Judging unit, for identifying the type of described control instruction；The
One performance element, for when described control instruction refers to for the first kind, this first kind being instructed and forwarding
To flare maneuver execution system；Second performance element, for instructing for Second Type when described control instruction,
Action is carried out according to the instruction of this Second Type.
The present invention also provides a kind of unmanned aerial vehicle control system, comprising: the first intelligent terminal, for sending control
System instruction, described control instruction includes first kind instruction and Second Type instruction, and the described first kind refers to
Make the flare maneuver for controlling unmanned plane, it is in addition to the instruction of the described first kind that described Second Type instructs
Other instruction；Flare maneuver execution system, is arranged in unmanned plane, for controlling described unmanned plane to enter
Row flare maneuver；Second intelligent terminal, is arranged in unmanned plane, for receiving the control that control end sends
Instruction；Identify the type of described control instruction；If described control instruction instructs for the first kind, will
The instruction of this first kind is forwarded to described flare maneuver execution system；If described control instruction is Equations of The Second Kind
Type instructs, then carry out action according to the instruction of this Second Type.
Preferably, described control instruction includes instruction prefixes and command content, and described second intelligent terminal uses
Identify the type of described control instruction in the instruction prefixes according to described control instruction.
Preferably, described Second Type instruction includes destination information and obtains gps information, and described second
Intelligent terminal is additionally operable to, after receiving described Second Type instruction, obtain according in the instruction of described Second Type
The instruction taking gps information, to obtain the gps information being presently in position, instructs according to described Second Type
In described destination information and the described gps information being presently in position controlling described flare maneuver to hold
Row system.
Preferably, also include: clouds terrace system, for sending status information to described second intelligent terminal；
Described second intelligent terminal is additionally operable to send described status information to described first intelligent terminal.
Preferably, described first intelligent terminal is smart mobile phone or panel computer；And/or described second intelligence
Terminal is smart mobile phone or panel computer；And described first intelligent terminal is led to described second intelligent terminal
Cross wi-fi network connection.
Compared with prior art, the unmanned aerial vehicle (UAV) control methods, devices and systems that the present invention provides can be by setting
The intelligent terminal putting on unmanned plane is by receiving the two kinds of control instruction that control end sends and right
The type of instruction is judged, finally controls flare maneuver and refers to be sent to flare maneuver execution system, or root
According to intelligent terminal's control instruction execute corresponding actions, using the software of intelligent terminal be easy to exploitation, modification,
Debugging and the advantage of upgrading, solve the autgmentability difference of the Embedded Software Control System of existing unmanned plane
Problem, and execute, by controlling the hardware in intelligent terminal, the hardware one-tenth that corresponding actions reduce unmanned plane
This.
Brief description
In order that present disclosure is more likely to be clearly understood, being embodied as below according to the present invention
Example simultaneously combines accompanying drawing, and the present invention is further detailed explanation, wherein
Fig. 1 is the application scenarios schematic diagram of unmanned aerial vehicle (UAV) control method according to embodiments of the present invention；
Fig. 2 is unmanned aerial vehicle (UAV) control method flow diagram according to embodiments of the present invention；
Fig. 3 is unmanned aerial vehicle (UAV) control structure drawing of device according to embodiments of the present invention；
Fig. 4 is unmanned aerial vehicle control system structure chart according to embodiments of the present invention.
Specific embodiment
Fig. 1 shows the application scenarios schematic diagram of unmanned aerial vehicle (UAV) control method according to embodiments of the present invention, such as
Shown in Fig. 1, control end 11 is used for sending control instruction, controlled end 12 to the controlled end 12 in unmanned plane
For controlling flare maneuver execution system 13 to execute corresponding action, wherein control end 11 according to this instruction
The Portable data processing equipment such as smart mobile phone, panel computer can be adopted with controlled end 12.
The embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method, as shown in figure 1, the method is applied to set
Put the controlled end on unmanned plane, the method includes:
S1, receives the control instruction that sends of control end, and described control instruction includes first kind instruction and the
The instruction of two type instruction, the wherein first kind is the flare maneuver control of the flare maneuver for controlling unmanned plane
System instruction, Second Type instruction is other instructions in addition to the instruction of the described first kind.Specifically,
One type instruction can include plurality of kinds of contents, such as accelerate, slow down, rise, decline instruction etc., thus can
To increase or decrease power set output, to control heading and height by flare maneuver execution system
Degree etc., above-mentioned preferred action is also the necessary operation of unmanned plane, it is possible to use the hardware of intelligent terminal comes
Execute above-mentioned preferred motion to reduce the hardware cost of unmanned plane.Second Type instruction equally can include many
Plant particular content, for example, be used for controlling intelligent terminal's control instruction of the action of intelligent terminal, this area skill
Art personnel are appreciated that and can set Second Type instruction according to the function of intelligent terminal during practical application
Content, the function that any intelligent terminal possesses can serve as above-mentioned action, such as sound collection and broadcasting
Function, communication function, are preferably collection image, receive gps information, to described in the embodiment of the present invention
Control end sends described image and described gps information, and above-mentioned preferred action is the common work of intelligent terminal
Can, and most intelligent terminal has above-mentioned functions, for example open intelligent terminal's gps function instruction,
Instruction of camera head in unlatching intelligent terminal etc..
S2, identifies the type of described control instruction, and recognition method has multiple, for example, can prestore institute
There are instruction and the corresponding type of every kind of instruction, can be by concrete with determining in the way of tabling look-up when receiving instruction
Type.If described control instruction instructs (i.e. flare maneuver control instruction) for the first kind, execute s3；
If described control instruction instructs (intelligent terminal's control instruction) for Second Type, execute s4.
S3, the instruction of this first kind is forwarded to flare maneuver execution system, so that flare maneuver executes system
System execute instruction, controls unmanned plane to carry out corresponding flare maneuver.
S4, carries out action according to the instruction of this Second Type, and that is, the intelligent terminal itself of execution this method is carried out
Action.
The unmanned aerial vehicle (UAV) control method of the embodiment of the present invention can be held by the intelligent terminal being arranged on unmanned plane
OK, by receiving the two kinds of control instruction that control end sends, and the type of instruction is judged,
Finally flare maneuver is controlled and refer to be sent to flare maneuver execution system, or held according to intelligent terminal's control instruction
Row corresponding actions, are easy to the advantage developed, change, debug and upgrade, solution using the software of intelligent terminal
Determined existing unmanned plane Embedded Software Control System autgmentability difference problem, and by control intelligence
Hardware in energy terminal executes the hardware cost that corresponding actions reduce unmanned plane.
In order to more efficiently identify the type of described control instruction, the control instruction in the present embodiment includes referring to
Make prefix and command content, the instruction prefixes specifically according to described control instruction for the above-mentioned s2 are come described in identifying
The type of control instruction, its form can be tlv (type-length-value, type-length-value)
Form.The data volume of wherein type of message (type) is a byte, makes prefix, message for representing
The data volume of body length (length) is a byte, for representing length, the value (value) of this message
Data volume indefinite, for representing command content.Thus, it is only necessary to know after receiving control instruction
The content of other instruction prefixes can judge the type instructing, and thus can improve decision instruction type operations
Response speed, and then improve this method efficiency.
Preferably, above-mentioned Second Type instruction can include destination information and obtain gps information, unmanned
After controlled end on machine receives the instruction of this Second Type it may be determined that air objective ground, and start to adopt in real time
The gps information of collection current location.Then can also carry out following steps:
Instruction according to obtaining gps information in the instruction of described Second Type obtains the gps being presently in position
Information；Control described flight dynamic according to described destination information and the described gps information being presently in position
Make execution system.
Above-mentioned preferred version can make controlled end according to destination information and gps information realization to unmanned plane list
Winged self-navigation.It is highly preferred that destination information can be coordinate information and destination's image information, by
External image can also be gathered in controlled end, so controlled end can be according to destination's image information and coordinate
Judging whether to arrive at, the degree of accuracy of this preferred version is higher for the combination of information.
Clouds terrace system is generally additionally provided with unmanned plane, it is used for controlling the position of the camera head on unmanned plane
And direction, this method can also also include:
Receive the status information that clouds terrace system sends, e.g. represent whether head working condition is normally believed
Breath；
Send described status information to described control end, so that operator understands the working condition of clouds terrace system.
With previous embodiment accordingly, an alternative embodiment of the invention provides a kind of unmanned aerial vehicle (UAV) control
Device, this unmanned aerial vehicle (UAV) control device is applied to the controlled end being arranged on unmanned plane, as shown in figure 3, should
Unmanned aerial vehicle (UAV) control device includes:
Receiving unit 31, for receiving the control instruction that control end sends, described control instruction includes first
Type instruction and Second Type instruction, the described first kind instructs the flare maneuver for controlling unmanned plane,
It is other instructions in addition to the instruction of the described first kind that described Second Type instructs；
Judging unit 32, for identifying the type of described control instruction；
First performance element 33, for when described control instruction refers to for the first kind, by this first kind
Instruction is forwarded to flare maneuver execution system；
Second performance element 34, for instructing for Second Type when described control instruction, according to this Equations of The Second Kind
Type instruction carries out action.
The unmanned aerial vehicle (UAV) control device of the embodiment of the present invention can be arranged in the intelligent terminal on unmanned plane, leads to
Cross and receive the two kinds of control instruction that control end sends, and the type of instruction is judged, finally
Flare maneuver is controlled and refers to be sent to flare maneuver execution system, or phase is executed according to intelligent terminal's control instruction
Answer action, be easy to the advantage developed, change, debug and upgrade using the software of intelligent terminal, solve
The problem of the autgmentability difference of the Embedded Software Control System of existing unmanned plane, and by controlling intelligence eventually
Hardware in end executes the hardware cost that corresponding actions reduce unmanned plane.
In order to more efficiently identify the type of described control instruction, the control instruction in the present embodiment includes referring to
Make prefix and command content, the instruction prefixes specifically according to described control instruction for the above-mentioned judging unit 32 Lai
Identify the type of described control instruction, its form can be tlv (type-length-value, type-
Length Value) form.The data volume of wherein type of message (type) is a byte, for representing before order
Sew, the data volume of message body length (length) is a byte, for represent this message length,
The data volume of value (value) is indefinite, for representing command content.Thus, after receiving control instruction,
Only need to identify that the content of instruction prefixes can judge the type instructing, thus can improve decision instruction
The response speed of type operations, and then improve the efficiency of this method.
An alternative embodiment of the invention additionally provides a kind of unmanned aerial vehicle control system, and this is as shown in Figure 4
System includes: the first intelligent terminal 21, flare maneuver execution system 22 and the second intelligent terminal 23, wherein
Second intelligent terminal 23 is used for executing the unmanned aerial vehicle (UAV) control method of above-described embodiment offer.Specifically:
First intelligent terminal 21 is used for sending control instruction, described control instruction include the first kind instruction and
Second Type instructs, and the described first kind instructs the flare maneuver for controlling unmanned plane, described Equations of The Second Kind
It is other instructions in addition to the instruction of the described first kind that type instructs；Flare maneuver execution system 32 is arranged on no
Man-machine interior, for controlling described unmanned plane to carry out flare maneuver.
Second intelligent terminal 23 is arranged in unmanned plane, for receiving the control instruction that control end sends；Know
The type of not described control instruction；If described control instruction instructs for the first kind, by this first kind
Type instruction is forwarded to described flare maneuver execution system；If described control instruction instructs for Second Type,
Then action is carried out according to the instruction of this Second Type.
As described above, described control instruction can include instruction prefixes and command content, the second intelligent terminal
23 types that can identify described control instruction according to the instruction prefixes of described control instruction.Thus,
Two intelligent terminal 23 only need to identify the type that the content of instruction prefixes may recognize that instruction, can improve
The response speed of decision instruction type operations, and then improve the efficiency of the system.
Described Second Type instruction includes destination information and obtains gps information, described second intelligent terminal
It is additionally operable to, after receiving described Second Type instruction, believe according to obtaining gps in the instruction of described Second Type
The instruction of breath obtaining the gps information being presently in position, according in the instruction of described Second Type
Destination information and the described gps information being presently in position controlling described flare maneuver execution system,
To realize the function of self-navigation.It is highly preferred that destination information can be coordinate information and purpose map
As information, because the second intelligent terminal 23 can also gather external image, so the second intelligent terminal 23
Can judge whether to arrive at according to the combination of destination's image information and coordinate information, this is preferred
The degree of accuracy of scheme is higher.
During practical application, can arrange supporting in the first intelligent terminal 21 and the second intelligent terminal 23
Realizing above-mentioned functions, for example above-mentioned first intelligent terminal 21 and the second intelligent terminal 23 can for application software
To be smart mobile phone or panel computer.
Second intelligent terminal 23 can be arranged on the head in unmanned plane, so that clouds terrace system adjusts its angle
Degree and direction, improve image and video acquisition accuracy of action.First intelligent terminal 21 and the second intelligence
Terminal 23 communicates typically by wireless the carrying out connecting, for example, can pass through wifi network, 4g net
The modes such as network are communicated；Second intelligent terminal 23 and flare maneuver execution system 22 can be passed through wired
Or wirelessly communicated, for example led to by connected modes such as usb, nfc, bluetooth, wifi
Letter.
Unmanned aerial vehicle control system according to embodiments of the present invention, sends two types by the first intelligent terminal
Control instruction, then received by the second terminal that is arranged on unmanned plane and control instruction sentenced
Disconnected, and different types of control instruction is handled differently, finally held with flare maneuver by second terminal
Row system executes different control instructions respectively, is easy to exploitation, modification, is adjusted using the software of intelligent terminal
Examination and the advantage of upgrading, solve poor the asking of autgmentability of the Embedded Software Control System of existing unmanned plane
Topic, and execute, by controlling the hardware in intelligent terminal, the hardware cost that corresponding actions reduce unmanned plane.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to embodiment
Restriction.For those of ordinary skill in the field, can also do on the basis of the above description
Go out change or the variation of other multi-forms.There is no need to be exhaustive to all of embodiment.
And the obvious change thus extended out or change still in the invention protection domain it
In.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method is it is characterised in that include:
Receive the control instruction that control end sends, described control instruction includes first kind instruction and Equations of The Second Kind
Type instructs, and the described first kind instructs the flare maneuver for controlling unmanned plane, described Second Type instruction
It is other instructions in addition to the instruction of the described first kind；
Identify the type of described control instruction；
If described control instruction instructs for the first kind, the instruction of this first kind is forwarded to flight dynamic
Make execution system；If described control instruction be Second Type instruction, according to this Second Type instruct into
Action is made.
2. unmanned aerial vehicle (UAV) control method according to claim 1 is it is characterised in that described control instruction
Including instruction prefixes and command content, the type of the described control instruction of described identification is to be referred to according to described control
The type to identify described control instruction for the instruction prefixes of order.
3. unmanned aerial vehicle (UAV) control method according to claim 2 is it is characterised in that described control instruction
Form be tlv form.
4. the unmanned aerial vehicle (UAV) control method according to any one of claim 1-3 is it is characterised in that institute
State Second Type instruction to include destination information and obtain gps information, refer to receiving described Second Type
After order, methods described also includes:
Instruction according to obtaining gps information in the instruction of described Second Type obtains the gps being presently in position
Information；
According to the described destination information in the instruction of described Second Type and the described gps being presently in position
Information is controlling described flare maneuver execution system.
5. the unmanned aerial vehicle (UAV) control method according to any one of claim 1-4 is it is characterised in that go back
Including:
Receive the status information that clouds terrace system sends；
Send described status information to described control end.
6. a kind of unmanned aerial vehicle (UAV) control device is it is characterised in that include:
Receiving unit, for receiving the control instruction that control end sends, described control instruction includes the first kind
Type instruction and Second Type instruction, the described first kind instructs the flare maneuver for controlling unmanned plane, institute
Stating Second Type and instructing is other instructions in addition to the instruction of the described first kind；Judging unit, for identifying
The type of described control instruction；
First performance element, for when described control instruction refers to for the first kind, this first kind being referred to
Order is forwarded to flare maneuver execution system；
Second performance element, for instructing for Second Type when described control instruction, according to this Second Type
Instruction carries out action.
7. a kind of unmanned aerial vehicle control system is it is characterised in that include:
First intelligent terminal, for sending control instruction, described control instruction include the first kind instruction and
Second Type instructs, and the described first kind instructs the flare maneuver for controlling unmanned plane, described Equations of The Second Kind
It is other instructions in addition to the instruction of the described first kind that type instructs；
Flare maneuver execution system, is arranged in unmanned plane, dynamic for controlling described unmanned plane to carry out flight
Make；
Second intelligent terminal, is arranged in unmanned plane, for receiving the control instruction that control end sends；Know
The type of not described control instruction；If described control instruction instructs for the first kind, by this first kind
Type instruction is forwarded to described flare maneuver execution system；If described control instruction instructs for Second Type,
Then action is carried out according to the instruction of this Second Type.
8. unmanned aerial vehicle control system according to claim 7 is it is characterised in that described control instruction
Including instruction prefixes and command content, described second intelligent terminal is used for the instruction according to described control instruction
Prefix is identifying the type of described control instruction.
9. the unmanned aerial vehicle control system according to claim 7 or 8 is it is characterised in that described second
Type instruction includes destination information and obtains gps information, and described second intelligent terminal is additionally operable to receiving
To after the instruction of described Second Type, the instruction according to obtaining gps information in the instruction of described Second Type obtains
Take the gps information being presently in position, according to described Second Type instruction in described destination information and
The described gps information being presently in position is controlling described flare maneuver execution system.
10. the unmanned aerial vehicle control system according to any one of claim 7-9 it is characterised in that
Described first intelligent terminal is smart mobile phone or panel computer；And/or
Described second intelligent terminal is smart mobile phone or panel computer；
And described first intelligent terminal passes through wi-fi network connection with described second intelligent terminal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510424486.6A CN106354032A (en) | 2015-07-17 | 2015-07-17 | Unmanned aerial vehicle control method, device and system |
| PCT/CN2016/090014 WO2017012499A1 (en) | 2015-07-17 | 2016-07-14 | Unmanned aerial vehicle control method, apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510424486.6A CN106354032A (en) | 2015-07-17 | 2015-07-17 | Unmanned aerial vehicle control method, device and system |
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