CN106444825A - Air vehicle, control terminal, control method and device of air vehicle - Google Patents
Air vehicle, control terminal, control method and device of air vehicle Download PDFInfo
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- CN106444825A CN106444825A CN201610802505.9A CN201610802505A CN106444825A CN 106444825 A CN106444825 A CN 106444825A CN 201610802505 A CN201610802505 A CN 201610802505A CN 106444825 A CN106444825 A CN 106444825A
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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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Abstract
The invention relates to a control method of an air vehicle. The control method comprises the steps of obtaining a target height according to a target height instruction; detecting the current height of the air vehicle; comparing the size of a height difference value between the current height and the target height with that of a preset threshold value; if the height difference value is smaller than the preset threshold value, outputting in-place reminding response information. The invention further provides a control device of the air vehicle, the air vehicle and a control terminal. According to the control method and device of the air vehicle, the air vehicle and the control terminal, interaction between the air vehicle and the control terminal is enhanced and operation is more flexible.
Description
Technical field
Invention is related to a kind of aircraft, particularly to a kind of aircraft, controller of aircraft, flying vehicles control method and dress
Put.
Background technology
Height is a key parameter of unmanned plane during flying state, generally can execute corresponding behaviour suitably highly going up
Make and function, for example, take pictures, pick up other interbehaviors such as article, palm landing or aircraft dragging.Unmanned plane reaches specific
With the interacting of operator after highly, usually unmanned plane automatically determines operation, or it is highly right to estimate unmanned plane by operator
Afterwards instruction is sent by controller.First kind of way is after unmanned plane reaches certain height, direct according to program set in advance
Execution next step operation, but this operation is variant because of the difference of requirement for height, and which lacks motility；Second
Mode observes the height condition of unmanned plane by operator, after unmanned plane highly reaches predetermined value, determines next step by operator
Operation.
However, in current above two interactive mode, the former is interactive weaker, and can only be limited to set in advance
In operation, the latter relies on operator's range estimation present level, and precision is poor, and user cannot accurately judge position.Above two
Mode is after unidirectional observation unmanned plane highly reaches certain value and is decided in its sole discretion by unmanned plane, or determines next by operator
Step operation, level of interaction is low, and flow flexibility is poor.
Content of the invention
In consideration of it, the present invention is necessary that offer one kind can more accurately judge aircraft present level and flexibility ratio is more
High aircraft, control terminal, control method and control device.
A kind of control method of aircraft, wherein, including：
Instruct according to object height to obtain object height；
Sense aircraft present level；
Height difference relatively between present level and object height and the size of predetermined threshold value；
If height difference is less than predetermined threshold value, export prompting response message in place.
Wherein in an embodiment, further include, if height difference is more than predetermined threshold value, described aircraft execution
Corresponding actions instruction is modified to flying height.
Wherein in an embodiment, the execution corresponding actions instruction of described aircraft flying height is modified including：
If present level is more than object height, execution speed-down action instruction reduces aircraft altitude, until height difference is less than
Predetermined threshold value；
If present level is less than object height, execution accelerated motion instruction draws high aircraft altitude, until height difference is less than
Predetermined threshold value.
Wherein in an embodiment, described aircraft, before receiving object height instruction, also includes：
Detect whether to receive the task-performance instructions of control terminal transmission, described task-performance instructions are used for controlling aircraft to fly
Row is to acquiescence predetermined altitude；
If so, in preset duration, then detect whether to receive the object height instruction of control terminal transmission further；
If not receiving the object height instruction of control terminal transmission in preset duration, acquiescence predetermined altitude is designated mesh
Absolute altitude degree, to indicate aircraft flight to giving tacit consent to predetermined altitude.
Wherein in an embodiment, described predetermined threshold value is less than or equal to 0.1 meter.
Wherein in an embodiment, described aircraft sends prompting response message in place to control terminal, for referring to
Show that control terminal exports alerting signal in place.
Wherein in an embodiment, described aircraft further includes that detection is after sending prompting response message in place
The no control terminal that receives, in response to this assignment instructions reminding response message in place, if so, then executes this assignment instructions；If
No, then execution default action instruction.
A kind of control method of aircraft, wherein, including：
Send object height instruction to aircraft；
Receive the prompting response message in place that described aircraft instructs, described prompting response message in place in response to this object height
For indicating that aircraft reached object height；
Alerting signal in place is exported according to prompting response message in place.
Wherein in an embodiment, detect whether to receive user input sending taking a step forward of object height instruction
Tasks carrying control signal, described tasks carrying control signal is used for indicating aircraft flight to giving tacit consent to predetermined altitude；If so,
Then send task-performance instructions to aircraft, in order to indicate aircraft flight to giving tacit consent to predetermined altitude.
A kind of flight control, wherein, including：
Height receiver module, the object height for receiving control terminal transmission instructs to obtain object height；
Height detection module, for the present level of sense aircraft；
Data processing module, for comparing the size of the height difference between present level and object height and predetermined threshold value；With
And
Response message sending module, for exporting prompting response message in place when height difference is less than predetermined threshold value.
Wherein in an embodiment, further include height correction module, for being more than predetermined threshold value in height difference
The corresponding action command of Shi Zhihang is modified to flying height.
Wherein in an embodiment, described height correction module further includes：
Height reduction module, for when present level is more than object height, execution speed-down action instruction reduces aircraft altitude,
Until height difference is less than predetermined threshold value；
Highly draw high module, for when present level is less than object height, execution accelerated motion instruction draws high aircraft altitude,
Until height difference is less than predetermined threshold value.
Wherein in an embodiment, further include：
Assignment instructions detection module, for detecting whether receiving the task-performance instructions of control terminal transmission, described task is held
Row instruction is used for controlling aircraft flight to giving tacit consent to predetermined altitude；
Whether object height detecting module, receive object height instruction for detecting in preset duration inner height receiver module；
Object height correcting module, during for not receiving object height instruction in preset duration, acquiescence predetermined altitude is set
It is set to object height, for indicating aircraft flight to giving tacit consent to predetermined altitude.
Wherein in an embodiment, described predetermined threshold value is less than or equal to 0.1 meter.
Wherein in an embodiment, described response message sending module is used for sending prompting response message in place to control
Terminal processed, for indicating control terminal output prompting in place.
Wherein in an embodiment, further include assignment instructions detection module, whether receive for sense aircraft
To control terminal in response to the assignment instructions reminding response message in place；If so, assignment instructions are sent to data processing module
To execute this assignment instructions；If it is not, then data processing module execution default action instruction.
A kind of aircraft, wherein, including control device as above.
Wherein in an embodiment, described aircraft is by least one output in luminous, image, sound, vibration
Prompting message in place.
A kind of control device of aircraft, wherein, including：
Object height instruction sending module, instructs to aircraft for sending object height；
Response message receiver module, for receiving the prompting response message in place that aircraft instructs in response to object height, described
Prompting response message in place is used for indicating that aircraft has reached object height；And
Prompting instruction sending module in place, for sending alerting signal in place according to prompting response message in place.
Wherein in an embodiment, further include that task receives detection module, for detecting whether receiving user
The tasks carrying control signal sending；If so, task-performance instructions are then sent to aircraft.
A kind of control terminal of aircraft, wherein, including control device as above.
Wherein in an embodiment, the control terminal of described aircraft pass through luminous, image, sound, in vibration extremely
Few one kind sends prompting in place.
With respect to current technology, aircraft, control terminal, control method and control system that the present invention provides, aircraft
After receiving object height, real-time detection is carried out to present level, send in place prompting to remind use after aircraft is in place
Family or operator, enhance interacting between aircraft and operator, it is to avoid operator artificial observed altitude, improve control
Accuracy.
Further, unmanned plane can also accept the object height of control terminal in real time when executing preset program, improves
The motility of interaction.
Brief description
Fig. 1 is the flow chart of the control method of aircraft provided in an embodiment of the present invention.
Fig. 2 be aircraft provided in an embodiment of the present invention control method in the interaction flow of aircraft and control end illustrate
Figure.
Fig. 3 is the flow chart carrying out height adjustment to aircraft altitude in the embodiment of the present invention.
Fig. 4 is the flow chart of a specific embodiment in the flow chart of height adjustment shown in Fig. 3.
The target that control terminal is sent that Fig. 5 is newly-increased in the control method of aircraft provided in an embodiment of the present invention is high
Spend the flow chart being detected.
The flow chart of the control method of the aircraft that Fig. 6 provides for another embodiment of the present invention.
Fig. 7 is the structural representation of flight control provided in an embodiment of the present invention.
Fig. 8 is the structural representation of module newly-increased in the flight control described in Fig. 7.
The structural representation of the flight control that Fig. 9 provides for another embodiment of the present invention.
The structural representation of Figure 10 aircraft provided in an embodiment of the present invention.
Figure 11 is the structural representation of the control terminal of aircraft provided in an embodiment of the present invention.
Main element symbol description
| Flying vehicles control device | 100,200 |
| Height receiver module | 101 |
| Height detection module | 102 |
| Data processing module | 103 |
| Response message sending module | 104 |
| Height correction module | 105 |
| Height reduction module | 105a |
| Highly draw high module | 105b |
| Assignment instructions detection module | 106 |
| Object height detecting module | 107 |
| Object height correcting module | 108 |
| Object height instruction sending module | 201 |
| Response message receiver module | 202 |
| Prompting instruction sending module in place | 203 |
| Aircraft | 1000 |
| Signal receiving device | 1001 |
| Altitude sensing unit | 1002 |
| Data processing equipment | 1003 |
| Alarm set in place | 1004 |
| Height correction device | 1005 |
| Control terminal | 2000 |
| Sender unit | 2001 |
| Signal receiving device | 2002 |
| Alarm set in place | 2003 |
Specific embodiment
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
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body is it is not intended that in limiting the present invention.
Refer to Fig. 1 and Fig. 2, the control method of the aircraft that first embodiment of the invention provides, comprise the steps：
Step S11, instructs according to object height to obtain object height；
Step S12, sense aircraft present level；
Step S13, compares the size of the height difference between present level and object height and predetermined threshold value；
Step S14, if height difference is less than predetermined threshold value, exports prompting response message in place.
Specifically, in step s 11, object height instruction can be sent by control terminal, can be the task of aircraft execution
Object height instruction in instruction, the object height instruction in default any acquiescence preset program alternatively in aircraft.When
When control terminal sends object height instruction, aircraft can detect whether to receive the object height instruction that control terminal sends.
Control terminal can be remote control, panel computer, mobile phone, aircraft base stations etc..Trigger described object height instruction
Remote control can be controlled to send object height instruction by the physical switches of control terminal.Certainly, this object height instruction also may be used
With by the virtual switch of control terminal, for example, it is possible to by the operation interface of touch-control control terminal, control remote control to send mesh
Absolute altitude degree instructs.
Specifically, the touch control method of this control terminal passes through operating of contacts on the touch screen of control terminal for the detection in fact
Existing.If the described operating of contacts detecting is sliding contact operation or height input operation in prediction picture region, examine
Survey whether this sliding contact operation is the height trigger action to aircraft, if so, then generate object height instruction, right to realize
The control of described aircraft altitude.Further, described prediction picture region can be human-computer interaction interface, described image region
Include the region for indicating sliding path, can in the region of described sliding path dynamic mobile slip interactive icons,
To indicate object height.
In step s 12, the present level of aircraft can be obtained by the height detection module in aircraft.Specifically,
The present level of the altitude sensing unit sense aircraft of aircraft can be passed through.This altitude sensing unit can pass for absolute altitude
Sensor, for example, barometer, GPS etc. or relative altitude sensor, for example, ultrasonic sensor, binocular image passes
Sensor, laser distance sensor etc., can be selected as needed.
In step s 13, the height difference between described present level and object height can be obtained by message processing module
, and height difference is compared with predetermined threshold value.The height that described predetermined threshold value is flown for aerocraft real and required mesh
Maximum difference between absolute altitude degree.It is appreciated that due to the presence of measurement error and the impact of environment such as air-flow, aircraft is in sky
Even if in also likely to be present small size lifting when hovering, the flying height that aerocraft real reaches may exist and object height between
Error.Therefore, can by set described predetermined threshold value judge whether aircraft reaches object height, when practical flight height with
The difference of object height within this default threshold range, all it is believed that aircraft has reached preset height.The present embodiment
In, described predetermined threshold value may be less than equal to 0.1 meter, that is, when practical flight height and the object height of described aircraft is 0.1
It is believed that aircraft is in object height when within the scope of rice.It is appreciated that described predetermined threshold value is also smaller than equal to 0.05
Rice, can be preset according to actual needs.
Further, when the difference between the present level and object height of aircraft is more than described predetermined threshold value, then institute
State aircraft executable corresponding actions instruction flying height is modified.Described corresponding actions instruction can be used for change of flight device
Flying height, the speed-down action instruction including the height reducing aircraft and the flying height improving aircraft, and
Draw high the accelerated motion instruction of aircraft altitude.Described aircraft can be entered to the flying height of aircraft by height correction module
Row is revised, for example, pass through to change the working condition of propeller equal power device, to realize the change of aircraft altitude.
See also Fig. 3 and Fig. 4, specifically, step S13 further includes：
Step S13a, when present level is more than object height, execution speed-down action instruction reduces aircraft altitude, until difference in height
Value is less than predetermined threshold value；
Step S13b, when present level is less than object height, then execution accelerated motion instruction draws high aircraft altitude, until height
Difference is less than predetermined threshold value.
In step S13a, described aircraft can pass through height reduction module, controls the height correction device in aircraft,
To reduce the flying height of aircraft.In the particular embodiment, can pass through to reduce the rotary speed of propeller equal power device,
Reduce aircraft altitude, so that aircraft moves closer to object height.
Similar, in step S13b, described aircraft can draw high module by height, controls the height in aircraft to repair
Equipment, to draw high the flying height of aircraft.In the particular embodiment, can be drawn by improving the rotary speed of propeller
Rise aircraft altitude, so that aircraft moves closer to object height.
In step S14, when the flying height of aircraft is already less than predetermined threshold value it is understood that being, when described
When the flying height of aircraft has arrived at object height, described aircraft sends prompting response message in place to controlling end
End, in order to remind user that aircraft has arrived at object height.
Described prompting response message in place can be sent to control terminal by wireless link, specifically, described prompting in place
Response message can be sent by response message sending module to the alarm set in place of control terminal, for indicating control terminal
Export alerting signal in place to remind user.Described alarm set in place can send the modes such as light, image, sound, vibration and carry
Awake user.Described alarm set in place can be LED, display screen, speaker, oscillator etc., and described alarm set in place can be integrated in
Control terminal, such that it is able to notify user's aircraft in place in the very first time.When user hears, sees or experience above-mentioned carrying
When awake, aircraft further can be controlled or not taken any operation.Further, described alarm set in place can be same
When remind user in many ways, to adapt to different scenes.
Further, in another embodiment, the manned prompting of described aircraft can directly be sent by aircraft to notify
To user.That is, the alarm set in place that described aircraft can be possessed by itself sends prompting in place.Specifically, institute
Stating aircraft can directly notify user's aircraft to reach object height by way of light, image, sound, vibration.Example
As described aircraft can notify user's aircraft in place by LED, display screen, speaker, oscillator etc..
Further, in another embodiment, the manned prompting of described aircraft can be passed through aircraft simultaneously and control eventually
End notifies to user, further to ensure that user can know that aircraft is in place, in order to carry out next step operation.
Further, in another embodiment, before aircraft receives object height instruction, described aircraft is further
Detect whether to receive the step of task-performance instructions.Described task-performance instructions can be received by signal receiving device, for example
Wifi antenna, Bluetooth antenna, WiMAX antenna, COFDM antenna etc., can be selected as needed.Receiving tasks carrying
After instruction, aircraft will execute corresponding task according to task-performance instructions, for example execution delivery flow process, execution landing stream
Journey, automatic camera flow process, flight dancing etc..Described various flow process can be stored in control in advance in the way of pre-set flight pattern
In terminal or aircraft, aircraft can be corresponding according to default action flow process in pre-set flight pattern and default action instruction execution
Task.Specifically, described aircraft detects further and is used in described pre-set flight pattern controlling the acquiescence of aircraft altitude
Preset height instructs, to control aircraft to execute corresponding task according to acquiescence preset height.
See also Fig. 5, before aircraft receives the object height instruction that control terminal sends, further include：
Step S10a, detects whether to receive the task-performance instructions of control terminal transmission, described task-performance instructions are used for referring to
Show aircraft flight to giving tacit consent to predetermined altitude；
Step S10b, if so, then detects whether in preset duration that the object height receiving control terminal transmission refers to further
Order；
If not receiving the object height instruction of control terminal transmission in preset duration, acquiescence predetermined altitude is designated mesh
Absolute altitude degree, to indicate aircraft flight to giving tacit consent to predetermined altitude.
In step S10a, before aircraft receives object height, described aircraft detects whether to receive further
The task-performance instructions of the execution preplanned mission sending to control end.Described task-performance instructions are used for controlling unmanned plane execution pre-
Fixed task, for example, transport goods etc., and described task-performance instructions may indicate that aircraft flight to preplanned mission in advance
The acquiescence predetermined altitude setting.
In step S10b, if aircraft receives the task-performance instructions of execution preplanned mission of control end transmission,
Unmanned plane can be at waiting state, and waits preset duration, monitors whether to receive object height instruction simultaneously；Also can first basis
The flying height of the acquiescence preset height command detection current flight device receiving, and wait preset duration；Also can first basis connect
The acquiescence preset height instruction receiving first is flown to acquiescence preset height, and waits preset duration；Also tasks carrying can be first carried out
Part instruction in instruction, and wait preset duration.Specifically, after aircraft receives task-performance instructions, according to required
The difference of execution task, can enter into waiting state in the way of selection is different.
If in preset duration, aircraft is not yet connected to object height instruction, and the position of such as aircraft exceeds control
Then the remote control distance of terminal, then can obtain aircraft present level using acquiescence preset height as final object height again
The size of difference and predetermined threshold value and acquiescence preset height between.If aircraft present level has arrived at the default height of acquiescence
Degree, then send prompting in place；If aircraft present level is more than predetermined threshold value with giving tacit consent to the distance between preset height, can
Drive aircraft flight to giving tacit consent to after preset height, retransmit prompting in place.
On the other hand, if in preset duration, aircraft have received object height instruction, then aircraft passes through inspection
Survey the present level of aircraft, after comparing present level and object height, send prompting message in place to control terminal.Institute
State object height instruction to can be used for acquiescence preset height being modified, to be more suitable for practical situation.For example, if aircraft arrives
Have barrier when reaching acquiescence preset height, then object height can be sent by control terminal and instruct to aircraft, to revise
The height of aircraft, avoiding obstacles.
Further, described aircraft sends prompting message in place to control terminal, also includes receiving control terminal response
In the assignment instructions reminding response message in place.Specifically, after described aircraft flight to object height, can be at hovering
Waiting state, with etc. the new assignment instructions that send of control terminal to be received or accept user and directly aircraft is operated,
For example article are hung on below aircraft, execute landing, take pictures, flight dancing etc..
It is appreciated that after aircraft reaches object height, if aircraft does not receive any assignment instructions, aircraft
Also may be selected to continue executing with default action, such as automatically make a return voyage etc., here does not limit.
See also Fig. 6, the control method of the aircraft that second embodiment of the invention provides, comprise the steps：
Step S21, sends object height instruction to aircraft；
Step S22, receives the prompting response message in place that aircraft instructs, described prompting response in place in response to this object height
Information is used for indicating that aircraft has reached object height；And
Step S23, the prompting response message in place according to receiving exports alerting signal in place.
In the step s 21, described object height instruction can be sent to aircraft by the sender unit of control terminal.
In step S22, after aircraft flight is to object height, described control terminal can be connect by signal receiving device
Receive the prompting response message in place of aircraft transmission.
In step S23, control terminal can remind user by the mode such as luminous, image, sound, vibration, for example, can lead to
Cross the elements such as LED, display screen, speaker, oscillator and remind user.
Further, described control terminal, before sending object height instruction, further includes：
Detect whether to receive the tasks carrying control signal of user input；If the tasks carrying receiving user input controls
Signal, then control terminal send corresponding task-performance instructions to aircraft, operated with indicating that aircraft execution is corresponding.
See also Fig. 7, the embodiment of the present invention further provides for a kind of control device 100 of aircraft, described flight
The control device 100 of device includes：
Height receiver module 101, the object height for receiving control terminal transmission instructs to obtain object height；
Height detection module 102, for the present level of sense aircraft；
Data processing module 103, for comparing the size of the height difference between present level and object height and predetermined threshold value；
Response message sending module 104, for when height difference is less than predetermined threshold value, exporting prompting response message in place.
Described height receiver module 101, height detection module 102, data processing module 103 and response message send mould
Block 104 can be integrated in the aircraft such as unmanned plane.Specifically, height receiver module 101 can be used for receiving what control terminal sent
Object height instructs, or the acquiescence preset height instruction in the assignment instructions of control terminal transmission.
Described height detection module 102 can be used for after receiving object height instruction, and the flight current to aircraft is high
Degree is detected, and the present level detecting is sent to data processing module 103.
Described data processing module 103 receive height detection module 103 detection but front highly after, by current
Height and object height carry out calculating acquisition height difference, then compare height difference again and compare with the size acquisition of predetermined threshold value
Result.When described data processing module 103 decision height difference is less than predetermined threshold value, then information can be sent instruction and send extremely
Response message sending module 104.
When described data processing module 103 decision height difference is less than predetermined threshold value, then can control aircraft to target
Altitude, until after height difference is less than predetermined threshold value, then send information transmission instruction to response message sending module 104.
Described response message sending module 104, after the information that receives sends instruction, sends prompting response message in place.Tool
Body, described response message sending module 104 can send prompting response message in place to control terminal, to remind user.
Further, the control device 100 of described aircraft also includes height correction module 105, described height correction module
For described aircraft flying height and object height apart from larger when, the flying height of adjustment aircraft.Specifically, institute
State height correction module 105 may include：Height reduction module 105a and height draw high module 105b.Described height reduction module
105a can be used for when present level is more than object height, and execution speed-down action instruction reduces aircraft altitude, until difference in height
Value is less than predetermined threshold value.Specifically, aircraft can reduce the flight of aircraft by reducing the rotary speed of rotor in aircraft
Highly；Described height draws high module 105b and can be used for when present level is less than object height, and execution accelerated motion instruction draws high
Aircraft altitude, until height difference is less than predetermined threshold value.Specifically, aircraft can be by improving the rotation of rotor in aircraft
Speed, to draw high the flying height of aircraft, to reduce the difference between aircraft altitude and object height, makes height difference little
In predetermined threshold value, or reach object height.
Further, see also Fig. 8, the control device 100 of described aircraft also includes assignment instructions detection module
106, for receiving the assignment instructions of control terminal transmission, described assignment instructions detection module 106 can be wifi module, bluetooth mould
One of block, WiMax module, COFDM module.The assignment instructions receiving can be sent out by described assignment instructions detection module 106
Deliver to data processing module 103 to be processed, further, described assignment instructions detection module 106 can be used for appointing of receiving
Acquiescence predetermined altitude instruction in business instruction sends and is processed to data processing module 103.
Further, the control device 100 of described aircraft includes object height detecting module 107 and object height correction mould
Block 108.Described object height detecting module 107 is used for judging whether preset duration inner height receiver module 101 receives target
Highly instruct.If in preset duration, described height receiver module 101 does not receive object height instruction, then object height
Correcting module 107 directly will give tacit consent to predetermined altitude as object height, to indicate aircraft to the flight of this acquiescence predetermined altitude.
See also Fig. 9, the embodiment of the present invention further provides for a kind of control device 200 of aircraft, including：
Object height instruction sending module 201, instructs to aircraft for sending object height；
Response message receiver module 202, for receive position of aircraft in place when in response to object height instruction prompting in place
Response message；And
Prompting instruction sending module 203 in place, for sending just for alerting signal according to prompting response message in place.
The control device 200 of described aircraft can be integrated in the control terminal of aircraft, such as remote control, panel computer, handss
Machine, aircraft base stations etc., to realize the control to aircraft.
The control device 200 of described aircraft can further include that task receives detection module 204, for detecting whether connecing
Receive the tasks carrying control signal that user sends, if so, then task-performance instructions can be sent by the control device 200 of aircraft
To aircraft, to indicate the aircraft corresponding task of execution.
See also Figure 10, the present invention further provides a kind of aircraft 1000, described aircraft 1000 includes：
Signal receiving device 1001, the object height for receiving control terminal transmission instructs to obtain object height；
Altitude sensing unit 1002, for the present level of sense aircraft；
Data processing equipment 1003, for comparing the big of present level and height difference and the predetermined threshold value of the object height obtaining
Little；And
Alarm set 1004 in place, for when height difference is less than predetermined threshold value, sending prompting response message in place.
After described signal receiving device 1001 receives object height instruction, altitude sensing unit 1002 can be simultaneously by detection
To aircraft present level send to data processing equipment 1003；Described data processing equipment 1003 calculating aircraft current
The difference of the object height in highly instructing with the object height receiving, obtains height difference between the two, and will height
Difference is compared with predetermined threshold value, obtains corresponding comparative result.When height difference is less than predetermined threshold value, then carry in place
Awake device 1004 sends in place prompting and sends instruction.Described alarm set in place 1004 just sends instruction transmission according in place prompting
Response message is reminded in position.Described alarm set in place 1004 can send prompting response message in place to control terminal, such as controls
Device, mobile phone, panel computer, aircraft base stations etc., to notify effector or user.Further, described alarm set in place 1004
Also directly effector or user can be notified by the mode such as luminous, image, sound, vibration, to inform effector or user's flight
Device height has reached object height, and that is, aircraft is in place.
Further, described aircraft 1000 may include height correction device 1005, for according to data processing equipment 1003
The comparative result obtaining, is adjusted revising to the flying height of aircraft.Described height correction device 1005 can be aircraft
Power set such as rotor etc., by adjusting the rotary speed of rotor, so that aircraft is declined or lifted, to control aircraft to reach
Object height.
Further, described signal receiving device 1001 be further used for receive control terminal send tasks carrying refer to
Order, such as execution pre-set flight pattern, and send and processed to data processing equipment 1003, corresponding to indicate aircraft execution
Task.Specifically, described data processing equipment 1003 can be used for obtaining the acquiescence predetermined altitude in task-performance instructions.
Further, whether aircraft 1000 includes object height detector 1006, connect in preset duration for detecting
Receive the object height instruction of control terminal transmission.If in preset duration, aircraft 1000 does not receive object height instruction,
Then aircraft 1000 using in pre-set flight pattern acquiescence predetermined altitude as flight object height.When aircraft 1000 reaches
After acquiescence predetermined altitude, alarm set 1004 in place can send prompting response message in place to control terminal.
See also Figure 11, the embodiment of the present invention further provides for a kind of control terminal 2000 of aircraft, described winged
The control terminal 2000 of row device includes：
Sender unit 2001, for sending object height instruction；
Signal receiving device 2002, for receiving the in place prompting response in place in response to the position of aircraft of object height instruction
Information；And
Alarm set 2003 in place, for sending alerting signal in place according to prompting response message in place.
Specifically, sender unit 2001 can send object height and instruct to aircraft 1000, and in aircraft
After 1000 arrival object heights are in place, receive the prompting response message in place that aircraft 1000 returns.Described signal receives dress
Put 2002 receive in place prompting response message after, can control alarm set 2003 in place send alerting signal in place to effector
Or user, to remind user that aircraft is in place, to facilitate effector or user to carry out the action of next step.
Described alarm set in place 2003 can remind user and effector by way of luminous, image, sound, vibration,
Specifically, described alarm set in place can be by being integrated in the devices such as the LED of control terminal 2000, display screen, speaker, oscillator
Send prompting message to user, to remind user's aircraft 2000 to have arrived at object height.
As specific embodiment, the present invention hangs below in conjunction with article and is further illustrated to unmanned plane.Hanger
Product reach the next step operation that may carry out after predetermined altitude for unmanned plane, are merely illustrative using method of the present invention, not
Limit the range of the present invention.
After interaction starts, unmanned plane waits the object height that control end sends first, and object height 1.5m is sent out by control end
Deliver to unmanned plane, unmanned plane obtains the difference of detection present level and object height after object height；If present level is less than
1.45m, unmanned plane increases throttle, begins to ramp up, whereas if present level is higher than 1.55m, then reduces throttle, under unmanned plane
Fall.
After unmanned plane reaches predetermined altitude, aircraft keeps hovering, waits operator for example to be suspended items from no
Man-machine, pass through wireless link simultaneously and send information in place to control end, in control end by modes pair such as sound, animation and vibrations
User is reminded, and unmanned plane itself can also provide prompting in place by modes such as light, sound simultaneously.
After operator obtains the prompting in place that provides of control end, user can directly with handss to unmanned plane direct operation, example
As hung on article below unmanned plane, or sending control instruction by control end to unmanned plane, these are all that unmanned plane reaches
The operation of next step can be executed to predetermined altitude to user reminding.
Further, the control operation of an acquiescence can be preset in unmanned plane, if unmanned plane is in setting height
After reaching certain time, and user does not carry out how other control operations, is carried out the default action arranging before, for example silent
Recognizing operation can be automatically to make a return voyage.
Aircraft, control terminal, the control method of aircraft and control device that the present invention provides, enhance aircraft and reach
To after predetermined altitude, execution task is during this, and interacting between control terminal and aircraft is accepting control terminal target
Aircraft entry altitude adjustment after highly, and constantly monitor current state, after unmanned plane is in place, position is sent to control
Terminal processed, provides sound, image, vibration etc. simultaneously and substantially points out, and teaching process person takes next step to operate.Which avoids
The artificial observed altitude of operator, improves the accuracy of control, and aircraft can accept the target height of control terminal in real time simultaneously
Degree, improves interactive motility.Further, control terminal, can be timely after receiving aircraft and reaching object height
The aircraft of instruction as needed execute corresponding task, facilitate operator to select in time to operate to control aircraft accordingly.
It should be understood that disclosed relevant apparatus and method, Ke Yitong in several embodiments provided by the present invention
Cross other modes to realize.For example, device embodiment described above is only schematically, for example, described module or list
The division of unit, only a kind of division of logic function, actual can have other dividing mode when realizing, for example multiple units or
Assembly can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown
The coupling each other shown or discuss or direct-coupling or communication connection can be by some interfaces, between device or unit
Connect coupling or communicate to connect, can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, show as unit
The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be to be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If described integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art being contributed or all or part of this technical scheme can be in the form of software products
Embody, this computer software product is stored in a storage medium, including some instructions with so that computer disposal
Device (processor) executes all or part of step of each embodiment methods described of the present invention.And aforesaid storage medium bag
Include：USB flash disk, portable hard drive, read only memory (ROM, Read-OnlyMemory), random access memory (RAM,
RandomAccessMemory), disk or CD etc. are various can be with the medium of store program codes.
The foregoing is only embodiments of the invention, not thereby limit the present invention the scope of the claims, every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (22)
1. a kind of control method of aircraft is it is characterised in that include：
Instruct according to object height to obtain object height；
Sense aircraft present level；
Height difference relatively between described present level and described object height and the size of predetermined threshold value；
If described height difference is less than described predetermined threshold value, export prompting response message in place.
2. the control method of aircraft as claimed in claim 1 is it is characterised in that described control method further includes：If
Described height difference is more than described predetermined threshold value, then described aircraft execution corresponding actions instruction is modified to flying height.
3. the control method of aircraft as claimed in claim 2 is it is characterised in that described aircraft execution corresponding actions instruct
Flying height is modified including：
If described present level is more than described object height, execution speed-down action instruction reduces aircraft altitude, until described
Height difference is less than described predetermined threshold value；
If described present level is less than described object height, execution accelerated motion instruction draws high aircraft altitude, until described
Height difference is less than described predetermined threshold value.
4. the control method of aircraft as claimed in claim 1 is it is characterised in that described instruct according to object height to obtain
Before object height, also include：
Detect whether to receive the task-performance instructions of control terminal transmission, described task-performance instructions are used for indicating that aircraft flies
Row is to acquiescence predetermined altitude；
If so, in preset duration, then detect whether that the described object height receiving described control terminal transmission refers to further
Order；
If not receiving the described object height instruction of control terminal transmission in preset duration, by described acquiescence predetermined altitude
It is designated object height, to indicate aircraft flight to described acquiescence predetermined altitude.
5. the control method of aircraft as claimed in claim 1 is it is characterised in that described predetermined threshold value is less than or equal to 0.1 meter.
6. the control method of aircraft as claimed in claim 1 is it is characterised in that prompting response in place is believed by described aircraft
Breath sends to control terminal, for indicating control terminal output alerting signal in place.
7. the control method of aircraft as claimed in claim 1 is it is characterised in that described aircraft sends described prompting in place
Further include after response message whether detection receives control terminal in response to this prompting response in place in preset duration
The assignment instructions of information, if so, then execute this assignment instructions；If it is not, then execution default action instruction.
8. a kind of control method of aircraft is it is characterised in that include：
Send object height instruction to aircraft；
Receive the prompting response message in place that described aircraft instructs, described prompting response message in place in response to this object height
Instruct the object height indicating for representing that described aircraft has reached described object height；
Alerting signal in place is exported according to described prompting response message in place.
9. control method as claimed in claim 8 is it is characterised in that in the detection that takes a step forward sending object height instruction be
The no tasks carrying control signal receiving user input, described tasks carrying control signal is used for indicating that aircraft flight is extremely silent
Recognize predetermined altitude；If so, task-performance instructions are then sent to aircraft, in order to indicate aircraft flight to giving tacit consent to predetermined altitude.
10. a kind of control device of aircraft is it is characterised in that include：
Height receiver module, the object height for receiving control terminal transmission instructs to obtain object height；
Height detection module, for the present level of sense aircraft；
Data processing module, for the height difference relatively between described present level and described object height and predetermined threshold value
Size；And
Response message sending module, for exporting prompting response letter in place when described height difference is less than described predetermined threshold value
Breath.
The control device of 11. aircraft as claimed in claim 10 it is characterised in that further including height correction module,
For executing corresponding action command when described height difference is more than described predetermined threshold value, flying height is modified.
The control device of 12. aircraft as claimed in claim 11 is it is characterised in that described height correction module is wrapped further
Include：
Height reduction module, for when described present level is more than described object height, execution speed-down action instruction reduces and flies
Row device height, until described height difference is less than described predetermined threshold value；
Highly draw high module, for when described present level is less than described object height, execution accelerated motion instruction draws high winged
Row device height, until described height difference is less than described predetermined threshold value.
The control device of 13. aircraft as claimed in claim 10 is it is characterised in that further include：
Assignment instructions detection module, for detecting whether receiving the task-performance instructions that described control terminal sends, described
Business execute instruction is used for indicating aircraft flight to giving tacit consent to predetermined altitude；
Object height detecting module, refers to whether preset duration inner height receiver module receives described object height for detecting
Order；
Object height correcting module, during for not receiving described object height instruction in preset duration, will be pre- for described acquiescence
Determine highly to be set as object height, for indicating aircraft flight to described acquiescence predetermined altitude.
14. control devices as claimed in claim 10 are it is characterised in that described predetermined threshold value is less than or equal to 0.1 meter.
15. control devices as claimed in claim 10 it is characterised in that described response message sending module be used for by described just
Position reminds response message to send to described control terminal, for indicating described control terminal output prompting in place.
16. control devices as claimed in claim 10, it is characterised in that further including assignment instructions detection module, are used for
Whether sense aircraft receives described control terminal in response to the described assignment instructions reminding response message in place；If so, will
Described assignment instructions send to data processing module to execute this assignment instructions；If it is not, then described data processing module execution is silent
Recognize operational order.
A kind of 17. control devices of aircraft are it is characterised in that include：
Object height instruction sending module, instructs to aircraft for sending object height；
Response message receiver module, for receiving the prompting response message in place that aircraft instructs in response to object height, described
Prompting response message in place is used for indicating that aircraft has reached the indicated object height of described object height instruction；And
Prompting instruction sending module in place, for sending alerting signal in place according to described prompting response message in place.
18. flying vehicles control devices as claimed in claim 17 are it is characterised in that the task that further includes receives detection mould
Block, for detecting whether receive the tasks carrying control signal that user sends；If so, task-performance instructions are then sent to flight
Device.
A kind of 19. aircraft are it is characterised in that described aircraft includes claim 10 any one institute to claim 16
The control device of the aircraft stated.
20. aircraft as claimed in claim 19 it is characterised in that the control device of described aircraft pass through luminous, image,
At least one in sound, vibration exports prompting message in place.
A kind of 21. control terminals of aircraft are it is characterised in that described aircraft includes claim 17 to claim 18
The control device of the aircraft described in any one.
22. control terminals as claimed in claim 21 are it is characterised in that the control device of described aircraft passes through luminous, figure
Picture, sound, at least one in vibration send prompting in place.
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| CN201610802505.9A CN106444825B (en) | 2016-09-05 | 2016-09-05 | Aircraft, control terminal, aircraft control method and control device |
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|---|---|---|---|
| CN201610802505.9A CN106444825B (en) | 2016-09-05 | 2016-09-05 | Aircraft, control terminal, aircraft control method and control device |
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| CN111504263A (en) * | 2020-04-24 | 2020-08-07 | 西安索格亚航空科技有限公司 | Flight navigation altitude deviation indication method, device, equipment and storage medium |
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