CN106444825B - Aircraft, control terminal, aircraft control method and control device - Google Patents
Aircraft, control terminal, aircraft control method and control device Download PDFInfo
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- 230000001276 controlling effect Effects 0.000 claims description 13
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Abstract
The invention relates to a method for controlling an aircraft, comprising: obtaining a target height according to the target height instruction; detecting the current height of the aircraft; comparing the height difference between the current height and the target height with a preset threshold value; and if the height difference value is smaller than the preset threshold value, outputting in-position reminding response information. The invention further provides a control device of the aircraft, the aircraft and a control terminal. The control method and the control device of the aircraft, the aircraft and the control terminal enhance the interaction between the aircraft and the control terminal, and are more flexible to operate.
Description
Technical Field
The invention relates to an aircraft, in particular to an aircraft, an aircraft controller, an aircraft control method and an aircraft control device.
Background
The altitude is a key parameter of the flight state of the unmanned aerial vehicle, and corresponding operations and functions, such as taking a picture, picking up an object, landing on a palm or dragging an airplane, and other interactive behaviors, can be generally performed at a proper altitude. In the interaction with the operator after the drone reaches a certain height, the operation is usually automatically decided for the drone, or the height of the drone is visually observed by the operator and then an instruction is sent by the controller. The first mode is to directly execute the next operation according to a preset program after the unmanned aerial vehicle reaches a specific height, but the operation may be different due to different height requirements, and the mode lacks flexibility; the second mode is observed unmanned aerial vehicle's altitude state by the operator, and after unmanned aerial vehicle height reached the predetermined value, by the operator decision operation next step.
However, in the two existing interaction modes, the former interaction is weak and can only be limited in preset operation, and the latter depends on the operator to visually observe the current height, so that the precision is poor, and the user cannot accurately judge the in-position state. Above-mentioned two kinds of modes are unidirectional observation unmanned aerial vehicle height and decide by unmanned aerial vehicle after reaching certain value, perhaps decide operation on next step by the operator, and the interactive degree is low, and the flow flexibility is poor.
Disclosure of Invention
In view of this, the present invention provides an aircraft, a control terminal, a control method and a control device, which can determine the current height of the aircraft more accurately and have higher flexibility.
A method of controlling an aircraft, comprising:
obtaining a target height according to the target height instruction;
detecting the current height of the aircraft;
comparing the height difference between the current height and the target height with a preset threshold value;
and if the height difference value is smaller than the preset threshold value, outputting in-position reminding response information.
In one embodiment, the method further includes, if the altitude difference is greater than a preset threshold, the aircraft executing a corresponding action command to modify the flight altitude.
In one embodiment, the aircraft executing the corresponding action command to modify the flight altitude comprises:
if the current height is larger than the target height, executing a deceleration action command to reduce the height of the aircraft until the height difference value is smaller than a preset threshold value;
and if the current height is smaller than the target height, executing an acceleration action instruction to pull up the height of the aircraft until the height difference value is smaller than a preset threshold value.
In one embodiment, the aircraft, prior to receiving the target altitude instruction, further comprises:
detecting whether a task execution instruction sent by a control terminal is received or not, wherein the task execution instruction is used for controlling the aircraft to fly to a default preset height;
if yes, further detecting whether a target height instruction sent by the control terminal is received within a preset time length;
and if the target altitude instruction sent by the control terminal is not received within the preset time length, marking the default preset altitude as the target altitude so as to indicate the aircraft to fly to the default preset altitude.
In one embodiment, the preset threshold is less than or equal to 0.1 meter.
In one embodiment, the aircraft sends the in-place reminding response message to the control terminal for instructing the control terminal to output the in-place reminding signal.
In one embodiment, after the aircraft sends the in-position reminding response message, the aircraft further detects whether a task instruction of the control terminal responding to the in-position reminding response message is received, and if yes, the task instruction is executed; if not, executing a default operation instruction.
A method of controlling an aircraft, comprising:
sending a target altitude instruction to the aircraft;
receiving in-position reminding response information of the aircraft responding to the target height instruction, wherein the in-position reminding response information is used for indicating that the aircraft reaches the target height;
and outputting a positioning reminding signal according to the positioning reminding response information.
In one embodiment, before sending the target altitude instruction, whether a task execution control signal input by a user is received or not is further detected, wherein the task execution control signal is used for instructing the aircraft to fly to a default preset altitude; if yes, a task execution command is sent to the aircraft to instruct the aircraft to fly to a default preset height.
A control system for an aircraft, comprising:
the height receiving module is used for receiving a target height instruction sent by the control terminal to obtain a target height;
the altitude detection module is used for detecting the current altitude of the aircraft;
the data processing module is used for comparing the height difference value between the current height and the target height with the preset threshold value; and
and the response information sending module is used for outputting in-position reminding response information when the height difference value is smaller than a preset threshold value.
In one embodiment, the flight control system further comprises an altitude correction module, configured to execute a corresponding action command to correct the flight altitude when the altitude difference is greater than a preset threshold.
In one embodiment, the height correction module further comprises:
the altitude reduction module is used for executing a deceleration action command to reduce the altitude of the aircraft when the current altitude is larger than the target altitude until the altitude difference value is smaller than a preset threshold value;
and the height pulling-up module is used for executing an acceleration action instruction to pull up the height of the aircraft when the current height is smaller than the target height until the height difference value is smaller than a preset threshold value.
In one embodiment, the method further comprises the following steps:
the task instruction detection module is used for detecting whether a task execution instruction sent by the control terminal is received or not, and the task execution instruction is used for controlling the aircraft to fly to a default preset height;
the target height detection module is used for detecting whether the height receiving module receives a target height instruction within a preset time length;
and the target altitude correction module is used for setting the default preset altitude as the target altitude when the target altitude instruction is not received within the preset time length and indicating the aircraft to fly to the default preset altitude.
In one embodiment, the preset threshold is less than or equal to 0.1 meter.
In one embodiment, the response message sending module is configured to send the location reminding response message to the control terminal, and is configured to instruct the control terminal to output the location reminding.
In one embodiment, the system further comprises a task instruction detection module for detecting whether the aircraft receives a task instruction of the control terminal responding to the in-position reminding response message; if so, sending the task instruction to a data processing module to execute the task instruction; if not, the data processing module executes a default operation instruction.
An aircraft comprising a control device as described above.
In one embodiment, the aircraft outputs the in-position reminder information by at least one of lighting, image, sound, vibration.
A control device for an aircraft, comprising:
the target height instruction sending module is used for sending a target height instruction to the aircraft;
the response information receiving module is used for receiving in-position reminding response information of the aircraft responding to the target altitude instruction, and the in-position reminding response information is used for indicating that the aircraft reaches the target altitude; and
and the in-position reminding instruction sending module is used for sending in-position reminding signals according to the in-position reminding response messages.
In one embodiment, the system further comprises a task receiving detection module, configured to detect whether a task execution control signal sent by a user is received; and if so, sending a task execution command to the aircraft.
A control terminal for an aircraft, comprising a control device as described above.
In one embodiment, the control terminal of the aircraft sends out the in-position prompt through at least one of lighting, images, sound and vibration.
Compared with the prior art, the aircraft, the control terminal, the control method and the control system provided by the invention have the advantages that after the aircraft receives the target altitude, the current altitude is detected in real time, and after the aircraft is in place, the in-place reminding is sent to remind a user or an operator, so that the interaction between the aircraft and the operator is enhanced, the manual height observation of the operator is avoided, and the control accuracy is improved.
Furthermore, the unmanned aerial vehicle can also receive the target height of the control terminal in real time when executing the preset program, and the interaction flexibility is improved.
Drawings
Fig. 1 is a flowchart of a control method for an aircraft according to an embodiment of the present invention.
Fig. 2 is a schematic view of an interaction flow between an aircraft and a control end in a control method of the aircraft according to an embodiment of the present invention.
FIG. 3 is a flow chart illustrating altitude adjustment of an aircraft in accordance with an embodiment of the present invention.
FIG. 4 is a flow chart of one embodiment of the height adjustment flow chart shown in FIG. 3.
Fig. 5 is a flowchart of detecting a target altitude sent by a control terminal, which is newly added in the aircraft control method according to the embodiment of the present invention.
Fig. 6 is a flowchart of a control method for an aircraft according to another embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a control system of an aircraft according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a newly added module in the control system of the aircraft shown in fig. 7.
Fig. 9 is a schematic structural diagram of a control system of an aircraft according to another embodiment of the present invention.
FIG. 10 is a schematic structural diagram of an aircraft provided by an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a control terminal of an aircraft according to an embodiment of the present invention.
Description of the main elements
| Aircraft control device | 100,200 |
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| Response |
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| Target height |
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| Response |
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| In-position reminding |
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| Aircraft with a |
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| Reminding device takes one's |
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2003 |
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 and 2, a control method for an aircraft according to a first embodiment of the present invention includes the following steps:
step S11, obtaining a target height according to the target height instruction;
step S12, detecting the current height of the aircraft;
step S13, comparing the height difference between the current height and the target height with the preset threshold value;
and step S14, if the height difference is smaller than a preset threshold value, outputting in-position reminding response information.
Specifically, in step S11, the target altitude command may be sent by the control terminal, and may be a target altitude command in a mission command executed by the aircraft, or a target altitude command in any default predetermined program preset in the aircraft. When the control terminal sends out a target altitude instruction, the aircraft can detect whether the target altitude instruction sent out by the control terminal is received.
The control terminal can be a remote controller, a tablet computer, a mobile phone, an aircraft base station and the like. Triggering the target height instruction can control a remote controller to send out the target height instruction through an entity switch of the control terminal. Of course, the target height instruction may also be sent by controlling a virtual switch of the control terminal, for example, by controlling the remote controller to send the target height instruction through an operation interface of the touch control terminal.
Specifically, the touch control method of the control terminal is realized by detecting a contact operation on a touch screen of the control terminal. And if the detected contact operation is a sliding contact operation or an altitude input operation in a preset image area, detecting whether the sliding contact operation is an altitude trigger operation on the aircraft, and if so, generating a target altitude instruction to realize control on the flying altitude of the aircraft. Further, the preset image area may be a human-computer interaction interface, the image area includes an area for indicating a glide path, and a sliding interactive icon that is dynamically movable in the area of the glide path to indicate a target height.
In step S12, the current altitude of the aircraft may be obtained by an altitude detection module in the aircraft. Specifically, the current altitude of the aircraft may be detected by an altitude sensing device of the aircraft. The height sensing device may be an absolute height sensor, such as a barometer, a GPS, etc., or a relative height sensor, such as an ultrasonic sensor, a binocular image sensor, a laser distance sensor, etc., which may be selected as desired.
In step S13, a height difference between the current height and the target height may be obtained by the information processing module, and the height difference is compared with a preset threshold. The preset threshold is the maximum difference between the actual flying altitude of the aircraft and the required target altitude. It will be appreciated that due to the presence of measurement errors and the influence of the environment, such as airflow, the aircraft may experience small excursions in the air even when hovering, and the actual flying height reached by the aircraft may have errors from the target height. Therefore, whether the aircraft reaches the target height can be judged by setting the preset threshold value, and when the difference value between the actual flying height and the target height is within the preset threshold value range, the aircraft can be considered to reach the preset height. In this embodiment, the preset threshold may be equal to or less than 0.1 meter, that is, when the actual flying height of the aircraft is within 0.1 meter of the target height, the aircraft may be considered to be at the target height. It can be understood that the preset threshold may also be less than or equal to 0.05 m, and may be preset according to actual needs.
Further, when the difference value between the current altitude and the target altitude of the aircraft is greater than the preset threshold value, the aircraft can execute a corresponding action instruction to correct the flight altitude. The corresponding action command can be used for changing the flying height of the aircraft, and comprises a deceleration action command for reducing the height of the aircraft, an acceleration action command for increasing the flying height of the aircraft and an acceleration action command for pulling up the height of the aircraft. The aircraft can modify the flying height of the aircraft through the height modification module, for example, by changing the working state of a power device such as a propeller and the like, so as to realize the change of the flying height.
Referring to fig. 3 and 4, in detail, the step S13 further includes:
step S13a, when the current altitude is larger than the target altitude, executing a deceleration action instruction to reduce the altitude of the aircraft until the altitude difference value is smaller than a preset threshold value;
and step S13b, when the current altitude is smaller than the target altitude, executing an acceleration action instruction to pull up the altitude of the aircraft until the altitude difference value is smaller than a preset threshold value.
In step S13a, the aircraft may control an altitude correction device in the aircraft via the altitude reduction module to reduce the altitude of the aircraft. In particular embodiments, the aircraft height may be reduced by reducing the rotational speed of a power plant, such as a propeller, to bring the aircraft closer to the target height.
Similarly, in step S13b, the aircraft may control an altitude correction device in the aircraft via the altitude raising module to raise the flying altitude of the aircraft. In a particular embodiment, the aircraft height may be pulled up by increasing the rotational speed of the propeller to bring the aircraft closer to the target height.
In step S14, when the flying height of the aircraft is smaller than the preset threshold, it may also be understood that, when the flying height of the aircraft has reached the target height, the aircraft sends a positioning reminding response message to the control terminal to remind the user that the aircraft has reached the target height.
The in-place reminding response message can be sent to the control terminal through a wireless link, and specifically, the in-place reminding response message can be sent to an in-place reminding device of the control terminal through a response message sending module and used for indicating the control terminal to output an in-place reminding signal to remind a user. The in-position reminding device can emit light, images, sounds, vibrations and other modes to remind a user. The in-position reminding device can be an LED, a display screen, a loudspeaker, a vibrator and the like, and can be integrated in the control terminal, so that the user can be informed that the aircraft is in position at the first time. When the user hears, sees, or feels the alert, further control of the aircraft may be exercised or no action may be taken. Further, the in-position reminding device can remind the user in multiple modes at the same time so as to adapt to different situations.
Further, in another embodiment, the alert that the aircraft is in place may be issued directly by the aircraft to notify the user. That is, the aircraft may send the in-position reminder through its own in-position reminder device. Specifically, the aircraft can directly inform the user that the aircraft has reached the target height through light, image, sound and vibration. For example, the vehicle may notify the user that the vehicle is in place via an LED, display screen, speaker, vibrator, etc.
Further, in another embodiment, the alert that the aircraft is in place can be notified to the user through the aircraft and the control terminal at the same time, so as to further ensure that the user can know that the aircraft is in place for the next operation.
Further, in another embodiment, the aircraft further detects whether a task execution instruction is received before the aircraft receives a target altitude instruction. The task execution instruction can be received by a signal receiving device, such as a wifi antenna, a bluetooth antenna, a WiMAX antenna, a COFDM antenna, and the like, and can be selected according to the requirement. After receiving the task execution instruction, the aircraft executes corresponding tasks according to the task execution instruction, such as a delivery process, a landing process, an automatic photographing process, a flying dance and the like. The various processes can be stored in the control terminal or the aircraft in a preset flight mode in advance, and the aircraft can execute corresponding tasks according to default operation processes and default operation instructions in the preset flight mode. Specifically, the aircraft further detects a default preset altitude instruction for controlling the altitude of the aircraft in the preset flight mode, so as to control the aircraft to execute a corresponding task according to the default preset altitude.
Referring to fig. 5, before the aircraft receives the target altitude command sent by the control terminal, the method further includes:
step S10a, detecting whether a task execution instruction sent by a control terminal is received, wherein the task execution instruction is used for indicating the aircraft to fly to a default preset height;
step S10b, if yes, further detecting whether a target height instruction sent by the control terminal is received within a preset time length;
and if the target altitude instruction sent by the control terminal is not received within the preset time length, marking the default preset altitude as the target altitude so as to indicate the aircraft to fly to the default preset altitude.
In step S10a, before the aircraft receives the target altitude, the aircraft further detects whether a task execution instruction sent by the control end to execute a predetermined task is received. The task execution instructions are used for controlling the unmanned aerial vehicle to execute a predetermined task, such as transporting goods, and the task execution instructions can instruct the aircraft to fly to a default predetermined height preset in the predetermined task.
In step S10b, if the aircraft receives a task execution instruction for executing a predetermined task sent by the control end, the unmanned aerial vehicle may be in a waiting state, wait for a preset duration, and simultaneously monitor whether a target altitude instruction is received; or detecting the flight altitude of the current aircraft according to a received default preset altitude instruction, and waiting for a preset time length; or firstly flying to a default preset height according to a received default preset height instruction, and waiting for a preset time length; or executing part of the task execution instructions first and waiting for a preset time length. Specifically, after the aircraft receives the task execution instruction, the aircraft can enter the waiting state in different modes according to different tasks to be executed.
If the aircraft does not receive the target altitude instruction within the preset time length, for example, the position of the aircraft exceeds the remote control distance of the control terminal, the default preset altitude can be used as the final target altitude, and then the difference value between the current altitude and the default preset altitude of the aircraft and the size of the preset threshold value are obtained. If the current height of the aircraft reaches a default preset height, sending an in-position prompt; and if the distance between the current altitude of the aircraft and the default preset altitude is larger than the preset threshold value, the aircraft can be driven to fly to the default preset altitude, and then the in-position reminding is sent.
On the other hand, if the aircraft receives the target altitude instruction within the preset time length, the aircraft sends the in-position reminding information to the control terminal by detecting the current altitude of the aircraft and comparing the current altitude with the target altitude. The target height instruction may be used to modify a default preset height to better suit the actual situation. For example, if the aircraft has an obstacle when reaching the default preset altitude, the control terminal may send a target altitude instruction to the aircraft to modify the altitude of the aircraft to avoid the obstacle.
Further, after the aircraft sends the in-position reminding information to the control terminal, the aircraft also comprises a task instruction for receiving the in-position reminding response information responded by the control terminal. Specifically, after the aircraft flies to the target height, the aircraft may be in a hover waiting state to wait for receiving a new task instruction sent by the control terminal or receiving a user to directly operate the aircraft, such as suspending an article below the aircraft, performing a landing, taking a picture, and performing a flying dance.
It is understood that, after the aircraft reaches the target altitude, if the aircraft does not receive any mission command, the aircraft may also choose to continue to perform default operations, such as automatic return voyage, and the like, which is not limited herein.
Referring to fig. 6, a control method for an aircraft according to a second embodiment of the present invention includes the following steps:
step S21, sending a target altitude instruction to the aircraft;
step S22, receiving in-position reminding response information of the aircraft responding to the target height instruction, wherein the in-position reminding response information is used for indicating that the aircraft reaches the target height; and
and step S23, outputting an in-position reminding signal according to the received in-position reminding response message.
In step S21, the target altitude command may be transmitted to the aircraft through the signal transmitting device of the control terminal.
In step S22, after the aircraft flies to the target altitude, the control terminal may receive the in-position reminding response message sent by the aircraft through the signal receiving device.
In step S23, the control terminal may remind the user by lighting, image, sound, vibration, etc., for example, by means of an LED, a display screen, a speaker, a vibrator, etc.
Further, before the control terminal sends the target height instruction, the control terminal further includes:
detecting whether a task execution control signal input by a user is received; and if the task execution control signal input by the user is received, the control terminal sends a corresponding task execution instruction to the aircraft to instruct the aircraft to execute corresponding operation.
Referring to fig. 7, the present invention further provides an aircraft control device 100, where the aircraft control device 100 includes:
the height receiving module 101 is configured to receive a target height instruction sent by the control terminal to obtain a target height;
an altitude detection module 102 for detecting a current altitude of the aircraft;
the data processing module 103 is used for comparing a height difference value between the current height and the target height with a preset threshold value;
and the response information sending module 104 is configured to output in-position reminding response information when the height difference is smaller than a preset threshold.
The altitude receiving module 101, the altitude detecting module 102, the data processing module 103, and the response information sending module 104 may be integrated in an aircraft such as an unmanned aerial vehicle. Specifically, the height receiving module 101 may be configured to receive a target height instruction sent by the control terminal, or a default preset height instruction in a task instruction sent by the control terminal.
The altitude detection module 102 may be configured to detect a current flight altitude of the aircraft after receiving the target altitude instruction, and send the detected current altitude to the data processing module 103.
After receiving the height detected by the height detection module 103 but before, the data processing module 103 calculates the current height and the target height to obtain a height difference, and then compares the height difference with a preset threshold to obtain a comparison result. When the data processing module 103 determines that the height difference is smaller than the preset threshold, the information sending instruction may be sent to the response information sending module 104.
When the data processing module 103 determines that the altitude difference is smaller than the preset threshold, the aircraft may be controlled to fly to the target altitude, and then send a message sending instruction to the response message sending module 104 after the altitude difference is smaller than the preset threshold.
The response message sending module 104 sends the in-position reminding response message after receiving the message sending instruction. Specifically, the response message sending module 104 may send the position reminding response message to the control terminal to remind the user.
Further, the control device 100 of the aircraft further includes an altitude correction module 105, which is configured to adjust the flying altitude of the aircraft when the flying altitude of the aircraft is far from the target altitude. Specifically, the height correction module 105 may include: a height lowering module 105a and a height pulling up module 105 b. The altitude reduction module 105a may be configured to execute a deceleration action command to reduce the altitude of the aircraft when the current altitude is greater than the target altitude until the altitude difference is less than a preset threshold. Specifically, the aircraft can reduce the flying height of the aircraft by reducing the rotating speed of a rotor wing in the aircraft; the altitude raising module 105b may be configured to execute the acceleration action instruction to raise the altitude of the aircraft when the current altitude is smaller than the target altitude until the altitude difference is smaller than the preset threshold. Specifically, the aircraft can raise the flying height of the aircraft by increasing the rotation speed of a rotor in the aircraft, so as to reduce the difference between the aircraft height and the target height, and make the height difference smaller than a preset threshold value, or reach the target height.
Further, referring to fig. 8, the control device 100 of the aircraft further includes a task instruction detection module 106, configured to receive a task instruction sent by the control terminal, where the task instruction detection module 106 may be one of a wifi module, a bluetooth module, a WiMax module, and a COFDM module. The task instruction detection module 106 may send the received task instruction to the data processing module 103 for processing, and further, the task instruction detection module 106 may be configured to send a default predetermined height instruction in the received task instruction to the data processing module 103 for processing.
Further, the control device 100 of the aircraft includes a target altitude detection module 107 and a target altitude correction module 108. The target height detection module 107 is configured to determine whether the height receiving module 101 receives a target height instruction within a preset time period. If the altitude receiving module 101 does not receive the target altitude instruction within the preset time period, the target altitude modification module 107 directly takes the default predetermined altitude as the target altitude to instruct the aircraft to fly to the default predetermined altitude.
Referring to fig. 9, the present embodiment further provides an aircraft control device 200, including:
a target altitude instruction sending module 201, configured to send a target altitude instruction to an aircraft;
the response information receiving module 202 is used for receiving in-position reminding response information responding to the target altitude instruction when the aircraft is in position; and
and the in-position reminding instruction sending module 203 is used for sending an in-position reminding signal according to the in-position reminding response message.
The control device 200 of the aircraft may be integrated in a control terminal of the aircraft, such as a remote controller, a tablet computer, a mobile phone, an aircraft base station, and the like, to control the aircraft.
The aircraft control device 200 may further include a task receiving detection module 204, configured to detect whether a task execution control signal sent by a user is received, and if so, the aircraft control device 200 may send a task execution instruction to the aircraft to instruct the aircraft to execute a corresponding task.
Referring also to fig. 10, the present invention further provides an aircraft 1000, the aircraft 1000 comprising:
a signal receiving device 1001 for receiving a target height instruction sent by a control terminal to obtain a target height;
altitude sensing means 1002 for detecting the current altitude of the aircraft;
the data processing device 1003 is used for comparing a height difference value between the current height and the obtained target height with a preset threshold value; and
and the in-position reminding device 1004 is used for sending in-position reminding response information when the height difference value is smaller than a preset threshold value.
After the signal receiving device 1001 receives the target altitude instruction, the altitude sensing device 1002 may simultaneously transmit the detected current altitude of the aircraft to the data processing device 1003; the data processing device 1003 calculates a difference between the current altitude of the aircraft and the target altitude in the received target altitude instruction to obtain an altitude difference between the current altitude of the aircraft and the target altitude, and compares the altitude difference with a preset threshold to obtain a corresponding comparison result. When the height difference is smaller than the preset threshold, an in-position reminding sending instruction is sent to the in-position reminding device 1004. The in-position reminding device 1004 sends in-position reminding response information according to the in-position reminding sending instruction. The in-position reminding device 1004 can send the in-position reminding response message to a control terminal, such as a controller, a mobile phone, a tablet computer, an aircraft base station, and the like, so as to inform a controller or a user. Further, the in-position reminding device 1004 can also inform the controller or the user directly by means of lighting, image, sound, vibration, etc. to inform the controller or the user that the aircraft height has reached the target height, i.e. the aircraft is in position.
Further, the aircraft 1000 may include an altitude correction device 1005, configured to perform adjustment and correction on the flying altitude of the aircraft according to the comparison result obtained by the data processing device 1003. The altitude correction device 1005 may be a power device of an aircraft, such as a rotor, for controlling the aircraft to reach a target altitude by adjusting the rotation speed of the rotor to lower or raise the aircraft.
Further, the signal receiving device 1001 is further configured to receive a task execution instruction sent by the control terminal, for example, execute a preset flight mode, and send the task execution instruction to the data processing device 1003 for processing, so as to instruct the aircraft to execute a corresponding task. Specifically, the data processing device 1003 may be configured to obtain a default predetermined height in the task execution instruction.
Further, the aircraft 1000 includes a target altitude detection device 1006, configured to detect whether a target altitude command sent by the control terminal is received within a preset time period. If the aircraft 1000 does not receive the target altitude instruction within the preset time period, the aircraft 1000 takes the default predetermined altitude in the preset flight mode as the target altitude of flight. When the aircraft 1000 reaches the default predetermined height, the in-position reminding device 1004 may send in-position reminding response information to the control terminal.
Referring to fig. 11, an embodiment of the present invention further provides an aircraft control terminal 2000, where the aircraft control terminal 2000 includes:
a signal transmitting device 2001 for transmitting a target height instruction;
a signal receiving device 2002 for receiving in-position reminder reply information that the aircraft position in response to the target altitude instruction is in position; and
and the in-position reminding device 2003 is used for sending in-position reminding signals according to the in-position reminding response messages.
Specifically, the signal transmitting device 2001 may transmit a target altitude instruction to the aircraft 1000, and receive the in-position reminding response message returned by the aircraft 1000 after the aircraft 1000 arrives at the target altitude and is in position. After the signal receiving device 2002 receives the in-position reminding response message, the in-position reminding device 2003 can be controlled to send an in-position reminding signal to the controller or the user to remind the user that the aircraft is in position, so that the controller or the user can conveniently perform the next action.
The in-position reminding device 2003 can remind the user and the controller in a light-emitting, image, sound and vibration mode, and specifically, the in-position reminding device can send reminding information to the user through an LED, a display screen, a speaker, a vibrator and other devices integrated in the control terminal 2000 to remind the user that the aircraft 2000 has reached the target height.
As a specific example, the invention is further described below in connection with article hanging to a drone. The hanging article is the next operation that the unmanned aerial vehicle may perform after reaching the predetermined height, and is only used for illustrating the use method of the invention and does not limit the use scope of the invention.
After the interaction starts, firstly, the unmanned aerial vehicle waits for the target height sent by the control end, the control end sends the target height of 1.5m to the unmanned aerial vehicle, and the unmanned aerial vehicle detects the difference between the current height and the target height after obtaining the target height; if the current height is lower than 1.45m, the unmanned aerial vehicle increases the throttle and starts to ascend, and if the current height is higher than 1.55m, the throttle is reduced and the unmanned aerial vehicle descends.
After the unmanned aerial vehicle reaches the predetermined altitude, the aircraft keeps hovering, waits for the operator to hang article on unmanned aerial vehicle for example, sends information of taking one's place to the control end through wireless link simultaneously, reminds the user through modes such as sound, animation and vibration at the control end, and unmanned aerial vehicle itself also can give the suggestion of taking one's place through modes such as light, sound simultaneously.
After the operator obtains the suggestion of taking one's place that the control end given, the user can be directly with the hand to unmanned aerial vehicle direct operation, for example hang article in the unmanned aerial vehicle below, or send control command to unmanned aerial vehicle through the control end, these are that unmanned aerial vehicle reaches predetermined height and reminds the operation that can carry out next step for the user.
Further, a default control operation may be preset in the drone, and if the drone reaches a certain time within the set altitude and the user does not perform any other control operation, the default operation set before is executed, for example, the default operation may be automatic return flight or the like.
The aircraft, the control terminal, the aircraft control method and the aircraft control device enhance the interaction between the control terminal and the aircraft in the process of executing a task after the aircraft reaches a preset height, the aircraft enters height adjustment after receiving the target height of the control terminal, the current state is continuously monitored, the in-place state is sent to the control terminal after the unmanned aerial vehicle is in place, and meanwhile, sound, images, vibration and other obvious prompts are given to inform an operator to adopt the next operation. The mode avoids manual height observation of an operator, improves the control accuracy, and meanwhile, the aircraft can receive the target height of the control terminal in real time, so that the interaction flexibility is improved. Furthermore, after the control terminal receives the target height reached by the aircraft, the control terminal can timely instruct the aircraft to execute corresponding tasks according to needs, and an operator can conveniently select corresponding operations in time to control the aircraft.
In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A method of controlling an aircraft, comprising:
obtaining a target height according to the target height instruction;
detecting the current height of the aircraft;
comparing the height difference between the current height and the target height with a preset threshold value;
if the height difference is smaller than the preset threshold value, outputting in-position reminding response information;
before instructing to obtain the target height according to the target height, the method further comprises: detecting whether a task execution instruction sent by a control terminal is received, wherein the task execution instruction is used for indicating the aircraft to fly to a default preset height and indicating the aircraft to execute a corresponding task according to a default operation flow and the default operation instruction in a preset flight mode; if yes, further detecting whether the target height instruction sent by the control terminal is received within a preset time length; if the target altitude instruction sent by the control terminal is not received within a preset time length, marking the default preset altitude as the target altitude so as to indicate that the aircraft flies to the default preset altitude;
after the outputting the in-place reminding response message, the method further comprises: detecting whether a task instruction of the control terminal responding to the in-position reminding response information is received within a preset time length, if so, executing the task instruction; if not, executing a default operation instruction.
2. The control method for an aircraft according to claim 1, characterized in that it further comprises: and if the altitude difference value is larger than the preset threshold value, the aircraft executes a corresponding action instruction to correct the flying altitude.
3. The method of controlling an aircraft according to claim 2, wherein said aircraft executing the corresponding action command to modify the altitude of flight comprises:
if the current altitude is larger than the target altitude, executing a deceleration action instruction to reduce the altitude of the aircraft until the altitude difference value is smaller than the preset threshold value;
and if the current height is smaller than the target height, executing an acceleration action instruction to pull up the height of the aircraft until the height difference value is smaller than the preset threshold value.
4. The method for controlling an aircraft according to claim 1, characterized in that said preset threshold value is equal to or less than 0.1 m.
5. The aircraft control method according to claim 1, wherein the aircraft transmits the in-position reminder response message to the control terminal for instructing the control terminal to output the in-position reminder signal.
6. A method of controlling an aircraft, comprising:
sending a target altitude instruction to the aircraft;
receiving in-position reminding response information of the aircraft responding to the target height instruction, wherein the in-position reminding response information is used for indicating that the aircraft reaches the target height indicated by the target height instruction;
outputting a positioning reminding signal according to the positioning reminding response information;
before the sending the target altitude instruction to the aircraft, the method further comprises: detecting whether a task execution control signal input by a user is received, wherein the task execution control signal is used for indicating the aircraft to fly to a default preset height and indicating the aircraft to execute a corresponding task according to a default operation flow and a default operation instruction in a preset flight mode; if so, sending a task execution instruction to the aircraft to indicate the aircraft to fly to a default preset height;
after outputting the in-place reminding signal according to the in-place reminding response message, the method further comprises: detecting whether a task instruction which is input by a user and responds to the in-position reminding response information is received; and if so, sending a task instruction to the aircraft.
7. A control device for an aircraft, comprising:
the height receiving module is used for receiving a target height instruction sent by the control terminal to obtain a target height;
the altitude detection module is used for detecting the current altitude of the aircraft;
the data processing module is used for comparing the height difference value between the current height and the target height with a preset threshold value; and
the response information sending module is used for outputting in-position reminding response information when the height difference value is smaller than the preset threshold value;
the control device of the aircraft further comprises: the task instruction detection module is used for detecting whether a task execution instruction sent by the control terminal is received or not, wherein the task execution instruction is used for indicating the aircraft to fly to a default preset height and indicating the aircraft to execute a corresponding task according to a default operation flow and a default operation instruction in a preset flight mode; the target height detection module is used for detecting whether the height receiving module receives the target height instruction within a preset time length; the target altitude correction module is used for setting the default preset altitude as the target altitude when the target altitude instruction is not received within the preset time length and indicating the aircraft to fly to the default preset altitude;
the task instruction detection module is also used for detecting whether the aircraft receives a task instruction of the control terminal responding to the in-position reminding response message; if so, sending the task instruction to a data processing module to execute the task instruction; and if not, the data processing module executes a default operation instruction.
8. The control device for an aircraft according to claim 7, further comprising an altitude correction module configured to execute a corresponding action command to correct the altitude when the altitude difference is greater than the preset threshold value.
9. The control device for an aircraft according to claim 8, characterized in that said altitude correction module further comprises:
the altitude reduction module is used for executing a deceleration action instruction to reduce the altitude of the aircraft when the current altitude is larger than the target altitude until the altitude difference value is smaller than the preset threshold value;
and the height pulling module is used for executing an acceleration action instruction to pull up the height of the aircraft when the current height is smaller than the target height until the height difference value is smaller than the preset threshold value.
10. The control device of claim 7, wherein the preset threshold is 0.1 meters or less.
11. The control device according to claim 7, wherein the response message sending module is configured to send the in-position reminding response message to the control terminal, and instruct the control terminal to output an in-position reminder.
12. A control device for an aircraft, comprising:
the target height instruction sending module is used for sending a target height instruction to the aircraft;
the response information receiving module is used for receiving in-position reminding response information of the aircraft responding to the target height instruction, and the in-position reminding response information is used for indicating that the aircraft reaches the target height indicated by the target height instruction; and
the in-position reminding instruction sending module is used for sending in-position reminding signals according to the in-position reminding response messages;
the aircraft control device further includes: the task receiving and detecting module is used for detecting whether a task execution control signal sent by a user is received or not; if so, sending a task execution instruction to the aircraft, wherein the task execution instruction is used for indicating the aircraft to fly to a default preset height and indicating the aircraft to execute a corresponding task according to a default operation flow and a default operation instruction in a preset flight mode so as to indicate the aircraft to fly to the default preset height;
the task receiving detection module is also used for detecting whether a task instruction which is input by a user and responds to the in-position reminding response information is received; and if so, sending a task instruction to the aircraft.
13. An aircraft, characterized in that it comprises a control device of the aircraft according to any one of claims 7 to 11.
14. The vehicle of claim 13, wherein the vehicle control device outputs the seating alert by at least one of lighting, image, sound, vibration.
15. A control terminal of an aircraft, characterized in that it comprises a control device of an aircraft according to claim 12.
16. The control terminal of claim 15, wherein the aircraft control terminal issues a seating alert by at least one of lighting, image, sound, vibration.
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| CN108319292A (en) * | 2017-12-29 | 2018-07-24 | 深圳创动科技有限公司 | A kind of control method of unmanned vehicle, console, aircraft and control system |
| AU2018435033A1 (en) * | 2018-08-01 | 2021-03-18 | Guangzhou Xaircraft Technology Co., Ltd. | Methods and devices for adjusting flight height for unmanned aerial vehicle, and methods and devices for controlling flight of unmanned aerial vehicle |
| CN110262559B (en) | 2019-07-18 | 2022-11-08 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle safety protection method and device and unmanned aerial vehicle |
| 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 |
| CN117009908B (en) * | 2023-09-25 | 2024-01-12 | 中国民用航空飞行学院 | Flight abnormal state identification and prediction system and method |
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