CN106527493B - Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle control method based on a geomagnetic mode, which comprises the following steps: enabling the head of the unmanned aerial vehicle to face the true north; receiving a flight instruction sent by a remote controller, wherein the flight instruction carries attitude information of an attitude control rod of the remote controller; and determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod, and flying according to the target flight direction. The embodiment of the invention also provides the unmanned aerial vehicle. By adopting the embodiment of the invention, the unmanned aerial vehicle can be operated more conveniently, and the crash accident of the unmanned aerial vehicle is avoided.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle control method based on a geomagnetic mode and an unmanned aerial vehicle.
Background
Unmanned Aerial vehicles, all known as Unmanned Aerial Vehicles (UAVs), are Unmanned aircraft that are operated by radio remote control devices and self-contained program control devices. From a technical point of view, the definition can be divided into: unmanned fixed wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane aircraft, and the like.
The unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, self-shooting, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology. At present unmanned aerial vehicle's operation mainly still controls the removal according to the angle of making a video recording and the direction of the camera on the unmanned aerial vehicle. This kind of control mode operation is complicated, and the novice is difficult to master generally, sends the unmanned aerial vehicle accident of falling very easily.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle control method based on a geomagnetic mode and an unmanned aerial vehicle, so that the unmanned aerial vehicle can be controlled more conveniently, and the unmanned aerial vehicle crash accident can be avoided.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle control method based on a geomagnetic mode, including:
enabling the head of the unmanned aerial vehicle to face the true north;
receiving a flight instruction sent by a remote controller, wherein the flight instruction carries attitude information of an attitude control rod of the remote controller;
and determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod and flying according to the target flight direction.
In a possible embodiment, said orienting the nose of said drone to the north, comprises:
acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
and enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information.
In a possible embodiment, the determining the target flight direction of the drone according to the attitude information of the attitude control stick includes:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
In a possible embodiment, the method further comprises: and when flying according to the target flying direction, the unmanned aerial vehicle sends the current position information to the remote controller in real time.
In a possible embodiment, said directing the nose of said drone towards due north and said determining the target flight direction of said drone from the attitude information of said attitude control stick are performed in parallel; or, the determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control lever and the orienting the head of the unmanned aerial vehicle to the north and the attitude information of the attitude control lever are performed in series.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:
the nose adjusting module is used for enabling the nose of the unmanned aerial vehicle to face the true north;
the receiving module is used for receiving a flight instruction sent by a remote controller, and the flight instruction carries attitude information of an attitude control rod of the remote controller;
the determining module is used for determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod;
and the flight control module is used for flying according to the target flight direction.
In one possible embodiment, the handpiece adjustment module includes:
the acquisition unit is used for acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
and the adjusting unit is used for enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information.
In a possible embodiment, the determining module determines the target flight direction of the drone according to the attitude information of the attitude control stick, including:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
In a possible embodiment, the unmanned aerial vehicle further includes a sending module, configured to send current position information to the remote controller in real time when the unmanned aerial vehicle flies according to the target flight direction.
In a possible embodiment, said directing the nose of said drone towards due north and said drone determining the target flight direction of said drone from the attitude information of said attitude control stick are performed in parallel; or, the step of enabling the head of the unmanned aerial vehicle to face the north and the step of enabling the unmanned aerial vehicle to determine the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod are executed in series.
It can be seen that in the scheme of the embodiment of the present invention, the nose of the unmanned aerial vehicle is oriented to the north, and the flight instruction sent by the remote controller is received, and the flight instruction carries the attitude information of the attitude control lever of the remote controller; determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod; and flying according to the target flying direction. Compared with the prior art, the scheme provided by the embodiment of the invention enables the unmanned aerial vehicle to be operated more conveniently and avoids the crash accident of the unmanned aerial vehicle.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of an unmanned aerial vehicle control method based on a geomagnetic mode according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of another geomagnetic-mode-based unmanned aerial vehicle control method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle based on a geomagnetic mode according to an embodiment of the present invention;
fig. 4 is a schematic view of an interaction flow of an unmanned aerial vehicle control method based on a geomagnetic mode according to an embodiment of the present invention;
fig. 5 is an interaction schematic diagram of another geomagnetic-mode-based unmanned aerial vehicle control method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic view of a partial structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural view of another unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following are detailed below.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of the invention and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
"plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Embodiments of the present application are described below with reference to the drawings.
Referring to fig. 1, fig. 1 is a schematic view of an application scenario of an unmanned aerial vehicle control method based on a geomagnetic mode according to an embodiment of the present invention. The application scenario shown in fig. 1 includes: remote control 101 and drone 102. The remote controller 101 and the unmanned aerial vehicle 102 adopt a wireless communication mode. The wireless communication mode can be WiFi, ZigBee, GPRS, 3G, 4G, 5G, WiMAX or other wireless communication modes. The unmanned aerial vehicle 102 may be an unmanned fixed-wing aircraft, an unmanned vertical takeoff and landing aircraft, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned paravane aircraft, or other unmanned aerial vehicles.
Referring to fig. 2, fig. 2 is a schematic view of an application scenario of another geomagnetic-mode-based unmanned aerial vehicle control method according to an embodiment of the present invention. The application scenario shown in fig. 2 includes: remote control 201, drone 202 and wireless repeater 203. The data transmission between the remote controller 201 and the drone 202 is forwarded through a wireless repeater. Wireless communication modes are adopted between the remote controller 201 and the wireless repeater 203 and between the unmanned aerial vehicle 202 and the wireless repeater 203. The wireless communication mode can be WiFi, ZigBee, GPRS, 3G, 4G, 5G, WiMAX or other wireless communication modes. The unmanned aerial vehicle 202 may be an unmanned fixed-wing aircraft, an unmanned vertical take-off and landing aircraft, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned paravane aircraft, or other unmanned aerial vehicles.
Referring to fig. 3, fig. 3 is a schematic flowchart of a method for controlling an unmanned aerial vehicle based on a geomagnetic method according to an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle based on a geomagnetic mode, including the following steps:
s301, enabling the unmanned aerial vehicle to enable the head of the unmanned aerial vehicle to face the true north.
Wherein, unmanned aerial vehicle will unmanned aerial vehicle's aircraft nose orientation true north includes:
acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
and enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information.
Optionally, no one may perform a self-test before power-on takeoff.
Optionally, after the unmanned aerial vehicle is lifted off, the magnetic sensor acquires geomagnetic information of the current position of the unmanned aerial vehicle in real time, and the unmanned aerial vehicle enables the aircraft nose to face the true north according to the geomagnetic information of the current position.
S302, the unmanned aerial vehicle receives a flight instruction sent by a remote controller, and the flight instruction carries attitude information of an attitude control rod of the remote controller.
Wherein, above-mentioned unmanned aerial vehicle is at the flight in-process, and whether real-time supervision receives the flight instruction that above-mentioned remote controller sent. If the unmanned aerial vehicle monitors that the flight instruction sent by the remote controller is received, the unmanned aerial vehicle flies according to the previous flight instruction, and the previous flight instruction is a flight instruction with the receiving time close to the current system time; if the unmanned aerial vehicle monitors that the flight instruction is received, the unmanned aerial vehicle flies according to the target flight direction obtained by analyzing the flight instruction.
S303, the unmanned aerial vehicle determines the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod and flies according to the target flight direction.
Wherein, according to the attitude information of the attitude control rod, determining the target flight direction of the unmanned aerial vehicle comprises:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
Optionally, the determining a target flight direction of the drone according to the attitude information of the attitude control stick further includes:
if the attitude control lever is pushed forward to the left, the target flight direction is north to west;
if the attitude control lever is pushed forward to the right, the target flight direction is north to east;
if the attitude control lever is pushed backwards to the left, the target flight direction is southwest;
if the attitude control lever is pushed backward to the right, the target flight direction is south to east;
if the attitude control lever is pushed to the left in the forward direction, the target flight direction is north west;
if the attitude control rod is pushed to the left-rear direction, the target flight direction is southwest;
if the attitude control lever is pushed to the right in the forward direction, the target flight direction is north east;
if the attitude control lever is pushed to the rear right direction, the target flight direction is southeast east;
if the attitude control rod is not pushed forward, backward, left or right, the unmanned aerial vehicle is in a hovering state.
When the unmanned aerial vehicle flies according to the target flight direction, the unmanned aerial vehicle sends current position information to the remote controller in real time.
Optionally, the unmanned aerial vehicle sends current location information to the remote controller, and the method includes:
the positioning equipment of the unmanned aerial vehicle acquires the current position information of the unmanned aerial vehicle in real time; and send unmanned aerial vehicle current position information to above-mentioned remote controller.
Optionally, the unmanned aerial vehicle sends flight attitude information to the remote controller in a flight process. The attitude information is acquired by the unmanned aerial vehicle according to data acquired by the accelerometer and the gyroscope of the unmanned aerial vehicle.
Alternatively, the positioning device may be a GPS device or other positioning device (e.g., a due north fighter system positioning device, a galileo system positioning device, a glonass system positioning device).
Wherein, above-mentioned remote controller is after receiving the positional information that above-mentioned unmanned aerial vehicle sent, and the display screen of above-mentioned remote controller shows above-mentioned unmanned aerial vehicle's flight track. Through the unmanned aerial vehicle flight path of the visual display of the display screen of the remote controller, an unmanned aerial vehicle driver can conveniently control the unmanned aerial vehicle.
Optionally, the unmanned aerial vehicle orienting the nose of the unmanned aerial vehicle to north and the unmanned aerial vehicle determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control lever are executed in parallel; or, the unmanned aerial vehicle enables the head of the unmanned aerial vehicle to face the north and the unmanned aerial vehicle determines that the target flight direction of the unmanned aerial vehicle is executed serially according to the attitude information of the attitude control rod.
It can be seen that in the scheme of the embodiment of the present invention, the nose of the unmanned aerial vehicle is oriented to the north, and the flight instruction sent by the remote controller is received, and the flight instruction carries the attitude information of the attitude control lever of the remote controller; determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod; and flying according to the target flying direction. Compared with the prior art, the scheme provided by the embodiment of the invention enables the unmanned aerial vehicle to be operated more conveniently and avoids the crash accident of the unmanned aerial vehicle.
Referring to fig. 4, fig. 4 is a schematic view illustrating an interaction flow of an unmanned aerial vehicle control method based on a geomagnetic mode according to an embodiment of the present invention, and as shown in fig. 4, the unmanned aerial vehicle control method based on a geomagnetic mode according to an embodiment of the present invention includes:
s401, the unmanned aerial vehicle acquires the geomagnetic information of the current position of the unmanned aerial vehicle, and the nose direction is towards the true north according to the geomagnetic information.
Optionally, the geomagnetic information is obtained by a magnetic sensor of the unmanned aerial vehicle.
Optionally, after above-mentioned unmanned aerial vehicle was overhead, the real-time earth magnetic information of above-mentioned unmanned aerial vehicle current position of above-mentioned earth magnetic sensor, above-mentioned unmanned aerial vehicle is according to above-mentioned earth magnetic information, the direction of real-time adjustment aircraft nose, makes its aircraft nose direction face true north constantly.
S402, the remote controller sends a flight instruction to the unmanned aerial vehicle, and the flight instruction carries attitude information of an attitude remote control rod of the remote controller.
Optionally, the unmanned aerial vehicle monitors a flight instruction sent by the remote controller in real time, and if the remote controller does not send a flight instruction, the unmanned aerial vehicle flies according to a target flight direction acquired after analysis of a previous flight instruction of the team, wherein the previous flight instruction is a flight instruction with a receiving time close to the current system time; if the unmanned aerial vehicle receives the flight instruction sent by the remote controller, the unmanned aerial vehicle flies according to the target flight direction acquired after the flight instruction is analyzed.
And S403, acquiring the target flight direction by the unmanned aerial vehicle according to the attitude information of the attitude remote control lever.
Wherein, according to the attitude information of the attitude control rod, determining the target flight direction of the unmanned aerial vehicle comprises:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
S404, the unmanned aerial vehicle flies according to the target direction.
S405, the unmanned aerial vehicle acquires the current position information of the unmanned aerial vehicle.
Wherein, above-mentioned unmanned aerial vehicle's positioning device acquires the positional information of unmanned aerial vehicle current position in real time.
Alternatively, the positioning device may be a GPS device or other positioning device (e.g., a due north fighter system positioning device, a galileo system positioning device, a glonass system positioning device).
S406, the unmanned aerial vehicle sends the position information of the unmanned aerial vehicle to the remote controller.
Wherein, above-mentioned remote controller includes a display screen, and above-mentioned remote controller is after receiving the positional information that above-mentioned unmanned aerial vehicle sent, and above-mentioned display screen shows above-mentioned unmanned aerial vehicle's flight orbit. Through observing the unmanned aerial vehicle flight path that the display screen of above-mentioned remote controller shows, the unmanned aerial vehicle driver can know the position that unmanned aerial vehicle was located directly perceivedly to conveniently control unmanned aerial vehicle.
It should be noted that, the specific implementation of the steps of the method shown in fig. 4 can refer to the specific implementation described in the above method, and will not be described here.
When the distance between unmanned aerial vehicle and the remote controller surpassed the communication distance between the two, unable normally carry out the interaction of information between above-mentioned unmanned aerial vehicle and the above-mentioned remote controller. To solve the above problem, referring to fig. 5, fig. 5 is another schematic interaction diagram of a control method of an unmanned aerial vehicle based on a geomagnetic mode according to an embodiment of the present invention. As shown in fig. 5, another method for controlling an unmanned aerial vehicle based on a geomagnetic mode according to an embodiment of the present invention includes:
s501, acquiring the geomagnetic information of the current position of the unmanned aerial vehicle by the unmanned aerial vehicle, and enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information.
Wherein, after above-mentioned unmanned aerial vehicle's magnetic sensor acquireed the geomagnetic information of above-mentioned unmanned aerial vehicle current position, above-mentioned unmanned aerial vehicle acquireed the true north direction information according to above-mentioned geomagnetic information to with the aircraft nose orientation true north.
Optionally, after above-mentioned unmanned aerial vehicle was overhead, the real-time earth magnetic information of above-mentioned unmanned aerial vehicle current position of above-mentioned earth magnetic sensor, above-mentioned unmanned aerial vehicle is according to above-mentioned earth magnetic information, the direction of real-time adjustment aircraft nose, makes its aircraft nose direction face true north constantly.
And S502, the remote controller sends a flight instruction to the wireless repeater.
S503, the relay forwards the flight instruction to the unmanned aerial vehicle.
And S504, the unmanned aerial vehicle acquires the target flight direction according to the attitude information of the remote control attitude rod carried by the flight instruction.
Wherein, above-mentioned unmanned aerial vehicle obtains target direction of flight according to above-mentioned gesture information, includes:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
And S505, the unmanned aerial vehicle flies according to the target flight direction.
S506, the unmanned aerial vehicle acquires current position information.
Wherein, above-mentioned unmanned aerial vehicle's locating device acquires above-mentioned unmanned aerial vehicle's current position information in real time.
Alternatively, the positioning device may be a GPS device or other positioning device (e.g., a due north fighter system positioning device, a galileo system positioning device, a glonass system positioning device).
S507, the unmanned aerial vehicle sends the current position information to the wireless repeater.
And S508, the wireless repeater sends the current position information to the remote controller.
It should be noted that, the specific implementation of the steps of the method shown in fig. 5 can refer to the specific implementation described in the above method, and will not be described here.
Referring to fig. 6 and fig. 6, a schematic structural diagram of an unmanned aerial vehicle is provided for the embodiment of the present invention, and as shown in fig. 6, an unmanned aerial vehicle 600 provided by the embodiment of the present invention includes:
and a direction adjusting module 601, configured to face the head of the unmanned aerial vehicle to true north.
Wherein, the handpiece adjustment module 601 includes:
an obtaining unit 6011, configured to obtain geomagnetic information collected by a magnetic sensor of the unmanned aerial vehicle;
and an adjusting unit 6012, configured to face the nose of the unmanned aerial vehicle to due north according to the geomagnetic information.
The receiving module 602 is configured to receive a flight instruction sent by a remote controller, where the flight instruction carries attitude information of an attitude control rod of the remote controller.
A determining module 603, configured to determine a target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control stick.
Wherein, the determining module 603 determines the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control lever, including:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
A flying module 604, configured to fly according to the target flying direction.
Wherein, unmanned aerial vehicle still includes: a sending module 605, configured to send the current position information to the remote controller in real time when the unmanned aerial vehicle flies according to the target flight direction.
Optionally, the orienting the nose of the drone to north and the determining by the drone of the target flight direction of the drone from the attitude information of the attitude control stick are performed in parallel; or, the step of enabling the head of the unmanned aerial vehicle to face the north and the step of enabling the unmanned aerial vehicle to determine the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod are executed in series.
The modules (the direction adjustment module 601, the receiving module 602, the determining module 603, the flight control module 604, and the sending module 605) are configured to perform the steps of the method.
In this embodiment, the drone 600 is presented in the form of a module. A "module" herein may refer to an application-specific integrated circuit (ASIC), a processor and memory that execute one or more software or firmware programs, an integrated logic circuit, and/or other devices that may provide the described functionality. In addition, the above direction adjusting module 601, receiving module 602, determining module 603, flight control module 604, and sending module 605 may be implemented by the processor 801 of the drone shown in fig. 8.
As shown in fig. 8, a drone 800 may be implemented in the structure of fig. 8, the drone 800 including at least one processor 801, at least one memory 802, at least one communication interface 803, and at least one rotor 804. The processor 801, the memory 802 and the communication interface 803 are connected through the communication bus and complete mutual communication; the processor 801 and the rotor 804 are connected via the communication bus and communicate with each other.
The processor 801 may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the above schemes.
The Memory 802 may be a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integral to the processor.
The memory 802 is used for storing application program codes for executing the above schemes, and is controlled by the processor 801 to execute. The processor 801 is configured to execute application program code stored in the memory 802 to control the manner in which the rotor 804 rotates.
The memory 802 stores code that can perform the above-mentioned method for controlling a geomagnetic-based drone, such as directing the head of the drone to the north; receiving a flight instruction sent by a remote controller, wherein the flight instruction carries attitude information of an attitude control rod of the remote controller; and determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod, and flying according to the target flight direction.
The embodiment of the present invention further provides a computer storage medium, where the computer storage medium may store a program, and the program includes, when executed, some or all of the steps of any one of the methods for controlling an unmanned aerial vehicle based on a geomagnetic method described in the above method embodiments.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, 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 implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric 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 memory. 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 memory and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above embodiments of the present invention are described in detail, and the principle and the implementation of the present invention are explained by applying specific embodiments, and the above description of the embodiments is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in view of the above, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. The utility model provides an unmanned aerial vehicle control method based on earth magnetism mode which characterized in that includes:
acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information;
receiving a flight instruction sent by a remote controller, wherein the flight instruction carries attitude information of an attitude control rod of the remote controller;
determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod, and flying according to the target flight direction;
wherein, according to the attitude information of the attitude control rod, determining the target flight direction of the unmanned aerial vehicle comprises:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
and if the attitude control rod pushes rightwards, the target flight direction is the righteast.
2. The method of claim 1, further comprising:
and when flying according to the target flying direction, the unmanned aerial vehicle sends the current position information to the remote controller in real time.
3. The method of claim 1, wherein said directing the nose of the drone toward true north and said determining the target flight direction of the drone from the attitude information of the attitude control stick are performed in parallel; or, the determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control lever and the orienting the head of the unmanned aerial vehicle to the north and the attitude information of the attitude control lever are performed in series.
4. An unmanned aerial vehicle, comprising:
the direction adjusting module is used for acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
wherein the direction adjustment module comprises:
the acquisition unit is used for acquiring geomagnetic information acquired by a magnetic sensor of the unmanned aerial vehicle;
the adjusting unit is used for enabling the head of the unmanned aerial vehicle to face the true north according to the geomagnetic information;
the receiving module is used for receiving a flight instruction sent by a remote controller, and the flight instruction carries attitude information of an attitude control rod of the remote controller;
the determining module is used for determining the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod;
wherein, the confirm module confirms unmanned aerial vehicle's target direction of flight according to the attitude information of attitude control pole includes:
if the attitude control rod is pushed forwards, the target flight direction is due north;
if the attitude control rod pushes backwards, the target flight direction is due south;
if the attitude control rod is pushed leftwards, the target flight direction is true west;
if the attitude control rod pushes rightwards, the target flight direction is the rightwards east;
and the flight control module is used for flying according to the target flight direction.
5. The drone of claim 4, further comprising:
and the sending module is used for sending the current position information to the remote controller in real time when the unmanned aerial vehicle flies according to the target flight direction.
6. The drone of claim 4, wherein the orienting the nose of the drone toward true north and the drone determining the target flight direction of the drone from the attitude information of the attitude control stick are performed in parallel; or, the step of enabling the head of the unmanned aerial vehicle to face the north and the step of enabling the unmanned aerial vehicle to determine the target flight direction of the unmanned aerial vehicle according to the attitude information of the attitude control rod are executed in series.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611075081.7A CN106527493B (en) | 2016-11-29 | 2016-11-29 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
| PCT/CN2017/071701 WO2018098898A1 (en) | 2016-11-29 | 2017-01-19 | Terrestrial magnetism-based unmanned aerial vehicle control method, and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611075081.7A CN106527493B (en) | 2016-11-29 | 2016-11-29 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
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| CN106527493B true CN106527493B (en) | 2020-01-14 |
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| CN107544552B (en) * | 2017-09-15 | 2021-01-05 | 南方科技大学 | Suspension rocker key control device and method |
| CN113272754A (en) * | 2020-09-28 | 2021-08-17 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle, control terminal and system |
| CN114460967B (en) * | 2022-02-09 | 2022-12-02 | 沃飞长空科技(成都)有限公司 | Takeoff method and system of unmanned aerial vehicle, terminal device and storage medium |
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| WO2018098898A1 (en) | 2018-06-07 |
| CN106527493A (en) | 2017-03-22 |
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