CN107340781A - UAV flight control method and system - Google Patents
UAV flight control method and system Download PDFInfo
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- CN107340781A CN107340781A CN201610882311.4A CN201610882311A CN107340781A CN 107340781 A CN107340781 A CN 107340781A CN 201610882311 A CN201610882311 A CN 201610882311A CN 107340781 A CN107340781 A CN 107340781A
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- unmanned plane
- control system
- aerial vehicle
- course line
- intelligent terminal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention relates to a kind of UAV Flight Control method and system, wherein method includes：The unmanned plane selected according to user take off landing place, by it is described take off landing place positional information typing mobile intelligent terminal and preserve；The landing point for the unmanned plane during flying that user inputs on mobile intelligent terminal is read, the positional information of the landing point is obtained, the course line from takeoff point to destination is generated according to the positional information on the electronic map；The course line is imported by the unmanned aerial vehicle control system by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system, control unmanned plane is flown to level point along the course line by takeoff point.The present invention is controlled by building control data chain to unmanned plane during flying, reduces the complexity of unmanned plane manipulation；It is especially used in express transportation service, the efficiency of express transportation service can be significantly improved, reduce cost.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of UAV Flight Control method and system.
Background technology
Currently for the unmanned plane used in every field, its terminal control mode is substantially remote control or operation bench,
Need manually to be controlled using corresponding controllers.With the development of technology and the generation of demand, unmanned plane is in every field
Application scenarios it is increasingly abundanter, frequency of use more and more higher.Currently used application field mainly includes：The police, energy, state
The market scale accounting of soil resource, amusement, business, agricultural, power-line patrolling, logistics and disaster prevention and control etc., wherein logistics field compared with
Greatly.The test manufacture participant of unmanned plane express transportation is mainly global electric business giant, retail business giant and loglstics enterprise, including
Google, Amazon, Ali etc..
In addition, the data announced according to State Post Bureau, national express delivery year portfolio totals 206.7 hundred million within 2015.
From 10,000,000,000 to 20,000,000,000, only use 432 days.Issued by Beijing Jiaotong University, Ali research institute and green hand's network association
's《National socialization electric business logistics practitioner's research report》It has been shown that, assume responsibility for the electric business logistics of wherein main delivery business from
Industry personnel reach 203.3 ten thousand people.It can be seen that express transportation service can not only rely on the strength of people again, it is also desirable to new technology,
The intelligent service systems such as data are supported.Due to small courier unmanned plane have low cost, efficiency high, can realize goods throw
Automation, information-based multiple advantage are sent, therefore the cost of labor of logistics, operation cost can be reduced, shortens the dispatching of express mail
Time, reduce delay rate and Loss Rate.
Under present technology, as described above, being directed to the unmanned plane that every field uses, its terminal control mode is substantially all
It is remote control or operation bench, it is necessary to be manually controlled using corresponding controllers.For small weight, ageing require high logistics
Transport usage scenario, complicated operation equipment have impact on the operating efficiency of user, can not provide the user it is efficient, inexpensive, from
Dynamic express transportation service.
The content of the invention
Based on this, it is necessary to for above-mentioned technical problem, there is provided a kind of UAV Flight Control method and system, to provide
To the control program of unmanned plane during flying more efficiently, inexpensive.
A kind of UAV Flight Control method, including：
The unmanned plane selected according to user take off landing place, by it is described take off landing place positional information typing move
Intelligent terminal simultaneously preserves；
The landing point for the unmanned plane during flying that user inputs on mobile intelligent terminal is read, obtains the position of the landing point
Information, the course line from takeoff point to destination is generated according to the positional information on the electronic map；
By the control data link of mobile intelligent terminal to unmanned aerial vehicle control system by the course line import it is described nobody
Machine control system, control unmanned plane are flown to level point along the course line by takeoff point.
A kind of UAV Flight Control method, including：
The course line of aerial mission is imported by institute by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system
State unmanned aerial vehicle control system；
The unmanned aerial vehicle control system controls unmanned plane along the boat according to the positional information of the landing point in the course line
Line is flown to level point by takeoff point；
During unmanned plane during flying, the return data chain based on the unmanned aerial vehicle control system to mobile intelligent terminal,
The real-time flight parameter of unmanned plane is back to the mobile intelligent terminal by unmanned aerial vehicle control system.
A kind of UAV Flight Control System, including：Mobile intelligent terminal and the unmanned aerial vehicle control system located at unmanned plane；
The mobile intelligent terminal is attached with unmanned aerial vehicle control system by wireless network, including control data link
With return data chain；
The unmanned plane that the mobile intelligent terminal is selected according to user takes off landing place, landing place of taking off described in typing
Positional information and preservation；The landing point of the unmanned plane during flying inputted according to user determines current flight task, obtains flight and appoints
The positional information of the landing point of business, the course line from takeoff point to destination is generated according to the positional information on the electronic map；
The course line is imported into the unmanned aerial vehicle control system using the control data link, control unmanned plane along the course line by
Takeoff point flies to level point；
The unmanned aerial vehicle control system controls unmanned plane along the boat according to the positional information of the landing point in the course line
Line is flown to level point by takeoff point；It is whole to intelligent movable based on the unmanned aerial vehicle control system during unmanned plane during flying
The return data chain at end, the real-time flight parameter of unmanned plane is back to the mobile intelligent terminal.
Above-mentioned UAV Flight Control method and system, with reference to the function of mobile intelligent terminal, utilizes mobile intelligent terminal
Course line is generated, unmanned aerial vehicle control system is imported and is flown automatically, unmanned plane during flying is controlled by building control data chain
System, reduce the complexity of unmanned plane manipulation；It is especially used in express transportation service, express transportation service can be significantly improved
Efficiency, reduce cost.
Brief description of the drawings
Fig. 1 is the UAV Flight Control method flow diagram of one embodiment；
Fig. 2 is data transfer schematic diagram between mobile intelligent terminal and unmanned plane；
Fig. 3 is the UAV Flight Control method flow diagram of another embodiment；
Fig. 4 is unmanned plane avoidance flight schematic diagram；
Fig. 5 is that unmanned plane delivers goods schematic diagram；
Fig. 6 is the UAV Flight Control System structural representation of one embodiment；
Fig. 7 is the basic function flow chart of UAV Flight Control System.
Embodiment
The embodiment of the UAV Flight Control method and system of the present invention is illustrated below in conjunction with the accompanying drawings.
With reference to figure 1, Fig. 1 is the UAV Flight Control method flow diagram of one embodiment, including：
S101, the unmanned plane selected according to user take off landing place, by it is described take off landing place positional information record
Enter mobile intelligent terminal and preserve；
In the present embodiment, the APP clients being arranged on mobile intelligent terminal can be utilized to realize human-computer interaction function, it is right
In the user of unmanned plane, according to using the landing place of taking off for needing selected unmanned plane, the GPS module of mobile intelligent terminal is utilized
Function, the positional information in these places can be measured, then by these Data Enters and be saved in mobile intelligent terminal.
In one embodiment, positional information can include the latitude and longitude coordinates in takeoff point and level point, takeoff point and drop
The height of drop point；Height computed altitude using landing point is poor, utilizes the coordinate and difference in height of landing point, it may be determined that course line road
Footpath.
S102, the landing point for the unmanned plane during flying that user inputs on mobile intelligent terminal is read, obtains the landing point
Positional information, the course line from takeoff point to destination is generated according to the positional information on the electronic map；
Selection is taken off behind landing place, reconnoitres course line, then will boat in the line of flight of APP client typing unmanned planes
Line is imported into unmanned aerial vehicle control system, writes course line task.
S103, by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system by described in the importing of the course line
Unmanned aerial vehicle control system, control unmanned plane are flown to level point along the course line by takeoff point；Wherein, unmanned aerial vehicle control system
It can be the system that unmanned plane carries.
During this, unmanned aerial vehicle control system is after mobile intelligent terminal imports the course line, autonomous control unmanned plane
Flown along the course line by takeoff point to level point；
After course line is set first, if landing point need not be changed, follow-up flight is just without again through mobile intelligence
Can the related course line parameter of terminal setting.
Mobile intelligent terminal needs to establish the control data link between unmanned aerial vehicle control system, can use 4G networks/
The communication modes such as Wi-Fi, course line is imported into unmanned aerial vehicle control system, unmanned aerial vehicle control system is automatic from takeoff point using the course line
Fly to level point.
Further, in the scheme using 4G network services, unmanned aerial vehicle control system is by 4G networks by real-time flight
Parameter is back on mobile intelligent terminal interface and shown；In the scheme using Wi-Fi communications, unmanned aerial vehicle control system exists
Takeoff and landing point is nearby shown real-time flight parameter in Wi-Fi signal coverage on mobile intelligent terminal interface
Show.Thus, user can real-time monitor the state of flight of unmanned plane.
For above-mentioned real-time flight parameter, unmanned plane current location information, elevation information can be included, gps satellite number, flown
Scanning frequency degree, flight path, electricity and attitude information etc., by above-mentioned parameter information, user can fully understand unmanned plane
State of flight.
In addition, when showing the relevant information of unmanned plane, can be watched using VR glasses；Initially set up intelligent movable
Data connection between terminal and VR glasses, the interface of mobile intelligent terminal is shown on VR glasses in real time.
With reference to shown in figure 2, Fig. 2 is data transfer schematic diagram between mobile intelligent terminal and unmanned plane, passes through control data
Link writes course line, and flight parameter, the real-time display flight parameter on VR glasses are returned by return data link.
The scheme of above-described embodiment, take full advantage of mobile intelligent terminal (smart mobile phone/flat board) controlling convenient and
Functional diversity, without configuring remote control for unmanned plane, when take off jump area point selection, intelligent movable can be utilized whole
Measurement data is held, can be stored in after related data test in mobile intelligent terminal, by the form of APP clients, be easy to people
Machine interacts, and when in use, user only needs to select landing point in APP clients, you can by mobile intelligent terminal by course line
It is written in unmanned aerial vehicle control system, the follow-up can of unmanned aerial vehicle control system performs aerial mission according to the course line.
In actual applications, a mobile intelligent terminal can be that multiple unmanned planes plan course line, and multiple mobile intelligence
Energy terminal can utilize APP clients to control a frame unmanned plane, and user pass through APP clients real time inspection to the real-time of unmanned plane
Flight information.
According to practical application needs, course line storehouse is created, then when performing aerial mission, is selected from the storehouse of course line corresponding
Course line imported into unmanned aerial vehicle control system.
The UAV Flight Control method of the embodiment of the present invention, particularly suitable for small weight, ageing require high logistics
The usage scenario of transport, such as short distance food delivery, express delivery business, there is provided automatic express transportation service, reduce unmanned plane manipulation
Complexity, improve the efficiency of Courier Service.Course line task is preset to unmanned plane by APP clients automatically, makes unmanned plane
The transporting goods of the task is independently performed according to course line.
With reference to figure 3, Fig. 3 is the UAV Flight Control method flow diagram of another embodiment, including：
S201, the course line of aerial mission is led by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system
Enter the unmanned aerial vehicle control system；
Mobile intelligent terminal is initially set up to the control data link of unmanned aerial vehicle control system, can using mobile intelligent terminal
To carry out course line landing point reconnaissance, course line prospecting, then generate course line and imported into unmanned aerial vehicle control system.
S202, the unmanned aerial vehicle control system according to the positional information of the landing point in the course line, control unmanned plane along
Flown by takeoff point to level point in the course line；
After unmanned aerial vehicle control system receives aerial mission, it can be flown according to the positional information in course line, automatically from
Flying spot flies to level point.
In addition, in order to ensure each flight safety, unmanned plane before aerial mission is performed, it is necessary to which user is in APP every time
Confirm whether current landing point is correct in client, if correctly, after input validation start unmanned plane performs task automatically, if
Incorrect, APP clients guiding user resets landing point.
In one embodiment, during the unmanned aerial vehicle control system control unmanned plane during flying, the GPS of unmanned plane is passed through
Module obtains real-time position information, by the coordinate of target destination (coordinate points on course line) in the real-time position information and course line
Information is contrasted, and control unmanned plane is flown along the course line.
Further, the unmanned aerial vehicle control system is also by the detector detecting obstacles thing on unmanned plane,
When detecting barrier, according to the relative position of the current real time position of unmanned plane and barrier marginal position, unmanned plane is controlled
Safe distance is being set away from barrier edge, is being flown around barrier or controls unmanned plane climbing flight, around the obstacle
Thing, and after around the barrier, control unmanned plane continues the target destination that flies to.
With reference to shown in figure 4, Fig. 4 is unmanned plane avoidance flight schematic diagram, when unmanned plane runs into barrier, by around barrier
Hinder thing flight to carry out avoiding obstacle, flying height can also be lifted and carry out avoidance.
S203, during unmanned plane during flying, the passback number based on the unmanned aerial vehicle control system to mobile intelligent terminal
According to chain, the real-time flight parameter of unmanned plane is back to the mobile intelligent terminal by unmanned aerial vehicle control system；
During unmanned plane during flying, unmanned aerial vehicle control system monitors the state of flight of unmanned plane in real time, by flight parameter
Mobile intelligent terminal is back in real time, and mobile intelligent terminal can carry out man-machine interaction by the form of APP clients, use
When, user is operated in APP clients, completes the control to unmanned plane.The APP of multiple mobile intelligent terminals can be utilized
Client, check the state of flight of same unmanned plane；The APP clients of a mobile intelligent terminal can also be utilized, are checked
With the state of flight of multiple unmanned planes.So when carrying out cargo transport, receiving-transmitting sides can view the state of unmanned plane
Information.
In one embodiment, before unmanned plane takes off, oneself of unmanned aerial vehicle control system is triggered by mobile intelligent terminal
Dynamic model formula, starts the GPS module search gps signal of unmanned plane, and is unlocked after gps signal is stable；So as to avoid rising
GPS location mistake during flying, improve flight safety.
In one embodiment, the unmanned plane is provided with the loading box (loading goods) of having electronic lock construction；Work as needs
The objective box period of the day from 11 p.m. to 1 a.m described in unlocking or locking, the unmanned aerial vehicle control system pass through the control data link and receive corresponding unlock
Instruction or blocking order, control electronic lock structure is unlocked or locking；
In flight course or after landing, unmanned aerial vehicle control system monitors the state of loading box in real time, and is back to
The mobile intelligent terminal of receiving-transmitting sides, understands cargo state in time, avoids losing.
In one embodiment, before unmanned plane takes off, the unmanned aerial vehicle control system according to the distance in the course line, when
Can the load capacity and current weather condition affecting parameters of preceding loading box calculate electricity complete current flight task, work as nothing
Warning prompt is carried out during man-machine not enough power supply, and stops unmanned plane and takes off；
Prompted by charge alert, avoid the situation of the not enough power supply in flight course, it is ensured that aerial mission is completed.
Set in view of actual course line and destination, multiple post houses can be set in the certain area coverage of course line, as nothing
Man-machine stop website, goods are sent to specified post house and launched.
In one embodiment, during unmanned plane during flying, the unmanned aerial vehicle control system is according to the surplus of the course line
Remaining distance, the load capacity of loading box and current weather condition affecting parameters calculate flight power consumption in real time, and calculate surplus
Can remaining electricity complete current flight task, when the not enough power supply of unmanned plane, according to the positional information for the post house that prestores and work as
The real-time position information of preceding unmanned plane, plans course line again, and control unmanned plane flies to nearest post house；
By calculating electric quantity consumption in real time in flight course, can anticipation aerial mission be completed, and select nearest post house
Carry out goods delivery, it is ensured that flight safety and goods deliver safety.
In one embodiment, when carrying out delivery goods in post house, the unmanned aerial vehicle control system reaches mesh in unmanned plane
Behind the post house of cursor position, established and communicated to connect by Wi-Fi modes and post house；The storing module of control post house is opened and thrown
Goods is passed, and controls the storing module of post house that closing is locked after the completion of delivery；After the closing of storing module, objective box is controlled
Son is closed, and enters Returning process.
In one embodiment, goods process is being delivered, the unmanned aerial vehicle control system utilizes and is arranged on uav bottom
Ultrasonic unit carry out ranging, according to the distance of unmanned plane and storing module, control the decrease speed of unmanned plane in real time；
When unmanned plane lands, ultrasonic unit launches downwards ultrasonic wave, receives ultrasonic reflections ripple, flight control system
According to the aerial propagation characteristic of ultrasonic wave, range data is conversed, so as to realize the purpose of measurement distance.According to measuring
Unmanned plane and the distance between ground, control aircraft slowly declines when close to ground, so as to avoid decrease speed too fast, damage
Bad unmanned plane.
Further, after goods has been delivered, system for flight control computer calculates whether dump energy returns to takeoff point enough,
If enough, unmanned plane will after the completion of delivery auto-returned takeoff point, if not enough power supply, unmanned plane is filled in post house
Electricity, until electricity supports unmanned plane to complete to make a return voyage enough, restart unmanned plane and maked a return voyage by course line.
Mobile intelligent terminal is sent by unmanned aerial vehicle control system and instructed, and control unmanned plane is determined in specified longitude and latitude and height
Point launches goods, and makes a return voyage automatically, if user needs actively to take out corresponding goods, after taking out goods, restarts aircraft power supply,
Control unmanned plane flies back takeoff point by original course.
With reference to figure 5, Fig. 5 is that unmanned plane delivers goods schematic diagram, and when unmanned plane lands, ultrasonic unit launches downwards ultrasound
Ripple ranging, decrease speed being reduced, the storing module for controlling post house by Wi-Fi is opened, and delivery goods is carried out in certain altitude,
After the completion of delivery, control storing module locks closing, and after the closing of storing module, control loading box is closed, lifting height
Return to takeoff point.
Subsequently using among process, unmanned plane can carry out goods delivery according to the course line of importing, if necessary to course line
Changed, then carry out course line prospecting again, typing landing dot position information, generate new course line and import unmanned aerial vehicle control system,
Course line renewal is completed to set.
With reference to shown in figure 6, Fig. 6 is the UAV Flight Control System structural representation of one embodiment, including：Mobile intelligence
Can terminal and the unmanned aerial vehicle control system located at unmanned plane；
The mobile intelligent terminal is attached with unmanned aerial vehicle control system by wireless network, including control data link
With return data chain；
The unmanned plane that the mobile intelligent terminal is selected according to user takes off landing place, landing place of taking off described in typing
Positional information and preservation；The landing point of the unmanned plane during flying inputted in course line is reconnoitred according to user determines that current flight is appointed
Business, obtain the positional information of the landing point of aerial mission, according to the positional information generate on the electronic map from takeoff point to
The course line of destination；The course line is imported into the unmanned aerial vehicle control system using the control data link, controls unmanned plane
Flown along the course line by takeoff point to level point；
The unmanned aerial vehicle control system controls unmanned plane along the boat according to the positional information of the landing point in the course line
Line is flown to level point by takeoff point；It is whole to intelligent movable based on the unmanned aerial vehicle control system during unmanned plane during flying
The return data chain at end, the real-time flight parameter of unmanned plane is back to the mobile intelligent terminal.
For the function of the mobile intelligent terminal, it can be realized by APP clients, user passes through APP client energy
The enough flight for easily controlling unmanned plane.At the same time it can also combine the use of VR glasses, it is easy to user to check relevant information.
With reference to shown in figure 7, Fig. 7 is the basic function flow chart of UAV Flight Control System, and user passes through AAP clients
Being operated, communicated with unmanned aerial vehicle control system, user completes the selection in level point of taking off, and is entered into APP clients,
Then the Data Enter in course line will be reconnoitred, after confirming to start to send aerial mission with charge free, course line task, unmanned plane are write to unmanned plane
Flown automatically after unblock, the unmanned plane real-time flight state of APP client real-time displays unmanned aerial vehicle control system passback.
Using the UAV Flight Control System of the embodiment of the present invention, can be using intelligent mobile terminal it is controllable nobody
Machine；Express transportation service can be carried out automatically by the course line that user has reconnoitred；Run into during flight barrier automatic obstacle-avoiding (climb or
Detour)；According to circumstances, safe falling height is preset；Can be in the safe VTOL of landing point；Record each of unmanned plane during flying
Kind information (including flight path, height above sea level, electricity etc.), and create course line storehouse；The flight of unmanned plane is live with carrying goods feelings
Condition can be also monitored by VR glasses；Unmanned plane is provided with the intelligent loading box of having electronic lock construction, can automatically turn on and close
Close door；Unmanned plane can launch and collect goods in post house according to actual conditions, and carry out wireless charging in post house；Carry out in real time
The electricity of unmanned plane is calculated and assessed, and takes corresponding safety measure；When unmanned plane dispensing finishes goods, it can make a return voyage automatically；Or
When person's unmanned plane reaches place of receipt, user takes out goods, restarts aircraft power supply, unmanned plane makes a return voyage automatically.
When multiple UAVs take identical course line simultaneously, multiple UAVs are by central dispatching system call, in described
Heart scheduling system call multiple UAVs are respectively at different height from takeoff point flight to level point, the central dispatching system
System can also distribute the different periods respectively to multiple UAVs so that multiple UAVs are in the different periods from takeoff point
Take off.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (15)
- A kind of 1. UAV Flight Control method, it is characterised in that including：The unmanned plane selected according to user take off landing place, by it is described take off landing place positional information typing intelligent movable Terminal simultaneously preserves；The landing point for the unmanned plane during flying that user inputs on mobile intelligent terminal is read, obtains the position letter of the landing point Breath, the course line from takeoff point to destination is generated according to the positional information on the electronic map；The course line is imported by the unmanned plane control by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system System processed, control unmanned plane are flown to level point along the course line by takeoff point.
- 2. UAV Flight Control method according to claim 1, it is characterised in that the positional information includes：Take off The height in point and the latitude and longitude coordinates in level point, takeoff point and level point.
- 3. UAV Flight Control method according to claim 1, it is characterised in that also include：Return data chain based on the unmanned aerial vehicle control system to mobile intelligent terminal receives what unmanned aerial vehicle control system returned Unmanned plane real-time flight parameter, and shown on mobile intelligent terminal interface.
- 4. UAV Flight Control method according to claim 3, it is characterised in that also include：The data connection established between mobile intelligent terminal and VR glasses, by the interface of mobile intelligent terminal in real time on VR glasses Shown.
- 5. the UAV Flight Control method according to claim 3 or 4, it is characterised in that the real-time flight parameter bag Include：Unmanned plane current location information, elevation information, gps satellite number, flying speed, flight path, electricity and attitude information.
- A kind of 6. UAV Flight Control method, it is characterised in that including：The course line of aerial mission is imported by the nothing by the control data link of mobile intelligent terminal to unmanned aerial vehicle control system Man-machine control system；The unmanned aerial vehicle control system according to the positional information of the landing point in the course line, control unmanned plane along the course line by Takeoff point flies to level point；During unmanned plane during flying, the return data chain based on the unmanned aerial vehicle control system to mobile intelligent terminal, nobody The real-time flight parameter of unmanned plane is back to the mobile intelligent terminal by machine control system.
- 7. UAV Flight Control method according to claim 6, it is characterised in that also include：Before unmanned plane takes off, the automatic mode of unmanned aerial vehicle control system is triggered by mobile intelligent terminal, starts unmanned plane GPS module searches for gps signal, and is unlocked after gps signal is stable.
- 8. UAV Flight Control method according to claim 7, it is characterised in that the unmanned aerial vehicle control system control During unmanned plane during flying, real-time position information is obtained by the GPS module of unmanned plane, by the real-time position information and course line Upper corresponding coordinate information is contrasted, and control unmanned plane is flown along the course line.
- 9. UAV Flight Control method according to claim 6, it is characterised in that the unmanned aerial vehicle control system passes through Detector detecting obstacles thing on unmanned plane, when detecting barrier, according to the current real time position of unmanned plane with The relative position of barrier marginal position, control unmanned plane fly or controlled around barrier outside the safe distance of setting Unmanned plane climbing flight bypasses the barrier, and after around the barrier, it is enterprising that control unmanned plane returns to the course line Row flight.
- 10. UAV Flight Control method according to claim 6, it is characterised in that the unmanned plane is provided with having electronic The loading box of lock construction；When needing the objective box period of the day from 11 p.m. to 1 a.m described in unlocking or locking, the unmanned aerial vehicle control system is received by the control data link Corresponding unlocking instruction or blocking order, control electronic lock structure is unlocked or locking.
- 11. UAV Flight Control method according to claim 10, it is characterised in that described before unmanned plane takes off Unmanned aerial vehicle control system influences to join according to the distance in the course line, the load capacity of current loading box and current weather condition Can number calculates electricity complete current flight task, carry out warning prompt when the not enough power supply of unmanned plane, and stop unmanned plane Take off.
- 12. UAV Flight Control method according to claim 11, it is characterised in that during unmanned plane during flying, The unmanned aerial vehicle control system is according to the Distance Remaining in the course line, the load capacity of loading box and current weather condition shadow Ring parameter and calculate flight power consumption in real time, and calculate dump energy and can complete current flight task, when unmanned plane electricity not When sufficient, according to the positional information of the post house to prestore and the real-time position information of current unmanned plane, according to closest post house Positional information and the real-time position information generate new course line, control unmanned plane flies to the post house along new course line and stopped Lean on；Wherein, affiliated post house is the stop website that the predetermined area is set.
- 13. UAV Flight Control method according to claim 11, it is characterised in that the unmanned aerial vehicle control system exists After unmanned plane reaches the post house of target location, established and communicated to connect by Wi-Fi modes and post house；The storing module of control post house is opened and carries out delivery goods, and controls the storing module of post house to close after the completion of delivery Close lock；After the closing of storing module, control loading box is closed, and enters Returning process.
- 14. UAV Flight Control method according to claim 13, it is characterised in that goods process is being delivered, it is described Unmanned aerial vehicle control system carries out ranging using the ultrasonic unit installed in uav bottom, according to unmanned plane and storing module Distance, the decrease speed of unmanned plane is controlled in real time.
- A kind of 15. UAV Flight Control System, it is characterised in that including：Mobile intelligent terminal and nobody located at unmanned plane Machine control system；The mobile intelligent terminal is attached with unmanned aerial vehicle control system by wireless network, including control data link and return Pass Data-Link；The unmanned plane that the mobile intelligent terminal is selected according to user takes off landing place, the position in landing place of taking off described in typing Confidence ceases and preserved；The landing point of the unmanned plane during flying inputted according to user determines current flight task, obtains aerial mission The positional information of landing point, the course line from takeoff point to destination is generated according to the positional information on the electronic map；Utilize The course line is imported the unmanned aerial vehicle control system by the control data link, and control unmanned plane is along the course line by taking off Point flies to level point；The unmanned aerial vehicle control system according to the positional information of the landing point in the course line, control unmanned plane along the course line by Takeoff point flies to level point；During unmanned plane during flying, based on the unmanned aerial vehicle control system to mobile intelligent terminal Return data chain, the real-time flight parameter of unmanned plane is back to the mobile intelligent terminal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882311.4A CN107340781A (en) | 2016-09-30 | 2016-09-30 | UAV flight control method and system |
| PCT/CN2017/102975 WO2018059325A1 (en) | 2016-09-30 | 2017-09-22 | Flight control method and system for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN112801600B (en) * | 2021-04-01 | 2021-07-16 | 北京三快在线科技有限公司 | Method and device for generating route track, readable storage medium and electronic equipment |
| CN112801600A (en) * | 2021-04-01 | 2021-05-14 | 北京三快在线科技有限公司 | Method and device for generating route track, readable storage medium and electronic equipment |
| CN115657706A (en) * | 2022-09-22 | 2023-01-31 | 中铁八局集团第一工程有限公司 | Landform measuring method and system based on unmanned aerial vehicle |
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