CN107831785A - The control method and terminal of a kind of unmanned vehicle - Google Patents
The control method and terminal of a kind of unmanned vehicle Download PDFInfo
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- CN107831785A CN107831785A CN201711115437.XA CN201711115437A CN107831785A CN 107831785 A CN107831785 A CN 107831785A CN 201711115437 A CN201711115437 A CN 201711115437A CN 107831785 A CN107831785 A CN 107831785A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of control method of unmanned vehicle and terminal, methods described includes：When terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the route information of the line of flight of the unmanned vehicle；After the terminal is established with the unmanned vehicle again to be connected, the terminal judges whether the unmanned vehicle does not complete the line of flight according to the route information；If it is, the terminal sends the route information to the unmanned vehicle, to control remaining course line of the unmanned vehicle in the route information completion line of flight.The embodiment of the present invention can lift the efficiency that unmanned vehicle obtains the line of flight, simplify user's operation；And the power consumption during unmanned vehicle does not fly can be reduced.
Description
Technical field
The present invention relates to areas of information technology, the control method and terminal of espespecially a kind of unmanned vehicle.
Background technology
With the continuous development of unmanned plane technology, increasing consumer level unmanned plane also just in manufacture, disappears
It is also progressively increasingly widespread to take level unmanned plane.Unmanned plane can be understood as a kind of unmanned vehicle (Unmanned Aerial
Vehicle, UAV), in unmanned vehicle flight course, course line task function also becomes more and more important.I.e. unmanned plane can connect
The course line task that terminal is sent is received, and is flown according to course line task.
Currently, can be according to if unmanned vehicle disconnects with terminal in the case where line of flight task does not complete
The countermeasures set before, which are taken, to make a return voyage or the measure such as forced landing.After if unmanned vehicle is connected with terminal again
Also need to perform course line task unfinished before, then need user to reset route information.
The content of the invention
The embodiments of the invention provide a kind of control method of unmanned vehicle and terminal, so that unmanned vehicle can be after
It is continuous to perform the unfinished line of flight.
The embodiments of the invention provide a kind of control method of unmanned vehicle, including：
When terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the flight boat of the unmanned vehicle
The route information of line；
After the terminal is established with the unmanned vehicle again to be connected, the terminal judges according to the route information
Whether the unmanned vehicle does not complete the line of flight；
If it is, the terminal sends the route information to the unmanned vehicle, to control the unmanned flight
Device completes the remaining course line in the line of flight according to the route information.
Alternatively, the terminal preserves the route information of the line of flight, including：
The terminal preserves the positional information of whole destinations in the unmanned vehicle line of flight, and with the nothing
The positional information for the unmanned vehicle that last time obtains before people's aircraft disconnects；
The terminal judges whether the unmanned vehicle does not complete the line of flight according to the route information, bag
Include：
The terminal is according to the positional information of the unmanned vehicle and the positional information of whole destinations, described in judgement
Whether unmanned vehicle reaches the terminal of the line of flight；
If it has not, the terminal determines that the unmanned vehicle does not complete the line of flight.
Alternatively, when the terminal, which detects, to be disconnected with the unmanned vehicle, methods described also includes：
The terminal is according in the positional information obtained for the last time before disconnecting with the unmanned vehicle, judgement
Whether the unmanned vehicle reaches the terminal of the line of flight；
If it has not, the terminal is according to whole destinations in the positional information of the unmanned vehicle and the line of flight
Positional information, determine the remaining destination included by the remaining course line of the line of flight, and the position letter of the remaining destination
Breath；
The terminal preserves the route information of the line of flight, including：
The terminal preserves the positional information of the remaining destination and unfinished seamark；
The terminal judges whether the unmanned vehicle does not complete the line of flight according to the route information, bag
Include：
The terminal judges whether include not completing seamark in the route information；
If it is, the terminal determines that the unmanned vehicle does not complete the line of flight.
Alternatively, the terminal sends the route information to before the unmanned vehicle, and methods described also includes：
The terminal exports prompt message, and the prompt message is used to prompt the user whether to control the unmanned vehicle complete
Into the remaining course line；
The terminal sends the route information to the unmanned vehicle, including：
After the terminal detects user for the confirmation operation of the prompt message, the route information is sent to institute
State unmanned vehicle.
Alternatively, methods described also includes：
The terminal preserves offline mode corresponding with the line of flight and/or flight parameter information；
The terminal sends the offline mode and/or flight parameter information to the unmanned vehicle, to control
State unmanned vehicle and complete the remaining course line according to the offline mode and/or flight parameter information.
The embodiment of the present invention additionally provides a kind of terminal, including：Memory, processor and storage are on a memory and can be
The computer program run on processor, following steps are realized during computer program described in the computing device：
When detect disconnected with unmanned vehicle when, preserve the unmanned vehicle the line of flight course line letter
Breath；
After connection is established with the unmanned vehicle again, judge that the unmanned vehicle is according to the route information
It is no not complete the line of flight；
If it is, the route information is sent to the unmanned vehicle, to control the unmanned vehicle according to institute
State the remaining course line in the route information completion line of flight.
Alternatively, also realized during computer program described in the computing device：
Preserve the positional information of whole destinations in the unmanned vehicle line of flight, and with the unmanned vehicle
The positional information for the unmanned vehicle that last time obtains before disconnecting；
According to the positional information of the unmanned vehicle and the positional information of whole destinations, the unmanned flight is judged
Whether device reaches the terminal of the line of flight；
If it has not, determine that the unmanned vehicle does not complete the line of flight.
Alternatively, also realized during computer program described in the computing device：
When the terminal, which detects, to be disconnected with the unmanned vehicle, breaking according to the unmanned vehicle
The positional information obtained for the last time before connection is opened, judges whether the unmanned vehicle reaches the terminal of the line of flight；
If it has not, believed according to the position of whole destinations in the positional information of the unmanned vehicle and the line of flight
Breath, determines the remaining destination included by the remaining course line of the line of flight, and the positional information of the remaining destination；
Preserve the positional information of the remaining destination and unfinished seamark；
Judge whether include not completing seamark in the route information；
If it is, determine that the unmanned vehicle does not complete the line of flight.
Alternatively, also realized during computer program described in the computing device：
The route information is sent to before the unmanned vehicle, exports prompt message, the prompt message is used for
Prompt the user whether to control the unmanned vehicle to complete the remaining course line；
Detect user for the prompt message confirmation operation after, by the route information send to it is described nobody fly
Row device.
Alternatively, also realized during computer program described in the computing device：
Preserve offline mode corresponding with the line of flight and/or flight parameter information；
The offline mode and/or flight parameter information are sent to the unmanned vehicle, with control it is described nobody fly
Row device completes the remaining course line according to the offline mode and/or flight parameter information.
The embodiment of the present invention additionally provides a kind of control device of unmanned vehicle.The device includes functional module.Function
Module is used to realize any one above-mentioned method.
The embodiment of the present invention additionally provides a kind of computer-readable recording medium, is stored with computer executable instructions, institute
State the control method that computer executable instructions are used for above-mentioned unmanned vehicle.
In embodiments of the present invention, when terminal and unmanned vehicle disconnect, terminal can preserve unmanned vehicle
The line of flight route information.And then after terminal is established with unmanned vehicle and connected again, can be according to the course line of preservation
Information judges whether unmanned plane completes the line of flight, if judging, the unmanned vehicle does not complete the line of flight, can incite somebody to action
Route information is sent to unmanned vehicle, so as to which unmanned vehicle can complete remaining course line according to the route information.Pass through
Aforesaid way, the efficiency that unmanned vehicle obtains the line of flight can be lifted, simplify user's operation；And unmanned flight can be reduced
Device do not fly during power consumption.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the control method for unmanned vehicle that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of the control method for unmanned vehicle that the embodiment of the present invention two provides；
Fig. 3 is a kind of flow chart of the control method for unmanned vehicle that the embodiment of the present invention three provides；
Fig. 4 is a kind of flow chart of the control method for unmanned vehicle that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural representation of terminal provided in an embodiment of the present invention；
Fig. 6 is a kind of module composition schematic diagram of the control device of unmanned vehicle provided in an embodiment of the present invention.
Embodiment
The embodiment of the present application is illustrated below in conjunction with the accompanying drawings.
Embodiment one
Fig. 1 shows a kind of control method for unmanned vehicle that the embodiment of the present invention one provides, and this method can be by terminal
Perform.Wherein, the terminal can be include run Android operation system, iOS operating systems, Windows operating system or
The terminal of other operating systems, such as smart mobile phone, removable computer, tablet personal computer, PDA (Personal Digital
Assistant, personal digital assistant) etc..The application program related to unmanned vehicle can be installed, the application in the terminal
Program can be realized and communicated with unmanned vehicle.For example, the application program can receive unmanned vehicle by terminal
Flight information, such as state of flight, flight parameter etc..Or the application program can be sent by terminal to unmanned vehicle
Instruction, to control state of flight of unmanned vehicle etc..The terminal can also be connected with remote control equipment, the remote control equipment be used for
Unmanned vehicle sends telecommand, for example, heading of remotely-piloted vehicle etc..Wherein, between terminal and unmanned vehicle
Communication can be directly realized by, or pass through remote control equipment realize etc., herein not limit.It can be configured with terminal and user
Interactive function, for example, the realization of the hardware capabilitys such as touching display screen can be configured with terminal, or by above-mentioned in terminal
Application program shows that the software functions such as human-computer interaction interface are realized.Of course, it is possible to be combined including said two devices, not limit herein
It is fixed.
As shown in figure 1, this method may include steps of.
Step 101, when terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the unmanned vehicle
The line of flight route information.
Wherein, the terminal is connected with unmanned vehicle, can be that terminal and unmanned vehicle are wirelessly direct
Connection or terminal are connected by unmanned controller with unmanned vehicle, are not limited herein.Terminal and unmanned flight
After device connection, terminal can realize information exchange between unmanned vehicle.There is no when the terminal continues specified time
The signal that the unmanned vehicle returns, then may determine that and disconnected with unmanned vehicle, wherein, unmanned vehicle is performing
During the task of course line, may because of situations such as battery electric quantity deficiency, weather anomaly, natural calamity, with terminal hypertelorism cause with
Terminal disconnects.In the case where being disconnected with terminal, unmanned vehicle can be taken according to the countermeasures pre-set
The measure such as starting point or forced landing of return.
Alternatively, the route information that the terminal preserves can be whole destinations in the unmanned vehicle line of flight
Positional information, and the position letter of the unmanned vehicle obtained for the last time before being disconnected with the unmanned vehicle
Breath, or, the route information that terminal preserves can also be the positional information of remaining destination and unfinished seamark.
Alternatively, terminal preserve route information mode can be it is associated with unmanned vehicle, i.e., terminal from it is different
Unmanned vehicle connects, and the mode that terminal preserves route information is different.Or terminal preserves mode and the flight of route information
Course line is associated, i.e., the different lines of flight, and the mode that terminal preserves route information is different.Or terminal preserves course line letter
The mode of breath can be alternated.Here, the mode that terminal-pair preserves route information not limits.Wherein, unmanned flight
The line of flight of device can include multiple destinations, and each destination is corresponding with positional information, and the positional information can include should
Longitude information and latitude information of destination etc..
Wherein, the line of flight can include completing destination and remaining destination, complete destination and refer to complete in the line of flight
Course line included by destination, remaining destination refer in the line of flight do not complete course line included by destination, i.e., remaining course line
Including destination.Wherein, nobody that course line or remaining course line can obtain according to terminal last time has been completed in the line of flight
The positional information of aircraft determines.
Step 102, after the terminal is established with the unmanned vehicle again to be connected, the terminal is according to the course line
Information judges whether the unmanned vehicle does not complete the line of flight.
Alternatively, whether terminal can be according to unfinished seamark be included, to judge unmanned vehicle in route information
Whether the line of flight is not completed.If terminal determines that route information includes not completing seamark, may determine that this, nobody flies
Row device does not complete the line of flight.
Further, if terminal determines not including not completing seamark in route information, route information can be determined
In whether include the positional information of unmanned vehicle and the positional information of whole destinations in the line of flight.If it is determined that including then may be used
To judge whether unmanned vehicle does not complete the line of flight according to above-mentioned positional information.
Step 103, if it is, the terminal sends the route information to the unmanned vehicle, with described in control
Unmanned vehicle completes the remaining course line in the line of flight according to the route information.
Wherein, the terminal can by the positional information of whole destinations in the line of flight of the unmanned vehicle, and
The positional information of the unmanned vehicle is sent to the unmanned vehicle, the positional information of remaining destination can also be sent to
The unmanned vehicle.
In one implementation, if the terminal judges that the unmanned vehicle has completed institute according to the route information
The line of flight is stated, then can be that the unmanned vehicle formulates the new line of flight, for example, being selected from the line of flight with storage
One or more lines of flight are taken as the new line of flight, and the new line of flight is sent to unmanned vehicle, herein not
Give restriction.
In embodiments of the present invention, when terminal and unmanned vehicle disconnect, terminal can preserve unmanned vehicle
The line of flight route information.And then after terminal is established with unmanned vehicle and connected again, can be according to the course line of preservation
Information judges whether unmanned plane completes the line of flight, if judging, the unmanned vehicle does not complete the line of flight, can incite somebody to action
Route information is sent to unmanned vehicle, so as to which unmanned vehicle can complete remaining course line according to the route information.Pass through
Aforesaid way, the efficiency that unmanned vehicle obtains the line of flight can be lifted, simplify user's operation；And unmanned flight can be reduced
Device do not fly during power consumption.
Embodiment two
As shown in Fig. 2 this method may include steps of.
Step 201, when terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the unmanned vehicle
The positional information of whole destinations in the line of flight, and the institute obtained for the last time before being disconnected with the unmanned vehicle
State the positional information of unmanned vehicle.
In this step, terminal need not judge whether unmanned vehicle completes current course line, can will in the line of flight all
The positional information for the unmanned vehicle that the positional information and last time of destination obtain is preserved.
Step 202, the terminal is established with the unmanned vehicle and connected again.
Wherein, the unmanned vehicle is identical with the unmanned vehicle in step 201.For example, the unmanned flight reconnected
Device and the unmanned vehicle disconnected are same frame unmanned vehicle, i.e. the unique mark of unmanned vehicle is identical.Or weight
The type of unmanned vehicle of the unmanned vehicle newly connected with disconnecting is identical, or place spatial domain is mutually equal, herein not
Give restriction.
Step 203, the terminal is according to the positional information of the unmanned vehicle and the positional information of whole destinations,
Judge whether the unmanned vehicle reaches the terminal of the line of flight；If it has not, step 204 is then performed, if it has, then knot
Line journey；
Step 204, the terminal sends out the positional information of the unmanned vehicle and the positional information of whole destinations
The unmanned vehicle is delivered to, to control the unmanned vehicle to complete the remaining course line in the line of flight.
Wherein, unmanned vehicle can fly to the positional information institute according to the positional information of the unmanned vehicle of transmission
On the position of sign.And the position where positional information according to whole destinations and the unmanned vehicle, it is determined that remaining course line,
And complete remaining course line.
Or terminal can be according to the positional information of unmanned vehicle and the positional information of whole destinations, it is determined that remaining boat
The positional information of the remaining destination of line, and the positional information of the positional information of unmanned vehicle and remaining destination is sent to nobody
Aircraft.And then unmanned vehicle completes remaining course line according to the information received.
Embodiment three
As shown in figure 3, this method may include steps of：
Step 301, when terminal, which detects, to be disconnected with unmanned vehicle, the terminal obtains the unmanned vehicle
The positional information sent for the last time before disconnecting；
Step 302, the terminal judges whether the unmanned vehicle reaches the terminal of the line of flight, if it is,
Step 303 is then performed, if it has not, then performing step 304；
Step 303, the terminal preserves whole way point informations in the line of flight and has completed seamark, or only
Seamark has been completed in preservation, performs step 305；
Wherein, the seamark of having completed represents that the unmanned vehicle has completed the line of flight.
In this step, terminal can preserve or not preserve way point information in the line of flight according to default strategy.
Step 304, the terminal is according to the positional information of the unmanned vehicle and the positional information of whole destinations,
The remaining destination included by the remaining course line of the line of flight, and the positional information of the remaining destination are determined, preserves institute
State the positional information of remaining destination and unfinished seamark；
Wherein, terminal is according to the positional information of the unmanned vehicle and the positional information of whole destinations, it is determined that surplus
The positional information of remaining destination, and then determine remaining course line.Wherein, remaining destination can refer to unmanned vehicle current location to fly
The destination passed through required for the terminal in row course line.Remaining course line is made up of remaining destination.
Wherein, the unfinished seamark represents that the line of flight has not been completed in the unmanned vehicle.Can be with
One flag is set, for example, when the home position is 1, course line has been completed in expression, when being set to 0, represents not completing course line；
It is of course also possible to when the home position is 0, course line has been completed in expression, when being set to 1, represents not completing course line；It can also set
Two marks, correspond to completed seamark and unfinished seamark respectively, not limit herein.
Step 305, the terminal is established with the unmanned vehicle and connected again；
Step 306, the terminal judges whether include not completing seamark in the route information；If it has, then hold
Row step 307, if it has not, then terminating flow.
Step 307, the terminal determines that the unmanned vehicle does not complete the line of flight, by the remaining destination
Positional information is sent to the unmanned vehicle, to control the unmanned vehicle to complete the remaining boat in the line of flight
Line.
Example IV
As shown in figure 4, this method may include steps of：
Step 401, when terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the unmanned vehicle
The line of flight route information；
Alternatively, the terminal can also preserve the information of the unmanned vehicle, and the information of the unmanned vehicle is used
In one unmanned vehicle of unique mark；
Wherein, the information of the unmanned vehicle can include：The identification information of unmanned vehicle, for example, it is described nobody fly
One kind or combination in title of the sequence number that dispatches from the factory of row device, the model of the unmanned vehicle or the unmanned vehicle etc..
So that the aircraft information can be used in one unmanned vehicle of unique mark, or a kind of unmanned vehicle, not limit herein.
Alternatively, the terminal also preserves offline mode corresponding with the line of flight and/or flight parameter information；
Offline mode corresponding to the line of flight can be including desired guiding trajectory flies between minimum distance flight, destination between destination
Row, one or more of the n times in flight etc. are carried out for one or more destinations.
The flight parameter information may include at least one following：Airspeed information, flying height information, distance range
Information, low battery warning message, information of making a return voyage etc..
Wherein, airspeed information can be directed to one or more destinations.Flying height information can be directed to one or more
Individual destination.
Distance range information refers to that the distance between unmanned vehicle and destination needs are indicated in distance range information
Distance range in.Distance range information can be directed to one or more destinations.
The low battery warning message can be when unmanned vehicle electricity is low, which kind of alarm be inputted, such as can be
In the terminal display reminding information, send alarm sound etc..
The information of making a return voyage can include making a return voyage condition and returning way point information, when completing course line task or electricity is low or lose
During control signal, by unmanned plane itself vision system or GPS record, auto-returned, which makes a return voyage, top and completes automatic drop
Fall.Starting point can also be a little defaulted as by making a return voyage, or be updated to terminal position point.
Step 402, the terminal is established with the unmanned vehicle and connected again；
Step 403, the terminal judges whether the unmanned vehicle does not complete the flight according to the route information
Course line；If so, step 404 is then performed, if it is not, then terminating flow；
Alternatively, after the terminal establishes connection with the unmanned vehicle again, the terminal also judges this time to connect
The unmanned vehicle that was connected with last time of unmanned vehicle it is whether identical, the letter of the unmanned vehicle can be preserved by terminal
Cease and be compared with the information of the unmanned vehicle of this connection, if not same unmanned vehicle, then terminate flow, can be right
This time the unmanned vehicle of connection is configured new line of flight etc., not limits herein.
Step 404, terminal output prompt message, the prompt message be used to prompting the user whether controlling it is described nobody
Aircraft completes the remaining course line；
Wherein, the prompt message can be display reminding information, information of voice prompt etc., not limit herein.
Step 405, the terminal detects that user operates for the confirmation of the prompt message, and the route information is sent out
The unmanned vehicle is delivered to, to control the unmanned vehicle to complete remaining in the line of flight according to the route information
Remaining course line.
Wherein, the confirmation operation of user can include at least one in touch control operation, input through keyboard operation, voice operating
Kind.
Alternatively, the terminal also sends the offline mode and/or flight parameter information to the unmanned vehicle,
To control the unmanned vehicle to complete the remaining course line according to the offline mode and/or flight parameter information.
For example, unmanned vehicle passes through some or multiple remaining destinations according to the offline mode received；Or nobody
Aircraft completes the course line task on corresponding destination according to flight parameter information.
Step in the various embodiments described above can combine, and not limit herein.The description of same steps in the various embodiments described above
It can be will not be described here with cross-reference.
The embodiment of the present invention additionally provides a kind of terminal, the terminal can be include running Android operation system,
The terminal of iOS operating systems, Windows operating system or other operating systems, such as smart mobile phone, removable computer, flat board electricity
Brain, PDA, or graphic display terminal etc..The terminal is used to realize above-described embodiment and embodiment, has carried out explanation
Repeat no more.
As shown in figure 5, the terminal of the embodiment of the present invention, including：Memory 51, processor 52 and it is stored on memory 51
And the computer program that can be run on a processor.
Described in the computing device following steps are realized during computer program：
When detect disconnected with unmanned vehicle when, preserve the unmanned vehicle the line of flight course line letter
Breath；
After connection is established with the unmanned vehicle again, judge that the unmanned vehicle is according to the route information
It is no not complete the line of flight；
If it is, the route information is sent to the unmanned vehicle, to control the unmanned vehicle according to institute
State the remaining course line in the route information completion line of flight.
Alternatively, also realized during computer program described in the computing device：
Preserve the positional information of whole destinations in the unmanned vehicle line of flight, and with the unmanned vehicle
The positional information for the unmanned vehicle that last time obtains before disconnecting；
According to the positional information of the unmanned vehicle and the positional information of whole destinations, the unmanned flight is judged
Whether device reaches the terminal of the line of flight；
If it has not, determine that the unmanned vehicle does not complete the line of flight.
Alternatively, also realized during computer program described in the computing device：
When the terminal, which detects, to be disconnected with the unmanned vehicle, breaking according to the unmanned vehicle
The positional information obtained for the last time before connection is opened, judges whether the unmanned vehicle reaches the terminal of the line of flight；
If it has not, believed according to the position of whole destinations in the positional information of the unmanned vehicle and the line of flight
Breath, determines the remaining destination included by the remaining course line of the line of flight, and the positional information of the remaining destination；
Preserve the positional information of the remaining destination and unfinished seamark；
Judge whether include not completing seamark in the route information；
If it is, determine that the unmanned vehicle does not complete the line of flight.
Alternatively, the terminal can also include being used for the input interacted with user according to the control of the processor
Output device 53, the input/output unit 53 can include input block 531 and output unit 532, wherein, input block
531 can include touch screen, keyboard, mouse, microphone etc., for receiving the input operation of user, include the confirmation behaviour of user
Make, operation etc. is set.The output unit 532 can include display screen, loudspeaker etc., for passing through the side such as image or sound
Formula, output prompting or offer option select for user.In certain embodiments, the input block 531 and output unit 332
It can be combined together, such as display touch screen etc..
Alternatively, also realized during computer program described in the computing device：
The route information is sent to before the unmanned vehicle, exports prompt message, the prompt message is used for
Prompt the user whether to control the unmanned vehicle to complete the remaining course line；
Detect user for the prompt message confirmation operation after, by the route information send to it is described nobody fly
Row device.
Wherein it is possible to pass through the display reminding information of output unit 532, information of voice prompt etc..For example, display can be passed through
Prompt window can also include the two button controls of "Yes" and "No" to prompt " whether continuing executing with remaining course line " in prompt window
Part.When input block 531 detect user click on "Yes" button control, then the route information is sent to the unmanned flight
Device.
Alternatively, also realized during computer program described in the computing device：
Preserve offline mode corresponding with the line of flight and/or flight parameter information；
The offline mode and/or flight parameter information are sent to the unmanned vehicle, with control it is described nobody fly
Row device completes the remaining course line according to the offline mode and/or flight parameter information.
Certainly, the terminal can also include other devices, for example, communicator etc., to realize and unmanned vehicle
Communication connection.Other devices or circuit structure for including for terminal etc., not limit herein.
The embodiment of the present invention additionally provides a kind of control device of unmanned vehicle, and the device is used to realize above-described embodiment
And embodiment, carried out repeating no more for explanation.As used below, term " module " can be used to realize
State the software, hardware or the two combination of function.
As shown in fig. 6, the control device of the unmanned vehicle of the embodiment of the present invention includes：
Preserving module 61, for when detect disconnected with unmanned vehicle when, preserve the unmanned vehicle fly
The route information in row course line；
First judge module 62, for when again with the unmanned vehicle establish connect after, according to the route information
Judge whether the unmanned vehicle does not complete the line of flight；
Sending module 63, if being judged as YES for first judge module, the route information is sent to the nothing
People's aircraft, to control remaining course line of the unmanned vehicle in the route information completion line of flight.
Alternatively, the preserving module 61, for preserving the position of whole destinations in the unmanned vehicle line of flight
Information, and the positional information of the unmanned vehicle obtained for the last time before being disconnected with the unmanned vehicle；
The judge module 62, believe for the position of the positional information according to the unmanned vehicle and whole destinations
Breath, judges whether the unmanned vehicle reaches the terminal of the line of flight；If it has not, determine that the unmanned vehicle is not complete
Into the line of flight.
Alternatively, described device also includes the second judge module, second judge module, for when detect with it is described
When unmanned vehicle disconnects, believe according in the position obtained for the last time before disconnecting with the unmanned vehicle
Breath, judges whether the unmanned vehicle reaches the terminal of the line of flight；
The preserving module 61, when being additionally operable to second judge module and being judged as NO, according to the unmanned vehicle
The positional information of whole destinations, is determined included by the remaining course line of the line of flight in positional information and the line of flight
Remaining destination, and the positional information of the remaining destination, preserve the positional information and unfinished course line mark of the remaining destination
Know；
First judge module 62, for judging whether include not completing seamark in the route information；If
It is to determine that the unmanned vehicle does not complete the line of flight.
Alternatively, described device also includes output module, and for exporting prompt message, the prompt message is used to prompt to use
Whether family controls the unmanned vehicle to complete the remaining course line；
The sending module 63, after detecting user for the confirmation operation of the prompt message, by the course line
Information is sent to the unmanned vehicle.
Alternatively, the preserving module 61, it is additionally operable to preserve offline mode corresponding with the line of flight and/or flight
Parameter information；
The sending module 63, be additionally operable to by the offline mode and/or flight parameter information send to it is described nobody fly
Row device, to control the unmanned vehicle to complete the remaining course line according to the offline mode and/or flight parameter information.
The function of above-mentioned module can be realized by above-mentioned terminal.
The embodiment of the present invention also provides a kind of computer-readable recording medium, is stored with computer executable instructions, described
Computer executable instructions are used for the control method for performing above-mentioned unmanned vehicle.
In the present embodiment, above computer readable storage medium storing program for executing can include but is not limited to：USB flash disk, read-only storage
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disc
Or CD etc. is various can be with the medium of store program codes.
Although disclosed herein embodiment as above, described content be only readily appreciate the present invention and use
Embodiment.Any those skilled in the art, do not depart from disclosed herein spirit and scope on the premise of, can be with
Any modification and change are carried out in the form and details of implementation.
Claims (11)
- A kind of 1. control method of unmanned vehicle, it is characterised in that including：When terminal, which detects, to be disconnected with unmanned vehicle, the terminal preserves the line of flight of the unmanned vehicle Route information；After the terminal is established with the unmanned vehicle again to be connected, the terminal is according to judging the route information Whether unmanned vehicle does not complete the line of flight；If it is, the terminal sends the route information to the unmanned vehicle, to control the unmanned vehicle root The remaining course line in the line of flight is completed according to the route information.
- 2. according to the method for claim 1, it is characterised in that the terminal preserves the route information of the line of flight, Including：The terminal preserves the positional information of whole destinations in the unmanned vehicle line of flight, and with it is described nobody fly The positional information for the unmanned vehicle that last time obtains before row device disconnects；The terminal judges whether the unmanned vehicle does not complete the line of flight according to the route information, including：The terminal according to the positional information of the unmanned vehicle and the positional information of whole destinations, judge it is described nobody Whether aircraft reaches the terminal of the line of flight；If it has not, the terminal determines that the unmanned vehicle does not complete the line of flight.
- 3. according to the method for claim 1, it is characterised in that disconnected when the terminal detects with the unmanned vehicle During connection, methods described also includes：The terminal is according in the positional information obtained for the last time before disconnecting with the unmanned vehicle, described in judgement Whether unmanned vehicle reaches the terminal of the line of flight；If it has not, position of the terminal according to whole destinations in the positional information of the unmanned vehicle and the line of flight Information, determine the remaining destination included by the remaining course line of the line of flight, and the positional information of the remaining destination；The terminal preserves the route information of the line of flight, including：The terminal preserves the positional information of the remaining destination and unfinished seamark；The terminal judges whether the unmanned vehicle does not complete the line of flight according to the route information, including：The terminal judges whether include not completing seamark in the route information；If it is, the terminal determines that the unmanned vehicle does not complete the line of flight.
- 4. the method according to any one in claims 1 to 3, it is characterised in that the terminal is by the route information Send to before the unmanned vehicle, methods described also includes：The terminal exports prompt message, and the prompt message is used to prompt the user whether to control the unmanned vehicle to complete institute State remaining course line；The terminal sends the route information to the unmanned vehicle, including：After the terminal detects user for the confirmation operation of the prompt message, the route information is sent to the nothing People's aircraft.
- 5. the method according to any one in claims 1 to 3, it is characterised in that methods described also includes：The terminal preserves offline mode corresponding with the line of flight and/or flight parameter information；The terminal sends the offline mode and/or flight parameter information to the unmanned vehicle, to control the nothing People's aircraft completes the remaining course line according to the offline mode and/or flight parameter information.
- 6. a kind of terminal, including：Memory, processor and storage are on a memory and the computer journey that can run on a processor Sequence, it is characterised in that realize following steps during computer program described in the computing device：When detect disconnected with unmanned vehicle when, preserve the route information of the line of flight of the unmanned vehicle；After connection is established with the unmanned vehicle again, judge the unmanned vehicle whether not according to the route information Complete the line of flight；If it is, the route information is sent to the unmanned vehicle, to control the unmanned vehicle according to the boat Line information completes the remaining course line in the line of flight.
- 7. terminal according to claim 6, it is characterised in that go back reality described in the computing device during computer program It is existing：The positional information of whole destinations in the unmanned vehicle line of flight is preserved, and is disconnected with the unmanned vehicle The positional information for the unmanned vehicle that last time obtains before connection；According to the positional information of the unmanned vehicle and the positional information of whole destinations, judge that the unmanned vehicle is The no terminal for reaching the line of flight；If it has not, determine that the unmanned vehicle does not complete the line of flight.
- 8. terminal according to claim 6, it is characterised in that go back reality described in the computing device during computer program It is existing：When the terminal, which detects, to be disconnected with the unmanned vehicle, according to the unmanned vehicle disconnect connect The positional information that last time obtains before connecing, judges whether the unmanned vehicle reaches the terminal of the line of flight；If it has not, according to the positional information of whole destinations in the positional information of the unmanned vehicle and the line of flight, really Remaining destination included by the remaining course line of the fixed line of flight, and the positional information of the remaining destination；Preserve the positional information of the remaining destination and unfinished seamark；Judge whether include not completing seamark in the route information；If it is, determine that the unmanned vehicle does not complete the line of flight.
- 9. the terminal according to any one in claim 6~8, it is characterised in that calculating described in the computing device Also realized during machine program：The route information is sent to before the unmanned vehicle, exports prompt message, the prompt message is used to prompt Whether user controls the unmanned vehicle to complete the remaining course line；After detecting user for the confirmation operation of the prompt message, the route information is sent to the unmanned flight Device.
- 10. the terminal according to any one in claim 6~8, it is characterised in that calculating described in the computing device Also realized during machine program：Preserve offline mode corresponding with the line of flight and/or flight parameter information；The offline mode and/or flight parameter information are sent to the unmanned vehicle, to control the unmanned vehicle The remaining course line is completed according to the offline mode and/or flight parameter information.
- 11. a kind of computer-readable recording medium, is stored with computer executable instructions, the computer executable instructions are used for Perform claim requires the control method of the unmanned vehicle described in any one of 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711115437.XA CN107831785A (en) | 2017-11-13 | 2017-11-13 | The control method and terminal of a kind of unmanned vehicle |
| PCT/CN2018/106539 WO2019091226A1 (en) | 2017-11-13 | 2018-09-19 | Unmanned aerial vehicle control method and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711115437.XA CN107831785A (en) | 2017-11-13 | 2017-11-13 | The control method and terminal of a kind of unmanned vehicle |
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| Publication Number | Publication Date |
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| CN107831785A true CN107831785A (en) | 2018-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711115437.XA Pending CN107831785A (en) | 2017-11-13 | 2017-11-13 | The control method and terminal of a kind of unmanned vehicle |
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| WO (1) | WO2019091226A1 (en) |
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| WO2019091226A1 (en) * | 2017-11-13 | 2019-05-16 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method and terminal |
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| WO2019091226A1 (en) | 2019-05-16 |
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Address after: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant before: AUTEL ROBOTICS Co.,Ltd. |
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Application publication date: 20180323 |