CN108268049A - Aircraft, the flight system and control method for following flight - Google Patents
Aircraft, the flight system and control method for following flight Download PDFInfo
- Publication number
- CN108268049A CN108268049A CN201611260896.2A CN201611260896A CN108268049A CN 108268049 A CN108268049 A CN 108268049A CN 201611260896 A CN201611260896 A CN 201611260896A CN 108268049 A CN108268049 A CN 108268049A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- flight
- location data
- data
- different moments
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 241001269238 Data Species 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000010006 flight Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application provides a kind of aircraft, the flight system and control method of flight are followed, is related to aircraft field.In the aircraft, the flight system for following flight and control method, alignment system acquisition follow object motion track information and be sent to aircraft, the motion track information include follow object different moments location data.Aircraft receiver reception follow object different moments location data, the flight controller of aircraft selects airbound target data from the location data of different moments and flies to the position of airbound target data, it is good to realize aircraft and follow the interactivity between object to object is followed to follow.
Description
Technical field
This application involves aircraft field, in particular to a kind of aircraft, flight system and the control of flight are followed
Method processed.
Background technology
The flight of aircraft is controlled in the prior art, often based on preset flight path or rule, not with external object
Body generation action interaction.Certain aircraft flights performance in, seem there are human-computer interaction, but actually or controller with fly
Row device acts simultaneously according to the scheduled time, is not real human-computer interaction.
Therefore, the demonstration flight process of aircraft lacks interactive and interest at present.
Invention content
In view of this, the embodiment of the present application provides a kind of aircraft, the flight system and control method that follow flight,
Lacking the problem of interactive and interesting during demonstration flight to improve above-mentioned aircraft.
To achieve these goals, the technical solution that the application uses is as follows：
A kind of aircraft, including receiver and flight controller, the receiver follows object when different for receiving one
The location data at quarter；The flight controller, for selecting airbound target data from the location data of the different moments, and
The aircraft flight is controlled to the position of the airbound target data.
A kind of flight system for following flight follows object, an aircraft including one, one for send it is described with
With the alignment system of movement locus of object information, the aircraft has：One receiver and a flight controller, it is described fixed
Position system, for following the motion track information of object described in timing acquisition and transmission, the motion track information includes institute
State the location data for following object；The receiver, for receive it is described follow object different moments location data；It is described
Flight controller for selecting airbound target data from the location data of the different moments, and controls the aircraft to fly
Row arrives the position of the airbound target data.
A kind of flight control method for following flight, for above-mentioned aircraft, the aircraft includes：Receiver and flight
Controller, described method includes following steps：Receive one follow object different moments location data；From it is described different when
Airbound target data are selected in the location data at quarter, and control the aircraft flight to the position of the airbound target data.
In aircraft provided by the embodiments of the present application, the flight system for following flight and control method, by obtain with
With location data of the object in different moments, and airbound target data are selected from the location data of the different moments, with control
Aircraft flight is to the position of selected airbound target data.Since airbound target data determined by aircraft is follow object
A location data in body actual motion track, thus can realize aircraft along the movement locus for following object be followed by with
It with object of which movement, realizes aircraft and follows the real interaction of object, enhance the interest of aircraft flight performance.
For the above-mentioned purpose of the application, feature and advantage is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
Purpose, technical scheme and advantage to make the embodiment of the present application are clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical solution in the embodiment of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall in the protection scope of this application.
Fig. 1 shows the flight system provided by the embodiments of the present application for following flight；
Fig. 2 shows a kind of structure diagrams of aircraft provided by the embodiments of the present application；
Fig. 3 shows a kind of corresponding position relationship signal of multiple location datas for following object provided by the embodiments of the present application
Figure；
Fig. 4 shows that a kind of aircraft provided by the embodiments of the present application follows schematic diagram；
Fig. 5 shows the flight control method flow chart for following flight of aircraft provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete
Ground describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be configured to arrange and design with a variety of different herein.Cause
This, the detailed description of the embodiments herein to providing in the accompanying drawings is not intended to limit claimed the application's below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall in the protection scope of this application.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
The embodiment of the present application provides a kind of flight system 400 for following flight, in the system 400, including one with
With 200, aircraft 100 of object, one is used to send the alignment system 300 for following movement locus of object information, such as
Shown in Fig. 1.In Fig. 1, the form of object 200, aircraft 100 and alignment system 300 is followed to be used only for illustrating, and is differed
Surely its actual form is represented.
Specifically, object 200 and aircraft 100 is followed to be respectively positioned in the range of the localization region of the alignment system 300, it is fixed
Position system 300 can obtain the aircraft 100 in the range of its localization region and the movement locus of object 200 is followed to believe
Breath, localization region range is as shown in region 410 in Fig. 1.Wherein, the motion track information of object 200 is followed to include following object
Location data of the body 200 in different moments, the location data can represent to follow the spatial position residing for object 200, can use three
Dimension coordinate data (x, y, z) are indicated.The motion track information of aircraft 100 includes the location data of aircraft 100, table
Show the spatial position residing for aircraft 100, it is also possible to which three-dimensional coordinate data is indicated.In the present embodiment, alignment system 300
It can be that optics moves the system of catching (OptiTrack), stable high frame per second position sampling is carried out to moving object, it is of course also possible to
It is that other can obtain the alignment system for following 100 location data of object 200 and aircraft.
In this follows the flight system 400 of flight, alignment system 300 is used to follow object described in timing acquisition and transmission
200 motion track information.
Alignment system 300 can be carried out by certain frequency to the timing acquisition for following the motion track information of object 200,
And the motion track information of acquisition is sent to the aircraft 100 that this is followed to follow object 200 by alignment system 300.Positioning system
The mode that motion track information is sent to aircraft 100 by system 300 can be transmitted directly to aircraft 100 or lead to
Other equipment, such as ground control centre are crossed, is sent to aircraft 100.In the present embodiment, alignment system 300 is obtained and is sent
Motion track information include following object 200 different moments location data.
The tool of aircraft 100 provided in this embodiment is there are one receiver 101 and a flight controller 102, such as Fig. 2 institutes
Show, be electrically connected between receiver 101 and flight controller 102.Wherein, receiver 101 described follows object 200 for receiving
In the location data of different moments, flight controller 102 is used to select airbound target from the location data of the different moments
Data, and the flight of aircraft 100 is controlled to the position of the airbound target data.
The receiver 101 can receive the location data according to fixed frequency, and the location data received every time is
Location data of the object 200 at current time is followed, by receiving the location data according to fixed frequency, you can acquisition follows object
Body is in the location data of different moments.The fixed frequency obtains the frequency for the trace information for following object 200 with alignment system 300
Can be consistent, can not also be consistent, it is determined according to actual needs by user.Preferably, the acquisition of alignment system 300 follows object
The frequency of 200 trace information is more than the fixed frequency, and alignment system 300 is allow to obtain multiple location datas and filtered
A more accurate location data is sent after wave processing to aircraft 100.In the present embodiment, it is fixed receiver 101 to be received
The fixed frequency of position data is not intended as limiting, and can be determined according to practical flight demand for control.Preferably, which can
Think 5-30fps, it is therefore preferable to 20fps.
In the present embodiment, which further includes memory 103, as shown in Figure 2.When receiver 101 receives different
The location data at quarter, and carried out being stored in memory 103, the location data of storage can be multiple.Wherein, it receives and deposits
The number of the location data of storage is not intended as the restriction of the present embodiment, can according to actual needs or memory capacity determines.And
And multiple location datas of the storage are updated in real time, when being continuously added the newest location data of receiving time, while rejecting
Between location data earlier, the location data at the time of location data of the different moments of storage is kept to be nearest.Flight control
Device 102 processed selects one as airbound target data from the location data of multiple different moments.
Wherein, the flight controller 102 selects airbound target data can be with from the location data of the different moments
Performed according to predeterminated frequency, that is, flight controller 102 according to predeterminated frequency from the positioning number of currently stored different moments
It is once selected according to middle.The fixed frequency that the predeterminated frequency can receive location data with receiver 101 is consistent, often receives one
A location data carries out the selection of flight target data.Certainly, which can not also receive with receiver 101
The fixed frequency of location data is consistent, and the occurrence of predeterminated frequency can determine according to actual needs.
A variety of different selection modes may be used in the flight controller 102, no matter using which kind of selection mode,
It need to ensure 200 current position determination data distance of object to be followed to meet safe distance with described, thus be avoided that aircraft and follow object
It closely collides very much.Specifically, the flight controller 102 can be according to predeterminated frequency from the difference according to object 200
Any location data is selected in the location data at moment as airbound target data.Specifically include following at least one：
First, selection follows object 200 to work as prelocalization with described from the location data of the different moments for following object 200
Data distance meets safe distance and recently airbound target data of the location data at moment as current time.The selection side
Formula can ensure aircraft ensure with follow object safe distance in the case of closely follow object, without distance with
It is too far with object, that is, do not catch up with the situation for following object.
Second, interval selecting party can be used by the sequence of morning to evening according to the time from the location data of different moments
Formula is spaced N between the location data selected every time（N is natural number）A location data.Such selection mode passes through described in setting
The numerical values recited at interval is come the degree of closeness that controls aircraft Yu follow movement locus of object, it is seen that interval is smaller, then with following
The movement locus of object is closer.
Third, randomly selected mode can be used from the location data of different moments.
The flight controller 102 is in regioselective data, to ensure that selected location data follows object with described
The distance of 200 current position determination data of body meets safe distance, and following manner may be used：It calculates respectively and follows working as object 200
The distance between prelocalization data and the location data of different moments choose wherein distance and are greater than or equal to safe distance, and full
The above-mentioned airbound target data for selecting the location data of rule as current time of foot, such as select to determine near current time
Airbound target data of the position data as current time.The safe distance is preset, it is ensured that the flight of aircraft 100, which is arrived, to fly
It during row target data and follows and will not generate collision between object 200, concrete numerical value is not intended as limiting, can be according to flight
The size of device 100 or needs follow effect to determine.
To select the location data at nearest moment, as the airbound target data instance at current time, circular can
To be, the location data at nearest moment is as following the current fixed of object 200 using in the location data of the different moments received
Position data, calculate successively follow between other location datas of the current position determination data and time of object 200 from the near to the remote away from
From when calculating the location data for meeting to distance safe distance, with the airbound target data of the location data alternatively, no
The distance between time farther location data and current position determination data are calculated again.It should be understood that between location data away from
From as the distance between corresponding position of location data.
By taking the location data of corresponding 5 positions for following object 200 of P1 shown in Fig. 3 to P5 as an example.P5 to P1 be with
5 location datas of current time time relationship from the near to the remote, P5 is the location data at the current time for following object 200, first
The distance between P5 and P4 are first calculated, judges that the distance is unsatisfactory for safe distance R, then calculates the distance between P5 and P3 again,
Since the distance meets safe distance R, then using location data P3 as airbound target data, P5 and other positioning numbers are no longer calculated
The distance between according to.
Can also calculate to follow the current position determination data of object 200 and the location data of all different moments of storage
The distance between, then selected distance meet in the location data of safe distance recently the location data at moment as current time
Airbound target data.
Still by P1 as shown in Figure 3 to P5 is corresponding follow 5 location datas of object 200 for.Wherein, P5 to P1
For 5 location datas with current time time relationship from the near to the remote, P5 is the positioning number at the current time for following object 200
According to, respectively calculate the distance between P5 and P4, P3, P2 and P1.As shown in figure 3, wherein between P3, P2 and P1 and P5 away from
From being satisfied by safe distance R, but P3 is the location data nearest with current time in P3, P2 and P1, then using P3 as winged
Row target data.
After selecting airbound target data, the i.e. controllable flight of aircraft 100 of flight controller 102 to the airbound target data
Position.A kind of scheme of position of the control aircraft flight provided in this embodiment to airbound target data is as described below, this
Field technology personnel are it is understood that the flying method is not limited thereto.The specific flight controller 102 of the present embodiment is controlled
The scheme of aircraft flight processed to the position of airbound target data includes：Alignment system 300 is additionally operable to timing acquisition aircraft 100
Location data and be sent to aircraft 100, aircraft 100 can utilize pid control algorithm, according to itself current position determination data
Difference between airbound target data controls the flying speed of aircraft 100, so as to fly to airbound target data
Position.
Specifically, aircraft 100 is according to the difference between itself current position determination data and airbound target data and in advance
The flight time of setting determines flying speed and heading.For example, 100 current position determination data of aircraft is (x1, y1, z1),
Airbound target data be (x2, y2, z2), the preset flight time be t, then can calculate obtain flying speed (Vx, Vy,
Vz) it is：Vx=(x2-x1)/t, Vy=(y2-y1)/t, Vz=(z2-z1)/t.Since the flying speed of acquisition is has directive arrow
Amount can then determine the flying speed size and Orientation of aircraft 100 according to the flying speed (Vx, Vy, Vz).
It is of course also possible to according to pre-set velocity flight to the position of the airbound target data.Or according to described in arrival
The distance of airbound target data determines flying speed, that is, predefines flying speed with reaching the distance of airbound target data
Functional relation, so as to after airbound target data selects, you can calculate the distance for obtaining and reaching airbound target data, thus
Flying speed is determined according to the predetermined functional relation.
In addition, if flight controller 102 chooses airbound target data from the location data of different moments not successfully, such as
The location data of the different moments of reception is unsatisfactory for and follows the safe distance of 200 current position determination data of object, then control flies
Row device 100 hovers over the location of current flight device 100.
Since airbound target data are to follow the location data of object 200 at a time, then the position of airbound target data
It is set to the position followed on 200 movement locus of object.200 persistent movement of object is followed to form movement locus, aircraft 100 connects
It receives device 101 and the location data for following 200 different moments of object is persistently received according to fixed frequency, flight controller 102 is according to pre-
If frequency selects airbound target data constantly from the location data of different moments, and controls 100 flight to flight mesh of aircraft
Mark the position of data, the flight path of aircraft 100 made to follow the movement locus of object 200, realize aircraft 100 to
With following for object 200, terminated until following.
Aircraft 100 follows termination to follow object 200, can be by terminating order control.The termination order can be
User is sent by the control device being connect with 100 signal of aircraft or ground control centre or aircraft 100 exists
Detect that oneself state is unsatisfactory for generating during flying condition, such as 100 not enough power supply of aircraft.When following termination, aircraft 100
It can be landed with original place, flight is followed to terminate.
In the present embodiment, it can be baton or other aircraft to follow object 200.The baton can be led
Object that is dynamic or passively making various actions, such as human body, robot, movable other smart machines or non intelligent
The object of various forms.When baton for robot when smart motions equipment when, user can send out movement to the baton
Control command controls commander's rod motion, which can also move according to preset motion control commands.When baton is
During non intelligent object, user can also directly hold the baton, control commander's rod motion.
When it is baton to follow object 200, control commander's rod motion forms movement locus, 100 flight path of aircraft
The movement locus of baton is repeated, follow the movement of baton and keeps safe distance with baton.It is it when following object 200
During his aircraft, aircraft 100 follows the flight path of other aircraft.
When with multiple aircraft, multiple aircraft can follow successively, realize the building sequence flight of aircraft, wherein
One aircraft can follow the baton that user holds, other aircraft follow previous aircraft flight.Then, when user holds
Baton holder waves out one section of track lines, follows the aircraft gradually corresponding positioning of responding trajectory lines information of the baton
Data follow baton to fly, meanwhile, the aircraft of the aircraft is followed to respond the movement locus of the aircraft again, follows this
Aircraft moves, so as to realize aircraft that multiple aircraft follow it to follow successively, the fortune that response baton is waved out
The building sequence of dynamic rail mark is flown, and realizes the interaction of aircraft and external baton well, as shown in Figure 4.
In Fig. 4, dotted line represents that the baton 110 that user holds waves the movement locus to be formed, 111,112,113 and
114 represent aircraft, wherein, aircraft 111 follows baton 110, and aircraft 112 follows aircraft 111, aircraft 113 with
With aircraft 112, aircraft 114 follows aircraft 113.Since 114,113,112 and 111 follow successively, last 111 follow
Baton makes building sequence flight on the movement locus that aircraft 111 formed to aircraft 114 in baton.
When with multiple aircraft and during baton, each aircraft can receive baton and all aircraft
Location data therefrom chooses its location data for following object 200 followed.Certainly, the location data that aircraft 100 receives
It can be the location data for following object 200 that it is followed.Furthermore it is possible to baton and each aircraft are compiled
Number, baton and n-1 aircraft as there are one, number consecutively 0#, 1# ... until n-1#, and each flight is set
What device followed follows the number of object 200, such as sets 1# that 0#, 2# is followed to follow 1#, until n-1# follows n-2#.Alignment system
300 are sent in the location data of aircraft 100, including the corresponding number of each location data, so that 100 receptions of aircraft
The location data of object 200 that it was followed follow determines that it followed follows object from all location datas received
The location data of body 200.
The embodiment of the present application additionally provides a kind of flight control method for following flight, for aforementioned aircraft 100, tool
Body, as shown in figure 5, this method includes：
Step S310：Receive one follow object 200 different moments location data.
Alignment system 300 obtains the motion track information for following object 200, and is sent to aircraft 100.The movement locus
Information includes location data, the receiver 101 of aircraft 100 receive this follow object 200 different moments location data.
Specifically, aircraft 100 can receive the location data according to fixed frequency, which does not make in the present embodiment
For limitation, it is preferred that can be 5-30fps, it is therefore preferable to 20fps.
Step S320：Airbound target data are selected from the location data of the different moments, and control the aircraft
The position of the airbound target data is arrived in 100 flights.
The flight controller 102 of aircraft 100 selected from multiple location datas of the different moments of reception one as
Airbound target data, and the flight of aircraft 100 is controlled to the position of the airbound target data.
Specifically, in this step, during the difference that aircraft 100 can follow object 200 from described according to predeterminated frequency
Selection follows object 200 current position determination data distance to meet safe distance and recently moment with described in the location data at quarter
Airbound target data of the location data as current time.Therefore, aircraft 100 can update self-position with predeterminated frequency,
It flies to the position on the movement locus for following object 200, to object 200 is followed to follow.
It in aircraft provided in this embodiment, follows in flight system and the control method of flight, alignment system 300 obtains
The trace information of object 200 must be followed and be sent to aircraft, which includes the location data of object 200 is followed to fly
After the receiver of row device 100 receives the location data for following 200 different moments of object, flight controller therefrom selects flight mesh
Mark data, control aircraft 100 flight to the airbound target data.Since the airbound target data are to follow determining for object 200
Position data, realize aircraft 100 to following following for object 200.
When in aircraft provided in this embodiment, follow flight flight system and control method be used for demonstration flight
When, follow during 200 position of object constantly changes, aircraft 100 can on the movement locus for following object 200 with
The position of object 200 is followed to change with this, with object 200 is followed to realize good interactivity.In demonstration flight, to refer to
When swinging as object 200 is followed, and there are more aircraft 100 followed successively, then when user brandishes baton, one flies
Row device 100 follows the movement locus of baton to fly, other aircraft follow successively, during realizing demonstration flight well
Aircraft 100 and external interactivity, increase the interest in demonstration flight.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference from other examples, and just to refer each other for identical similar part between each embodiment.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to implement holding for defined logic function
Row instruction.It should also be noted that at some as in the realization method replaced, the function that is marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depended on the functions involved.It is it is also noted that every in block diagram and/or flow chart
The combination of a box and the box in block diagram and/or flow chart can use function or the dedicated base of action as defined in performing
It realizes or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each function module in each embodiment of the application can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the application is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment（Can be
People's computer, server or network equipment etc.）Perform all or part of step of each embodiment the method for the application.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory（ROM, Read-Only Memory）, arbitrary access deposits
Reservoir（RAM, Random Access Memory）, the various media that can store program code such as magnetic disc or CD.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability
Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including
It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, also there are other identical elements in article or equipment.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.It should be noted that：Similar label and letter exists
Similar terms are represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The specific embodiment of the above, only the application, but the protection domain of the application is not limited thereto, it is any
In the technical scope that those familiar with the art discloses in the application, change or replacement can be readily occurred in, should all be contained
It covers within the protection domain of the application.Therefore, the protection domain of the application described should be subject to the protection scope in claims.
Claims (19)
1. a kind of aircraft, including receiver and flight controller, which is characterized in that
The receiver, for receive one follow object different moments location data；
The flight controller, for selecting airbound target data from the location data of the different moments, and described in control
Aircraft flight is to the position of the airbound target data.
2. aircraft according to claim 1, which is characterized in that the receiver receives the positioning according to fixed frequency
Data.
3. aircraft according to claim 2, which is characterized in that the fixed frequency is 5-30fps.
4. aircraft according to claim 2, which is characterized in that the fixed frequency is 20fps.
5. aircraft according to claim 2, which is characterized in that the flight controller is configured as：
According to predeterminated frequency, selection follows object currently fixed with described from the location data of the different moments for following object
Position data distance meets safe distance and recently airbound target data of the location data at moment as current time.
6. aircraft according to any one of claims 1 to 5, which is characterized in that it is described follow object for baton or
Other aircraft.
7. a kind of flight system for following flight follows object, an aircraft including one, one is used to send described follow
The alignment system of movement locus of object information, the aircraft have：One receiver and a flight controller, feature exist
In：
The alignment system, for following the motion track information of object, the movement locus letter described in timing acquisition and transmission
Breath includes the location data for following object；
The receiver, for receive it is described follow object different moments location data；
The flight controller, for selecting airbound target data from the location data of the different moments, and described in control
Aircraft flight is to the position of the airbound target data.
8. system according to claim 7, which is characterized in that the receiver receives the positioning number according to fixed frequency
According to.
9. system according to claim 8, which is characterized in that the fixed frequency is 5-30fps.
10. system according to claim 8, which is characterized in that the fixed frequency is 20fps.
11. system according to claim 8, which is characterized in that the flight controller is configured as：
According to predeterminated frequency, selection follows object currently fixed with described from the location data of the different moments for following object
Position data distance meets safe distance and recently airbound target data of the location data at moment as current time.
12. according to claim 7 to 10 any one of them system, which is characterized in that it is described follow object for baton or
Other aircraft.
13. according to claim 7 to 10 any one of them system, which is characterized in that the alignment system is acted including optics
Capture system.
14. a kind of flight control method for following flight, for aircraft described in claim 1, the aircraft includes：It receives
Device and flight controller, which is characterized in that described method includes following steps：
Receive one follow object different moments location data；
Airbound target data are selected from the location data of the different moments, and control the aircraft flight to the flight
The position of target data.
15. according to the method for claim 14, which is characterized in that the reception one follows object to determine in different moments
Position data are to receive the location data according to fixed frequency.
16. according to the method for claim 15, which is characterized in that the fixed frequency is 5-30fps.
17. according to the method for claim 15, which is characterized in that the fixed frequency is 20fps.
18. according to the method for claim 15, which is characterized in that described to be selected from the location data of the different moments
Airbound target data include：
According to predeterminated frequency, selection follows object currently fixed with described from the location data of the different moments for following object
Position data distance meets safe distance and recently airbound target data of the location data at moment as current time.
19. according to claim 14 to 18 any one of them method, which is characterized in that it is described follow object for baton or
Other aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260896.2A CN108268049B (en) | 2016-12-30 | 2016-12-30 | Aircraft, following flight system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611260896.2A CN108268049B (en) | 2016-12-30 | 2016-12-30 | Aircraft, following flight system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108268049A true CN108268049A (en) | 2018-07-10 |
| CN108268049B CN108268049B (en) | 2023-01-10 |
Family
ID=62755100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611260896.2A Active CN108268049B (en) | 2016-12-30 | 2016-12-30 | Aircraft, following flight system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108268049B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110678822A (en) * | 2018-07-23 | 2020-01-10 | 深圳市大疆创新科技有限公司 | Control method and device of mobile robot and mobile robot system |
| CN112817340A (en) * | 2020-05-21 | 2021-05-18 | 刘素青 | Self-adaptive flight following driving platform |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11108592A (en) * | 1997-10-02 | 1999-04-23 | Mitsubishi Electric Corp | Missile guide device |
| CN101458325A (en) * | 2009-01-08 | 2009-06-17 | 华南理工大学 | Wireless sensor network tracking method based on self-adapting prediction |
| CN101493516A (en) * | 2007-12-04 | 2009-07-29 | 捷讯研究有限公司 | Mobile tracking |
| CN101631272A (en) * | 2009-08-19 | 2010-01-20 | 长讯通信服务有限公司 | Target forecast-tracking method of wireless sensor network based on particle filtration |
| US20120109428A1 (en) * | 2009-07-20 | 2012-05-03 | Veeresh Kumar Masaru Narasimhulu | System and method for computing flight time from an equi-distance point to a reference point |
| CN103868521A (en) * | 2014-02-20 | 2014-06-18 | 天津大学 | Autonomous quadrotor unmanned aerial vehicle positioning and controlling method based on laser radar |
| CN104077928A (en) * | 2014-07-03 | 2014-10-01 | 中国民航大学 | Position information updating method suitable for irregular-flying navigation through points out of airways |
| CN104808686A (en) * | 2015-04-28 | 2015-07-29 | 零度智控（北京）智能科技有限公司 | System and method enabling aircraft to be flied along with terminal |
| CN104933898A (en) * | 2015-05-27 | 2015-09-23 | 重庆大学 | Determination method for time for reaching mark line of ship in inland river navigation |
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105068554A (en) * | 2015-09-16 | 2015-11-18 | 唐山天乐智能科技有限公司 | Intelligent follow-up shooting flying equipment |
| CN105141851A (en) * | 2015-09-29 | 2015-12-09 | 杨珊珊 | Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN105404291A (en) * | 2014-09-05 | 2016-03-16 | 空中客车防卫和太空有限责任公司 | Follow-me system for unmanned aircraft vehicles |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
| CN105717489A (en) * | 2016-03-11 | 2016-06-29 | 歌尔声学股份有限公司 | Following method and device of unmanned aerial vehicle and wearable equipment |
| CN105865454A (en) * | 2016-05-31 | 2016-08-17 | 西北工业大学 | Unmanned aerial vehicle navigation method based on real-time online map generation |
| CN105955288A (en) * | 2016-07-15 | 2016-09-21 | 零度智控（北京）智能科技有限公司 | Aircraft positioning and control method and system |
| CN106020223A (en) * | 2016-07-19 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Flying control method, apparatus and system for aircraft |
| CN205750548U (en) * | 2016-05-09 | 2016-11-30 | 北京中科精图信息技术有限公司 | A kind of inspection system based on unmanned plane |
| CN106199569A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object solid speed detection method and system based on radio detection |
-
2016
- 2016-12-30 CN CN201611260896.2A patent/CN108268049B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11108592A (en) * | 1997-10-02 | 1999-04-23 | Mitsubishi Electric Corp | Missile guide device |
| CN101493516A (en) * | 2007-12-04 | 2009-07-29 | 捷讯研究有限公司 | Mobile tracking |
| CN101458325A (en) * | 2009-01-08 | 2009-06-17 | 华南理工大学 | Wireless sensor network tracking method based on self-adapting prediction |
| US20120109428A1 (en) * | 2009-07-20 | 2012-05-03 | Veeresh Kumar Masaru Narasimhulu | System and method for computing flight time from an equi-distance point to a reference point |
| CN101631272A (en) * | 2009-08-19 | 2010-01-20 | 长讯通信服务有限公司 | Target forecast-tracking method of wireless sensor network based on particle filtration |
| CN103868521A (en) * | 2014-02-20 | 2014-06-18 | 天津大学 | Autonomous quadrotor unmanned aerial vehicle positioning and controlling method based on laser radar |
| CN104077928A (en) * | 2014-07-03 | 2014-10-01 | 中国民航大学 | Position information updating method suitable for irregular-flying navigation through points out of airways |
| CN105404291A (en) * | 2014-09-05 | 2016-03-16 | 空中客车防卫和太空有限责任公司 | Follow-me system for unmanned aircraft vehicles |
| CN104808686A (en) * | 2015-04-28 | 2015-07-29 | 零度智控（北京）智能科技有限公司 | System and method enabling aircraft to be flied along with terminal |
| CN104933898A (en) * | 2015-05-27 | 2015-09-23 | 重庆大学 | Determination method for time for reaching mark line of ship in inland river navigation |
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105068554A (en) * | 2015-09-16 | 2015-11-18 | 唐山天乐智能科技有限公司 | Intelligent follow-up shooting flying equipment |
| CN105141851A (en) * | 2015-09-29 | 2015-12-09 | 杨珊珊 | Control system and control method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
| CN105717489A (en) * | 2016-03-11 | 2016-06-29 | 歌尔声学股份有限公司 | Following method and device of unmanned aerial vehicle and wearable equipment |
| CN205750548U (en) * | 2016-05-09 | 2016-11-30 | 北京中科精图信息技术有限公司 | A kind of inspection system based on unmanned plane |
| CN105865454A (en) * | 2016-05-31 | 2016-08-17 | 西北工业大学 | Unmanned aerial vehicle navigation method based on real-time online map generation |
| CN106199569A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object solid speed detection method and system based on radio detection |
| CN105955288A (en) * | 2016-07-15 | 2016-09-21 | 零度智控（北京）智能科技有限公司 | Aircraft positioning and control method and system |
| CN106020223A (en) * | 2016-07-19 | 2016-10-12 | 零度智控（北京）智能科技有限公司 | Flying control method, apparatus and system for aircraft |
Non-Patent Citations (1)
| Title |
|---|
| 刘基余: "《全球导航卫星系统及其应用》", 31 July 2015, 测绘出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110678822A (en) * | 2018-07-23 | 2020-01-10 | 深圳市大疆创新科技有限公司 | Control method and device of mobile robot and mobile robot system |
| WO2020019113A1 (en) * | 2018-07-23 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Method for controlling mobile robot, device, and mobile robot system |
| CN112817340A (en) * | 2020-05-21 | 2021-05-18 | 刘素青 | Self-adaptive flight following driving platform |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108268049B (en) | 2023-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105955290B (en) | Unmanned vehicle control method and device | |
| CN106444738B (en) | Method for planning path for mobile robot based on dynamic motion primitive learning model | |
| CN106774395B (en) | Agricultural plant protection unmanned plane avoidance sprays paths planning method and unmanned plane | |
| CN106020223A (en) | Flying control method, apparatus and system for aircraft | |
| CN108459612A (en) | Unmanned plane formation control method based on Artificial Potential Field Method and device | |
| CN108268049A (en) | Aircraft, the flight system and control method for following flight | |
| US9144744B2 (en) | Locating and orienting device in space | |
| US20220226728A1 (en) | Route navigation system within a game application environment | |
| CN109947128A (en) | Unmanned aerial vehicle (UAV) control method, unmanned aerial vehicle (UAV) control device, unmanned plane and system | |
| CN106612495B (en) | A kind of indoor orientation method and system based on propagation loss study | |
| Ota et al. | Trajectory optimization for unknown constrained systems using reinforcement learning | |
| Thalmann et al. | Autonomous virtual actors based on virtual sensors | |
| CN108245890B (en) | Method and device for controlling movement of object in virtual scene | |
| CN109191593A (en) | Motion control method, device and the equipment of virtual three-dimensional model | |
| CN106125924A (en) | Remote control thereof, Apparatus and system | |
| CN105135611B (en) | A kind of air conditioning control method and intelligent watch | |
| CN108771866A (en) | Virtual object control method in virtual reality and device | |
| CN109313455A (en) | Intelligent glasses and its method, holder, control method and the unmanned plane for controlling holder | |
| US20170153864A1 (en) | Synchronization Object Determining Method, Apparatus, and System | |
| CN105892658A (en) | Method for predicting head posture based on head-mounted display device and head-mounted display device | |
| CN109032128A (en) | The triangle formation control method of the discrete non-particle system of more AGV | |
| CN105117012B (en) | A kind of display interface method of adjustment and smartwatch | |
| CN110245809A (en) | A kind of intelligent optimization method and system for multirobot multitask cooperative work | |
| CN105243268B (en) | A kind of map localization method, device and user terminal | |
| Alimohammadzadeh et al. | Dronevision: An Experimental 3D Testbed for Flying Light Specks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190109 Address after: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Applicant after: Tianjin Yuandu Technology Co.,Ltd. Address before: 401121 No. 19 Yinglong Avenue, Longxing Street, Yubei, Chongqing Applicant before: CHONGQING ZERO INTELLIGENT CONTROL TECHNOLOGY CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200810 Address after: 102100 building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing 1916 Applicant after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: No. 309-9, service center, Chen Tong, Hexi District, Dongting Road, Hexi District, Tianjin, Tianjin Applicant before: Tianjin Yuandu Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |