CN108628334A - The control method and device of unmanned vehicle, system, unmanned vehicle - Google Patents
The control method and device of unmanned vehicle, system, unmanned vehicle Download PDFInfo
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- CN108628334A CN108628334A CN201810691306.4A CN201810691306A CN108628334A CN 108628334 A CN108628334 A CN 108628334A CN 201810691306 A CN201810691306 A CN 201810691306A CN 108628334 A CN108628334 A CN 108628334A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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 and device of unmanned vehicle, system, unmanned vehicles.Wherein, this method includes：Obtain the current second position information of remote control first position information and unmanned vehicle current in specified three-dimensional space；Obtain the directional information of remote control, wherein directional information is used to indicate the direction that remote control sends out radiofrequency signal；Target shift position of the unmanned vehicle in specified three-dimensional space is determined according to first position information, second position information and directional information；And control unmanned vehicle is moved to target shift position.The present invention solves when controlling in the related technology unmanned vehicle, and manipulation experience is not direct and manipulates the high technical problem of difficulty.
Description
Technical field
The present invention relates to unmanned vehicle field, in particular to a kind of control method and device of unmanned vehicle,
System, unmanned vehicle.
Background technology
When being controlled unmanned vehicle using conventional remote control device, it is with the body coordinate system of unmanned vehicle often
Benchmark lifts, around, the motion control of rotation etc..Wherein body coordinate system refers to being fixed on carry-on follow
The three-dimensional orthogonal rectangular coordinate system of right-hand rule, origin are located at the center of aircraft, and OX axle positions are in aircraft reference planes
It is parallel to fuselage axis and is directed toward in front of aircraft, OY axis is perpendicular to the aircraft plane of reference and is directed toward aircraft right, and OZ axis exists
In the plane of reference perpendicular to XOY plane, be directed toward below aircraft.
It is direct for the manipulation experience of manipulator but when being controlled unmanned vehicle using body coordinate system,
And manipulation difficulty is high.
For above-mentioned problem, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of control method and device of unmanned vehicle, system, unmanned vehicles, so that
When few solution in the related technology controls unmanned vehicle, manipulation experience is not direct and manipulates the high technical problem of difficulty.
One side according to the ... of the embodiment of the present invention provides a kind of control method of unmanned vehicle, including：It obtains distant
Control the current second position information of device first position information and unmanned vehicle current in specified three-dimensional space；It obtains distant
Control the directional information of device, wherein directional information is used to indicate the direction that remote control sends out radiofrequency signal；According to first position
Information, second position information and directional information determine target shift position of the unmanned vehicle in specified three-dimensional space；And
Unmanned vehicle is controlled to move to target shift position.
Optionally, the directional information for obtaining remote control includes：On the basis of the information of first position, remote control is determined
North orientation angle and remote control and horizontal angle；Refer to the determination of horizontal angle according to north orientation angle and remote control
To information.
Optionally, determine unmanned vehicle specified three according to first position information, second position information and directional information
Target shift position in dimension space, including：Unmanned vehicle and remote control are determined according to first position information, second position information
The relative distance information of device；The opposite position of unmanned vehicle and remote control is determined according to relative distance information and directional information
It sets；Target shift position is determined according to relative position and first position information.
Optionally, determine unmanned vehicle specified three according to first position information, second position information and directional information
Target shift position in dimension space includes：Determine the control model of unmanned vehicle, wherein control model include it is following at least
One of：Determine height mode, fixed point mode and spherical mode, wherein spherical mode is the pattern for meeting the following conditions：Nobody is controlled to fly
Row device, using first position information as the center of circle, is transported in specified three-dimensional space in the spherical area that is constituted using preset distance as radius
It is dynamic；Nobody is determined under control model according at least one of first position information and second position information and directional information
The relative position of aircraft and remote control；Determine that target is moved according to first position information and the relative position under control model
Dynamic position.
Optionally, it in the case where control model is to determine height mode, is determined according to directional information and second position information
The relative position of unmanned vehicle and remote control under control model, including：Unmanned vehicle is determined according to second position information
Distance away the ground in the case where determining height mode；The opposite position of unmanned vehicle and remote control is determined according to distance away the ground and directional information
It sets；Target shift position is determined according to first position information and the relative position under control model, including：Made with distance away the ground
For height used in contour plane, the contour plane where unmanned vehicle is determined；It is true according to relative position and first position information
Determine first intersection point in direction and contour plane indicated by directional information, and using the first intersection point position as target shift position.
Optionally, the first intersection point position determines in the following manner：P1=P+P ', wherein P '=(sin (β) H/
Tan (α), cos (β) H/tan (α), H), P1 indicates that the first intersection point position, P indicate the first position information institute of remote control
Corresponding position, P ' indicate that the relative position of unmanned vehicle and unmanned vehicle, α indicate remote control and horizontal angle, β
Indicate that the north orientation angle in the directional information of remote control, H indicate the relative altitude of unmanned vehicle and remote control.
Optionally, in the case where control model is fixed point mode, according to first position information and under control model
Relative position determines target shift position, including：The longitude and latitude of unmanned vehicle is determined according to second position information；In longitude and latitude
In the case of constant, according to remote control and Horizon in the relative distance and directional information of unmanned vehicle and remote control
The angle of line determines the relative altitude of unmanned vehicle and remote control；Target shift position is determined according to relative altitude.
Optionally, it in the case where control model is spherical mode, is determined according to directional information and second position information
The relative position of unmanned vehicle and remote control under control model, including：According to second position information and first position information
Determine the relative distance of unmanned vehicle and remote control；Using relative distance as the radius of spherical area, and based on the radius and
Directional information determines the relative position of unmanned vehicle and remote control；It determines and is directed toward according to first position information and relative position
Second intersection point in direction and spherical area indicated by information；Second intersection point of spherical area, and by the position corresponding to the second intersection point
It sets as target shift position.
Optionally, the radius of spherical area is determined by following one mode：Receive the setting instruction from remote control；
The radius of spherical area is determined according to the radius information carried in setting instruction；According to unmanned vehicle local pre-stored
Radius information determines the radius of spherical area；Obtain the relative distance of unmanned vehicle and remote control；Using relative distance as
The radius of spherical area.
Optionally, target of the unmanned vehicle in specified three-dimensional space is determined according to first position information and directional information
Before shift position, method further includes：Receive the fresh information from remote control, wherein fresh information is directed toward for updating
Information.
According to another embodiment of the application, a kind of control method of unmanned vehicle is additionally provided, this method includes：
Remote control obtains current second of remote control first position information current in specified three-dimensional space, unmanned vehicle
The directional information of location information and remote control, wherein directional information is used to indicate the direction that remote control sends out radiofrequency signal；
Remote control determines unmanned vehicle in specified three-dimensional space according to first position information, second position information and directional information
Target shift position；And target shift position is sent to unmanned vehicle by remote control.
Optionally, directional information determines in the following manner：On the basis of the information of first position, the north of remote control is determined
To angle and remote control and horizontal angle；It determines and is directed toward with horizontal angle according to north orientation angle and remote control
Information.
Optionally, target of the unmanned vehicle in specified three-dimensional space is determined according to first position information and directional information
Shift position includes：Remote control determines the control model of unmanned vehicle, wherein control model includes at least one of：
Determine height mode, fixed point mode and spherical mode, wherein spherical mode is the pattern for meeting the following conditions：Control unmanned vehicle
In specified three-dimensional space using first position information as the center of circle, moved in the spherical area that is constituted using preset distance as radius；It is distant
Device is controlled using first position information position as benchmark, determines that the target under control model moves position according to directional information
It sets.
According to another embodiment of the application, a kind of control method of unmanned vehicle is additionally provided, including：It obtains distant
Control the directional information of device；The targeted attitude of unmanned vehicle is determined according to directional information；And control unmanned vehicle according to
Targeted attitude is moved.
According to the further embodiment of the application, a kind of control method of unmanned vehicle is additionally provided, including：It receives distant
Control device first position information current in specified three-dimensional space and the setting instruction from remote control, setting instruction
In carry radius of the unmanned vehicle in spherical area flight, spherical area is using first position information as the center of circle, with half
The spherical area that diameter is constituted；Obtain the directional information of remote control, wherein directional information is used to indicate remote control and sends out radio frequency
The direction of signal；Determine unmanned vehicle in spherical area according to first position information, second position information and directional information
Target shift position；And control unmanned vehicle is moved to target shift position.
According to the further embodiment of the application, a kind of control system of unmanned vehicle is additionally provided, including：Nobody flies
Row device, for obtaining remote control first position information current in specified three-dimensional space and unmanned vehicle currently second
Location information；Obtain the directional information of remote control, wherein directional information is used to indicate the side that remote control sends out radiofrequency signal
To；Mesh of the unmanned vehicle in specified three-dimensional space is determined according to first position information, second position information and directional information
Mark shift position；And control unmanned vehicle is moved to target shift position；Remote control, for by first position information and
Directional information is sent to unmanned vehicle.
According to the further embodiment of the application, a kind of unmanned vehicle is additionally provided, including：Communication module, for connecing
Receive the directional information from remote control first position information current in specified three-dimensional space and remote control, wherein
Directional information is used to indicate the direction that remote control sends out radiofrequency signal；Flight control system, for according to first position information, direction
Information and the current second position information of unmanned vehicle determine target movement position of the unmanned vehicle in specified three-dimensional space
It sets；And control unmanned vehicle is moved to target shift position.
According to another embodiment of the application, a kind of control device of unmanned vehicle is additionally provided, including：Obtain mould
Block, for obtaining remote control first position information current in specified three-dimensional space and the current second of unmanned vehicle
Confidence ceases, and obtains the directional information of remote control, wherein directional information is used to indicate remote control and sends out radiofrequency signal
Direction；Determining module, for determining unmanned vehicle specified according to first position information, second position information and directional information
Target shift position in three dimensions；Control module is moved for controlling unmanned vehicle to target shift position.
Another aspect according to the ... of the embodiment of the present invention provides a kind of storage medium, which includes storage
Program, wherein equipment where controlling storage medium when program is run executes the control method of above-described unmanned vehicle.
Another aspect according to the ... of the embodiment of the present invention provides a kind of processor, which is used to run program,
In, program executes the control method of above-described unmanned vehicle when running.
In embodiments of the present invention, the first position information of remote control, the second position information of unmanned vehicle are utilized
The target shift position that unmanned vehicle is determined with directional information is moved to target shift position to controlling unmanned vehicle
Mode realizes enhancing user experience simultaneously to achieve the purpose that the directional information by remote controler controls unmanned vehicle
The technique effect of manipulation complexity is reduced, and then is solved when controlling in the related technology unmanned vehicle, manipulation experience
Technical problem not direct and that manipulation difficulty is high.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram according to a kind of remote control system of unmanned vehicle of the embodiment of the present application；
Fig. 2 is the structural schematic diagram according to a kind of unmanned vehicle of the embodiment of the present application；
Fig. 3 is the flow chart according to a kind of control method of unmanned vehicle of the embodiment of the present application；
Fig. 4 is the principle schematic according to a kind of optional spherical mode of the embodiment of the present application；
Fig. 5 is a kind of optional principle schematic for determining height mode according to the embodiment of the present application；
Fig. 6 is the principle schematic according to a kind of optional fixed point mode of the embodiment of the present application；
Fig. 7 is to determine principle schematic according to a kind of parameter of optional remote controler of the embodiment of the present application；
Fig. 8 is the stream according to the control method of the unmanned vehicle under a kind of optional spherical mode of the embodiment of the present application
Cheng Tu；
Fig. 9 is the stream according to a kind of optional control method for determining the unmanned vehicle under height mode of the embodiment of the present application
Cheng Tu；
Figure 10 is the control method according to the unmanned vehicle under a kind of optional fixed point mode of the embodiment of the present application
Flow chart；
Figure 11 is the structure diagram according to a kind of control device of unmanned vehicle of the embodiment of the present application；
Figure 12 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application；
Figure 13 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application；
Figure 14 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
Above-described embodiment in order to better understand below explains the meaning of the technical term involved in the embodiment of the present application
It is as follows：
World coordinate system：It is the absolute coordinate system of system, all the points on picture before not establishing user coordinate system
Coordinate is determined with the origin of the coordinate system.
Earth station：Command centre for being controlled unmanned vehicle, control content include but not limited to：Aircraft
The functions such as flight course, flight track, the maintenance of communication link, the transmitting of aircraft and recycling.In application scenes,
The earth station can use as remote controler.
In the related technology, body coordinate system is mostly used to control unmanned vehicle, still, this kind of control mode manipulation
It experiences that bad and operation and control is more complicated, operator is needed to have certain manipulation warp when controlling unmanned vehicle
It tests.To solve the above problems, the embodiment of the present application provides corresponding solution following detailed description.
Fig. 1 is the structural schematic diagram according to a kind of remote control system of unmanned vehicle of the embodiment of the present application.Such as Fig. 1 institutes
Show, which includes：Unmanned vehicle 10 and remote control 12.Wherein：
Unmanned vehicle 10, the first position information and nothing current in specified three-dimensional space for obtaining remote control 12
The current second position information of people's aircraft 10；Obtain the directional information of remote control 12, wherein directional information is used to indicate distant
Control device 12 sends out the direction of radiofrequency signal；Determine that nobody flies according to first position information, second position information and directional information
Target shift position of the row device 10 in specified three-dimensional space；And control unmanned vehicle 10 is moved to target shift position.
Wherein, unmanned vehicle 10 includes but not limited to：Dynamical system (includes but not limited to motor, electron speed regulator
Deng), flight control system and communication module, wherein dynamical system flies control system for providing power for the movement of unmanned vehicle 10
System is controlled for the motion state to unmanned vehicle 10, and communication module is used to carry out data interaction with remote control 12.
In one alternate embodiment, unmanned vehicle 10 includes but not limited to：Unmanned aerial vehicle, unmanned airship etc. nobody drive
Sail equipment.
As another alternative embodiment of the application, unmanned vehicle 10 can also be accomplished by the following way：
Wireless module and coding/decoding module, for being communicated wirelessly with remote control and protocol encoding and decoding.
Locating module, the longitude and latitude for providing 10 place of unmanned vehicle；Course module, for providing unmanned vehicle
Direction where 10, such as the course of Magnetic Sensor detection unmanned vehicle 10 may be used；Fixed high module, for providing nobody
The distance away the ground of aircraft 10；Flight control system, itself posture for controlling unmanned vehicle 10, and in various patterns
The lower path for calculating unmanned vehicle 10 and arriving target point.In some embodiments of the present application, above-mentioned locating module and Ding Gaomo
Block can be realized by the same hardware handles circuit, can also be realized by two independent hardware handles circuits.
Remote control 12, for first position information and directional information to be sent to unmanned vehicle 10.The remote control
12 include but not limited to the equipment such as remote controler, earth station, in one alternate embodiment, it is contemplated that the demand of convenience, it can be with
Using remote controler as above-mentioned remote control 12.Certainly in some embodiments, above-mentioned remote control 12 can also include simultaneously
Remote controler and earth station, at this point, earth station and remote controler can divide the work, for example, earth station is responsible for whole control, remote controler
It is responsible for being adjusted the posture of aircraft, the flight path of aircraft.
In one alternate embodiment, remote control 12 can include but is not limited to lower module：
Locating module, for providing remote control 12 in the location information of the earth, which includes but not limited to：Through
Latitude and height, by the reference point as unmanned vehicle 10；The locating module includes but not limited to global positioning system
(Global Positioning System, referred to as GPS) locating module, Beidou satellite navigation system (BeiDou
Navigation Satellite System, BDS) locating module, GLONASS satellite navigation system (GLONASS) positioning mould
Block.
Earth magnetism module, the Earth surface plane direction β for determining remote control 12, for determining that north orientation presss from both sides according to earth magnetic field
Angle, the north orientation angle can be the angle of the direction and magnetic north direction of remote control 12；Gyroscope, for providing remote control 12
With the angle α on ground.
Distance controlling module, the radius R for controlling spheric region, radius R can be radius input by user, also may be used
Think that the radius determined according to the relative distance of unmanned vehicle and remote control, the relative distance can be the straight of the two line
Linear distance, but not limited to this；Control module is rotated, the rotation angle for controlling unmanned vehicle 10 can pass through rocking bar, rotation
Button etc. realizes human-computer interaction, but not limited to this；Height locking module is transported for controlling unmanned vehicle 10 in the case where determining height mode
Row；Position locking module is run for controlling unmanned vehicle 10 under fixed point mode；Wherein, above-mentioned distance controlling module, rotation
Turning control module, height locking module and position locking module can be set in a processor, can also be set to difference
Processor in.
Wireless module and coding/decoding module, for executing wireless telecommunications and agreement volume between remote controler and unmanned vehicle 10
Decoding；The microwave signal that low frequency may be used in the module carries out data transmission, for example, using the frequency of 1.2GHz.Using the frequency
Rate carries out data transmission both improving the transmission rate of 10 signal of unmanned vehicle, can also be in remote transmission range
Ensure stable laser propagation effect.
In one alternate embodiment, it is also provided with display screen in above-mentioned remote control 12, for showing that nobody flies
The information such as posture, the speed of row device.
The embodiment of the present application also provides a kind of unmanned vehicle, Fig. 2 be according to the embodiment of the present application it is a kind of nobody fly
The structural schematic diagram of row device, as shown in Fig. 2, the unmanned vehicle includes：
Communication module 20, for receive the first position information current in specified three-dimensional space from remote control and
The directional information of remote control, wherein above-mentioned directional information is used to indicate the direction that remote control sends out radiofrequency signal；Above-mentioned finger
It can be determined to the direction indicated by information by the angle of the north orientation angle of remote control, remote control and ground level, but not
It is limited to this.
Flight control system 22 is connect with communication module 20, for according to remote control current the in specified three-dimensional space
One location information, directional information and the current second position information of unmanned vehicle determine unmanned vehicle in specified three-dimensional space
Interior target shift position；And control unmanned vehicle is moved to target shift position.
Wherein, flight control system 22 includes the IMU Inertial Measurement Units of gyroscope and acceleration transducer,
For detecting flight attitude, and the rotating speed of motor being controlled by connecting electric regulator and changes the posture of unmanned plane, this flies control
System 22 is communicated by communication module 20 with remote control.
Under above-mentioned running environment, the embodiment of the present application provides the control method of unmanned vehicle as shown in Figure 3, needs
It is noted that step shown in the flowchart of the accompanying drawings can be in the computer system of such as a group of computer-executable instructions
Middle execution, although also, logical order is shown in flow charts, and it in some cases, can be with different from herein
Sequence executes shown or described step.
As shown in figure 3, the control method for the unmanned vehicle that one embodiment of the application provides includes at least step
S302-S308：
Step S302 obtains remote control first position information and unmanned vehicle current in specified three-dimensional space and works as
Preceding second position information.
In some embodiments, the specified three-dimensional space be include the institutes such as just in-flight unmanned vehicle, remote controler
Space, can be open space, can also be closed space, it is true with specific reference to the application environment of unmanned vehicle
It is fixed.
Wherein, above-mentioned first position information includes but not limited to：The geographical locations such as longitude and latitude, the height above sea level of remote control
Information, but not limited to this.
In one alternate embodiment, remote control is moveable, i.e., above-mentioned first position information is remote control
Location information change after first position information.
Step S304 obtains the directional information of remote control, wherein directional information is indicated for remote control and sends out to penetrate
The direction of frequency signal；
As the alternative embodiment of the application, there are many acquisition modes of the directional information, for example, can by with
Under type determines：On the basis of the information of first position, determine remote control north orientation angle and remote control with it is horizontal
Angle；According to north orientation angle and remote control directional information is determined with horizontal angle.
It should be noted that the execution sequence of step S302 and step S304 can be interchanged, you can to first carry out step
Rapid S302, then execute step S304；Alternatively, first carrying out step S304, then execute step S302.
Wherein, when obtaining above-mentioned directional information, multiple continuous directional informations can be obtained, wherein this refers to continuously
Directional information corresponding to time or the multiple actions sequentially continuously performed.It, can be at this point, when determining target shift position
Determine multiple specific item cursor positions (including the initial position of unmanned vehicle and target shift position and initial position and target
Intermediate position points between shift position, such as destination), the flight road based on multiple sub-goal location determination unmanned vehicles
Diameter, for example, multiple specific item cursor positions are carried out line successively, according to the sub-goal location determination flight path after line.In this way,
Due between initial position and target shift position be provided with multiple specific item cursor positions, can more accurately to flight path into
Row control.When determining multiple specific item cursor positions, can when determining a sub- target location by one of directional information,
The specific keys on remote control are triggered, to set the specific item cursor position.
Step S306 determines unmanned vehicle specified according to first position information, second position information and directional information
Target shift position in three dimensions；
As another alternative embodiment of the application, step S306 can be determined in the following manner：According to first
Confidence breath, second position information determine the relative distance information of unmanned vehicle and remote control；According to relative distance information and
Directional information determines the relative position of unmanned vehicle and remote control, is determined according to relative position information and first position information
Target shift position.
Wherein, the method for determination of above-mentioned target shift position is related to the control model of unmanned vehicle, specifically：It determines
The control model of unmanned vehicle, wherein control model includes at least one of：Determine height mode, fixed point mode and spherical surface mould
Formula, wherein spherical mode is the pattern for meeting the following conditions：Control unmanned vehicle is believed in specified three-dimensional space with first position
Breath is the center of circle, is moved in the spherical area constituted using preset distance as radius；According to first position information and second confidence
At least one of breath and directional information determine the relative position of unmanned vehicle and remote control under control model；Foundation
First position information and the relative position under control model determine target shift position.
In some embodiments of the present application, step S306 can be sent out after determining target shift position to remote control
Give the target shift position；Remote control shows the target shift position receiving the target shift position rear line；Such as
The fruit target shift position meets the requirements, then remote control receives confirmation instruction input by user, and will confirm that instruction is sent to
Unmanned vehicle；Unmanned vehicle is instructed according to the confirmation determines that the target shift position is legal, starts to determine mobile route.When
So, target shift position is undesirable, and remote control receives modification instruction input by user, by the position of modification instruction setting
It is sent to unmanned vehicle as target shift position；After unmanned vehicle receives the position according to modification instruction setting,
Start to determine that the executive agent of mobile route can be unmanned vehicle.In this way, due to can be by remote control to target position
It sets and is verified, it is ensured that the accuracy of unmanned vehicle control, data exception is avoided to lead to the control of unmanned vehicle
Process breaks down.
In other embodiments of the application, when above-mentioned target shift position is not required target shift position,
User can be by triggering delete operation, to delete the target shift position.Specifically, target shift position and remote control are pre-
The target shift position first obtained is compared, and when the two is inconsistent, remote control can send out prompt message, prompt letter
The form of expression of breath includes but not limited to：Word displaying, voice displaying etc..Wherein, the above-mentioned target shift position obtained in advance
It can be obtained from presetting database, but not limited to this.
Illustrate the method for determination of target shift position respectively below in conjunction with different control models：
1) spherical mode
Under the spherical mode, target shift position can determine in the following manner：Determine the direction letter of remote control
Second intersection point in breath indicated direction and spherical area, and using the position corresponding to the second intersection point as target shift position.Tool
Body：The relative distance of unmanned vehicle and remote control is determined according to second position information and first position information；With opposite
Distance is the radius of spherical area, and the opposite position of unmanned vehicle and remote control is determined based on the radius and directional information
It sets；Second intersection point in direction and spherical area indicated by directional information is determined based on the relative position and first position information.
In one alternate embodiment, the radius of above-mentioned spherical area is determined by following one mode：A) it receives and comes from
The setting of remote control instructs, and the radius of spherical area is determined according to the radius information carried in setting instruction；B) according to nobody
Aircraft determines the radius of spherical area in local pre-stored radius information；C) unmanned vehicle and remote control are obtained
Relative distance；Using relative distance as the radius of spherical area.
For example, as shown in figure 4, Fig. 4 is the principle schematic according to a kind of optional spherical mode of the embodiment of the present application.
In Fig. 4, spherical coordinate system or space polar coordinate system are established on the basis of remote control 12, are directed toward with remote control 12 to manipulate nobody
Aircraft 10, control unmanned vehicle 10 move on spherical surface, while the radius of controlled motion spherical surface and unmanned vehicle 10
Spinning movement.
In another example when spherical mode, unmanned vehicle 10 obtains the position P, Control Radius R, horizon of remote control 12
Angle α, north orientation angle beta.Then position P '=(Rcos (α) sin (β), Rcos (α) of unmanned vehicle 10 with respect to remote control 12
Cos (β), Rsin (α)) it is respectively (East and West direction distance, north-south distance, height), determine that target shift position is based on P ' and P
P "=P+P '.
It can be seen that spherical mode allows unmanned vehicle 10 to be moved on a spherical surface, manipulator passes through remote control
When 12 direction spherical surface, remote controler oriented radial is moved with spheric commercial base, unmanned vehicle 10 by destination of this intersection point；
Remote control 12 can control the rotation of the radius and remotely pilotless aircraft 10 of spherical surface simultaneously.
2) determine height mode
In the case where this determines height mode, target shift position can determine in the following manner：Where determining unmanned vehicle
Contour plane；The first intersection point for determining direction and contour plane indicated by directional information, using the first intersection point position as target
Shift position.Specifically：Distance away the ground of the unmanned vehicle in the case where determining height mode is determined according to second position information；According to over the ground
Height and directional information determine the relative position of unmanned vehicle and remote controler；Using distance away the ground as height used in contour plane
Degree, determines the contour plane where unmanned vehicle；Side indicated by directional information is determined according to relative position and first position information
To the first intersection point with contour plane, and using the first intersection point position as target shift position.
For example, Fig. 5 is a kind of optional principle schematic for determining height mode according to the embodiment of the present application.In Fig. 5, nobody
Aircraft 10 is constant with respect to 50 height H of ground level, and manipulator is directed toward control unmanned vehicle 10 fixed high with remote control 12
It flies in the flight plane 52 of degree, remote control 12 can also control the spinning movement of unmanned vehicle 10.
Such as：First intersection point position determines in the following manner：P1=P+P ', wherein P '=(sin (β) H/tan
(α), cos (β) H/tan (α), H), P1 indicates that the first intersection point position, P indicate the first position information institute of remote control 12
Corresponding position, P ' indicate that the relative position of unmanned vehicle 10 and remote control 12, α indicate remote control 12 and horizontal folder
Angle, β indicate that the north orientation angle in the directional information of remote control 12, H indicate the relative altitude of unmanned vehicle and remote control.
Unmanned vehicle 10 is allowed to be moved on a contour plane it can be seen that determining height mode, manipulator fills by being remotely controlled
When setting 12 directions control unmanned vehicle, the oriented radial of remote control 12 and contour plane form intersection point, unmanned vehicle 10 with
This intersection point moves for destination；It can pass through the rotation of 12 remotely pilotless aircraft 10 of remote controller simultaneously.
3) fixed point mode
Under the fixed point mode, target shift position can determine in the following manner, but not limited to this：According to second
Confidence breath determines the longitude and latitude of unmanned vehicle；In the case where longitude and latitude is constant, according to unmanned vehicle and remote control
Remote control and horizontal angle determine the relatively high of unmanned vehicle and remote control in relative distance and directional information
Degree；Target shift position is determined according to relative altitude.
When fixed point mode, unmanned plane fixed position P ', unmanned plane needs to know the position P of remote controler, horizon angle α,
North orientation angle beta.Then unmanned plane with respect to remote controler height H=, | P '-P | * cot α.
As shown in fig. 6, Fig. 6 is the principle schematic according to a kind of optional fixed point mode of the embodiment of the present application.Fig. 6
In, the longitude and latitude of unmanned vehicle 10 is constant, identical as the longitude and latitude of point P on ground level 62 always.Manipulator's remote control
12, which are directed toward control unmanned vehicle 10, increases or declines, and can also control the spinning movement of unmanned vehicle 10.
It can be seen that fixed point mode allows unmanned vehicle to be transported in a fixed position (i.e. same latitude and longitude coordinates)
Dynamic, when manipulator is given directions by remote control 12, control horizon angle carrys out the height of remote controlled drone；It simultaneously can be by distant
Control the rotation of 12 remotely pilotless aircraft 10 of device.
Step S308, control unmanned vehicle are moved to target shift position；
After determining target shift position, unmanned vehicle can be true according to the target shift position and present position
Determine mobile route, the determination process of the mobile route can follow at least one of rule, but not limited to this：Distance is minimum former
Then, avoidance principle, user set priority principle (i.e. user can modify to mobile route by remote controler).
In some optional embodiments, before step S306, the fresh information of remote control is may also receive from,
In, fresh information is for updating above-mentioned directional information.
In some optional embodiments, the directional information of remote control determines that principle may refer to shown in Fig. 7, and Fig. 7 is root
Principle schematic is determined according to a kind of parameter of optional remote controler of the embodiment of the present application.In Fig. 7, α indicates remote controler and Horizon
The angle of line, β indicate that north orientation angle, R indicate the radius of Sphere Measurement Model, can calculate remote control using the principle and nobody flies
The relative position of row device.
In some optional embodiments, remote control can according to the switching between actual demand carry out pattern, for example,
It, can be according to the different switchings carried out between control model of target location in the alternative embodiment of the application：Nobody
Aircraft flies to the places B first, in accordance with spherical mode from the places A；After reaching the places B, unmanned vehicle is cut by spherical mode
It is changed to fixed point mode or determines height mode.For unmanned vehicle is applied to plant protection field, when unmanned vehicle is with spherical surface mould
When formula is flown to B points, if desired at the longitude and latitude of B points, the flying height for reducing unmanned vehicle sprays to plant, then
Unmanned vehicle is switched to fixed point mode in B points；When unmanned plane flies according to fixed point mode to C points, if desired with C points
The mutually level plane of distance away the ground in plant carry out drug sprinkling, then unmanned vehicle is switched in C points and determines height
Pattern.Wherein, the switching between above-mentioned control model can be realized by the hardware button that is arranged in remote control, for example,
When hardware button is pressed and restores to initial position, then unmanned vehicle is controlled by the first current control mode switch to
Two control models then control unmanned vehicle by the second current control mode switch extremely when hardware button is pressed again
Third control model.Above-mentioned first control model, the second control model and third control model be determine height mode, spherical mode and
Any one in fixed point mode, and the first control model, the second control model and third control model are different.
In the another embodiment of the application, when the control model to unmanned vehicle is tested, Ke Yiyi
The switching between control model is triggered according to temporal information：Within a period of time, the control model of unmanned vehicle is varied multiple times,
Such as：In a hour, in first 20 minutes, the control model of unmanned vehicle is spherical mode, the 20th minute to the 40th point
In clock, the control model of unmanned vehicle is fixed point mode, and in last 20 minutes, the control model of unmanned vehicle is Ding Gaomo
Formula here just realizes switch test of more unmanned vehicles between various control models.
The multi-mode change of unmanned vehicle can apply in several scenes, such as：Unmanned vehicle can be crops
It sprays insecticide, take pictures to certain objects multi-angle for building spray painting, carrying picture pick-up device.
Illustrate that the flight under different control models controls process below in conjunction with Fig. 8-10, specifically：
Fig. 8 is the stream according to the control method of the unmanned vehicle under a kind of optional spherical mode of the embodiment of the present application
Cheng Tu, as shown in figure 8, this method includes：
Step S801, into spherical mode.
In the step, remote control will initialize, into spherical mode.
Step S803, manipulator's movement.
Manipulator controls remote controler by the rocking bar or button for controlling remote controler.
Step S805, remote controler send out position P.
The location information P of itself is sent to unmanned plane by remote controler.
Step S807, manipulator change spherical radius.
Manipulator can change spherical radius by remote controler, specifically, spherical radius can be changed by knob.
Step S809, remote controler send out radius R.
The R of flying radius for controlling unmanned plane is sent to unmanned plane by remote controler.
Step S8011, unmanned plane determine movement spherical surface according to P and R.
Step S8013, manipulator change remote controler and are directed toward.
Manipulator modifies to the direction of remote controler, with the flight of real-time control aircraft.
Step S8015, remote controler send out angle [alpha] over the ground and north orientation angle beta.
Remote controler angle [alpha] and north orientation angle beta will be sent to unmanned plane over the ground.
Step S8017, unmanned plane calculate target location according to α and β.
Step S8019, unmanned plane calculate mobile route.
Unmanned plane is calculated according to its initial position and target location and is passed through by the flight road of initial position and target location.
Step S8021, unmanned plane are moved by mobile route to target.
Specific mobile route can move along a straight line, or after being detected to barrier, and avoiding obstacles are moved.
Fig. 9 is the stream according to a kind of optional control method for determining the unmanned vehicle under height mode of the embodiment of the present application
Cheng Tu, as shown in figure 9, this method includes：
Step S901, into determining height mode.
In the step, remote control will initialize, into determining height mode.
Step S903, unmanned plane lock distance away the ground.
It is constant to be set as distance away the ground according to the instruction of remote control for unmanned plane.
Step S905, manipulator's movement.
Manipulator controls remote controler by the rocking bar or button for controlling remote controler.
Step S907, remote controler send out position P.
The location information P of itself is sent to unmanned plane by remote controler.
Step S909, manipulator change remote controler and are directed toward.
Manipulator can change remote controler direction by shaking remote controler.
Step S9011, remote controler send out angle [alpha] over the ground and north orientation angle beta.
Step S9013, unmanned plane calculate target location according to P and α, β.
Step S9015, unmanned plane calculate mobile route.
Unmanned plane is calculated according to its initial position and target location and is passed through by the flight road of initial position and target location.
Step S9017, unmanned plane are moved by mobile route to target.
Figure 10 is the control method according to the unmanned vehicle under a kind of optional fixed point mode of the embodiment of the present application
Flow chart, as shown in Figure 10, this method includes：
Step S101, into fixed point mode.
In the step, remote control will initialize, into fixed point mode.
Step S103, unmanned plane lock longitude and latitude.
It is constant to be set as longitude and latitude in flight course according to the instruction of remote control for unmanned plane.
Step S105, manipulator's movement.
Manipulator controls remote controler by the rocking bar or button for controlling remote controler.
Step S107, remote controler send out position P.
The location information P of itself is sent to unmanned plane by remote controler.
Step S109, manipulator change remote controler and are directed toward.
Manipulator can change remote controler direction by shaking remote controler.
Step S1011, remote controler send out angle over the ground.
Step S1013, unmanned plane calculate target location according to P and α.
Step S1015, unmanned plane calculate mobile route.
Unmanned plane is calculated according to its initial position and target location and is passed through by the flight road of initial position and target location.
Step S1017, unmanned plane are moved by mobile route to target.
In one embodiment of the application, the embodiment of the present application also provides a kind of control device of unmanned vehicle,
The device is for realizing the method and step of embodiment illustrated in fig. 3, and as shown in figure 11, Figure 11 is one kind according to the embodiment of the present application
The structure diagram of the control device of unmanned vehicle.The device includes：
Acquisition module 110, for obtaining remote control first position information current in specified three-dimensional space and nobody
The current second position information of aircraft, and obtain the directional information of remote control, wherein directional information is used to indicate remote control
Device sends out the direction of radiofrequency signal；As the alternative embodiment of the application, there are many acquisition modes of the directional information,
Such as it can determine in the following manner：On the basis of the information of first position, north orientation angle and the remote control of remote control are determined
Device and horizontal angle；According to north orientation angle and remote control directional information is determined with horizontal angle.As this Shen
An alternative embodiment please, there are many acquisition modes of the directional information, such as can determine in the following manner：With first
On the basis of location information, the north orientation angle and remote control and horizontal angle of remote control are determined；According to north orientation angle
Directional information is determined with remote control and horizontal angle.
Determining module 112, for determining unmanned vehicle according to first position information, second position information and directional information
Target shift position in specified three-dimensional space；
Control module 114 is moved for controlling unmanned vehicle to target shift position.
It should be noted that above-mentioned modules can be realized by software or hardware, it, can be with table for the latter
It is now following form, but not limited to this：Above-mentioned modules are located in same processor；Alternatively, above-mentioned modules are with arbitrary
The mode of combination is located in different processors.
It should be noted that the preferred embodiment of embodiment illustrated in fig. 11 may refer to the phase of Fig. 3-10 illustrated embodiments
Description is closed, details are not described herein again.
Figure 12 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application.The control method
It is executed by remote control, as shown in figure 12, this method includes：
Step S120, remote control obtain remote control first position information current in specified three-dimensional space, nobody
The directional information of aircraft current second position information and remote control, wherein directional information is used to indicate remote control hair
Go out the direction of radiofrequency signal；
In some optional embodiments, above-mentioned directional information determines in the following manner：On the basis of the information of first position,
Determine the north orientation angle and remote control and horizontal angle of remote control；According to north orientation angle and remote control and Horizon
The angle of line determines directional information.
Step S122, remote control determine unmanned flight according to first position information, second position information and directional information
Target shift position of the device in specified three-dimensional space；
In some optional embodiments, step S122 can be determined in the following manner：Remote control determines unmanned flight
The control model of device, wherein control model includes at least one of：Determine height mode, fixed point mode and spherical mode, wherein
Spherical mode is the pattern for meeting the following conditions：It is circle with first position information that unmanned vehicle, which is controlled, in specified three-dimensional space
The heart moves in the spherical area constituted using preset distance as radius；Remote control using first position information position as
Benchmark determines the target shift position under control model according to directional information.
Target shift position is sent to unmanned vehicle by step S124, remote control.
It should be noted that the preferred embodiment of embodiment illustrated in fig. 12 may refer to the phase of Fig. 3-10 illustrated embodiments
Description is closed, details are not described herein again.
Using method shown in Figure 12, target shift position can be determined by remote control, to control unmanned vehicle to mesh
Mark shift position movement.
Figure 13 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application.This method can be with
The posture of direction control aircraft according to remote controler, as shown in figure 13, this method includes：
Step S130 obtains the directional information of remote control；
Wherein, which can determine in the following manner, but not limited to this：Believed with the first position of remote control
On the basis of breath, the north orientation angle and remote control and horizontal angle of remote control are determined；According to north orientation angle and remote control
Device determines directional information with horizontal angle.Specifically, the above process can be by the earth magnetism that is arranged in remote control
Inductor and accelerometer realization, but not limited to this.
Step S132 determines the targeted attitude of unmanned vehicle according to directional information；
Wherein, which includes but not limited to：The course of unmanned vehicle, fuselage balance of unmanned vehicle etc..
Step S134, control unmanned vehicle are moved according to targeted attitude.
It should be noted that the preferred embodiment of embodiment illustrated in fig. 13 may refer to the phase of Fig. 3-10 illustrated embodiments
Description is closed, details are not described herein again.
Figure 14 is the flow chart according to the control method of another unmanned vehicle of the embodiment of the present application.Such as Figure 14 institutes
Show, this method includes：
Step S140 receives remote control first position information current in specified three-dimensional space and from remote control dress
The setting instruction set, radius of the unmanned vehicle in spherical area flight is carried in setting instruction, spherical area be with
First position information is the center of circle, the spherical area constituted with radius；
In one alternate embodiment, the radius of above-mentioned spherical area is determined by following one mode：A) it receives and comes from
The setting of remote control instructs, and the radius of spherical area is determined according to the radius information carried in setting instruction；B) according to nobody
Aircraft determines the radius of spherical area in local pre-stored radius information；C) unmanned vehicle and remote control are obtained
Relative distance；Using relative distance as the radius of spherical area.
Step S142 obtains the directional information of remote control, wherein directional information is used to indicate remote control and sends out radio frequency
The direction of signal；
The directional information of remote control includes：On the basis of the information of first position, determine the north orientation angle of remote control with
And remote control and horizontal angle；According to north orientation angle and remote control directional information is determined with horizontal angle.
Step S144 determines unmanned vehicle in spherical surface according to first position information, second position information and directional information
The target shift position in region；
Target shift position can determine in the following manner：Determine direction and ball indicated by the directional information of remote control
Second intersection point in face region, and using the position corresponding to the second intersection point as target shift position.Specifically：According to the second position
Information and first position information determine the relative distance of unmanned vehicle and remote control；Using relative distance as the half of spherical area
Diameter, and determine based on the radius and directional information the relative position of unmanned vehicle and remote control；Based on the relative position and
First position information determines second intersection point in direction and spherical area indicated by directional information.
Step S146, control unmanned vehicle are moved to target shift position.
Flight control method in the embodiment of the present application can be applied to agricultural plant protection field, for example, utilizing the application reality
The flight control method for applying example offer carries out operation of spraying insecticide.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (20)
1. a kind of control method of unmanned vehicle, which is characterized in that including：
Obtain the current second position of remote control first position information and unmanned vehicle current in specified three-dimensional space
Information；
Obtain the directional information of the remote control, wherein the directional information is used to indicate the remote control and sends out radio frequency
The direction of signal；
Determine unmanned vehicle described specified three according to the first position information, second position information and the directional information
Target shift position in dimension space；And
The unmanned vehicle is controlled to move to the target shift position.
2. according to the method described in claim 1, it is characterized in that, the directional information for obtaining the remote control includes：
On the basis of the first position information, the north orientation angle and the remote control and Horizon of the remote control are determined
The angle of line；According to the north orientation angle and the remote control directional information is determined with horizontal angle.
3. according to the method described in claim 1, it is characterized in that, according to the first position information, the second confidence
Breath and the directional information determine target shift position of the unmanned vehicle in the specified three-dimensional space, including：
The phase of the unmanned vehicle and the remote control is determined according to the first position information, the second position information
It adjusts the distance information；
Determine that the unmanned vehicle is opposite with the remote control according to the relative distance information and the directional information
Position；
The target shift position is determined according to the relative position and the first position information.
4. according to the method described in claim 1, it is characterized in that, according to the first position information, second position information and
The directional information determines that target shift position of the unmanned vehicle in the specified three-dimensional space includes：
Determine the control model of the unmanned vehicle, wherein the control model includes at least one of：Determine height mode,
Fixed point mode and spherical mode, wherein the spherical mode is the pattern for meeting the following conditions：The unmanned vehicle is controlled to exist
It is transported in the spherical area that is constituted using preset distance as radius using the first position information as the center of circle in the specified three-dimensional space
It is dynamic；
It is determined according at least one of the first position information and the second position information and the directional information
The relative position of the unmanned vehicle and remote control under the control model；According to the first position information and described
Relative position under control model determines the target shift position.
5. according to the method described in claim 4, it is characterized in that,
The control model be it is described determine height mode in the case of, it is true according to the directional information and the second position information
It is scheduled on the relative position of the unmanned vehicle and remote control under the control model, including：According to the second confidence
Breath determines the unmanned vehicle in the distance away the ground determined under height mode；According to the distance away the ground and the directional information
Determine the relative position of the unmanned vehicle and the remote control；
The target shift position is determined according to the first position information and the relative position under the control model, is wrapped
It includes：Using the distance away the ground as height used in contour plane, the contour plane where the unmanned vehicle is determined；According to institute
It states relative position and the first position information determines first intersection point in direction indicated by the directional information and the contour plane,
And using first intersection point position as the target shift position.
6. according to the method described in claim 5, it is characterized in that, first intersection point position is true in the following manner
It is fixed：
P1=P+P ', wherein P '=(sin (β) H/tan (α), cos (β) H/tan (α), H), P1 indicate the first intersection point institute
In position, P indicates that position corresponding to the first position information of the remote control, P ' indicate the unmanned vehicle and the nothing
The relative position of people's aircraft, α indicate that the remote control and horizontal angle, β indicate the direction letter of the remote control
North orientation angle in breath, H indicate the relative altitude of the unmanned vehicle and the remote control.
7. according to the method described in claim 4, it is characterized in that, the case where the control model is the fixed point mode
Under, determine the target shift position according to the first position information and the relative position under the control model, including：
The longitude and latitude of the unmanned vehicle is determined according to the second position information；
In the case where the longitude and latitude is constant, according to the relative distance of the unmanned vehicle and the remote control, and
Remote control described in the directional information determines the phase of the unmanned vehicle and the remote control with horizontal angle
To height；The target shift position is determined according to the relative altitude.
8. according to the method described in claim 4, it is characterized in that, the case where the control model is the spherical mode
Under, determine the unmanned vehicle and remote control under the control model according to the directional information and the second position information
The relative position of device, including：
The opposite of the unmanned vehicle and remote control is determined according to the second position information and the first position information
Distance；It is the radius of the spherical area with the relative distance, and the nothing is determined based on the radius and the directional information
The relative position of people's aircraft and the remote control.
9. according to the method described in claim 4, it is characterized in that, the radius of the spherical area is true by following one mode
It is fixed：
Receive the setting instruction from the remote control；The ball is determined according to the radius information carried in the setting instruction
The radius in face region；
The radius of the spherical area is determined in local pre-stored radius information according to the unmanned vehicle；
Obtain the relative distance of the unmanned vehicle and the remote control；Using the relative distance as the spherical area
Radius.
10. according to the method described in claim 1, it is characterized in that, according to the first position information, second position information and
Before the directional information determines target shift position of the unmanned vehicle in the specified three-dimensional space, the method is also wrapped
It includes：
Receive the fresh information from the remote control, wherein the fresh information is for updating the directional information.
11. a kind of control method of unmanned vehicle, which is characterized in that including：
It is current that remote control obtains remote control first position information current in specified three-dimensional space, unmanned vehicle
The directional information of second position information and the remote control, wherein the directional information is used to indicate the remote control hair
Go out the direction of radiofrequency signal；
The remote control determines unmanned vehicle according to the first position information, second position information and the directional information
Target shift position in the specified three-dimensional space；And
The target shift position is sent to the unmanned vehicle by the remote control.
12. according to the method for claim 11, which is characterized in that the directional information determines in the following manner：
On the basis of the first position information, the north orientation angle and the remote control and Horizon of the remote control are determined
The angle of line；According to the north orientation angle and the remote control directional information is determined with horizontal angle.
13. according to the method for claim 11, which is characterized in that according to the first position information and the directional information
Determine that target shift position of the unmanned vehicle in the specified three-dimensional space includes：
The remote control determines the control model of the unmanned vehicle, wherein the control model include it is following at least it
One：Determine height mode, fixed point mode and spherical mode, wherein the spherical mode is the pattern for meeting the following conditions：Described in control
Unmanned vehicle, using the first position information as the center of circle, is constituted in the specified three-dimensional space using preset distance as radius
It is moved in spherical area；
The remote control is determined according to the directional information described using first position information position as benchmark
The target shift position under control model.
14. a kind of control method of unmanned vehicle, which is characterized in that including：
Obtain the directional information of remote control；
The targeted attitude of unmanned vehicle is determined according to the directional information；And
The unmanned vehicle is controlled to be moved according to the targeted attitude.
15. a kind of control method of unmanned vehicle, which is characterized in that including：
Receive remote control first position information current in specified three-dimensional space and the setting from the remote control
Instruction, carries radius of the unmanned vehicle in spherical area flight in setting instruction, the spherical area is with described
First position information is the center of circle, the spherical area constituted with the radius；
Obtain the directional information of the remote control, wherein the directional information is used to indicate the remote control and sends out radio frequency
The direction of signal；
Determine unmanned vehicle in the spherical surface area according to the first position information, second position information and the directional information
The target shift position in domain；And
The unmanned vehicle is controlled to move to the target shift position.
16. a kind of control system of unmanned vehicle, which is characterized in that including：
Unmanned vehicle, for obtaining remote control first position information current in specified three-dimensional space and unmanned vehicle
Current second position information；Obtain the directional information of the remote control, wherein the directional information is used to indicate described distant
Control device sends out the direction of radiofrequency signal；It is determined according to the first position information, second position information and the directional information
Target shift position of the unmanned vehicle in the specified three-dimensional space；And the unmanned vehicle is controlled to the target
It moves shift position；
Remote control, for the first position information and the directional information to be sent to the unmanned vehicle.
17. a kind of unmanned vehicle, which is characterized in that including：
Communication module, for receiving the first position information current in specified three-dimensional space from remote control and described distant
Control the directional information of device, wherein the directional information is used to indicate the direction that the remote control sends out radiofrequency signal；
Flight control system, for according to the first position information, the directional information and the current second position of unmanned vehicle
Information determines target shift position of the unmanned vehicle in the specified three-dimensional space；And the control unmanned flight
Device is moved to the target shift position.
18. a kind of control device of unmanned vehicle, which is characterized in that including：
Acquisition module is worked as obtaining remote control first position information current in specified three-dimensional space and unmanned vehicle
Preceding second position information, and obtain the directional information of the remote control, wherein the directional information is used to indicate described
Remote control sends out the direction of radiofrequency signal；
Determining module, for determining unmanned flight according to the first position information, second position information and the directional information
Target shift position of the device in the specified three-dimensional space；
Control module is moved for controlling the unmanned vehicle to the target shift position.
19. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require the controlling party of the unmanned vehicle described in any one of 1 to 10
Method or perform claim require the control method of the unmanned vehicle described in any one of 11 to 13.
20. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Profit is arbitrary in requiring the control method of the unmanned vehicle described in any one of 1 to 10 or perform claim to require 11 to 13
The control method of unmanned vehicle described in one.
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