CN108885464A

CN108885464A - The modified method in course line, equipment and unmanned plane

Info

Publication number: CN108885464A
Application number: CN201780006036.2A
Authority: CN
Inventors: 陈超彬; 闫光
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-02-28
Filing date: 2017-02-28
Publication date: 2018-11-23
Also published as: WO2018157309A1

Abstract

The embodiment of the present invention provides a kind of modified method in course line, equipment and unmanned plane, the method：The amendment data to course line are obtained, and course line are modified according to the amendment data in the course line to obtain revised course line, unmanned plane is then controlled again and flies on revised course line.The real-time amendment to course line is realized, achievees the purpose that unmanned plane according to revised airline operation, improves the flexibility that unmanned plane executes course line, improves flight effect.

Description

The modified method in course line, equipment and unmanned plane

Technical field

The present embodiments relate to a kind of modified method of air vehicle technique field more particularly to course line, equipment and unmanned planes.

Background technique

At present, a kind of flying method of unmanned plane are as follows: user determines the destination that unmanned plane needs to be traversed for by the interactive interface of controlling terminal, the destination of default settings is uploaded to unmanned plane by controlling terminal, and unmanned plane will fly according to the course line that preset destination forms.Under this flying method, the course line of unmanned plane during flying be it is fixed, can not be modified.However, during practical flight, the influence (such as barrier, wind, illumination in environment etc.) that unmanned plane may be subjected to environment may cause unmanned plane and safety problem occur or cause unmanned plane that cannot execute preset task if flown according to original course.

Summary of the invention

The embodiment of the present invention provides a kind of modified method in course line, equipment and unmanned plane, flies on revised course line for being corrected and being controlled unmanned plane in real time to course line, to improve the flexibility that unmanned plane executes course line.

In a first aspect, the embodiment of the present invention provides a kind of modified method in course line, comprising:

Obtain the amendment data in course line；

Course line is modified according to the amendment data to obtain revised course line；

Control unmanned plane flies on revised course line.

Second aspect, the embodiment of the present invention provide a kind of modified equipment in course line, comprising: memory and processor；

The memory is for storing program code；

The processor, for calling said program code to execute:

Obtain the amendment data in course line；

Control unmanned plane flies on revised course line.

The third aspect, the embodiment of the present invention provide a kind of unmanned plane, comprising: such as the modified equipment in course line that second aspect of the present invention provides, are modified for the course line to unmanned plane；And dynamical system, for providing flying power.

The modified method in course line provided in an embodiment of the present invention, equipment and unmanned plane, by obtaining the amendment data to course line, and course line is modified according to the amendment data in the course line to obtain revised course line, unmanned plane is then controlled again to fly on revised course line.The real-time amendment to course line is realized, achievees the purpose that unmanned plane according to revised airline operation, improves the flexibility that unmanned plane executes course line, improves flight effect.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, the accompanying drawings required for describing the embodiments of the present invention are briefly described below, apparently, drawings in the following description are some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of schematic diagram of UAV system of the embodiment of the present invention；

Fig. 2 is the flow chart of the modified method in course line provided in an embodiment of the present invention；

Fig. 3 is a kind of schematic diagram that the height provided in an embodiment of the present invention to course line is modified；

Fig. 4 is another schematic diagram that the height provided in an embodiment of the present invention to course line is modified；

Fig. 5 is a kind of schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention；

Fig. 6 is another schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention；

Fig. 7 is another schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention；

Fig. 8 is a kind of schematic diagram provided in an embodiment of the present invention rotated horizontally to course line；

Fig. 9 is a kind of structural schematic diagram of the modified equipment 300 in course line provided in an embodiment of the present invention；

Figure 10 is another structural schematic diagram of the modified equipment 300 in course line provided in an embodiment of the present invention.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, following will be combined with the drawings in the embodiments of the present invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts The every other embodiment obtained, shall fall within the protection scope of the present invention.

The embodiment provides the modified method in course line, equipment and unmanned planes.The following description of this invention uses unmanned plane as example.For it will be apparent to those skilled in art that other kinds of unmanned plane can be used without restriction, the embodiment of the present invention can be applied to various types of unmanned planes.For example, unmanned plane can be small-sized or large-scale unmanned plane.In certain embodiments, unmanned plane can be rotor wing unmanned aerial vehicle (rotorcraft), for example, passing through air-driven multi-rotor unmanned aerial vehicle by multiple pushing meanss, the embodiment of the present invention is not limited to this, and unmanned plane is also possible to other types of unmanned plane.

As shown in Figure 1, it is a kind of schematic diagram of UAV system of the embodiment of the present invention, the system includes the controlling terminal 101 and unmanned plane 102 as ground surface end remote control equipment, and the controlling terminal 101 can be one of dedicated remote control, smart phone, tablet computer, UAV ground control station, wrist-watch, bracelet, video glass etc. or a variety of.

The route that unmanned plane 102 flies is referred to as course line, it include multiple destinations in course line, multiple destinations are known as destination sequence, in embodiments of the present invention, before unmanned plane during flying, the interactive interface of the map including some target area is presented to user for controlling terminal 101, and user can get ready on map as needed, these points are destination.In course data, destination exists in the form of coordinate.In some cases, destination can also include: the index ID of destination, destination action message, course line associated with destination attribute etc. in addition to including coordinate, wherein destination movement includes but is not limited to cradle head control information, shooting control information, wherein course line associated with destination attribute can include but is not limited to the offline mode such as rectilinear flight mode, coordinate turn mode, POI.

The position that user gets ready on the map of interactive interface is determined as destination by controlling terminal 101, and destination coordinate can be the GPS location coordinate of these points, and the flying height of destination can be then the height value of default.Certain user also can according to need the height above sea level with physical location on map, the height of one or more destination of dynamic configuration in controlling terminal 101.The setting in course line can also have other modes, for example, user only inputs the coordinate of several positions as destination in controlling terminal 101.Controlling terminal 101 can determine a destination according to multiple destinations that user inputs.

The course line of generation can be sent to unmanned plane 102 by controlling terminal 101, and unmanned plane 102 can execute course line after receiving course line.Specifically, the controller in unmanned plane 102 controls unmanned plane 102 and successively flies to these destinations, realization is on-course flown according to each destination for including in course line.

It should be understood that the name of above-mentioned component part each for UAV system is only the purpose for mark, It is not construed as the limitation to the embodiment of the present invention.

Fig. 2 is the flow chart of the modified method in course line provided in an embodiment of the present invention, as shown in Fig. 2, the method for the present embodiment may include: applied in unmanned plane

S201, it obtains to the amendment data in course line.

S202, course line is modified according to the amendment data to obtain revised course line.

S203, control unmanned plane fly on revised course line.

Course line in the present embodiment can be what user set in controlling terminal in advance, and be stored in unmanned plane, and unmanned plane flies when flight according to the course line.During unmanned plane is according to airline operation, the flight of unmanned plane may be subjected to various interference (such as barriers in environment, wind, illumination etc.), and the task that the safe flight or unmanned plane to unmanned plane need to be implemented has an impact, therefore in the present embodiment, the available data that course line is had an impact of unmanned plane, this data for correcting course line in real time, to guarantee the flight effect of unmanned plane, this data can be described as the amendment data to course line, then it is modified according to the amendment data in the course line to course line, data are corrected according to the course line to be modified the location information of each of course line destination, to obtain revised course line, then control unmanned plane flies on revised course line.Wherein the location information of destination includes at least one of longitude, latitude, height.

In the present embodiment, by obtaining the amendment data to course line, and course line is modified according to the amendment data in the course line to obtain revised course line, then unmanned plane is controlled again to fly on revised course line, realize the real-time amendment to course line, achieve the purpose that unmanned plane according to revised airline operation, improve the flexibility that unmanned plane executes course line, in addition, in the present embodiment, when user needs to be modified course line, user is without individually being edited and being operated to destination each individual in course line, after the amendment data that unmanned plane obtains course line, unmanned plane can be modified the location information of each of course line destination according to the amendment data in course line, simplify operating process.

Optionally, described be modified to course line according to the amendment data to obtain revised course line includes: to be modified the course line not by unmanned plane execution to obtain revised course line according to the amendment data during execution course line of unmanned plane.

Wherein, during the execution course line of unmanned plane, unmanned plane is flown according to the course line, then the course line is segmented into two parts: a part is the course line executed by unmanned plane in the course line, and another part is the course line not executed by unmanned plane also in the course line.And in the present embodiment, when unmanned plane is in flight course, i.e., when a part of course line in the course line that unmanned plane has been carried out default settings, After getting the amendment data to the course line, unmanned plane can be modified the course line not by unmanned plane execution according to the amendment data, i.e. then unmanned plane can control unmanned plane again and not flown on course line that unmanned plane executes revised according to the amendment data in the course line to not being modified by each of course line that unmanned plane executes destination.In the present embodiment, during unmanned plane executes course line, when user wants to not being modified by that a part of course line that unmanned plane executes, user can operate controlling terminal, be modified to the partial route, improve the modified flexibility in course line in this way.

Optionally, the amendment data are the height correction data in course line；Described be modified to course line according to course line amendment data to obtain revised course line includes: to be modified to the elevation information in course line according to the height correction data in the course line to obtain revised course line.

Wherein, a kind of the present embodiment feasible implementation modified to course line is to be modified to the height in course line, therefore, amendment data in above-described embodiment for course line height correction data.Specifically, the data that the available height to course line of the present embodiment has an impact, the referred to herein as height correction data in the course line, then it is modified according to elevation information of the height correction data in the course line to course line, it can be modified to course line or not by the height of each of the course line of unmanned plane execution destination, to obtain the course line after height correction.Unmanned plane is controlled in the present embodiment again to fly on the revised course line with new elevation information, to realize the height for simultaneously and dynamically correcting course line.

Optionally, the method for the present embodiment further include: before obtaining to the height correction data in course line, receive the height mode that controlling terminal is sent and control information, the elevation information modification model that information determines course line is controlled according to the height mode.It includes: to be modified in the elevation information modification model in determining course line according to elevation information of the height correction data in the course line to course line to obtain revised course line that the height correction data according to the course line, which is modified the elevation information in course line to obtain revised course line,.

Wherein, during the elevation information to course line is modified, the elevation information modification model in course line can be predefined, the detailed process of the elevation information in the corresponding amendment course line of different elevation information modification models is different, such as: data are corrected for sustained height, if elevation information modification model is absolute altitude modification model, then it is modified be course line absolute altitude, if elevation information modification model is relative altitude modification model, then it is modified be course line relative altitude, the elevation information modification model in the present embodiment is not limited to above two.Therefore, after determining elevation information modification model, and the elevation information in course line is modified under the elevation information modification model, it is ensured that the amendment accuracy of the elevation information in course line avoids the defect of effect needed for user is not achieved in revised course line.Therefore, the present embodiment is obtaining Before the height correction data in course line, elevation information modification model is arranged by operation controlling terminal in user, correspondingly, the height mode that unmanned plane can receive controlling terminal depending on the user's operation and send controls information, then controls the elevation information modification model that information determines course line according to the height mode.

Optionally, the mode control information for receiving controlling terminal and sending, information is controlled according to the height mode and determines that the elevation information modification model in course line includes: to receive the first height mode that controlling terminal is sent to control information, and the absolute altitude Information revision mode that information determines course line is controlled according to first height mode.Correspondingly, it is described in the elevation information modification model in determining course line, being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line includes: in the absolute altitude Information revision mode, the amendment data of the height are height offset, and the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset.

Wherein, when it is absolute altitude Information revision mode that user, which needs that elevation information modification model is arranged by controlling terminal, the present embodiment can receive the first height mode control information that controlling terminal is sent depending on the user's operation, it is absolute altitude Information revision mode that first height mode control information, which is used to indicate elevation information modification model, therefore, controlling information according to first height mode in the present embodiment can determine absolute altitude Information revision mode.In this case, the height correction data got is height offset, then the present embodiment is in the absolute altitude Information revision mode of above-mentioned determination, the height value of destination in course line is added with the height offset respectively, to obtain the new height value of each destination, therefore, each destination under new height value can form revised course line.

Fig. 3 is a kind of schematic diagram that the height provided in an embodiment of the present invention to course line is modified, as shown in Figure 3, using current elevation information modification model as absolute altitude Information revision mode, when unmanned plane is during flight, when i.e. unmanned plane has been carried out the partial route in course line, when user wants to not being modified by the absolute altitude for the partial route that unmanned plane executes also, user can be operated by the interactive interface to controlling terminal, such as a height offset is inputted using the interactive interface of controlling terminal, unmanned plane during flying is to when destination A flight, get the height offset, for example, h1, example shown in Fig. 3 is by taking destination A is identical as the height value of destination B as an example, it should be noted that, the height value of each destination in the course line not executed by unmanned plane can be different, nor it is limited to above-mentioned two A destination.And the height value of the destination A in course line and destination B is h2 (by taking the height relative to ground as an example), it then is h1+h2 by the height of destination A and the height correction of destination B, destination A and destination B after corrected altitude form revised course line, revised course line than the course line before amendment offsets in height h1, so that unmanned plane is adjusted to the altitude for being h1+h2 in height value from the altitude for being h2 in height value. Although Fig. 3 is shown for increasing height, reduction processing can also be carried out to the height of each destination.

Optionally, the amendment data for obtaining course line include: the height control lever amount for receiving the controlling terminal and sending, and determine height offset according to the height control lever amount, wherein the height control lever amount is generated by operating the specific rocking bar of controlling terminal.

Wherein, in the case where elevation information modification model is absolute altitude Information revision mode, obtain a kind of mode of the amendment data in course line are as follows: height offset can be arranged by operating the specific rocking bar of controlling terminal in user, i.e. during unmanned plane during flying, when user wants to carry out absolute altitude amendment to the partial route not executed by unmanned plane, user can operate the specific rocking bar of controlling terminal, when the user's operation rocking bar, unmanned plane in the present embodiment can receive the height control lever amount of controlling terminal transmission generated by the operation of user, unmanned plane can determine height offset according to the height control lever amount, the partial route not executed to course line or by unmanned plane according to height offset carries out absolute altitude amendment.Wherein, user's operation different to specific rocking bar can generate different height control lever amounts, and there are corresponding relationships with height offset for height control lever amount, such as height control lever amount can be converted to obtain height offset by unmanned plane by specific mode, therefore, after the present embodiment receives height control lever amount, height offset can be determined according to the height control lever amount.

Optionally, specific rocking bar can be the throttle lever of controlling terminal.

Optionally, the amendment data for obtaining course line include: the height offset for receiving and being inputted by the interactive interface in the controlling terminal.

Wherein, in the case where elevation information modification model is absolute altitude Information revision mode, obtain a kind of mode of the amendment data in course line are as follows: height offset can be arranged by operating the interactive interface of controlling terminal in user, wherein interactive interface can be touch display screen, such as: if user needs to increase the height in course line 5m, it is 5m that user can input height offset in the interactive interface.If user needs to reduce the height in course line 5m, it is -5m that user can input height offset in the interactive interface.Correspondingly, the present embodiment can receive the height offset that the user of controlling terminal transmission inputs on interactive interface.

Optionally, it includes: that the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset when the height offset is in preset offset ranges that the height value by the destination in the course line, which is superimposed respectively to obtain revised course line with the height offset,；When the height offset is when except preset offset ranges, the information that refusal is modified the height in course line is sent to controlling terminal.

Wherein, specifically, when user is excessive by the determining height offset of controlling terminal, it is possible to repair Enroute altitude after changing is more than the range of unmanned plane safe flight and influences flight safety, or, because the presence of barrier and can not be by the offsets in height of the destination height offset, or, if height offset is too small, the sensor-based system of unmanned plane cannot perceive height offset, and the correction tape of the too small height for being insufficient to allow destination of height offset effectively sexually revises, such as height offset is 1cm, the smallest measurement distance of the sensor-based system of unmanned plane is likely larger than 1cm, this too small height correction will be nonsensical, also waste process resource.Therefore, in the present embodiment after unmanned plane gets height offset, judge the height in the height offset or revised course line whether in default range, when the height offset or the height in revised course line are in default range, illustrate then the height value of destination can be superimposed respectively to obtain revised course line with height offset to being highly modified.When the height offset or the height in revised course line be not in preset offset ranges, illustrating cannot be to being highly modified, then the information that refusal is modified the height in course line is sent to controlling terminal, optionally, the reason of refusal also can indicate that refusal to the information that the height in course line is modified, such as: height offset is too large or too small or the height in revised course line exceeds the height etc. of safe flight.It should be noted that, preset offset ranges can be fixed and invariable, it is also possible to the flight environment of vehicle with unmanned plane and changes, such as: when the sensor-based system of unmanned plane perceives unmanned plane 10m from the ground, then preset offset ranges include: that height offset should be greater than -10m, as unmanned plane 20m from the ground, then preset offset ranges include: that height offset should be greater than -20m.

Optionally, the mode control information for receiving controlling terminal and sending, the elevation information modification model that course line is determined according to the mode control information includes: to receive the second mode that controlling terminal is sent to control information, controls the relative altitude information modification model that information determines course line according to the second mode.Correspondingly, it is described in the elevation information modification model in determining course line, being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line includes: in the relative altitude information modification model, the amendment data of the height are desired relative altitude, wherein, the desirable relatively high degree is desirable relatively high degree of the unmanned plane relative to reference point；Actual height of the unmanned plane relative to the reference point is determined using the sensor-based system of unmanned plane；According to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line.

Wherein, when it is relative altitude information modification model that user, which needs that elevation information modification model is arranged by controlling terminal, unmanned plane example can receive the second height mode control information that controlling terminal is sent depending on the user's operation, it is relative altitude information modification model that second height mode control information, which is used to indicate elevation information modification model, therefore, controlling information according to second height mode in the present embodiment can determine phase To elevation information modification model.In this case, the height correction data got is desirable relatively high degree, which is the unmanned plane desirable relatively high degree of unmanned plane relative to reference point during executing course line.Then the present embodiment is in the relative altitude information modification model of above-mentioned determination, the present embodiment determines actual height of the unmanned plane relative to the reference point using the sensor-based system of unmanned plane, then the height in course line is modified according to desirable relatively high degree and actual height, so as to form revised course line.

Fig. 4 is another schematic diagram that the height provided in an embodiment of the present invention to course line is modified, as shown in Figure 4, using current elevation information modification model as relative altitude information modification model, for reference point shown in Fig. 4 by taking ground as an example, ground as a reference point has a protrusion.The present embodiment is got after desirable relatively high degree, the opposite actual height with ground of unmanned plane is determined using the sensor-based system of unmanned plane, then according to the height of the desirable relatively high degree and actual height amendment course line, i.e. in the course line that unmanned plane traverses course line or is not executed by unmanned plane when each destination, so that the destination in course line is desired relative altitude relative to the distance on the ground below unmanned plane, the revised course line formed in this way remains that with the relative distance on ground be the desirable relatively high degree with the change of the landform of landing ground, revised course line is compared with the course line before amendment, produce variation, revised course line according to Fig.4, unmanned plane may be implemented to climb automatically or reduced terrain following (defense sector flight) function.

Optionally, the actual height is within a preset period of time or in the preset height average apart from interior unmanned plane with respect to reference point.

Optionally, the reference point includes one of ground below unmanned plane, building, the water surface, vegetation, mobile object or a variety of.Wherein, mobile object can be people or vehicle etc..

Optionally, the amendment data for obtaining course line include: the desirable relatively high degree for receiving and being inputted by the interactive interface in the controlling terminal.

Wherein, in the case where elevation information modification model is relative altitude information modification model, obtain a kind of mode of the amendment data in course line are as follows: user can it is expected relative altitude by operating the interactive interface setting of controlling terminal, such as: if user needs desirable relatively high degree opposite between course line and reference point by unmanned plane during flying to be set as 20m, correspondingly, the present embodiment can receive the desirable relatively high degree that the user of controlling terminal transmission inputs on interactive interface.

Optionally, it is described according to it is described it is desirable relatively high degree and the actual height amendment course line height with obtain revised course line include: when it is described it is desirable relatively high degree be located at the sensor-based system investigative range in when, according to it is described it is desirable relatively high degree and the actual height amendment course line height to obtain amendment after Course line；When the desirable relatively high degree is located at except the investigative range of the sensor-based system, the information that refusal is modified the height in course line is sent to controlling terminal.

Wherein, if it is desirable relatively high spend it is big, it is possible to more than unmanned plane the maximum range that effectively detects of sensor-based system and influence flight safety, and Desired Height is excessive may cause the enroute I. F. R. altitude that revised enroute altitude is more than unmanned plane；If in addition it is desirable relatively high spend it is small, it is also possible to be more than the minimum investigative range of sensor-based system, and desirable relatively high to spend the small unmanned plane that may cause too small from the distance between reference point and collide with reference point.Therefore, in the present embodiment, unmanned plane is after getting desirable relatively high degree, judge the expectation whether in the investigative range of sensor-based system, when this is desirable relatively high spends the investigative range in sensor-based system, illustrating can be to being highly modified, then according to the height in desirable relatively high degree and actual height amendment course line to obtain revised course line.When the desirable relatively high degree is not in the investigative range of sensor-based system, illustrating cannot be to being highly modified, then the information that refusal is modified the height in course line is sent to controlling terminal, optionally, the reason of information that the refusal is modified the height in course line also can indicate that refusal, such as: it is desirable relatively high to spend greatly.

Optionally, the amendment data are that data are corrected in the horizontal position in course line.It includes: to correct data according to the horizontal position in the course line to move the course line in the horizontal plane to obtain revised course line that the amendment data according to the course line, which are modified course line to obtain revised course line,.

Wherein, a kind of the present embodiment feasible implementation modified to course line is to be modified to the horizontal position in course line, and therefore, the amendment data in above-described embodiment are the horizontal position amendment data in course line.Specifically, the data that the available horizontal position to course line of the present embodiment has an impact, referred to herein as data are corrected in the horizontal position in the course line, then data are corrected according to the horizontal position in the course line to move course line in the horizontal plane, data are corrected according to the horizontal position in course line not to be horizontally moved to course line or by each of the course line of unmanned plane execution destination in the horizontal direction, keep the height of destination constant, to obtain revised course line, revised course line has new position in the horizontal plane, and the horizontal position in revised course line is different from the horizontal position in the course line before amendment, keep the height in course line constant simultaneously.Unmanned plane is controlled in the present embodiment again to fly on the revised course line with new horizontal position.To realize the horizontal position for simultaneously and dynamically correcting course line.

Optionally, the amendment data for obtaining course line include: to receive the horizontal position amendment data in the course line inputted by the interactive interface in the controlling terminal.

Wherein, a kind of mode of the horizontal position amendment data in course line is obtained are as follows: horizontal position amendment data can be arranged by operating the interactive interface of controlling terminal in user, and correspondingly, unmanned plane can receive control The horizontal position amendment data that the user that terminal is sent inputs on interactive interface.Optionally, amendment data in horizontal position include: to move horizontally direction and/or move horizontally distance.Such as: if user needs course line toward moving left 10m, user's input level moving direction and move horizontally distance；If moving horizontally direction to fix, user is to interactive interface input level moving distance；If it is fixed to move horizontally distance, user is to interactive interface input level moving direction.Correspondingly, the horizontal position amendment data that the user that the present embodiment can receive controlling terminal transmission inputs on interactive interface.

Optionally, the amendment data for obtaining course line include: to determine that data are corrected in the horizontal position in course line according to the data of the sensor-based system of unmanned plane acquisition.

Wherein, obtain a kind of mode of the horizontal position amendment data in course line are as follows: the sensor-based system of unmanned plane can be acquired on the influential environmental information of the airline operation of unmanned plane, when unmanned plane is along the airline operation, these environmental informations may flight safety to unmanned plane or performed particular task have an impact, therefore, the present embodiment can determine that data are corrected in the horizontal position in course line by the data that sensor-based system acquires, data are corrected according to the horizontal position in the course line to be modified the horizontal position in course line, to guarantee the safety that also can guarantee unmanned plane during flying under the influence of environmental factor or execute specific task.Optionally, amendment data in the horizontal position, which include at least, moves horizontally direction and/or moves horizontally distance.Wherein, it moves horizontally direction instruction course line and moves modified direction in the horizontal plane, moving horizontally distance indicates course line mobile modified distance in level.

Optionally, the data according to the acquisition of the sensor-based system of unmanned plane determine that the horizontal position amendment data in course line include: to determine that data are corrected in the horizontal position in course line according to the wind direction data and/or air speed data of the acquisition of the sensor-based system of unmanned plane.

In the present embodiment, when unmanned plane executes course line, the task that wind, direction of illumination etc. in environment can execute unmanned plane is had an impact.Specifically, for this sentences farmland operation application scenarios, unmanned plane can be used for spraying medical fluid into farmland, preset course line according to the landform in farmland, unmanned plane can equably spray medical fluid in entire farmland according to the airline operation, but this effect is in the case where calm.Once medical fluid can generate the sedimentation track for deviating and then influencing whether medical fluid under the influence of wind if the wind is rising in environment, the spraying effect of medical fluid is influenced.Therefore, it is necessary to during spraying medical fluid according to course line, correct course line according to wind in real time in unmanned plane, so that medical fluid uniform settlement, which in farmland, improves medical fluid, sprays effect.And the sensor-based system acquisition wind direction data and/or air speed data of unmanned plane, wind direction data can influence the sedimentation offset direction of medical fluid, air speed data can influence the sedimentation offset distance of medical fluid, therefore, unmanned plane determines that data are corrected in the horizontal position in course line according to wind direction data and/or air speed data.

Optionally, the wind direction data and/or air speed data according to the acquisition of the sensor-based system of unmanned plane determines that the horizontal position amendment data in course line include: to move horizontally direction according to what the wind direction data of the sensor-based system of unmanned plane acquisition determined course line, moves horizontally distance according to the air speed data determination of unmanned plane sensor-based system acquisition.

Wherein, by taking unmanned plane sprays medical fluid as an example, if wind direction data instruction wind direction is blown towards south, after medical fluid is sprayed by unmanned plane, medical fluid can deviate under the operation of wind towards south, medical fluid is made to offset by preset sedimentation track southwards in this way, therefore, it is necessary to northwards move the direction that moves horizontally in course line, so moving horizontally direction according to what the wind direction data that the sensor-based system of unmanned plane acquires determined course line.And the size of wind speed influences whether the distance of the preset sedimentation track of the offset of medical fluid, therefore, according to the distance of the offset of medical fluid, amendment course line moves horizontally distance, so that medical fluid is accurately fallen on preset sedimentation track, so moving horizontally distance according to what the air speed data that the sensor-based system of unmanned plane acquires determined course line.

Fig. 5 is a kind of schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention, as shown in Figure 5, north orientation is oriented to X-axis, by taking Y-axis is oriented to east orientation as an example, the collected wind direction data of the sensor-based system of unmanned plane is northwest wind direction (angle of the wind direction and north orientation is 45 degree), air speed data 1m/s.It is northwest wind direction according to wind direction data, determines that the horizontal amendment orientation in course line is towards southeast orientation.Since air speed data is 1m/s, and the medical fluid that unmanned plane sprays needs the time of 5s that could land, therefore medical fluid will be in the sky 5s the time of wind effect, since wind speed is 1m/s, therefore, medical fluid can deviate 1m/s × 5s=5m in the influence of wind in the horizontal plane, it follows that the horizontal corrected range d in course line is 5m.It then is 45 degree according to the angle of wind direction and X-axis, it can determine the distance dx (deviating towards south) that course line is deviated along X-axis, it determines the distance dy (deviating towards east) that course line is deviated along Y-axis, then course line is deviated accordingly, to obtain revised course line as shown in Figure 5.Unmanned plane flies on revised course line, even if under the influence of wind, medical fluid can be also deposited on preset sedimentation track.Wherein, the origin of coordinate system can be the current target destination of unmanned plane.

Optionally, the data according to the acquisition of the sensor-based system of unmanned plane determine that the horizontal position amendment data in course line include: to determine that data are corrected in the horizontal position in course line according to the obstacle information of the sensor-based system of unmanned plane acquisition.

In the present embodiment, when unmanned plane executes course line, the barrier in environment may have an impact the flight safety of unmanned plane, if barrier is located in the course sector of unmanned plane, can have an impact to flight safety.In the application scenarios of the course sector comprising complicated landform (such as waters, mountain forest), it is difficult to prior detection is carried out to entire course line, is not excluded for having barrier in the course sector planned, Generally only just it can find whether barrier has influenced course line after barrier in unmanned plane.Therefore, unmanned plane executes during airline operation, barrier can be sensed in real time by sensor-based system, to obtain obstacle information, influence in order to avoid barrier to course line, the flight safety of unmanned plane is influenced, the present embodiment determines that data are corrected in the horizontal position in course line using the obstacle information that the sensor-based system of unmanned plane acquires.

Optionally, the obstacle information according to the acquisition of the sensor-based system of unmanned plane determines that the horizontal position amendment data in course line include: to determine that data are corrected in the horizontal position in course line according to the distance and/or orientation of the collected barrier of sensor-based system of unmanned plane.

Fig. 6 is another schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention, as shown in fig. 6, north orientation is oriented to X-axis, by taking Y-axis is oriented to east orientation as an example, the sensor-based system of unmanned plane position detection shown in the figure to barrier.In order to guarantee flight safety, need to be modified course line.Therefore, the distance between current location and the barrier of unmanned plane are obtained according to the sensor-based system of unmanned plane, distance is d as shown in Figure 6, in addition also obtains the orientation of barrier, it can obtaining the angle of barrier and unmanned plane between current airline operation direction is α.Unmanned plane current the distance between target destination and the current location of unmanned plane are also obtained, distance is d1 as shown in Figure 6.Then according to distance d and angle α, determine barrier between current location of the projected position with unmanned plane on current course line at a distance from for d2=dcos α.Then, it is determined that moving horizontally for course line and moves horizontally direction at distance.Optionally, when d2-d1 is greater than pre-determined distance, it can determine the horizontal position for not needing amendment course line, when d2-d1 is less than or equal to pre-determined distance, determine the horizontal position for needing to correct course line, wherein, the distance that moves horizontally in course line is determined according to d2-d1, alternatively, course line moves horizontally distance as the distance of default, or the distance that moves horizontally in course line is that unmanned plane arrives the distance between barrier, the present embodiment is without being limited thereto.Optionally, the direction that moves horizontally in course line may is that unmanned plane along the opposite direction in current airline operation direction, or, to the opposite direction (i.e. the orientation opposite with the orientation of the collected barrier of the sensor-based system of unmanned plane) in the direction of barrier, the present embodiment is without being limited thereto for the current location of unmanned plane.Wherein, it is fixed range Δ d that horizontal position moving distance is shown in Fig. 6, and horizontal position motion direction is opposite direction of the unmanned plane along current airline operation direction.Then course line is deviated accordingly, to obtain revised course line as shown in FIG. 6.Unmanned plane flies on revised course line, ensure that flight safety.

Fig. 7 is another schematic diagram of the horizontal position in amendment course line provided in an embodiment of the present invention, as shown in Figure 7, it is oriented to north orientation with X-axis, by taking Y-axis is oriented to east orientation as an example, wherein the origin of coordinate system is the target destination of current unmanned plane, if, the sensor-based system of unmanned plane is in station acquisition shown in fig. 7 to obstacle information, in order to guarantee flight safety, needs to be modified course line, therefore, nobody is obtained The distance between the current location of machine and current goal destination, using the distance as the horizontal position corrected range in course line, direction is corrected using current goal destination to the moving direction between current location as the horizontal position in course line, as shown in Figure 7, horizontal position corrected range is dx, it is then to deviate accordingly to course line towards south that orientation is corrected in horizontal position, to obtain revised course line as shown in Figure 7.

In some embodiments, when unmanned plane is when detecting obstacle signal, the sensor-based system of unmanned plane obtains azimuth-range of the barrier relative to unmanned plane, then course line can be moved horizontally according to the orientation opposite with the orientation, the distance wherein moved is the distance between current unmanned plane to barrier, unmanned plane flies on revised course line, avoids barrier and falls into flight range, ensure that flight safety.

Optionally, the amendment data in the course line are that data are corrected in the rotation in course line.Described be modified according to the amendment data to course line includes: to correct data according to the rotation in the course line to rotate horizontally course line to obtain revised course line.

Wherein, a kind of the present embodiment feasible implementation modified to course line is to carry out rotation amendment to course line.Therefore, the amendment data in above-described embodiment are that data are corrected in the rotation in course line.Specifically, the data that the available rotation to course line of the present embodiment has an impact, referred to herein as data are corrected in the rotation in the course line, then data are corrected according to the rotation in the course line to rotate course line in the horizontal plane, it is illustrated rotation to course line or not by each of the course line of unmanned plane execution destination according to the rotation amendment data in the course line, to obtain revised course line.Data are corrected according to the rotation in course line to rotate course line, so that revised course line has rotated certain angle relative to original course in the horizontal plane, simultaneously and dynamically course line is rotated to realize.

Optionally, the rotation amendment data in the course line include the specified rotation center in course line and/or the rotation amount in course line.Specified rotation center is used to indicate the central point that course line rotates in the horizontal plane, i.e. course line carries out horizontal rotation amendment to course line centered on the central point, and the rotation amount in course line is used to indicate the angle that course line rotates in the horizontal plane.

Optionally, the amendment data for obtaining course line include: the specified rotation center for receiving the course line that controlling terminal is sent and/or the rotation amount in course line.Described rotated horizontally to course line according to the rotation in course line amendment data to obtain revised course line includes: to be rotated horizontally to course line according to the specified rotation center in the course line and/or the rotation amount in the course line to obtain revised course line.

Wherein, a kind of mode of the horizontal position amendment data in course line is obtained are as follows: the rotation amount in specified rotation center and/or course line can be arranged in user by operation controlling terminal, and correspondingly, unmanned plane can receive control The rotation amount of the specified rotation center and/or course line that are inputted on the interactive interface that the user that terminal processed is sent passes through controlling terminal.Such as: user can input specified rotation center and rotation amount, specified rotation center can be one of destination that user determines from course line, wherein the destination can be for by any one destination in the course line of unmanned plane execution, rotation amount does not make an exception for example 30 degree.If specified rotation center is fixed or to default destination, user need to only input rotation amount；If rotation amount is fixed, user need to only input specified rotation center.Correspondingly, the present embodiment can receive the specified rotation center of controlling terminal transmission and/or the rotation amount in course line, then be rotated horizontally according to rotation center and/or rotation amount to course line.

Optionally, the amendment data for obtaining course line include: the rotation amount for obtaining the course line that controlling terminal is sent.Described rotated horizontally to course line according to the rotation in course line amendment data to obtain revised course line includes: to be rotated horizontally to course line according to the rotation center and the rotation amount in the course line to obtain revised course line using the current target destination of unmanned plane as the rotation center in course line.

Wherein, the rotation center in course line is determined according to preset rules, and without being obtained by controlling terminal, the rotation center in the course line is the current target destination of unmanned plane, i.e. the next destination that will fly to of unmanned plane.Unmanned plane only needs to obtain the rotation amount in course line from controlling terminal, and the rotation amount in the course line can be what user was inputted by the interactive interface of controlling terminal.The present embodiment carries out rotating horizontally the rotation amount as the rotation center in course line, to form revised course line after getting the rotation amount in course line using the current target destination of unmanned plane.

Optionally, the amendment data for obtaining course line include: the rotation amount that course line is determined according to the wind direction data of the sensing system of unmanned plane acquisition；Described rotated horizontally to course line according to the rotation in course line amendment data to obtain revised course line includes: to be rotated horizontally to course line according to the rotation center and the rotation amount in the course line to obtain revised course line using the current target destination of unmanned plane as the rotation center in course line.

Wherein, wind in environment can flight to unmanned plane or course line have an impact, in the flight course for executing course line with unmanned plane, if unmanned plane headwind flight, since the resistance that wind action is subject to unmanned plane is bigger, when reaching identical flying speed, need to consume more power resources, therefore, ideal state is, unmanned function downwind, can save power resource in this way.And, the sensor-based system of unmanned plane can collect wind direction data, and therefore, the present embodiment can determine the rotation amount in course line according to the wind direction data of acquisition, such as: the rotation amount for making the course line of unmanned plane downwind can be determined according to the current heading of unmanned plane and wind direction data.Then using the current target destination of unmanned plane as the rotation center in course line, course line is rotated to the rotation amount in the horizontal plane, to obtain revised course line.Wherein, nothing It is man-machine can also using user by controlling terminal specify destination as rotation center.Specific restriction is not done herein.

Optionally, the amendment data for obtaining course line include: the rotation amount that course line is determined according to the direction of illumination data of the sensing system of unmanned plane acquisition.Described rotated horizontally to course line according to the rotation in course line amendment data to obtain revised course line includes: to be rotated horizontally to course line according to the rotation center and the rotation amount in the course line to obtain revised course line using the current target destination of unmanned plane as the rotation center in course line.

Wherein, when unmanned plane executes course line, the task that direction of illumination in environment executes unmanned plane has an impact, and shoots along airline operation to target object under application scenes, such as using unmanned plane, if unmanned plane shoots target object in face of direction of illumination, shooting effect can be poor, at this point, unmanned plane needs backlight to fly, unmanned plane can rotate course line at this time, be that backlight shoots target object when so that unmanned plane is along revised airline operation.Specifically, the sensor-based system of unmanned plane can collect direction of illumination, the rotation amount in course line is determined according to the photometric data of acquisition, such as: it can be according to unmanned plane current heading and direction of illumination, determining rotation amount.Then using the current target destination of unmanned plane as the rotation center in course line, course line is rotated to the rotation amount in the horizontal plane, to obtain revised course line.Wherein, unmanned plane can also be using the destination that user is specified by controlling terminal as rotation center.Specific restriction is not done herein.

Optionally, described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include；When the rotation center in the course line and/or the rotation amount in course line are in default range, data are corrected according to the rotation in the course line and course line are rotated horizontally to obtain revised course line；When the rotation amount in the position of the rotation center in the course line and/or course line is when except preset range, to the information of the controlling terminal of unmanned plane transmission refusal course line rotation.

Wherein, in the present embodiment, when unmanned plane is getting the rotation center in amendment data, unmanned plane judges the position of rotation center whether in preset position range, when the rotation center that user chooses is in preset position range, unmanned plane just will be considered that the rotation center that user chooses is legal rotation center, when rotation center and/or rotation amount be not in preset position range, send the information that refusal rotates course line to controlling terminal.In addition, unmanned plane can also carry out legitimacy detection by the rotation amount that controlling terminal inputs to user, when the rotation amount of the rotation amount input of user's input is not in the range of preset rotation amount, unmanned plane just will be considered that the rotation amount of user's input is legal rotation amount, when rotation amount is not in preset position range, unmanned plane can determine that the rotation amount is illegal rotation amount, to controlling terminal Send the information that refusal rotates course line.Such as legal rotation amount range is in -180 degree -180 degree, when user's input not rotation amount in the range, unmanned plane can be refused to carry out horizontal rotation amendment to course line.Optionally, the reason of information of the refusal course line rotation in the present embodiment also can indicate that refusal.

Fig. 8 is a kind of schematic diagram provided in an embodiment of the present invention rotated horizontally to course line, as shown in figure 8, being oriented to north orientation with X-axis, by taking Y-axis is oriented to east orientation as an example, the origin of coordinate system is the current target destination of unmanned plane.As shown in figure 8, rotation center is the current target destination of unmanned plane, then rotation amount θ accordingly rotates course line, to obtain revised course line as shown in Figure 8.

Wherein, the sensor-based system of unmanned plane includes one of ultrasonic sensor, visual sensor, laser sensor, TOF sensor, radar, infrared sensor, Inertial Measurement Unit, point array sensor or a variety of.

A kind of computer storage medium is additionally provided in the embodiment of the present invention, is stored with program instruction in the computer storage medium, and described program may include such as some or all of the modified method in course line in Fig. 2 and its corresponding embodiment step when executing.

Fig. 9 is a kind of structural schematic diagram of the modified equipment 300 in course line provided in an embodiment of the present invention, as shown in figure 9, the modified equipment 300 in the course line of the present embodiment may include: memory 301 and processor 302.Above-mentioned memory 301 is connect with processor 302 by bus.Memory 301 may include read-only memory and random access memory, and provide instruction and data to processor 302.The a part of of memory 301 can also include nonvolatile RAM.

Above-mentioned processor 302 can be central processing unit (Central Processing Unit, CPU), the processor can also be other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor etc..

Wherein, the memory 301 is for storing program code；The processor 302, for calling said program code to execute: obtaining the amendment data in course line；Course line is modified according to the amendment data to obtain revised course line；Control unmanned plane flies on revised course line.

Optionally, the processor 302, is specifically used for: during the execution course line of unmanned plane, being modified the course line not by unmanned plane execution to obtain revised course line according to the amendment data.

Optionally, the amendment data are the height correction data in course line；

The processor 302, is specifically used for: being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.

Figure 10 is that another structural schematic diagram of the modified equipment 300 in course line provided in an embodiment of the present invention further includes as shown in Figure 10 communication interface 303 on the basis of the modified equipment 300 in the course line of the present embodiment embodiment shown in Fig. 9.

Optionally, the communication interface 303 controls information for before obtaining to the height correction data in course line, receiving the height mode that controlling terminal is sent, controls the elevation information modification model that information determines course line according to the height mode；

The processor 302, is specifically used for: in the elevation information modification model in determining course line, being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.

Optionally, the communication interface 303, is specifically used for: receiving the first height mode that controlling terminal is sent and controls information；

The processor 302, it is specifically used for: the absolute altitude Information revision mode that information determines course line is controlled according to first height mode, in the absolute altitude Information revision mode, the height correction data is height offset, and the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset.

Optionally, the communication interface 303, is specifically used for: receiving the height control lever amount that the controlling terminal is sent；

The processor 302 is specifically used for: height offset is determined according to the height control lever amount, wherein the height control lever amount is generated by operating the specific rocking bar of controlling terminal.

Optionally, the specific rocking bar is the throttle lever of controlling terminal.

Optionally, the communication interface 303, is also used to: receiving the height offset of the interactive interface input in the controlling terminal.

Optionally, the processor 302, is specifically used for: when the height offset is in preset offset ranges, the height value of the destination in the course line being superimposed respectively to obtain revised course line with the height offset；

The communication interface 303, for sending the information that refusal is modified the height in course line to controlling terminal when the height offset is when except preset offset ranges.

Optionally, the communication interface 303, is specifically used for: receiving the second mode that controlling terminal is sent Control information；

The processor 302, is specifically used for: controlling the relative altitude information modification model that information determines course line according to the second mode；In the relative altitude information modification model, the amendment data of the height are desired relative altitude, wherein the desirable relatively high degree is desirable relatively high degree of the unmanned plane relative to reference point；Actual height of the unmanned plane relative to the reference point is determined using the sensor-based system of unmanned plane；According to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line.

Optionally, the reference point includes one of ground below unmanned plane, building, the water surface, vegetation, mobile object or a variety of.

Optionally, the processor 302, is specifically used for: receiving the desirable relatively high degree inputted by the interactive interface in the controlling terminal.

Optionally, the processor 302, is specifically used for: when the desirable relatively high degree is located in the investigative range of the sensor-based system, according to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line；

The communication interface 303 sends the information that refusal is modified the height in course line to controlling terminal when being also used to except the investigative range that the desirable relatively high degree is located at the sensor-based system.

Optionally, the amendment data are that data are corrected in the horizontal position in course line；

The processor 302, is specifically used for: correcting data according to the horizontal position in the course line and moves the course line in the horizontal plane to obtain revised course line.

Optionally, data are corrected in the communication interface 303, the horizontal position for receiving the course line inputted by the interactive interface in the controlling terminal.

Optionally, the processor 302, is specifically used for: determining that data are corrected in the horizontal position in course line according to the data that the sensor-based system of unmanned plane acquires.

Optionally, amendment data in the horizontal position, which include at least, moves horizontally direction and/or moves horizontally distance.

Optionally, the processor 302, is specifically used for: determining that data are corrected in the horizontal position in course line according to the wind direction data of the sensor-based system of unmanned plane acquisition and/or air speed data.

Optionally, the processor 302, is specifically used for: the wind acquired according to the sensor-based system of unmanned plane Determine course line to data moves horizontally direction, moves horizontally distance according to the air speed data determination of the sensor-based system of unmanned plane acquisition.

Optionally, the processor 302, is specifically used for: determining that data are corrected in the horizontal position in course line according to the obstacle information that the sensor-based system of unmanned plane acquires.

Optionally, the processor 302, is specifically used for:

Determine that data are corrected in the horizontal position in course line according to the distance of the collected barrier of the sensor-based system of unmanned plane and/or orientation.

Optionally, the amendment data in the course line are that data are corrected in the rotation in course line；

The processor 302, is specifically used for: correcting data according to the rotation in the course line and is rotated horizontally to course line to obtain revised course line.

Optionally, the rotation amendment data in the course line include the specified rotation center in course line and/or the rotation amount in course line.

Optionally, the communication interface 303, for receiving the specified rotation center in the course line of controlling terminal transmission and/or the rotation amount in course line；

The processor 302, is specifically used for: is rotated horizontally to course line according to the specified rotation center in the course line and/or the rotation amount in the course line to obtain revised course line.

Optionally, the communication interface 303, the rotation amount in the course line for receiving controlling terminal transmission；

The processor 302, is specifically used for: using the current target destination of unmanned plane as the rotation center in course line, is rotated horizontally to course line according to the rotation center and the rotation amount in the course line to obtain revised course line.

Optionally, the processor 302, is specifically used for: the rotation amount in course line is determined according to the wind direction data that the sensing system of unmanned plane acquires；

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.

Optionally, the processor 302, is specifically used for: the rotation amount in course line is determined according to the direction of illumination data that the sensing system of unmanned plane acquires；

Optionally, the processor 302, is specifically used for: when the rotation center in the course line and/or the rotation amount in course line are in default range, correcting data according to the rotation in the course line and carries out level to course line Rotation is to obtain revised course line；

The communication interface 303 is also used to when the rotation amount in the position of the rotation center in the course line and/or course line is when except preset range, to the information of the controlling terminal of unmanned plane transmission refusal course line rotation.

The equipment of the present embodiment can be used for executing the technical solution of above method embodiment of the present invention, and it is similar that the realization principle and technical effect are similar, and details are not described herein again.

The embodiment of the present invention provides a kind of unmanned plane, and the unmanned plane of the present embodiment includes:

The modified equipment 300 in above-mentioned course line and dynamical system.Wherein, the modified equipment 300 in course line, is modified for the course line to unmanned plane；It accordingly can execute the technical solution of above method embodiment of the present invention, and it is similar that the realization principle and technical effect are similar, and details are not described herein again.Dynamical system, for providing flying power.

Those of ordinary skill in the art will appreciate that: realizing all or part of the steps of above method embodiment, this can be accomplished by hardware associated with program instructions, program above-mentioned can be stored in a computer readable storage medium, the program when being executed, executes step including the steps of the foregoing method embodiments；And storage medium above-mentioned includes: the various media that can store program code such as read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or equivalent substitution of some or all of the technical features；And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims

A kind of modified method in course line, which is characterized in that

Obtain the amendment data in course line；

Course line is modified according to the amendment data in the course line to obtain revised course line；

Control unmanned plane flies on revised course line.
The method according to claim 1, wherein

The amendment data according to the course line are modified course line to obtain revised course line and include:

During unmanned plane executes course line, the course line not by unmanned plane execution is modified to obtain revised course line according to the amendment data in the course line.
Method according to claim 1 or 2, which is characterized in that

The amendment data are the height correction data in course line；

The amendment data according to the course line are modified course line to obtain revised course line and include:

It is modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.
According to the method described in claim 3, it is characterized in that, the method also includes:

Before obtaining to the height correction data in course line, receives the height mode that controlling terminal is sent and control information, the elevation information modification model that information determines course line is controlled according to the height mode；

The height correction data according to the course line is modified the elevation information in course line to obtain revised course line and include:

In the elevation information modification model in determining course line, it is modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.
According to the method described in claim 4, it is characterized in that,

The mode control information for receiving controlling terminal and sending, the elevation information modification model for determining course line according to height mode control information include:

It receives the first height mode that controlling terminal is sent and controls information, the absolute altitude Information revision mode that information determines course line is controlled according to first height mode；

It is described in the elevation information modification model in determining course line, be modified according to elevation information of the height correction data in the course line to course line to obtain revised course line and include:

In the absolute altitude Information revision mode, the height correction data is height offset, and the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset.
According to the method described in claim 5, it is characterized in that,

It is described obtain course line amendment data include:

The height control lever amount that the controlling terminal is sent is received, height offset is determined according to the height control lever amount, wherein the height control lever amount is generated by operating the specific rocking bar of controlling terminal.
According to the method described in claim 6, it is characterized in that,

The specific rocking bar is the throttle lever of controlling terminal.
According to the method described in claim 5, it is characterized in that,

It is described obtain course line amendment data include:

Receive the height offset inputted by the interactive interface in the controlling terminal.
According to the described in any item methods of claim 5-7, which is characterized in that

The height value by the destination in the course line is superimposed respectively to obtain revised course line and include: with the height offset

When the height offset is in preset offset ranges, the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset；

When the height offset is when except preset offset ranges, the information that refusal is modified the height in course line is sent to controlling terminal.
According to the described in any item methods of claim 4-9, which is characterized in that

The mode control information for receiving controlling terminal and sending, determines according to the mode control information and navigates The elevation information modification model of line includes:

It receives the second mode that controlling terminal is sent and controls information, the relative altitude information modification model that information determines course line is controlled according to the second mode；

It is described in the elevation information modification model in determining course line, be modified according to elevation information of the height correction data in the course line to course line to obtain revised course line and include:

In the relative altitude information modification model, the amendment data of the height are desired relative altitude, wherein the desirable relatively high degree is desirable relatively high degree of the unmanned plane relative to reference point；

Actual height of the unmanned plane relative to the reference point is determined using the sensor-based system of unmanned plane；

According to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line.
According to the method described in claim 10, it is characterized in that,

The actual height is within a preset period of time or in the preset height average apart from interior unmanned plane with respect to reference point.
According to right to go to 10 or 11 described in method, which is characterized in that

The reference point includes one of ground below unmanned plane, building, the water surface, vegetation, mobile object or a variety of.
The described in any item methods of 0-12 according to claim 1, which is characterized in that

It is described obtain course line amendment data include:

Receive the desirable relatively high degree inputted by the interactive interface in the controlling terminal.
The described in any item methods of 0-13 according to claim 1, which is characterized in that

It is described to include: to obtain revised course line according to the desirable relatively high degree and the height in actual height amendment course line

When the desirable relatively high degree is located in the investigative range of the sensor-based system, according to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line；

When the desirable relatively high degree is located at except the investigative range of the sensor-based system, the information that refusal is modified the height in course line is sent to controlling terminal.
Method according to claim 1 or 2, which is characterized in that

The amendment data are that data are corrected in the horizontal position in course line；

The amendment data according to the course line are modified course line to obtain revised course line and include:

Data, which are corrected, according to the horizontal position in the course line moves the course line in the horizontal plane to obtain revised course line.
According to the method for claim 15, which is characterized in that

It is described obtain course line amendment data include:

Correct data in the horizontal position for receiving the course line inputted by the interactive interface in the controlling terminal.
According to the method for claim 15, which is characterized in that

It is described obtain course line amendment data include:

Determine that data are corrected in the horizontal position in course line according to the data that the sensor-based system of unmanned plane acquires.
The described in any item methods of 5-17 according to claim 1, which is characterized in that

Horizontal position amendment data, which include at least, to be moved horizontally direction and/or moves horizontally distance.
Method described in 7 or 18 according to claim 1, which is characterized in that

The data according to the acquisition of the sensor-based system of unmanned plane determine that the horizontal position amendment data in course line include:

Determine that data are corrected in the horizontal position in course line according to the wind direction data of the sensor-based system of unmanned plane acquisition and/or air speed data.
According to the method for claim 19, which is characterized in that

The wind direction data and/or air speed data according to the acquisition of the sensor-based system of unmanned plane determines that the horizontal position amendment data in course line include:

Direction is moved horizontally according to what the wind direction data that the sensor-based system of unmanned plane acquires determined course line, distance is moved horizontally according to the air speed data determination of the sensor-based system of unmanned plane acquisition.
Method described in 7 or 18 according to claim 1, which is characterized in that

The data according to the acquisition of the sensor-based system of unmanned plane determine that the horizontal position amendment data in course line include:

Determine that data are corrected in the horizontal position in course line according to the obstacle information that the sensor-based system of unmanned plane acquires.
According to the method for claim 21, which is characterized in that

The obstacle information according to the acquisition of the sensor-based system of unmanned plane determines that the horizontal position amendment data in course line include:

Determine that data are corrected in the horizontal position in course line according to the distance of the collected barrier of the sensor-based system of unmanned plane and/or orientation.
Method according to claim 1 or 2, which is characterized in that

The amendment data in the course line are that data are corrected in the rotation in course line；

The amendment data according to the course line are modified course line to obtain revised course line and include:

Data are corrected according to the rotation in the course line to rotate horizontally course line to obtain revised course line.
According to the method for claim 23, which is characterized in that

The rotation amendment data in the course line include the specified rotation center in course line and/or the rotation amount in course line.
According to the method for claim 24, which is characterized in that

It is described obtain course line amendment data include:

Receive the specified rotation center in the course line that controlling terminal is sent and/or the rotation amount in course line；

It is described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include:

Course line is rotated horizontally according to the specified rotation center in the course line and/or the rotation amount in the course line to obtain revised course line.
The method according to claim 24 or 25, which is characterized in that

It is described obtain course line amendment data include:

Obtain the rotation amount in the course line that controlling terminal is sent；

It is described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include:

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.
According to the method for claim 24, which is characterized in that

It is described obtain course line amendment data include:

The rotation amount in course line is determined according to the wind direction data that the sensing system of unmanned plane acquires；

It is described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include:

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.
According to the method for claim 24, which is characterized in that

It is described obtain course line amendment data include:

The rotation amount in course line is determined according to the direction of illumination data that the sensing system of unmanned plane acquires；

It is described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include:

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.
According to the described in any item methods of claim 24-28, which is characterized in that

It is described course line to be rotated horizontally according to the rotation in course line amendment data to obtain revised course line and include；

When the rotation center in the course line and/or the rotation amount in course line are in default range, data are corrected according to the rotation in the course line and course line are rotated horizontally to obtain revised course line；

When the rotation amount in the position of the rotation center in the course line and/or course line is when except preset range, to the information of the controlling terminal of unmanned plane transmission refusal course line rotation.
A kind of modified equipment in course line characterized by comprising memory and processor；

The memory is for storing program code；

The processor, for calling said program code to execute:

Obtain the amendment data in course line；

Course line is modified according to the amendment data in the course line to obtain revised course line；

Control unmanned plane flies on revised course line.
Equipment according to claim 30, which is characterized in that

The processor, is specifically used for: during the execution course line of unmanned plane, being modified the course line not by unmanned plane execution to obtain revised course line according to the amendment data in the course line.
The equipment according to claim 30 or 31, which is characterized in that

The amendment data are the height correction data in course line；

The processor, is specifically used for: being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.
Equipment according to claim 32, which is characterized in that further include: communication interface；

The communication interface controls information for before obtaining to the height correction data in course line, receiving the height mode that controlling terminal is sent, controls the elevation information modification model that information determines course line according to the height mode；

The processor, is specifically used for: in the elevation information modification model in determining course line, being modified according to elevation information of the height correction data in the course line to course line to obtain revised course line.
Equipment according to claim 33, which is characterized in that

The communication interface, is specifically used for: receiving the first height mode that controlling terminal is sent and controls information；

The processor, is specifically used for: controlling the absolute altitude Information revision mode that information determines course line, in the absolute altitude Information revision mode, the height correction data according to first height mode For height offset, the height value of the destination in the course line is superimposed respectively to obtain revised course line with the height offset.
Equipment according to claim 34, which is characterized in that the communication interface is specifically used for: the height control lever amount that the controlling terminal is sent is received；

The processor is specifically used for: height offset is determined according to the height control lever amount, wherein the height control lever amount is generated by operating the specific rocking bar of controlling terminal.
Equipment according to claim 35, which is characterized in that

The specific rocking bar is the throttle lever of controlling terminal.
Equipment according to claim 34, which is characterized in that the communication interface is also used to: the height offset of the interactive interface input in the controlling terminal is received.
According to the described in any item equipment of claim 34-36, it is characterized in that, the processor, is specifically used for: when the height offset is in preset offset ranges, the height value of the destination in the course line being superimposed respectively to obtain revised course line with the height offset；

The communication interface, is also used to when the height offset is when except preset offset ranges, sends the information that refusal is modified the height in course line to controlling terminal.
According to the described in any item equipment of claim 35-38, which is characterized in that the communication interface is specifically used for: receiving the second mode that controlling terminal is sent and control information；

The processor, is specifically used for: controlling the relative altitude information modification model that information determines course line according to the second mode；In the relative altitude information modification model, the amendment data of the height are desired relative altitude, wherein the desirable relatively high degree is desirable relatively high degree of the unmanned plane relative to reference point；Actual height of the unmanned plane relative to the reference point is determined using the sensor-based system of unmanned plane；According to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line.
Equipment according to claim 39, which is characterized in that

The actual height is within a preset period of time or preset apart from the opposite reference point of interior unmanned plane Height average.
According to right to go to 39 or 40 described in equipment, which is characterized in that

The reference point includes one of ground below unmanned plane, building, the water surface, vegetation, mobile object or a variety of.
According to the described in any item equipment of claim 39-41, which is characterized in that the processor is specifically used for: receiving the desirable relatively high degree inputted by the interactive interface in the controlling terminal.
According to the described in any item equipment of claim 39-42, it is characterized in that, the processor, it is specifically used for: when the desirable relatively high degree is located in the investigative range of the sensor-based system, according to the height in the desirable relatively high degree and actual height amendment course line to obtain revised course line；

The communication interface sends the information that refusal is modified the height in course line to controlling terminal when being also used to except the investigative range that the desirable relatively high degree is located at the sensor-based system.
The equipment according to claim 30 or 31, which is characterized in that

The amendment data are that data are corrected in the horizontal position in course line；

The processor, is specifically used for: correcting data according to the horizontal position in the course line and moves the course line in the horizontal plane to obtain revised course line.
Equipment according to claim 44, which is characterized in that further include: communication interface；

Data are corrected in the communication interface, the horizontal position for receiving the course line inputted by the interactive interface in the controlling terminal.
Equipment according to claim 44, which is characterized in that the processor is specifically used for: determine that data are corrected in the horizontal position in course line according to the data that the sensor-based system of unmanned plane acquires.
According to the described in any item equipment of claim 44-46, which is characterized in that horizontal position amendment data, which include at least, to be moved horizontally direction and/or move horizontally distance.
The equipment according to claim 46 or 47, which is characterized in that the processor is specifically used for: determine that data are corrected in the horizontal position in course line according to the wind direction data of the sensor-based system of unmanned plane acquisition and/or air speed data.
Equipment according to claim 48, it is characterized in that, the processor, is specifically used for: moving horizontally direction according to what the wind direction data that the sensor-based system of unmanned plane acquires determined course line, moves horizontally distance according to the air speed data determination of the sensor-based system of unmanned plane acquisition.
The equipment according to claim 46 or 47, which is characterized in that the processor is specifically used for: determine that data are corrected in the horizontal position in course line according to the obstacle information that the sensor-based system of unmanned plane acquires.
Equipment according to claim 50, which is characterized in that the processor is specifically used for:

Determine that data are corrected in the horizontal position in course line according to the distance of the collected barrier of the sensor-based system of unmanned plane and/or orientation.
The equipment according to claim 30 or 31, which is characterized in that the amendment data in the course line are that data are corrected in the rotation in course line；

The processor, is specifically used for: correcting data according to the rotation in the course line and is rotated horizontally to course line to obtain revised course line.
Equipment according to claim 52, which is characterized in that the rotation amendment data in the course line include the specified rotation center in course line and/or the rotation amount in course line.
Equipment according to claim 53, which is characterized in that further include: communication interface；

The communication interface, for receiving the specified rotation center in the course line of controlling terminal transmission and/or the rotation amount in course line；

The processor, is specifically used for: is rotated horizontally to course line according to the specified rotation center in the course line and/or the rotation amount in the course line to obtain revised course line.
Equipment according to claim 54, which is characterized in that the communication interface, specifically for receiving the rotation amount in the course line that controlling terminal is sent；

The processor, is specifically used for: using the current target destination of unmanned plane as the rotation center in course line, is rotated horizontally to course line according to the rotation center and the rotation amount in the course line to obtain revised course line.
The equipment according to claim 52 or 53, which is characterized in that the processor is specifically used for: the rotation amount in course line is determined according to the wind direction data that the sensing system of unmanned plane acquires；

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.
The equipment according to claim 52 or 53, which is characterized in that

The processor, is specifically used for: the rotation amount in course line is determined according to the direction of illumination data that the sensing system of unmanned plane acquires；

Using the current target destination of unmanned plane as the rotation center in course line, course line is rotated horizontally according to the rotation center and the rotation amount in the course line to obtain revised course line.
According to the described in any item equipment of claim 54-57, it is characterized in that, the processor, it is specifically used for: when the rotation center in the course line and/or the rotation amount in course line are in default range, data is corrected according to the rotation in the course line and course line are rotated horizontally to obtain revised course line；

The communication interface is also used to when the rotation amount in the position of the rotation center in the course line and/or course line is when except preset range, to the information of the controlling terminal of unmanned plane transmission refusal course line rotation.
A kind of unmanned plane characterized by comprising

The modified equipment in course line as described in claim 30-58 any one, is modified for the course line to unmanned plane；

And dynamical system, for providing flying power.