CN110109472A - A kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned plane - Google Patents
A kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned plane Download PDFInfo
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- CN110109472A CN110109472A CN201910337390.4A CN201910337390A CN110109472A CN 110109472 A CN110109472 A CN 110109472A CN 201910337390 A CN201910337390 A CN 201910337390A CN 110109472 A CN110109472 A CN 110109472A
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- 238000004364 calculation method Methods 0.000 claims description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned planes, this method comprises: terminal receives the unmanned plane during flying track that user sends, and send a control signal to unmanned plane, control unmanned plane movement by network according to unmanned plane during flying track；Wherein, flight path is preset and is obtained by throttle data, flight model, flight attitude；Terminal accesses network by way of WIFI.By the present invention in that terminal accesses network by way of WIFI, the controllable distance of unmanned plane is increased.By making terminal receive the unmanned plane during flying track that user sends, and unmanned plane is sent a control signal to by network according to unmanned plane during flying track, control unmanned plane movement, unmanned plane is set directly to fly according to the pre-set flight path of user, it is easy to operate, suitable for various people, and unmanned plane during flying distance is longer, and flight path is controllable.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of unmanned aerial vehicle (UAV) control method, system, terminal and nothings
It is man-machine.
Background technique
With the fast development of unmanned air vehicle technique, not only it is applied in industry by wide hair, is also widely used for simultaneously
On toy, various toy unmanned planes emerge one after another, and are greatly enriched the entertainment of people, and the most common toy unmanned plane is
Fixed-wing toy unmanned plane, is generally divided into manual class and electronic class.
Wherein, manual class is that traditional hand throws fixed-wing toy unmanned plane mostly, and this kind of unmanned plane during flying is apart from short, flight
Direction is uncontrollable.
And electronic class is using Bluetooth control unmanned plane during flying mostly, command range is limited, once unmanned plane is apart from user
Farther out, then it is easy out of hand.In addition, electronic class unmanned plane needs user that there is certain manipulation experience could skillfully control,
Operation difficulty is higher, is not suitable for part population (such as young child) and uses.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method, to increase the controllable distance of unmanned plane, makes flight rail
Mark is controllable, is suitable for various people, this method comprises:
Terminal receives the unmanned plane during flying track that user sends, and is sent and controlled by network according to unmanned plane during flying track
Signal controls unmanned plane movement to unmanned plane；
Wherein, the flight path is preset and is obtained by throttle data, flight model, flight attitude；
Terminal accesses network by way of WIFI.
Optionally, the method also includes:
Terminal receives user's required movement, and controls unmanned plane movement according to user's required movement；
User's required movement includes following one or combination: flying nonstop to, Zuo Fei, right winged, acceleration, slows down.
Optionally, the unmanned plane during flying track includes: the mode of spiraling, 8 font modes, height fluctuating mode, standing mould
Formula, stunt rollover patterns.
Optionally, the creative method of the unmanned plane during flying track includes:
It manually controls unmanned plane and carries out the flight of a variety of tracks, and record the throttle data of a variety of tracks；
Flight model is created using curve-fitting method according to the throttle data of a variety of tracks；
Different time nodes are inputted in flight model, the corresponding throttle data of output different time nodes；
According to a variety of flight attitudes of the corresponding unmanned plane of throttle data acquisition different time nodes, according to a variety of flight appearances
State generates a variety of unmanned plane during flying tracks.
Optionally, unmanned plane completes each user's required movement or unmanned plane during flying track in preset duration.
The embodiment of the present invention also provides a kind of unmanned aerial vehicle control system, comprising:
Terminal is sent out for receiving the unmanned plane during flying track of user's transmission, and according to unmanned plane during flying track by network
It send control signal to unmanned plane, controls unmanned plane movement；
Unmanned plane for receiving the control signal that terminal is sent by network, and executes movement according to control signal.
Wherein, terminal accesses network by way of WIFI.
The embodiment of the present invention also provides a kind of terminal, comprising:
Signal transmitting module is controlled, for receiving the unmanned plane during flying track of user's transmission, and according to unmanned plane during flying rail
Mark sends a control signal to unmanned plane, control unmanned plane movement by network；
Wherein, terminal accesses network by way of WIFI.
The embodiment of the present invention also provides a kind of unmanned plane, comprising:
Signal receiving module is controlled, executes movement for receiving the control signal of terminal transmission, and according to control signal.
Wherein, terminal accesses network by way of WIFI.
The embodiment of the present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor realize the above method when executing the computer program.
The embodiment of the present invention also provides a kind of computer readable storage medium, and the computer-readable recording medium storage has
Execute the computer program of the above method.
In the embodiment of the present invention, make terminal by WIFI by way of access network, increase unmanned plane it is controllable away from
From.By making terminal receive the unmanned plane during flying track that user sends, and is sent and controlled by network according to unmanned plane during flying track
Signal processed controls unmanned plane movement, flies unmanned plane directly according to the pre-set flight path of user to unmanned plane
Row, it is easy to operate, it is suitable for various people, and unmanned plane during flying distance is longer, flight path is controllable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.In the accompanying drawings:
Fig. 1 is the flow diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Fig. 2 is the unmanned plane during flying track schematic diagram of mode of spiraling in the embodiment of the present invention；
Fig. 3 is the unmanned plane during flying track schematic diagram of 8 font modes in the embodiment of the present invention；
Fig. 4 is the unmanned plane during flying track schematic diagram of mode of just rising and falling in the embodiment of the present invention；
Fig. 5 is the unmanned plane during flying track schematic diagram of standing pattern in the embodiment of the present invention；
Fig. 6 is the unmanned plane during flying track schematic diagram of stunt rollover patterns in the embodiment of the present invention；
Flow diagram when Fig. 7 is unmanned plane autonomous flight in the embodiment of the present invention.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, with reference to the accompanying drawing to this hair
Bright embodiment is described in further details.Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but simultaneously
It is not as a limitation of the invention.
Uncontrollable in order to solve unmanned plane during flying direction in the prior art, controllable fight range is shorter and operation difficulty
The problems such as higher, the embodiment of the invention provides a kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned planes.
Attached drawing 1 is the flow diagram of unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, this method comprises:
Step 101, terminal receive the unmanned plane during flying track that user sends, and pass through network according to unmanned plane during flying track
Send a control signal to unmanned plane, control unmanned plane movement.
Wherein, the flight path is preset and is obtained by throttle data, flight model, flight attitude；
Terminal accesses network by way of WIFI.
Terminal can be all kinds of smart phones, PC or other terminal devices, for manipulating unmanned plane.The network
It is some specific network, for example, it can be internet, terminal accesses the network by WIFI.
Step 102, unmanned plane receive control signal by network, and execute movement according to control signal.
Wherein, the mode of unmanned plane access network can be WIFI, or 4G etc..
Unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, make terminal by WIFI by way of access network, increase
The controllable distance of unmanned plane is added.By making terminal receive the unmanned plane during flying track that user sends, and according to unmanned plane during flying
Track sends a control signal to unmanned plane by network, and control unmanned plane movement keeps unmanned plane directly preparatory according to user
The flight path flight set, it is easy to operate, it is suitable for various people, and unmanned plane during flying distance is longer, flight path can
Control.
In addition, the WIFI signal of terminal can also be relied on strong and weak effectively when unmanned plane is lost in flight course
Unmanned plane is given on ground for change, reduces loss.
In embodiments of the present invention, in order to make user bring the effect of user's intelligence development, the unmanned aerial vehicle (UAV) control while playing
Method further include:
Terminal receives user's required movement, and controls unmanned plane movement according to user's required movement；
User's required movement includes following one or combination: flying nonstop to, Zuo Fei, right winged, acceleration, slows down.
Wherein, user can according to fly nonstop to, Zuo Fei, it is right fly, accelerate, slow down etc. to carry out a series of combinations, make unmanned plane by
It flies according to combinative movement set by user.Specifically, for example, the flight of unmanned plane can be realized by graphic programming,
In application, the WIFI on using terminal connection unmanned plane, and enter graphic programming section, it is dragged according to the idea of user corresponding
Block diagram control (such as fly nonstop to, Zuo Fei, right fly, accelerate, slowing down), generate the control instruction to unmanned plane.
Further, in order to which the duration for carrying out each user's required movement or unmanned plane during flying track to unmanned plane carries out
It limits, unmanned plane can be made to complete each user's required movement or unmanned plane during flying track in preset duration, is i.e. timing is flown.
In addition, in embodiments of the present invention, the creative method of unmanned plane during flying track includes:
It manually controls unmanned plane and carries out the flight of a variety of tracks, and record the throttle data of a variety of tracks；
Flight model is created using curve-fitting method according to the throttle data of a variety of tracks；
Different time nodes are inputted in flight model, the corresponding throttle data of output different time nodes；
According to a variety of flight attitudes of the corresponding unmanned plane of throttle data acquisition different time nodes, according to a variety of flight appearances
State generates a variety of unmanned plane during flying tracks.
Above-mentioned unmanned plane during flying track can use curve matching and create to obtain.This algorithm uses multiple groups experimental data, single
It is solely fitted, reuses multiple groups fitting data and merged, so that it is best to find universality, it is anti-interference most strong, environment is wanted
Ask low, most suitably used formula model realizes the method that flight path is realized in the case where no sensor.The algorithm principle is such as
Under:
By taking single group data fitting algorithms as an example:
Corresponding flight formula is fitted with one group of flying quality.
If polynomial fitting are as follows:
Each point is as follows to the sum of the distance of this curve, i.e. sum of square of deviations:
In order to acquire qualified a value, a is sought on the right of peer-to-peeriPartial derivative, thus we obtain:
The equation left side is subjected to abbreviation, then should it is available below equation:
These equatioies are expressed as the form of matrix, so that it may obtain following matrix:
It can be obtained after this vandermonde is obtained matrix abbreviation:
By with above-mentioned formula can obtain with throttle data y at any time about timing node t a formula model it is specific
Coefficient calculates throttle, to realize the flight of corresponding track.
Multi-group data chooses optimal performance algorithm:
Although single group data can fly, universality is poor, anti-interference weak, higher to environmental requirement, so we
Under various circumstances, performance competition and fusion are carried out to the formula model of multi-group data, it is best to find universality, it is anti-interference most
By force, formula model low to environmental requirement, most suitably used.Choose performance algorithm as follows:
1, for multi-group data
It is best to find out performance in these data, that is, the smallest one group of parameter of error
Wherein, y is throttle data, and t is timing node, when J minimum, above-mentioned model parameter and best performance.
Based on above-mentioned mathematical model, following 5 kinds of automatic offline mode are had developed:
Mode of spiraling (referring to attached drawing 2): unmanned plane in a certain range land after a certain period of time by pitch of the laps, flight.
Figure of eight mode (referring to attached drawing 3): unmanned plane can copy ' 8 ' font flight certain times after flying to certain altitude
After land.
Height fluctuating mode (referring to attached drawing 4): unmanned plane does height around a circle interval and acts with the special efficacy fallen, and flies
Row lands after a certain period of time.
Standing pattern (referring to attached drawing 5): appropriate to increase unmanned plane aft weight, unmanned plane can be by head due to centre-of gravity shift
Flight is tilted, just as stand flight, flight is landed after a period of time.
Stunt rollover patterns (referring to attached drawing 6), unmanned plane suitably tilts tail, and spy can be realized when unmanned plane throttle is enough
Skill tumbling flight, flight are landed after a period of time.
When user does not have terminal by the side of, unmanned plane booting can execute corresponding offline mode automatically and realize autonomous flight
(flow diagram when autonomous flight is as shown in Fig. 7), i.e., APP enters automatic mode, first determines whether unmanned plane enters
It spirals mode, if it is, self-timing flight preset duration.If it is not, then judging whether unmanned plane enters figure of eight mould
Formula, if it is, self-timing flight preset duration.If it is not, then judging whether unmanned plane enters height fluctuating mode, such as
Fruit is, then self-timing flight preset duration.If it is not, then judge whether unmanned plane enters standing pattern, if it is, from
Dynamic timing flight preset duration.If it is not, then judging whether unmanned plane enters stunt rollover patterns, if it is, automatic fixed
Shi Feihang preset duration.
When user's terminal is connect with unmanned plane, any one mode of above-mentioned mode can be switched at any time.
The embodiment of the invention also provides a kind of unmanned aerial vehicle control systems, comprising:
Terminal is sent out for receiving the unmanned plane during flying track of user's transmission, and according to unmanned plane during flying track by network
It send control signal to unmanned plane, controls unmanned plane movement；
Unmanned plane for receiving the control signal that terminal is sent by network, and executes movement according to control signal.
Wherein, terminal accesses network by way of WIFI.
The embodiment of the invention also provides a kind of terminals, comprising:
Signal transmitting module is controlled, for receiving the unmanned plane during flying track of user's transmission, and according to unmanned plane during flying rail
Mark sends a control signal to unmanned plane, control unmanned plane movement by network；
Wherein, terminal accesses network by way of WIFI.
The embodiment of the invention also provides a kind of unmanned planes, comprising:
Signal receiving module is controlled, executes movement for receiving the control signal of terminal transmission, and according to control signal.
Wherein, terminal accesses network by way of WIFI.
The embodiment of the invention also provides a kind of computer equipments, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor realize the above method when executing computer program.
The embodiment of the invention also provides a kind of computer readable storage medium, computer-readable recording medium storage is held
The computer program of the row above method.
In conclusion by the present invention in that terminal accesses network by way of WIFI, increase unmanned plane it is controllable away from
From.By making terminal receive the unmanned plane during flying track that user sends, and is sent and controlled by network according to unmanned plane during flying track
Signal processed controls unmanned plane movement, flies unmanned plane directly according to the pre-set flight path of user to unmanned plane
Row, it is easy to operate, it is suitable for various people, and unmanned plane during flying distance is longer, flight path is controllable.
In embodiment, the present invention integrates distant control function and automatic control function, can be suitable in guarantee aircraft
While all groups, the nootropic effect to user is improved.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Range is protected, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of invention.
Claims (10)
1. a kind of unmanned aerial vehicle (UAV) control method characterized by comprising
Terminal receives the unmanned plane during flying track that user sends, and sends control signal by network according to unmanned plane during flying track
To unmanned plane, unmanned plane movement is controlled；
Wherein, the flight path is preset and is obtained by throttle data, flight model, flight attitude；
Terminal accesses network by way of WIFI.
2. the method as described in claim 1, which is characterized in that further include:
Terminal receives user's required movement, and controls unmanned plane movement according to user's required movement；
User's required movement includes following one or combination: flying nonstop to, Zuo Fei, right winged, acceleration, slows down.
3. the method as described in claim 1, which is characterized in that the unmanned plane during flying track includes: the mode of spiraling, 8 fonts
Mode, height fluctuating mode, standing pattern, stunt rollover patterns.
4. the method as described in claim 1, which is characterized in that the creative method of the unmanned plane during flying track includes:
It manually controls unmanned plane and carries out the flight of a variety of tracks, and record the throttle data of a variety of tracks；
Flight model is created using curve-fitting method according to the throttle data of a variety of tracks；
Different time nodes are inputted in flight model, the corresponding throttle data of output different time nodes；
It is raw according to a variety of flight attitudes according to a variety of flight attitudes of the corresponding unmanned plane of throttle data acquisition different time nodes
At a variety of unmanned plane during flying tracks.
5. the method as described in claim 1, which is characterized in that unmanned plane completes each user's required movement in preset duration
Or unmanned plane during flying track.
6. a kind of unmanned aerial vehicle control system characterized by comprising
Terminal for receiving the unmanned plane during flying track of user's transmission, and is sent by network according to unmanned plane during flying track and is controlled
Signal processed controls unmanned plane movement to unmanned plane；
Unmanned plane for receiving the control signal that terminal is sent by network, and executes movement according to control signal；
Wherein, terminal accesses network by way of WIFI.
7. a kind of terminal characterized by comprising
Signal transmitting module is controlled, for receiving the unmanned plane during flying track of user's transmission, and it is logical according to unmanned plane during flying track
It crosses network and sends a control signal to unmanned plane, control unmanned plane movement；
Wherein, terminal accesses network by way of WIFI.
8. a kind of unmanned plane characterized by comprising
Signal receiving module is controlled, executes movement for receiving the control signal of terminal transmission, and according to control signal；
Wherein, terminal accesses network by way of WIFI.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any side of claim 1 to 5 when executing the computer program
Method.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has perform claim
It is required that 1 to 5 any the method.
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| CN110687921A (en) * | 2019-10-30 | 2020-01-14 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle flight control method and device, electronic equipment and storage medium |
| CN110687927A (en) * | 2019-09-05 | 2020-01-14 | 深圳市道通智能航空技术有限公司 | Flight control method, aircraft and flight system |
| CN114063496A (en) * | 2021-11-02 | 2022-02-18 | 广州昂宝电子有限公司 | Unmanned aerial vehicle control method and system and remote controller for remotely controlling unmanned aerial vehicle |
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