CN110162075A - A kind of flying vehicles control method, apparatus and aircraft - Google Patents
A kind of flying vehicles control method, apparatus and aircraft Download PDFInfo
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- CN110162075A CN110162075A CN201910491800.0A CN201910491800A CN110162075A CN 110162075 A CN110162075 A CN 110162075A CN 201910491800 A CN201910491800 A CN 201910491800A CN 110162075 A CN110162075 A CN 110162075A
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- rocker arm
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- 238000010586 diagram Methods 0.000 description 12
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- 230000006870 function Effects 0.000 description 8
- 230000003238 somatosensory effect Effects 0.000 description 6
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- 230000024703 flight behavior Effects 0.000 description 3
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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
-
- 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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The embodiment of the invention discloses a kind of flying vehicles control method, apparatus and aircraft, wherein the described method includes: obtaining virtual rocker arm parameter；The motion track information of virtual rocker arm is determined according to the virtual rocker arm parameter；Receive flight control command；According to the motion track information of the flight control command and the virtual rocker arm, fly according to the motion profile of the virtual rocker arm.The embodiment of the present invention realizes the movement of virtual rocker arm by aircraft flight, can replace true physics rocker arm, can get rid of physical constraints, realization can be changed virtual brachium, while can store, transport and use space problem to avoid the physics brachium bring of rocker arm.Moreover, because aircraft flies according to the motion profile of virtual rocker arm, traditional filming image personnel can be allowed in the case where not having aircraft remote operation experience, with hand in most fast speed, manipulate aircraft and realize rocker arm shooting.
Description
Technical field
The present invention relates to vehicle technology field more particularly to a kind of flying vehicles control method, apparatus and aircraft.
Background technique
Rocker arm is commonly used in the large-scale films and television programs such as televising play, film, advertisement as video camera support equipment
A kind of large-scale auxiliary shooting equipment, can accomplish comprehensive scene capture.Common camera shooting, photographic auxiliary equipment are triangles in life
Frame, function is fixed seat in the plane, adjusting is horizontal and photographer's push-and-pull is facilitated to move, and rocker arm increases on the basis of tripod
Elevating function, and camera lens is enable to obtain the scope of activities bigger than tripod when shaking, whereby can shoot it is grand,
The scene of atmosphere.The scope of activities of rocker arm video camera depends entirely on the physical size of rocker arm, but physical size again with rocker arm
Storage, transport are closely related with use space.Nowadays the arm body of most of rocker arm is long, weight is big, uses " going to war ".
With the development of airmanship, aircraft, for example, unmanned vehicle (Unmanned Aerial Vehicle,
UAV), also referred to as unmanned plane is more and more widely used.Unmanned plane is a kind of new concept equipment being in rapid development,
It is low that it has the advantages that small in size, light-weight, maneuverability, rapid reaction, operation require.Unmanned plane carries multiclass by holder
Image real-time Transmission may be implemented in picture pick-up device.
Nucleus movement carrying platform of the unmanned plane as aerial camera, possesses high maneuverability and big scope of activities, this
Cause unmanned plane excessively " freedom ", traditional filming image personnel do not have superb skilled flight control experience substantially, very
Hardly possible accomplishes the shooting effect of conventional rocker using existing unmanned plane rocking bar maneuverability pattern, this also means that existing take photo by plane nobody
Machine is difficult directly to replace traditional rocker arm video camera.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of flying vehicles control method, apparatus and aircraft, with reality
Existing virtual rocker arm replaces true physics rocker arm.
The embodiment of the invention discloses following technical solutions:
In a first aspect, being applied to aircraft the embodiment of the invention provides a kind of flying vehicles control method, comprising:
Obtain virtual rocker arm parameter；
The motion track information of virtual rocker arm is determined according to the virtual rocker arm parameter；
Receive flight control command；
According to the motion track information of the flight control command and the virtual rocker arm, according to the fortune of the virtual rocker arm
The flight of dynamic rail mark.
In some embodiments, the virtual rocker arm parameter includes at least one of following parameter:
Rocker arm is long, boom is long, aircraft is at a distance from anchor point, the position of the position of aircraft and anchor point, wherein
The anchor point refers to that the fulcrum of the virtual rocker arm, the virtual rocker arm are rotated around the anchor point, and the rocker arm length refers to
The brachium of the virtual rocker arm, the long flying height range for referring to the aircraft of the boom.
In some embodiments, the anchor point includes at least one of the following:
Specified space coordinate point and specified target object.
It is in some embodiments, described to obtain the virtual rocker arm parameter, comprising:
The virtual rocker arm parameter is obtained according to the setting of user operation.
It is in some embodiments, described to obtain the virtual rocker arm parameter, comprising:
The position of position and the anchor point to the aircraft is detected, to obtain the virtual rocker arm parameter.
In some embodiments, described that the position of the aircraft and the position of the anchor point are detected, to obtain
Take the virtual rocker arm parameter, comprising:
The position of position and the anchor point to the aircraft is detected, with obtain the aircraft with it is described fixed
The distance between site.
In some embodiments, the position to anchor point described in the aircraft is detected, to obtain described fly
The distance between row device and the anchor point, comprising:
The aircraft is directly measured at a distance from anchor point by laser or infrared ray；Or
The coordinate position of the aircraft and the coordinate position of anchor point are obtained respectively by global position system, according to institute
The coordinate position of aircraft and the coordinate position of anchor point are stated, determines the aircraft at a distance from anchor point.
In some embodiments, the motion track information of the virtual rocker arm includes at least one of the following:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
In some embodiments, the motion track information according to the flight control command and the virtual rocker arm,
It flies according to the motion profile of the virtual rocker arm, comprising:
The flight control command is mapped as virtual rocker arm control command；
According to the virtual rocker arm control command, using the position of the anchor point as the center of circle, according to flying for the aircraft
Row height and flying radius flight；Or
According to the virtual rocker arm control command, within the scope of the flying height, flight or downwards flight upwards.
It is in some embodiments, described that the flight control command is mapped as virtual rocker arm control command, comprising:
It is that the flight control command is mapped as virtual rocker arm forward or when flight to the right in the flight control command
Right-hand rotation order；
It is that the flight control command is mapped as virtual rocker arm backward or when flight to the left in the flight control command
Left-hand rotation order；
When the flight control command is upward flight, the flight control command is mapped as the upward of virtual rocker arm
Order；
When the flight control command is downward flight, the flight control command is mapped as the downward of virtual rocker arm
Order.
In some embodiments, the flight control command includes the flying speed of the aircraft, then the method is also
Include:
Adjust the flying speed of the aircraft in real time according to the flying speed that the flight control command indicates.
In some embodiments, the method also includes:
The position for detecting anchor point follows the synchronous flight of the anchor point when the position of the anchor point occurs mobile.
It is in some embodiments, described to follow the synchronous flight of the anchor point, comprising:
According to the flight synchronous with movement speed of the moving direction of the anchor point.
Second aspect, the embodiment of the invention provides a kind of flying vehicles control devices, are applied to aircraft, comprising:
Module is obtained, for obtaining virtual rocker arm parameter；
Determining module, for determining the motion track information of virtual rocker arm according to the virtual rocker arm parameter；
Receiving module, for receiving flight control command；
Control module, for the motion track information according to the flight control command and the virtual rocker arm, according to institute
State the motion profile flight of virtual rocker arm.
In some embodiments, the virtual rocker arm parameter includes at least one of following parameter:
Rocker arm is long, boom is long, aircraft is at a distance from anchor point, the position of the position of aircraft and anchor point, wherein
The anchor point refers to that the fulcrum of the virtual rocker arm, the virtual rocker arm are rotated around the anchor point, and the rocker arm length refers to
The brachium of the virtual rocker arm, the long flying height range for referring to the aircraft of the boom.
In some embodiments, the anchor point includes at least one of the following:
Specified space coordinate point and specified target object.
In some embodiments, the acquisition module, is used for:
The virtual rocker arm parameter is obtained according to the setting of user operation.
In some embodiments, the acquisition module, is used for:
The position of position and the anchor point to the aircraft is detected, to obtain the virtual rocker arm parameter.
In some embodiments, the acquisition module, is used for:
The position of position and the anchor point to the aircraft is detected, with obtain the aircraft with it is described fixed
The distance between site.
In some embodiments, the acquisition module, is used for:
The aircraft is directly measured at a distance from anchor point by laser or infrared ray；Or
The coordinate position of the aircraft and the coordinate position of anchor point are obtained respectively by global position system, according to institute
The coordinate position of aircraft and the coordinate position of anchor point are stated, determines the aircraft at a distance from anchor point.
In some embodiments, the motion track information of the virtual rocker arm includes at least one of the following:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
In some embodiments, the control module, is used for:
The flight control command is mapped as virtual rocker arm control command；
According to the virtual rocker arm control command, using the position of the anchor point as the center of circle, according to flying for the aircraft
Row height and flying radius flight；Or
According to the virtual rocker arm control command, within the scope of the flying height, flight or downwards flight upwards.
In some embodiments, the control module, is used for:
It is that the flight control command is mapped as virtual rocker arm forward or when flight to the right in the flight control command
Right-hand rotation order；
It is that the flight control command is mapped as virtual rocker arm backward or when flight to the left in the flight control command
Left-hand rotation order；
When the flight control command is upward flight, the flight control command is mapped as the upward of virtual rocker arm
Order；
When the flight control command is downward flight, the flight control command is mapped as the downward of virtual rocker arm
Order.
In some embodiments, the flight control command includes the flying speed of the aircraft, the control module,
It is also used to:
Adjust the flying speed of the aircraft in real time according to the flying speed that the flight control command indicates.
In some embodiments, the control module, is also used to:
The position for detecting anchor point follows the synchronous flight of the anchor point when the position of the anchor point occurs mobile.
In some embodiments, the control module, is used for:
According to the flight synchronous with movement speed of the moving direction of the anchor point.
Second aspect, the embodiment of the invention provides a kind of aircraft, comprising:
Fuselage；
Horn is connected with the fuselage；
Power device is set to the horn；
At least one processor is set to the fuselage；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out described in any item methods of claim 1-13.
The embodiment of the present invention includes: obtain virtual rocker arm parameter；Virtual rocker arm is determined according to the virtual rocker arm parameter
Motion track information；Receive flight control command；Believed according to the motion profile of the flight control command and the virtual rocker arm
Breath flies according to the motion profile of the virtual rocker arm.The embodiment of the present invention realizes the fortune of virtual rocker arm by aircraft flight
It is dynamic, it can replace true physics rocker arm, physical constraints can be got rid of, realization can be changed virtual brachium, while can be to avoid rocker arm
The storage of physics brachium bring, transport and use space problem.Moreover, because aircraft flies according to the motion profile of virtual rocker arm
Row, can allow traditional filming image personnel in the case where not having aircraft remote operation experience, with hand in most fast speed,
It manipulates aircraft and realizes rocker arm shooting.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to further understand technical solution of the present invention, and constitutes part of specification, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is the schematic diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the configuration diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of flying vehicles control method provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of rocker arm triangle provided in an embodiment of the present invention；
Fig. 5 is the movement locus schematic diagram of virtual rocker arm provided in an embodiment of the present invention；
Fig. 6 is the flow diagram of another flying vehicles control method provided in an embodiment of the present invention；
Fig. 7 is the mobile schematic diagram of anchor point provided in an embodiment of the present invention；
Fig. 8 is a kind of flying vehicles control schematic device provided in an embodiment of the present invention；
Fig. 9 is aircraft hardware structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
The embodiment of the invention provides a kind of flying vehicles control method, apparatus and aircraft.The flying vehicles control method can
Applied to various aircraft, the following description of this invention is made using unmanned plane (Unmanned Aerial Vehicle, UAV)
For the example of aircraft.For it will be apparent to those skilled in art that other types can be used without restriction
Aircraft, the embodiment of the present invention can be applied to various types of UAV.For example, UAV can be small-sized UAV.In certain realities
It applies in example, UAV can be rotor craft (rotorcraft), for example, passing through air-driven more rotations by multiple pushing meanss
Rotor aircraft, the embodiment of the present invention are not limited to this, and UAV is also possible to other types of UAV or movable fixture.
Fig. 1 and Fig. 2 please be please refer to, is the schematic diagram of the unmanned plane 100 of embodiment according to the present invention.
Unmanned plane 100 may include rack 110, dynamical system 120, flight control system 130, holder 140, Image Acquisition
Device 150 etc..Wherein, flight control system 130 is set in rack 110, and holder 140 is installed on rack 110, flight control system
System 130 can be coupled with dynamical system 120, holder 140, image collecting device 150, to realize communication.
Rack 110 may include fuselage and foot prop (also referred to as undercarriage).Fuselage may include centre frame and and center
One or more horns of frame connection, one or more horns radially extend from centre frame.Foot prop is connect with fuselage, is used
It plays a supportive role in when unmanned plane 100 lands.
Dynamical system 120 may include electron speed regulator (referred to as electricity adjust) 121, one or more propellers 123 and
One or more motor 122 corresponding with one or more propellers 123, wherein motor 122 is connected to electron speed regulator 121
Between propeller 123, motor 122 and propeller 123 are arranged on corresponding horn；Electron speed regulator 121 is winged for receiving
The driving signal that row control system 130 generates, and driving current is provided to motor 122, to control motor 122 according to driving signal
Revolving speed.Motor 122 is for driving propeller to rotate, so that the flight for unmanned plane 100 provides power, which makes nobody
Machine 100 can be realized the movement of one or more freedom degrees.In certain embodiments, unmanned plane 100 can surround one or more
A rotary shaft rotation.For example, above-mentioned rotary shaft may include roll axis, translation shaft and pitch axis.It is understood that motor
122 can be direct current generator, can also be with alternating current generator.In addition, motor 122 can be brushless motor, it is also possible to brush motor.
Flight control system 130 may include flight controller 131 and sensor-based system 132.Sensor-based system 132 is for measuring
The posture information of unmanned plane 100, i.e. unmanned plane 100 space location information and status information, for example, three-dimensional position, three-dimensional
Angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system 132 for example may include gyroscope, electronics sieve
Disk, Inertial Measurement Unit (Inertial Measurement Unit, IMU), visual sensor, Global Navigation Satellite System and
At least one of sensors such as barometer.For example, Global Navigation Satellite System can be global positioning system (Global
Positioning System, GPS).Flight controller 131 is used to control the flight of unmanned plane 100, for example, can be according to biography
The flight for the posture information control unmanned plane 100 that sensing system 132 measures.It is understood that flight controller 131 can be according to
The program instruction finished in advance controls unmanned plane 100, can also be by responding the one or more from other equipment
Control instruction controls unmanned plane 100.
Holder 140 may include that electricity adjusts 141 and motor 142.Holder 140 is used for carrying image acquisition device 150.Flight control
Device 131 processed can adjust the movement of 141 and the control holder 140 of motor 142 by electricity.Optionally, in some other embodiments, cloud
Platform 140 can also include controller, for controlling the movement of holder 140 by control electricity tune 141 and motor 142.It can manage
Solution, holder 140 can be independently of unmanned plane 100, or a part of unmanned plane 100.It is understood that motor
142 can be direct current generator, can also be with alternating current generator.In addition, motor 142 can be brushless motor, it can also be with brush motor.Also
It is understood that holder 140 can be located at the top of rack 110, the bottom of rack 110 can also be located at.
Image collecting device 150 can be camera or video camera etc. for acquiring the device of image, image collecting device
150 can communicate with flight control system 130, and be shot under the control of flight control system 130.
It is understood that the above-mentioned name for each component part of unmanned plane 100 is only the purpose for mark, not
It is interpreted as the limitation to the embodiment of the present invention.
Embodiment 1:
Fig. 3 is a kind of flow diagram of flying vehicles control method provided in an embodiment of the present invention.The embodiment of the present invention
Flying vehicles control method can execute with each component part in above-mentioned unmanned plane not to be limited herein.
Referring to Fig. 3, the flying vehicles control method includes:
Step 301, virtual rocker arm parameter is obtained.
Referring to figure 4., virtual rocker arm parameter may include at least one of following parameter: rocker arm is long, boom is long, aircraft
With at a distance from anchor point, the position of the position of aircraft and anchor point.
Wherein, the brachium of a length of virtual rocker arm of rocker arm is length of the boom vertex to anchor point.The a length of virtual rocker arm of boom
Liftable range corresponds to the flying height range of aircraft in the embodiment of the present invention.
Anchor point refers to the fulcrum of virtual rocker arm, that is to say, that virtual rocker arm is rotated around anchor point.
The anchor point can be set to specified space coordinate point or specified target object.
Wherein, space coordinate point can refer to the coordinate points being made of longitude, latitude and height.
Specified target object can be object, can also be with for example, it may be remote controler, user terminal (such as mobile phone)
It is operator, specifically, can be the palm, arm, first-class position of operator.
In step 301, it can be operated according to the setting of user and obtain the virtual rocker arm parameter, for example, user passes through use
All or part of parameter in virtual rocker arm parameter is arranged in application program (App) in the terminal of family, and the parameter of setting is passed to flight
Device.
Through the embodiment of the present invention, can by virtual rocker arm parameter described in the setting operation setting according to user, such as
Rocker arm is long, can get rid of physical constraints, and realization can be changed virtual brachium.
It can also be detected by the position of position and anchor point to aircraft, obtain the virtual rocker arm parameter.
Wherein it is possible to which by Through Several Survey Measure, the position of position and anchor point to aircraft is detected, to obtain
The distance between the aircraft and the anchor point.
For example, the virtual rocker arm parameter include aircraft at a distance from anchor point when, by laser or infrared
Line directly measures the aircraft at a distance from anchor point.
Specifically, light R-T unit can be respectively set in aircraft and anchor point both ends, by emitting laser at one end
Or infrared ray, it is received in the other end, can measure to obtain aircraft at a distance from anchor point.
The coordinate position of the aircraft and the coordinate position of anchor point can also be obtained respectively by global position system,
According to the coordinate position of the coordinate position of the aircraft and anchor point, determine the aircraft at a distance from anchor point.
Global position system can be GPS, be also possible to dipper system.The coordinate position of the aircraft can be by flying
The included sensor-based system of row device obtains.
The coordinate position may include longitude, latitude and height.
Step 302, the motion track information of virtual rocker arm is determined according to the virtual rocker arm parameter.
Wherein, the motion track information of the virtual rocker arm may include:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
Referring back to Fig. 4, rocker arm triangle can be determined according to virtual rocker arm parameter, and then determine the movement of virtual rocker arm
Trace information.
Three vertex of the rocker arm triangle are respectively: anchor point, aircraft and boom top.Joined according to virtual rocker arm
Number can know three side lengths of rocker arm triangle, it is determined that rocker arm triangle, so that it is determined that the motion profile of virtual rocker arm
Information.
Referring to Fig. 5, the range of the motion profile of virtual rocker arm can be a cylindrical surface, and the cylindrical surface is by above-mentioned rocker arm three
Angular formation.
The range of the motion profile of virtual rocker arm can be a part on a cylindrical surface, for example, virtual rocker arm is arranged
Swing range is in ± 90 degree of ranges, then aircraft can only fly within the scope of anchor point 180 degree.
Step 303, flight control command is received.
The flight control command may is that the rod volume order of remote controler, voice command, application program operational order,
Somatosensory operation order etc..
Wherein, the rod volume order of the remote controler refers to the order of the control stick of remote controler, can by pulling control stick,
Issue different rod volume orders, indicate the aircraft up and down, forward, backward, to the left, to the right, turn left, turn right etc..
Institute's speech commands can be the phonetic order of operator's sending, such as upwards, downwards, to the left, to the right etc..
The operational order of the application program can be operator and is configured by application program (App) in user terminal
Operation, such as by sliding or pressing on the touch screen of user terminal, indicate the heading of aircraft.
The somatosensory operation order can be the gesture instruction of operator, for example, operator makes brandishes arm to the left
Movement, instruction aircraft fly to the left, and operator makes the movement for brandishing arm downwards, and instruction aircraft flies downwards.
Step 304, according to the motion track information of the flight control command and the virtual rocker arm, according to described virtual
The motion profile of rocker arm flies.
In an embodiment of the present invention, according to the motion track information of the virtual rocker arm, by the flight control command
It is mapped as virtual rocker arm control command, according to the virtual rocker arm control command, using the position of anchor point as the center of circle, according to described
The flying height and flying radius of aircraft are flown, or according to the virtual rocker arm control command, in the flying height model
In enclosing, flight or downwards flight upwards.
In normal conditions, flight control command can indicate the aircraft itself up and down, forward, backward,
To the left, to the right, turn left, turn right etc., the embodiment of the present invention reconstructs the flight behavior of aircraft, by setting rocker arm it is long
Etc. parameters, the available rocker arm triangle being made of virtual rocker arm, when receiving flight control command, will flight control life
Order is mapped as virtual rocker arm control command, for example, the command channel of unmanned controller is carried out replay according to rocker arm controller
It penetrates, it can be with hand in most fast speed so as not to have traditional filming image personnel of no-manned machine distant control manipulation experience.
When aircraft simulation rocker motion, aircraft flies according to the motion profile of virtual rocker arm, that is to say, that is flying
Row control command indicate aircraft forward, backward, to the left or to the right when, convert corresponding virtual rocker arm for flight control command
Control command, along motion profile, that is, camber line flight of preset virtual rocker arm.
In an embodiment of the present invention, it can be used and controlled as the flight control command is mapped as virtual rocker arm by under type
Order:
It is that the flight control command is mapped as virtual rocker arm forward or when flight to the right in the flight control command
Right-hand rotation order；
It is that the flight control command is mapped as virtual rocker arm backward or when flight to the left in the flight control command
Left-hand rotation order；
When the flight control command is upward flight, the flight control command is mapped as the upward of virtual rocker arm
Order；
When the flight control command is downward flight, the flight control command is mapped as the downward of virtual rocker arm
Order.
In an embodiment of the present invention, the right-hand rotation order of virtual rocker arm is the aircraft according to clockwise direction, with fixed
Site is the center of circle, is flown according to the flying height and flying radius of the aircraft；
The left-hand rotation order of virtual rocker arm is the aircraft according to counter clockwise direction, using anchor point as the center of circle, according to described
The flying height and flying radius of aircraft are flown；
The upward order of virtual rocker arm is the aircraft within the scope of preset flying height, is flown upwards；
Virtual rocker arm to issuing orders for the aircraft within the scope of preset flying height, fly downwards.
In an embodiment of the present invention, the flight control command includes the flying speed of the aircraft, according to described
The flying speed of flight control command instruction adjusts the flying speed of the aircraft in real time.
Wherein, when aircraft receives flight control command, rectilinear flight speed is determined according to flight control command, in institute
State flight control command be flight forward, to the right, backward or to the right when, by the rectilinear flight rate conversion be along camber line fly
Tangential velocity, according to the tangential velocity fly.Wherein, it is the center of circle which, which is anchor point, with the flying height of aircraft
With the camber line of flying radius.When the speed of flight control command instruction is adjusted, aircraft is correspondingly adjusted along arc
The tangential velocity of line flight.
In addition, can correspondingly be adjusted according to flight control command when the flight control command is to turn left or turn right
Heading, but flight path is constant.In this way, the camera photography angulation change of aircraft institute band can be adjusted correspondingly.
In addition to flight control command, aircraft can also receive camera shooting control command, such as change focal length of camera, light
Circle, the operation control commands such as control camera horizon rotation, vertical pitching, correspondingly controls video camera by these control commands
Shooting.
Aircraft flies according to the motion profile of virtual rocker arm, and the motor image of aircraft is limited by the geometry of true rocker arm
Constraint is the same, such as can only be movable on the cylindrical surface outside radii fixus centered on remote controler, though accomplish to shake without actual physical
Arm, but motor behavior, control mode are tantamount to the effect of conventional rocker, can allow traditional filming image personnel do not have it is winged
In the case where row device remote operation experience, with hand in most fast speed, manipulates aircraft and realize rocker arm shooting.
Embodiment 2:
Fig. 6 is the flow diagram of another flying vehicles control method provided in an embodiment of the present invention.The embodiment of the present invention
Another flying vehicles control method can be executed by unmanned plane, the embodiment of the present invention is not limited to this.
Referring to Fig. 6, the flying vehicles control method includes:
Step 601, virtual rocker arm parameter is obtained.
The virtual rocker arm parameter may include at least one of following parameter: rocker arm length, boom length, aircraft and positioning
Distance, the position of aircraft and the position of anchor point of point.
Wherein, the brachium of a length of virtual rocker arm of rocker arm is length of the boom vertex to anchor point.The a length of virtual rocker arm of boom
Liftable range corresponds to the flying height range of aircraft in the embodiment of the present invention.
Anchor point refers to the fulcrum of virtual rocker arm, that is to say, that virtual rocker arm is rotated around anchor point.
The anchor point can be set to specified space coordinate point or specified target object.
Wherein, space coordinate point can refer to the coordinate points being made of longitude, latitude and height.
Specified target object can be object, can also be with for example, it may be remote controler, user terminal (such as mobile phone)
It is operator, specifically, can be the palm, arm, first-class position of operator.
In step 601, it can be operated according to the setting of user and obtain the virtual rocker arm parameter, for example, user passes through use
All or part of parameter in virtual rocker arm parameter is arranged in application program (App) in the terminal of family, and the parameter of setting is passed to flight
Device.
Through the embodiment of the present invention, can by virtual rocker arm parameter described in the setting operation setting according to user, such as
Rocker arm is long, can get rid of physical constraints, and realization can be changed virtual brachium.
It can also be detected by the position of position and anchor point to aircraft, obtain the virtual rocker arm parameter.
Wherein it is possible to which by Through Several Survey Measure, the position of position and anchor point to aircraft is detected, to obtain
The distance between the aircraft and the anchor point.
For example, the virtual rocker arm parameter include aircraft at a distance from anchor point when, by laser or infrared
Line directly measures the aircraft at a distance from anchor point.
Specifically, light R-T unit can be respectively set in aircraft and anchor point both ends, by emitting laser at one end
Or infrared ray, it is received in the other end, can measure to obtain aircraft at a distance from anchor point.
The coordinate position of the aircraft and the coordinate position of anchor point can also be obtained respectively by global position system,
According to the coordinate position of the coordinate position of the aircraft and anchor point, determine the aircraft at a distance from anchor point.
Global position system can be GPS, be also possible to dipper system.The coordinate position of the aircraft and height can be with
It is obtained by the sensor-based system that aircraft carries.
The coordinate position may include longitude, latitude and height.
Step 602, the motion track information of virtual rocker arm is determined according to the virtual rocker arm parameter.
Wherein, the motion track information of the virtual rocker arm may include:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
Rocker arm triangle can be determined according to virtual rocker arm parameter, and then determines the motion track information of virtual rocker arm.
Three vertex of the rocker arm triangle are respectively: anchor point, aircraft and boom top.Joined according to virtual rocker arm
Number can know three side lengths of rocker arm triangle, it is determined that rocker arm triangle, so that it is determined that the motion profile of virtual rocker arm
Information.
The range of the motion profile of virtual rocker arm can be a cylindrical surface, and the cylindrical surface is by above-mentioned rocker arm triangle shape
At.
The range of the motion profile of virtual rocker arm can be a part on a cylindrical surface, for example, virtual rocker arm is arranged
Swing range is in ± 90 degree of ranges, then aircraft can only fly within the scope of anchor point 180 degree.
Step 603, flight control command is received.
The flight control command may is that the rod volume order of remote controler, voice command, application program operational order,
Somatosensory operation order etc..
Wherein, the rod volume order of the remote controler refers to the order of the control stick of remote controler, can by pulling control stick,
Issue different rod volume orders, indicate the aircraft up and down, forward, backward, to the left, to the right, turn left, turn right etc..
Institute's speech commands can be the phonetic order of operator's sending, such as upwards, downwards, to the left, to the right etc..
The operational order of the application program can be operator and is configured by application program (App) in user terminal
Operation, such as by sliding or pressing on the touch screen of user terminal, indicate the heading of aircraft.
The somatosensory operation order can be the gesture instruction of operator, for example, operator makes brandishes arm to the left
Movement, instruction aircraft fly to the left, and operator makes the movement for brandishing arm downwards, and instruction aircraft flies downwards.
Step 604, according to the motion track information of the flight control command and the virtual rocker arm, according to described virtual
The motion profile of rocker arm flies.
In an embodiment of the present invention, according to the motion track information of the virtual rocker arm, by the flight control command
It is mapped as virtual rocker arm control command, according to the virtual rocker arm control command, using the position of anchor point as the center of circle, according to described
The flying height and flying radius of aircraft are flown, or according to the virtual rocker arm control command, in the flying height model
In enclosing, flight or downwards flight upwards.
In normal conditions, flight control command can indicate the aircraft itself up and down, forward, backward,
To the left, to the right, turn left, turn right etc., the embodiment of the present invention reconstructs the flight behavior of aircraft, by setting rocker arm it is long
Etc. parameters, the available rocker arm triangle being made of virtual rocker arm, when receiving flight control command, will flight control life
Order is mapped as virtual rocker arm control command, for example, the command channel of unmanned controller is carried out replay according to rocker arm controller
It penetrates, it can be with hand in most fast speed so as not to have traditional filming image personnel of no-manned machine distant control manipulation experience.
When aircraft simulation rocker motion, aircraft flies according to the motion profile of virtual rocker arm, that is to say, that is flying
Row control command indicate aircraft forward, backward, to the left or to the right when, convert corresponding virtual rocker arm for flight control command
Control command, along motion profile, that is, camber line flight of preset virtual rocker arm.
In an embodiment of the present invention, it can be used and controlled as the flight control command is mapped as virtual rocker arm by under type
Order:
It is that the flight control command is mapped as virtual rocker arm forward or when flight to the right in the flight control command
Right-hand rotation order；
It is that the flight control command is mapped as virtual rocker arm backward or when flight to the left in the flight control command
Left-hand rotation order；
When the flight control command is upward flight, the flight control command is mapped as the upward of virtual rocker arm
Order；
When the flight control command is downward flight, the flight control command is mapped as the downward of virtual rocker arm
Order.
In an embodiment of the present invention, the right-hand rotation order of virtual rocker arm is the aircraft according to clockwise direction, with fixed
Site is the center of circle, is flown according to the flying height and flying radius of the aircraft；
The left-hand rotation order of virtual rocker arm is the aircraft according to counter clockwise direction, using anchor point as the center of circle, according to described
The flying height and flying radius of aircraft are flown；
The upward order of virtual rocker arm is the aircraft within the scope of preset flying height, is flown upwards；
Virtual rocker arm to issuing orders for the aircraft within the scope of preset flying height, fly downwards.
In an embodiment of the present invention, the flight control command includes the flying speed of the aircraft, according to described
The flying speed of flight control command instruction adjusts the flying speed of the aircraft in real time.
Wherein, when aircraft receives flight control command, rectilinear flight speed is determined according to flight control command, in institute
State flight control command be flight forward, to the right, backward or to the right when, by the rectilinear flight rate conversion be along camber line fly
Tangential velocity, according to the tangential velocity fly.Wherein, it is the center of circle which, which is anchor point, with the flying height of aircraft
With the camber line of flying radius.When the speed of flight control command instruction is adjusted, aircraft is correspondingly adjusted along arc
The tangential velocity of line flight.
In addition, can correspondingly be adjusted according to flight control command when the flight control command is to turn left or turn right
Heading, but flight path is constant.In this way, the camera photography angulation change of aircraft institute band can be adjusted correspondingly.
In addition to flight control command, aircraft can also receive camera shooting control command, such as change focal length of camera, light
Circle, the operation control commands such as control camera horizon rotation, vertical pitching, correspondingly controls video camera by these control commands
Shooting.
Aircraft flies according to the motion profile of virtual rocker arm, and the motor image of aircraft is limited by the geometry of true rocker arm
Constraint is the same, for example, can only be movable on the cylindrical surface outside radii fixus centered on remote controler, though accomplish without actual physical
Rocker arm, but motor behavior, control mode are tantamount to the effect of conventional rocker, and traditional filming image personnel can be allowed not have
In the case where aircraft remote operation experience, with hand in most fast speed, manipulates aircraft and realize rocker arm shooting.
Step 605, the position for detecting anchor point follows the anchor point when the position of the anchor point occurs mobile
Synchronous flight.
Wherein it is possible to detect the position of anchor point by way of satellite positioning or image recognition.For example, being in anchor point
It, can be according to satellite positioning module (such as GPS module) real-time detection change in location in remote controler when remote controler；It is in anchor point
It, can be according to the position of the mode real-time detection operator of image recognition when operator.
In an embodiment of the present invention, when the position of the anchor point occurs mobile, according to the movement of the anchor point
Direction flight synchronous with movement speed.
Fig. 7 is please referred to, when the position of anchor point occurs mobile, the moving direction and movement speed and anchor point of aircraft
It is identical, that is to say, that being that effect is equivalent to reference to the planar movement speed as whole system using the movement of anchor point shoots people
Member pushes entire rocker arm camera system and is moved, and is moved compared to the true rocker arm of promotion, in the embodiment of the present invention
Mode is obviously more flexible light and bears without actual physical.
Embodiment 3:
Fig. 8 is a kind of flying vehicles control schematic device provided in an embodiment of the present invention.Wherein, described device is configured in
In above-mentioned aircraft.
Referring to Fig. 8, the flying vehicles control device includes:
Module 801 is obtained, for obtaining virtual rocker arm parameter.
In an embodiment of the present invention, the virtual rocker arm parameter includes at least one of following parameter:
Rocker arm is long, boom is long, aircraft is at a distance from anchor point, the position of the position of aircraft and anchor point.
Wherein, the brachium of a length of virtual rocker arm of rocker arm is length of the boom vertex to anchor point.The a length of virtual rocker arm of boom
Liftable range corresponds to the flying height range of aircraft in the embodiment of the present invention.
Anchor point refers to the fulcrum of virtual rocker arm, that is to say, that virtual rocker arm is rotated around anchor point.
The anchor point can be set to specified space coordinate point or specified target object.
Wherein, space coordinate point can refer to the coordinate points being made of longitude, latitude and height.
Specified target object can be object, can also be with for example, it may be remote controler, user terminal (such as mobile phone)
It is operator, specifically, can be the palm, arm, first-class position of operator.
In an embodiment of the present invention, the acquisition module 801, it is empty for obtaining at least one of in the following way
Quasi- rocker arm parameter:
The virtual rocker arm parameter is obtained according to the setting of user operation；
The position of position and anchor point to aircraft is detected, and the virtual rocker arm parameter is obtained.
For example, all or part of parameter in virtual rocker arm parameter is arranged by application program (App) in user terminal in user,
The parameter of setting is passed into aircraft.
Through the embodiment of the present invention, can by virtual rocker arm parameter described in the setting operation setting according to user, such as
Rocker arm is long, can get rid of physical constraints, and realization can be changed virtual brachium.
In an embodiment of the present invention, the acquisition module 801, is used for:
The position of position and the anchor point to the aircraft is detected, with obtain the aircraft with it is described fixed
The distance between site.
In an embodiment of the present invention, the acquisition module, is used for:
The aircraft is directly measured at a distance from anchor point by laser or infrared ray；Or
The coordinate position of the aircraft and the coordinate position of anchor point are obtained respectively by global position system, according to institute
The coordinate position of aircraft and the coordinate position of anchor point are stated, determines the aircraft at a distance from anchor point.
Determining module 802, for determining the motion track information of virtual rocker arm according to the virtual rocker arm parameter.
In an embodiment of the present invention, the motion track information of the virtual rocker arm includes:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
Rocker arm triangle can be determined according to virtual rocker arm parameter, and then determines the motion track information of virtual rocker arm.
Three vertex of the rocker arm triangle are respectively: anchor point, aircraft and boom top.Joined according to virtual rocker arm
Number can know three side lengths of rocker arm triangle, it is determined that rocker arm triangle, so that it is determined that the motion profile of virtual rocker arm
Information.
The range of the motion profile of virtual rocker arm can be a cylindrical surface, and the cylindrical surface is by above-mentioned rocker arm triangle shape
At.
The range of the motion profile of virtual rocker arm can be a part on a cylindrical surface, for example, virtual rocker arm is arranged
Swing range is in ± 90 degree of ranges, then aircraft can only fly within the scope of anchor point 180 degree.
Receiving module 803, for receiving flight control command.
The flight control command may is that the rod volume order of remote controler, voice command, application program operational order,
Somatosensory operation order etc..
Wherein, the rod volume order of the remote controler refers to the order of the control stick of remote controler, can by pulling control stick,
Issue different rod volume orders, indicate the aircraft up and down, forward, backward, to the left, to the right, turn left, turn right etc..
Institute's speech commands can be the phonetic order of operator's sending, such as upwards, downwards, to the left, to the right etc..
The operational order of the application program can be operator and is configured by application program (App) in user terminal
Operation, such as by sliding or pressing on the touch screen of user terminal, indicate the heading of aircraft.
The somatosensory operation order can be the gesture instruction of operator, for example, operator makes brandishes arm to the left
Movement, instruction aircraft fly to the left, and operator makes the movement for brandishing arm downwards, and instruction aircraft flies downwards.
Control module 804, for the motion track information according to the flight control command and the virtual rocker arm, according to
The motion profile of the virtual rocker arm flies.
In an embodiment of the present invention, the control module 804, is used for:
The flight control command is mapped as virtual rocker arm control command；
According to the virtual rocker arm control command, using the position of the anchor point as the center of circle, according to flying for the aircraft
Row height and flying radius flight；Or
According to the virtual rocker arm control command, within the scope of the flying height, flight or downwards flight upwards.
In normal conditions, flight control command can indicate the aircraft itself up and down, forward, backward,
To the left, to the right, turn left, turn right etc., the embodiment of the present invention reconstructs the flight behavior of aircraft, by setting rocker arm it is long
Etc. parameters, the available rocker arm triangle being made of virtual rocker arm, when receiving flight control command, will flight control life
Order is mapped as virtual rocker arm control command, for example, the command channel of unmanned controller is carried out replay according to rocker arm controller
It penetrates, it can be with hand in most fast speed so as not to have traditional filming image personnel of no-manned machine distant control manipulation experience.
When aircraft simulation rocker motion, aircraft flies according to the motion profile of virtual rocker arm, that is to say, that is flying
Row control command indicate aircraft forward, backward, to the left or to the right when, convert corresponding virtual rocker arm for flight control command
Control command, along motion profile, that is, camber line flight of preset virtual rocker arm.
In an embodiment of the present invention, the control module 804, is used for:
It is that the flight control command is mapped as virtual rocker arm forward or when flight to the right in the flight control command
Right-hand rotation order；
It is that the flight control command is mapped as virtual rocker arm backward or when flight to the left in the flight control command
Left-hand rotation order；
When the flight control command is upward flight, the flight control command is mapped as the upward of virtual rocker arm
Order；
When the flight control command is downward flight, the flight control command is mapped as the downward of virtual rocker arm
Order.
In an embodiment of the present invention, the flight control command includes the flying speed of the aircraft, the control
Module 804, is also used to:
Adjust the flying speed of the aircraft in real time according to the flying speed that the flight control command indicates.
Wherein, when aircraft receives flight control command, rectilinear flight speed is determined according to flight control command, in institute
State flight control command be flight forward, to the right, backward or to the right when, by the rectilinear flight rate conversion be along camber line fly
Tangential velocity, according to the tangential velocity fly.Wherein, it is the center of circle which, which is anchor point, with the flying height of aircraft
With the camber line of flying radius.When the speed of flight control command instruction is adjusted, aircraft is correspondingly adjusted along arc
The tangential velocity of line flight.
In addition, can correspondingly be adjusted according to flight control command when the flight control command is to turn left or turn right
Heading, but flight path is constant.In this way, the camera photography angulation change of aircraft institute band can be adjusted correspondingly.
In addition to flight control command, aircraft can also receive camera shooting control command, such as change focal length of camera, light
Circle, the operation control commands such as control camera horizon rotation, vertical pitching, correspondingly controls video camera by these control commands
Shooting.
Aircraft flies according to the motion profile of virtual rocker arm, and the motor image of aircraft is limited by the geometry of true rocker arm
Constraint is the same, for example, can only be movable on the cylindrical surface outside radii fixus centered on remote controler, though accomplish without actual physical
Rocker arm, but motor behavior, control mode are tantamount to the effect of conventional rocker, and traditional filming image personnel can be allowed not have
In the case where aircraft remote operation experience, with hand in most fast speed, manipulates aircraft and realize rocker arm shooting.
In an embodiment of the present invention, the control module 804, is also used to:
The position for detecting anchor point follows the synchronous flight of the anchor point when the position of the anchor point occurs mobile.
Wherein it is possible to detect the position of anchor point by way of satellite positioning or image recognition.For example, being in anchor point
It, can be according to satellite positioning module (such as GPS module) real-time detection change in location in remote controler when remote controler；It is in anchor point
It, can be according to the position of the mode real-time detection operator of image recognition when operator.
In an embodiment of the present invention, the control module 804, is used for:
According to the flight synchronous with movement speed of the moving direction of the anchor point.
When the position of anchor point occurs mobile, the moving direction and movement speed of aircraft are identical as anchor point, also
To say, using the movement of anchor point be with reference to as whole system planar movement speed, effect be equivalent to shooting personnel push it is whole
A rocker arm camera system is moved, and compared to pushing true rocker arm to be moved, the mode in the embodiment of the present invention is obvious
It is more flexible light and without actual physical bear.
Embodiment 4:
Fig. 9 is aircraft hardware structural schematic diagram provided in an embodiment of the present invention.The aircraft can be unmanned plane etc..
As shown in figure 9, the aircraft includes:
Fuselage 90；
Horn 91 is connected with the fuselage 90；
Power device 911 is set to the horn 91；
One or more processors 901 are set to the fuselage 90；And
With the memory 902 of the processor 901 communication connection.
In Fig. 9 by taking a processor 901 as an example.
Processor 901 can be connected with memory 902 by bus or other modes, to be connected by bus in Fig. 9
For.
Memory 902 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as corresponding journey of filming control method provided in an embodiment of the present invention
Sequence instruction/module is (for example, attached acquisition module 801, determining module 802, receiving module 803 and control module shown in Fig. 8
804).Non-volatile software program, instruction and the module that processor 901 is stored in memory 902 by operation, to hold
The flying vehicles control method that the various function application and data processing of row aircraft, i.e. realization the method embodiment provide.
Memory 902 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；Storage data area, which can be stored, uses created data etc. according to aircraft.
It can also include nonvolatile memory in addition, memory 902 may include high-speed random access memory, for example, at least one
A disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 902 can
Choosing includes the memory remotely located relative to processor 901, these remote memories can pass through network connection to aircraft.
The embodiment of the network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 902, when by one or more of processors
When 901 execution, flying vehicles control method provided in an embodiment of the present invention is executed, for example, executing the method in Fig. 6 described above
The function of 801-804 module of the step 601 into step 605, or realization Fig. 8.
Illustratively, which can also include communication interface, which such as takes to realize and other equipment
Business device etc., is communicated.Other devices that aircraft includes not limit herein.
Flying vehicles control method provided in an embodiment of the present invention can be performed in the aircraft, has the corresponding function of execution method
It can module and beneficial effect.The technical detail of detailed description not in aircraft embodiment, reference can be made to the embodiment of the present invention provides
Flying vehicles control method.
The embodiment of the invention provides a kind of computer program product, the computer program product is non-easy including being stored in
Computer program on the property lost computer readable storage medium, the computer program includes program instruction, when described program refers to
When enabling by aircraft execution, the aircraft is made to execute flying vehicles control method provided in an embodiment of the present invention.For example, holding
The function of 801-804 module of the method and step 601 into step 605, or realization Fig. 8 in row Fig. 6 described above.
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums
Matter is stored with computer executable instructions, and the computer executable instructions are provided for making aircraft execute the embodiment of the present invention
Flying vehicles control method.For example, executing method and step 601 in Fig. 6 described above to step 605, or realize in Fig. 8
The function of 801-804 module.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit that part illustrates may or may not be physically separated, and component shown as a unit can be or can also
Not to be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow
Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage
All or part of the process in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete
At the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as each method
Embodiment process.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only
Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (27)
1. a kind of flying vehicles control method is applied to aircraft, comprising:
Obtain virtual rocker arm parameter；
The motion track information of virtual rocker arm is determined according to the virtual rocker arm parameter；
Receive flight control command；
According to the motion track information of the flight control command and the virtual rocker arm, according to the movement rail of the virtual rocker arm
Mark flight.
2. the method according to claim 1, wherein the virtual rocker arm parameter include in following parameter at least
It is a kind of:
Rocker arm is long, boom is long, aircraft is at a distance from anchor point, the position of the position of aircraft and anchor point, wherein described
Anchor point refers to that the fulcrum of the virtual rocker arm, the virtual rocker arm are rotated around the anchor point, and the rocker arm length refers to described
The brachium of virtual rocker arm, the long flying height range for referring to the aircraft of the boom.
3. according to the method described in claim 2, it is characterized in that, the anchor point includes at least one of the following:
Specified space coordinate point and specified target object.
4. method according to any one of claims 1 to 3, which is characterized in that described to obtain the virtual rocker arm ginseng
Number, comprising:
The virtual rocker arm parameter is obtained according to the setting of user operation.
5. according to the method in claim 2 or 3, which is characterized in that described to obtain the virtual rocker arm parameter, comprising:
The position of position and the anchor point to the aircraft is detected, to obtain the virtual rocker arm parameter.
6. according to the method described in claim 5, it is characterized in that, the position to the aircraft and the anchor point
Position is detected, to obtain the virtual rocker arm parameter, comprising:
The position of the position of aircraft and the anchor point is detected, with obtain the aircraft and the anchor point it
Between distance.
7. according to the method described in claim 6, it is characterized in that, the position to anchor point described in the aircraft carries out
Detection, to obtain the distance between the aircraft and the anchor point, comprising:
The aircraft is directly measured at a distance from anchor point by laser or infrared ray；Or
It obtains the coordinate position of the aircraft and the coordinate position of anchor point respectively by global position system, is flown according to described
The coordinate position of row device and the coordinate position of anchor point determine the aircraft at a distance from anchor point.
8. the method according to claim 1, wherein the motion track information of the virtual rocker arm includes in following
At least one:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
9. according to the method described in claim 8, it is characterized in that, described described shake according to the flight control command and virtually
The motion track information of arm is flown according to the motion profile of the virtual rocker arm, comprising:
The flight control command is mapped as virtual rocker arm control command；
It is high according to the flight of the aircraft using the position of the anchor point as the center of circle according to the virtual rocker arm control command
Degree and flying radius flight；Or
According to the virtual rocker arm control command, within the scope of the flying height, flight or downwards flight upwards.
10. according to the method described in claim 9, it is characterized in that, described be mapped as virtually shaking by the flight control command
Arm control command, comprising:
It is that the flight control command is mapped as to the right side of virtual rocker arm forward or when flight to the right in the flight control command
Turn order；
It is that the flight control command is mapped as to a left side for virtual rocker arm backward or when flight to the left in the flight control command
Turn order；
When the flight control command is upward flight, the flight control command is mapped as to the upward life of virtual rocker arm
It enables；
When the flight control command is downward flight, the flight control command is mapped as to the downward life of virtual rocker arm
It enables.
11. the method according to claim 1, wherein the flight control command includes flying for the aircraft
Scanning frequency degree, then the method also includes:
Adjust the flying speed of the aircraft in real time according to the flying speed that the flight control command indicates.
12. according to the method described in claim 2, it is characterized in that, the method also includes:
The position for detecting anchor point follows the synchronous flight of the anchor point when the position of the anchor point occurs mobile.
13. according to the method for claim 12, which is characterized in that described to follow the synchronous flight of the anchor point, comprising:
According to the flight synchronous with movement speed of the moving direction of the anchor point.
14. a kind of flying vehicles control device is applied to aircraft characterized by comprising
Module is obtained, for obtaining virtual rocker arm parameter；
Determining module, for determining the motion track information of virtual rocker arm according to the virtual rocker arm parameter；
Receiving module, for receiving flight control command；
Control module, for the motion track information according to the flight control command and the virtual rocker arm, according to the void
The motion profile flight of quasi- rocker arm.
15. device according to claim 14, which is characterized in that the virtual rocker arm parameter include in following parameter extremely
Few one kind:
Rocker arm is long, boom is long, aircraft is at a distance from anchor point, the position of the position of aircraft and anchor point, wherein described
Anchor point refers to that the fulcrum of the virtual rocker arm, the virtual rocker arm are rotated around the anchor point, and the rocker arm length refers to described
The brachium of virtual rocker arm, the long flying height range for referring to the aircraft of the boom.
16. device according to claim 15, which is characterized in that the anchor point includes at least one of the following:
Specified space coordinate point and specified target object.
17. device described in any one of 4~16 according to claim 1, which is characterized in that the acquisition module is used for:
The virtual rocker arm parameter is obtained according to the setting of user operation.
18. device according to claim 15 or 16, which is characterized in that the acquisition module is used for:
The position of position and the anchor point to the aircraft is detected, to obtain the virtual rocker arm parameter.
19. device according to claim 18, which is characterized in that the acquisition module is used for:
The position of position and the anchor point to the aircraft is detected, to obtain the aircraft and the anchor point
The distance between.
20. device according to claim 19, which is characterized in that the acquisition module is used for:
The aircraft is directly measured at a distance from anchor point by laser or infrared ray；Or
It obtains the coordinate position of the aircraft and the coordinate position of anchor point respectively by global position system, is flown according to described
The coordinate position of row device and the coordinate position of anchor point determine the aircraft at a distance from anchor point.
21. device according to claim 14, which is characterized in that the motion track information of the virtual rocker arm includes following
At least one of:
The position of the flying radius of aircraft, flying height, flying height range and anchor point.
22. device according to claim 21, which is characterized in that the control module is used for:
The flight control command is mapped as virtual rocker arm control command；
It is high according to the flight of the aircraft using the position of the anchor point as the center of circle according to the virtual rocker arm control command
Degree and flying radius flight；Or
According to the virtual rocker arm control command, within the scope of the flying height, flight or downwards flight upwards.
23. device according to claim 22, which is characterized in that the control module is used for:
It is that the flight control command is mapped as to the right side of virtual rocker arm forward or when flight to the right in the flight control command
Turn order；
It is that the flight control command is mapped as to a left side for virtual rocker arm backward or when flight to the left in the flight control command
Turn order；
When the flight control command is upward flight, the flight control command is mapped as to the upward life of virtual rocker arm
It enables；
When the flight control command is downward flight, the flight control command is mapped as to the downward life of virtual rocker arm
It enables.
24. device according to claim 14, which is characterized in that the flight control command includes flying for the aircraft
Scanning frequency degree, the control module, is also used to:
Adjust the flying speed of the aircraft in real time according to the flying speed that the flight control command indicates.
25. device according to claim 15, which is characterized in that the control module is also used to:
The position for detecting anchor point follows the synchronous flight of the anchor point when the position of the anchor point occurs mobile.
26. device according to claim 25, which is characterized in that the control module is used for:
According to the flight synchronous with movement speed of the moving direction of the anchor point.
27. a kind of aircraft characterized by comprising
Fuselage；
Horn is connected with the fuselage；
Power device is set to the horn；
At least one processor is set to the fuselage；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out described in any item methods of claim 1-13.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910491800.0A CN110162075B (en) | 2019-06-06 | 2019-06-06 | Aircraft control method and device and aircraft |
| PCT/CN2020/094763 WO2020244648A1 (en) | 2019-06-06 | 2020-06-05 | Aerial vehicle control method and apparatus, and aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910491800.0A CN110162075B (en) | 2019-06-06 | 2019-06-06 | Aircraft control method and device and aircraft |
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| CN110162075A true CN110162075A (en) | 2019-08-23 |
| CN110162075B CN110162075B (en) | 2021-11-09 |
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| WO (1) | WO2020244648A1 (en) |
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| WO2020244648A1 (en) | 2020-12-10 |
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