CN110168462B - Aircraft control method and device - Google Patents
Aircraft control method and device Download PDFInfo
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- CN110168462B CN110168462B CN201680090596.6A CN201680090596A CN110168462B CN 110168462 B CN110168462 B CN 110168462B CN 201680090596 A CN201680090596 A CN 201680090596A CN 110168462 B CN110168462 B CN 110168462B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
Abstract
The invention relates to a control method and a device of an aircraft in the technical field of aircraft, wherein the control method comprises the following steps: acquiring a placement angle of the flight control device (S13); acquiring the distance between the aircraft and a set virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed (S15); the flying position of the aircraft is determined based on the placement angle of the flight control device, the virtual coordinate origin, and the distance of the aircraft from the virtual coordinate origin (S17). Therefore, the flight control equipment is conveniently controlled to flexibly control the aircraft.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of aircrafts, in particular to a control method and a control device of an aircraft.
[ background of the invention ]
At present, the application of the aircraft in the fields of aerial photography, agriculture, plant protection, self-photographing, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news report, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like greatly expands the application of the aircraft.
In the prior art, in the aspect of flight control of an aircraft, generally, a user operates a remote controller provided with a rocker with both hands, the aircraft is controlled by swinging the rocker and triggering a key, the remote controller is not easy to operate, and the aircraft cannot be flexibly controlled.
[ summary of the invention ]
The technical problem mainly solved by the embodiment of the invention is to provide a control method and a control device of an aircraft, which are convenient for controlling flight control equipment to flexibly control the aircraft.
In a first aspect, an embodiment of the present invention provides a method for controlling an aircraft, including:
obtaining a placement angle of the flight control equipment;
acquiring the distance between an aircraft and a set virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed;
and determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
In a second aspect, an embodiment of the present invention provides a control device for an aircraft, including:
the placing angle acquisition module is used for acquiring a placing angle of the flight control equipment;
the distance acquisition module is used for acquiring the distance between the aircraft and a set virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed;
and the flight position determining module is used for determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In a fourth aspect, the embodiments of the present invention also provide a non-transitory computer-readable storage medium, which stores computer-executable instructions that, when executed by an electronic device, cause the electronic device to perform the method described above.
In a fifth aspect, embodiments of the present invention also provide a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by an electronic device, cause the electronic device to perform the method as described above.
According to the control method of the aircraft provided by the embodiment of the invention, the distance between the aircraft and the set virtual coordinate origin is obtained by obtaining the placement angle of the flight control equipment, and the flight position of the aircraft is determined according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed. By implementing the embodiment of the invention, the flight control equipment can be conveniently controlled to flexibly control the aircraft.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flow chart of a method of controlling an aircraft provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a spherical coordinate system with a virtual origin of coordinates as the origin of coordinates;
FIG. 3 is a flow chart of a method of controlling an aircraft according to yet another embodiment of the present invention;
FIG. 4 is a flow chart of a method of controlling an aircraft according to yet another embodiment of the present invention;
FIG. 5 is a flow chart of a method for controlling an aircraft according to yet another embodiment of the present invention;
FIG. 6 is a functional block diagram of a control device for an aircraft provided by an embodiment of the present invention;
FIG. 7 is a functional block diagram of a control device for an aircraft according to yet another embodiment of the present invention;
FIG. 8 is a functional block diagram of a control device for an aircraft according to yet another embodiment of the present invention;
FIG. 9 is a functional block diagram of a control device for an aircraft according to yet another embodiment of the present invention;
FIG. 10 is a functional block diagram of a control device for an aircraft according to yet another embodiment of the present invention;
FIG. 11 is a functional block diagram of a control device for an aircraft according to an embodiment of the present invention;
FIG. 12 is a functional block diagram of a control device for an aircraft according to yet another embodiment of the present invention;
fig. 13 is a hardware structural diagram of an electronic device for executing a control method of an aircraft according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a control method for an aircraft, which may be performed by a flight control device, which may include, but is not limited to, a remote controller, a mobile phone, a tablet computer, and the like. The method comprises the following steps:
and step S13, obtaining the placing angle of the flight control equipment.
In an embodiment of the present invention, the flight control device may be configured with at least one of a magnetometer, an inertial measurement unit, an accelerometer, a GPS (Global Positioning System), a barometer, a gyroscope, a laser range finder, and the like. The placement angle of the flight control device may be acquired by at least one of a gyroscope, a magnetometer, and an inertial measurement unit. In practical application, the placing angle of the flight control equipment can be determined by operating the placing posture of the flight control equipment relative to the ground.
And step S15, acquiring the distance between the aircraft and a set virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed.
In the embodiment of the invention, the position of the virtual coordinate origin is fixed, namely the position of the virtual coordinate origin is not changed along with the change of the position of the flight control equipment, and once the position is determined, the coordinate of the virtual coordinate origin is always kept unchanged. The virtual origin of coordinates may be a fixed point on the ground or a point on a fixed reference. Before executing step S15, the flight control device may set a virtual origin of coordinates, wherein the virtual origin of coordinates may be set in a manner including, but not limited to, the following manners:
in the first mode, a user carries the flight control equipment, a touch screen or a key or a rocker of the flight control equipment is triggered for the first time in the process of one flight, the GPS coordinate value of the position where the flight control equipment is located when the flight control equipment is triggered is recorded, and the recorded GPS coordinate value is set as a virtual coordinate origin. Thus, the position of the virtual origin of coordinates is fixed and the user can leave the location with the flight control device.
In the second mode, a user controls a laser range finder on the flight control device to generate a laser beam, the direction pointed by the current laser beam is obtained through calculation of a magnetometer on the flight control device, the distance between the irradiation point of the laser beam and the flight control device is obtained through calculation of the laser range finder, and then the GPS coordinate value of the irradiation point of the laser beam is obtained through calculation according to the GPS coordinate value of the position where the flight control device is located, so that the GPS coordinate value of the irradiation point of the laser beam is set as a virtual coordinate origin. In this way, the position of the virtual origin of coordinates is fixed, and the virtual origin of coordinates will remain unchanged when the flight control apparatus moves.
In the third mode, when a user controls the aircraft to fly by using the flight control equipment, the GPS coordinate value of the position of the aircraft during takeoff is recorded, and the recorded GPS coordinate value is set as the virtual coordinate origin. Once the position of the virtual origin of coordinates is fixed, it will not change with changes in the position of the flight control device, nor with changes in the position of the aircraft.
And step S17, determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
As shown in fig. 2, the virtual origin of coordinates is used as the origin of coordinates O in the spherical coordinate system, and it is assumed that at a certain moment, the flight position of the aircraft is located at P (r, θ, Φ), and the position of P (r, θ, Φ) is determined by three parameters of r, θ, and Φ. Wherein r is the distance between the point P and the origin of coordinates O, namely the distance between the aircraft and the virtual origin of coordinates; theta is the azimuth angle of point P and phi is the elevation angle of point P. Theta and phi may be determined based on the angle of placement of the flight control device, for example, phi may be calculated from a magnetometer on the flight control device and theta may be calculated from an inertial measurement unit on the flight control device. In the determination manner of r, the distance between the aircraft and the virtual coordinate origin may be determined according to the touch sliding distance on the touch screen of the flight control device, for example, the distance between the aircraft and the virtual coordinate origin is in a relationship of a preset magnification with respect to the touch sliding distance on the touch screen; when the flight control device is provided with the rocker, the distance between the aircraft and the virtual coordinate origin can be determined according to the swing amplitude of the rocker on the flight control device, for example, the rocker can be a solid rocker or a virtual rocker on a touch screen of the flight control device.
In one implementation of controlling the flight speed of the aircraft, the method includes, but is not limited to, one or a combination of the following ways:
in the first mode, the flight speed of the aircraft is controlled according to the touch sliding speed on the touch screen of the flight control device. For example, a mapping relationship between the touch sliding speed and the flying speed is established, so that the faster the touch sliding speed on the touch screen is, the faster the flying speed of the control aircraft is.
In the second mode, the flying speed of the aircraft is controlled according to the touch sliding direction on the touch screen. For example, sliding up on the touch screen controls the aircraft to accelerate, and sliding down on the touch screen controls the aircraft to decelerate.
And in the third mode, the flying speed of the aircraft is controlled according to the touch sliding distance on the touch screen. For example, the touch sliding distance is in a preset proportional relation with respect to the flying speed, and the flying speed of the aircraft is controlled according to the touch sliding distance, and for another example, the larger the touch sliding distance is, the faster the flying speed of the aircraft is.
And in the fourth mode, the flight speed of the aircraft is controlled according to the swing speed of a rocker on the flight control equipment. For example, the slower the rocker is swung, the lower the flight speed, and the faster the rocker is swung, the higher the flight speed.
And in a fifth mode, the flying speed of the aircraft is controlled according to the swinging direction of the rocker. For example, the control rocker swings upwards to control the aircraft to accelerate, and the control rocker swings downwards to control the aircraft to decelerate.
And in a sixth mode, the flying speed of the aircraft is controlled according to the swing amplitude of the rocker. For example, the greater the amplitude of the rocker swing, the greater the flight speed of the aircraft.
And in the seventh mode, the change speed of the placement angle of the flight control equipment is obtained, and the flight speed of the aircraft is controlled according to the change speed of the placement angle of the flight control equipment. For example, the faster the maneuvering flight control device changes from one pose to another pose with respect to the ground, the faster the flight speed of the aircraft.
In the implementation of controlling the orientation of the cradle head on the aircraft, the following methods are included but not limited to:
in the first mode, the orientation of the cradle head on the aircraft is determined according to the touch sliding direction on the touch screen of the flight control device. For example, the touch sliding directions of the upper part, the lower part, the left part and the right part on the touch screen correspond to the control holder in sequence to drive the camera to rotate upwards, downwards, leftwards and rightwards, so that the shooting angle of the camera is adjusted.
In the second mode, the orientation of the cradle head on the aircraft is determined according to the swinging direction of the rocker on the flight control equipment. For example, the control rocker swings up and down, left and right, and the control holder correspondingly drives the camera to rotate up and down, left and right in sequence, so that the shooting angle of the camera is adjusted.
According to the control method of the aircraft provided by the embodiment of the invention, the distance between the aircraft and the set virtual coordinate origin is obtained by obtaining the placement angle of the flight control equipment, and the flight position of the aircraft is determined according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed. The method is applied to the flight control equipment, and the flight control equipment is conveniently controlled to flexibly control the aircraft.
As shown in fig. 3, a further embodiment of the present invention provides a control method for an aircraft, which may be performed by flight control devices, which may include, but are not limited to, remote controllers, cell phones, tablet computers, and the like. The method comprises the following steps:
and step S33, obtaining the placing angle of the flight control equipment.
And step S35, acquiring the distance between the aircraft and a set virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed.
And step S37, determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
In the embodiment of the present invention, please refer to the explanation of step S13, step S15, and step S17 for the explanation of step S33, step S35, and step S37, which is not repeated herein.
Step S38, the flight control device sends an instruction to the aircraft to fly to the flight position.
In the embodiment of the invention, after determining the flight position of the aircraft, the flight control device sends an instruction for flying to the flight position to the aircraft, and then the aircraft flies to the flight position according to the instruction.
In an optional embodiment, step S38 may be followed by: the flight control device sends an instruction to the aircraft to hover at the flight location.
According to the control method of the aircraft provided by the embodiment of the invention, the distance between the aircraft and the set virtual coordinate origin is obtained by obtaining the placing angle of the flight control equipment, the flight position of the aircraft is determined according to the placing angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, and the flight control equipment sends an instruction of flying to the flight position to the aircraft, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed.
As shown in fig. 4, yet another embodiment of the present invention provides a method of controlling an aircraft, which may be performed by the aircraft. The method comprises the following steps:
and step S41, the aircraft receives the value of the placement angle of the flight control equipment sent by the flight control equipment.
And step S42, the aircraft receives a value of the distance between the aircraft and a set virtual coordinate origin, wherein the value is sent by the flight control equipment, the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed.
And step S43, determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
According to the control method of the aircraft provided by the embodiment of the invention, the value of the placement angle of the flight control equipment sent by the flight control equipment is received, the value of the distance between the aircraft and the set virtual coordinate origin sent by the flight control equipment is received, and the flight position of the aircraft is determined according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed. The method is applied to the aircraft, and the flight control equipment is conveniently controlled to flexibly control the aircraft.
As shown in fig. 5, yet another embodiment of the present invention provides a method of controlling an aircraft, which may be performed by the aircraft. The method comprises the following steps:
and step S51, the aircraft receives the value of the placement angle of the flight control equipment sent by the flight control equipment.
And step S52, the aircraft receives the value of the distance between the aircraft and a set virtual coordinate origin, wherein the value is sent by the flight control equipment, the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed.
And step S53, determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
And step S54, receiving the speed control parameters sent by the flight control equipment, wherein the speed control parameters are used for controlling the flight speed of the aircraft.
The speed control parameters may include, but are not limited to, at least one of the following: the method comprises the steps of obtaining the touch control sliding distance, the touch control sliding speed and the touch control sliding direction on a touch screen of the flight control equipment, obtaining the swing amplitude, the swing speed and the swing direction of a rocker on the flight control equipment, and obtaining the change speed of the placement angle of the flight control equipment.
And step S55, adjusting the flying speed according to the speed control parameter.
And S56, receiving cradle head control parameters sent by the flight control equipment, wherein the cradle head control parameters are used for controlling the orientation of a cradle head on the aircraft.
The pan-tilt control parameter may include, but is not limited to, a touch sliding direction on a touch screen of the flight control device or a swing direction of a joystick on the flight control device.
And S57, adjusting the orientation of the cradle head on the aircraft according to the cradle head control parameters.
In the embodiment of the present invention, for the explanation of step S51, step S52, step S53, step S54, step S55, step S56, and step S57, please refer to the explanation of step S13, step S15, and step S17, which is not repeated herein.
It is understood that steps S54-S55 may be executed before steps S56-S57, after steps S56-S57, or alternatively, may be executed in a manner intersecting or synchronizing with steps S56-S57, and the embodiment of the present invention is not limited thereto.
As shown in fig. 6, an embodiment of the present invention provides a control device 60 of an aircraft, where the device 60 may be a flight control apparatus, and the flight control apparatus includes: a placement angle acquisition module 61, a distance acquisition module 62, and a flight position determination module 63.
The placement angle acquisition module 61 is used for acquiring a placement angle of the flight control device.
In embodiments of the present invention, the flight control device may be configured with at least one of a magnetometer, an inertial measurement unit, an accelerometer, a GPS, a barometer, a gyroscope, a laser rangefinder, or the like. The placement angle acquisition module 61 may be specifically configured to acquire a placement angle of the flight control device through at least one of a gyroscope, a magnetometer, and an inertial measurement unit. In practical application, the placing angle of the flight control equipment can be determined by operating the placing posture of the flight control equipment relative to the ground.
The distance obtaining module 62 is configured to obtain a distance between the aircraft and a set virtual origin of coordinates, where the virtual origin of coordinates is a reference datum point when the aircraft flies, and a position of the virtual origin of coordinates is fixed.
In the embodiment of the invention, the position of the virtual coordinate origin is fixed, namely the position of the virtual coordinate origin does not change along with the change of the position of the flight control equipment, and once the position is determined, the coordinate of the virtual coordinate origin is always kept unchanged. The virtual origin of coordinates may be a fixed point on the ground or a point on a fixed reference. The virtual coordinate origin may be set by the following methods:
in the first mode, a user carries the flight control equipment, a touch screen or a key or a rocker of the flight control equipment is triggered for the first time in the process of one flight, the GPS coordinate value of the position where the flight control equipment is located when the flight control equipment is triggered is recorded, and the recorded GPS coordinate value is set as a virtual coordinate origin. Thus, the position of the virtual origin of coordinates is fixed and the user can leave the location with the flight control device.
In the second mode, a user controls a laser range finder on the flight control device to generate a laser beam, the direction pointed by the current laser beam is calculated and obtained through a magnetometer on the flight control device, the distance between the irradiation point of the laser beam and the flight control device is calculated and obtained through the laser range finder, and then the GPS coordinate value of the irradiation point of the laser beam is calculated and obtained according to the GPS coordinate value of the position where the flight control device is located, so that the GPS coordinate value of the irradiation point of the laser beam is set as the virtual coordinate origin. In this way, the position of the virtual origin of coordinates is fixed, and the virtual origin of coordinates will remain unchanged when the flight control apparatus moves.
And in a third mode, when the user controls the aircraft to fly by using the flight control equipment, the GPS coordinate value of the position of the aircraft during takeoff is recorded, and the recorded GPS coordinate value is set as the virtual coordinate origin. Once the position of the virtual origin of coordinates is fixed, it will not change with changes in the position of the flight control device, nor with changes in the position of the aircraft.
The flight position determining module 63 is configured to determine the flight position of the aircraft according to the placement angle of the flight control device, the virtual coordinate origin, and the distance between the aircraft and the virtual coordinate origin.
As shown in fig. 2, the virtual origin of coordinates is taken as the origin of coordinates O in the spherical coordinate system, and assuming that at a certain moment, the flight position of the aircraft is located at P (r, θ, Φ), the position of P (r, θ, Φ) is determined by three parameters of r, θ, Φ, where r is the distance from the origin of coordinates O to P point, θ is the azimuth angle of P point, and Φ is the elevation angle of P point. Theta and phi may be determined based on the angle of placement of the flight control device, for example, phi may be calculated from a magnetometer on the flight control device and theta may be calculated from an inertial measurement unit on the flight control device. In the determination manner of r, the distance between the aircraft and the virtual coordinate origin may be determined according to the touch sliding distance on the touch screen of the flight control device, for example, the distance between the aircraft and the virtual coordinate origin is in a relationship of a preset magnification with respect to the touch sliding distance on the touch screen; the distance between the aircraft and the virtual coordinate origin can also be determined according to the swing amplitude of a rocker on the flight control device, for example, the rocker can be a solid rocker or a virtual rocker.
In one implementation of controlling the airspeed of the aircraft, several approaches are included, including but not limited to:
in the first mode, the flight speed of the aircraft is controlled according to the touch sliding speed on the touch screen.
In the second mode, the flying speed of the aircraft is controlled according to the touch sliding direction on the touch screen.
And in the third mode, the flying speed of the aircraft is controlled according to the touch sliding distance on the touch screen.
And in a fourth mode, the flying speed of the aircraft is controlled according to the swinging speed of the rocker.
In the fifth mode, the flying speed of the aircraft is controlled according to the swinging direction of the rocker.
And in a sixth mode, the flying speed of the aircraft is controlled according to the swing amplitude of the rocker.
And in the seventh mode, the change speed of the placement angle of the flight control equipment is obtained, and the flight speed of the aircraft is controlled according to the change speed of the placement angle of the flight control equipment.
In the implementation of controlling the orientation of the cradle head on the aircraft, the following methods are included but not limited to:
in the first mode, the orientation of the cradle head on the aircraft is determined according to the touch sliding direction on the touch screen.
In the second mode, the orientation of the cradle head on the aircraft is determined according to the swinging direction of the rocker.
According to the control device of the aircraft provided by the embodiment of the invention, the placing angle of the flight control equipment is obtained through the placing angle obtaining module, the distance obtaining module obtains the distance between the aircraft and the set virtual coordinate origin, and the flight position determining module determines the flight position of the aircraft according to the placing angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, and the position of the virtual coordinate origin is fixed. By implementing the embodiment of the invention, the flight control equipment can be conveniently controlled to flexibly control the aircraft.
As shown in fig. 7, another embodiment of the present invention provides a control device 70 of an aircraft, where the device 70 may be a flight control apparatus, and the flight control apparatus includes: a placement angle acquisition module 71, a distance acquisition module 72, a flight position determination module 73, and a command transmission module 74.
The placement angle acquisition module 71 is configured to acquire a placement angle of the flight control device through at least one of a gyroscope, a magnetometer, and an inertial measurement unit of the flight control device.
The distance obtaining module 72 is configured to determine a distance between the aircraft and the virtual coordinate origin according to a touch sliding distance on a touch screen of the flight control device, or the distance obtaining module 72 is configured to determine a distance between the aircraft and the virtual coordinate origin according to a swing amplitude of a rocker on the flight control device.
The flight position determining module 73 is configured to determine a flight position of the aircraft according to the placement angle of the flight control device, the virtual coordinate origin, and the distance between the aircraft and the virtual coordinate origin.
In the embodiment of the present invention, for the explanation of the placement angle obtaining module 71, the distance obtaining module 72, and the flight position determining module 73, reference may be made to the explanation of the placement angle obtaining module 61, the distance obtaining module 62, and the flight position determining module 63, which are not described herein again.
The command transmission module 74 is configured to transmit a command to the aircraft to fly to the flight location.
In the embodiment of the invention, after determining the flight position of the aircraft, the flight control device sends an instruction for flying to the flight position to the aircraft, and then the aircraft flies to the flight position according to the instruction.
A further embodiment of the present invention provides a control device for an aircraft, which may be a flight control device, and the flight control device may include at least one of a first control module, a second control module, and a third control module (not shown in the figure) in addition to all the modules included in the device 70. The first control module is used for controlling the flight speed of the aircraft according to the touch sliding speed on the touch screen of the flight control equipment; the second control module is used for controlling the flying speed of the aircraft according to the touch sliding direction on the touch screen; and the third control module is used for controlling the flying speed of the aircraft according to the touch sliding distance on the touch screen.
A further embodiment of the present invention provides a control device for an aircraft, which may be a flight control device, and the flight control device may include at least one of a fourth control module, a fifth control module, and a sixth control module (not shown in the figure) in addition to all the modules included in the device 70. The fourth control module is used for controlling the flight speed of the aircraft according to the swing speed of a rocker on the flight control equipment; the fifth control module is used for controlling the flight speed of the aircraft according to the swinging direction of the rocker; and the sixth control module is used for controlling the flight speed of the aircraft according to the swing amplitude of the rocker.
As shown in fig. 8, a further embodiment of the present invention provides a control device 80 for an aircraft, where the device 80 may be a flight control device, and the flight control device may further include a variable speed acquisition module 81 and a seventh control module 82 in addition to all modules included in the device 70. Wherein:
the change speed acquisition module 81 is used for acquiring the change speed of the placement angle of the flight control device.
The seventh control module 82 is configured to control the flight speed of the aircraft according to the speed of change of the placement angle of the flight control device.
As shown in fig. 9, a further embodiment of the present invention provides a control device 90 for an aircraft, where the device 90 may be a flight control device, and the flight control device may further include a first pan-tilt orientation determining module 91 in addition to all modules included in the device 70.
The first cradle head orientation determining module 91 is configured to determine an orientation of a cradle head on an aircraft according to a touch sliding direction on the touch screen.
As shown in fig. 10, a further embodiment of the present invention provides a control apparatus 100 for an aircraft, where the apparatus 100 may be a flight control device, and the flight control device may further include a second pan-tilt orientation determining module 110 in addition to all modules included in the apparatus 70.
The second pan/tilt orientation determining module 110 is configured to determine an orientation of a pan/tilt on the aircraft according to the swing direction of the rocker.
As shown in fig. 11, an embodiment of the present invention provides a control device 200 for an aircraft, where the device 200 may be an aircraft, and the aircraft includes: a placement angle acquisition module 210, a distance acquisition module 220, and a flight position determination module 230.
The placement angle obtaining module 210 is configured to receive a value of a placement angle of the flight control device sent by the flight control device.
The distance obtaining module 220 is configured to receive a value of a distance between the aircraft and the set virtual coordinate origin, where the value is sent by the flight control device.
The flight position determining module 230 is configured to determine a flight position of the aircraft according to the placement angle of the flight control device, the virtual coordinate origin, and the distance between the aircraft and the virtual coordinate origin.
In the embodiment of the present invention, please refer to the explanation of the placing angle obtaining module 61, the distance obtaining module 62, and the flying position determining module 63 for the explanation of the placing angle obtaining module 210, the distance obtaining module 220, and the flying position determining module 230, which is not described herein again.
According to the control device of the aircraft provided by the embodiment of the invention, the placement angle acquisition module is used for receiving the value of the placement angle of the flight control equipment sent by the flight control equipment, the distance acquisition module is used for receiving the value of the distance between the aircraft and the set virtual coordinate origin sent by the flight control equipment, and the flight position determination module is used for determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin, wherein the virtual coordinate origin is a reference point when the aircraft flies, and the position of the virtual coordinate origin is fixed. By implementing the embodiment of the invention, the flight control equipment can be conveniently controlled to flexibly control the aircraft.
As shown in fig. 12, a further embodiment of the present invention provides a control device 300 for an aircraft, where the device 300 may be an aircraft, and the aircraft may further include a speed control parameter receiving module 310, a flight speed adjusting module 320, a pan-tilt control parameter receiving module 330, and a pan-tilt orientation adjusting module 340, in addition to all modules included in the device 200.
The speed control parameter receiving module 310 is configured to receive a speed control parameter sent by a flight control device, where the speed control parameter is used to control the flight speed of an aircraft, and the speed control parameter includes at least one of: the method comprises the steps of determining the touch sliding distance, the touch sliding speed and the touch sliding direction on a touch screen of the flight control equipment, determining the swing amplitude, the swing speed and the swing direction of a rocker on the flight control equipment, and determining the change speed of the placement angle of the flight control equipment.
The flight speed adjustment module 320 is configured to adjust the flight speed according to the speed control parameter.
The cradle head control parameter receiving module 330 is configured to receive cradle head control parameters sent by the flight control device, where the cradle head control parameters are used to control the orientation of a cradle head on the aircraft, and the cradle head control parameters include a touch sliding direction on a touch screen of the flight control device or a swinging direction of a rocker on the flight control device.
The cradle head orientation adjustment module 340 is configured to adjust an orientation of a cradle head on the aircraft according to the cradle head control parameter.
Fig. 13 is a schematic hardware configuration diagram of an electronic device 400 for executing a control method of an aircraft according to an embodiment of the present invention. The electronic device 400 may be a flight control device or an aircraft, among others. As shown in fig. 13, the electronic device 400 includes:
one or more processors 410 and a memory 420, with one processor 410 being an example in fig. 13.
The processor 410 and the memory 420 may be connected by a bus or other means, such as by a bus in fig. 13.
The memory 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device 400, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 420 may optionally include memory located remotely from processor 410, which may be connected to electronic device 400 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 420 and, when executed by the one or more processors 410, perform a method of controlling an aircraft in any of the method embodiments described above.
The electronic device can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to a control method for an aircraft provided by an embodiment of the present invention.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, such as a processor 410 in fig. 13, so that the one or more processors can perform the method for controlling an aircraft in any of the method embodiments described above.
The above-described device embodiments are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (20)
1. A method of controlling an aircraft, the method being performed by a flight control device, the method comprising:
obtaining a placement angle of the flight control equipment;
determining the distance between the aircraft and a set virtual coordinate origin according to the touch sliding distance on a touch screen of the flight control equipment or the swing amplitude of a rocker of the flight control equipment, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, the position of the virtual coordinate origin is fixed, and the virtual coordinate origin is a fixed point on the ground or a point on a fixed reference object;
determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin;
the flight control device sends instructions to the aircraft to fly to the flight location.
2. The method of claim 1, wherein the obtaining a placement angle of a flight control device comprises:
and acquiring the placement angle of the flight control device through at least one of a gyroscope, a magnetometer and an inertial measurement unit of the flight control device.
3. The method of claim 1, wherein the method further comprises at least one of:
controlling the flying speed of the aircraft according to the touch sliding speed on the touch screen;
controlling the flying speed of the aircraft according to the touch sliding direction on the touch screen;
and controlling the flying speed of the aircraft according to the touch sliding distance on the touch screen.
4. The method of claim 1, wherein the method further comprises at least one of:
controlling the flight speed of the aircraft according to the swing speed of the rocker;
controlling the flying speed of the aircraft according to the swinging direction of the rocker;
and controlling the flying speed of the aircraft according to the swing amplitude of the rocker.
5. The method of claim 1 or 2, wherein the method further comprises:
acquiring the change speed of the placement angle of the flight control equipment;
and controlling the flying speed of the aircraft according to the change speed of the placement angle of the flight control equipment.
6. The method of claim 3, further comprising:
and determining the orientation of the cradle head on the aircraft according to the touch sliding direction on the touch screen.
7. The method of claim 4, wherein the method further comprises:
and determining the orientation of the cradle head on the aircraft according to the swinging direction of the rocker.
8. A method of controlling an aircraft, the method being performed by the aircraft, the method comprising:
the aircraft receives a value of the placement angle of the flight control equipment sent by the flight control equipment;
the aircraft receives a value of a distance between the aircraft and a set virtual coordinate origin, wherein the value of the distance between the aircraft and the set virtual coordinate origin is determined according to a touch sliding distance on a touch screen of the flight control equipment or a swing amplitude of a rocker of the flight control equipment, the virtual coordinate origin is a reference datum point when the aircraft flies, the position of the virtual coordinate origin is fixed, and the virtual coordinate origin is a fixed point on the ground or a point on a fixed reference object;
and determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
9. The method of claim 8, wherein the method further comprises:
receiving a speed control parameter sent by the flight control device, wherein the speed control parameter is used for controlling the flight speed of the aircraft, and the speed control parameter comprises at least one of the following: the flight control device comprises a touch sliding distance, a touch sliding speed and a touch sliding direction on a touch screen of the flight control device, a swing amplitude, a swing speed and a swing direction of a rocker on the flight control device, and a change speed of a placement angle of the flight control device;
and adjusting the flying speed according to the speed control parameter.
10. The method of claim 8 or 9, wherein the method further comprises:
receiving cradle head control parameters sent by the flight control equipment, wherein the cradle head control parameters are used for controlling the orientation of a cradle head on the aircraft, and the cradle head control parameters comprise a touch sliding direction on a touch screen of the flight control equipment or a swinging direction of a rocker on the flight control equipment;
and adjusting the orientation of the cradle head on the aircraft according to the cradle head control parameters.
11. A control device for an aircraft, characterized in that it is a flight control apparatus, comprising:
the placing angle acquisition module is used for acquiring a placing angle of the flight control equipment;
the distance determining module is used for determining the distance between the aircraft and a set virtual coordinate origin according to the touch sliding distance on the touch screen of the flight control equipment or the swing amplitude of a rocker of the flight control equipment, wherein the virtual coordinate origin is a reference datum point when the aircraft flies, the position of the virtual coordinate origin is fixed, and the virtual coordinate origin is a fixed point on the ground or a point on a fixed reference object;
the flight position determining module is used for determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin;
and the instruction sending module is used for sending an instruction of flying to the flight position to the aircraft.
12. The control device of an aircraft according to claim 11, characterized in that said placement angle acquisition module is particularly adapted to acquire the placement angle of said flight control device by means of at least one of a gyroscope, a magnetometer and an inertial measurement unit of said flight control device.
13. The control device of an aircraft according to claim 11, characterized in that said flight control apparatus further comprises at least one of the following modules:
the first control module is used for controlling the flight speed of the aircraft according to the touch sliding speed on the touch screen;
the second control module is used for controlling the flying speed of the aircraft according to the touch sliding direction on the touch screen;
and the third control module is used for controlling the flying speed of the aircraft according to the touch sliding distance on the touch screen.
14. The control device of an aircraft according to claim 11, characterized in that the flight control apparatus further comprises at least one of the following modules:
the fourth control module is used for controlling the flight speed of the aircraft according to the swing speed of the rocker;
the fifth control module is used for controlling the flying speed of the aircraft according to the swinging direction of the rocker;
and the sixth control module is used for controlling the flying speed of the aircraft according to the swing amplitude of the rocker.
15. The control device of an aircraft according to claim 13 or 14, characterized in that said flight control apparatus further comprises:
the change speed acquisition module is used for acquiring the change speed of the placement angle of the flight control equipment;
and the seventh control module is used for controlling the flying speed of the aircraft according to the change speed of the placement angle of the flight control equipment.
16. The control device for an aircraft according to claim 13, characterized in that said flight control apparatus further comprises:
and the first holder orientation determining module is used for determining the orientation of the holder on the aircraft according to the touch sliding direction on the touch screen.
17. The control device for an aircraft according to claim 14, characterized in that said flight control apparatus further comprises:
and the second holder orientation determining module is used for determining the orientation of the holder on the aircraft according to the swinging direction of the rocker.
18. A control device for an aircraft, the device being the aircraft, the device comprising:
the device comprises a placing angle acquisition module, a positioning module and a control module, wherein the placing angle acquisition module is used for receiving a value of a placing angle of the flight control equipment, which is sent by the flight control equipment;
the distance acquisition module is used for receiving a value of the distance between the aircraft and a set virtual coordinate origin, which is sent by the flight control equipment, wherein the value of the distance between the aircraft and the set virtual coordinate origin is determined according to a touch sliding distance on a touch screen of the flight control equipment or a swing amplitude of a rocker of the flight control equipment, the virtual coordinate origin is a reference datum point when the aircraft flies, the position of the virtual coordinate origin is fixed, and the virtual coordinate origin is a fixed point on the ground or a point on a fixed reference object;
and the flight position determining module is used for determining the flight position of the aircraft according to the placement angle of the flight control equipment, the virtual coordinate origin and the distance between the aircraft and the virtual coordinate origin.
19. The control device for an aircraft according to claim 18, characterized in that said aircraft further comprises:
a speed control parameter receiving module, configured to receive a speed control parameter sent by the flight control device, where the speed control parameter is used to control the flight speed of the aircraft, and the speed control parameter includes at least one of: the flight control device comprises a touch sliding distance, a touch sliding speed and a touch sliding direction on a touch screen of the flight control device, a swing amplitude, a swing speed and a swing direction of a rocker on the flight control device, and a change speed of a placement angle of the flight control device;
and the flying speed adjusting module is used for adjusting the flying speed according to the speed control parameter.
20. The control device of the aircraft according to claim 18 or 19, characterized in that said aircraft further comprises:
the cradle head control parameter receiving module is used for receiving cradle head control parameters sent by the flight control equipment, the cradle head control parameters are used for controlling the orientation of a cradle head on the aircraft, and the cradle head control parameters comprise a touch sliding direction on a touch screen of the flight control equipment or a swinging direction of a rocker on the flight control equipment;
and the cradle head orientation adjusting module is used for adjusting the orientation of the cradle head on the aircraft according to the cradle head control parameters.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/104222 WO2018081923A1 (en) | 2016-11-01 | 2016-11-01 | Aerial vehicle control method and apparatus |
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| CN110168462A CN110168462A (en) | 2019-08-23 |
| CN110168462B true CN110168462B (en) | 2022-09-20 |
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| WO (1) | WO2018081923A1 (en) |
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| CN114252067A (en) * | 2021-12-25 | 2022-03-29 | 江苏九天航空航天科技有限公司 | Air attitude prediction method for guided projectile |
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| CN103342165B (en) * | 2013-06-25 | 2016-05-25 | 深圳市大疆创新科技有限公司 | Flight control and control method |
| KR102219698B1 (en) * | 2014-04-30 | 2021-02-24 | 엘지전자 주식회사 | Apparatus and method for controlling unmanned aerial vehicle |
| US9678506B2 (en) * | 2014-06-19 | 2017-06-13 | Skydio, Inc. | Magic wand interface and other user interaction paradigms for a flying digital assistant |
| CN104765359A (en) * | 2015-03-18 | 2015-07-08 | 贵州翰凯斯智能技术有限公司 | Control method for performing blind operation on multi-rotor craft through virtual remote rod touch screen |
| CN104898699B (en) * | 2015-05-28 | 2020-03-17 | 小米科技有限责任公司 | Flight control method and device and electronic equipment |
| CN105549604B (en) * | 2015-12-10 | 2018-01-23 | 腾讯科技（深圳）有限公司 | aircraft control method and device |
| CN105469579B (en) * | 2015-12-31 | 2020-05-29 | 北京臻迪机器人有限公司 | Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method |
| CN105700812B (en) * | 2016-02-26 | 2018-11-23 | 北京臻迪机器人有限公司 | The control method and device of movable equipment |
| CN105786011B (en) * | 2016-03-07 | 2018-06-12 | 重庆邮电大学 | The control method and equipment of a kind of remotely-piloted vehicle |
| CN106043694B (en) * | 2016-05-20 | 2019-09-17 | 腾讯科技（深圳）有限公司 | A kind of method, mobile terminal, aircraft and system controlling aircraft flight |
| CN106054914A (en) * | 2016-08-17 | 2016-10-26 | 腾讯科技（深圳）有限公司 | Aircraft control method and aircraft control device |
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| CN110168462A (en) | 2019-08-23 |
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