CN110278717B - Method and device for controlling the flight of an aircraft - Google Patents
Method and device for controlling the flight of an aircraft Download PDFInfo
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- CN110278717B CN110278717B CN201880010546.1A CN201880010546A CN110278717B CN 110278717 B CN110278717 B CN 110278717B CN 201880010546 A CN201880010546 A CN 201880010546A CN 110278717 B CN110278717 B CN 110278717B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
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- 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
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Abstract
The embodiment of the application provides a method and equipment for controlling an aircraft to fly. The method for controlling the flight of the aircraft comprises the following steps: acquiring flight track information; the flight path information is information recorded by the aircraft in the flight process in advance; determining a flight time axis and a flight track according to the flight track information; and enabling the aircraft to fly along the flight track according to the flight time axis. By implementing the embodiment of the application, the flight track information can be recorded in the flight process in advance, the air route planning process is simplified, and the composition picture can be checked in real time in the track planning process, so that the air route planning process is more intuitive, and the aircraft can repeatedly execute the flight track.
Description
Technical Field
The present application relates to the field of aircraft, and in particular, to a method and apparatus for controlling flight of an aircraft.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle is more and more popularized, by wide application in each field. When the unmanned aerial vehicle flies, the unmanned aerial vehicle is controlled to fly by a user through a remote controller, or the unmanned aerial vehicle automatically flies according to a given flight route. If the unmanned aerial vehicle flies according to a set flight route, route planning needs to be performed in advance, namely, trajectory planning needs to be performed on a map depending on a terminal, a trajectory route is set according to a Global Positioning System (GPS) Positioning position, and then the unmanned aerial vehicle executes the set flight route. The air route is planned in the mode, the air route needs to be planned through the third visual angle of the terminal equipment, long time is needed for planning in advance, and the composition picture cannot be viewed in real time in the track planning process.
Disclosure of Invention
The embodiment of the application provides a method and equipment for controlling an aircraft to fly, which can simplify the course of route planning, and can check a composition picture in real time in the course of trajectory planning, so that the course of route planning is more intuitive.
In a first aspect, an embodiment of the present application provides a method for controlling flight of an aircraft, including:
acquiring flight track information; the flight path information is information recorded in the flying process of the aircraft in advance;
determining a flight time axis and a flight track according to the flight track information; the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis;
and enabling the aircraft to fly along the flight track according to the flight time axis.
In a second aspect, an embodiment of the present application provides an aircraft flight trajectory recording method, including:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft; the flight trajectory information is used for enabling the aircraft to repeatedly fly along the flight trajectory according to the flight time axis; the flight track information comprises the flight time axis and the flight track, the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis;
and receiving an instruction of finishing recording the flight track, and storing the flight track information.
In a third aspect, an embodiment of the present application provides an apparatus for controlling flight of an aircraft, including:
a memory for storing program instructions;
a processor for calling program instructions in the memory and executing:
acquiring flight track information; wherein the flight track information is information recorded in the flying process of the aircraft in advance,
determining a flight time axis and a flight track according to the flight track information; the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis;
and enabling the aircraft to fly along the flight track according to the flight time axis.
In a fourth aspect, an embodiment of the present application provides an aircraft flight trajectory recording device, including:
a memory for storing program instructions;
a processor for calling program instructions in the memory and executing:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft; the flight trajectory information is used for enabling the aircraft to repeatedly fly along the flight trajectory according to the flight time axis; the flight track information comprises the flight time axis and the flight track, the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis;
and receiving an instruction of finishing recording the flight path, and storing the flight path information.
In a fifth aspect, the present application provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method for controlling the flight of an aircraft provided by the first aspect of the present application.
In a sixth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for recording a flight trajectory of an aircraft provided in the second aspect of the present application.
By recording the flight track information in the flight process in advance, the flight time axis and the flight track are determined by the aircraft according to the flight track information under the condition of obtaining the flight track information; the aircraft flies along the flight track according to the flight time axis. The process of planning the air route is simplified, and the composition picture can be checked in real time in the process of planning the track, so that the process of planning the air route is more visual, and the aircraft can repeatedly execute the flight track.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below.
FIG. 1 is a schematic structural diagram of an aircraft flight control system according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a method for controlling the flight of an aircraft according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a flight trajectory recording method according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart illustrating another method for controlling the flight of an aircraft according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of an apparatus for controlling the flight of an aircraft according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a flight path recording device according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of an apparatus for controlling flight of an aircraft according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a flight trajectory recording device according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
A flight control system of an embodiment of the present invention is shown in fig. 1. The system comprises an aircraft 10 and a ground control device 20 for controlling the aircraft; the aircraft 10 may include various types of UAVs 101(Unmanned Aerial vehicles), such as a quadrotor UAV, a hexarotor UAV, and the like, and a camera device 102 mounted on the UAV 101. The camera device 102 can complete aerial photography and other tasks of the corresponding target in the process of flying the aircraft. In addition, the aircraft 10 may further include a pan-tilt, the camera device 102 may be mounted on the pan-tilt, and the pan-tilt may be a three-axis pan-tilt, that is, the attitude of the pan-tilt may be controlled on three axes, namely pitch, roll and course, so as to determine the orientation of the pan-tilt, and enable the camera device 102 and the like configured on the pan-tilt to complete tasks of aerial photography and the like of the corresponding target.
The UAV101 includes therein a flight controller, and the flight controller establishes a communication connection with the ground control apparatus 20 through a wireless connection (for example, a wireless connection based on WiFi or radio frequency communication). The ground control device 20 may be a controller with a joystick, which controls the aircraft. The ground control device 20 may also be an intelligent device such as a smart phone or a tablet computer, and may control the UAV101 to automatically fly by configuring a flight trajectory on the user interface UI, or control the UAV101 to automatically fly by means of somatosensory or the like, or control the UAV101 to automatically fly along the recorded flight trajectory after recording the flight trajectory in the process of the UAV101 flying in advance.
The method for controlling the flight of an aircraft provided by the embodiments of the present application will be described next with reference to the flight control system shown in fig. 1. As shown in fig. 2, the method of controlling the flight of an aircraft may comprise at least the following steps:
s201: and acquiring flight track information.
Specifically, the flight trajectory information is information recorded by the aircraft in the flight process in advance. Before acquiring the flight path information, the flight path information needs to be recorded in advance. The recording process of the flight path information is described in detail in the following embodiments.
Specifically, the flight trajectory information may include a flight time axis and a flight trajectory. The flight path may be position information of a certain point, i.e., longitude and latitude information, altitude information, and the like. The flight time axis is a time axis (or a time period) when the aircraft flies along the flight track, and points on the flight track correspond to points on the flight time axis.
For example, the flight time axis is 0 to 15s, that is, the aircraft flies for 15s during recording of the trajectory information, and during the flight of the 15s, the aircraft starts from point a at 0s, passes through point B at 2s, passes through point C at 5s, and finally reaches point D at 15 s. As can be seen from the flight process of the aircraft, the point A on the flight trajectory corresponds to 0s on the flight time axis; the point B on the flight track corresponds to 2s on the flight time axis; the point C on the flight track corresponds to the point 5s on the flight time axis; the point D on the flight trajectory corresponds to 15s on the flight time axis.
S202: and determining a flight time axis and a flight track according to the flight track information.
Specifically, the flight time axis is a time axis in which the aircraft flies along the flight trajectory, and the point on the flight trajectory corresponds to the time point on the flight time axis.
S203: and enabling the aircraft to fly along the flight track according to the flight time axis.
Specifically, the flying of the aircraft along the flight trajectory according to the flight time axis is the repeating of the pre-recorded flight trajectory information, that is, the aircraft arrives at the position corresponding to the time point on the flight trajectory at a fixed time point.
By recording the flight track information in the flight process in advance, the flight time axis and the flight track are determined by the aircraft according to the flight track information under the condition of obtaining the flight track information; the aircraft flies along the flight track according to the flight time axis. The process of planning the air route is simplified, and the composition picture can be checked in real time in the process of planning the track, so that the process of planning the air route is more visual, and the aircraft can repeatedly execute the flight track.
Next, a track recording method provided in an embodiment of the present application is described, as shown in fig. 3, the track recording method may include at least the following steps:
s301: and receiving an instruction for starting recording the flight track.
Specifically, the user may input an instruction to start recording the flight trajectory through the ground control device 103. Specifically, the command may be input through a corresponding control button on the ground control device 103, or the command may be input through a corresponding stick amount on the ground control device 103, or the command may be input through a corresponding control on a control panel of the ground control device 103. Here, the manner in which the user operates the ground control apparatus 103 to input the instruction to start recording the flight trajectory is not limited.
S302: and recording the flight track information of the aircraft.
Specifically, the flight trajectory information may include a flight time axis and a flight trajectory. The flight time axis is a time axis (or a time period) when the aircraft flies along the flight track, points on the flight track correspond to points on the flight time axis, and corresponding frequencies are not limited. Specifically, reference may be made to the explanation in the previous embodiment S201, and details are not described herein.
In some embodiments, besides recording the flight track information of the aircraft, the angle information of a tripod head carried on the aircraft during the flight of the aircraft can be recorded. The angle information of the pan/tilt head may include angle information of the pan/tilt head corresponding to each time point on the flight time axis, and the angle information of the pan/tilt head at a certain specific time point may specifically include a pitch angle pitch, a roll angle roll, and a course angle yaw of the pan/tilt head at that time.
In some embodiments, the user's joystick amount, the speed and acceleration of the aircraft, etc. may also be recorded in real time.
S303: and receiving an instruction of finishing recording the flight track, and storing the flight track information.
Specifically, the user may input an instruction to end recording the flight trajectory through the ground control device 103. Specifically, the command may be input through a corresponding control button on the ground control device 103, or the command may be input through a corresponding stick amount on the ground control device 103, or the command may be input through a corresponding control on a control panel of the ground control device 103. Here, the manner in which the user operates the ground control device 103 to input the instruction to end recording the flight trajectory is not limited.
Specifically, after recording of the flight trajectory is finished, the flight trajectory information may be stored locally, so that the aircraft may repeat the above-mentioned flight trajectory many times after receiving the instruction of automatic flight.
Specifically, after recording of the flight trajectory is finished, the flight trajectory information can be stored in the server, other aircrafts can obtain the flight trajectory information of the aircraft from the server after authorization, and the other aircrafts can repeatedly execute the flight trajectory after obtaining the flight trajectory information of the aircraft, so that the method can be applied to scenes in which multi-machine cooperation is required to be achieved.
In some embodiments, if the angle information of the pan/tilt head is recorded during the flight of the aircraft, the angle information of the pan/tilt head needs to be stored at this time. After the angle information of the holder is stored, the angle of the holder can be ensured to be consistent with the angle of the holder when the flight track is recorded in advance when the aircraft executes the flight track repeatedly in the follow-up process, so that the angle of the picture shot by the camera device 102 carried on the holder is kept consistent.
By implementing the embodiment of the application, the flight track information can be directly recorded in the flight process, the air route planning process is simplified, and the composition picture can be checked in real time in the track planning process, so that the air route planning process is more intuitive, and the aircraft can repeatedly execute the flight track. In addition, the angle information of the holder in the recording process can be recorded, so that the aircraft can always keep the angle of the camera equipment carried on the holder consistent when the flight track is repeatedly executed.
In a possible embodiment, after the flight path information is saved, the flight path information may be further adjusted, and the adjusted flight path information is further updated.
Specifically, adjusting the flight trajectory information may be adjusting a flight timeline. I.e., adjusting the speed of the aircraft on the time of flight axis and/or adjusting the position of the aircraft on the time of flight axis.
Specifically, adjusting the flight speed of the aircraft on the flight time axis may be adjusting the flight speed of the aircraft at a certain point in time. For example, in the stored flight path information, the flight speed of the aircraft at the time point of 5s on the flight time axis is 20m/s, and the speed of the aircraft at the time point can be adjusted to be reduced to 18m/s or increased to 25m/s, and the like. It will be appreciated that the flight speed may also be negative, when the flight speed is negative, it means that the aircraft is flying backwards (back-flying); when the flight speed is positive, it indicates that the aircraft is flying forward (positive flight).
Specifically, adjusting the speed of the flight time axis may be performed on the flight speed of the aircraft in the whole or part of the flight time, for example: the time from the original 10 seconds to the point a can be adjusted to be 5 seconds or 20 seconds to the point a, further, the time from the original 10 seconds to the point a and the time from the original 20 seconds to the point B can be adjusted to be 5 seconds to the point a and 25 seconds to the point B, and the flight trajectory is the flight trajectory in the recorded flight information, which is only schematic here, and the actual time axis adjustment can be set as required.
Specifically, adjusting the position of the aircraft on the flight time axis may be adjusting the position of the aircraft at a certain point in time. For example, the altitude position of the aircraft at a certain point in time may be adjusted, or the latitude and longitude position of the aircraft at a certain point in time may be adjusted, etc.
In addition, after the flight path information is stored, the flight path can be checked. The flight time axis may be displayed on a control panel of the ground control device 103. The user may view the flight trajectory by dragging the flight timeline.
It can be known that the process of adjusting the flight path information may be that the aircraft is adjusted in the process of actual flight, or may be that the adjustment is performed on the control panel of the ground control device 103 in a preview form after the recording of the flight path information is completed, and at this time, the adjustment is not required in the process of actual flight of the aircraft.
By implementing the embodiment of the application, the flight track information can be adjusted according to the actual requirements of the user after the recording of the flight track information is finished, and the adjusted flight track information is updated, so that the personalized requirements of the user are met, and the user experience is improved.
An embodiment of the present invention provides another method for controlling flight of an aircraft, as shown in fig. 4, the method for controlling flight of an aircraft may include at least the following steps:
s401: and receiving an instruction for starting recording the flight track.
Specifically, S401 is identical to S301, and is not described herein again.
S402: and recording the flight track information of the aircraft.
Specifically, S402 is identical to S302, and is not described herein again.
S403: and receiving an instruction of finishing recording the flight track, and storing the flight track information.
Specifically, S403 is identical to S303, and is not described herein again.
S404: and receiving an instruction for adjusting the flight track information, and updating the flight track information.
Specifically, S404 is the same as the step of adjusting the flight trajectory information in the previous embodiment, and is not described herein again.
S405: and receiving an instruction for triggering the aircraft to execute a preset action.
Specifically, the instruction for triggering the aircraft to execute the preset action is set for setting a condition for triggering the aircraft to execute the preset action. The user may set instructions via the ground control device 103 that trigger the aircraft to perform preset actions.
Specifically, the preset action may be, but is not limited to, hotspot following, speed adjustment, position adjustment, pan-tilt direction adjustment, or parameter adjustment of the image capturing apparatus.
The hotspot following means that the camera shooting equipment is controlled to shoot towards a certain hotspot, but the flight trajectory is kept unchanged or substantially unchanged in the shooting process. If the shooting equipment is carried on the cloud deck, the shooting equipment can shoot towards a certain hot point by controlling the angle of the cloud deck. If the camera equipment is directly connected with the aircraft and is not carried on the holder, the direction of the aircraft nose can be controlled to enable the camera equipment to shoot towards a certain hot point. It can be appreciated that, regardless of the angle of the head, or the direction of the nose, the flight trajectory of the aircraft remains consistent or substantially consistent with the pre-recorded flight trajectory during the shooting around a hot spot, and the flight trajectory can be adjusted appropriately under the intervention of the user or other external conditions.
The speed adjustment is to adjust the flying speed of the aircraft, and it can be known that, after the speed adjustment is performed, the aircraft can still automatically recover the flying speed recorded when the flying trajectory is recorded in advance.
The position adjustment is to adjust the specific position of the aircraft, and it can be known that the aircraft can still fly back to the prerecorded flight trajectory after the position adjustment is performed.
The adjustment of the direction of the pan/tilt head is to adjust the pitch angle pitch, roll angle roll and course angle yaw of the pan/tilt head. The camera shooting equipment shoots towards a certain hot spot by adjusting the angle of the holder.
The image pickup apparatus parameters adjust image pickup parameters of the image pickup apparatus.
It will be appreciated that the preset actions may be accomplished directly or indirectly by the aircraft. For example, the flight speed or position of the aircraft can be directly adjusted, and for example, the direction of the pan-tilt head or the camera parameters of the camera device can be controlled by the aircraft.
S406: and acquiring flight track information.
Specifically, S406 is identical to S201, and is not described herein again.
S407: and determining a flight time axis and a flight track according to the flight track information.
Specifically, S407 is identical to S202, and is not described herein again.
S408: and flying the aircraft along the flight track according to the flight time axis.
Specifically, S408 is identical to S203, and is not described herein again.
S409: and detecting whether an instruction for triggering the aircraft to execute a preset action exists, and if so, enabling the aircraft to execute the preset action.
Specifically, S408 and S409 may be performed simultaneously.
Optionally, the instructions for triggering the aircraft to perform the preset action comprise: the aircraft flies to a point on the flight track corresponding to a preset time point on the flight time axis. For example, a user may select a time point on the flight time axis, and set a preset action for the time point, and if the flight speed is reduced, the aircraft is controlled to reduce the flight speed when flying to a point on the flight trajectory corresponding to the time point; or hover for a preset time, hover at that point in time, and so on.
In addition, the instruction for triggering the aircraft to execute the preset action may also be a route segment on a flight trajectory corresponding to a preset time period when the aircraft flies to the flight time axis.
It can be known that a plurality of time points can be selected on the flight time axis, and corresponding preset actions are respectively set for different time points.
Optionally, the instructions for triggering the aircraft to perform the preset action include: the aircraft recognizes that a shooting object exists in the shooting picture, and the shooting object meets the condition of triggering the aircraft to execute a preset action.
Specifically, the captured picture is a picture captured by the image capturing apparatus. And when the shooting object is identified to exist in the shooting picture and meets the condition of triggering the aircraft to execute the preset action, enabling the aircraft to execute the preset action. For example, if the shooting object is a person, the condition for triggering the aircraft to execute the preset action is that the person performs a certain gesture, and the preset action is hot spot following, when the aircraft recognizes that there is a person in the shooting picture and the person performs a certain gesture (such as waving a hand) while flying along the flight trajectory according to the flight time axis, the aircraft is triggered to perform hot spot following on the person, that is, the imaging device is controlled to shoot towards the person. It is known that the aircraft still flies along the flight trajectory during the shooting towards the person.
Optionally, the instructions for triggering the aircraft to perform the preset action comprise: receiving a control instruction sent by a controller matched with the aircraft; and the control instruction is used for controlling the aircraft to execute a preset action.
Specifically, the triggering manner is different from the first two triggering manners, and is not a condition that triggering is set in advance, and is triggered automatically in the subsequent flight process of the aircraft, but is triggered temporarily by the outside world in the flight process of the shape flying device, for example, a user may input an instruction in the ground control device 103 to make the aircraft execute a preset action.
By implementing the embodiment of the application, the flight track information can be directly recorded in the flight process, the air route planning process is simplified, and the composition picture can be checked in real time in the track planning process, so that the air route planning process is more intuitive, and the aircraft can repeatedly execute the flight track. In addition, a trigger instruction for controlling the aircraft to execute the preset action can be set, so that the aircraft can automatically or passively execute the preset action in the process of repeatedly executing the flight trajectory, the personalized requirements of users are met, and the user experience is improved.
While the method of the embodiments of the present application has been described in detail, in order to better implement the above-described aspects of the embodiments of the present application, the following also provides related apparatus for implementing the aspects.
As shown in fig. 5, the structural diagram of the device for controlling the flight of an aircraft provided in the embodiment of the present application may include at least: an acquisition unit 510, a determination unit 520, a flight unit 530, wherein:
an acquisition unit 510 configured to acquire flight trajectory information; the flight path information is information recorded in the flying process of the aircraft in advance.
A determining unit 520, configured to determine a flight time axis and a flight trajectory according to the flight trajectory information; the flight time axis is a time axis of the flight of the aircraft along the flight track, and points on the flight track correspond to time points on the flying time axis.
And a flying unit 530 for flying the aircraft along the flight trajectory according to the flight time axis.
In a possible embodiment, the means 50 for controlling the flight of the aircraft further comprise:
a first receiving unit 540, configured to receive an instruction to start recording the flight trajectory before the acquiring unit 510 acquires the flight trajectory information.
A recording and storing unit 550, configured to record flight trajectory information of the aircraft; the flight trajectory information includes a flight time axis and a flight trajectory.
And a second receiving unit 560, configured to receive an instruction for ending recording of the flight trajectory, and store the flight trajectory information and the angle information of the pan/tilt head.
In one possible embodiment, the aircraft comprises a head; the flight track information also comprises angle information of a holder; the angle information of the cradle head is the angle information of the cradle head of the aircraft in the flying process, and the angle information of the cradle head corresponds to the flying track.
In a possible embodiment, the means 50 for controlling the flight of the aircraft further comprise: and a third receiving unit 570, configured to receive an instruction for adjusting the flight trajectory information and update the flight trajectory information after the recording and storing unit 550 stores the flight trajectory information and the angle information of the pan/tilt head.
In a possible embodiment, the third receiving unit 570 is specifically configured to receive instructions to adjust the time axis of flight; wherein the instructions for adjusting the flight time axis are used for adjusting the flight speed of the aircraft on the flight time axis and/or adjusting the position of the aircraft on the flight time axis.
In a possible embodiment, the means 50 for controlling the flight of the aircraft further comprise: the executing unit 580 is configured to, in a process that the aircraft flies along the flight trajectory according to the flight time axis, if it is detected that there is an instruction that triggers the aircraft to execute a preset action, cause the aircraft to execute the preset action.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: the aircraft flies to a point on the flight track corresponding to a preset time point on the flight time axis.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: the aircraft recognizes that a shooting object exists in the shooting picture, and the shooting object meets the condition of triggering the aircraft to execute the preset action.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: receiving a control instruction sent by a controller matched with the aircraft; and the control instruction is used for controlling the aircraft to execute a preset action.
In a possible embodiment, the means 50 for controlling the flight of the aircraft further comprise: a fourth receiving unit 590, configured to receive an instruction that triggers the aircraft to perform the preset action before the performing unit 580 causes the aircraft to perform the preset action.
It can be understood that the functions of the functional modules of the device 50 for controlling the flight of an aircraft according to the present embodiment can be implemented according to the method in the above method embodiment, and will not be described herein again.
As shown in fig. 6, which is a schematic structural diagram of a flight path recording apparatus provided in the embodiment of the present application, the flight path recording apparatus 60 may include at least: a fifth receiving unit 610, a recording unit 620, and a receiving and storing unit 630, wherein:
a fifth receiving unit 610, configured to receive an instruction to start recording a flight trajectory.
A recording unit 620 for recording flight trajectory information of the aircraft; the flight path information is used for enabling the aircraft to repeatedly fly along the flight path according to the flight time axis; the flight track information comprises a flight time axis and a flight track, the flight time axis is a time axis of the flight of the aircraft along the flight track, and points on the flight track correspond to time points on the flight time axis.
The receiving and storing unit 630 is configured to receive an instruction to end recording the flight trajectory, and store the flight trajectory information.
In a possible embodiment, the flight path recording apparatus 60 further includes a sixth receiving unit 640, configured to receive an instruction for adjusting the flight path information and update the flight path information after the receiving and storing unit 630 stores the flight path information.
It can be understood that the functions of the functional modules of the flight path recording apparatus 60 of the present embodiment can be specifically implemented according to the method in the foregoing method embodiment, and are not described herein again.
Fig. 7 is a schematic structural diagram of an apparatus for controlling flight of an aircraft according to an embodiment of the present application, where the apparatus 70 for controlling flight of an aircraft may include: the at least one processor 701, e.g., CPU, the at least one network interface 704, the user interface 703, the memory 705, the at least one communication bus 702, and optionally, the display 706. Wherein a communication bus 702 is used to enable connective communication between these components. The user interface 703 may include a touch screen, a keyboard, a mouse, or the like, among others. The network interface 704 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and a communication connection may be established with the server via the network interface 704. The memory 705 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory, and the memory 705 includes a flash in the embodiment of the present invention. The memory 705 may optionally be at least one memory system located remotely from the processor 701. As shown in fig. 7, the memory 705, which is a type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and program instructions.
It should be noted that the network interface 704 may be connected to a receiver, a transmitter or other communication module, and the other communication module may include, but is not limited to, a WiFi module, a bluetooth module, etc., and it is understood that the device for controlling the flight of the aircraft according to the embodiment of the present invention may also include a receiver, a transmitter, other communication module, etc.
The processor 701 may be configured to call program instructions stored in the memory 705 and perform the following operations:
obtaining locally stored flight trajectory information from the memory 705 or obtaining flight trajectory information from a server through the network interface 704; the flight path information is information recorded in the flying process of the aircraft in advance.
Determining a flight time axis and a flight track according to the flight track information; the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis.
And enabling the aircraft to fly along the flight track according to the flight time axis.
In one possible embodiment, before the processor 701 acquires the flight trajectory, the processor 701 is further configured to:
an instruction to start recording the flight trajectory is received by the receiver.
Recording flight track information of the aircraft; the flight trajectory information includes a flight time axis and a flight trajectory.
The command to end recording the flight path is received by the receiver and the flight path information is saved to the memory 705.
In one possible embodiment, the flight trajectory information further includes angle information of the pan/tilt head; the angle information of the cradle head is the angle information of the cradle head of the aircraft in the flying process, and the angle information of the cradle head corresponds to the flying track.
In one possible embodiment, after the processor 701 stores the flight trajectory information and the angle information of the pan/tilt head to the memory 705, the processor 701 is further configured to: instructions to adjust the flight trajectory information are received by the receiver and the flight trajectory information is updated in memory 705.
In one possible embodiment, the processor 701 receiving the instruction for adjusting the flight trajectory information through the receiver includes: receiving, by a receiver, an instruction to adjust a flight timeline; wherein the instructions for adjusting the flight time axis are used for adjusting the flight speed of the aircraft on the flight time axis and/or adjusting the position of the aircraft on the flight time axis.
In one possible embodiment, the processor 701 is further configured to: in the process that the aircraft flies along the flight track according to the flight time axis, if the instruction triggering the aircraft to execute the preset action is detected, the aircraft is made to execute the preset action.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: the aircraft flies to a point on the flight track corresponding to a preset time point on the flight time axis.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: the aircraft recognizes that a shooting object exists in the shooting picture, and the shooting object meets the condition of triggering the aircraft to execute the preset action.
In one possible embodiment, the instructions that trigger the aircraft to perform the preset action comprise: receiving a control instruction sent by a controller matched with the aircraft; and the control instruction is used for controlling the aircraft to execute a preset action.
In a possible embodiment, the processor 701 is configured to, before the aircraft performs a preset action if it is detected that there is an instruction triggering the aircraft to perform the preset action while the aircraft is flying along the flight trajectory according to the flight time axis, further: and receiving an instruction for triggering the aircraft to execute a preset action through the receiver.
It is understood that the functions of the device 70 for controlling the flight of an aircraft according to the present embodiment can be embodied according to the method in the above-described method embodiment, and will not be described herein again.
Fig. 8 is a schematic structural diagram of a flight trajectory recording device according to an embodiment of the present application, where the flight trajectory recording device 80 may include: at least one processor 801, such as a CPU, at least one network interface 804, a user interface 803, a memory 805, at least one communication bus 802, and optionally a display 806. Wherein a communication bus 802 is used to enable connective communication between these components. The user interface 803 may include a touch screen, a keyboard or a mouse, among others. The network interface 804 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and a communication connection may be established with the server via the network interface 804. The memory 805 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory, and the memory 805 includes a flash in the embodiment of the present invention. The memory 805 may optionally be at least one memory system located remotely from the processor 801 as previously described. As shown in fig. 8, memory 805, which is a type of computer storage media, may include an operating system, a network communication module, a user interface module, and program instructions.
It should be noted that the network interface 804 may be connected to a receiver, a transmitter, or other communication module, and the other communication module may include, but is not limited to, a WiFi module, a bluetooth module, and the like.
The processor 801 may be configured to call program instructions stored in the memory 805 and perform the following operations:
an instruction to start recording the flight trajectory is received by the receiver.
Recording flight track information of the aircraft; the flight path information is used for enabling the aircraft to repeatedly fly along the flight path according to the flight time axis; the flight track information comprises a flight time axis and a flight track, the flight time axis is a time axis of the flight of the aircraft along the flight track, and points on the flight track correspond to time points on the flight time axis.
And receiving an instruction of finishing recording the flight track through a receiver, and storing the flight track information.
In one possible embodiment, after saving the flight trajectory information, the processor 801 is further configured to: and receiving an instruction for adjusting the flight track information, and updating the flight track information.
It is understood that the functions of the flight path recording device 80 of the present embodiment can be implemented according to the method in the above method embodiment, and are not described herein again.
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 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. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (24)
1. A method of controlling the flight of an aircraft, comprising:
acquiring flight track information; the flight path information is information recorded in the flying process of the aircraft in advance;
determining a flight time axis and a flight track according to the flight track information; the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis; the aircraft comprises a tripod head, and the flight track information comprises the flight time axis, the flight track and the angle information of the tripod head; the angle information of the cradle head is the angle information of the cradle head during the flight process of the aircraft, and the angle information of the cradle head corresponds to the time point on the flight time axis;
and enabling the aircraft to fly along the flight track according to the flight time axis, wherein the angle of the cradle head is kept corresponding to the angle information of the cradle head in the flight track information in the flight process.
2. The method of claim 1, wherein prior to obtaining flight trajectory information, the method further comprises:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft;
and receiving an instruction of finishing recording the flight track, and storing the flight track information.
3. The method of claim 2, wherein after saving the flight trajectory information, the method further comprises: and receiving an instruction for adjusting the flight path information, and updating the flight path information.
4. The method of claim 3, wherein the receiving instructions to adjust the flight trajectory information comprises: receiving an instruction to adjust the flight timeline; wherein the instructions for adjusting the flight time axis are configured to adjust the flight speed of the aircraft on the flight time axis and/or adjust the position of the aircraft on the flight time axis.
5. The method of any one of claims 1-4, further comprising:
and in the process that the aircraft flies along the flight track according to the flight time axis, if an instruction for triggering the aircraft to execute a preset action is detected, the aircraft is enabled to execute the preset action.
6. The method of claim 5, wherein the instructions that trigger the aerial vehicle to perform a preset action comprise: and the aircraft flies to a point on a flight track corresponding to a preset time point on the flight time axis.
7. The method of claim 5, wherein the aerial vehicle comprises a camera device for acquiring a shot;
the instructions for triggering the aircraft to perform the preset actions include: the aircraft recognizes that a shooting object exists in the shooting picture, and the shooting object meets the condition of triggering the aircraft to execute the preset action.
8. The method of claim 5, wherein the instructions that trigger the aerial vehicle to perform a preset action comprise: receiving a control instruction sent by a controller matched with the aircraft; wherein the control instruction is used for controlling the aircraft to execute a preset action.
9. The method of claim 5, wherein before the aircraft executes a preset action when detecting that there is an instruction that triggers the aircraft to execute the preset action while the aircraft is flying along the flight trajectory according to the flight timeline, the method further comprises: and receiving an instruction for setting and triggering the aircraft to execute a preset action.
10. An aircraft flight trajectory recording method is characterized by comprising the following steps:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft; the flight track information is used for enabling the aircraft to repeatedly fly along the flight track according to a flight time axis; the aircraft comprises a tripod head, the flight track information comprises the flight time axis, the flight track and the angle information of the tripod head, the flight time axis is a time axis of the aircraft flying along the flight track, and a point on the flight track corresponds to a time point on the flight time axis; the angle information of the cradle head is the angle information of the cradle head during the flight process of the aircraft, and the angle information of the cradle head corresponds to the time point on the flight time axis;
receiving an instruction of finishing recording the flight track, and storing the flight track information, wherein the angle information of the holder in the flight track information is used for: and when the indicating aircraft repeatedly flies according to the flight track, indicating the angle of the aircraft cradle head to keep corresponding to the angle information of the cradle head in the flight track information.
11. The method of claim 10, wherein after saving the flight trajectory information, the method further comprises: and receiving an instruction for adjusting the flight track information, and updating the flight track information.
12. An apparatus for controlling the flight of an aircraft, comprising:
a memory for storing program instructions;
a processor for calling program instructions in the memory and executing:
acquiring flight track information; the flight path information is information recorded in the flying process of the aircraft in advance;
determining a flight time axis and a flight track according to the flight track information; the flight time axis is a time axis of the aircraft flying along the flight track, and points on the flight track correspond to time points on the flight time axis; the aircraft comprises a tripod head, and the flight track information comprises the flight time axis, the flight track and the angle information of the tripod head; the angle information of the cradle head is the angle information of the cradle head during the flight process of the aircraft, and the angle information of the cradle head corresponds to the time point on the flight time axis;
and enabling the aircraft to fly along the flight track according to the flight time axis, wherein the angle of the cradle head is kept corresponding to the angle information of the cradle head in the flight track information in the flight process.
13. The apparatus of claim 12, wherein prior to the processor acquiring the flight trajectory, the processor is further configured to:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft;
and receiving an instruction of finishing recording the flight track, and storing the flight track information.
14. The apparatus of claim 13, wherein after the processor saves the flight trajectory information and the angle information of the pan and tilt head, the processor is further configured to: and receiving an instruction for adjusting the flight track information, and updating the flight track information.
15. The apparatus of claim 14, wherein the processor receiving instructions to adjust the flight trajectory information comprises: receiving an instruction to adjust the flight timeline; wherein the instructions to adjust the flight timeline are configured to adjust a flight speed of the aircraft on the flight timeline and/or adjust a position of the aircraft on the flight timeline.
16. The device of any one of claims 12-15, wherein the processor is further configured to: and in the process that the aircraft flies along the flight track according to the flight time axis, if an instruction triggering the aircraft to execute a preset action is detected, enabling the aircraft to execute the preset action.
17. The apparatus of claim 16, wherein the instructions that trigger the aerial vehicle to perform a preset action comprise: and the aircraft flies to a point on a flight track corresponding to a preset time point on the flight time axis.
18. The apparatus according to claim 16, wherein the aircraft comprises a camera device for acquiring a shot;
the instructions for triggering the aircraft to perform the preset actions include: the aircraft recognizes that a shooting object exists in the shooting picture, and the shooting object meets the condition of triggering the aircraft to execute the preset action.
19. The apparatus of claim 16, wherein the instructions that trigger the aerial vehicle to perform a preset action comprise: receiving a control instruction sent by a controller matched with the aircraft; wherein the control instruction is used for controlling the aircraft to execute a preset action.
20. The apparatus of claim 16, wherein the processor is configured to, before the aircraft executes a preset action if it is detected that there is an instruction that triggers the aircraft to execute the preset action while the aircraft is flying along the flight trajectory according to the flight timeline, further: and receiving an instruction for setting and triggering the aircraft to execute a preset action.
21. An aircraft flight trajectory recording device, comprising:
a memory for storing program instructions;
a processor for calling program instructions in the memory and executing:
receiving an instruction for starting recording a flight track;
recording flight track information of the aircraft; the flight track information is used for enabling the aircraft to repeatedly fly along the flight track according to a flight time axis; the aircraft comprises a tripod head, the flight track information comprises the flight time axis, the flight track and the angle information of the tripod head, the flight time axis is a time axis of the aircraft flying along the flight track, and a point on the flight track corresponds to a time point on the flight time axis; the angle information of the cradle head is the angle information of the cradle head during the flight process of the aircraft, and the angle information of the cradle head corresponds to the time point on the flight time axis;
receiving an instruction of finishing recording the flight track, and storing the flight track information, wherein the angle information of the holder in the flight track information is used for: and when the indicating aircraft repeatedly flies according to the flight track, indicating the angle of the aircraft cradle head to keep corresponding to the angle information of the cradle head in the flight track information.
22. The apparatus of claim 21, wherein after saving the flight trajectory information, the processor is further configured to: and receiving an instruction for adjusting the flight track information, and updating the flight track information.
23. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of controlling the flight of an aircraft according to any one of claims 1 to 9.
24. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for recording a flight trajectory of an aircraft according to any one of claims 10 to 11.
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| PCT/CN2018/073657 WO2019140695A1 (en) | 2018-01-22 | 2018-01-22 | Method and device for controlling flight of aircraft |
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| CN110278717B true CN110278717B (en) | 2022-08-02 |
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| CN112672314B (en) * | 2020-12-23 | 2023-10-24 | 武汉量宇智能科技有限公司 | Safe and reliable emission control method for aircraft |
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| CN103413444B (en) * | 2013-08-26 | 2015-08-19 | 深圳市川大智胜科技发展有限公司 | A kind of traffic flow based on unmanned plane HD video is investigated method |
| CN104007767A (en) * | 2014-05-14 | 2014-08-27 | 中国农业大学 | Unmanned aerial vehicle space navigation method, unmanned aerial vehicle control system and unmanned aerial vehicle control device |
| CN104035446B (en) * | 2014-05-30 | 2017-08-25 | 深圳市大疆创新科技有限公司 | The course generation method and system of unmanned plane |
| CN105070005B (en) * | 2015-07-15 | 2018-11-30 | 合肥佳讯科技有限公司 | A kind of more rotor unmanned aircrafts and remote measuring and controlling method |
| US10535372B2 (en) * | 2015-07-27 | 2020-01-14 | Vantage Robotics, Llc | System for recording and synchronizing audio and video associated with a UAV flight |
| CN205017413U (en) * | 2015-09-01 | 2016-02-03 | 杨珊珊 | Shoot device based on unmanned vehicles |
| CN105120136A (en) * | 2015-09-01 | 2015-12-02 | 杨珊珊 | Shooting device based on unmanned aerial vehicle and shooting processing method thereof |
| CN105516604A (en) * | 2016-01-20 | 2016-04-20 | 陈昊 | Aerial video sharing method and system |
| CN107305374A (en) * | 2016-04-22 | 2017-10-31 | 优利科技有限公司 | Unmanned plane system |
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| CN105955291B (en) * | 2016-04-29 | 2021-04-27 | 深圳市哈博森科技有限公司 | Unmanned aerial vehicle flight route track recording and automatic flight control mode |
| CN107004177B (en) * | 2016-11-22 | 2024-03-19 | 达闼机器人股份有限公司 | Method for improving transportation safety of unmanned aerial vehicle, terminal, server and computer program product |
| CN106774398A (en) * | 2016-12-20 | 2017-05-31 | 北京小米移动软件有限公司 | Take photo by plane method and device, unmanned plane |
| CN106781707B (en) * | 2016-12-21 | 2019-11-22 | 华北计算技术研究所（中国电子科技集团公司第十五研究所） | A kind of path planning method for low latitude middle and long distance ferry flight |
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