CN110299030A - Handheld terminal, aircraft and its airspace measurement method, control method - Google Patents

Abstract

Present disclose provides a kind of handheld terminal, aircraft and its airspace measurement method, control method and flight system and its flying methods.The handheld terminal, comprising: measuring unit measures the location information of at least one object in the peripheral space where aircraft；Modeling unit models the peripheral space where the aircraft according to the location information of at least one object, to generate modeling information；Control unit generates at least based on the control information of the modeling information；And communication unit, Xiang Suoshu aircraft send described at least based on the control information of the modeling information.

Description

Handheld terminal, aircraft and its airspace measurement method, control method

Technical field

This disclosure relates to aircraft field, and more particularly to a kind of handheld terminal, aircraft and its airspace measurement method, Control method and flight system and its flying method.

Background technique

Bionic flapping-wing flying vehicle has had 30 years or more developing histories.In general, the flight side in order to realize bionic flapping-wing Formula, the fuselage weight of this kind of aircraft require that comparison is light.For example, the toy product weight of bionic flapping-wing flying vehicle in the market At 10 grams or so, substantially no more than 15 grams.

Thus it may bring that the load-carrying ability of bionic flapping-wing flying vehicle is low, onboard control module function is few, autonomous flight energy The technological difficulties such as power difference.On the other hand, it is currently adapted for the remote controler of this kind of bionic flapping-wing flying vehicle, function is too simple, and one As only 4 kinds of upper and lower, left and right flight control mode, slightly more complicated control command can not be provided, so also can not be real Now such as autonomous flight, avoidance flight follows flight, returns the more complex offline mode of nest.These factors hinder bionic flapping-wing The commercial applications of aircraft.

Therefore, it is necessary to a kind of to realize that the autonomous of complexity flies in the case where the fuselage weight of aircraft is light, load-carrying ability is low The aircraft of row control function.

Summary of the invention

According to one aspect of the disclosure, a kind of handheld terminal is provided, comprising: measuring unit, to where aircraft The location information of at least one object in peripheral space measures；Modeling unit, according at least one described object Location information, the peripheral space where the aircraft is modeled, to generate modeling information；Control unit generates extremely Few control information based on the modeling information；And communication unit, the transmission of Xiang Suoshu aircraft is described at least to be built based on described The control information of mould information.

A kind of aircraft another aspect of the present disclosure provides, comprising: communication unit is received from handheld terminal At least control information based on modeling information；And control unit, it is at least based on the control information, realizes the aircraft Flight, wherein the modeling information is to be passed through as the handheld terminal at least one in the peripheral space where aircraft The location information of object measures and according to the location information of at least one object to where the aircraft Peripheral space is modeled and is obtained.

A kind of airspace measurement method for aircraft another aspect of the present disclosure provides, comprising: to flight The location information of at least one object in peripheral space where device measures；According at least one object Location information models the peripheral space where the aircraft, to generate modeling information；It generates and is at least built based on described The control information of mould information；And it is sent to the aircraft described at least based on the control information of the modeling information.

A kind of control method for aircraft another aspect of the present disclosure provides, comprising: from handheld terminal Receive at least control information based on modeling information；And it is at least based on the control information, the flight of the aircraft is controlled, Wherein, the modeling information is to be passed through as the handheld terminal at least one object in the peripheral space where aircraft Location information measure and empty to the periphery where the aircraft according to the location information of at least one object Between modeled and obtained.

A kind of flight system another aspect of the present disclosure provides, the handheld terminal including such as first aspect with And the aircraft such as second aspect.

A kind of flying method for flight system another aspect of the present disclosure provides, the flight system Including aircraft and handheld terminal, which comprises as handheld terminal at least one in the peripheral space where aircraft The location information of a object measures；By handheld terminal according to the location information of at least one object, to described Peripheral space where aircraft is modeled, to generate modeling information；It is generated by handheld terminal and is at least believed based on the modeling The control information of breath；It is sent from handheld terminal to the aircraft described at least based on the control information of the modeling information；By Aircraft receives the control information from handheld terminal；And the control information is at least based on by aircraft, realize described fly The flight of row device.

A kind of handheld terminal another aspect of the present disclosure provides, comprising: measuring unit, to where aircraft Peripheral space in the location information of at least one object measure；Control unit generates described in being at least based at least The control information of the location information of one object；And communication unit, Xiang Suoshu aircraft send described at least based on described The control information of the location information of at least one object.

A kind of aircraft another aspect of the present disclosure provides, comprising: communication unit is received from handheld terminal At least control information of the location information based at least one object；Modeling unit is based on the control information, to described Peripheral space where aircraft is modeled, to generate modeling data；And control unit, at least it is based on the control information And modeling data, realize the flight of the aircraft, wherein the location information of at least one object is by described hand-held Terminal in the peripheral space where aircraft described in the position of at least one object obtain and measure.

A kind of airspace measurement method for aircraft another aspect of the present disclosure provides, comprising: to flight The location information of at least one object in peripheral space where device measures；Generate at least one described in being at least based on The control information of the location information of object；And it is sent to the aircraft described at least based at least one described object Location information control information.

A kind of control method for aircraft another aspect of the present disclosure provides, comprising: from handheld terminal Receive the control information of at least location information based at least one object；Based on the control information, to the aircraft The peripheral space at place is modeled, to generate modeling data；And it is at least based on the control information and modeling data, control The flight of the aircraft, wherein the location information of at least one object is to be passed through by the handheld terminal to flight The position of at least one object in peripheral space where device measures and obtains.

A kind of flight system another aspect of the present disclosure provides, including the handheld terminal in terms of the such as the 7th with And the aircraft such as eighth aspect.

A kind of flying method for flight system another aspect of the present disclosure provides, the flight system Including aircraft and handheld terminal, which comprises as handheld terminal at least one in the peripheral space where aircraft The location information of a object measures；Location information at least based at least one object is generated by handheld terminal Control information；The location information at least based at least one object is sent from handheld terminal to the aircraft Control information；The control information is received from handheld terminal by aircraft；The control information is based on by aircraft, to described Peripheral space where aircraft is modeled, to generate modeling data；And the control information is at least based on by aircraft And modeling data, realize the flight of the aircraft.

Using according to handheld terminal, aircraft and its airspace measurement method of the above-mentioned aspect of the disclosure, control method, with And flight system and its flying method, can it is light in the fuselage weight for being limited to aircraft, in the case that load-carrying ability is low, realize The function that autonomous flight is more stable, control mode is more complicated, human-computer interaction is more flexible, to greatly improve light heavyweight flight The autonomous flight ability of device.

Detailed description of the invention

Disclosure illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the disclosure above-mentioned and its Its purpose, feature and advantage will be apparent, and in the accompanying drawings, identical reference label is indicated generally at identical component.

Fig. 1 is the block diagram for being illustrated schematically the main configuration of the handheld terminal according to the embodiment of the present disclosure；

Fig. 2 is the block diagram for being illustrated schematically the main configuration of the handheld terminal according to another embodiment of the disclosure；

Fig. 3 is the block diagram for being illustrated schematically the main configuration of the aircraft according to the embodiment of the present disclosure；

Fig. 4 is the block diagram for being illustrated schematically the main configuration of the aircraft according to another embodiment of the disclosure；

Fig. 5 is the block diagram for being illustrated schematically the main configuration of the flight system according to the embodiment of the present disclosure；

Fig. 6 is the block diagram for being illustrated schematically the main configuration of the flight system according to another embodiment of the disclosure；

Fig. 7 is the process for being illustrated schematically the key step of the airspace measurement method according to the aircraft of the embodiment of the present disclosure Figure；

Fig. 8 is the key step for being illustrated schematically the airspace measurement method of the aircraft according to another embodiment of the disclosure Flow chart；

Fig. 9 is the flow chart for being illustrated schematically the key step of control method of the aircraft according to the embodiment of the present disclosure；

Figure 10 is the stream for being illustrated schematically the key step of control method of the aircraft according to another embodiment of the disclosure Cheng Tu；

Figure 11 is the process for being illustrated schematically the key step of flying method of the flight system according to the embodiment of the present disclosure Figure；And

Figure 12 is the key step for being illustrated schematically the flying method of the flight system according to another embodiment of the disclosure Flow chart.

Specific embodiment

In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the disclosure The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor It should all fall under the scope of the present invention.

Firstly, describing the block diagram of the main configuration of the handheld terminal according to the embodiment of the present disclosure referring to Fig.1.

As shown in Figure 1, the handheld terminal 100 of the embodiment of the present disclosure mainly includes measuring unit 110, modeling unit 120, control Unit 130 and communication unit 140 processed.These components pass through the interconnection of bindiny mechanism's (not shown) of bus and/or other forms.

Measuring unit 110 be configured as in the peripheral space where aircraft corresponding with the handheld terminal 100 extremely The location information of a few object measures.Here, at least one object for example refers to what aircraft will fly Arbitrary Boundaries object and/or barrier in three-dimensional space.

Specifically, measuring unit 110 may include at least one of rangefinder and image acquisition device.The rangefinder and At least one of image acquisition device can be using 100 position of handheld terminal as basic point, at least one object Each, obtains distance of each of at least one characteristic point of the object relative to the basic point.

Illustratively, rangefinder includes but is not limited to laser range finder, laser radar, ultrasonic radar, infrared laser etc.. Image acquisition device includes but is not limited to monocular cam, binocular camera, infrared camera, the colour based on visible light or gray scale Camera etc..Handheld terminal can obtain three-dimensional information of each characteristic point relative to basic point, such as distance by rangefinder And orientation angles.Believe in addition, handheld terminal can obtain each characteristic point by image acquisition device relative to the image of basic point Breath.

In one example, measuring unit 110 only includes rangefinder, for example, laser range finder.More specifically, the laser Rangefinder includes several laser sensors, irradiates at least one feature of each object from basic point by laser first Then point measures characteristic point according to the gyroscope inside laser sensor to measure basic point to the distance of each characteristic point Orientation angles.The distance and bearing angle for finally rangefinder being combined to measure calculates the three-dimensional information for obtaining each characteristic point.

In another example, measuring unit 110 only includes image acquisition device, such as the depth based on binocular stereo vision is taken the photograph As head.The binocular depth camera at basic point using camera rotary taking ambient enviroment multiple images, then multiple Image forms a relatively specific space by splicing.Further, measuring unit 110 identifies at least from multiple images One object, and determine at least one characteristic point of each object, to extract the 3-D image of each characteristic point Depth information.Specifically, for example, demarcating firstly the need of to binocular depth camera, the inside and outside ginseng of two cameras is obtained Number, homography matrix；Binocular depth camera is corrected with two original images once obtained according to calibration result, is corrected Two images afterwards are generally aligned in the same plane and parallel to each other；Characteristic point detection is carried out to two images after correction；Two are schemed As upper characteristic point is matched；According to matching result, the depth distance of the characteristic point after calculating matching.On the other hand, pass through The rotation angle of record or measurement camera when shooting each time, can obtain orientation angles corresponding with characteristic point.

In another example, measuring unit 110 can include both rangefinder and image acquisition device simultaneously.In view of last When obtaining the depth information of image using binocular depth camera in example, the software calculation amount of handheld terminal is bigger, therefore In this example, software calculation amount can be reduced in conjunction with both rangefinder and camera, improves computational efficiency.In this example, Camera is not limited to binocular camera, is also possible to monocular cam.Firstly, also with camera rotary taking ambient enviroment Image, multiple images by splicing, formed a relatively specific space.Then, then by rangefinder measure in each image Each characteristic point distance.In this way, distance and image information combine, at least one feature of each object can be obtained The location information of point.

Although the disclosure is unlimited it should be pointed out that listing the various examples of rangefinder and image acquisition device herein It in this, but may include any measuring unit that can measure the three dimensional local information of object.In addition, above-described survey Amount method is merely illustrative, and those skilled in the art can be using known in the art or exploitation in the future any measurement side appropriate Method measures the location information of object.

After the location information for obtaining at least one object, modeling unit 120 is according at least one described object Location information, the peripheral space where aircraft is modeled, to generate modeling information.

Specifically, modeling unit 120 includes that flying area models subelement.Flying area model subelement according to described in extremely The location information of at least one first object object of few object in, builds the flying area of the aircraft Mould, to obtain flying area model.

Here, flying area refers to the three-dimensional spatial area that aircraft will fly, it may in the three-dimensional spatial area Comprising barrier may also do not included.At least one first object object can be used, for example, the flight boundary of limitation aircraft Material object, such as ground, metope or other barriers etc..In other words, flight can be determined by least one first object object Airspace.

In one example, flying area can be indoor limited space areas.In this case, it is possible to pass through multiple the One object determines multiple boundaries of flying area.

In another example, flying area can be outdoor depletion region.In this case, it is possible to using handheld terminal The maximum value that 100 measuring unit 110 is capable of measuring, the boundary value as flying area.For example, the depletion region of the outdoor is extremely It is rare to have ground, metope or barrier on one side, boundary face can be generated with the plane where the ground, metope or barrier；And There is no other faces of ground, metope or barrier, can use the maximum that the measuring unit 110 of handheld terminal 100 is capable of measuring Value generates corresponding boundary face, and then multiple boundary faces form flying area.

After the boundary face for determining flying area by such as upper type, flying area models subelement can be by flight sky Domain is modeled as a closed, regular or irregular solid.Specifically, with the initial measurement position where handheld terminal 100 It is set to origin and establishes a three-dimensional system of coordinate.For example, the initial measurement locations where handheld terminal 100 are in current flight airspace Some fixed point.Then, the position letter of at least one characteristic point of each first object object as measured by measuring unit 110 Breath corresponds to the three-dimensional coordinate of multiple coordinate points in the three-dimensional system of coordinate.It is empty that corresponding flight is established using these three-dimensional coordinates Domain model, the flying area model built can be various rules or irregular solids, including but not limited to cuboid, just Cube, centrum, sphere, spheroid, cylindrical body etc..For example, being needed if establishing the cuboid flying area model of rule On 6 faces around handheld terminal 100 respectively choose with the nearest point of each face vertical range, then measure 6 of selection The three-dimensional coordinate of point, point establishes closed cuboid flying area model on the basis of 6 points.

Further, modeling unit 120 further includes headroom airspace modeling subelement.Firstly, headroom airspace modeling subelement Determine whether the flying area is headroom airspace.Here, headroom airspace refers to that an inner space does not have barrier, closing , rule or irregular solid.

Specifically, headroom airspace modeling subelement determines whether the flying area is that headroom airspace comprises determining whether In the presence of at least one second object different from least one first object object.In other words, for determining the of headroom airspace Two objects refer to the barrier different from being used to determine the first object object of flight boundary of flying area above.If there is At least one second object, then flying area is not headroom airspace；Conversely, flying area is headroom airspace.

In one example, at least one first object object and at least one second object are independently selected by user 's.For example, user is before aircraft flight, first by handheld terminal select at least one first object object to measure with For determining flying area, then at least one second object is selected to measure to be used to determine only by handheld terminal again Absolutely empty domain.After having determined headroom airspace, aircraft takeoff.Optionally, during aircraft flight, user can be with The second new object is added again by handheld terminal.Alternatively, user is in the flight for judging that aircraft will fly In the case where not having remaining barrier in airspace, at least one first object object can be only selected, without selecting any second mesh Mark object.

In another example, user independently selects at least one first object object to measure before aircraft flight For determining flying area.After having determined flying area, aircraft takeoff.Then, during aircraft flight, Detect surrounding barrier as at least one the second object by air craft carried obstacle avoidance module, and by least one The location information of second object is sent to handheld terminal to carry out the modeling in headroom airspace.

If headroom airspace modeling subelement determines that acquired flying area is headroom airspace, i.e., do not wrapped in flying area Containing any second object, then acquired flying area model is determined as headroom Spatial Domain.

If it is headroom airspace, i.e. flying area Zhong Bao that headroom airspace modeling subelement, which determines acquired flying area not, Containing at least one the second object, then need further to remove each second object from the flying area model, to obtain Obtain headroom Spatial Domain.

Specifically, at least one object measured by measuring unit 110 may include in addition at least one first object At least one second object except object.Measuring unit 110 can measure at least one characteristic point of each second object Location information, for example, three-dimensional coordinate.The location information of at least one characteristic point based on each second object, from having obtained The correspondence spatial position in the model of flying area obtained removes and the associated geometrical model of the second object, to obtain headroom sky Domain model.

For example, the geometrical model of the second object can be default setting, geometry by user according to the second object Feature and selected from multiple predetermined geometrical models or headroom airspace modeling subelement according at least the one of the second object The geometry of a characteristic point is distributed and the determination from multiple predetermined geometrical models.Specifically, predetermined geometrical model may include but It is not limited to cuboid, square, centrum, sphere, spheroid, cylindrical body etc..In this way, can simplify the barrier in flying area Geometrical model in three-dimensional system of coordinate, to be easily obtained headroom Spatial Domain.

Optionally, handheld terminal 110 can also include user instruction receiving unit.For example, user instruction receiving unit can To be touch display screen, or individually display screen combines multiple hard keys.

User instruction receiving unit can be used for receiving user for the selection of at least one first object object and for The selection of at least one the second object.Alternatively, user instruction receiving unit receives user at least one the first mesh The selection for marking object, without the selection of the second object.

In order to more accurately determine flying area, user instruction receiving unit can receive user for the flying area Attribute input.Illustratively, display screen can be shown measured by measuring unit 110 for determining the first of flying area The measurement result of object, then, user are confirmed or are modified to this measurement result by input.Illustratively, flight is empty The attribute in domain includes but is not limited to height, width, length of flying area etc..

In order to more accurately determine headroom airspace, user instruction receiving unit can receive user at least one second The selection of the geometry of each of object.Illustratively, these geometries are selected from predetermined geometrical model.As above Mentioned by face, predetermined geometrical model can include but is not limited to cuboid, square, centrum, sphere, spheroid, cylindrical body Deng.User can be according to the geometrical characteristic of the second object as a result, and selection is suitable for the second mesh from multiple predetermined geometrical models Mark the geometry of object.

It should be pointed out that in each embodiment described above, although with the initial measurement position where handheld terminal 100 It is set to for the origin of three-dimensional system of coordinate and is described, but it will be appreciated by those skilled in the art that the invention is not limited thereto, But any point in the peripheral region where can using aircraft is coordinate origin.It such as, but not limited to, can be with flight Initial position where device is coordinate origin；Or it can be using the vertex of a certain constant bearing in peripheral region as coordinate original Point.

It should be noted that above-described flying area modeling method and headroom airspace modeling method are merely illustrative.This field skill Art personnel can determine flying area and/or net using known in the art or exploitation in the future any modeling method appropriate Absolutely empty domain.

After modeling is completed, the modeling unit 120 of handheld terminal 100 generates modeling information.Next, control unit 130 generate at least based on the control information of the modeling information.Then, communication unit 140 sends at least base to aircraft In the control information of the modeling information.

In one embodiment, include in at least control information based on modeling information generated of control unit 130 with The associated headroom Spatial Domain data of headroom Spatial Domain.Communication unit 140 is sent and headroom airspace mould to aircraft as a result, The associated headroom Spatial Domain data of type.

Illustratively, after obtaining headroom Spatial Domain data, aircraft is in headroom airspace, in obstacle avoidance module, gas Pressure is counted under the support of fixed high sensor, and any flight may be implemented, flight path is planned in advance without aircraft, by aircraft Independently fly out a route.

Alternatively, after obtaining headroom Spatial Domain data, aircraft be at least based on headroom Spatial Domain data into The planning of row flight path.In other words, after handheld terminal completes modeling, flight path planning is carried out by aircraft oneself.

In this embodiment, it when aircraft carries out flight path planning, other than headroom Spatial Domain data, also needs It is to be understood that specific location of the current location of aircraft in three-dimensional system of coordinate.Flight can be obtained according to following two example The specific location of device.

In one example, the measuring unit 110 of handheld terminal 100 also measures the aircraft relative position letter of aircraft Breath.For example, the measuring unit 110 of handheld terminal 100 measures aircraft of the aircraft relative to the current location of handheld terminal 100 Relative position information, and aircraft is sent to by communication unit 140.If the current location of handheld terminal 100 is different from hand Hold terminal 100 initial measurement locations (that is, modeling when three-dimensional system of coordinate coordinate origin), then can be by handheld terminal 100 Current location be associated with initial measurement locations.Illustratively, the point of addition sensor on handheld terminal 100, passes through Position sensor obtains three-dimensional information of the current location relative to the initial measurement locations previously recorded.Alternatively, in hand Hold and add 9 axle sensors in terminal 100, by 9 axle sensor real-time measurement handheld terminals in moving process angle, accelerate The variation of degree, direction, then by the way that variable quantity of the current location relative to initial measurement locations of handheld terminal is calculated.By This, can obtain aircraft relative to the initial measurement locations of handheld terminal 100 (that is, the coordinate of three-dimensional system of coordinate is former when modeling Point) aircraft relative position information, and aircraft is sent for the aircraft relative position information by communication unit 140.

In another example, Aircraft position information is measured by airborne position sensor by aircraft.Alternatively, The original liftoff position of aircraft is recorded, and passes through carry-on the airbone gyro instrument, acceleration transducer or 9 axle sensors etc. The variation for measuring relative angle, acceleration, direction, to obtain current Aircraft position information.

After obtaining aircraft relative position information or Aircraft position information, aircraft can be according to acquired net Absolutely empty domain model data and aircraft relative position information or Aircraft position information, cook up aircraft in headroom airspace In can be with the path of autonomous flight.

Specifically, path coordinate data associated with flight path planning and flying power data can be generated in aircraft At least one of.For example, flight path can use the coordinate data characterization in three-dimensional system of coordinate.In this case, flight road Diameter planning be Global motion planning, the information of multiple track points on path is stored in aircraft by aircraft, then according to Specified track points are flown.Alternatively, flight path can also be characterized with the flying power data of aircraft.It is this In the case of, flight path planning is power planning, specifically includes planning and stores flight dynamic and each dynamic fly that fly The row time.Flight dynamic include but is not limited to forward, back, up, downwards, to the left, to the right, the information such as accelerate, slow down.

Optionally, in addition, communication unit 140 can also send to aircraft and indicate in multiple pre-set flight modes at least The flight control command of one offline mode, so that aircraft is at least based on following three and carries out flight path planning: at least one A offline mode；Headroom Spatial Domain；And aircraft relative position information or Aircraft position information.Illustratively, at least One offline mode can be selected from multiple pre-set flight modes by user by user instruction receiving unit.For example, passing through Touch screen or the selection of hard key.

In another embodiment, from above by aircraft oneself carry out the embodiment of flight path planning it is different, by hand It holds terminal 100 and carries out flight path planning.In other words, due to carrying out flight path planning without aircraft, handheld terminal 100 communication unit 140 does not send headroom Spatial Domain data associated with headroom Spatial Domain to aircraft.

In this embodiment, the control unit 130 of handheld terminal 100 includes planning subelement, for carrying out about flight The flight path of device is planned.

Specifically, in one example, the communication unit 140 of handheld terminal 100 receives position of aircraft letter from aircraft Breath.Specifically, the acquisition modes of Aircraft position information are as the mode of a upper embodiment.For example, passing through machine by aircraft The position sensor of load measures Aircraft position information.Alternatively, the original liftoff position of aircraft is recorded, and passes through flight The airbone gyro instrument, acceleration transducer or 9 axle sensors on device etc. measure the variation of relative angle, acceleration, direction, thus Obtain current Aircraft position information.

In this example, the planning subelement of control unit 130 be at least based on modeling information and Aircraft position information into Row is planned about the flight path of aircraft.

In another example, the measuring unit 110 of handheld terminal 100 also measures aircraft relative position information.For example, hand The measuring unit 110 for holding terminal 100 measures aircraft and believes relative to the aircraft relative position of the current location of handheld terminal 100 Breath.If the current location of handheld terminal 100 is different from the initial measurement locations of handheld terminal 100 (that is, three-dimensional coordinate when modeling The coordinate origin of system), then the current location of handheld terminal 100 can be associated with initial measurement locations.Illustratively, It is first relative to what is previously recorded to obtain current location by position sensor for the point of addition sensor on handheld terminal 100 The three-dimensional information of beginning measurement position.Alternatively, 9 axle sensors are added on handheld terminal 100, it is real-time by 9 axle sensors The variation for measuring handheld terminal angle, acceleration, direction in moving process, then by the way that the current of handheld terminal is calculated Variable quantity of the position relative to initial measurement locations.Thus, it is possible to obtain initial measurement of the aircraft relative to handheld terminal 100 Position (that is, modeling when three-dimensional system of coordinate coordinate origin) aircraft relative position information.

In this example, the planning subelement of control unit 130 is at least based on modeling information and aircraft relative position letter Breath plan about the flight path of aircraft.

Specifically, planning subelement generates path coordinate data associated with flight path planning and flying power data At least one of.In addition, at least one of path coordinate data and flying power data are sent by communication unit 140 To aircraft.For example, flight path can use the coordinate data characterization in three-dimensional system of coordinate.In this case, flight path is advised Drawing is Global motion planning, and the information of multiple track points on path is all sent to aircraft by communication unit 140, then aircraft It flies according to specified track points.Alternatively, flight path can also be characterized with the flying power data of aircraft. In this case, flight path planning is power planning, specifically includes planning and sends flight dynamic and each flight dynamic Flight time.Flight dynamic include forward, back, up, downwards, to the left, to the right, the information such as accelerate, slow down.

Optionally, planning subelement determines at least one offline mode also from multiple pre-set flight modes, and is based on Following three carries out flight path planning: at least one offline mode；Headroom Spatial Domain；And aircraft relative position information Or Aircraft position information.Illustratively, at least one offline mode can by user by user instruction receiving unit from more It is selected in a pre-set flight mode.For example, being selected by touch screen or hard key.

For both the above embodiment, i.e., either aircraft oneself carry out flight path planning or handheld terminal into Row flight path planning, pre-set flight mode can include but is not limited to: height-lock control, rectilinear flight, advance wave upon wave it is winged Row, circumference orbit, oval orbit, 8 word orbits, climbing flight, descending flight, flight of turning left, flight of turning right, Hovering flight follows flight, time nest, landing etc..Aircraft can be with the single, dual or multiple of above-mentioned various offline mode Arbitrary combination is flown.

It should be pointed out that either still passing through what handheld terminal carried out the position of aircraft by aircraft itself Measurement can be periodical, real-time, intermittent or be triggered based on event.Although in addition, being listed herein for measuring The various sensor examples of the current location of the current location and/or aircraft of handheld terminal, but the present disclosure is not limited thereto, but It may include any sensor of the current location of other current locations that can measure handheld terminal and/or aircraft.

It may also be noted that above-described flight path planning method is merely illustrative.Those skilled in the art can be with The autonomous flight of aircraft is planned using known in the art or exploitation in the future any flight path planning method appropriate.

In addition, in each embodiment described above, although with completely handheld terminal side carry out flight path planning with And be described for flight path planning in aircraft side completely, but it will be appreciated by those skilled in the art that originally Invent it is without being limited thereto, but can using it is any can plan flight path by the way of.Illustratively, using handheld terminal and fly The mode of both row devices cooperation plans that is, a part of flight path planning function is by handheld terminal to complete flight path jointly It completes, remaining a part is completed by aircraft.In another example can complete to fly in handheld terminal side under different scenes or application Row path planning and aircraft side complete to switch between flight path planning.For example, before aircraft takeoff, by hand-held whole Aircraft flight path is for the first time planned in end, can be by aircraft oneself to winged then in the flight course of aircraft Walking along the street diameter is adjusted or plans.

The communication unit 140 of handheld terminal 100, which can be realized, to be communicated with various wireless communication protocols with aircraft Communication unit.Illustratively, communication unit 140 may include that Bluetooth communication device, Bluetooth Low Energy (BLE) communicator, near field are logical Believe device, WLAN (WLAN) or Wi-Fi communicator, Zigbee communication device, infra red data as-sodation (IrDA) communicator, Wi- Direct-connected (WFD) communicator of Fi, ultra wide band (UWB) communicator and Ant+ communicator, but not limited to this.

In one embodiment, the communication unit 140 of handheld terminal 100 also receives the state of flight information of aircraft.This Outside, state of flight of the control unit 130 based on state of flight information monitoring aircraft.The state of flight includes but is not limited to: The height of flight, speed, angle, direction, steering engine revolving speed, vibration frequency, obstacle information, radar perception information, airborne camera shooting Head information etc..

In one embodiment, aircraft is in the lower current location for returning to handheld terminal 100 of at least one of following situations: Aircraft is lower than the first preset threshold from the 140 received signal intensity of communication unit of handheld terminal 100；Handheld terminal 100 Communication unit 140 issues return command to aircraft；And the battery capacity of aircraft is lower than the second preset threshold.

It should be pointed out that the component and structure of handheld terminal 100 shown in FIG. 1 are only exemplary, and not restrictive , as needed, handheld terminal 100 also can have other assemblies and structure.Do not show for example, handheld terminal 100 may also include Input unit and output device out.Input unit can be user and be used to input the device of instruction, and may include keyboard, One or more of microphone and touch screen etc..Output device can be exported to external (such as user) various information (such as Image or sound), and may include one or more of display, loudspeaker etc..

In one example, handheld terminal 100 further includes user instruction receiving unit, for receiving manual control order. Illustratively, during the autonomous flight of aircraft, user can issue some industry controls by user instruction receiving unit System order, including but not limited to various adjustment flying heights, speed, angle, direction, pre-set flight mode, time nest function etc. Control command, for example, height climb 1m, height decline 1m, a left side is turn 90 degrees, the right side is turn 90 degrees, rectilinear flight, orbit, 8 words fly The instruction such as row.After receiving these instructions, flight path is planned by least one of handheld terminal and aircraft again, with Complete the movement of these instructions.After completing these instructions, aircraft continuation independently flies under these flight paths planned again Row, until receiving new instruction.

In another example, handheld terminal 100 further includes voice collecting unit, for receiving the voice of user.In this feelings Under condition, the control unit 130 of handheld terminal 100 includes speech recognition subelement, is identified for the voice to user, with life At the voice control command for aircraft.The voice control command include but is not limited to various adjustment flying heights, speed, The control command of angle, direction, pre-set flight mode, time nest function etc..Voice recognition processing is known to those skilled in the art, This will not be detailed here.

In another example, handheld terminal 100 further includes display unit, for showing the airborne camera for passing through aircraft The data of acquisition.Illustratively, display unit can be integrated in the display screen on handheld terminal 100.Alternatively, display is single Member is also possible to the display device being physically separated with handheld terminal but technology is communicated by wireless communication, such as but unlimited In VR display device, head-mounted display apparatus etc..In addition, the data that the airborne camera of aircraft obtains may include but unlimited In still image and/or dynamic video.

The handheld terminal 100 of the embodiment of the present disclosure is described in detail above by reference to Fig. 1.At the hand-held end of the embodiment of the present disclosure In end, by handheld terminal configure measuring unit carry out barrier measurement, configuration modeling unit carry out three-dimensional modeling and Configure control unit and carry out complicated autonomous flight control, alleviate the load burden and computation burden of aircraft, can by In the case that the fuselage weight for being limited to aircraft is light, load-carrying ability is low, realize that autonomous flight is more stable, control mode is more complicated Function, to greatly improve the autonomous flight ability of light heavyweight aircraft.In addition, handheld terminal passes through the autonomous choosing of user Barrier can more accurately be determined by selecting, and match user demand for greater flexibility, so as to better adapt to light heavyweight The various application scenarios of aircraft.

It should be pointed out that the embodiment of the present disclosure is particularly suitable for the bionic flapping-wing flying vehicle of fuselage light weight requirement.So And the basic principle of the embodiment of the present disclosure can be extended to the unmanned vehicle of any other type, including Fixed Wing AirVehicle, Multi-rotor aerocraft etc., be particularly suitable for being limited to that fuselage weight is light, load-carrying ability is low in the unmanned vehicle of these types and Need the case where realizing autonomous flight.

In the following, referring to Fig. 2 description according to the block diagram of the main configuration of the handheld terminal of the embodiment of the present disclosure.

As shown in Fig. 2, the embodiment of the present disclosure handheld terminal 200 mainly include measuring unit 210, control unit 230 with And communication unit 240.These components pass through the interconnection of bindiny mechanism's (not shown) of bus and/or other forms.

Measuring unit 210 surveys the location information of at least one object in the peripheral space where aircraft Amount.Control unit 230 generates the control information of the location information at least based at least one object.Communication unit 240 The control information of the location information at least based at least one object is sent to aircraft.

It should be noted that the measuring unit 210 of handheld terminal 200 configuration and function and its specific measurement method with referring to Fig.1 The measuring unit 110 of the handheld terminal 100 of description is identical, and details are not described herein.

The difference is that, handheld terminal 200 shown in Fig. 2 does not include building with one of handheld terminal 100 shown in FIG. 1 Form unit, that is, in this embodiment, do not carry out three-dimensional modeling in handheld terminal side, but carry out three-dimensional modeling in aircraft side. Therefore, handheld terminal 200 does not generate modeling information.In other words, control unit 230 does not generate, communication unit 240 is not also sent to Few control information based on modeling information.Alternatively, control unit 230 generates the position at least based at least one object The control information of confidence breath, and aircraft is sent it to by communication unit 240.Believe the position of at least one object It ceases and is modeled as the peripheral space where aircraft is used for it, to generate modeling data, and be at least based on the modeling number According to progress flight path planning.

Specifically, the modeling process of aircraft side includes flying area modeling subprocess: according at least one described target The location information of at least one first object object of the object in, models the flying area of the aircraft, to be flown Row Spatial Domain.

Further, the modeling process of aircraft side further includes headroom airspace modeling subprocess: determining that the flight is empty Whether domain is headroom airspace, and when determining the flying area not is headroom airspace, at least one described object When at least one of the second object, determine the geometrical model of each of at least one described second object, and from The geometrical model is removed in the flying area model, to obtain headroom Spatial Domain, wherein at least one described second mesh It marks object and is different from least one described first object object；Or when determining the flying area is headroom airspace, fly described Row Spatial Domain is determined as headroom Spatial Domain.

It should be noted that the modeling process of aircraft side and the modeling unit 120 of handheld terminal 100 described referring to Fig.1 above Modeling process it is similar, specifically, the flying area of aircraft modeling subprocess is similar to the handheld terminal described referring to Fig.1 The processing that the flying area modeling subelement of 100 modeling unit 120 executes；And the headroom airspace modeling subprocess of aircraft The processing executed similar to the headroom airspace modeling subelement of the modeling unit 120 of the handheld terminal 100 described referring to Fig.1.Cause This, for simplicity details are not described herein specific modeling process.

With the handheld terminal 100 that describes referring to Fig.1 another difference is that, the control of handheld terminal 200 shown in Fig. 2 Unit 230 processed does not execute the flight path planning about aircraft.In other words, in the handheld terminal 100 described referring to Fig.1, Can at least side in handheld terminal side and aircraft side execute and planned about the flight path of aircraft, however, in Fig. 2 Shown in handheld terminal 200, only execute flight path planning in aircraft side.

Specifically, aircraft oneself generate headroom Spatial Domain after, aircraft be at least based on headroom Spatial Domain into The planning of row flight path.

Illustratively, other than headroom Spatial Domain, aircraft can also obtain the current location of aircraft built Specific location in the three-dimensional system of coordinate of mould, to carry out flight path planning.For example, can be obtained according to following two example The specific location of aircraft.

In one example, measuring unit 210 also measures aircraft relative position information, and communication unit 240 is by institute It states aircraft relative position information and is sent to aircraft.

In another example, Aircraft position information is measured by position sensor by aircraft.

After obtaining aircraft relative position information or Aircraft position information, aircraft is at least based on the aircraft Relative position information or the Aircraft position information carry out flight path planning.

It should be noted that the measuring unit 210 of handheld terminal 200 shown in Fig. 2 measures the mode of aircraft relative position information It is identical as the measuring unit 110 of the handheld terminal 100 shown in FIG. 1 measurement mode of aircraft relative position information, therefore no longer It repeats.Aircraft oneself in the embodiment of Fig. 2 obtains the aircraft in the mode of Aircraft position information and the embodiment of Fig. 1 The mode for oneself obtaining Aircraft position information is identical, therefore also repeats no more.In addition, aircraft in the embodiment of Fig. 2 into The mode of row flight path planning is identical as the aircraft progress mode of flight path planning in the section Example of Fig. 1, because This is also repeated no more.

It shall yet further be noted that the user instruction receive capabilities of the handheld terminal 100 described referring to Fig.1, speech identifying function, flight Condition monitoring function, display function etc. are also suitable for handheld terminal 200 shown in Fig. 2.For simplicity with these function Details are not described herein for the relevant embodiment of energy.

It should be pointed out that the component and structure of handheld terminal 200 shown in Fig. 2 are only exemplary, and not restrictive 's.Similar with handheld terminal 100 shown in FIG. 1, as needed, handheld terminal 200 shown in Fig. 2 also can have other assemblies And structure.For example, handheld terminal 200 may also include unshowned input unit and output device.Input unit can be user It for inputting the device of instruction, and may include one or more of keyboard, microphone and touch screen etc..Output device can It to export various information (such as image or sound) to external (such as user), and may include in display, loudspeaker etc. One or more.

The handheld terminal 200 of the embodiment of the present disclosure is described in detail above by reference to Fig. 2.At the hand-held end of the embodiment of the present disclosure In end, carry out barrier measurement by configuring measuring unit on handheld terminal and configure control unit carry out it is complicated from Main flight control, alleviates the load burden and computation burden of aircraft to a certain extent, can be limited to aircraft In the case that fuselage weight is light, load-carrying ability is low, the function that autonomous flight is more stable, control mode is more complicated is realized, thus pole The earth improves the autonomous flight ability of light heavyweight aircraft.In addition, handheld terminal can be more quasi- by the autonomous selection of user It really determines barrier, and matches user demand for greater flexibility, so as to better adapt to each of light heavyweight aircraft Kind application scenarios.

In the following, referring to Fig. 3 description according to the block diagram of the main configuration of the aircraft of the embodiment of the present disclosure.

As shown in figure 3, the aircraft 300 of the embodiment of the present disclosure mainly includes communication unit 310 and control unit 320.This A little components pass through the interconnection of bindiny mechanism's (not shown) of bus and/or other forms.Aircraft 300 shown in Fig. 3 can be with Fig. 1 Shown in handheld terminal 100 be used cooperatively.

Communication unit 310 receives at least control information based on modeling information from handheld terminal.At least base of control unit 320 The flight of aircraft 300 is controlled in control information.Modeling information is to be passed through by handheld terminal to the periphery where aircraft 300 The location information of at least one object in space measures and according to the location information of at least one object to flight Peripheral space where device 300 is modeled and is obtained.

It is empty to the periphery where aircraft 300 according to the location information of at least one object according to the embodiment of the present disclosure Between carry out modeling include: by handheld terminal according at least one object when at least one first object object position believe Breath, models the flying area of aircraft 300, to obtain flying area model.

It is empty to the periphery where aircraft 300 according to the location information of at least one object according to the embodiment of the present disclosure Between modeled further include: determine whether flying area is headroom airspace, and when determining flying area not is headroom airspace, Second object at least one of is worked as at least one object, determines each of at least one second object Geometrical model, and geometrical model is removed from the model of flying area, to obtain headroom Spatial Domain, wherein at least one second Object is different from least one first object object；Or when determining flying area is headroom airspace, by flying area model It is determined as headroom Spatial Domain.

According to the embodiment of the present disclosure, communication unit 310 receives headroom associated with headroom Spatial Domain from handheld terminal Spatial Domain data.In addition, control unit 320 include planning subelement, be at least based on headroom Spatial Domain data carry out it is winged Row path planning.

According to the embodiment of the present disclosure, aircraft 300 further includes airborne position sensor, airborne position sensor measurement flight Device location information.In addition, Aircraft position information is sent handheld terminal by communication unit 310.In this embodiment, aircraft 300 communication unit 310 from the received control information of handheld terminal include flight path planning information for aircraft 300, Flight path planning information is at least based on modeling information and Aircraft position information by handheld terminal and is obtained.

According to the embodiment of the present disclosure, the communication unit 310 of aircraft 300 includes using from the received control information of handheld terminal In the flight path planning information of aircraft 300, flight path planning information be at least based on by handheld terminal modeling information and by Handheld terminal measurement aircraft relative position information and obtain.

According to the embodiment of the present disclosure, flight path planning information includes: in path coordinate data and flying power data At least one.

According to the embodiment of the present disclosure, it is opposite that communication unit 310 receives the aircraft measured by handheld terminal from handheld terminal Location information.Alternatively, aircraft 300 further includes airborne position sensor, measures Aircraft position information.At both In the case of, the planning subelement of the control unit 320 of aircraft 300 is at least based on aircraft relative position information or flight respectively Device location information carries out flight path planning.

According to the embodiment of the present disclosure, communication unit 310 received from handheld terminal indicate in multiple pre-set flight modes to The flight control command of a few offline mode.It flies in addition, the planning subelement of control unit 320 is based on following three Path planning: at least one offline mode；Headroom Spatial Domain；And aircraft relative position information or position of aircraft are believed Breath.

According to the embodiment of the present disclosure, the planning subelement of control unit 320 generate it is associated with flight path planning with At least one of lower data: path coordinate data and flying power data.

According to the embodiment of the present disclosure, passed through by handheld terminal at least one in the peripheral space where aircraft 300 The location information of object measures further include: receives selection of the user at least one first object object；And it receives Selection of the user at least one the second object.

According to the embodiment of the present disclosure, determine that the geometrical model of each of at least one second object includes: by hand The input that terminal receives user is held, to determine choosing of the user for the geometry of each of at least one the second object It selects.

According to the embodiment of the present disclosure, carrying out modeling to the flying area of aircraft 300 includes: to receive user by handheld terminal Input for the attribute of flying area.

According to the embodiment of the present disclosure, communication unit 310 also receives voice control command, voice control command from handheld terminal Speech recognition is carried out to the voice that user inputs by handheld terminal and is generated.

According to the embodiment of the present disclosure, passed through by handheld terminal at least one in the peripheral space where aircraft 300 The location information of object measures further include: at least one of rangefinder and image acquisition device are passed through by handheld terminal, Using handheld terminal position as basic point, for each of at least one object, the object at least one is obtained Distance of each of the characteristic point relative to basic point.

According to the embodiment of the present disclosure, communication unit 310 also sends the state of flight information of aircraft 300 to handheld terminal, So as to the state of flight of handheld terminal monitoring aircraft 300.

According to the embodiment of the present disclosure, aircraft 300 further includes airborne camera, and is taken the photograph by communication unit 310 by airborne As the data that head obtains are sent to handheld terminal.The data are shown by the display unit of handheld terminal.

According to the embodiment of the present disclosure, aircraft 300 is in the lower present bit for returning to handheld terminal of at least one of following situations Set: communication unit 310 is from handheld terminal received signal intensity lower than the first preset threshold；Communication unit 310 is from handheld terminal Receive return command；And the battery capacity of aircraft 300 is lower than the second preset threshold.

It should be noted that specific measurement method, modeling pattern and flight path rule in each embodiment described referring to Fig.1 The mode of drawing etc., is also suitable for each embodiment of Fig. 3.For simplicity details are not described herein.

It should be pointed out that the component and structure of aircraft 300 shown in Fig. 3 be it is illustrative, and not restrictive, As needed, aircraft 300 shown in Fig. 3 also can have other assemblies and structure.For example, aircraft 300 can also include Unshowned various airborne sensors, such as gyroscope, angular-rate sensor, acceleration transducer, obstacle avoidance sensor, position biography One or more of sensor, barometer, airborne camera etc..

The aircraft 300 of the embodiment of the present disclosure is described in detail above by reference to Fig. 3.In the embodiments of the present disclosure, by Handheld terminal rather than on aircraft configure measuring unit carry out barrier measurement, configuration modeling unit carry out three-dimensional modeling and Configure control unit and carry out complicated autonomous flight control, alleviate the load burden and computation burden of aircraft, can by In the case that the fuselage weight for being limited to aircraft is light, load-carrying ability is low, realize that autonomous flight is more stable, control mode is more complicated Function, to greatly improve the autonomous flight ability of light heavyweight aircraft.In addition, the autonomous selection by user can be more Barrier is accurately determined, and matches user demand for greater flexibility, so as to better adapt to light heavyweight aircraft Various application scenarios.

It should be pointed out that the embodiment of the present disclosure is particularly suitable for the bionic flapping-wing flying vehicle of fuselage light weight requirement.So And the basic principle of the embodiment of the present disclosure can be extended to the unmanned vehicle of any other type, including Fixed Wing AirVehicle, Multi-rotor aerocraft etc., be particularly suitable for being limited to that fuselage weight is light, load-carrying ability is low in the unmanned vehicle of these types and Need the case where realizing autonomous flight.

In the following, referring to Fig. 4 description according to the block diagram of the main configuration of the aircraft of another embodiment of the disclosure.

As shown in figure 4, the aircraft 400 of the embodiment of the present disclosure mainly includes communication unit 410, control unit 420 and builds Form unit 430.These components pass through the interconnection of bindiny mechanism's (not shown) of bus and/or other forms.Aircraft shown in Fig. 4 400 can be used cooperatively with handheld terminal 200 shown in Fig. 2.

According to the embodiment of the present disclosure, communication unit 410 is received from handheld terminal at least based on the position of at least one object The control information of confidence breath.Modeling unit 430 is based on control information, models to the peripheral space where aircraft 400, with Generate modeling data.Control unit 420 at least based on control information and modeling data, controls the flight of aircraft 400.In the reality It applies in example, the location information of at least one object is to be passed through by handheld terminal in the peripheral space where aircraft 400 The position of at least one object measures and obtains.

According to the embodiment of the present disclosure, modeling unit 430 includes that flying area models subelement, according at least one target The location information of at least one first object object of the object in, models the flying area of aircraft 400, to be flown Spatial Domain.

According to the embodiment of the present disclosure, modeling unit 430 further includes headroom airspace modeling subelement, determines that flying area is No is headroom airspace, and when determining flying area not is headroom airspace, at least one at least one object A second object determines the geometrical model of each of at least one second object, and moves from the model of flying area Except geometrical model, to obtain headroom Spatial Domain, wherein at least one second object is different from least one first object Object；Or when determining flying area is headroom airspace, flying area model is determined as headroom Spatial Domain.

According to the embodiment of the present disclosure, control unit 420 includes planning subelement, is at least based on modeling data and flies Path planning.

According to the embodiment of the present disclosure, it is opposite that communication unit 410 receives the aircraft measured by handheld terminal from handheld terminal Location information.Alternatively, aircraft 400 further includes airborne position sensor, measures Aircraft position information.At both In the case of, the planning subelement of control unit 420 is at least based on aircraft relative position information or Aircraft position information respectively, Carry out flight path planning.

According to the embodiment of the present disclosure, communication unit 410 is also received from handheld terminal and is indicated in multiple pre-set flight modes The flight control command of at least one offline mode.In addition, the planning subelement of control unit 420 be based on following three carry out it is winged Row path planning: at least one offline mode；Headroom Spatial Domain；And aircraft relative position information or position of aircraft are believed Breath.

According to the embodiment of the present disclosure, the planning subelement of control unit 420 generate it is associated with flight path planning with At least one of lower data: path coordinate data and flying power data.

According to the embodiment of the present disclosure, passed through by handheld terminal at least one in the peripheral space where aircraft 400 The location information of object measures further include: receives selection of the user at least one first object object；And it receives Selection of the user at least one the second object.

According to the embodiment of the present disclosure, determine that the geometrical model of each of at least one second object includes: by hand The input that terminal receives user is held, to determine choosing of the user for the geometry of each of at least one the second object It selects.

According to the embodiment of the present disclosure, carrying out modeling to the flying area of aircraft 400 includes: to receive user by handheld terminal Input for the attribute of flying area.

According to the embodiment of the present disclosure, communication unit 410 also receives voice control command, voice control command from handheld terminal Speech recognition is carried out to the voice that user inputs by handheld terminal and is generated.

According to the embodiment of the present disclosure, passed through by handheld terminal at least one in the peripheral space where aircraft 400 The location information of object measures further include: at least one of rangefinder and image acquisition device are passed through by handheld terminal, Using handheld terminal position as basic point, for each of at least one object, the object at least one is obtained Distance of each of the characteristic point relative to basic point.

According to the embodiment of the present disclosure, communication unit 410 also sends the state of flight information of aircraft 400 to handheld terminal, So as to the state of flight of handheld terminal monitoring aircraft 400.

According to the embodiment of the present disclosure, aircraft 400 further includes airborne camera, and is taken the photograph by communication unit 410 by airborne As head obtain data be sent to handheld terminal, the data are shown by the display unit of handheld terminal.

According to the embodiment of the present disclosure, aircraft 400 is in the lower present bit for returning to handheld terminal of at least one of following situations Set: communication unit 410 is from handheld terminal received signal intensity lower than the first preset threshold；Communication unit 410 is from handheld terminal Receive return command；And the battery capacity of aircraft 400 is lower than the second preset threshold.

It should be noted that specific measurement method, modeling pattern and the flight path rule in each embodiment described referring to Fig. 2 The mode of drawing etc., is also suitable for each embodiment of Fig. 4.For simplicity details are not described herein.

It should be pointed out that the component and structure of aircraft 400 shown in Fig. 4 be it is illustrative, and not restrictive, As needed, aircraft 400 shown in Fig. 4 also can have other assemblies and structure.For example, aircraft 400 can also include Unshowned various airborne sensors, such as gyroscope, angular-rate sensor, acceleration transducer, obstacle avoidance sensor, position biography One or more of sensor, barometer, airborne camera etc..

The aircraft 400 of the embodiment of the present disclosure is described in detail above by reference to Fig. 4.In the embodiments of the present disclosure, by Handheld terminal rather than configured on aircraft measuring unit carry out barrier measurement and configure control unit carry out it is complicated autonomous Flight control, alleviates the load burden and computation burden of aircraft to a certain extent, can be in the machine for being limited to aircraft In the case that body is light-weight, load-carrying ability is low, the function that autonomous flight is more stable, control mode is more complicated is realized, thus greatly The autonomous flight ability of ground raising light heavyweight aircraft.In addition, the autonomous selection by user can more accurately determine barrier Hinder object, and match user demand for greater flexibility, so as to better adapt to the various application scenarios of light heavyweight aircraft.

It should be pointed out that the embodiment of the present disclosure is particularly suitable for the bionic flapping-wing flying vehicle of fuselage light weight requirement.So And the basic principle of the embodiment of the present disclosure can be extended to the unmanned vehicle of any other type, including Fixed Wing AirVehicle, Multi-rotor aerocraft etc., be particularly suitable for being limited to that fuselage weight is light, load-carrying ability is low in the unmanned vehicle of these types and Need the case where realizing autonomous flight.

In the following, referring to Fig. 5 description according to the block diagram of the main configuration of the flight system of the embodiment of the present disclosure.

As shown in figure 5, the flight system 500 of the embodiment of the present disclosure includes handheld terminal 100 and aircraft 300.It is hand-held whole End 100 mainly includes measuring unit 110, modeling unit 120, control unit 130 and communication unit 140.Aircraft 300 is main Including communication unit 310 and control unit 320.

The communication unit 140 of handheld terminal 100 and the communication unit 310 of aircraft 300 can pass through various wireless communications Agreement is communicated.Illustratively, wireless communication may include Bluetooth communication, Bluetooth Low Energy (BLE) communication, near-field communication, WLAN (WLAN) or Wi-Fi communication, Zigbee communication, infra red data as-sodation (IrDA) communication, Wi-Fi direct (WFD) Communication, ultra wide band (UWB) communication and Ant+ communication, but not limited to this.

Pair of handheld terminal 100 shown in each functional module and Fig. 1 of the handheld terminal 100 as shown in Fig. 5 Answer functional module identical, therefore details are not described herein.In each functional module and Fig. 3 of the aircraft 300 as shown in Fig. 5 Shown in aircraft 300 corresponding function module it is identical, therefore details are not described herein.

The flight system 500 of the embodiment of the present disclosure is described in detail above by reference to Fig. 5.In the embodiments of the present disclosure, pass through Configure in handheld terminal rather than on aircraft measuring unit carries out barrier measurement, configuration modeling unit carries out three-dimensional modeling, with And configuration control unit carries out complicated autonomous flight control, alleviates the load burden and computation burden of aircraft, Ke Yi In the case that the fuselage weight for being limited to aircraft is light, load-carrying ability is low, realize that autonomous flight is more stable, control mode is more complicated Function, to greatly improve the autonomous flight ability of light heavyweight aircraft.In addition, the autonomous selection by user can It more accurately determines barrier, and matches user demand for greater flexibility, so as to better adapt to light heavyweight aircraft Various application scenarios.

In the following, referring to Fig. 6 description according to the block diagram of the main configuration of the flight system of another embodiment of the disclosure.

As shown in fig. 6, the flight system 600 of the embodiment of the present disclosure includes handheld terminal 200 and aircraft 400.It is hand-held whole End 200 mainly includes measuring unit 210, control unit 230 and communication unit 240.Aircraft 400 mainly includes communication unit 410, control unit 420 and modeling unit 430.

The communication unit 240 of handheld terminal 200 and the communication unit 410 of aircraft 400 can pass through various wireless communications Agreement is communicated.Illustratively, wireless communication may include Bluetooth communication, Bluetooth Low Energy (BLE) communication, near-field communication, WLAN (WLAN) or Wi-Fi communication, Zigbee communication, infra red data as-sodation (IrDA) communication, Wi-Fi direct (WFD) Communication, ultra wide band (UWB) communication and Ant+ communication, but not limited to this.

Pair of each functional module of the handheld terminal 200 as shown in Fig. 6 and handheld terminal 200 shown in Fig. 2 Answer functional module identical, therefore details are not described herein.In each functional module and Fig. 4 of the aircraft 400 as shown in Fig. 6 Shown in aircraft 400 corresponding function module it is identical, therefore details are not described herein.

The aircraft 400 of the embodiment of the present disclosure is described in detail above by reference to Fig. 6.In the embodiments of the present disclosure, by Handheld terminal rather than configured on aircraft measuring unit carry out barrier measurement and configure control unit carry out it is complicated autonomous Flight control, alleviates the load burden and computation burden of aircraft to a certain extent, can be in the machine for being limited to aircraft In the case that body is light-weight, load-carrying ability is low, the function that autonomous flight is more stable, control mode is more complicated is realized, thus greatly The autonomous flight ability of ground raising light heavyweight aircraft.In addition, the autonomous selection by user can more accurately determine barrier Hinder object, and match user demand for greater flexibility, so as to better adapt to the various application scenarios of light heavyweight aircraft.

In the following, referring to Fig. 7 description according to the stream of the key step of the airspace measurement method of the aircraft of the embodiment of the present disclosure Cheng Tu.The airspace measurement method 700 can handheld terminal 100 for example as shown in Figure 1 execute.

In step S710, the location information of at least one object in the peripheral space where aircraft is surveyed Amount.

The peripheral space where aircraft is built according to the location information of at least one object in step S720 Mould, to generate modeling information.

In step S730, at least control information based on modeling information is generated.

In step S740, at least control information based on modeling information is sent to aircraft.

It should be noted that specific measurement method, modeling pattern and flight path rule in each embodiment described referring to Fig.1 The mode of drawing etc., is also suitable for the embodiment of Fig. 7.For simplicity details are not described herein.

The airspace measurement method 700 of the aircraft of the embodiment of the present disclosure is described in detail above by reference to Fig. 7.In disclosure reality It applies in the airspace measurement method of example, is flown by carrying out the autonomous of barrier measurement, three-dimensional modeling and complexity in handheld terminal side Row control, alleviates the load burden and computation burden of aircraft, can in the fuselage weight for being limited to aircraft light, load energy In the case that power is low, the function that autonomous flight is more stable, control mode is more complicated is realized, fly to greatly improve light heavyweight The autonomous flight ability of row device.In addition, the autonomous selection by user can more accurately determine barrier, and for greater flexibility User demand is matched, so as to better adapt to the various application scenarios of light heavyweight aircraft.

In the following, referring to Fig. 8 description according to the key step of the airspace measurement method of the aircraft of another embodiment of the disclosure Flow chart.The airspace measurement method 800 can handheld terminal 200 for example as shown in Figure 2 execute.

In step S810, the location information of at least one object in the peripheral space where aircraft is surveyed Amount.

In step S820, the control information of at least location information based at least one object is generated.

In step S830, the control information of at least location information based at least one object is sent to aircraft.

It should be noted that specific measurement method, modeling pattern and the flight path rule in each embodiment described referring to Fig. 2 The mode of drawing etc., is also suitable for the embodiment of Fig. 8.For simplicity details are not described herein.

The airspace measurement method 800 of the embodiment of the present disclosure is described in detail above by reference to Fig. 8.In the embodiments of the present disclosure, By carrying out the autonomous flight control of barrier measurement and complexity in handheld terminal side, flight is alleviated to a certain extent The load burden and computation burden of device, can it is light in the fuselage weight for being limited to aircraft, in the case that load-carrying ability is low, realize The function that autonomous flight is more stable, control mode is more complicated, to greatly improve the autonomous flight energy of light heavyweight aircraft Power.In addition, the autonomous selection by user can more accurately determine barrier, and user demand is matched for greater flexibility, from And the various application scenarios of light heavyweight aircraft can be better adapted to.

In the following, referring to Fig. 9 description according to the flow chart of the key step of the control method of the aircraft of the embodiment of the present disclosure. The control method 900 can aircraft 300 for example as shown in Figure 3 execute.

In step S310, at least control information based on modeling information is received from handheld terminal.

In step S320, at least based on control information, the flight of aircraft is realized.

According to the embodiment of the present disclosure, modeling information be as handheld terminal by the peripheral space where aircraft extremely The location information of a few object measured and according to the location information of at least one object to the week where aircraft Side space is modeled and is obtained.

It should be noted that specific measurement method, modeling pattern and flight path rule in each embodiment described referring to Fig.1 The mode of drawing etc., is also suitable for the embodiment of Fig. 9.For simplicity details are not described herein.

The control method 900 of the aircraft of the embodiment of the present disclosure is described in detail above by reference to Fig. 9.In the embodiment of the present disclosure Control method in, by handheld terminal side rather than aircraft side carry out barrier measurement, three-dimensional modeling and complexity from Main flight control, alleviates the load burden and computation burden of aircraft, can it is light in the fuselage weight for being limited to aircraft, carry In the case that lotus ability is low, the function that autonomous flight is more stable, control mode is more complicated is realized, to greatly improve light weight The autonomous flight ability of grade aircraft.In addition, the autonomous selection by user can more accurately determine barrier, and cleverer User demand is matched, livingly so as to better adapt to the various application scenarios of light heavyweight aircraft.

In the following, 0 description is according to the stream of the key step of the control method of the aircraft of another embodiment of the disclosure referring to Fig.1 Cheng Tu.The control method 1000 can aircraft 400 for example as shown in Figure 4 execute.

In step S1010, the control information of at least location information based at least one object is received from handheld terminal；

The peripheral space where aircraft is modeled, based on control information to generate modeling number in step S1020 According to；And

In step S1030, at least based on control information and modeling data, the flight of aircraft is realized.

According to the embodiment of the present disclosure, the location information of at least one object is to be passed through by handheld terminal to where aircraft Peripheral space in the position of at least one object measure and obtain.

It should be noted that specific measurement method, modeling pattern and the flight path rule in each embodiment described referring to Fig. 2 The mode of drawing etc., is also suitable for the embodiment of Figure 10.For simplicity details are not described herein.

The control method 1000 of the embodiment of the present disclosure is described in detail above by reference to Figure 10.In the embodiments of the present disclosure, lead to It crosses and carries out the autonomous flight control of barrier measurement and complexity in handheld terminal side rather than aircraft side, to a certain extent Alleviate the load burden and computation burden of aircraft, can it is light in the fuselage weight that is limited to aircraft, load-carrying ability is low In the case of, the function that autonomous flight is more stable, control mode is more complicated is realized, to greatly improve light heavyweight aircraft Autonomous flight ability.In addition, the autonomous selection by user can more accurately determine barrier, and matching is used for greater flexibility Family demand, so as to better adapt to the various application scenarios of light heavyweight aircraft.

In the following, 1 description is according to the process of the key step of the flying method of the flight system of the embodiment of the present disclosure referring to Fig.1 Figure.The flying method 1100 can flight system 500 for example as shown in Figure 5 execute.

In step S1110, as handheld terminal to the position of at least one object in the peripheral space where aircraft Information measures.

In step S1120, by handheld terminal according to the location information of at least one object, to the periphery where aircraft Space is modeled, to generate modeling information.

In step S1130, at least control information based on modeling information is generated by handheld terminal.

In step S1140, at least control information based on modeling information is sent from handheld terminal to aircraft.

In step S1150, control information is received from handheld terminal by aircraft.

In step S1160, it is at least based on control information by aircraft, realizes the flight of aircraft.

It should be noted that specific measurement method, modeling pattern and flight path rule in each embodiment described referring to Fig.1 The mode of drawing etc., is also suitable for the embodiment of Figure 11.For simplicity details are not described herein.

The flying method 1100 of the flight system of the embodiment of the present disclosure is described in detail above by reference to Figure 11.In disclosure reality It applies in the flying method of example, by the autonomous flight control for carrying out barrier measurement, three-dimensional modeling and complexity in handheld terminal side System, alleviates the load burden and computation burden of aircraft, can it is light in the fuselage weight that is limited to aircraft, load-carrying ability is low In the case where, the function that autonomous flight is more stable, control mode is more complicated is realized, to greatly improve light heavyweight aircraft Autonomous flight ability.In addition, the autonomous selection by user can more accurately determine barrier, and match for greater flexibility User demand, so as to better adapt to the various application scenarios of light heavyweight aircraft.

In the following, 2 descriptions are according to the key step of the flying method of the flight system of another embodiment of the disclosure referring to Fig.1 Flow chart.The flying method 1200 can flight system 600 for example as shown in Figure 6 execute.

In step S1210, as handheld terminal to the position of at least one object in the peripheral space where aircraft Information measures.

In step S1220, the control information of at least location information based at least one object is generated by handheld terminal.

In step S1230, at least location information based at least one object is sent from handheld terminal to aircraft Control information.

In step S1240, control information is received from handheld terminal by aircraft.

In step S1250, control information is based on by aircraft, the peripheral space where aircraft is modeled, with life At modeling data.

In step S1260, it is at least based on control information and modeling data by aircraft, realizes the flight of aircraft.

It should be noted that specific measurement method, modeling pattern and the flight path rule in each embodiment described referring to Fig. 2 The mode of drawing etc., is also suitable for the embodiment of Figure 12.For simplicity details are not described herein.

The flying method 1200 of the flight system of the embodiment of the present disclosure is described in detail above by reference to Figure 12.In disclosure reality It applies in example, by carrying out the autonomous flight control of barrier measurement and complexity in handheld terminal side, mitigates to a certain extent The load burden and computation burden of aircraft, can, situation that load-carrying ability low light in the fuselage weight that is limited to aircraft Under, the function that autonomous flight is more stable, control mode is more complicated is realized, to greatly improve the autonomous of light heavyweight aircraft Flight performance.In addition, the autonomous selection by user can more accurately determine barrier, and matching user needs for greater flexibility It asks, so as to better adapt to the various application scenarios of light heavyweight aircraft.

According to another embodiment of the disclosure, a kind of handheld terminal is provided, comprising: measuring appliance；Wireless transceiver；Processing Device；Memory；With storage computer program instructions in the memory, in the computer program instructions by the processing Device executes following steps when running: controlling the measuring appliance at least one object in the peripheral space where aircraft Location information measures；According to the location information of at least one object, to the peripheral space where the aircraft It is modeled, to generate modeling information；It generates at least based on the control information of the modeling information；And the control wireless receipts It is described at least based on the control information of the modeling information to aircraft transmission to send out device.

According to another embodiment of the disclosure, a kind of handheld terminal is provided, comprising: measuring appliance；Wireless transceiver；Processing Device；Memory；With storage computer program instructions in the memory, in the computer program instructions by the processing Device executes following steps when running: position of the control measuring appliance at least one object in the peripheral space where aircraft Information measures；Generate the control information of the location information at least based at least one object；And control is wireless Transceiver sends the control information of the location information at least based at least one object to the aircraft.

According to another embodiment of the disclosure, a kind of aircraft is provided, comprising: wireless transceiver；Processor；Memory； With the computer program instructions of storage in the memory, held when the computer program instructions are run by the processor Row following steps: control wireless transceiver receives at least control information based on modeling information from handheld terminal；And at least base In the control information, the flight of the aircraft is realized.Wherein, the modeling information is to be passed through by the handheld terminal to winged The location information of at least one object in peripheral space where row device measures and according at least one described target The location information of object models the peripheral space where the aircraft and is obtained.

According to another embodiment of the disclosure, a kind of aircraft is provided, comprising: wireless transceiver；Processor；Memory； With the computer program instructions of storage in the memory, held when the computer program instructions are run by the processor Row following steps: control wireless transceiver receives the control of at least location information based at least one object from handheld terminal Information；Based on the control information, the peripheral space where the aircraft is modeled, to generate modeling data；And It is at least based on the control information and modeling data, controls the flight of the aircraft.Wherein, at least one object Location information is to pass through the position at least one object described in the peripheral space where aircraft as the handheld terminal It sets and measures and obtain.

According to another embodiment of the disclosure, a kind of flight system, including handheld terminal and aircraft are provided.It is described hand-held Terminal includes: measuring appliance；First wireless transceiver；First processor；First memory；Be stored in the first memory The first computer program instructions, following step is executed when first computer program instructions are run by the first processor It is rapid: to control the measuring appliance and the location information of at least one object in the peripheral space where aircraft is measured； According to the location information of at least one object, the peripheral space where the aircraft is modeled, is built with generating Mould information；It generates at least based on the control information of the modeling information；And control first wireless transceiver flies to described Row device sends described at least based on the control information of the modeling information.The aircraft includes: the second wireless transceiver；Second Processor；Second memory；With the second computer program instruction being stored in the second memory, calculated described second Machine program instruction executes following steps when being run by the second processor: the second wireless transceiver of control is received from handheld terminal At least control information based on modeling information；And it is at least based on the control information, control the flight of the aircraft.

According to another embodiment of the disclosure, a kind of flight system, including handheld terminal and aircraft are provided.It is described hand-held Terminal includes: measuring appliance；First wireless transceiver；First processor；First memory；Be stored in the first memory The first computer program instructions, following step is executed when first computer program instructions are run by the first processor Rapid: control measuring appliance measures the location information of at least one object in the peripheral space where aircraft；It generates The control information of location information at least based at least one object；And the first wireless transceiver of control flies to described Row device sends the control information of the location information at least based at least one object.The aircraft includes: Two wireless transceivers；Second processor；Second memory；Refer to the second computer program being stored in the second memory Enable, following steps are executed when the second computer program instruction is run by the second processor: control second is wirelessly received Send out the control information that device receives at least location information based at least one object from handheld terminal；Believed based on the control Breath, models the peripheral space where the aircraft, to generate modeling data；And at least it is based on the control information And modeling data, control the flight of the aircraft.

In embodiments above, measuring appliance may include at least one of rangefinder and image acquisition device.It is exemplary Ground, rangefinder include but is not limited to laser range finder, laser radar, ultrasonic radar, infrared laser etc..Image acquisition device includes But be not limited to monocular cam, binocular camera, infrared camera, the colour based on visible light or gray scale camera etc..

In embodiments above, wireless transceiver (including the first wireless transceiver and second wireless transceiver) be can be achieved For the wireless transceiver communicated with various wireless communication protocols with aircraft.Illustratively, wireless transceiver may include Bluetooth communication device, Bluetooth Low Energy (BLE) communicator, near-field communication device, WLAN (WLAN) or Wi-Fi communicator, Zigbee communication device, infra red data as-sodation (IrDA) communicator, Wi-Fi direct (WFD) communicator, ultra wide band (UWB) communicator With Ant+ communicator, but not limited to this.

In embodiments above, processor (including first processor and second processor) can be central processing unit (CPU) or the processing unit of the other forms with data-handling capacity and/or instruction execution capability, and can with it is other Component cooperates to execute desired function.

In embodiments above, memory (including first memory and second memory) may include one or more Computer program product, the computer program product may include various forms of computer readable storage mediums, such as easily The property lost memory and/or nonvolatile memory.The volatile memory for example may include random access memory (RAM) And/or cache memory (cache) etc..The nonvolatile memory for example may include read-only memory (ROM), hard Disk, flash memory etc..It can store one or more computer program instructions on the computer readable storage medium, processor can With run described program instruction, with realize each device of embodiment of the disclosure described above corresponding function and/or Other desired functions.

It should be noted that in the present specification, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

In the embodiments of the present disclosure, units/modules can use software realization, to be executed by various types of processors. For example, the executable code module of a mark may include the one or more physics or logic of computer instruction Block, for example, it can be built as object, process or function.Nevertheless, the executable code of institute's mark module is not necessarily to It is physically located together, but may include the different instructions being stored in different positions, combined when in these command logics When together, Component units/module and the regulation purpose for realizing the units/modules.

When units/modules can use software realization, it is contemplated that the level of existing hardware technique, it is possible to software The units/modules of realization, without considering the cost, those skilled in the art can build corresponding hardware circuit Realize corresponding function, the hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array and such as The existing semiconductor of logic chip, transistor etc either other discrete elements.Module can also be set with programmable hardware Standby, field programmable gate array, programmable logic array, programmable logic device etc. are realized.

The example embodiment for the disclosure being described in detail above is merely illustrative, rather than restrictive.Ability Field technique personnel can carry out these embodiments various it should be understood that in the case where not departing from the principle and spirit of the disclosure Modification, combination or sub-portfolio, and such modification should be fallen within the scope of the disclosure.

Claims (52)

1. a kind of handheld terminal, comprising:

Measuring unit measures the location information of at least one object in the peripheral space where aircraft；

Modeling unit carries out the peripheral space where the aircraft according to the location information of at least one object Modeling, to generate modeling information；

Control unit generates at least based on the control information of the modeling information；And

Communication unit, Xiang Suoshu aircraft send described at least based on the control information of the modeling information.

2. a kind of handheld terminal, comprising:

Measuring unit measures the location information of at least one object in the peripheral space where aircraft；

Control unit generates the control information of the location information at least based at least one object；And

Communication unit, Xiang Suoshu aircraft send the control letter of the location information at least based at least one object Breath.

3. handheld terminal according to claim 1, wherein the modeling unit includes:

Flying area models subelement, is believed according to the position of at least one first object object of at least one the described object in Breath, models the flying area of the aircraft, to obtain flying area model.

4. handheld terminal according to claim 3, wherein the modeling unit further includes headroom airspace modeling subelement, It determines whether the flying area is headroom airspace, and

When determining the flying area not is headroom airspace, second at least one of is worked as at least one described object Object determines the geometrical model of each of at least one described second object, and from the flying area model The geometrical model is removed, to obtain headroom Spatial Domain, wherein at least one described second object be different from it is described at least One first object object；Or

When determining the flying area is headroom airspace, the flying area model is determined as headroom Spatial Domain.

5. handheld terminal according to claim 4, wherein the communication unit is sent and the headroom to the aircraft The associated headroom Spatial Domain data of Spatial Domain so that the aircraft be at least based on the headroom Spatial Domain data into The planning of row flight path.

6. handheld terminal according to claim 4, wherein the communication unit receives position of aircraft from the aircraft Information,

And wherein, described control unit includes planning subelement, is at least based on the modeling information and the aircraft position Confidence breath plan for the flight path of the aircraft.

7. handheld terminal according to claim 4, wherein the measuring unit also measures aircraft relative position information,

And wherein, described control unit includes planning subelement, is at least based on the modeling information and the aircraft phase Location information plan for the flight path of the aircraft.

8. handheld terminal according to claim 6 or 7, wherein the planning subelement is also from multiple pre-set flight modes At least one offline mode of middle determination, and flight path planning: at least one described offline mode is carried out based on following three； The headroom Spatial Domain；And aircraft relative position information or Aircraft position information.

9. handheld terminal according to claim 6 or 7, wherein the planning subelement also generates and the flight path Plan at least one of associated path coordinate data and flying power data,

And wherein, at least one of the path coordinate data and flying power data are sent institute by the communication unit State aircraft.

10. handheld terminal according to claim 2, wherein the location information of at least one object is flown by described Row device is for modeling the peripheral space where it, to generate modeling data, and is at least carried out based on the modeling data Flight path planning.

11. handheld terminal according to claim 10, wherein the peripheral space to where it carries out modeling and includes:

According to the location information of at least one first object object of at least one the described object in, the aircraft is flown Row airspace is modeled, to obtain flying area model.

12. handheld terminal according to claim 11, wherein the peripheral space to where it, which is modeled, also to be wrapped It includes:

Determine whether the flying area is headroom airspace, and

When determining the flying area not is headroom airspace, second at least one of is worked as at least one described object Object determines the geometrical model of each of at least one described second object, and from the flying area model The geometrical model is removed, to obtain headroom Spatial Domain, wherein at least one described second object be different from it is described at least One first object object；Or

When determining the flying area is headroom airspace, the flying area model is determined as headroom Spatial Domain.

13. the handheld terminal according to claim 5 or 10, wherein the measuring unit also measures aircraft relative position Information, and the communication unit also sends the aircraft for the aircraft relative position information, or

Aircraft position information is measured by position sensor by the aircraft；

And wherein, the flight path planning is at least believed based on the aircraft relative position information or the position of aircraft Breath.

14. handheld terminal according to claim 13, wherein the communication unit is multiple to aircraft transmission instruction The flight control command of at least one offline mode in pre-set flight mode, so that the aircraft is at least based on following three Carry out the flight path planning: at least one described offline mode；The headroom Spatial Domain；And the aircraft is opposite Location information or the Aircraft position information.

15. the handheld terminal according to claim 4 or 12, further includes:

User instruction receiving unit, receive user at least one first object object selection and for it is described at least The selection of one the second object.

16. handheld terminal according to claim 15, wherein the user instruction receiving unit also receives user for institute State the selection of the geometry of each of at least one second object.

17. handheld terminal according to claim 15, wherein the user instruction receiving unit also receives user for institute State the input of the attribute of flying area.

18. handheld terminal according to claim 1 or 2, wherein described control unit includes:

Speech recognition subelement identifies the voice of user, to generate the voice control command for being used for the aircraft.

19. handheld terminal according to claim 1 or 2, wherein the measuring unit includes rangefinder and image acquisition device At least one of, using the handheld terminal position as basic point, for each of at least one described object, obtain Take each of at least one characteristic point of the object relative to the distance of the basic point.

20. handheld terminal according to claim 1 or 2, wherein the communication unit also receives the flight of the aircraft Status information,

And wherein, state of flight of the described control unit also based on aircraft described in the state of flight information monitoring.

21. handheld terminal according to claim 1 or 2, further includes:

Display unit, the data that display is obtained by the airborne camera of the aircraft.

22. handheld terminal according to claim 1 or 2, wherein the aircraft returns under at least one of following situations Go back to the current location of the handheld terminal:

The aircraft is lower than the first preset threshold from the communication unit received signal intensity；

The communication unit issues return command to the aircraft；And

The battery capacity of the aircraft is lower than the second preset threshold.

23. a kind of aircraft, comprising:

Communication unit receives at least control information based on modeling information from handheld terminal；And

Control unit is at least based on the control information, controls the flight of the aircraft,

Wherein, the modeling information is to be passed through as the handheld terminal at least one mesh in the peripheral space where aircraft The location information of mark object measured and according to the location information of at least one object to the week where the aircraft Side space is modeled and is obtained.

24. a kind of aircraft, comprising:

Communication unit receives the control information of at least location information based at least one object from handheld terminal；

Modeling unit is based on the control information, models to the peripheral space where the aircraft, to generate modeling Data；And

Control unit is at least based on the control information and modeling data, controls the flight of the aircraft,

Wherein, the location information of at least one object is to be passed through as the handheld terminal to the periphery sky where aircraft The position of interior at least one object measures and obtains.

25. aircraft according to claim 23, wherein according to the location information of at least one object to described Peripheral space where aircraft carries out modeling

The location information of at least one first object object by the handheld terminal according at least one described object in, it is right The flying area of the aircraft is modeled, to obtain flying area model.

26. aircraft according to claim 25, wherein according to the location information of at least one object to described Peripheral space where aircraft is modeled further include:

Determine whether the flying area is headroom airspace, and

When determining the flying area not is headroom airspace, second at least one of is worked as at least one described object Object determines the geometrical model of each of at least one described second object, and from the flying area model The geometrical model is removed, to obtain headroom Spatial Domain, wherein at least one described second object be different from it is described at least One first object object；Or

When determining the flying area is headroom airspace, the flying area model is determined as headroom Spatial Domain.

27. aircraft according to claim 26, wherein the communication unit from the handheld terminal receive with it is described net The absolutely empty associated headroom Spatial Domain data of domain model,

And wherein, described control unit include planning subelement, be at least based on the headroom Spatial Domain data carry out it is winged Row path planning.

28. aircraft according to claim 26 further includes position sensor, the position sensor measures aircraft position Confidence breath, and the communication unit also sends the handheld terminal for the Aircraft position information,

And wherein, the control information includes the flight path planning information for the aircraft, the flight path rule Information is drawn at least to be based on the modeling information and the Aircraft position information by the handheld terminal and obtained.

29. aircraft according to claim 26, wherein the control information includes the flight road for the aircraft Diameter planning information, the flight path planning information are at least based on the modeling information by the handheld terminal and are held by described Terminal measurement aircraft relative position information and obtain.

30. the aircraft according to claim 28 or 29, wherein the flight path planning information includes: path coordinate At least one of data and flying power data.

31. aircraft according to claim 24, wherein described control unit includes planning subelement, is at least based on The modeling data carries out flight path planning.

32. aircraft according to claim 31, wherein the modeling unit includes:

Flying area models subelement, is believed according to the position of at least one first object object of at least one the described object in Breath, models the flying area of the aircraft, to obtain flying area model.

33. aircraft according to claim 32, wherein the modeling unit further include:

Headroom airspace modeling subelement determines whether the flying area is headroom airspace, and

When determining the flying area not is headroom airspace, second at least one of is worked as at least one described object Object determines the geometrical model of each of at least one described second object, and from the flying area model The geometrical model is removed, to obtain headroom Spatial Domain, wherein at least one described second object be different from it is described at least One first object object；Or

When determining the flying area is headroom airspace, the flying area model is determined as headroom Spatial Domain.

34. the aircraft according to claim 27 or 31, wherein the communication unit is received from the handheld terminal by institute The aircraft relative position information of handheld terminal measurement is stated, or

The aircraft further includes position sensor, measures Aircraft position information；

And wherein, the planning subelement is at least based on the aircraft relative position information or position of aircraft letter Breath carries out flight path planning.

35. aircraft according to claim 34, wherein it is more that the communication unit also receives instruction from the handheld terminal The flight control command of at least one offline mode in a pre-set flight mode,

And wherein, the planning subelement is based on following three and carries out flight path planning: at least one described offline mode； The headroom Spatial Domain；And the aircraft relative position information or the Aircraft position information.

36. the aircraft according to claim 27 or 31, wherein the planning subelement is generated advises with the flight path Draw at least one of associated following data: path coordinate data and flying power data.

37. the aircraft according to claim 26 or 33, wherein described to be passed through by the handheld terminal to where aircraft Peripheral space in the location information of at least one object measure further include:

Receive selection of the user at least one first object object；And

Receive selection of the user at least one second object.

38. the aircraft according to claim 37, wherein each at least one second object described in the determination A geometrical model includes:

The input of user is received, by the handheld terminal to determine user for each at least one described second object The selection of a geometry.

39. the aircraft according to claim 37, wherein the flying area to the aircraft carries out modeling packet It includes:

Input of the user for the attribute of the flying area is received by the handheld terminal.

40. the aircraft according to claim 23 or 24, wherein the communication unit also receives language from the handheld terminal Sound control command, the voice control command are carried out speech recognition to the voice that user inputs by the handheld terminal and are generated.

41. the aircraft according to claim 23 or 24, wherein described to be passed through by the handheld terminal to where aircraft Peripheral space in the location information of at least one object measure further include:

By the handheld terminal by least one of rangefinder and image acquisition device, it is with the handheld terminal position Basic point obtains each of at least one characteristic point of the object for each of at least one described object Distance relative to the basic point.

42. the aircraft according to claim 23 or 24, wherein the communication unit also sends institute to the handheld terminal The state of flight information of aircraft is stated, so that the handheld terminal monitors the state of flight of the aircraft.

43. the aircraft according to claim 23 or 24 further includes airborne camera, and by the communication unit by institute It states the data that airborne camera obtains and is sent to the handheld terminal,

And wherein, the data are shown by the display unit of the handheld terminal.

44. the aircraft according to claim 23 or 24, wherein the aircraft returns under at least one of following situations Go back to the current location of the handheld terminal:

The communication unit is lower than the first preset threshold from the handheld terminal received signal intensity；

The communication unit receives return command from the handheld terminal；And

The battery capacity of the aircraft is lower than the second preset threshold.

45. a kind of airspace measurement method for aircraft, comprising:

The location information of at least one object in peripheral space where aircraft is measured；

According to the location information of at least one object, the peripheral space where the aircraft is modeled, with life At modeling information；

It generates at least based on the control information of the modeling information；And

It is sent to the aircraft described at least based on the control information of the modeling information.

46. a kind of airspace measurement method for aircraft, comprising:

The location information of at least one object in peripheral space where aircraft is measured；

Generate the control information of the location information at least based at least one object；And

The control information of the location information at least based at least one object is sent to the aircraft.

47. a kind of control method for aircraft, comprising:

At least control information based on modeling information is received from handheld terminal；And

It is at least based on the control information, controls the flight of the aircraft,

Wherein, the modeling information is to be passed through as the handheld terminal at least one mesh in the peripheral space where aircraft The location information of mark object measured and according to the location information of at least one object to the week where the aircraft Side space is modeled and is obtained.

48. a kind of control method for aircraft, comprising:

The control information of at least location information based at least one object is received from handheld terminal；

Based on the control information, the peripheral space where the aircraft is modeled, to generate modeling data；And

It is at least based on the control information and modeling data, controls the flight of the aircraft,

Wherein, the location information of at least one object is to be passed through as the handheld terminal to the periphery sky where aircraft The position of interior at least one object measures and obtains.

49. a kind of flight system, including handheld terminal as described in claim 1 and flight as claimed in claim 22 Device.

50. a kind of flight system, including handheld terminal as claimed in claim 2 and flight as claimed in claim 23 Device.

51. a kind of flying method for flight system, the flight system includes aircraft and handheld terminal, the method packet It includes:

It is measured as location information of the handheld terminal at least one object in the peripheral space where aircraft；

By handheld terminal according to the location information of at least one object, the peripheral space where the aircraft is carried out Modeling, to generate modeling information；

It is generated by handheld terminal at least based on the control information of the modeling information；

It is sent from handheld terminal to the aircraft described at least based on the control information of the modeling information；

The control information is received from handheld terminal by aircraft；And

It is at least based on the control information by aircraft, realizes the flight of the aircraft.

52. a kind of flying method for flight system, the flight system includes aircraft and handheld terminal, the method packet It includes:

It is measured as location information of the handheld terminal at least one object in the peripheral space where aircraft；

The control information of the location information at least based at least one object is generated by handheld terminal；

The control of the location information at least based at least one object is sent from handheld terminal to the aircraft Information；

The control information is received from handheld terminal by aircraft；

The control information is based on by aircraft, the peripheral space where the aircraft is modeled, to generate modeling number According to；And

It is at least based on the control information and modeling data by aircraft, realizes the flight of the aircraft.