CN114253289A - Aircraft, control method thereof and computer-readable storage medium - Google Patents
Aircraft, control method thereof and computer-readable storage medium Download PDFInfo
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- CN114253289A CN114253289A CN202111489005.1A CN202111489005A CN114253289A CN 114253289 A CN114253289 A CN 114253289A CN 202111489005 A CN202111489005 A CN 202111489005A CN 114253289 A CN114253289 A CN 114253289A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a control method of an aircraft, which comprises the following steps: acquiring a plurality of target position points set on a map of a target space based on a user instruction; connecting the target position points to obtain the flight path of the aircraft in the target space; and controlling the aircraft to fly along the flight path. The invention also discloses an aircraft and a computer readable storage medium. The invention aims to improve the cruising flexibility of the aircraft applied to indoor scenes, ensure the cruising route of the aircraft to be accurately matched with the actual requirement of a user and improve the user experience.
Description
Technical Field
The present invention relates to the field of aircraft technology, and in particular, to a control method for an aircraft, and a computer-readable storage medium.
Background
With the development of economic technology, aircrafts are widely used in many fields, including indoor security monitoring and automatic patrol.
At present, an aircraft applied to indoor scenes such as security protection, patrol and the like can only operate according to a default path planned by a fixed algorithm, so that the flexibility of the aircraft in flight is insufficient, the cruising process of the aircraft is easily not matched with the actual requirements of users, and the user experience is influenced.
Disclosure of Invention
The invention mainly aims to provide an aircraft control method, an aircraft and a computer readable storage medium, aiming at improving the flexibility of the aircraft cruise applied to indoor scenes, ensuring the cruise route of the aircraft to be accurately matched with the actual requirements of users and improving the user experience.
In order to achieve the above object, the present invention provides a control method of an aircraft, including the steps of:
acquiring a plurality of target position points set on a map of a target space based on a user instruction;
connecting the target position points to obtain the flight path of the aircraft in the target space;
and controlling the aircraft to fly along the flight path.
Optionally, the step of connecting the plurality of target location points to obtain the flight path of the aircraft in the target space includes:
connecting the target position points according to a preset path generation rule to obtain a first flight path;
or acquiring connection information corresponding to the target position points input by a user, and connecting the target position points according to the connection information to acquire a second flight path;
the flight path comprises the first flight path or a second flight path.
Optionally, the step of controlling the aircraft to fly along the flight path comprises:
acquiring current time;
if the current time is within a preset time period, controlling the aircraft to fly along the second flight path;
and if the current time is beyond a preset time period, controlling the aircraft to fly along the first flight path.
Optionally, after the step of controlling the aircraft to fly along the flight path, the method further includes:
controlling the aircraft to acquire first image data of the environment where the aircraft is located in the flight process of the aircraft;
adding identification information to the position of the living body target in the first image data;
sending the first image data added with the identification information to a user terminal;
and when a tracking instruction sent by the user terminal is received, controlling the aircraft to track the flight of the living body target.
Optionally, the step of adding identification information to the position of the living body target in the first image data includes:
when the number of the living body targets in the first image data is more than one, respectively adding different identification information at different positions where different living body targets are located in the first image data;
the step of controlling the aircraft to track the flight of the living body target when receiving the tracking instruction sent by the user terminal comprises the following steps:
when the tracking instruction is received, extracting identification information of a living body target contained in the tracking instruction as target identification information;
and controlling the aircraft to track the flight of the living body target corresponding to the target identification information.
Optionally, after the step of controlling the flying vehicle to track the flight of the living target, the method further includes:
controlling the aircraft to acquire second image data corresponding to the living body target in real time in the process that the aircraft tracks the flight of the living body target;
sending the second image data to the user terminal in real time;
and/or the step of controlling the aircraft to track the flight of the living target comprises:
controlling the aircraft to track the flight of the living body target according to preset control parameters;
wherein the preset control parameter is that the aircraft is positioned behind the living body target and maintains a preset distance from the living body target.
Optionally, before the step of obtaining a plurality of target location points set on the map of the target space based on the user instruction, the method further includes:
controlling the aircraft to fly in the target space and collecting first scene data of the position of the aircraft;
and constructing a map of the target space according to the first scene data.
Optionally, after the step of controlling the aircraft to fly along the flight path, the method further includes:
controlling the aircraft to acquire second scene data during the flight process of the aircraft along the flight path;
and updating the map of the target space according to the second scene data.
Furthermore, in order to achieve the above object, the present application also proposes an aircraft comprising: a memory, a processor and a control program of an aircraft stored on the memory and executable on the processor, the control program of the aircraft when executed by the processor implementing the steps of the control method of the aircraft according to any one of the preceding claims.
Furthermore, in order to achieve the above object, the present application also proposes a computer-readable storage medium having stored thereon a control program of an aircraft, which when executed by a processor implements the steps of the control method of an aircraft according to any one of the above.
The invention provides a control method of an aircraft, which is characterized in that a plurality of target position points selected by a user on a map of a target space based on a user instruction are obtained, and the target positions are connected to form a flight path of the aircraft in the target space.
Drawings
FIG. 1 is a schematic diagram of the hardware architecture involved in the operation of one embodiment of the aircraft of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating an exemplary method of controlling an aircraft of the present invention;
FIG. 3 is a schematic flow chart diagram of another embodiment of a method of controlling an aircraft of the present invention;
FIG. 4 is a schematic flow chart diagram of yet another embodiment of a method of controlling an aircraft of the present invention;
fig. 5 is a schematic diagram of a map of a target space and a plurality of target location points on the map according to an embodiment of the method for controlling an aircraft of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring a plurality of target position points set on a map of a target space based on a user instruction; connecting the target position points to obtain the flight path of the aircraft in the target space; and controlling the aircraft to fly along the flight path.
In the prior art, the aircraft applied to indoor scenes such as security protection, patrol and the like can only operate according to a default path obtained by a fixed algorithm plan, so that the flexibility of the aircraft in flight is insufficient, the cruising process of the aircraft is easily not matched with the actual requirements of users, and the user experience is influenced.
The invention provides the solution, and aims to improve the cruising flexibility of the aircraft applied to indoor scenes, ensure the cruising route of the aircraft to be accurately matched with the actual requirement of a user, and improve the user experience.
The embodiment of the invention provides an aircraft, which is mainly applied to indoor scenes and has an autonomous flight function. In the embodiment, the aircraft can be used for security monitoring, patrol and the like of indoor space; in other embodiments, the aircraft can also be used for sterilization, aromatherapy and other functions of the indoor space.
In the present embodiment, referring to fig. 1, the aircraft includes a navigation module 2 and a control device 1, where the navigation module 2 is configured to locate a real-time position of the aircraft during a cruising process, so that the aircraft can fly according to a target flight path. The control device 1 is connected with the navigation module 2, and the control device 1 can be used for controlling the operation of the navigation module 2.
Further, referring to fig. 1, the aircraft may further include a communication module 3, where the communication module 3 is used for connecting the aircraft with an external user terminal (e.g., a mobile phone, a tablet computer, a smart watch, etc.). Based on the communication module 3, the user can transmit the user setting parameters related to the operation of the aircraft to the aircraft by operating the external user terminal. The communication module 3 is connected with the control device 1, and the control device 1 can acquire data received by the aircraft based on the communication module 3.
Further, referring to fig. 1, the aircraft may further include a map building module 4, where the map building module 4 may be configured to collect scene data of an area where the aircraft arrives, so as to build a map of a flight space of the aircraft according to the scene data collected during the cruising process. The control device 1 is connected with the map building module 4, and the control device 1 can control the operation of the map building module 4 and can also obtain the map data built by the map building module 4.
Further, referring to fig. 1, the aircraft may further include a camera 5, where the camera 5 may be configured to collect image data of an area where the aircraft arrives, the camera 5 is connected to the control device 1, and the control device 1 may obtain the image data collected by the camera 5.
In an embodiment of the invention, with reference to fig. 1, a control device 1 of an aircraft comprises: a processor 1001 (e.g., CPU), memory 1002, etc. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a control program of the aircraft may be included in the memory 1002 as a kind of computer-readable storage medium. In the apparatus shown in fig. 1, the processor 1001 may be configured to call a control program of the aircraft stored in the memory 1002 and perform operations of the relevant steps of the control method of the aircraft in the following embodiments.
The embodiment of the invention also provides a control method of the aircraft, which is applied to the aircraft.
Referring to fig. 2, an embodiment of a method for controlling an aircraft according to the present application is provided. In this embodiment, the control method of the aircraft includes:
step S10, acquiring a plurality of target position points set on the map of the target space based on the user instruction;
the map of the target space can be a map built by the aircraft or a map input by the user.
In particular, the aircraft may be connected to an external user terminal by wire or wirelessly. The user terminal can determine the plurality of target position points based on the user instruction input by the displayed map and send the map data comprising the plurality of target position points to the aircraft based on the communication connection. The aircraft receives the data transmitted by the user terminal, and a plurality of target position points can be obtained.
Step S20, connecting the target position points to obtain the flight path of the aircraft in the target space;
specifically, all the target position points are connected end to form the flight path. The connection mode of the target position points can be set by a user or automatically generated by the system.
And step S30, controlling the aircraft to fly along the flight path.
According to the control method of the aircraft, the multiple target position points selected by a user on the basis of a user instruction on a map of a target space are obtained, the multiple target positions are connected to form a flight path of the aircraft in the target space, and based on the flight path, the user can set the position which the aircraft needs to reach in the cruising process of the target space based on the actual demand of the user, so that the aircraft does not fly according to the default path planned by the fixed algorithm any more, the cruising flexibility of the aircraft applied to an indoor scene is improved, the cruising route of the aircraft is guaranteed to be accurately matched with the actual demand of the user, and the user experience is improved.
Further, in an implementation manner of this embodiment, the target location points are connected according to a preset path generation rule, so as to obtain a first flight path. For example, the preset path generation rule may include that the generated flight path is the shortest path; for another example, the preset path generation rule may include that the generated flight path passes through a plurality of preset types of regions according to a preset sequence, and the like. In the implementation mode, the multiple target position points are connected according to the preset path generation rule to obtain the first flight path of the aircraft, so that the flight path meeting the user requirements can be automatically generated after the user selects the multiple target position points, the user operation is saved, and the user experience is improved.
Further, in another implementation manner of this embodiment, connection information corresponding to the multiple target location points input by the user is obtained, and the multiple target location points are connected according to the connection information, so as to obtain the second flight path. Specifically, a user can control the user terminal to connect the multiple target position points end to end according to actual requirements of the user terminal, information detected by the user terminal when the user connects the multiple target position points end to end serves as connection information of the user terminal, the user terminal can send the connection information to the aircraft, and the aircraft can connect the multiple target position points received before based on the received connection information to form a second flight path. In the implementation mode, the second flight path of the aircraft is obtained by connecting the target position points based on the connection information input by the user, so that the generated flight path of the aircraft can be accurately matched with the actual requirement of the user, the matching degree of the cruise path of the aircraft and the user requirement is improved, and the user requirement is effectively improved.
The flight path described above may include the first flight path or the second flight path herein. Based on this, step S30 may include: acquiring current time; if the current time is within a preset time period, controlling the aircraft to fly along the second flight path; and if the current time is beyond a preset time period, controlling the aircraft to fly along the first flight path. The preset time period here is specifically a time period determined based on a user setting instruction. For example, the preset time period may be a preset time period of the user in the target space, for example, the preset time period is 18:00 pm to 7:00 pm, based on, if the current time is 20 pm: 00, controlling the aircraft to fly along the second flight path within 18:00 evening to 7:00 morning of the next morning, so that the aircraft flies according to the flight path planned by the user when the user is in the target space; if the current time is 12 noon: 00, and controlling the aircraft to fly along the first flight path beyond 18:00 at night to 7:00 in the next morning, so that the aircraft flies according to the path planned by the preset rule when the user is not in the target space. Based on this, can guarantee that the aircraft can adopt different flight paths to cruise in the different flight paths that cruise demand that user's in the adaptable different time quantums to guarantee that the aircraft can be at different time quantums automatic switch flight path, guarantee that the aircraft can satisfy user's actual demand of cruising in any time quantums of flight, further improve the flexibility that the aircraft flies.
Further, based on the above embodiments, another embodiment of the control method for an aircraft of the present application is provided. In this embodiment, referring to fig. 3, after step S30, the method further includes:
step S40, controlling the aircraft to collect first image data of the environment where the aircraft is located in the flight process of the aircraft;
specifically, in the process that the aircraft flies along the determined flight path, the video and/or the photo collected by the camera are acquired in real time as the first image data.
Step S50, adding identification information to the position of the living body target in the first image data;
the living object is a human, animal and/or plant object having a vital sign.
Recognizing the living body target in the first image data, and adding identification information to the position of the living body target in the first image data, such as adding a number, an icon and the like on one side of the head position of the living body target; as another example, a border may be added at the edge of the image of the living object in the first image data.
Step S60 of transmitting the first image data added with the identification information to a user terminal;
specifically, the first image data is a video, and the video added with the identification information can be sent to the user terminal in real time; the first image data is a photo, and the photo added with the identification information can be sent to the user terminal in real time; in addition, the first image data with the identification information added in the target time period (such as in a preset time period before the current time) can also be sent to the user terminal.
The user terminal can output prompt information and display the first image data after receiving the first image data, the output prompt information is used for reminding a user whether to track the living body target identified in the first image data, the user can check the first image data at the user terminal and can quickly find out the living body target based on the identification information for confirmation, the user can input a feedback instruction corresponding to the prompt information after confirmation, and the feedback instruction represents whether the user needs to track the living body target. And the user terminal can send the feedback instruction to the aircraft after receiving the feedback instruction of the user.
Wherein, if the living body target does not exist in the first image data, the living body target can not be sent to the user terminal.
And step S70, controlling the aircraft to track the flight of the living body target when receiving the tracking instruction sent by the user terminal.
The feedback instruction received by the aircraft can identify the feedback instruction, and when the feedback instruction is identified as a tracking instruction, the aircraft can be controlled to track the flight of the living body target; and when the feedback command is identified as a non-tracking command, controlling the aircraft to continue flying along the determined flight path to maintain the current flight parameters.
Specifically, in this embodiment, the aircraft is controlled to track the flight of the living body target according to preset control parameters; wherein the preset control parameter is that the aircraft is positioned behind the living body target and maintains a preset distance from the living body target. The preset distance here is greater than the set distance threshold. Based on this, be favorable to realizing being difficult to by live body target discovery when the aircraft is monitored the live body target, guarantee safety monitoring's secret nature and validity to guarantee space security when improving aircraft flexibility of cruising. In other embodiments, the aerial vehicle may also be controlled to fly at the same speed as the live target to enable tracking of the live target.
In this embodiment, through above-mentioned mode, improve the flexibility that the aircraft cruises and satisfy the demand that the user actually cruises, still can adapt to the user actual demand and carry out free tracking to suspicious live body target to improve the accurate nature to indoor space safety monitoring.
Further, in this embodiment, the step of adding identification information to the location of the living body target in the first image data includes:
step S51, when the number of the living body targets in the first image data is more than one, adding different identification information to different positions of different living body targets in the first image data respectively;
for example, when two living body targets exist in the first image data, a number "1" is added to the position of one living body target, and a number "2" is added to the position of the other living body target.
Different living targets are identified by different identification information, so that a user can input a feedback instruction comprising corresponding identification information based on different monitoring requirements of the different living targets, and the aircraft is favorable for being suitable for the response operation of the user for realizing differential safety monitoring on the different living targets.
The step of controlling the aircraft to track the flight of the living body target when receiving the tracking instruction sent by the user terminal comprises the following steps:
step S71, when receiving the tracking instruction, extracting the identification information of the living target contained in the tracking instruction as target identification information;
and step S72, controlling the aircraft to track the flight of the living targets corresponding to the target identification information.
When the living body target corresponding to the aircraft tracking target identification information flies, the aircraft can be controlled according to the preset control parameters to realize tracking operation.
Specifically, the target identification information included in the tracking instruction indicates that the user has a tracking monitoring requirement on the living target corresponding to the target identification information; and the tracking instruction does not contain identification information, which indicates that the user does not have the requirement of tracking and monitoring on the living target of the target information. Based on the above, when the tracking instruction includes one of the identification information corresponding to more than one living body target, the aircraft can be controlled to follow the living body target corresponding to the target identification information and ignore other living body targets.
For example, when there are two living body targets in the first image data, defined as a living body target 1 and a living body target 2, respectively, if the tracking command includes identification information of the living body target 1 but does not include identification information of the living body target 2, the control aircraft controls the aircraft to track the living body target 1 while ignoring the living body target 2. If the tracking command includes the identification information of the living body target 2 but does not include the identification information of the living body target 1, the control aircraft ignores the living body target 1 and simultaneously controls the aircraft to track the living body target 2.
In this embodiment, through above-mentioned mode, when can guaranteeing that there is more than one live body target in the aircraft flight space, can follow tracks its required live body target based on user's actual demand, can guarantee the effective improvement of aircraft safety protection precision.
Further, in this embodiment, after the step of controlling the aircraft to track the flight of the living object, the method further includes: controlling the aircraft to acquire second image data corresponding to the living body target in real time in the process that the aircraft tracks the flight of the living body target; and sending the second image data to the user terminal in real time. Based on the method, the user can check the activity condition of the suspicious living body target in the flight space of the aircraft in real time through the user terminal, so that corresponding measures can be taken in real time based on the activity condition of the suspicious living body target, and the regional safety of the flight space of the aircraft is ensured.
Further, based on any one of the above embodiments, another embodiment of the control method for the aircraft is provided. In this embodiment, referring to fig. 4, before the step S10, the method further includes:
step S01, controlling the aircraft to fly in the target space and collecting first scene data of the position of the aircraft;
step S02, constructing a map of the target space according to the first scene data.
The constructed map of the target space is specifically as shown in fig. 5, and the map of the target space may specifically include distribution of different areas separated in the target space. The dots in fig. 5 are a plurality of target position points determined in the subsequent step S10 based on the user control instruction.
The first scene data is data obtained by detecting object feature information (such as position, shape and/or type) in a scene where the aircraft is located through detection modules such as a laser sensor and/or a depth camera on the aircraft. And generating a sub-map corresponding to each position based on the first scene data corresponding to each position on the flight path of the aircraft, and splicing the sub-maps corresponding to all the two adjacent positions to obtain map data serving as a map of the target space.
For example, when the first scene data is laser data detected by a laser sensor, a grid map can be constructed by taking the position of the aircraft as a base point, each grid in the grid map represents a position in the environment of the aircraft, relative position information of different objects in the environment of the aircraft relative to the aircraft is determined according to the laser data, the grids of corresponding objects in the grid map are marked according to the relative position information, and the grid map marked with the object position information can be used as a sub-map. And splicing the grid maps marked with the object position information corresponding to the positions based on the flight path of the aircraft to obtain a map of the target space. In the embodiment, the map of the target space is constructed through the first scene data acquired during cruising of the aircraft, so that a user does not need to provide the scene map of the target space by himself, and the cruising flexibility of the aircraft is improved to meet the requirements of the user and simplify the user operation.
Further, in this embodiment, referring to fig. 4, after step S30, the method further includes:
step S80, controlling the aircraft to collect second scene data in the process that the aircraft flies along the flight path;
step S90, updating the map of the target space according to the second scene data.
The concept of the second scene data is the same as that of the first scene data, and is not described herein again. And determining object characteristic information in the scene where the aircraft is located according to the second scene data, comparing the object characteristic information with object characteristic information of a corresponding position in the map of the current target space, and replacing the object characteristic information in the map of the current target space with the object characteristic information determined according to the second scene data if the object characteristic information is inconsistent with the object characteristic information of the corresponding position in the map of the current target space.
Based on the method, after the user sees the map of the target space output by the user terminal, if the map is found to be inaccurate, the flight path in the process of acquiring the scene data by the aircraft can be reset through the selection of the plurality of target position points, so that the situation that the map of the target space is accurately matched with the actual layout of the target space after being updated based on the acquired second scene data is ensured, and the accuracy of the aircraft in subsequent cruising based on the map of the target space is further improved.
It should be noted that, when the step S30 further includes the above-mentioned step S40 to step S70, the step S40 to step S70 and the step S80 to step S90 may be executed sequentially or synchronously according to actual requirements.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a control program of an aircraft is stored on the computer-readable storage medium, and when executed by a processor, the control program of the aircraft implements the relevant steps of any embodiment of the above control method of the aircraft.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an aircraft, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for controlling an aircraft, characterized in that it comprises the following steps:
acquiring a plurality of target position points set on a map of a target space based on a user instruction;
connecting the target position points to obtain the flight path of the aircraft in the target space;
and controlling the aircraft to fly along the flight path.
2. The method for controlling an aircraft according to claim 1, wherein said step of connecting said plurality of target location points to obtain a flight path of said aircraft within said target space comprises:
connecting the target position points according to a preset path generation rule to obtain a first flight path;
or acquiring connection information corresponding to the target position points input by a user, and connecting the target position points according to the connection information to acquire a second flight path;
the flight path comprises the first flight path or a second flight path.
3. The method for controlling an aircraft according to claim 2, wherein the step of controlling the aircraft to fly along the flight path comprises:
acquiring current time;
if the current time is within a preset time period, controlling the aircraft to fly along the second flight path;
and if the current time is beyond a preset time period, controlling the aircraft to fly along the first flight path.
4. The method of controlling an aircraft according to claim 1, wherein the step of controlling the aircraft to fly along the flight path is followed by further comprising:
controlling the aircraft to acquire first image data of the environment where the aircraft is located in the flight process of the aircraft;
adding identification information to the position of the living body target in the first image data;
sending the first image data added with the identification information to a user terminal;
and when a tracking instruction sent by the user terminal is received, controlling the aircraft to track the flight of the living body target.
5. The control method for an aircraft according to claim 4, wherein the step of adding identification information to the position of the living body target in the first image data includes:
when the number of the living body targets in the first image data is more than one, respectively adding different identification information at different positions where different living body targets are located in the first image data;
the step of controlling the aircraft to track the flight of the living body target when receiving the tracking instruction sent by the user terminal comprises the following steps:
when the tracking instruction is received, extracting identification information of a living body target contained in the tracking instruction as target identification information;
and controlling the aircraft to track the flight of the living body target corresponding to the target identification information.
6. The method for controlling an aircraft according to claim 4, wherein the step of controlling the aircraft to track the flight of the live target is followed by further comprising:
controlling the aircraft to acquire second image data corresponding to the living body target in real time in the process that the aircraft tracks the flight of the living body target;
sending the second image data to the user terminal in real time;
and/or the step of controlling the aircraft to track the flight of the living target comprises:
controlling the aircraft to track the flight of the living body target according to preset control parameters;
wherein the preset control parameter is that the aircraft is positioned behind the living body target and maintains a preset distance from the living body target.
7. The control method for an aircraft according to any one of claims 1 to 6, wherein the step of acquiring a plurality of target position points set on a map of the target space based on a user instruction is preceded by:
controlling the aircraft to fly in the target space and collecting first scene data of the position of the aircraft;
and constructing a map of the target space according to the first scene data.
8. The method of controlling an aircraft according to claim 7, wherein the step of controlling the aircraft to fly along the flight path is followed by further comprising:
controlling the aircraft to acquire second scene data during the flight process of the aircraft along the flight path;
and updating the map of the target space according to the second scene data.
9. An aircraft, characterized in that it comprises: memory, a processor and a control program of an aircraft stored on the memory and executable on the processor, the control program of the aircraft when executed by the processor implementing the steps of the control method of an aircraft according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of an aircraft, which when executed by a processor implements the steps of the control method of an aircraft according to any one of claims 1 to 8.
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