CN117008628A

CN117008628A - Flight control method and device, aircraft and WIFI hotspot device

Info

Publication number: CN117008628A
Application number: CN202210472776.8A
Authority: CN
Inventors: 王进进; 吕建锋
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-11-07

Abstract

The embodiment of the invention provides a flight control method and device, an aircraft and a WIFI hotspot device, and relates to the technical field of unmanned aerial vehicles; the FPV image information can be transmitted to the control terminal without delay and damage, so that the unmanned aerial vehicle can be controlled to fly based on the real-time accurate flight state of the unmanned aerial vehicle. The method comprises the following steps: acquiring a target WIFI hotspot device at the current flight position; sending the locally acquired FPV image information to the target WIFI hotspot device; and receiving a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and controlling the aircraft to fly in response to the flight instruction.

Description

Flight control method and device, aircraft and WIFI hotspot device

[ field of technology ]

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method and device, an aircraft and a WIFI hotspot device.

[ background Art ]

When the unmanned aerial vehicle breaks down or is abnormal, remote take over is needed: the unmanned aerial vehicle collects image information of a First person viewing angle (FPV), the computing equipment is utilized to analyze the image information of the FPV collected by the unmanned aerial vehicle to determine a flight strategy of the unmanned aerial vehicle, and a flight command is generated to control the unmanned aerial vehicle to fly.

How to ensure that FPV image information is transmitted to third party devices without delay and loss becomes a concern.

[ invention ]

The embodiment of the invention provides a flight control method, a flight control device, an aircraft and a WIFI hotspot device, which can transmit FPV image information to a control terminal without delay and damage, so that the unmanned aerial vehicle flight is controlled based on the real-time accurate flight state of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a flight control method, applied to an aircraft, the method including: acquiring a target WIFI hotspot device at the current flight position; sending the locally acquired FPV image information to the target WIFI hotspot device; and receiving a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and responding to the flight instruction to control the aircraft to fly.

According to the flight control method, the WIFI signal with the strongest signal intensity at the current flight position is obtained, the FPV image information is sent to the corresponding WIFI hotspot device through the WIFI signal with the strongest signal intensity, the corresponding WIFI hotspot device transmits the FPV image information to the control terminal through the communication line of the WIFI hotspot device, and the control terminal can obtain the FPV image information capable of accurately representing the real-time flight state of the aircraft without delay due to the fact that the communication line of the WIFI hotspot device transmits the FPV image information in a targeted mode, so that the control terminal can send flight instructions according to the real-time flight state of the aircraft, and the aircraft is controlled to finish flight.

In one possible implementation manner, the obtaining a target WIFI hotspot device at a current flight location includes:

acquiring a plurality of preset WIFI hot spot devices with signal coverage areas coincident with a flight route and the corresponding relation between each WIFI hot spot device and the area of different flight sections of the flight route;

and in the WIFI hotspot devices, locating the WIFI hotspot device corresponding to the area where the current flight position is located as the target WIFI hotspot device.

detecting the signal intensity of at least one WIFI signal radiated to the current flight position;

and when the signal intensity of the specific WIFI signal is detected to be larger than the signal intensity of the corresponding WIFI hotspot device in the area where the current flight position is located, acquiring the WIFI hotspot device to which the specific WIFI signal belongs as the target WIFI hotspot device.

In one possible implementation manner, receiving a flight instruction issued by a control terminal according to FPV image information transmitted by a communication line of the target WIFI hotspot device includes:

receiving the flight instruction issued by the control terminal through an edge server communicated with a communication line of the target WIFI hotspot device;

the edge server is respectively connected with the communication line of the target WIFI hotspot device and the communication line of the control terminal, so that the control terminal obtains FPV image information sent to the edge server by the target WIFI hotspot device from the edge server.

In a second aspect, an embodiment of the present invention provides a flight control method, applied to a WIFI hotspot device, where the method includes:

receiving FPV image information sent by an aircraft;

and transmitting the FPV image information to a control terminal through a preset communication line, so that the control terminal issues a flight instruction according to the FPV image information.

In one possible implementation manner, the FPV image information is transmitted to the control terminal through a preset communication line, and the method includes:

and sending the FPV image information to an edge server through a preset communication line, so that the control terminal obtains the FPV image information from the edge server and transmits the flight instruction to the aircraft through the edge server.

In a third aspect, an embodiment of the present invention provides a flight control device, provided in an aircraft, the device including:

the signal acquisition module is used for acquiring a target WIFI hotspot device at the current flight position;

the information sending module is used for sending the locally acquired FPV image information to the target WIFI hotspot device;

and the instruction receiving module is used for receiving a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and responding to the flight instruction to control the aircraft to fly.

In one possible implementation manner, the signal acquisition module includes:

the relation acquisition sub-module is used for acquiring a plurality of preset WIFI hot spot devices with signal coverage areas coincident with the flight routes and the corresponding relation between each WIFI hot spot device and the area where the different flight sections of the flight routes are located;

and the positioning sub-module is used for positioning the WIFI hotspot device corresponding to the area where the current flight position is located from among the WIFI hotspot devices as the target WIFI hotspot device.

In one possible implementation manner, the signal acquisition module includes:

the detection sub-module is used for detecting the signal intensity of at least one WIFI signal radiated to the current flight position;

and the hotspot device acquisition submodule is used for acquiring the WIFI hotspot device to which the specific WIFI signal belongs as the target WIFI hotspot device when detecting that the signal intensity of the specific WIFI signal is greater than the signal intensity of the corresponding WIFI hotspot device of the area where the current flight position is located.

In one possible implementation manner, the instruction receiving module is specifically configured to receive the flight instruction issued by the control terminal through an edge server that is communicated with a communication line of the target WIFI hotspot device;

In a fourth aspect, an embodiment of the present invention provides a flight control device, disposed in a WIFI hotspot device, where the device includes:

the information receiving module is used for receiving the FPV image information sent by the aircraft;

and the information transmission module is used for transmitting the FPV image information to the control terminal through a preset communication line so that the control terminal can issue a flight instruction according to the FPV image information.

In one possible implementation manner, the information transmission module is specifically configured to send the FPV image information to an edge server through a preset communication line, so that the control terminal obtains the FPV image information from the edge server and transmits the flight instruction to the aircraft through the edge server.

In a fifth aspect, an embodiment of the present invention provides an aircraft, comprising: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the method provided in the first aspect.

In a sixth aspect, an embodiment of the present invention provides a WIFI hotspot device, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method provided in the second aspect.

It should be understood that, the second to sixth aspects of the embodiment of the present invention are consistent with the technical solutions of the first aspect of the embodiment of the present invention, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, and are not repeated.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of the steps of a flight control method according to an embodiment of the present invention;

FIG. 2 is a topological structure diagram of an application scenario of a flight control method according to another embodiment of the present invention;

fig. 3 is a schematic diagram of signal radiation space of an exemplary WIFI hotspot device according to the invention;

FIG. 4 is a topological structure diagram of an exemplary application scenario for performing a flight control method of the present invention;

FIG. 5 is a flow chart illustrating steps of another method for flight control according to an embodiment of the present invention;

FIG. 6 is a functional block diagram of a flight control device according to an embodiment of the present invention;

fig. 7 is a functional block diagram of another flight control device according to an embodiment of the present invention.

[ detailed description ] of the invention

For a better understanding of the technical solutions of the present specification, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.

It should be understood that the described embodiments are only some, but not all, of the embodiments of the present description. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present disclosure.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Fig. 1 is a flowchart illustrating steps of a flight control method according to an embodiment of the present invention, where, as shown in fig. 1, the steps of performing the flight control method by an aircraft include:

s101: and acquiring a target WIFI hotspot device at the current flight position.

The target WIFI hotspot device of the current flight location may be the target WIFI hotspot device with the strongest signal strength at the current flight location.

The WIFI hotspot device may be an electronic device preset to achieve wireless signal coverage within an aircraft flight area. For example, a WIFI hotspot device may be a device composed of a router and a data processing and forwarding service computer deployed with a map.

A plurality of WIFI hotspot devices may be preset, each WIFI hotspot device providing wireless signal coverage for a particular flight area of the aircraft route. The aircraft breaks down in the flight process, and the target WIFI hotspot device to which the WIFI signal with the strongest signal intensity in the current flight area belongs can be actively selected.

The aircraft can be provided with a WIFI function module for connecting and managing a plurality of WIFI links.

S102: and sending the locally acquired FPV image information to the target WIFI hotspot device.

The aircraft records First-person view angle (FPV) image information acquired by the camera device, and can record information about the environment where the aircraft is located at the current flight position, such as whether an obstacle is blocked, the flight state and the like.

Because compare other WIFI signals, the signal that the WIFI signal radiation of target WIFI focus device was to current flight position is strongest, can understand that the aircraft passes through the strongest WIFI signal under the preceding flight position, sends FPV image information for target WIFI focus device.

The target WIFI hotspot device can transmit the FPV image information to the control terminal through a communication line which is locally arranged, so that the control terminal can send a flight instruction according to the FPV image information.

The process of transmitting the FPV image information to the control terminal by the target WIFI hotspot device is realized through a preset communication line, so that the FPV image information can be transmitted rapidly and reliably.

In one example of the present invention, a broadband, dedicated line for transmitting images may be pre-accessed to a WIFI hotspot device. The WIFI hotspot device may perform sorting, buffering, and other processing on the multiple FPV image information received from different aircrafts, and sequentially transmit the multiple FPV image information through a broadband, a dedicated line, and the like according to time information of the FPV image information, so that the control terminal obtains the FPV image information.

S103: and receiving a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and responding to the flight instruction to control the aircraft to fly.

In one example of the invention, the control terminal determines the current flight direction of the aircraft, whether the aircraft needs to avoid obstacles, whether the aircraft needs to land, and the like according to the FPV image information, determines the strategy of continuing the aircraft to fly, generates a flight command, and issues the flight command to the aircraft.

In another example of the invention, the control terminal displays the FPV image information on the display interface, receives a command triggered by the remote take-over user, and generates a flight command.

In one example of the invention, the control terminal may issue flight instructions to the aircraft via a public land mobile network (Public Land Mobile Network, PLMN).

The aircraft executes the flight control method of the embodiment of the invention, the FPV image information is sent to the corresponding target WIFI hotspot device through the WIFI link with the strongest signal intensity at the current flight position, and the WIFI hotspot device transmits the FPV image information to the control terminal through the communication line locally arranged by the WIFI hotspot device. The transmission link of the whole FPV image information has no problem of repeated switching of different base station signals, and the transmission link can be specially used for transmitting the FPV image information no matter the transmission link is a WIFI link or a communication line locally arranged by a WIFI hot spot device, so that a control terminal can obtain real-time image transmission data of an aircraft and determine an accurate flight instruction.

In an embodiment of the present invention, the transmission of the FPV image information by the WIFI hotspot device may be implemented by an edge server:

the WIFI hotspot device sends the FPV image information to the edge server through a locally arranged broadband, and the edge server can be connected with terminal equipment in a specific geographic space. For example, the edge server is connected with a plurality of WIFI hotspot devices and a plurality of aircrafts, and stores FPV image information sent by all aircrafts in the geographic position C where the aircrafts are located in a position close to the aircrafts, so that delay of transmission of the FPV image information by all aircrafts in the geographic position C is reduced, and service quality is improved. The control terminal acquires the FPV image information from the edge server through a communication line which is locally arranged, analyzes and calculates the information of the FPV image information, and generates a flight instruction. And then the flight command is returned to the edge server through a communication line locally arranged at the control terminal, and the edge server sends the flight command to the aircraft.

The edge server may process data formed by "edge" networked aircraft of a particular geographic scope. Since the edge server is disposed at the application environment edge of the terminal device, in the embodiment of the invention, the terminal device includes an aircraft that performs the flight task in different geographic ranges, and the edge server is capable of transferring some part of the data or services of the application program from the center of gravity server to the application environment edge of the aircraft. For example, the control terminal is arranged in city B, city C and city H, and edge servers are arranged for managing the aircrafts in city C and city H, and the edge servers arranged in city C and city H can immediately respond to the flight environment of the local aircrafts.

Fig. 2 is a topological structure diagram of an application scenario of a flight control method according to another embodiment of the present invention, where, as shown in fig. 2, an edge server is connected to a plurality of WIFI hotspot devices, and a control terminal is connected to the edge server. The communication lines connecting the edge server with the WIFI hotspot devices and the control terminal can be special lines or broadband connection, so that the instantaneity of image information and flight instruction transmission is ensured.

Based on the topology shown in fig. 2, one way of implementing step S103 includes: and receiving the flight instruction issued by the control terminal through an edge server communicated with a communication line of the target WIFI hotspot device. And the edge server is respectively connected with the communication line of the target WIFI hotspot device and the communication line of the control terminal, so that the control terminal obtains FPV image information sent to the edge server by the target WIFI hotspot device from the edge server.

In order to ensure that the aircraft can acquire the WIFI signal with the strongest signal strength in any air area, the embodiment of the invention sets the WIFI hotspot device for covering the flight route of the aircraft to pass through the airspace.

Fig. 3 is a schematic diagram of signal radiation space of an exemplary WIFI hotspot device according to the invention. As shown in fig. 3, the WIFI hotspot device A, WIFI hotspot device B is preset on the target flight path of the aircraft, and the signal coverage area of the WIFI hotspot device A, WIFI hotspot device B sequentially coincides with different air areas (air area 1 and air area 2) where the target flight path passes through. And the aerial area 1 and the aerial area 2 are provided with signal superposition areas where the WIFI signals of the WIFI hotspot device A and the WIFI signals of the WIFI hotspot device B are superposed.

Step S101 may include sub-steps S1011 to S1012:

s1011: and acquiring a plurality of preset WIFI hot spot devices with signal coverage areas coincident with the flight routes and the corresponding relation between each WIFI hot spot device and the area of different flight sections of the flight routes.

The aircraft can acquire preset WIFI hot spot devices from the edge server, and the corresponding relation between each WIFI hot spot device and the area where different flight sections of the flight route are located.

For example, after the aircraft is started, the flying route sent by the cloud server, a plurality of preset WIFI hotspot devices with coverage areas coincident with the flying route and the corresponding relation between each WIFI hotspot device and the area where different flight segments of the flying route are located are received and stored locally, and relevant information is locally called when faults occur. Or, when the aircraft fails, a plurality of preset WIFI hot spot devices and the corresponding relation between each WIFI hot spot device and the area where the different flight sections of the flight route are located can be requested from the edge server.

S1012: and in the WIFI hotspot devices, locating the WIFI hotspot device corresponding to the area where the current flight position is located as the target WIFI hotspot device.

For example, as shown in fig. 3, the aircraft a fails, detects that its body hovering position is located within the range of the air area 1 through GPS positioning, and sends FPV image information to the WIFI hotspot device a radiating WIFI signals to the air area 1.

According to the method for acquiring the target WIFI hotspot device with the strongest signal strength at the current flight position, the relevant WIFI hotspot devices are arranged aiming at the air area of the flight route of the aircraft, balanced WIFI signals are guaranteed to be provided for the air area of different flight sections of the flight route, the problem of frequent signal switching does not exist in a mode of actively judging and selecting the target WIFI hotspot device with the strongest signal strength to which the WIFI signal belongs, the stability of FPV image information transmission is guaranteed, and therefore accuracy of a flight instruction judgment basis can be guaranteed to be issued by a control terminal.

In order to avoid the unexpected situation that a part of WIFI hotspot devices fail, or further select a target WIFI hotspot device to which the WIFI signal with the strongest signal strength belongs, according to still another embodiment of the present invention, step S101 may further include sub-steps S101-1 to S101-2:

s101-1: and acquiring a plurality of preset WIFI hot spot devices with signal coverage areas coincident with the flight routes and the corresponding relation between each WIFI hot spot device and the area of different flight sections of the flight routes.

S101-2, detecting the signal intensity of at least one WIFI signal radiated to the current flight position.

S101-3: and when the signal intensity of the specific WIFI signal is detected to be larger than the signal intensity of the corresponding WIFI hotspot device in the area where the current flight position is located, acquiring the WIFI hotspot device to which the specific WIFI signal belongs as the target WIFI hotspot device.

According to the embodiment of the invention, the aircraft is combined with the preset WIFI hotspot devices, the corresponding relation between each WIFI hotspot device and the area where different flight sections of the flight route are located, and the real-time detection result of the WIFI signals, so that the target WIFI hotspot device to which the WIFI signal with the strongest signal intensity at the current flight position belongs is obtained.

Fig. 4 is a topological structure diagram of an application scenario of an exemplary implementation of a flight control method according to the present invention, where, as shown in fig. 4, an implementation of the flight control method by an aircraft a and an aircraft B includes:

the method comprises the steps that an aircraft A detects a target WIFI hotspot device 1 to which a WIFI signal with the strongest signal intensity at the current flight position belongs, and an aircraft B detects a target WIFI hotspot device 2 to which the WIFI signal with the strongest signal intensity at the current flight position belongs; the aircraft A sends the FPV image information to the WIFI hotspot device 1, and the WIFI hotspot device 1 forwards the FPV image information A to the edge server; the aircraft B sends the FPV image information B to the WIFI hotspot device 2, and the WIFI hotspot device 2 forwards the FPV image information to the edge server.

The control terminal acquires FPV image information A and FPV image information B from the edge server; the control terminal generates a flight instruction for the aircraft A according to the FPV image information A, and sends the flight instruction for the aircraft A to the edge server; and the control terminal generates a flight instruction for the aircraft B according to the FPV image information B and sends the flight instruction for the aircraft B to the edge server.

The edge server sends a flight command to aircraft a and a flight command to aircraft B over a public land mobile network.

Fig. 5 is a flowchart illustrating steps of another flight control method according to an embodiment of the present invention, where, as shown in fig. 5, another flight control method is applied to a WIFI hotspot device, and includes the steps of:

s501: and receiving the FPV image information sent by the aircraft.

S502: and transmitting the FPV image information to a control terminal through a preset communication line, so that the control terminal issues a flight instruction according to the FPV image information.

Step S502 includes substep S5021: and sending the FPV image information to an edge server through a preset communication line, so that the control terminal obtains the FPV image information from the edge server and transmits the flight instruction to the aircraft through the edge server.

The WIFI hotspot device is provided with a plurality of ports, the plurality of aircrafts send FPV image information to the WIFI hotspot device when faults occur, the WIFI hotspot device responds to data receiving requests sent by the plurality of aircrafts, corresponding ports are allocated to the plurality of aircrafts, and the FPV image information sent by each aircrafts is received based on the ports allocated to the aircrafts.

The optional example of implementing the program start feedback method of the present invention has been described in the embodiment applied to the aircraft side, and the WIFI hotspot device embodiment will not be repeated.

Fig. 6 is a functional block diagram of a flight control device according to an embodiment of the present invention, where the above-mentioned picture display device is disposed in an aircraft, as shown in fig. 6, and the device includes:

the signal obtaining module 61 is configured to obtain a target WIFI hotspot device to which the WIFI signal having the strongest signal strength at the current flight position belongs;

the information sending module 62 is configured to send locally acquired FPV image information to the target WIFI hotspot device;

and the instruction receiving module 63 is configured to receive a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and control the aircraft to fly in response to the flight instruction.

The flight control device provided by the embodiment shown in fig. 6 may be used to implement the technical solutions of the method embodiments shown in fig. 1 to 4 in the present specification, and the implementation principle and technical effects may be further referred to in the related description of the method embodiments.

Optionally, the signal acquisition module includes:

Optionally, the instruction receiving module is specifically configured to receive the flight instruction issued by the control terminal through an edge server that is communicated with a communication line of the target WIFI hotspot device;

The device provided by the above-described embodiment is used for executing the technical scheme of the above-described method embodiment, and its implementation principle and technical effects may further refer to the related description in the method embodiment, which is not repeated herein.

Fig. 7 is a functional block diagram of another flight control device according to an embodiment of the present invention, where the above-mentioned picture display device is disposed in a WIFI hotspot device, as shown in fig. 7, and the device includes:

an information receiving module 71 for receiving FPV image information transmitted by the aircraft;

and an information transmission module 72, configured to transmit the FPV image information to a control terminal through a preset communication line, so that the control terminal issues a flight command according to the FPV image information.

The flight control device provided by the embodiment shown in fig. 7 may be used to implement the technical solution of the method embodiment shown in fig. 5 of the present specification, and the implementation principle and technical effects may be further described with reference to the related descriptions in the method embodiment.

Optionally, the information transmission module is specifically configured to send the FPV image information to an edge server through a preset communication line, so that the control terminal obtains the FPV image information from the edge server and transmits the flight instruction to the aircraft through the edge server.

The device provided by the above-described embodiment may be, for example: a chip or a chip module. The device provided by the above-described embodiment is used for executing the technical scheme of the above-described method embodiment, and its implementation principle and technical effects may further refer to the related description in the method embodiment, which is not repeated herein.

With respect to each module/unit included in each apparatus described in the above embodiments, it may be a software module/unit, or may be a hardware module/unit, or may be a software module/unit partially, or a hardware module/unit partially. For example, for each device applied to or integrated in a chip, each module/unit included in the device may be implemented in hardware such as a circuit, or at least part of the modules/units may be implemented in software program, where the software program runs on a processor integrated in the chip, and the rest of the modules/units may be implemented in hardware such as a circuit; for each device applied to or integrated in the chip module, each module/unit contained in the device may be implemented in a hardware manner such as a circuit, and different modules/units may be located in the same component (e.g. a chip, a circuit module, etc.) of the chip module or different components, or at least part of the modules/units may be implemented in a software program, where the software program runs on a processor integrated in the chip module, and the rest of the modules/units may be implemented in a hardware manner such as a circuit; for each device applied to or integrated in the electronic terminal device, each module/unit included in the device may be implemented in hardware such as a circuit, and different modules/units may be located in the same component (for example, a chip, a circuit module, etc.) or different components in the electronic terminal device, or at least part of the modules/units may be implemented in a software program, where the software program runs on a processor integrated in the electronic terminal device, and the remaining (if any) part of the modules/units may be implemented in hardware such as a circuit.

Embodiments of the present invention provide a non-transitory computer readable storage medium storing computer instructions that cause a computer to execute the flight control method provided by the embodiments shown in fig. 1 to 5 of the present specification. The non-transitory computer readable storage medium may refer to a non-volatile computer storage medium.

The non-transitory computer readable storage media described above may employ any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (erasable programmable read only memory, EPROM) or flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for the present specification may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (local area network, LAN) or a wide area network (wide area network, WAN), or may be connected to an external computer (e.g., connected via the internet using an internet service provider).

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In the description of embodiments of the present invention, a description of reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present specification. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present specification in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present specification.

Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.

It should be noted that, the terminal according to the embodiment of the present invention may include, but is not limited to, a personal computer (personal computer, PC), a personal digital assistant (personal digital assistant, PDA), a wireless handheld device, a tablet computer (tablet computer), a mobile phone, an MP3 player, an MP4 player, and the like.

In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

In addition, each functional unit in each embodiment of the present specification may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods described in the embodiments of the present specification. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or an optical disk, etc.

The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.

Claims

1. A method of flight control for an aircraft, the method comprising:

acquiring a target WIFI hotspot device at the current flight position;

sending the locally acquired FPV image information to the target WIFI hotspot device;

and receiving a flight instruction issued by the control terminal according to the FPV image information transmitted by the communication line of the target WIFI hotspot device, and responding to the flight instruction to control the aircraft to fly.

2. The method of claim 1, wherein obtaining a target WIFI hotspot device at a current flight location comprises:

3. The method of claim 1, wherein obtaining a target WIFI hotspot device at a current flight location comprises:

4. The method of claim 1, wherein receiving a flight command issued by a control terminal according to FPV image information transmitted by a communication line of the target WIFI hotspot device comprises:

5. A method of flight control, for a WIFI hotspot device, the method comprising:

receiving FPV image information sent by an aircraft;

6. The method according to claim 5, wherein transmitting the FPV image information to a control terminal through a communication line set in advance, comprises:

7. A flight control device for an aircraft, the device comprising:

8. The apparatus of claim 7, wherein the signal acquisition module comprises:

9. The apparatus of claim 7, wherein the signal acquisition module comprises:

10. The device of claim 7, wherein the instruction receiving module is specifically configured to receive the flight instruction issued by the control terminal through an edge server that is in communication with a communication line of the target WIFI hotspot device;

11. A flight control device, characterized by being disposed at a WIFI hotspot device, the device comprising:

12. The device according to claim 11, wherein the information transmission module is specifically configured to send the FPV image information to an edge server through a preset communication line, so that the control terminal obtains the FPV image information from the edge server and transmits the flight command to the aircraft through the edge server.

13. An aircraft, comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein,

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-4.

14. A WIFI hotspot device, comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein,

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of claim 5 or 6.