JP6674940B2 - Aircraft, takeoff control method thereof, system, program, and recording medium - Google Patents

Description

  The present invention relates to the field of aircraft, and more particularly to an aircraft, its takeoff control method and system, and its landing control method and system.

  Current aircraft include fixed-wing aircraft and swivel-wing aircraft that have swirlers and can take off and land vertically. In swivel-wing aircraft, moving the propeller's turn with an appropriate motor generally produces different magnitudes of pulling force to take off, fly, or land the aircraft.

  However, in the take-off and landing operation of the aircraft, it is necessary to perform a start-up operation to turn on the power output of the motor, a stop operation to turn off the power output of the motor, and a take-off and landing preparation operation such as retracting and deploying the landing gear. There is. In order to avoid the occurrence of an erroneous operation by the user, complex operation regulations are slightly prescribed for takeoff and landing operations after the aircraft lands. Therefore, the conventional landing control method and takeoff control method of the aircraft require a relatively large amount of trouble, and the operation by the user is inconvenient.

  The present invention has been made in view of such circumstances, and it is necessary to provide a landing control method and a takeoff control method.

An aircraft landing control method,
Detecting whether a landing instruction signal has been received; and
Receiving the landing instruction signal and controlling the aircraft to automatically land in a preset landing mode.

An aircraft takeoff control method,
Detecting whether a takeoff instruction signal has been received; and
Receiving the takeoff instruction signal, controlling the aircraft to automatically take off in a preset takeoff mode.

  Further, based on the landing control method and the takeoff control method, the present invention further provides a landing control system and a takeoff control system.

An aircraft landing control system,
A landing signal detection module for detecting whether a landing instruction signal has been received,
An automatic landing module for controlling the aircraft to automatically land in a preset landing mode when receiving the landing instruction signal.

An aircraft takeoff control system,
A takeoff signal detection module for detecting whether a takeoff instruction signal has been received,
An automatic take-off module for controlling the aircraft to automatically take off in a preset take-off mode when a take-off instruction signal is received.
Based on the landing control method and the takeoff control method, the present invention further provides an aircraft using the landing control method and the takeoff control method.

An aircraft,
A signal receiver for detecting whether a landing instruction signal has been received,
A controller for controlling the aircraft to automatically land in a preset landing mode when the landing instruction signal is received.

An aircraft,
A signal receiver for detecting whether or not a takeoff instruction signal has been received;
A controller for controlling the aircraft to automatically take off in a preset takeoff mode when the takeoff instruction signal is received.

FIG. 4 is a diagram illustrating a relationship between speed and altitude in one embodiment of the landing control method according to the present invention. 3 is a flowchart of a landing control method according to the first embodiment of the present invention. 3 is a flowchart of one embodiment of step S25 in the landing control method shown in FIG. It is a flowchart of another Example of step S25 in the landing control method shown in FIG. It is a flowchart of an additional step in the landing control method according to the second embodiment of the present invention. FIG. 6 is a relationship diagram between a preset threshold value of a speed and a current altitude in the landing control method shown in FIG. 5. It is a block diagram of a landing control system concerning Embodiment 1 of the present invention. 8 is a flowchart of one embodiment of a corresponding operation module in the landing control system shown in FIG. 7. FIG. 8 is a block diagram of another embodiment of a corresponding operation module in the landing control system shown in FIG. 7. It is a block diagram of an additional module in a landing control system concerning Embodiment 2 of the present invention. FIG. 3 is a circuit principle diagram of an aircraft using the landing control method. FIG. 4 is a relationship diagram between speed and altitude in one embodiment of the takeoff control method according to the present invention. 4 is a flowchart of a takeoff control method according to Embodiment 1 of the present invention. 14 is a flowchart of one embodiment of step S20 in the takeoff control method shown in FIG. 15 is a flowchart of another embodiment of step S202 in the takeoff control method shown in FIG. It is a flowchart of an additional step in the takeoff control method according to Embodiment 2 of the present invention. It is a block diagram of a takeoff control system concerning Embodiment 1 of the present invention. FIG. 18 is a block diagram of an operation module corresponding to takeoff in the takeoff control system shown in FIG. 17. It is a block diagram of an additional module in a takeoff control system concerning Embodiment 2 of the present invention. It is a circuit principle diagram of an aircraft using the takeoff control method.

  The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. It is only a part and not all the examples. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without the need for creative labor are all within the scope of the present invention.

  Unless defined otherwise, all technical and scientific and technical terms used herein have the same meaning as commonly understood by technical personnel belonging to the technical field of the present invention. In this text, technical terms used in the description of the present invention merely describe specific embodiments, and are not intended to limit the present invention. As used herein, the technical term "and / or" includes any and all combinations of one or more of the associated listed items.

According to an embodiment of the present invention, there is provided an aircraft landing control method for controlling an aircraft to automatically land in a preset landing mode according to a landing instruction signal. The landing instruction signal may be, for example, from a mobile terminal such as a remote controller, a tablet computer, a mobile phone, or an aircraft dock.

  In some embodiments, in the preset landing mode, the aircraft can obtain a current vertical distance from a landing point in real time and take an appropriate action based on the current vertical distance. For example, a corresponding action may be to change the flight speed of the aircraft, for example, increasing the current descent speed of the aircraft and decreasing the current descent speed of the aircraft. The corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a landing preparation operation, for example, deploying the landing gear to accommodate a sensor mounted on the aircraft. The corresponding action may be to record flight information of the aircraft at the time of landing, for example, to record the current position of the aircraft, and to image the surrounding environment of the aircraft.

  In some embodiments, the landing preparation operation includes at least one of changing a function of the aircraft, changing a function of a sensor of the aircraft, and changing a function of a load mounted on the aircraft. Including seeds. The functional form includes a physical form, an electronic form, position information, and the like. Among them, the physical form may be a change in the shape of a mechanical structure, a change in an element combination relationship, and the electronic form may be a change in an operation state, a change in an operation parameter, and the like. , Relative position or absolute position with respect to the ground.

  In some embodiments, the preset landing mode allows a user to modify the preset landing mode, and the aircraft is configured to modify the preset landing mode based on the modified landing mode. Can land automatically.

  Based on the above-described landing control method for an aircraft, the embodiment of the present invention further provides a landing control system that realizes the landing control method.

  Based on the aircraft landing control method described above, embodiments of the present invention further provide an aircraft using the landing control method, wherein the aircraft detects whether a control signal has been received. And a controller for controlling the aircraft to land automatically in a preset landing mode based on the control signal. The control signal may be a landing instruction signal for instructing the aircraft to start landing, a user landing control signal for correcting a preset landing mode, or the like.

  In some embodiments, the aircraft further includes an altitude sensor for obtaining the aircraft's current vertical distance from a landing point in real time. The altitude sensor may be, for example, an absolute altitude sensor such as a barometer or GPS, and calculates the current vertical distance of the aircraft from the landing point based on the difference between the absolute altitude of the landing point and the current vertical distance of the aircraft. Obtainable. The altitude sensor may be a relative altitude sensor such as an ultrasonic sensor, a binocular image sensor, or a laser distance sensor.

  The embodiment of the present invention further provides an aircraft takeoff control method for controlling an aircraft to automatically take off in a preset takeoff mode according to the takeoff instruction signal. The takeoff instruction signal may be, for example, from a mobile terminal such as a remote controller, a tablet computer, a mobile phone, or an aircraft dock.

  In some embodiments, the preset take-off mode allows a user to modify the preset take-off mode, and the aircraft automatically reverts to the modified preset take-off mode. Can take off.

  In some embodiments, in the preset takeoff mode, the aircraft can take off to a different preset altitude and automatically perform a corresponding action corresponding to the preset altitude. The corresponding action can be designed according to different needs, for example, the corresponding action may be to change the flight speed of the aircraft, for example, increasing the current climb speed of the aircraft, the current climb speed of the aircraft Lower. The corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a post-takeoff preparation operation, for example, retracting the landing gear, extending a sensor mounted on the aircraft, or the like. A corresponding action may be to record flight information at the time of takeoff of the aircraft, for example, to record the current position of the aircraft, and to image the surrounding environment of the aircraft.

  In some embodiments, the post-takeoff preparation operation includes changing a function of the aircraft, changing a function of a sensor of the aircraft, and changing a function of a load mounted on the aircraft. be able to. The functional form includes a physical form, an electronic form, position information, and the like. Among them, the physical form may be a change in the shape of a mechanical structure, a change in an element combination relationship, and the electronic form may be a change in an operation state, a change in an operation parameter, and the like. , Relative position or absolute position with respect to the ground.

  Based on the aircraft takeoff control method described above, the embodiment of the present invention further provides a takeoff control system that realizes the takeoff control method.

  Based on the aircraft takeoff control method described above, embodiments of the present invention further provide an aircraft using the takeoff control method, wherein the aircraft detects whether a control signal has been received. A signal receiver and a controller that controls the aircraft to automatically take off in a preset takeoff mode based on the control signal. The control signal may be a takeoff instruction signal for instructing the aircraft to start takeoff, a user takeoff control signal for correcting a preset takeoff mode, or the like.

  In some embodiments, the aircraft further includes an altitude sensor for obtaining the current vertical distance of the aircraft from a takeoff point in real time. The altitude sensor may be, for example, an absolute altitude sensor such as a barometer or GPS, and calculates the current vertical distance of the aircraft from the takeoff point based on a difference between the absolute altitude of the takeoff point and the current vertical distance of the aircraft. Obtainable. The altitude sensor may be a relative altitude sensor such as an ultrasonic sensor, a binocular image sensor, or a laser distance sensor.

  Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. If there is no conflict, the following embodiments and features in the embodiments can be combined with each other.

  Referring to FIGS. 1 and 2, a landing control method according to an embodiment of the present invention is for controlling an aircraft to automatically land in a preset landing mode. The landing control method includes steps S1 and S2.

Step S1: It is detected whether or not a landing instruction signal has been received.
Specifically, the landing instruction signal is transmitted from the mobile terminal. When the landing instruction information is transmitted from the mobile terminal, the aircraft can detect whether or not the landing instruction information transmitted from the mobile terminal has been received.

  The mobile terminal may be a remote controller, a tablet computer, a mobile phone, an aircraft dock, or the like. The landing instruction signal may be triggered by a substantial switch of the mobile terminal. For example, by operating a “one key landing” key on the remote control, the remote control is controlled to transmit the landing instruction signal.

  Naturally, the landing instruction signal may be generated by a virtual switch of the mobile terminal. For example, by controlling by touching the operation interface of the mobile terminal, it is possible to control the remote controller to transmit the landing instruction signal. .

Specifically, the touch control method for the mobile terminal includes the following steps.
Detecting touch operations on the mobile device's touch display,
If the detected touch operation is a slide touch operation in a preset image area, detecting whether the slide touch operation is a control trigger operation of the aircraft,
When a control trigger operation is detected, a landing instruction signal is generated so as to control the aircraft.

  In this case, optionally, the image area is a man-machine interactive interface, and the image area includes an area for designating a slide route and a dynamically movable area in the area of the slide route. And a slide interaction icon.

  In this case, before detecting a touch operation on the touch display selectively, the method further includes displaying a preset image area when a display instruction regarding the image area is received.

Step S2: Upon receiving the landing instruction signal, the aircraft is controlled to automatically land in the preset landing mode.
Upon receiving the landing instruction signal transmitted from the mobile terminal, the aircraft automatically lands in a preset landing mode, thereby achieving automatic landing of the aircraft.
Note that different embodiments may be used to implement the step of controlling the aircraft to automatically land in a preset landing mode. Hereinafter, step S2 will be specifically described with reference to the drawings.

Specifically, in the present embodiment, step S2 specifically includes steps S21 to S28.
Step S21: It is determined whether or not the priority of the landing instruction signal is higher than the priority of the currently executed control signal.
Specifically, when the aircraft receives the landing instruction signal of the mobile terminal at the altitude position A, at this time, the landing instruction signal is set in advance by comparing the priority of the landing signal with the control signal currently being executed by the aircraft. It is possible to determine whether or not to immediately execute the landing mode.

  The priorities of the landing instruction signal and the control signal currently being executed by the aircraft may be set in advance by the flight system of the aircraft, or may be set by the user according to their own demands.

  Step S22: If the priority of the landing instruction signal is higher than the priority of the currently executed control signal, the aircraft is immediately controlled to automatically land in the preset landing mode.

  If the priority of the landing instruction signal is higher than the priority of the currently executed control signal, then the aircraft will immediately execute the preset landing mode, and the aircraft will automatically operate in the preset landing mode. Landing.

Step S23: If the priority of the landing instruction signal is not higher than the priority of the currently executed control signal, the aircraft waits until the currently executed control signal ends, and then moves the aircraft to the preset landing. Control to land automatically in mode.
If the priority of the landing instruction signal is not higher than the priority of the currently executed control signal, then the aircraft will execute a preset flight mode after the currently executed control signal ends. .

  Step S24: Obtain the current vertical distance of the aircraft from the landing point in real time.

  Specifically, in the process of the aircraft landing at the landing point H from the altitude position A, the vertical distance from the aircraft to the landing point H is acquired in real time.

Step S25: Based on the current vertical distance, the aircraft performs a corresponding operation.
The aircraft may descend to a different preset altitude and automatically perform a corresponding action corresponding to the preset altitude. The corresponding action can be designed according to different needs, for example, the corresponding action may be to change the flight speed of the aircraft, e.g. to increase the current descent speed of the aircraft, the current descent speed of the aircraft Lower. The corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a landing preparation operation, for example, deploying the landing gear and storing a sensor mounted on the aircraft. The corresponding action may be to record flight information of the aircraft at the time of landing, for example, to record the current position of the aircraft, and to image the surrounding environment of the aircraft.

  Specifically, in this embodiment, when the aircraft receives the landing instruction signal, the landing preparation operation is automatically started. In other words, the altitude when the aircraft receives the landing instruction signal is a preset altitude for performing a landing preparation operation. Specifically, when the aircraft receives the landing instruction signal at the altitude position A, the aircraft automatically starts the landing preparation operation.

  Of course, in other embodiments, after the aircraft receives the landing indication signal, it performs a preset flight mode. In other words, the altitude when the aircraft receives the landing instruction signal is not the preset altitude for performing the landing preparation operation.

  As shown in FIG. 3, in some embodiments, the step of causing the aircraft to perform a corresponding operation based on the current vertical distance may specifically include steps S <b> 251 to S <b> 252.

Step S251: Automatically descend to a preset altitude.
For example, the aircraft can automatically descend at a uniform speed from altitude position A at the time of receiving the landing instruction signal to altitude position B, i.e., the altitude at altitude position B is a predetermined altitude at which landing preparation operation is performed Altitude that was given.

Step S252: A landing preparation operation is automatically started at a preset altitude.
For example, when the aircraft is located at the altitude position B, the landing device is deployed, the ultrasonic sensor is activated, and a landing preparation operation such as adjusting the attitude of the camera platform is automatically started.

As shown in FIG. 4, in some embodiments, the step of causing the aircraft to perform a corresponding operation based on the current vertical distance may specifically include steps S25a to S25b.
Step S25a: It is determined whether or not the current vertical distance is equal to or less than a preset threshold.

Specifically, when the aircraft descends to the altitude position B, it is necessary to determine whether the vertical distance from the altitude position B to the landing point exceeds a preset threshold.
Step S25b: If the current vertical distance is equal to or less than a preset threshold, the aircraft lands at the landing point according to a preset speed rule.

  For example, if the vertical distance from the altitude position B to the landing point exceeds a preset threshold, a corresponding speed protection measure is executed. For example, if the vertical distance from the altitude position B to the landing point exceeds 40 m, the aircraft can decelerate and descend.

Step S26: If the aircraft has descended to a position at a preset altitude, it is detected whether or not the current landing point satisfies the landing determination condition.
Specifically, when the aircraft descends to the altitude position E, it detects whether or not the current landing point satisfies the landing determination condition. For example, when the current landing point is a water surface, an obstacle, or the like, the landing determination condition is not satisfied.

Step S27: When it is detected that the current landing point satisfies the landing determination condition, the vehicle automatically lands on the landing point from a position at a preset altitude.
Step S28: When it is detected that the current landing point does not meet the landing determination condition, the presentation information is transmitted.

  When it is detected that the current landing point does not meet the landing determination condition, the presentation information can be fed back to the user. For example, an aircraft may issue a lighting alert or an alert by a mobile terminal.

  Of course, in other embodiments, step S2 further includes step S29, in which the aircraft may automatically return to the preliminary landing point if it is detected that the current landing point does not meet the landing criteria. The preliminary landing point may be a takeoff point of the aircraft, a current position of the mobile terminal, or the like.

Referring to FIG. 5, the second embodiment of the present invention is based on the first embodiment and further includes steps S31 to S33. Steps S31 to S33 can be located between steps S23 and S26.
Step S31: It is detected whether or not the landing control signal transmitted from the user has been received.

  The user transmits a landing control signal for correcting a preset landing mode by using the mobile terminal. For example, if the aircraft is in the process of automatically executing a preset landing mode and an obstacle is found, the user modifies the preset landing mode by the landing control signal so as to avoid the obstacle. be able to.

  During the entire process in which the aircraft automatically executes the preset landing mode, or within a preset altitude of the preset landing mode, or a preset landing mode of the preset landing mode. It detects in real time whether or not a landing control signal transmitted from the user has been received within the range of the descent speed.

  Step S32: If it is detected that the landing control signal transmitted from the user has been received, the preset landing mode is corrected based on the landing control signal, and the landing is performed in the corrected preset landing mode. .

  The landing control signal may include a control signal for changing a preset attitude in a preset landing mode. The preset attitude may include information such as a heading angle, a pitch angle, and a tilt angle of the aircraft.

  The landing control signal may include a control signal for changing a preset speed in a preset landing mode. For example, the corrected speed of the aircraft is equal to the superposition of the control speed of the landing control signal and a preset speed.

  For example, in a preset landing mode, the aircraft automatically decelerates from altitude B to altitude E. However, if the aircraft descends to altitude C, the user will send an acceleration descent landing control signal, which modifies a preset landing mode. That is, the landing control signal superimposes the preset speed between the altitude position C and the altitude position D, so that the aircraft descends from the altitude position C to the altitude position D at a uniform speed, and then the altitude position D Slow down from E to E.

In order to prevent erroneous operation or excessive operation by the user, a speed protection measure may be implemented in step S32. Specifically, step S32 may specifically include steps S32a to S32c.
Step S32a: It is determined whether or not the preset landing mode correction speed is equal to or less than a preset threshold.

As shown in FIG. 6, the preset threshold value may be a maximum speed limit corresponding to the current vertical distance between the aircraft and the landing point.
Step S32b: If the preset correction speed of the landing mode is equal to or less than the preset threshold, the landing is performed at the preset correction speed of the landing mode.
Step S32c: If the preset correction speed of the landing mode is higher than the preset threshold, the landing is performed at the preset threshold speed.
Step S33: When it is detected that the user's landing control signal has not been received, the vehicle lands in the original preset landing mode.

  In another embodiment, step S32 further includes modifying the speed of the preset mode in the safe mode. For example, in the safe mode of the speed of the aircraft during the descent process, the speed changes from + Vmax to -Vmax, and the change from + Vmax to -Vmax is mapped in association with the control signal.

  Note that the landing control signal may be a control signal for exiting from a preset landing mode. At this time, when the aircraft receives the control signal for exiting from the preset landing mode, the aircraft exits from the preset landing mode.

Based on the landing control method described above, the present invention further provides an aircraft landing control system.
Referring to FIG. 7, the landing control system 100 according to the first embodiment of the present invention includes a landing signal detection module 110 and an automatic landing module 120.

  The landing signal detection module 110 is used to detect whether a landing instruction signal has been received. Specifically, the landing instruction signal is transmitted from the mobile terminal. When the mobile terminal transmits the landing instruction information, the aircraft can detect whether or not the landing instruction information transmitted from the mobile terminal has been received.

  The mobile terminal may be a remote control, a tablet computer, a mobile phone, an aircraft dock, or the like. The landing instruction signal may be triggered by a substantial switch of the mobile terminal. For example, by operating a “one key landing” key on the remote control, the remote control is controlled to transmit the landing instruction signal.

  Naturally, the landing instruction signal may be generated by a virtual switch of the mobile terminal. For example, by controlling by touching the operation interface of the mobile terminal, the remote controller can be controlled to transmit the landing instruction signal. is there.

  The automatic landing module 120 is used to control the aircraft to automatically land in a preset landing mode when a landing instruction signal is received. When the aircraft receives the landing instruction signal transmitted from the mobile terminal, the aircraft automatically lands in a preset landing mode, thereby achieving automatic landing of the aircraft.

  The automatic landing module 120 can be designed for different needs. Hereinafter, a specific description will be given with reference to the drawings.

  Specifically, in the embodiment, the automatic landing module 120 includes, specifically, a priority determination module 121, an immediate mode landing module 122, a standby mode landing module 123, a landing altitude acquisition module 124, and a corresponding operation module. 125, a landing detection module 126, a direct landing module 127, and a presentation module 128.

The priority determination module 121 is used to determine whether the priority of the landing instruction signal is higher than the priority of the currently executed control signal.
The immediate mode landing module 122 automatically controls the aircraft to automatically land in a preset landing mode if the priority of the landing indication signal is higher than the priority of the currently executing control signal. Used for

  If the priority of the landing instruction signal is equal to or less than the priority of the currently executed control signal, the standby mode landing module 123 waits until the currently executed control signal ends, and then automatically sets the aircraft. , Is used to control landing in a preset landing mode.

The landing altitude acquisition module 124 is used to acquire the current vertical distance of the aircraft from the landing point in real time.
The corresponding operation module 125 is used to control the aircraft to perform a corresponding operation based on the current vertical distance.

  When the aircraft is located at a different preset altitude, a corresponding action corresponding to the preset altitude can be automatically performed. The corresponding action can be designed according to different needs, for example, the corresponding action may be to change the flight speed of the aircraft, increasing the current descent speed of the aircraft and decreasing the current descent speed of the aircraft . A corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a landing preparation operation, for example, deploying a landing gear and storing a sensor mounted on an aircraft. The corresponding action may be to record the flight information of the aircraft at the time of landing, for example, to record the current position of the aircraft and to image the surrounding environment of the aircraft.

  The specific structure of the corresponding operating module 125 can be designed according to different needs. For example, in one embodiment, the corresponding operation module 125 specifically includes an immediate preparation operation module for automatically starting a landing preparation operation when a landing instruction signal is received.

  The landing preparation operation may be to change the functional form of the aircraft, for example, to deploy the landing gear of the aircraft, or to deform the structure of the aircraft. The landing preparation operation may be to change the functional form of the sensor of the aircraft, for example, to move the position of the sensor (for example, to put the sensor from the outside of the aircraft to the inside), or to change the attitude of the sensor (for example, image Control of the operating state of the sensor (for example, turning on / off the sensor) may be performed. The landing preparation operation may be to change the functional form of the load mounted on the aircraft, for example, to change the attitude of the pan head mounted on the aircraft.

  As shown in FIG. 8, in another embodiment, the corresponding operation module 125 specifically includes an automatic descent module 1251 and a preset altitude preparation operation module 1252. The automatic descent module 1251 is used to control the aircraft to automatically descend to a preset altitude. The preset altitude preparation operation module 1252 is used to automatically start a landing preparation operation at a position of a preset altitude.

  As shown in FIG. 9, in another embodiment, the corresponding operation module 125 specifically includes a landing altitude determination module 125a and a preset speed descent module 125b. The landing altitude determination module 125a is used to determine whether the current vertical distance is equal to or less than a preset threshold. The preset speed descent module 125b is used to control the aircraft to land at the landing point according to a preset speed rule if the current vertical distance is less than or equal to a preset threshold.

  The landing detection module 126 is used to detect whether the current landing point satisfies the landing determination condition when the aircraft descends to a position at a preset altitude.

The direct landing module 127 is used to automatically land at a landing point from a position at a preset altitude when the current landing point meets the landing determination condition.
The presentation module 128 is used to transmit the presentation information when the current landing point does not meet the landing determination condition.

  In another embodiment, the landing control system 100 further includes a preliminary landing module 129. The pre-landing module 129 is used to control the aircraft to automatically return to the pre-landing point. The preliminary landing point includes at least one of an aircraft takeoff point and a current position of the mobile terminal.

  Referring to FIG. 10, the automatic landing module 120 according to the second embodiment of the present invention is substantially similar to the first embodiment, except that the automatic landing module 120 includes a user landing signal detection module 131 and a landing correction module 132. And a preset mode landing module 133.

  The user landing signal detection module 131 is used to detect whether a landing control signal transmitted from a user has been received. The landing control signal includes at least one of a control signal for changing a preset attitude in a preset landing mode, and a control signal for changing a preset speed in a preset landing mode. .

  When the landing correction module 132 receives the landing control signal transmitted from the user, the landing correction module 132 corrects the preset landing mode based on the landing control signal, and lands in the corrected preset landing mode. Used for

Specifically, the landing correction module 132 includes a landing speed determination module 132a, a landing speed correction module 132b, and a threshold landing speed module 132c.
The landing speed determination module 132a is used to determine whether the correction speed of the preset landing mode is equal to or less than a predetermined threshold.

  The landing speed correction module 132b is used for landing at a preset landing mode correction speed when the preset landing mode correction speed is equal to or less than a preset threshold value.

  The threshold landing speed module 132c is used to land at a preset threshold speed when the preset landing mode correction speed is greater than a preset threshold.

  The preset mode landing module 133 is used for landing in the original preset landing mode when a landing control signal transmitted from the user is not received.

  Based on the landing control method, the present invention further provides an aircraft using the landing control method.

  Referring to FIG. 11, an aircraft 101 according to an embodiment of the present invention sets a signal receiver 101a for detecting whether or not a landing instruction signal has been received, and sets an aircraft 101 in advance when receiving a landing instruction signal. And a controller 101b for controlling to automatically land in the set landing mode.

  The signal receiver 101a may be, for example, an antenna device such as a wifi antenna, a WiMAX antenna, or a COFDM antenna.

  Specifically, the landing instruction signal is transmitted from the mobile terminal. When the mobile terminal transmits the landing instruction information, the signal receiver 101a can detect whether the mobile terminal has received the landing instruction information.

  The mobile terminal may be a remote control, a tablet computer, a mobile phone, an aircraft dock, or the like. The landing instruction signal may be triggered by a substantial switch of the mobile terminal. For example, by operating a “one key landing” key on the remote control, the remote control is controlled to transmit the landing instruction signal.

  Naturally, the landing instruction signal may be generated by a virtual switch of the mobile terminal. For example, by controlling by touching the operation interface of the mobile terminal, the remote controller can be controlled to transmit the landing instruction signal. is there.

  The controller 101b may be a control circuit board, a control chip, or the like. The function of the controller 101b can be designed for different needs.

The controller 101b determines whether the priority of the landing instruction signal is higher than the priority of the currently executed control signal, and determines that the priority of the landing instruction signal is higher than the priority of the currently executed control signal. If it is also high, it is used to immediately control the aircraft 101 to automatically land in a preset landing mode.
Further, when the priority of the landing instruction signal is not higher than the priority of the currently executed control signal, the controller 101b waits until the currently executed control signal ends, and then resets the aircraft 101 in advance. It is used for controlling to land automatically in the set landing mode.

  In order to realize that the controller 101b controls the aircraft 101 to land in a preset landing mode, the controller 101b will be described below using different specific embodiments.

  In one embodiment, aircraft 101 further includes an altitude sensor 101c for obtaining the current vertical distance of aircraft 101 from the landing point in real time. The controller 101b is further used to control the aircraft 101 to perform a corresponding operation based on the current vertical distance.

  When the aircraft 101 is located at a different preset altitude, the aircraft 101 can automatically perform a corresponding operation corresponding to the preset altitude. For example, a corresponding action may be designed for different needs, for example, the corresponding action may be to change the flight speed of the aircraft 101, for example, increasing the current descent speed of the aircraft 101, Decrease current descent speed. The corresponding action may be to change the attitude of the aircraft 101, for example, to control the aircraft 101 to move forward, backward, left, and right. The corresponding operation may be a landing preparation operation, for example, deploying a landing gear, storing a sensor mounted on the aircraft 101, or the like. The corresponding operation may be recording flight information of the aircraft 101 at the time of landing, for example, recording the current position of the aircraft 101 and imaging the surrounding environment of the aircraft 101.

  The controller 101b can control the aircraft 101 to perform a landing preparation operation at different times. For example, when the controller 101b receives a landing instruction signal, the controller 101b causes the aircraft 101 to automatically start the landing preparation operation. Can be controlled as follows. Alternatively, the controller 101b can control the aircraft 101 to automatically descend to a preset altitude and automatically start a landing preparation operation at a position at a preset altitude.

  The landing preparation operation may be to change the functional form of the aircraft 101, for example, to deploy a landing device of the aircraft 101, to deform the structure of the aircraft 101, or the like. The landing preparation operation may be to change the functional form of the sensor of the aircraft 101, for example, to change the position of the sensor (for example, to put the sensor from the outside of the aircraft to the inside), or to change the attitude of the sensor (for example, Changing the altitude of the image sensor with respect to the aircraft 101) or controlling the operating state of the sensor (eg, turning the sensor on / off). The landing preparation operation may be to change the functional form of the load mounted on the aircraft 101, for example, to change the attitude of the pan head mounted on the aircraft 101.

  The controller 101b can control the aircraft 101 to descend at a preset altitude at a preset speed. For example, when the current vertical distance is equal to or less than a preset threshold, the controller 101b is further used to further control the aircraft 101 to land at a landing point according to a preset speed rule.

  Further, the aircraft 101 further includes an environment sensor 101d for detecting whether or not the current landing point satisfies the landing determination condition, and the current landing point satisfies the landing determination condition at a position of a preset altitude. Is detected, the controller 101b is further used to control the aircraft 101 to automatically land at a landing point from a position at a preset altitude.

  Further, aircraft 101 includes a presentation device 101e for transmitting information indicating that the current landing point does not meet the landing determination condition. When it is detected that the aircraft 101 does not meet the landing determination condition at the position of the preset altitude, the controller 101b further controls the presentation device 101e to transmit the presentation information. Used for The presentation device 101e may be a device such as a signal light and a speaker.

  Alternatively, when it is detected that the current landing point does not meet the landing determination condition at the position of the preset altitude, the controller 101b further controls the aircraft 101 to automatically return to the preliminary landing point. Used for The preliminary landing point may be a takeoff point of the aircraft 101, a current position of the mobile terminal, or the like.

  In another embodiment, the signal receiver 101a is further used to detect whether or not a landing control signal transmitted from a user has been received, and the controller 101b further has a function of detecting in advance based on the landing control signal. It is used to correct the set landing mode and to control the aircraft 101 to land in the preset landing mode after the correction. The landing control signal includes at least one of a control signal that changes a preset attitude in a preset landing mode and a control signal that changes a preset speed in a preset landing mode.

  Further, the aircraft 101 further includes an altitude sensor 101c for acquiring the current vertical distance between the aircraft 101 and the landing point in real time. The controller 101b is further used to control the aircraft 101 to land at the preset landing mode correction speed when the preset landing mode correction speed is equal to or less than the preset threshold value.

  Further, the controller 101b is used to control the aircraft 101 to land at the speed of the preset threshold when the correction speed of the preset landing mode is equal to or less than the preset threshold.

  Furthermore, the controller 101b is used to control the aircraft 101 to land in the original preset landing mode when a landing control signal transmitted from the user is not received.

Referring to FIG. 13, the aircraft takeoff control method according to the first embodiment of the present invention includes steps S10 to S20.
Step S10: It is detected whether or not a takeoff instruction signal has been received.

  Specifically, the takeoff instruction signal is transmitted from the mobile terminal. When the takeoff instruction information is transmitted from the mobile terminal, the aircraft can detect whether or not the takeoff instruction information transmitted from the mobile terminal has been received.

  The mobile terminal may be a remote control, a tablet computer, a mobile phone, an aircraft dock, or the like. The takeoff instruction signal may be triggered by a substantial switch of the mobile terminal. For example, by operating a “one key take-off” key on the remote control, the remote control is controlled to transmit the takeoff instruction signal.

Naturally, the takeoff instruction signal may be generated by a virtual switch of the mobile terminal. For example, by controlling by touching the operation interface of the mobile terminal, the remote controller can be controlled to transmit the takeoff instruction signal. is there.
Specifically, the touch control method for the mobile terminal includes the following steps.

Detecting touch operations on the mobile device's touch display,
If the detected touch operation is a slide touch operation in a preset image area, detecting whether the slide touch operation is a control trigger operation on the aircraft,
Generating a takeoff instruction signal so as to realize control of the aircraft when a control trigger operation is detected.

  The image area may be a man-machine interactive interface, and the image area may include an area for designating a slide route, and a slide interaction dynamically movable in the slide route area. And an icon for use.

  In this case, before detecting a touch operation on the touch display selectively, the method further includes displaying a preset image area when a display instruction regarding the image area is received.

  Step S20: When the takeoff instruction signal is received, the aircraft is automatically controlled to take off in a preset takeoff mode.

  Referring to FIG. 12 and FIG. 14, specifically, in the present embodiment, the step of controlling the aircraft to automatically take off in a preset takeoff mode is specifically performed in steps S201 to S202. including.

  Step S201: Obtain the current vertical distance of the aircraft from the takeoff point in real time.

Specifically, in the process of the aircraft rising from the takeoff point A to the altitude position F, the vertical distance from the aircraft to the takeoff point A is acquired in real time.
Step S202: The aircraft performs a corresponding operation based on the current vertical distance.

The aircraft can take off to a different preset altitude and automatically take a corresponding action corresponding to the preset altitude. For example, a corresponding action may be designed for different needs, for example, the corresponding action may be to change the flight speed of the aircraft, for example, increasing the current climb speed of the aircraft, Decrease climb speed. The corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a post-takeoff preparation operation, for example, retracting the landing gear, extending a sensor mounted on the aircraft, or the like. A corresponding action may be to record flight information at the time of takeoff of the aircraft, for example, to record the current position of the aircraft, and to image the surrounding environment of the aircraft.
Referring to FIG. 15, specifically, the step of causing the aircraft to perform a corresponding operation based on the current vertical distance specifically includes steps S202a to S202c.

Step S202a: Fly automatically from the takeoff point to a first preset altitude.
Specifically, the aircraft rises from takeoff point A to altitude position C.

  Step S202b: At the position of the first preset altitude, the post-takeoff preparation operation is automatically started.

The post-takeoff preparation operation may be to change the functional form of the aircraft, for example, to retract the landing gear of the aircraft, or to deform the main body structure of the aircraft. The post-take-off preparation operation may be to change the functional form of the sensor of the aircraft, for example, to move the position of the sensor (for example, extend the sensor from the inside of the aircraft to the outside), or to change the attitude of the sensor (for example, Controlling the operation state of the sensor (for example, turning on / off the sensor, etc.) may be performed. The post-takeoff preparation operation may be to change the functional form of the load mounted on the aircraft, for example, to change the attitude of the platform mounted on the aircraft.
For example, when the aircraft is at altitude C, it automatically starts retracting the landing gear.

Step S202c: The vehicle gradually decelerates and rises from the first preset altitude to the second preset altitude, and hovers at the position of the second preset altitude.
For example, the aircraft gradually decelerates from the take-off point altitude position C to the altitude position F, and hovers to the altitude position F.
At the same time, referring to FIG. 16, the takeoff control method according to the second embodiment of the present invention is based on the first embodiment and further includes steps S301 to S303.

Step S301: It is detected whether or not a takeoff control signal transmitted from a user has been received.
The user sends a takeoff control signal using the mobile terminal. The takeoff control signal modifies a preset takeoff mode. For example, when the aircraft is in the process of automatically executing the preset takeoff mode and an obstacle is found, the user modifies the preset takeoff mode by the takeoff control signal so as to avoid the obstacle. be able to.

  During the entire process in which the aircraft automatically executes the preset takeoff mode, or within a preset altitude of the preset takeoff mode, or the preset takeoff mode, It detects in real time whether or not a takeoff control signal transmitted from the user has been received within the range of the ascending speed.

For example, in a process where the aircraft rises from the altitude position C to the altitude position F, it detects in real time whether or not a takeoff control signal transmitted from the user has been received.
Step S302: Upon receiving the takeoff control signal transmitted from the user, the takeoff mode is corrected based on the takeoff control signal, and the takeoff is performed in the corrected takeoff mode.

  The takeoff control signal may include a control signal for changing a preset attitude in a preset takeoff mode. The preset attitude may include information such as a heading angle, a pitch angle, and a tilt angle of the aircraft.

  The takeoff control signal may include a control signal that changes a preset speed in a preset takeoff mode. For example, the corrected speed of the aircraft is equal to the superposition of the control speed of the takeoff control signal and a preset speed.

  For example, in the preset takeoff mode, the aircraft automatically decelerates and rises from the altitude position C to the altitude position F. However, when the take-up control signal is sent from the user when the aircraft has climbed to the altitude position D, the take-off control signal modifies the preset take-off mode at this time. That is, the takeoff control signal superimposes a preset speed between the altitude position D and the altitude position E, so that the aircraft moves up from the altitude position D to the altitude position E at a uniform speed.

Step S303: If the take-off control signal transmitted from the user has not been received, the take-off takes place in the original preset take-off mode.
The takeoff control signal may be a control signal for exiting from a preset takeoff mode. At this time, when the aircraft receives the control signal for exiting from the preset takeoff mode, the aircraft exits from the preset takeoff mode.

Based on the above aircraft takeoff control method, the present invention further provides an aircraft takeoff control system.
Referring to FIG. 17, an aircraft takeoff control system 200 according to the first embodiment of the present invention includes a takeoff signal detection module 210 and an automatic takeoff module 220.
The takeoff signal detection module 210 is used to detect whether or not a takeoff instruction signal has been received.

  Specifically, the takeoff instruction signal is transmitted from the mobile terminal. When the takeoff instruction information is transmitted from the mobile terminal, the aircraft can detect whether or not the takeoff instruction information transmitted from the mobile terminal has been received.

The mobile terminal may be a remote control, a tablet computer, a mobile phone, an aircraft dock, or the like. The takeoff instruction signal may be triggered by a substantial switch of the mobile terminal. For example, by operating a “one key take-off” key on the remote control, the remote control is controlled to transmit the takeoff instruction signal.
Naturally, the takeoff instruction signal may be generated by a virtual switch of the mobile terminal. For example, by controlling the operation interface of the mobile terminal by touching it, the remote controller can be controlled to transmit the takeoff instruction signal. It is.

The automatic takeoff module 220 is used to control the aircraft to automatically take off in a preset takeoff mode when a takeoff instruction signal is received.
Specifically, in this embodiment, the automatic take-off module 220 includes a take-off altitude acquisition module 221 and a take-off operation module 222.

The takeoff height acquisition module 221 is used to acquire the current vertical distance of the aircraft from the takeoff point in real time.
The takeoff appropriate operation module 222 is used to control the aircraft to perform an appropriate operation based on the current vertical distance.

  The aircraft can take off to a different preset altitude and automatically take a corresponding action corresponding to the preset altitude. For example, a corresponding action may be designed for different needs, for example, the corresponding action may be to change the flight speed of the aircraft, for example, increasing the current climb speed of the aircraft, Decrease climb speed. The corresponding action may be to change the attitude of the aircraft, for example to control the aircraft to move forward, backward, left and right. The corresponding operation may be a post-takeoff preparation operation, for example, retracting the landing gear, extending a sensor mounted on the aircraft, or the like. A corresponding action may be to record flight information at the time of takeoff of the aircraft, for example, to record the current position of the aircraft, and to image the surrounding environment of the aircraft.

  As shown in FIG. 18, specifically, the take-off operation module 222 includes a first preset altitude module 222a, a post-take-off operational module 222b, and a second preset altitude module 222c. Including. The first preset altitude module 222a is used to control the aircraft to automatically fly from a takeoff point to a first preset altitude. The post-takeoff operation module 222b is used to automatically start the post-takeoff preparation operation at the first preset altitude position.

  The post-takeoff preparation operation may be to change the functional form of the aircraft, for example, to retract the landing gear of the aircraft, or to deform the structure of the aircraft. The post-take-off preparation operation may be to change the functional form of the sensor of the aircraft, for example, to move the position of the sensor (for example, extend the sensor from the inside of the aircraft to the outside), or to change the attitude of the sensor (for example, Controlling the operation state of the sensor (for example, turning on / off the sensor, etc.) may be performed. The post-takeoff preparation operation may be to change the functional form of the load mounted on the aircraft, for example, to change the attitude of the platform mounted on the aircraft.

  The second preset altitude module 222c gradually decelerates and climbs the aircraft from a first preset altitude to a second preset altitude and hovers to a position at a second preset altitude. It is used for control.

  As shown in FIG. 19, the takeoff control system according to the second embodiment of the present invention is based on the first embodiment, and includes a user takeoff control signal detection module 231, a takeoff correction module 232, and a preset mode takeoff module 233. And further included.

  The user takeoff control signal detection module 231 is used to detect whether or not a takeoff control signal transmitted from a user has been received. The user transmits a takeoff control signal for correcting a preset takeoff mode by using the mobile terminal. For example, when the aircraft is in the process of automatically executing the preset takeoff mode and an obstacle is found, the user modifies the preset takeoff mode by the takeoff control signal so as to avoid the obstacle. be able to.

  During the entire process in which the aircraft automatically executes the preset takeoff mode, or within a preset altitude of the preset takeoff mode, or the preset takeoff mode, Within the range of the climb speed, the user takeoff control signal detection module 231 starts detecting in real time whether or not a takeoff control signal transmitted from the user has been received.

  The takeoff correction module 232 corrects the preset takeoff mode based on the takeoff control signal when receiving the takeoff control signal transmitted from the user, and takes off in the modified preset takeoff mode based on the takeoff control signal. Used for

  The takeoff control signal may include a control signal for changing a preset attitude in a preset takeoff mode. The preset attitude may include information such as a heading angle, a pitch angle, and a tilt angle of the aircraft.

  The takeoff control signal may include a control signal for changing a preset speed in the preset takeoff mode. For example, the corrected speed of the aircraft is equal to the superposition of the control speed of the takeoff control signal and a preset speed.

  The preset mode takeoff module 233 is used to take off in the original preset takeoff mode when the takeoff control signal transmitted from the user is not received.

Based on the above takeoff control method, the present invention further provides an aircraft using the takeoff control method.
Referring to FIG. 20, an aircraft 201 according to an embodiment of the present invention has a signal receiver 201a for detecting whether a takeoff instruction signal has been received and an aircraft 201 that has been set in advance when a takeoff instruction signal has been received. Controller 201b for controlling automatic takeoff in the takeoff mode.

  Specifically, in the present embodiment, the aircraft 201 further includes an altitude sensor 201c for acquiring the current vertical distance of the aircraft 201 from the takeoff point in real time. The controller 201b is further used to control the aircraft 201 to perform a corresponding operation based on the current vertical distance.

  The aircraft 201 can take off to a different preset altitude and automatically take a corresponding action corresponding to the preset altitude. For example, a corresponding action may be designed for different needs, for example, the corresponding action may be to change the flight speed of the aircraft 201, for example, to increase the current climb speed of the aircraft 201, Reduce the current ascent speed of 201. The corresponding action may be to change the attitude of the aircraft 201, for example, to control the aircraft 201 to move forward, backward, left, and right. The corresponding operation may be a post-takeoff preparation operation, such as retracting the landing gear, extending a sensor mounted on the aircraft 201, or the like. The corresponding operation may be to record flight information of the aircraft 201 at takeoff, for example, to record the current position of the aircraft 201 and to image the surrounding environment of the aircraft 201.

  For example, the controller 201b automatically causes the aircraft 201 to fly from the takeoff point to a first preset altitude, and automatically starts a post-takeoff preparation operation at a position of the first preset altitude. It is used for control.

  Further, the controller 201b further controls the aircraft 201 to gradually decelerate and ascend the aircraft 201 from a first preset altitude to a second preset altitude, and hover to a position at a second preset altitude. It is used for

  The post-takeoff preparation operation may be to change the function form of the aircraft 201, for example, to retract the landing gear of the aircraft 201 or to deform the structure of the aircraft 201. The post-takeoff preparation operation may be to change the function form of the sensor of the aircraft 201, such as moving the position of the sensor (for example, extending the sensor from the inside of the aircraft 201 to the outside), and changing the attitude of the sensor ( For example, the altitude of the image sensor with respect to the aircraft 201 may be changed, or the operating state of the sensor may be controlled (for example, the sensor may be turned on / off). The post-takeoff preparation operation may be to change the functional form of the load mounted on the aircraft 201, for example, to change the attitude of the pan head mounted on the aircraft 201, or the like.

  In another embodiment, the signal receiver 201a is further used to detect whether a takeoff control signal transmitted from a user has been received. The controller 201b is used for correcting a preset takeoff mode based on the takeoff control signal and controlling the aircraft 201 to take off in the corrected preset takeoff mode.

  Further, the controller 201b is further used to control the aircraft 201 to take off in the original preset takeoff mode when the takeoff control signal transmitted from the user is not received.

  The user transmits a takeoff control signal for correcting a preset takeoff mode using the mobile terminal. For example, when the aircraft 201 is in the process of automatically executing the preset takeoff mode and an obstacle is found, the user modifies the preset takeoff mode by the takeoff control signal so as to avoid the obstacle. can do.

  During the entire process in which the aircraft 201 automatically executes the preset takeoff mode, or within a preset altitude of the preset takeoff mode, or the preset takeoff mode, It detects in real time whether or not a takeoff control signal transmitted from the user is received within the range of the rising speed.

  The takeoff control signal may include a control signal for changing a preset attitude in a preset takeoff mode. The preset attitude can include information such as a heading angle, a pitch angle, and a tilt angle of the aircraft 201.

  Further, the takeoff control signal may include a control signal that changes a preset speed in a preset takeoff mode. For example, the corrected speed of the aircraft 201 is equal to the superposition of the control speed of the takeoff control signal and a preset speed.

  It should be understood that in some embodiments provided for the present invention, the related apparatus and methods disclosed may be implemented in other ways. For example, the device embodiments described above are merely schematic, for example, the module or unit section is only a logical function section, and there are different partitioning schemes in actual implementation. For example, multiple units or assemblies may be combined, integrated into separate systems, or some features may be ignored or not performed. Also, the connections or direct connections or communication connections shown or discussed with each other may be achieved through some interface, and the indirect connections or communication connections of the devices or units may be electrical, mechanical or other. May be used.

  Units described as separate members may or may not be physically divided, and members shown as units may or may not be physical units, i.e., located in one place. May be distributed to a plurality of network units. According to actual needs, some or all of the units may be selected to realize the purpose of the present embodiment.

  In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may be physically present independently, and two or more units may be integrated into one unit. May be. The above-mentioned integrated unit may be realized in the form of hardware or in the form of a software functional unit.

  When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially realized, in other words, a part or all or a part of the technical solution that contributes to the prior art can be embodied in the form of a software product, The computer software product is stored on one storage medium and includes some instructions for causing a computer processor to perform all or some steps of the method according to each embodiment of the present invention. In addition, the above-mentioned storage medium can store various program codes such as a USB memory, a portable hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disk. Media.

  What has been described above is merely an embodiment of the present invention, and does not limit the scope of the patent of the present invention. An equivalent configuration or equivalent made using the contents of the specification and drawings of the present invention will be described. Anything that is used directly or indirectly in flow conversion or other related technical fields is within the scope of the patent protection of the present invention for the same reason.

  Detecting whether a landing instruction signal has been received, and controlling the aircraft to automatically land in a preset landing mode upon receiving the landing instruction signal. According to the landing control method and the takeoff control method, it is possible to control the aircraft to take off and land automatically, and the operation by the user becomes convenient.

Claims (21)

Detecting whether a takeoff instruction signal has been received;
Receiving the takeoff instruction signal, controlling the aircraft to automatically take off in a preset takeoff mode,
Upon receiving the takeoff instruction signal, controlling the aircraft to automatically take off in a preset takeoff mode,
In the entire process of automatically executing the preset takeoff mode, a step of detecting in real time whether or not a takeoff control signal transmitted from the user has been received,
The method of claim 1, further comprising the step of correcting the preset take-off mode based on the take-off control signal, and taking off in the modified take-off mode based on the take-off control signal. Controlling the aircraft to automatically take off in a preset takeoff mode,
Automatically flying from the takeoff point to a first preset altitude;
The takeoff control method according to claim 1, further comprising: automatically starting a post-takeoff preparation operation at the first preset altitude position. The post-takeoff preparation operation includes:
Changing the functional form of the aircraft;
Changing the functional form of the aircraft sensor;
And changing the functional form of the load-bearing load mounted on the aircraft,
The takeoff control method according to claim 2, comprising at least one of the following. Controlling the aircraft to automatically take off in a preset takeoff mode,
3. A step of gradually decelerating and rising from the first preset altitude to a second preset altitude and hovering at the position of the second preset altitude. Takeoff control method described in 1. The takeoff control signal is
A control signal for changing a preset attitude in the preset takeoff mode,
The takeoff control method according to claim 1, further comprising at least one of a control signal for changing a preset speed in the preset takeoff mode. Upon receiving the takeoff instruction signal, controlling the aircraft to automatically take off in a preset takeoff mode,
The takeoff control method according to claim 1, further comprising: taking off in the preset takeoff mode when it is detected that the takeoff control signal transmitted from the user is not received. Controlling the aircraft to automatically take off in a preset takeoff mode,
Obtaining a current vertical distance of the aircraft from a takeoff point in real time;
The takeoff control method according to claim 1, further comprising the step of causing the aircraft to perform a corresponding action based on the current vertical distance. The corresponding action is:
Changing the flight speed of the aircraft;
Changing the attitude of the aircraft;
Preparatory action after takeoff,
The takeoff control method according to claim 7 , comprising at least one of recording flight information at the time of takeoff of the aircraft. The takeoff control method according to any one of claims 1 to 8 , wherein the takeoff instruction signal is transmitted from a mobile terminal. A program for causing a computer to execute the takeoff control method according to any one of claims 1 to 9 . A computer-readable recording medium in which the program was recorded for executing a takeoff control method according to any one of claims 1 to 9 on a computer. A takeoff signal detection module for detecting whether a takeoff instruction signal has been received,
An automatic take-off module for controlling the aircraft to automatically take off in a preset take-off mode when a take-off instruction signal is received,
The automatic takeoff module includes:
In the entire process of automatically executing the preset takeoff mode, a user takeoff control signal detection module for detecting in real time whether or not a takeoff control signal transmitted from the user has been received,
A take-off correction module for correcting the preset take-off mode based on the take-off control signal when receiving a take-off control signal transmitted from a user, and taking off in the corrected take-off mode. An aircraft takeoff control system characterized by the following. The automatic takeoff module includes:
A first preset altitude module for controlling the aircraft to automatically fly from a takeoff point to a first preset altitude; and taking off at the first preset altitude location The take-off control system according to claim 12 , further comprising: a post-take-off operation module for automatically starting a post-preparation operation. The post-takeoff preparation operation includes:
Changing the functional form of the aircraft;
Changing the functional form of the aircraft sensor;
The takeoff control system according to claim 13 , comprising at least one of: changing a function form of a load mounted on the aircraft. The automatic takeoff module further comprises:
A second step of controlling the aircraft to gradually decelerate from the first preset altitude to a second preset altitude and hover to the position of the second preset altitude. 14. The takeoff control system according to claim 13 , comprising two preset altitude modules. The takeoff control signal is
A control signal for changing a preset attitude in the preset takeoff mode, and at least one of a control signal for changing a preset speed in the preset takeoff mode are included. The takeoff control system according to claim 12 , The automatic takeoff module further comprises:
The takeoff according to claim 12 , further comprising: a preset mode takeoff module for taking off in the original preset takeoff mode when a takeoff control signal transmitted from a user is not received. Control system. The automatic takeoff module includes:
A takeoff altitude acquisition module for acquiring a current vertical distance of the aircraft from a takeoff point in real time,
The takeoff control system according to claim 12 , further comprising: a takeoff corresponding operation module for controlling the aircraft to perform a corresponding operation based on the current vertical distance. The corresponding action is:
Changing the flight speed of the aircraft;
Changing the attitude of the aircraft;
Preparatory action after takeoff,
The takeoff control system according to claim 18 , comprising: at least one of: recording flight information when the aircraft takes off. The takeoff instruction system according to any one of claims 12 to 19 , wherein the takeoff instruction signal is transmitted from a mobile terminal. An aircraft comprising the take-off control system according to any one of claims 12 to 20 .