WO2016095095A1 - 一种飞行器控制方法、装置及飞行器 - Google Patents

一种飞行器控制方法、装置及飞行器 Download PDF

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Publication number
WO2016095095A1
WO2016095095A1 PCT/CN2014/093893 CN2014093893W WO2016095095A1 WO 2016095095 A1 WO2016095095 A1 WO 2016095095A1 CN 2014093893 W CN2014093893 W CN 2014093893W WO 2016095095 A1 WO2016095095 A1 WO 2016095095A1
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WIPO (PCT)
Prior art keywords
aircraft
flight
power output
return
flight control
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PCT/CN2014/093893
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English (en)
French (fr)
Inventor
于云
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2014/093893 priority Critical patent/WO2016095095A1/zh
Priority to CN201711436094.7A priority patent/CN107943093B/zh
Priority to CN201711432218.4A priority patent/CN108089596B/zh
Priority to CN201480042332.4A priority patent/CN105556409B/zh
Publication of WO2016095095A1 publication Critical patent/WO2016095095A1/zh
Priority to US15/622,363 priority patent/US10551853B2/en
Priority to US16/774,282 priority patent/US11511857B2/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to an aircraft control method, apparatus, and aircraft.
  • the aircraft In order to return the aircraft to the take-off position, or to return to the user-specified return point, the aircraft is set to the return mode and automatic return is achieved.
  • the technical problem to be solved by the embodiments of the present invention is to provide an aircraft control method, device and aircraft, which can realize more flexible operation of the aircraft.
  • an embodiment of the present invention provides an aircraft control method, including:
  • the power output of the aircraft is adjusted in accordance with the flight control command.
  • the present invention also provides an aircraft control device comprising:
  • a return control module configured to control the power output of the aircraft according to the return point position information to return the aircraft to the return point when receiving the automatic return command
  • a control adjustment module configured to adjust a power output of the aircraft according to the flight control instruction if a flight control command is detected during a return flight.
  • an embodiment of the present invention further provides an aircraft, including: a power component and a flight control system,
  • the power assembly for providing power output to the aircraft
  • the flight control system is configured to control the power output of the power component according to the return point position information to return the aircraft to the return point when receiving the automatic return flight instruction; if the flight control command is detected during the return flight, according to the flight control command The flight control command adjusts a power output of the power assembly.
  • the embodiment of the invention makes the operation of the aircraft more flexible by realizing the receivable flight control instruction during the returning process, and can meet more demands of the user.
  • FIG. 1 is a schematic flow chart of an aircraft control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of another aircraft control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of still another aircraft control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of an aircraft control device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of an aircraft according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of an aircraft control method according to an embodiment of the present invention.
  • the method according to an embodiment of the present invention may be applied to various aircraft such as a multi-rotor, a fixed wing, etc., wherein the multi-rotor aircraft may include a quadrotor. , six rotors, eight rotors and other aircraft including other numbers of rotors.
  • the method includes:
  • S101 When receiving the automatic returning instruction, controlling the power output of the aircraft according to the returning point position information to return the aircraft to the returning point. Specifically, the signal received by the aircraft is detected, and if an automatic return flight command is received, the power output of the aircraft is determined according to the return point, and the aircraft is caused to fly to the return point. During the automatic return flight, the aircraft flies toward the return point according to the preset attitude information, wherein the attitude information may include flight altitude, flight speed, flight direction, and the like.
  • the automatic returning instruction may be: a returning instruction sent by the remote end, a returning instruction generated by not receiving the remote control signal of the remote end within a preset time range, or a returning instruction generated when the battery power value reaches the returning demand value and has to be returned.
  • the return point location information may include: GPS (Global Positioning System) coordinates configured by the user, or automatically set (for example, an automatically set takeoff point), or the relative distance between the return point and the current position. , direction and other information.
  • GPS Global Positioning System
  • a control signal of direction and speed is generated by a predetermined algorithm to the power component of the aircraft, and the power output of the power component is adjusted, thereby adjusting the flight attitude of the aircraft, including adjusting the aircraft.
  • Power components generally include electronic governors, motors, and propellers.
  • the detecting action may be completed by the signal receiving component.
  • the signal is determined as a flight control command and the flight control command is executed; otherwise, the detected signal is ignored. .
  • the aircraft control method of the embodiment of the invention can receive the flight control instruction during the return flight, so that the operation of the aircraft is more flexible and can meet more demands of the user.
  • the method includes:
  • S201 When receiving the automatic returning instruction, controlling the power output of the aircraft according to the returning point position information to return the aircraft to the returning point.
  • the signal received by the aircraft is detected. If an automatic return command is received, the power output of the aircraft is determined according to the return point, and a corresponding control command is generated and sent to the power component to fly the aircraft to the return point.
  • the aircraft flies toward the return point according to the preset attitude information, wherein the attitude information may include flight altitude, flight speed, and the like.
  • the returning point location information may include the GPS signal of the returning point, and may also be information such as the relative distance and direction of the returning point from the current location.
  • the flight control command may be an operation command sent by the user's control terminal to the aircraft to control the power output of the aircraft, and the change of the attitude of the aircraft is always implemented to complete the action desired by the user.
  • the detection process can be completed by the signal receiving component. If the signal strength received by the signal receiving component is greater than a preset threshold, the signal is recognized as a flight control command; otherwise, the signal is identified as a noise signal and ignored.
  • the returning instruction may be generated according to the returning point location information, such as the GPS information of the returning point, and the returning instruction calculates a specific control command for the power component by using a preset algorithm, that is, calculating The power output of each power component is performed when the returning action is to be performed, and the control command is sent to the power component.
  • the return flight command generated according to the returning point position information and the flight control command may be superimposed, and the power output of the aircraft is controlled according to the superimposed command.
  • the aircraft superimposes the return flight instruction on the flight control command, that is, on the basis of the power output of each power component calculated by the return flight command, each of the flight control commands is superimposed
  • the power output of the power component is executed by a preset algorithm and setting a new power output of each power component to execute the flight control command while executing the return flight command.
  • the aircraft executes the flight control command, it also considers the parameters of the return flight command, and combines the two to obtain control commands to control the power output of the aircraft.
  • the return point position information and the flight control command may be combined to generate a control command, that is, according to the return point position information and the flight control command, each of the aircraft is calculated and set by a preset algorithm.
  • the power output of a power pack may be combined to generate a control command, that is, according to the return point position information and the flight control command, each of the aircraft is calculated and set by a preset algorithm.
  • the aircraft executes the flight control command, it also considers the parameters of the return point position information, and combines the two to obtain control commands to control the power output of the aircraft.
  • the return of the aircraft is generally a straight flight, that is, the relationship between the current position of the aircraft and the return point is calculated, and the flight line is obtained, flying to the GPS position of the return point, and landing back to the return point. If there is an obstacle between the current position of the aircraft and the return point, the user can operate to send an operational command to the aircraft to bypass the obstacle.
  • the flight path of the aircraft is determined by a control command, which is obtained by comprehensive calculation of the return flight command and the flight control command, or by comprehensive calculation of the information of the return point and the flight control command.
  • the flight trajectory is between the return trajectory and the predetermined trajectory of the flight control command.
  • the user can send multiple flight control commands to ensure that the aircraft bypasses obstacles.
  • the user can also send flight control commands to enable the aircraft to perform other actions during the return flight, such as flying to a specific location, including flying a specific altitude or flying a specific distance for shooting.
  • the aircraft can be operated during the return flight, which improves the safety and operational flexibility of the aircraft.
  • FIG. 3 there is shown another aircraft control method according to an embodiment of the present invention. Specifically, the method includes:
  • S301 When receiving the automatic returning instruction, controlling the power output of the aircraft according to the returning point position information to return the aircraft to the returning point.
  • S304 If receiving a flight control instruction to the aircraft, suspending controlling the power output of the aircraft according to the return point position information, and adjusting the power output of the aircraft according to the flight control instruction.
  • the return flight When receiving the flight control instruction, the return flight may be interrupted, that is, interrupting the power output of the aircraft according to the return point position information, and calculating and setting each of the aircraft according to the flight control instruction by a preset algorithm
  • the power output of a power component completes the action specified by the flight control command.
  • the aircraft flies in accordance with a predetermined trajectory of the flight control command.
  • the aircraft control system may be triggered to continue to return, that is, to turn on the power of the aircraft according to the return point position information. Output.
  • the power output of the aircraft according to the return point position information may be turned on after the preset time, that is, the vehicle returns to continue, and step S303 is performed.
  • the aircraft may also execute the flight control command and exit the return flight state, and no longer continue to return, and all subsequent flights and The action is determined based on the user's operation and/or the environmental parameters of the aircraft. That is, if step S304 is executed, the step S305 is not executed and the step S303 is not returned.
  • the aircraft can be operated during the return flight, which improves the safety and operational flexibility of the aircraft.
  • FIG. 4 is a schematic structural diagram of an aircraft control device according to an embodiment of the present invention.
  • the device of the embodiment of the invention may be applied to various aircraft such as a multi-rotor, a fixed wing, etc., wherein the multi-rotor aircraft may include a plurality of aircraft including a plurality of rotors, such as a quadrotor, a six-rotor, and an eight-rotor.
  • the aircraft control device includes:
  • the return control module 1 is configured to control the power output of the aircraft according to the return point position information to return the aircraft to the return point when receiving the automatic return flight instruction;
  • the control adjustment module 2 is configured to adjust the power output of the aircraft according to the flight control instruction if a flight control command is detected during the return flight.
  • the return control module 1 detects a signal received by the aircraft. If an automatic return command is received, the power output of the aircraft is determined according to the return point, and the aircraft is caused to fly to the return point. During the automatic return flight, the aircraft flies toward the return point according to the preset attitude information, wherein the attitude information may include flight altitude, flight speed, flight direction, and the like.
  • the control adjustment module 2 includes:
  • the detecting unit 21 is configured to detect, during the return flight, whether a flight control instruction for the aircraft is received;
  • the power adjustment unit 22 is configured to adjust the power output of the aircraft according to the return point position information and the flight control command, if the detecting unit detects that a flight control command for the aircraft is received.
  • the detecting unit 21 detects whether a flight control command to the aircraft is received.
  • the flight control command may be an operation command issued by the user's control terminal to control the power output of the aircraft by the operation command, and the change of the attitude of the aircraft is always implemented to complete the action desired by the user.
  • the signal if the signal strength received by the signal receiving component is greater than a preset threshold, the signal is recognized as a flight control command; otherwise, the signal is identified as a noise signal and ignored.
  • the power adjustment unit 22 may superimpose the return flight command generated according to the return flight point position information and the flight control command, and control the power output of the aircraft according to the superimposed command.
  • the power adjustment unit 22 may superimpose the return flight instruction on the flight control command, that is, perform the flight control on the basis of the power output of each power component calculated by the return flight command.
  • the power output of each power component is commanded, and a new power output of each power component is set by a preset algorithm to execute the flight control command while executing the return flight command.
  • the power adjustment unit 22 simultaneously considers the parameters of the return flight command, and combines the two to obtain control commands to control the power output of the aircraft.
  • the power adjustment unit 22 may also generate a control command by combining the return point position information and the flight control command, that is, calculating and setting the preset algorithm according to the return point position information and the flight control command.
  • the power output of each power component of the aircraft may also be generated.
  • the power adjustment unit 22 simultaneously considers the parameters of the return point position information, and combines the two to obtain control commands to control the power output of the aircraft.
  • the flight path of the aircraft is determined by a control command, which is obtained by comprehensive calculation of the return flight command and the flight control command, or by comprehensive calculation of the information of the return point and the flight control command.
  • a control command which is obtained by comprehensive calculation of the return flight command and the flight control command, or by comprehensive calculation of the information of the return point and the flight control command.
  • the flight trajectory is between the return trajectory and the predetermined trajectory of the flight control command.
  • the user can send multiple flight control commands to ensure that the aircraft bypasses obstacles.
  • the user can also send flight control commands to enable the aircraft to perform other actions during the return flight, such as flying to a specific location, including flying a specific altitude or flying a specific distance for shooting.
  • the adjustment unit 22 does not adjust the power output of the aircraft, and the aircraft continues to return.
  • the adjusting unit 22 may also interrupt the return flight, that is, interrupt the power output of the aircraft according to the return point position information, calculate and set according to the flight control instruction by using a preset algorithm. The power output of each power component of the aircraft completes the action specified by the flight control command.
  • the aircraft flies in accordance with a predetermined trajectory of the flight control command.
  • the power adjusting unit 22 adjusts the state in which the aircraft resumes returning according to the return point position information. That is, the power output of the aircraft is controlled according to the return point position information.
  • the power output of the aircraft may be controlled according to the return point position information after a preset time.
  • the aircraft may execute the flight control command and exit the return flight state. That is, the power adjustment unit 22 sets the power output of the aircraft according to the flight control command, and does not continue to return. All subsequent flights and actions are determined according to the user's operation and/or the environmental parameters of the aircraft.
  • the aircraft control device of the embodiment of the invention can receive flight control commands during the return flight, so that the operation of the aircraft is safer and more flexible, and can meet more demands of users.
  • FIG. 5 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft in the embodiment of the present invention may be a multi-rotor, a fixed wing, or the like, wherein the multi-rotor aircraft may include a quadrotor, a six-rotor, and eight Rotors and the like include a variety of aircraft with other numbers of rotors.
  • the aircraft includes a power assembly 100 and a flight control system 200.
  • the power assembly 100 is configured to provide power output to the aircraft, and the power assembly 100 may include an electronic governor, a motor, a propeller, and the like. . Depending on the number of propellers of the aircraft, the aircraft may include a corresponding number of power assemblies 100 to power the propellers.
  • the flight control system 200 is configured to control the power output of the power component 100 according to the return point position information to return the aircraft to the returning point when receiving the automatic returning instruction; if the flight control command is detected during the return flight, The power output of the power assembly 100 is then adjusted according to the flight control command.
  • the flight control system 200 can include a signal receiving component and a control component.
  • the signal receiving component is configured to detect and receive an instruction
  • the control component is configured to calculate and set a rotational speed of a driving motor of each power component 100 according to the received command according to the preset algorithm. To control any one or more of the flight speed, flight altitude and flight direction of the aircraft.
  • the flight control system 200 is specifically configured to detect whether a flight control command for the aircraft is received during the return flight; if yes, the power output of the power component 100 according to the returning point position information and the flight control instruction Make adjustments.
  • the flight control system 200 can be configured to superimpose a return flight command generated according to the return point position information and the flight control command, and control the power output of the power component 100 according to the superimposed command.
  • the returning instruction may be generated according to the returning point position information, such as the GPS information of the returning point, and the returning instruction calculates a specific control instruction for the power component 100 by using a preset algorithm, that is, The power output of each power component when the returning motion is to be performed is calculated, and the control command is transmitted to the power assembly 100.
  • the return flight command generated according to the returning point position information and the flight control command may be superimposed, and the power output of the aircraft is controlled according to the superimposed command.
  • the flight control system 200 of the aircraft superimposes the return flight command on the flight control command, that is, performs the superimposition on the basis of the power output of each power component 100 calculated by the return flight command.
  • the flight control commands the power output of each power component 100, and the flight control command is executed while executing the return flight command by a preset algorithm and setting a new power output of each power component.
  • the flight control system 200 simultaneously considers the parameters of the return flight command, and combines the two to obtain control commands to control the power output of the aircraft.
  • the flight control system 200 can also be configured to generate a control command according to the return point position information and the flight control instruction, and control the power output of the power component 100 according to the control instruction.
  • the return point position information and the flight control command may be combined to generate a control command, that is, according to the return point position information and the flight control command, each of the aircraft is calculated and set by a preset algorithm.
  • the power output of a power assembly 100 The power output of a power assembly 100.
  • the flight control system 200 simultaneously considers the parameters of the return point position information, and combines the two to obtain control commands to control the power output of the aircraft.
  • the flight path of the aircraft is determined by a control command, which is obtained by comprehensive calculation of the return flight command and the flight control command, or by comprehensive calculation of the information of the return point and the flight control command.
  • a control command which is obtained by comprehensive calculation of the return flight command and the flight control command, or by comprehensive calculation of the information of the return point and the flight control command.
  • the flight trajectory is between the return trajectory and the predetermined trajectory of the flight control command.
  • the flight control system 200 can be configured to detect whether a flight control command for the aircraft is received during the return flight; if yes, suspend controlling the power output of the power assembly 100 according to the return point position information, and according to the flight The control command adjusts the power output of the power assembly 100; after the adjustment of the power output of the power assembly 100 is completed according to the flight control command, turning on the power output of the power assembly 100 according to the return point position information is turned on.
  • the power output of the power assembly 100 according to the return point position information may be turned on after a preset time after the adjustment of the power output of the power assembly 100 is completed in accordance with the flight control instruction.
  • the flight control system 200 can control the flight control command to be executed after detecting the flight control command received to the aircraft during the return flight, and exit the return flight state, and no longer continue to return, after which all flights and actions are performed according to the user.
  • the operation and / or the environmental parameters of the aircraft are determined.
  • the aircraft of the embodiment of the invention can realize the control during the return flight, which improves the operational flexibility and safety of the aircraft.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined. Or it can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical, mechanical or otherwise.
  • the units described by the separate components may or may not be physically separated.
  • the components that are adjusted or detected as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. on. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

公开了一种飞行器控制方法、装置及飞行器。该飞行器控制方法包括在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使该飞行器返回返航点（S101）；在返航过程中，若检测到飞行控制指令，则根据该飞行控制指令调整该飞行器的动力输出（S102）。该飞行器控制方法可以实现在返航过程中对飞行器进行操控，使飞行器的操作更加灵活。

Description

一种飞行器控制方法、装置及飞行器 技术领域
本发明涉及飞行器技术领域，尤其涉及一种飞行器控制方法、装置及飞行器。
背景技术
目前飞行器包括固定翼飞行器及旋翼飞行器。其中旋翼飞行器通过电机带动旋翼实现起飞、降落或飞行。
为使飞行器回到起飞位置，或回到用户指定的返航点，飞行器被设定为返航模式并实现自动返航。
而所述飞行器在返航过程中，用户不可对其进行操作，故无法处理突发状况或在返航过程中执行用户期望的动作，操作灵活性不高。
发明内容
本发明实施例主要解决的技术问题是提供一种飞行器控制方法、装置及飞行器，可实现飞行器更加灵活的操作。
一方面，本发明实施例提供了一种飞行器控制方法，包括：
在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点；
在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
另一方面，本发明还提供了一种飞行器控制装置，包括：
返航控制模块，用于在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点；
控制调整模块，用于在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
再一方面，本发明实施例还提供了一种飞行器，包括：动力组件和飞控系统，
所述动力组件，用于为所述飞行器提供动力输出；
所述飞控系统，用于在接收到自动返航指令时，根据返航点位置信息控制动力组件的动力输出以使所述飞行器返回返航点；在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述动力组件的动力输出。
本发明实施例通过在返航过程中实现可接收飞行控制指令，使飞行器的操作更加灵活，可满足用户更多的需求。
 附图说明
图1是本发明实施例的一种飞行器控制方法的流程示意图；
图2是本发明实施例的另一种飞行器控制方法的流程示意图；
图3是本发明实施例的又一种飞行器控制方法的流程示意图；
图4是本发明实施例的一种飞行器控制装置的结构示意图；
图5是本发明实施例的一种飞行器的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参见图1，是本发明实施例的一种飞行器控制方法的流程示意图，本发明实施例的所述方法可以应用于多旋翼、固定翼等各种飞行器中，其中多旋翼飞行器可包括四旋翼、六旋翼、八旋翼等包括其他数目旋翼的多种飞行器。具体地，所述方法包括：
S101：在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点。具体地，检测飞行器接收到的信号，若接收到自动返航指令时，则根据返航点确定飞行器的动力输出，使所述飞行器向所述返航点飞行。自动返航过程中，飞行器根据预设姿态信息朝着返航点飞行，其中姿态信息可以包括飞行高度、飞行速度、飞行方向等。
所述自动返航指令可以是：遥控端发送的返航指令、预设时间范围内未接收到遥控端的遥控信号产生的返航指令、或者检测到电池电量值达到返航需求值不得不返航时产生的返航指令。
所述返航点位置信息可以包括：用户配置的、或者自动设置（例如自动设置的起飞点）返航点的GPS（Global Positioning System，全球定位系统）坐标，也可以为返航点与当前位置的相对距离、方向等信息。
S102：在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
具体地，根据所述飞行控制指令，通过预定的算法，产生方向及速度的控制信号给飞行器的动力组件，调节动力组件的动力输出，从而调整所述飞行器的飞行姿态，包括可以调整所述飞行器的飞行高度、飞行速度及飞行方向中的任意一种或多种。动力组件一般包括电子调速器、电机以及螺旋桨等。
所述检测动作可以通过信号接收元件完成，当检测到所接收的信号强度大于预设的阈值，则将该信号认定为飞行控制指令并执行该飞行控制指令，否则，则忽略所检测到的信号。
本发明实施例的飞行器控制方法，可以在返航过程中接收飞行控制指令，使飞行器的操作更加灵活，可满足用户更多的需求。
请再参阅图2，所示是本发明实施例的另一种飞行器控制方法，具体地，所述方法包括：
S201：在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点。
具体地，检测飞行器接收到的信号，若接收到自动返航指令时，则根据返航点确定飞行器的动力输出，生成并向动力组件发出相应的控制指令，使所述飞行器向所述返航点飞行。自动返航过程中，飞行器根据预设姿态信息朝着返航点飞行，其中姿态信息可以包括飞行高度、飞行速度等。
返航点位置信息可以包括所述返航点的GPS信号，也可以为返航点与当前位置的相对距离、方向等信息。
S202：在返航过程中，检测是否接收到对飞行器的飞行控制指令。
在返航过程中，检测是否接收到对飞行器的飞行控制指令。所述飞行控制指令可以为用户操控端发给飞行器的操作指令，用以通控制飞行器的动力输出，从来实现飞行器姿态的改变以完成用户期望的动作。
检测过程可以通过信号接收元件完成，若信号接收元件所接收到的信号强度大于预设的阈值，则将该信号认定为飞行控制指令，否则，则将该信号认定为噪音信号并忽略。
S203：若接收到对飞行器的飞行控制指令，则根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整。
具体地，在飞行器返航的过程中，可以根据所述返航点位置信息，如返航点的GPS信息等生成返航指令，所述返航指令通过预设算法计算出对动力组件的具体控制指令，即计算出要执行返航动作时每一动力组件的动力输出，并将所述控制指令发送给动力组件。
当接收到飞行控制指令时，可以将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述飞行器的动力输出。
此时，飞行器将所述返航指令于所述飞行控制指令进行叠加，即在所述返航指令所计算出的每一动力组件的动力输出的基础上，叠加上执行所述飞行控制指令时每一动力组件的动力输出，通过预设算法并设定每一动力组件新的动力输出，从而在执行返航指令的同时执行飞行控制指令。
在此过程中，飞行器在执行飞行控制指令时，同时考虑了返航指令的参数，综合二者得到控制指令，控制飞行器的动力输出。
此外，当接收到飞行控制指令时，也可以综合返航点位置信息和飞行控制指令生成控制指令，即根据返航点位置信息和飞行控制指令，通过预设算法计算出并设定所述飞行器的每一动力组件的动力输出。
在此过程中，飞行器在执行飞行控制指令时，同时考虑了返航点位置信息的参数，综合二者得到控制指令，控制飞行器的动力输出。
飞行器返航一般为直线飞行，即计算飞行器当前位置与返航点之间的关系，得出飞行线路，飞行至返航点的GPS位置的上空，并降落回到返航点。在飞行器的当前位置与返航点之间若存在障碍物，则用户可以进行操作，对飞行器发送操作指令，使其绕开障碍物。飞行器的飞行轨迹则由控制指令所决定，其中控制指令由返航指令和飞行控制指令综合计算获得，或由返航点的信息和飞行控制指令综合计算获得。故所述飞行轨迹为介于返航轨迹和所述飞行控制指令的预定轨迹之间。
用户可发送多次飞行控制指令，以确保飞行器绕过障碍物。当然，用户也可发送飞行控制指令以使飞行器在返航过程中完成其他动作，如飞行到某一特定位置，包括飞行特定高度或飞行特定距离进行拍摄等。
若未接收到飞行控制信号，继续返航。
本发明实施例中可对飞行器在返航过程中进行操作，提高了所述飞行器的安全性及操作灵活性。
请参阅图3，所示是本发明实施例的又一种飞行器控制方法，具体地，所述方法包括：
S301：在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点。
S302：在返航过程中，检测是否接收到对飞行器的飞行控制指令。
S303：若未接收到对飞行器的飞行控制指令，则继续根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点。
S304：若接收到对飞行器的飞行控制指令，则暂停根据返航点位置信息控制飞行器的动力输出，并按照所述飞行控制指令调整所述飞行器的动力输出。
当接收到所述飞行控制指令时，则可以中断返航，即中断根据返航点位置信息控制飞行器的动力输出，根据所述飞行控制指令，并通过预设算法计算出并设定所述飞行器的每一动力组件的动力输出，完成所述飞行控制指令所指定的动作。
在此过程中，所述飞行器按照所述飞行控制指令所预定的轨迹飞行。
S305：当按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，开启根据返航点位置信息控制飞行器的动力输出。
当所述飞行控制指令所要指定的动作完成后，信号接收元件未检测接收到新的控制飞行指令，则可以触发飞行器的控制系统使其继续进行返航，即开启根据返航点位置信息控制飞行器的动力输出。当然，当所述飞行控制指令对所述飞行器的动力输出的调整完成后，可以在预设时间之后，再开启根据返航点位置信息控制飞行器的动力输出，即继续返航，执行步骤S303。
在本实施例中，当在返航过程中检测接收到对飞行器的飞行控制指令后，所述飞行器也可以执行所述飞行控制指令，并退出返航状态，不再继续返航，其后所有的飞行及动作根据用户的操作和/或飞行器的环境参数决定。即若执行步骤S304，则不执行S305步骤且不返回执行S303步骤。
本发明实施例中可对飞行器在返航过程中进行操作，提高了所述飞行器的安全性及操作灵活性。
请参阅4，所示为本发明实施例的一种飞行器控制装置的结构示意图。本发明实施例的所述装置可以应用于多旋翼、固定翼等各种飞行器中，其中多旋翼飞行器可包括四旋翼、六旋翼、八旋翼等包括其他数目旋翼的多种飞行器。所述飞行器控制装置包括：
返航控制模块1，用于在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点；
控制调整模块2，用于在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
所述返航控制模块1检测飞行器接收到的信号，若接收到自动返航指令时，则根据返航点确定飞行器的动力输出，使所述飞行器向所述返航点飞行。自动返航过程中，飞行器根据预设姿态信息朝着返航点飞行，其中姿态信息可以包括飞行高度、飞行速度、飞行方向等。
控制调整模块2包括：
检测单元21，用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；
动力调整单元22，用于若所述检测单元检测接收到对飞行器的飞行控制指令，则根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整。
在返航过程中，检测单元21检测是否接收到对飞行器的飞行控制指令。所述飞行控制指令可以为用户操控端发出的操作指令，用以通过所述操作指令来控制飞行器的动力输出，从来实现飞行器姿态的改变以完成用户期望的动作。
检测过程中，若信号接收元件所接收到的信号强度大于预设的阈值，则将该信号认定为飞行控制指令，否则，则将该信号认定为噪音信号并忽略。
若接收到对飞行器的飞行控制指令，动力调整单元22可以将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述飞行器的动力输出。
此时，动力调整单元22可以将所述返航指令于所述飞行控制指令进行叠加，即在所述返航指令所计算出的每一动力组件的动力输出的基础上，叠加上执行所述飞行控制指令时每一动力组件的动力输出，通过预设算法并设定每一动力组件新的动力输出，从而在执行返航指令的同时执行飞行控制指令。
在此过程中，飞行器在执行飞行控制指令时，动力调整单元22同时考虑了返航指令的参数，综合二者得到控制指令，控制飞行器的动力输出。
此外，当接收到飞行控制指令时，动力调整单元22也可以综合返航点位置信息和飞行控制指令生成控制指令，即根据返航点位置信息和飞行控制指令，通过预设算法计算出并设定所述飞行器的每一动力组件的动力输出。
在此过程中，飞行器在执行飞行控制指令时，动力调整单元22同时考虑了返航点位置信息的参数，综合二者得到控制指令，控制飞行器的动力输出。
飞行器的飞行轨迹则由控制指令所决定，其中控制指令由返航指令和飞行控制指令综合计算获得，或由返航点的信息和飞行控制指令综合计算获得。故所述飞行轨迹为介于返航轨迹和所述飞行控制指令的预定轨迹之间。
用户可发送多次飞行控制指令，以确保飞行器绕过障碍物。当然，用户也可发送飞行控制指令以使飞行器在返航过程中完成其他动作，如飞行到某一特定位置，包括飞行特定高度或飞行特定距离进行拍摄等。
若未接收到飞行控制指令，则调整单元22不对所述飞行器的动力输出进行调整，飞行器继续返航。
另，当接收到所述飞行控制指令时，调整单元22也可以中断返航，即中断根据返航点位置信息控制飞行器的动力输出，根据所述飞行控制指令，并通过预设算法计算出并设定所述飞行器的每一动力组件的动力输出，完成所述飞行控制指令所指定的动作。
在此过程中，所述飞行器按照所述飞行控制指令所预定的轨迹飞行。
当所述飞行控制指令所要指定的动作完成后，若检测单元21未发现检测接收到新的控制飞行指令，则所述动力调整单元22调整所述飞行器恢复根据返航点位置信息进行返航的状态，即开启根据返航点位置信息控制飞行器的动力输出。当然，当所述飞行控制指令对所述飞行器的动力输出的调整完成后，可以在预设时间之后，再开启根据返航点位置信息控制飞行器的动力输出。
此外，当在返航过程中检测接收到对飞行器的飞行控制指令后，则所述飞行器可以执行所述飞行控制指令，并退出返航状态。即动力调整单元22按照飞行控制指令设定飞行器的动力输出，不再继续返航，其后所有的飞行及动作根据用户的操作和/或飞行器的环境参数决定。
本发明实施例的所述视频处理装置中各个模块及单元的具体实现可参考图1、图2及图3对应实施例中的描述。
本发明实施例的飞行器控制装置，可以在返航过程中接收飞行控制指令，使飞行器的操作更加安全灵活，可满足用户更多的需求。
请参阅图5，是本发明实施例的一种飞行器结构示意图，本发明实施例的所述飞行器可以为多旋翼、固定翼等各种飞行器，其中多旋翼飞行器可包括四旋翼、六旋翼、八旋翼等包括其他数目旋翼的多种飞行器。具体地，所述飞行器包括动力组件100和飞控系统200。
所述动力组件100，用于为所述飞行器提供动力输出，动力组件100可以包括电子调速器、电机以及螺旋桨等。。跟据所述飞行器的螺旋桨数目，飞行器可以包括相应数目的动力组件100，以便为所述螺旋桨提供动力。
所述飞控系统200，用于在接收到自动返航指令时，根据返航点位置信息控制动力组件100的动力输出以使所述飞行器返回返航点；在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述动力组件100的动力输出。
所述飞控系统200可以包括信号接收元件以及控制元件。所述信号接收元件用于检测并接收指令，所述控制元件用于根据所述接收到的指令，并通过预设的算法计算出并设定所述每一动力组件100的驱动电机的转速，以控制所述飞行器的飞行速度、飞行高度及飞行方向中任意一种或多种。
所述飞控系统200具体用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；若是，则根据所述返航点位置信息和所述飞行控制指令对所述动力组件100的动力输出进行调整。
所述飞控系统200，可以用于将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述动力组件100的动力输出。
具体地，在飞行器返航的过程中，可以根据所述返航点位置信息，如返航点的GPS信息等生成返航指令，所述返航指令通过预设算法计算出对动力组件100的具体控制指令，即计算出要执行返航动作时每一动力组件的动力输出，并将所述控制指令发送给动力组件100。
当接收到飞行控制指令时，可以将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述飞行器的动力输出。
此时，飞行器的飞控系统200将所述返航指令于所述飞行控制指令进行叠加，即在所述返航指令所计算出的每一动力组件100的动力输出的基础上，叠加上执行所述飞行控制指令时每一动力组件100的动力输出，通过预设算法并设定每一动力组件新的动力输出，从而在执行返航指令的同时执行飞行控制指令。
在此过程中，飞行器在执行飞行控制指令时，飞控系统200同时考虑了返航指令的参数，综合二者得到控制指令，控制飞行器的动力输出。
所述飞控系统200，也可用于根据所述返航点位置信息和所述飞行控制指令生成控制指令，并根据所述控制指令控制所述动力组件100的动力输出。
此时，当接收到飞行控制指令时，可以综合返航点位置信息和飞行控制指令生成控制指令，即根据返航点位置信息和飞行控制指令，通过预设算法计算出并设定所述飞行器的每一动力组件100的动力输出。
在此过程中，飞行器在执行飞行控制指令时，飞控系统200同时考虑了返航点位置信息的参数，综合二者得到控制指令，控制飞行器的动力输出。
飞行器的飞行轨迹则由控制指令所决定，其中控制指令由返航指令和飞行控制指令综合计算获得，或由返航点的信息和飞行控制指令综合计算获得。故所述飞行轨迹为介于返航轨迹和所述飞行控制指令的预定轨迹之间。
另，所述飞控系统200，可以用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；若是，则暂停根据返航点位置信息控制动力组件100的动力输出，并按照所述飞行控制指令调整所述动力组件100的动力输出；当按照所述飞行控制指令对所述动力组件100的动力输出的调整完成后，开启根据返航点位置信息控制动力组件100的动力输出。
当然，可以在按照所述飞行控制指令对所述动力组件100的动力输出的调整完成后的预设时间之后，开启根据返航点位置信息控制动力组件100的动力输出。
此外，飞控系统200可以控制当在返航过程中检测接收到对飞行器的飞行控制指令后，执行所述飞行控制指令，并退出返航状态，不再继续返航，其后所有的飞行及动作根据用户的操作和/或飞行器的环境参数决定。
本发明实施例的飞行器可以实现在返航过程中进行操控，提高了飞行器的操作灵活性和安全性。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其他的方式实现。例如，以上描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以组合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其他形式。
所述的分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元进行调整或检测的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (24)

  1. 一种飞行器控制方法， 其特征在于，包括：
    在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回所述返航点位置信息所指示的返航点；
    在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
  2. 如权利要求1所述的飞行器控制方法，其特征在于，所述在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出，包括：
    在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    若是，则根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整。
  3. 如权利要求2所述的飞行器控制方法，其特征在于，所述根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整，包括：
    根据所述返航点位置信息和所述飞行控制指令生成控制指令，并发送所述控制指令至动力组件以控制所述飞行器的动力输出。
  4. 如权利要求2所述的飞行器控制方法，其特征在于，所述根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整，包括：
    将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行指令叠加，并根据叠加后的指令控制所述飞行器的动力输出。
  5. 如权利要求1-4中任意一项所述的飞行器控制方法，其特征在于，所述调整所述飞行器的动力输出，包括：
    调整所述飞行器的动力组件的速度，以控制所述飞行器的飞行速度、飞行高度及飞行方向中任意一种或多种。
  6. 如权利要求1所述的飞行器控制方法，其特征在于，所述在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出，包括：
    在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    若是，则暂停根据返航点位置信息控制飞行器的动力输出，并按照所述飞行控制指令调整所述飞行器的动力输出；
    当按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，开启根据返航点位置信息控制飞行器的动力输出以使所述飞行器继续返航至所述返航点位置信息所指示的返航点。
  7. 如权利要求6所述的飞行器控制方法，其特征在于，所述当按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，开启根据返航点位置信息控制飞行器的动力输出，包括：
    当按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，在预设时间之后，开启根据返航点位置信息控制飞行器的动力输出。
  8. 如权利要求1所述的飞行器控制方法，其特征在于，所述在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出，包括：
    在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    若是，则根据所述飞行控制指令控制所述飞行器的动力输出。
  9. 一种飞行器控制装置，其特征在于，包括：
    返航控制模块，用于在接收到自动返航指令时，根据返航点位置信息控制飞行器的动力输出以使所述飞行器返回返航点；
    控制调整模块，用于在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述飞行器的动力输出。
  10. 如权利要求9所述的飞行器控制装置，其特征在于，所述控制调整模块，包括：
    检测单元，用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    动力调整单元，用于若所述检测单元检测接收到对飞行器的飞行控制指令，则根据所述返航点位置信息和所述飞行控制指令对所述飞行器的动力输出进行调整。
  11. 如权利要求10所述的飞行器控制装置，其特征在于，
    所述动力调整单元，具体用于根据所述返航点位置信息和所述飞行控制指令生成控制指令，并发送所述控制指令至动力模块以控制所述飞行器的动力输出。
  12. 如权利要求10所述的飞行器控制装置，其特征在于，
    所述动力调整单元，具体用于将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述飞行器的动力输出。
  13. 如权利要求9-12中任意一项所述的飞行器控制装置，其特征在于，
    控制调整模块，用于调整所述飞行器的动力组件的速度，以控制所述飞行器的飞行速度、飞行高度及飞行方向中任意一种或多种。
  14. 如权利要求9所述的飞行器控制装置，其特征在于，所述控制调整模块，包括：检测单元，用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    动力调整单元，用于若所述检测单元检测接收到对飞行器的飞行控制指令，则暂停根据返航点位置信息控制飞行器的动力输出，并按照所述飞行控制指令调整所述飞行器的动力输出；若按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，开启根据返航点位置信息控制飞行器的动力输出。
  15. 如权利要求14所述的飞行器控制装置，其特征在于，
    所述动力调整单元，具体用于当按照所述飞行控制指令对所述飞行器的动力输出的调整完成后，在预设时间之后，开启根据返航点位置信息控制飞行器的动力输出。
  16. 如权利要求9所述的飞行器控制装置，其特征在于，所述控制调整模块，包括：
    检测单元，用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；
    动力调整单元，用于若所述检测单元检测接收到对飞行器的飞行控制指令，则根据所述飞行控制指令控制所述飞行器的动力输出。
  17. 一种飞行器，其特征在于，包括：动力组件和飞控系统，
    所述动力组件，用于为所述飞行器提供动力输出；
    所述飞控系统，用于在接收到自动返航指令时，根据返航点位置信息控制动力组件的动力输出以使所述飞行器返回返航点；在返航过程中，若检测到飞行控制指令，则根据所述飞行控制指令调整所述动力组件的动力输出。
  18. 如权利要求17所述的飞行器，其特征在于，
    所述飞控系统，具体用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；若是，则根据所述返航点位置信息和所述飞行控制指令对所述动力组件的动力输出进行调整。
  19. 如权利要求18所述的飞行器，其特征在于，
    所述飞控系统，具体用于根据所述返航点位置信息和所述飞行控制指令生成控制指令，并根据所述控制指令控制所述动力组件的动力输出。
  20. 如权利要求18所述的飞行器，其特征在于，
    所述飞控系统，具体用于将根据所述返航点位置信息生成的返航指令和所述飞行控制指令进行叠加，并根据叠加后的指令控制所述动力组件的动力输出。
  21. 如权利要求17-20中任意一项所述的飞行器，其特征在于，
    所述飞控系统，具体用于调整所述动力组件的速度，以控制所述飞行器的飞行速度、飞行高度及飞行方向中任意一种或多种。
  22. 如权利要求17所述的飞行器，其特征在于，
    所述飞控系统，具体用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；若是，则暂停根据返航点位置信息控制动力组件的动力输出，并按照所述飞行控制指令调整所述动力组件的动力输出；当按照所述飞行控制指令对所述动力组件的动力输出的调整完成后，开启根据返航点位置信息控制动力组件的动力输出。
  23. 如权利要求22所述的飞行器，其特征在于，
    所述飞控系统，具体用于当按照所述飞行控制指令对所述动力组件的动力输出的调整完成后，在预设时间之后，开启根据返航点位置信息控制动力组件的动力输出。
  24. 如权利要求17所述的飞行器，其特征在于，
    所述飞控系统，具体用于在返航过程中，检测是否接收到对飞行器的飞行控制指令；若是，则根据所述飞行控制指令控制所述飞行器的动力输出。
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