WO2017012499A1 - 一种无人机控制方法、装置和系统 - Google Patents

一种无人机控制方法、装置和系统 Download PDF

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Publication number
WO2017012499A1
WO2017012499A1 PCT/CN2016/090014 CN2016090014W WO2017012499A1 WO 2017012499 A1 WO2017012499 A1 WO 2017012499A1 CN 2016090014 W CN2016090014 W CN 2016090014W WO 2017012499 A1 WO2017012499 A1 WO 2017012499A1
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Prior art keywords
instruction
type
control
drone
command
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PCT/CN2016/090014
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English (en)
French (fr)
Inventor
郑维玮
刘洋
李奎
丁宝宝
李佐广
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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

Definitions

  • the present application relates to the field of UAV control technologies, and in particular, to a UAV control method, apparatus and system.
  • the software system of a commercial drone is generally an embedded system. Specifically, a control chip is provided in the drone, and the chip is used to run flight control software.
  • the flight action control is implemented by software. Because a large number of functions must be run in the embedded system, the control chip of the drone needs higher computing power, which leads to the complexity of the design of the UAV software system, the long development cycle, and the limitations of the embedded software. The control system is difficult to expand and upgrade.
  • the technical problem to be solved by the present application is to improve the scalability of the drone control system and reduce the hardware and software costs of the drone.
  • the present application provides a drone control method, including: receiving a control command issued by a control terminal, the control command including a first type instruction and a second type instruction, wherein the first type instruction is used to control flight of the drone Acting that the second type of instruction is another instruction than the first type of instruction; identifying the type of the control instruction; if the control instruction is a first type of instruction, forwarding the first type of instruction to flight An action execution system; if the control instruction is a second type of instruction, performing an action according to the second type of instruction.
  • control instruction includes an instruction prefix and an instruction content
  • identifying the type of the control instruction is to identify a type of the control instruction according to an instruction prefix of the control instruction.
  • the format of the control instruction is a TLV format.
  • the acting according to the instruction comprises: acquiring an image, receiving GPS information, and transmitting the image and the GPS information to the control terminal.
  • the second type of instruction includes destination information and acquiring GPS information.
  • the method further includes: according to the instruction for acquiring GPS information in the second type of instruction. Obtaining GPS information of the current location; controlling the flight action execution system according to the destination information in the second type of instruction and the GPS information of the current location.
  • the destination information may be coordinate information and destination image information.
  • the method further includes: receiving status information sent by the PTZ system; and transmitting the status information to the control end.
  • the present application further provides a drone control apparatus, comprising: a receiving unit, configured to receive a control instruction issued by a control end, the control instruction comprising a first type instruction and a second type instruction, the first type The instruction is used to control a flight action of the drone, the second type of instruction is an instruction other than the first type of instruction; the determining unit is configured to identify a type of the control instruction; and the first execution unit is configured to: When the control instruction is a first type of instruction, the first type of instruction is forwarded to the flight action execution system; and the second execution unit is configured to: when the control instruction is a second type of instruction, according to the second type of instruction action.
  • the application further provides a drone control system, comprising: a first intelligent terminal, configured to send a control instruction, the control instruction comprising a first type instruction and a second type instruction, wherein the first type instruction is used to control no a flight action of the human machine, the second type of command is other instructions than the first type of command; the flight action execution system is disposed in the drone to control the drone to perform a flight action; a smart terminal, configured to receive a control command sent by the first smart terminal, to identify a type of the control command, and to forward the first type command if the control command is a first type command Up to the flight action execution system; if the control command is a second type of command, act according to the second type of command.
  • a drone control system comprising: a first intelligent terminal, configured to send a control instruction, the control instruction comprising a first type instruction and a second type instruction, wherein the first type instruction is used to control no a flight action of the human machine, the second type of command is other instructions than the first type of command;
  • control instruction includes an instruction prefix and an instruction content
  • second smart terminal is configured to identify a type of the control instruction according to an instruction prefix of the control instruction.
  • the second type of instruction includes destination information and acquiring GPS information
  • the second intelligent terminal is further configured to acquire GPS information according to the second type of instruction after receiving the second type of instruction.
  • the method further includes: a pan/tilt system, configured to send the status information to the second smart terminal; the second smart terminal is further configured to send the status information to the first smart terminal.
  • a pan/tilt system configured to send the status information to the second smart terminal
  • the second smart terminal is further configured to send the status information to the first smart terminal.
  • the first smart terminal is a smart phone or a tablet; and/or the second smart terminal is a smart phone or a tablet; and the first smart terminal and the second smart terminal are wirelessly connected. Communicate.
  • the drone control method, device and system provided by the present application can determine two types of control commands issued by the control terminal by the intelligent terminal disposed on the drone, and judge the type of the command. Finally, the flight action control finger is sent to the flight action execution system, or the corresponding action is performed according to the intelligent terminal control command, and the advantage of the development, modification, debugging and upgrade of the software of the intelligent terminal is utilized, and the embedded of the existing drone is solved.
  • FIG. 1 is a schematic diagram of an application scenario of a drone control method according to an embodiment of the present application
  • FIG. 2 is a flowchart of a method for controlling a drone according to an embodiment of the present application
  • FIG. 3 is a structural diagram of a drone control device according to an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device according to still another embodiment of the present application.
  • FIG. 5 is a structural diagram of a drone control system according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of an application scenario of a drone control method according to an embodiment of the present application.
  • a control terminal 11 is configured to send a control command to a controlled terminal 12 in a drone, and the controlled terminal 12 For controlling the flight action execution system 13 to perform a corresponding action according to the instruction, wherein the control terminal 11 and the controlled terminal 12 can employ a portable data processing device such as a smartphone or a tablet.
  • the embodiment of the present application provides a drone control method. As shown in FIG. 1 , the method is applied to a controlled end disposed on a drone.
  • the method includes:
  • the control terminal includes a first type instruction and a second type instruction, wherein the first type instruction is a flight action control instruction for controlling a flight action of the drone, and the second type instruction Is other instructions than the first type of instruction.
  • the first type of instructions may include various contents, such as acceleration, deceleration, ascending, descending commands, etc., so that the power output power can be increased or decreased by the flight action execution system, the flight direction and height are controlled, and the like.
  • the action is also a necessary action of the drone, and the hardware of the smart terminal can be used to perform the above preferred actions to reduce the hardware cost of the drone.
  • the second type of instruction may also include a plurality of specific contents, such as an intelligent terminal control instruction for controlling the action of the smart terminal.
  • an intelligent terminal control instruction for controlling the action of the smart terminal.
  • the function of any smart terminal can be used as the above-mentioned actions, such as the sound collecting and playing function, and the communication function.
  • the above preferred actions are common functions of the smart terminal, and most of the smart terminals have the above functions, such as an instruction to turn on the GPS function of the smart terminal, an instruction to turn on the camera in the smart terminal, and the like.
  • S2 identifying the type of the control instruction, and having various identification methods. For example, all the instructions and the type corresponding to each instruction may be pre-stored, and the specific type may be determined by looking up the table when the instruction is received.
  • S3 is executed if the control instruction is a first type instruction (ie, a flight action control instruction); and S4 is performed if the control instruction is a second type instruction (intelligent terminal control instruction).
  • S4 Perform an action according to the second type of instruction, that is, the smart terminal performing the method performs the action itself.
  • the drone control method of the embodiment of the present application can be executed by an intelligent terminal disposed on the drone, by receiving two types of control commands issued by the control terminal, and determining the type of the command, and finally controlling the flight action Send to the flight action execution system, or perform corresponding actions according to the intelligent terminal control instructions, and utilize the software of the intelligent terminal to facilitate the advantages of development, modification, debugging and upgrade, and solve the poor scalability of the embedded software control system of the existing drone Problems, and reducing the hardware cost of the drone by controlling the hardware in the smart terminal to perform corresponding actions.
  • the control instruction in this embodiment includes an instruction prefix and an instruction content
  • the foregoing S2 specifically identifies the type of the control instruction according to the instruction prefix of the control instruction, and the format thereof may be It is a TLV (Type-length-value) format.
  • the data type of the message type is one byte, which is used to indicate that the data amount of the prefix and the length of the message body is one byte, and the amount of data for indicating the length and value of the message is indefinite. Used to indicate the content of the instruction. Therefore, after receiving the control command, only the content of the instruction prefix needs to be recognized to determine the type of the instruction, thereby improving the response speed of the operation of the judgment instruction type, thereby improving the efficiency of the method.
  • the second type of instruction may include destination information and acquire GPS information, and after receiving the second type of instruction, the controlled terminal on the drone may determine a flight destination and start collecting GPS information of the current location in real time. Then you can also perform the following steps:
  • the above preferred solution can enable the controlled end to realize automatic navigation of the drone single flight according to the destination information and the GPS information.
  • the destination information may be coordinate information and destination image information. Since the controlled end can also collect external images, the controlled end can be based on the destination image information and the coordinate information. The accuracy of this preferred scheme is higher by combining to determine whether or not to reach the destination.
  • the drone system is usually provided with a pan/tilt system for controlling the position and orientation of the camera device on the drone.
  • the method may further include:
  • Receiving status information sent by the PTZ system for example, information indicating whether the working status of the PTZ is normal;
  • FIG. 1 A drone control device that is applied to a controlled end disposed on a drone, as shown in FIG.
  • the drone control device includes:
  • the receiving unit 31 is configured to receive a control instruction issued by the control end, where the control instruction includes a first type instruction and a second type instruction, where the first type instruction is used to control a flight action of the drone, and the second type The instruction is an instruction other than the first type of instruction;
  • a determining unit 32 configured to identify a type of the control instruction
  • the first execution unit 33 is configured to forward the first type instruction to the flight action execution system when the control instruction is the first type of finger;
  • the second executing unit 34 is configured to: when the control instruction is a second type of instruction, perform an action according to the second type of instruction.
  • the UAV control device of the embodiment of the present application may be disposed in an intelligent terminal on the UAV, by receiving two types of control commands issued by the control terminal, and determining the type of the command, and finally transmitting the flight action control finger to
  • the flight action execution system, or the corresponding action according to the intelligent terminal control instruction utilizes the software of the intelligent terminal to facilitate the advantages of development, modification, debugging and upgrade, and solves the problem of poor scalability of the embedded software control system of the existing drone. And the hardware cost of the drone is reduced by controlling the hardware in the smart terminal to perform corresponding actions.
  • the control instruction in this embodiment includes an instruction prefix and an instruction content
  • the determining unit 32 specifically identifies the type of the control instruction according to the instruction prefix of the control instruction.
  • the format can be TLV (Type-length-value, type-length-value) format.
  • the data type of the message type is one byte, which is used to indicate that the data amount of the prefix and the length of the message body is one byte, and the amount of data for indicating the length and value of the message is indefinite. Used to indicate the content of the instruction. Therefore, after receiving the control command, only the content of the instruction prefix needs to be recognized to determine the type of the instruction, thereby improving the response speed of the operation of the judgment instruction type, thereby improving the efficiency of the method.
  • the embodiment of the present application further provides a non-volatile computer storage medium, where the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the drone control method in any of the foregoing method embodiments.
  • FIG. 4 is a schematic diagram showing the hardware structure of an electronic device for performing a drone control method according to another embodiment of the present application. As shown in FIG. 4, the device includes:
  • processors 610 and memory 620 one processor 610 is taken as an example in FIG.
  • the processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 620 is used as a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer executable program, and a module, as in the UAV control method in the embodiment of the present application.
  • Program instructions/modules for example, the receiving unit 31, the second executing unit 34, the judging unit 32, and the first executing unit 33 shown in FIG. 3).
  • the processor 610 executes various functional applications of the server and data processing by executing non-volatile software programs, instructions, and modules stored in the memory 620, that is, a processing method for implementing the operation of the list item operations of the above method embodiments.
  • the memory 620 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created by use of the processing device operated according to the list item, and the like. .
  • memory 620 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 620 can optionally include memory remotely located relative to processor 610 that can be connected to the processing device of the list item operation over a network. Examples of the above network include, but are not limited to, the Internet, an intranet, and a local area. Network, mobile communication network and combinations thereof.
  • the one or more modules are stored in the memory 620, and when executed by the one or more processors 610, perform the drone control method in any of the above method embodiments.
  • the electronic device of the embodiment of the present application exists in various forms, including but not limited to:
  • Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
  • Portable entertainment devices These devices can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
  • the server consists of a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • Another embodiment of the present application further provides a drone control system. As shown in FIG. 5, the system includes: a first smart terminal 21, a flight action execution system 22, and a second smart terminal 23, wherein the second smart terminal 23 is for performing the drone control method provided by the above embodiment. specifically:
  • the first smart terminal 21 is configured to send a control instruction, where the control instruction includes a first type instruction and a second type instruction, the first type instruction is used to control a flight action of the drone, and the second type instruction is Other instructions than the first type of command; the flight action execution system 32 is disposed in the drone for controlling the drone to perform a flight action.
  • the second intelligent terminal 23 is disposed in the drone for receiving a control instruction sent by the first smart terminal; identifying a type of the control instruction; if the control instruction is a first type instruction, the first type instruction Forwarding to the flight action execution system; if the control command is a second type of command, act according to the second type of command.
  • control instructions may include an instruction prefix and instruction content
  • the second smart terminal 23 may identify the type of the control instruction according to an instruction prefix of the control instruction. Therefore, the second smart terminal 23 only needs to recognize the content of the instruction prefix to identify the type of the instruction, and can improve the judgment finger. The speed of response to the type operation, which in turn increases the efficiency of the system.
  • the second type of instruction includes destination information and acquisition of GPS information, and the second intelligent terminal is further configured to acquire, according to the instruction for acquiring GPS information in the second type of instruction, after receiving the second type of instruction
  • the GPS information of the current location controls the flight action execution system according to the destination information in the second type of command and the GPS information of the current location to implement an automatic navigation function.
  • the destination information may be coordinate information and destination image information. Since the second smart terminal 23 can also collect external images, the second smart terminal 23 can determine whether to arrive according to the combination of the destination image information and the coordinate information. Destination, this preferred scheme is more accurate.
  • the application software may be configured in the first smart terminal 21 and the second smart terminal 23 to implement the foregoing functions.
  • the first smart terminal 21 and the second smart terminal 23 may be a smart phone or a tablet.
  • the second intelligent terminal 23 can be disposed on the pan/tilt in the drone to adjust the angle and direction of the pan/tilt system to improve the accuracy of image and video capture actions.
  • the first smart terminal 21 and the second smart terminal 23 are generally communicated by means of a wireless connection, for example, may be communicated through a WiFi network, a 4G network, etc.; the second smart terminal 23 and the flight action execution system 22 may be wired or Communicate wirelessly, for example, via USB, NFC, Bluetooth, WiFi, etc.
  • the drone control system of the embodiment of the present application two types of control commands are transmitted by the first smart terminal, and then received by the second terminal disposed on the drone and judged by the control command, and different types of control are performed.
  • the instructions are processed differently.
  • the second terminal and the flight action execution system respectively execute different control commands, and the advantages of the development, modification, debugging and upgrading of the software of the intelligent terminal are utilized, and the embedded software control of the existing drone is solved.

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

Abstract

一种无人机控制方法、装置和系统，所述方法包括：接收控制端（11）发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令用于控制智能终端的动作；识别所述控制指令的类型；如果所述控制指令为第一类型指令，则将该指令转发至飞行动作执行系统（13）；如果所述控制指令为第二类型指令，则根据该指令进行动作。

Description

一种无人机控制方法、装置和系统 【技术领域】
本申请涉及无人机控制技术领域，具体涉及一种无人机控制方法、装置和系统。
【背景技术】
目前，商用无人机的软件系统一般是嵌入式系统，具体地，无人机中设有控制芯片，该芯片用于运行飞行控制软件，
在实现本申请过程中，申请人发现相关技术存在以下问题：通过软件来实现飞行动作控制。由于大量功能都要运行在嵌入式系统里，使得无人机的控制芯片需要较高运算能力，这样导致无人机软件系统设计变得复杂，开发周期长，另外，由于嵌入式软件的局限性，控制系统很难被拓展和升级。
【发明内容】
为此，本申请所要解决的技术问题在于提高无人机控制系统的可扩展性，并降低无人机的软硬件成本。
本申请提供一种无人机控制方法，包括：接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；识别所述控制指令的类型；如果所述控制指令为第一类型指令，则将该第一类型指令转发至飞行动作执行系统；如果所述控制指令为第二类型指令，则根据该第二类型指令进行动作。
可选地，所述控制指令包括指令前缀和指令内容，所述识别所述控制指令的类型是根据所述控制指令的指令前缀来识别所述控制指令的类型。
可选地，所述控制指令的格式为TLV格式。
可选地，所述根据该指令进行动作包括：采集图像、接收GPS信息、向所述控制端发送所述图像和所述GPS信息。
可选地，所述第二类型指令包括目的地信息和获取GPS信息，在接收到所述第二类型指令后，所述方法还包括：根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息；根据所述第二类型指令中的所述目的地信息和所述当前所处位置的GPS信息来控制所述飞行动作执行系统。
可选地，目的地信息可以是坐标信息和目的地图像信息
可选地，所述方法还包括：接收云台系统发送的状态信息；向所述控制端发送所述状态信息。
相应地，本申请还提供一种无人机控制装置，包括：接收单元，用于接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；判断单元，用于识别所述控制指令的类型；第一执行单元，用于当所述控制指令为第一类型指时，将该第一类型指令转发至飞行动作执行系统；第二执行单元，用于当所述控制指令为第二类型指令，根据该第二类型指令进行动作。
本申请还提供一种无人机控制系统，包括：第一智能终端，用于发送控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；飞行动作执行系统，设置在无人机内，用于控制所述无人机进行飞行动作；第二智能终端，设置在无人机内，用于接收第一智能终端发出的控制指令；识别所述控制指令的类型；如果所述控制指令为第一类型指令，则将该第一类型指令转发至所述飞行动作执行系统；如果所述控制指令为第二类型指令，则根据该第二类型指令进行动作。
可选地，所述控制指令包括指令前缀和指令内容，所述第二智能终端用于根据所述控制指令的指令前缀来识别所述控制指令的类型。
可选地，所述第二类型指令包括目的地信息和获取GPS信息，所述第二智能终端还用于在接收到所述第二类型指令后，根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息，根据所述第二类型指令中的所述目的地信息和所述当前所处位置的GPS信息来控制所述飞行动作执行系统。
可选地，还包括：云台系统，用于向所述第二智能终端发送状态信息；所述第二智能终端还用于向所述第一智能终端发送所述状态信息。
可选地，所述第一智能终端是智能手机或平板电脑；和/或所述第二智能终端是智能手机或平板电脑；并且所述第一智能终端与所述第二智能终端通过无线连接进行通信。
与现有技术相比，本申请提供的无人机控制方法、装置和系统可以由设置在无人机上的智能终端通过接收控制端发出的两种类型的控制指令，并对指令的类型进行判断，最后将飞行动作控制指发至飞行动作执行系统，或根据智能终端控制指令执行相应动作，利用智能终端的软件便于开发、修改、调试和升级的优势，解决了现有无人机的嵌入式软件控制系统的扩展性差的问题，并且通过控制智能终端中的硬件执行相应动作降低了无人机的硬件成本。
【附图说明】
为了使本申请的内容更容易被清楚的理解，下面根据本申请的具体实施例并结合附图，对本申请作进一步详细的说明，其中
图1是本申请实施例的无人机控制方法的应用场景示意图；
图2是本申请实施例的无人机控制方法流程图；
图3是本申请实施例的无人机控制装置结构图；
图4是本申请又一实施例的电子设备的结构示意图；
图5是本申请实施例的无人机控制系统结构图。
【具体实施方式】
图1示出了根据本申请实施例的无人机控制方法的应用场景示意图，如图1所示，控制端11用于向无人机中的受控端12发送控制指令，受控端12用于根据该指令控制飞行动作执行系统13执行相应的动作，其中控制端11和受控端12可以采用智能手机、平板电脑等便携式数据处理设备。
本申请实施例提供一种无人机控制方法，如图1所示，该方法应用于设置在无人机上的受控端，该方法包括：
S1，接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，其中第一类型指令是用于控制无人机的飞行动作的飞行动作控制指令，第二类型指令是除所述第一类型指令外的其他指令。具体而言，第一类型指令可以包括多种内容，如加速、减速、上升、下降指令等，从而可以通过飞行动作执行系统增加或降低动力装置输出功率、控制飞行方向和高度等，上述优选的动作也是无人机的必要动作，可以利用智能终端的硬件来执行上述优选动作来降低无人机的硬件成本。第二类型指令同样可以包括多种具体内容，例如用于控制智能终端的动作的智能终端控制指令，本领域技术人员可以理解，实际应用时可以根据智能终端的功能设定第二类型指令的内容，任何智能终端具备的功能都可以作为上述动作，例如声音采集和播放功能、通讯功能，本申请实施例中优选为采集图像、接收GPS信息、向所述控制端发送所述图像和所述GPS信息，上述优选的动作是智能终端的常用功能，并且多数智能终端具有上述功能，例如开启智能终端GPS功能的指令、开启智能终端中的摄像装置的指令等。
S2，识别所述控制指令的类型，识别方式有多种，例如可以预先存储所有指令以及每种指令对应的类型，在收到指令时可以用查表的方式确定具体类型。如果所述控制指令为第一类型指令(即飞行动作控制指令)则执行S3；如果所述控制指令为第二类型指令(智能终端控制指令)则执行S4。
S3，将该第一类型指令转发至飞行动作执行系统，以使飞行动作执行系统 执行指令，控制无人机进行相应的飞行动作。
S4，根据该第二类型指令进行动作，即执行本方法的智能终端自身进行动作。
本申请实施例的无人机控制方法可以由设置在无人机上的智能终端来执行，通过接收控制端发出的两种类型的控制指令，并对指令的类型进行判断，最后将飞行动作控制指发至飞行动作执行系统，或根据智能终端控制指令执行相应动作，利用智能终端的软件便于开发、修改、调试和升级的优势，解决了现有无人机的嵌入式软件控制系统的扩展性差的问题，并且通过控制智能终端中的硬件执行相应动作降低了无人机的硬件成本。
为了更高效地识别所述控制指令的类型，本实施例中的控制指令包括指令前缀和指令内容，上述S2具体是根据所述控制指令的指令前缀来识别所述控制指令的类型，其格式可以是TLV(Type-length-value，类型-长度-值)格式。其中消息类型(Type)的数据量为一个字节，用于表示令前缀、消息体长度(length)的数据量为一个字节，用于表示本消息的长度、值(value)的数据量不定，用于表示指令内容。由此，在接收到控制指令后，只需要识别指令前缀的内容即可判断出指令的类型，由此可以提高判断指令类型操作的响应速度，进而提高本方法的效率。
优选地，上述第二类型指令可以包括目的地信息和获取GPS信息，无人机上的受控端收到此第二类型指令后，可以确定飞行目的地，并开始实时采集当前位置的GPS信息。然后还可以执行如下步骤：
根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息；根据所述目的地信息和所述当前所处位置的GPS信息控制所述飞行动作执行系统。
上述优选方案可以使受控端根据目的地信息和GPS信息实现对无人机单飞自动导航。更优选地，目的地信息可以是坐标信息和目的地图像信息，由于受控端还可以采集外界图像，所以受控端可以根据目的地图像信息与坐标信息的 结合来判断是否到达目的地，此优选方案的精确度较高。
无人机上通常还设有云台系统，其用于控制无人机上的摄像装置的位置和方向，本方法还可以还包括：
接收云台系统发送的状态信息，例如是表示云台工作状态是否正常的信息；
向所述控制端发送所述状态信息，以使操作者了解云台系统的工作状态。
与前一实施例相对应地，本申请的另一个实施例提供了一种无人机控制装置，该无人机控制装置应用于设置在无人机上的受控端，如图3所示，该无人机控制装置包括：
接收单元31，用于接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；
判断单元32，用于识别所述控制指令的类型；
第一执行单元33，用于当所述控制指令为第一类型指时，将该第一类型指令转发至飞行动作执行系统；
第二执行单元34，用于当所述控制指令为第二类型指令，根据该第二类型指令进行动作。
本申请实施例的无人机控制装置可以设置在无人机上的智能终端中，通过接收控制端发出的两种类型的控制指令，并对指令的类型进行判断，最后将飞行动作控制指发至飞行动作执行系统，或根据智能终端控制指令执行相应动作，利用智能终端的软件便于开发、修改、调试和升级的优势，解决了现有无人机的嵌入式软件控制系统的扩展性差的问题，并且通过控制智能终端中的硬件执行相应动作降低了无人机的硬件成本。
为了更高效地识别所述控制指令的类型，本实施例中的控制指令包括指令前缀和指令内容，上述判断单元32具体是根据所述控制指令的指令前缀来识别所述控制指令的类型，其格式可以是TLV(Type-length-value，类型-长度-值) 格式。其中消息类型(Type)的数据量为一个字节，用于表示令前缀、消息体长度(length)的数据量为一个字节，用于表示本消息的长度、值(value)的数据量不定，用于表示指令内容。由此，在接收到控制指令后，只需要识别指令前缀的内容即可判断出指令的类型，由此可以提高判断指令类型操作的响应速度，进而提高本方法的效率。
本申请实施例还提供了一种非易失性计算机存储介质，计算机存储介质存储有计算机可执行指令，该计算机可执行指令可执行上述任意方法实施例中的无人机控制方法。
请参阅图4，图4是本申请另一个实施例提供的执行无人机控制方法的电子设备的硬件结构示意图，如图4所示，该设备包括：
一个或多个处理器610以及存储器620，图4中以一个处理器610为例。
处理器610、存储器620、输入装置630和输出装置640可以通过总线或者其他方式连接，图4中以通过总线连接为例。
存储器620作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的无人机控制方法对应的程序指令/模块(例如，附图3所示的接收单元31、第二执行单元34、判断单元32和第一执行单元33)。处理器610通过运行存储在存储器620中的非易失性软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例列表项操作的处理方法。
存储器620可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据列表项操作的处理装置的使用所创建的数据等。此外，存储器620可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器620可选包括相对于处理器610远程设置的存储器，这些远程存储器可以通过网络连接至列表项操作的处理装置。上述网络的实例包括但不限于互联网、企业内部网、局域 网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器620中，当被所述一个或者多个处理器610执行时，执行上述任意方法实施例中的无人机控制方法。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例的电子设备以多种形式存在，包括但不限于:
(1)移动通信设备:这类设备的特点是具备移动通信功能，并且以提供话音、数据通信为主要目标。这类终端包括:智能手机(例如iPhone)、多媒体手机、功能性手机，以及低端手机等。
(2)超移动个人计算机设备:这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性。这类终端包括:PDA、MID和UMPC设备等，例如iPad。
(3)便携式娱乐设备:这类设备可以显示和播放多媒体内容。该类设备包括:音频、视频播放器(例如iPod)，掌上游戏机，电子书，以及智能玩具和便携式车载导航设备。
(4)服务器:提供计算服务的设备，服务器的构成包括处理器、硬盘、内存、系统总线等，服务器和通用的计算机架构类似，但是由于需要提供高可靠的服务，因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高。
(5)其他具有数据交互功能的电子装置。
以上所描述的装置实施例仅仅是示意性的，其中所述作为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，作为单元显示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网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。本申请的另一个实施例还提供了一种无人机控制系统，如图5所示该系统包括：第一智能终端21、飞行动作执行系统22和第二智能终端23，其中第二智能终端23用于执行上述实施例提供的无人机控制方法。具体地：
第一智能终端21用于发送控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；飞行动作执行系统32设置在无人机内，用于控制所述无人机进行飞行动作。
第二智能终端23设置在无人机内，用于接收第一智能终端发出的控制指令；识别所述控制指令的类型；如果所述控制指令为第一类型指令，则将该第一类型指令转发至所述飞行动作执行系统；如果所述控制指令为第二类型指令，则根据该第二类型指令进行动作。
如上所述，所述控制指令可以包括指令前缀和指令内容，第二智能终端23可以根据所述控制指令的指令前缀来识别所述控制指令的类型。由此，第二智能终端23只需要识别指令前缀的内容即可识别出指令的类型，可以提高判断指 令类型操作的响应速度，进而提高本系统的效率。
所述第二类型指令包括目的地信息和获取GPS信息，所述第二智能终端还用于在接收到所述第二类型指令后，根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息，根据所述第二类型指令中的所述目的地信息和所述当前所处位置的GPS信息来控制所述飞行动作执行系统，以实现自动导航的功能。更优选地，目的地信息可以是坐标信息和目的地图像信息，由于第二智能终端23还可以采集外界图像，所以第二智能终端23可以根据目的地图像信息与坐标信息的结合来判断是否到达目的地，此优选方案的精确度较高。
实际应用时，可以在第一智能终端21和第二智能终端23中设置配套的应用软件来实现上述功能，例如上述第一智能终端21和第二智能终端23可以是智能手机或者平板电脑。
第二智能终端23可以设置在无人机内的云台上，以使云台系统调整其角度和方向，提高图像和视频采集动作的准确性。第一智能终端21和第二智能终端23通常是通过无线连接的方式进行通信的，例如可以通过WiFi网络、4G网络等方式进行通信；第二智能终端23和飞行动作执行系统22可以通过有线或无线的方式进行通信，例如通过USB、NFC、蓝牙、WiFi等连接方式进行通信。
根据本申请实施例的无人机控制系统，通过第一智能终端发送两种类型的控制指令，然后通过设置在无人机上的第二终端接收并对控制指令进行判断，并对不同类型的控制指令进行区别处理，最后由第二终端与飞行动作执行系统分别执行不同的控制指令，利用智能终端的软件便于开发、修改、调试和升级的优势，解决了现有无人机的嵌入式软件控制系统的扩展性差的问题，并且通过控制智能终端中的硬件执行相应动作降低了无人机的硬件成本。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由 此所引伸出的显而易见的变化或变动仍处于本申请创造的保护范围之中。

Claims (10)

  1. 一种无人机控制方法，其特征在于，包括：
    接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；
    识别所述控制指令的类型；
    如果所述控制指令为第一类型指令，则将该第一类型指令转发至飞行动作执行系统；如果所述控制指令为第二类型指令，则根据该第二类型指令进行动作。
  2. 根据权利要求1所述的无人机控制方法，其特征在于，所述控制指令包括指令前缀和指令内容，所述识别所述控制指令的类型是根据所述控制指令的指令前缀来识别所述控制指令的类型。
  3. 根据权利要求2所述的无人机控制方法，其特征在于，所述控制指令的格式为TLV格式。
  4. 根据权利要求1-3中任一项所述的无人机控制方法，其特征在于，所述第二类型指令包括目的地信息和获取GPS信息，在接收到所述第二类型指令后，所述方法还包括：
    根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息；
    根据所述第二类型指令中的所述目的地信息和所述当前所处位置的GPS信息来控制所述飞行动作执行系统。
  5. 根据权利要求1-4中任一项所述的无人机控制方法，其特征在于，还包括：
    接收云台系统发送的状态信息；
    向所述控制端发送所述状态信息。
  6. 一种无人机控制装置，其特征在于，包括：
    接收单元，用于接收控制端发出的控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；判断单元，用于识别所述控制指令的类型；
    第一执行单元，用于当所述控制指令为第一类型指时，将该第一类型指令转发至飞行动作执行系统；
    第二执行单元，用于当所述控制指令为第二类型指令，根据该第二类型指令进行动作。
  7. 一种无人机控制系统，其特征在于，包括：
    第一智能终端，用于发送控制指令，所述控制指令包括第一类型指令和第二类型指令，所述第一类型指令用于控制无人机的飞行动作，所述第二类型指令为除所述第一类型指令外的其他指令；
    飞行动作执行系统，设置在无人机内，用于控制所述无人机进行飞行动作；
    第二智能终端，设置在无人机内，用于接收第一智能终端发出的控制指令；识别所述控制指令的类型；如果所述控制指令为第一类型指令，则将该第一类型指令转发至所述飞行动作执行系统；如果所述控制指令为第二类型指令，则根据该第二类型指令进行动作。
  8. 根据权利要求7所述的无人机控制系统，其特征在于，所述控制指令包 括指令前缀和指令内容，所述第二智能终端用于根据所述控制指令的指令前缀来识别所述控制指令的类型。
  9. 根据权利要求7或8所述的无人机控制系统，其特征在于，所述第二类型指令包括目的地信息和获取GPS信息，所述第二智能终端还用于在接收到所述第二类型指令后，根据所述第二类型指令中获取GPS信息的指令来获取当前所处位置的GPS信息，根据所述第二类型指令中的所述目的地信息和所述当前所处位置的GPS信息来控制所述飞行动作执行系统。
  10. 根据权利要求7-9中任一项所述的无人机控制系统，其特征在于，所述第一智能终端是智能手机或平板电脑；和/或
    所述第二智能终端是智能手机或平板电脑；
    并且所述第一智能终端与所述第二智能终端通过无线连接进行通信。
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