WO2017071044A1 - 无人飞行器的控制方法及装置 - Google Patents

无人飞行器的控制方法及装置 Download PDF

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Publication number
WO2017071044A1
WO2017071044A1 PCT/CN2015/098844 CN2015098844W WO2017071044A1 WO 2017071044 A1 WO2017071044 A1 WO 2017071044A1 CN 2015098844 W CN2015098844 W CN 2015098844W WO 2017071044 A1 WO2017071044 A1 WO 2017071044A1
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WIPO (PCT)
Prior art keywords
uav
controller
unmanned aerial
aerial vehicle
sight
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2015/098844
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English (en)
French (fr)
Inventor
叶华林
刘欣
夏勇峰
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Xiaomi Inc
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Xiaomi Inc
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Filing date
Publication date
Application filed by Xiaomi Inc filed Critical Xiaomi Inc
Priority to KR1020167003967A priority Critical patent/KR20170061624A/ko
Priority to JP2017547040A priority patent/JP6400225B2/ja
Priority to RU2016114286A priority patent/RU2637838C2/ru
Priority to MX2016004627A priority patent/MX368890B/es
Publication of WO2017071044A1 publication Critical patent/WO2017071044A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G05D1/0011—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
    • G05D1/0011—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
    • G05D1/0022—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 characterised by the communication link
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned 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
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • 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
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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 disclosure relates to the field of unmanned aerial vehicle safety, and in particular to a method and device for controlling an unmanned aerial vehicle.
  • the present disclosure provides a control method and apparatus for an unmanned aerial vehicle.
  • a method of controlling an unmanned aerial vehicle comprising:
  • the UAV When the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to enter a return protection mode.
  • the determining whether the distance between the UAV and the controller exceeds a line of sight of the person includes:
  • the acquiring the position coordinates of the UAV and the position coordinates of the controller include:
  • the positioning system comprises a global positioning system, a base station positioning system or a wireless high fidelity positioning system.
  • the line of sight of the person is a default value or a user-defined value.
  • the plug-in system includes at least one of a camera, an infrared sensing system, and a depth of field camera.
  • controlling the UAV into a return flight protection mode comprises:
  • the UAV is controlled to fly back to a predetermined coordinate position.
  • the method further includes:
  • Control of the UAV is handed over to the controller in response to the exit return protection mode command.
  • a control device for an unmanned aerial vehicle comprising:
  • a detecting module configured to detect whether a data return link of the plug-in system of the UAV is normal, and the plug-in system is configured to detect a flight environment of the UAV;
  • control module configured to control the UAV to enter the return when the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal Protection mode.
  • the determining module includes:
  • Obtaining a submodule configured to acquire a position coordinate of the unmanned aerial vehicle and a position coordinate of the controller, where the position coordinate is determined by a positioning system;
  • Determining a sub-module configured to determine a distance between the UAV and the controller according to the position coordinates of the UAV acquired by the acquisition sub-module and the position coordinates of the controller;
  • the determining submodule is configured to determine whether the distance determined by the determining submodule exceeds a line of sight of the person.
  • the acquiring submodule is configured to acquire a position coordinate of the unmanned aerial vehicle by using a positioning system of the unmanned aerial vehicle, and receive a position coordinate of the controller sent by the controller, where the controller The position coordinates are obtained by the controller using a positioning system of the controller; wherein the positioning system comprises a global positioning system, a base station positioning system or a wireless high fidelity positioning system.
  • the line of sight of the person is a default value or a user-defined value.
  • the plug-in system includes at least one of a camera, an infrared sensing system, and a depth of field camera.
  • control module is configured to control the unmanned aerial vehicle to fly back to a position where the controller is located; or to control the unmanned aerial vehicle to fly back to a predetermined coordinate position.
  • the apparatus further includes a receiving module
  • the receiving module is configured to receive an exit return protection mode command
  • the control module is further configured to transfer control of the UAV to the controller in response to the exiting return protection mode command.
  • a control device for an unmanned aerial vehicle comprising:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the UAV When the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to enter a return protection mode.
  • the automatic return can protect the unmanned aerial vehicle, reduce the possibility of collision between the aircraft and the surrounding obstacles, and improve the safety of the unmanned aerial vehicle.
  • FIG. 1 is a flow chart showing a control method of an unmanned aerial vehicle according to an exemplary embodiment
  • FIG. 2 is a flow chart showing another method of controlling an unmanned aerial vehicle according to an exemplary embodiment
  • FIG. 3 is a block diagram of a control device for an unmanned aerial vehicle according to an exemplary embodiment
  • FIG. 4 is a block diagram of another control device for an unmanned aerial vehicle according to an exemplary embodiment
  • FIG. 5 is a block diagram of another control device for an unmanned aerial vehicle, according to an exemplary embodiment.
  • FIG. 1 is a flow chart showing a control method of an unmanned aerial vehicle according to an exemplary embodiment. The method is applied to an unmanned aerial vehicle, as shown in FIG. 1, the method comprising the following steps.
  • step 101 it is determined whether the distance between the UAV and the controller exceeds the line of sight of the person.
  • the controller may be a remote controller or a mobile terminal.
  • the line of sight of a person can be a default value, which can be When the UAV is shipped from the factory, it is set by the factory default; the line of sight of the person can also be a user-defined value, which can be set by the user through the remote control or the mobile terminal during use.
  • step 102 it is detected whether the data backhaul link of the external system of the UAV is normal.
  • the plug-in system is configured to detect the flight environment of the unmanned aerial vehicle; the data return link is used to send the flight environment data detected by the plug-in system to the controller, so that the user can view the flight environment of the unmanned aerial vehicle through the controller.
  • step 103 when the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to enter the return protection mode.
  • controlling the unmanned aerial vehicle to enter the return flight protection mode includes controlling the unmanned aerial vehicle to fly back to the position where the controller is located; or controlling the unmanned aerial vehicle to fly back to the predetermined coordinate position.
  • the control The automatic return of the unmanned aerial vehicle can protect the unmanned aerial vehicle, reduce the possibility of collision between the unmanned aerial vehicle and the surrounding obstacles, and improve the safety of the unmanned aerial vehicle.
  • the method is a flow chart of another method of controlling an unmanned aerial vehicle, according to an exemplary embodiment.
  • the method is applied to an unmanned aerial vehicle.
  • the external connection system may be a camera, or may be an infrared sensing system or a depth of field camera. As shown in FIG. 2, the method includes the following steps.
  • step 201 the position coordinates of the unmanned aerial vehicle and the position coordinates of the controller are acquired.
  • the controller may be a remote controller or a mobile terminal.
  • This step 201 can include:
  • the position coordinates of the controller sent by the controller are received, and the position coordinates of the controller are obtained by the controller using the positioning system of the controller.
  • the positioning system may be a Global Positioning System (GPS), a base station positioning system, and a Wireless Fidelity (WIFI) positioning system.
  • GPS Global Positioning System
  • WIFI Wireless Fidelity
  • the coordinate position of the controller may be transmitted by using a control channel between the controller and the unmanned aerial vehicle, that is, a channel transmission in which the controller sends a control command to the unmanned aerial vehicle.
  • step 202 the distance between the UAV and the controller is determined based on the position coordinates of the UAV and the position coordinates of the controller.
  • the position coordinates of the UAV are (a1, b1), and the position coordinates of the controller are (a2, b2).
  • the distance between the UAV and the controller can be calculated according to the distance formula between the two points.
  • step 203 it is determined whether the distance between the UAV and the controller exceeds the line of sight of the person.
  • the line of sight of the person may be a default value, which may be set by the factory default when the UAV is shipped from the factory; the line of sight of the person may also be a user-defined value, which may be used by the user through the remote controller during use. Or settings such as a mobile terminal.
  • step 204 it is detected whether the data backhaul link of the external system of the UAV is normal.
  • the plug-in system is disposed on the unmanned aerial vehicle to detect the flight environment of the unmanned aerial vehicle; the data return link is used to send the flight environment data detected by the plug-in system to the controller, so that the user can view the unmanned by the controller.
  • the data return link is preferably independent of the link transmitting the control command between the controller and the unmanned aerial vehicle, so that when the data return link is abnormal, the position coordinate transmission of the controller is not affected. .
  • the plug-in system may be at least one of a camera, an infrared sensing system, and a depth of field camera.
  • the camera captures the image around the unmanned aerial vehicle.
  • the image captured by the camera ie, the flight environment data
  • the data backhaul link so that The user can accurately determine the flight environment of the unmanned aerial vehicle.
  • the infrared sensing system or the depth of field camera can sense the relative position information between the unmanned aerial vehicle and its surrounding obstacles (ie, flight environment data), when the data return link is normal.
  • the infrared sensing system or the depth of field camera transmits the perceived relative position information to the user's mobile terminal.
  • the step 204 may include:
  • step 205 when the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to enter the return protection mode.
  • controlling the unmanned aerial vehicle to enter the return flight protection mode includes controlling the unmanned aerial vehicle to fly back to the position where the controller is located; or controlling the unmanned aerial vehicle to fly back to the predetermined coordinate position.
  • controlling the normal flight of the unmanned aerial vehicle refers to handing over the control of the unmanned aerial vehicle to the controller, which may include:
  • the flight instruction may be any one or a combination of left turn, right turn, dive, acceleration, deceleration, and the like;
  • the UAV flight is controlled according to the received flight instructions.
  • the controller can manually exit the return protection mode, and the control of the UAV is handed over to the controller, that is, the normal flight state is entered. Therefore, the method in this embodiment may further include:
  • step 206 receiving an exit return protection mode command
  • step 207 control of the UAV is handed over to the controller in response to exiting the return protection mode command.
  • steps 201-203 and step 204 may be performed at the same time, or may be performed at the same time.
  • Steps 201-203 may be performed first, when the distance between the UAV and the controller exceeds the line of sight of the person. Then execute again Step 204; Alternatively, step 204 may be performed first, and when the data backhaul link of the external system of the UAV is abnormal, steps 201-203 are performed.
  • the method may further include:
  • the UAV When the distance between the UAV and the controller is within the line of sight and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to fly within the line of sight of the person. At this time, controlling the unmanned aerial vehicle to fly within the line of sight of the person can further improve the flight safety of the unmanned aerial vehicle.
  • the method may further include:
  • the UAV is controlled to fly in the line of sight range in response to the command to prohibit flying out of the line of sight range.
  • controlling the unmanned aerial vehicle to fly within a person's line of sight may include:
  • the UAV When the distance between the UAV and the controller reaches the line of sight, the UAV is controlled to fly toward the controller.
  • the automatic return can protect the unmanned aerial vehicle, reduce the possibility of collision between the aircraft and the surrounding obstacles, and improve the safety of the unmanned aerial vehicle.
  • FIG. 3 is a block diagram of an apparatus for controlling an unmanned aerial vehicle, according to an exemplary embodiment.
  • the apparatus may include: a determining module 301, a detecting module 302, and a control module 303.
  • the determining module 301 is configured to determine whether the distance between the UAV and the controller exceeds a line of sight of a person.
  • the detection module 302 is configured to detect whether the data backhaul link of the external system of the UAV is normal.
  • the control module 303 is configured to control the UAV to enter the return protection mode when the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal.
  • the controller may be a remote controller or a mobile terminal.
  • the line of sight of the person can be the default value.
  • the default value can be set by the factory default when the UAV is shipped from the factory; the line of sight of the person can also be a user-defined value, which can be used by the user through the remote control or Settings are made by devices such as mobile terminals.
  • the plug-in system is used to detect the flight environment of the unmanned aerial vehicle; the data return link is used to send the flight environment data detected by the plug-in system to the controller, so that the user can view the flight environment of the unmanned aerial vehicle through the controller.
  • Controlling the return of the unmanned aerial vehicle can protect the unmanned aerial vehicle, reduce the possibility of collision between the unmanned aerial vehicle and the surrounding obstacles, and improve the safety of the unmanned aerial vehicle.
  • the apparatus may include a determining module 401, a detecting module 402, and a control module 403.
  • the determining module 401 is configured to determine whether the distance between the UAV and the controller exceeds a line of sight of a person.
  • the detection module 402 is configured to detect whether the data backhaul link of the external system of the UAV is normal.
  • the control module 403 is configured to control the UAV to enter the return protection mode when the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal.
  • the controller may be a remote controller or a mobile terminal.
  • the line of sight of the person can be the default value.
  • the default value can be set by the factory default when the UAV is shipped from the factory; the line of sight of the person can also be a user-defined value, which can be used by the user through the remote control or Settings are made by devices such as mobile terminals.
  • the plug-in system is disposed on the unmanned aerial vehicle to detect the flight environment of the unmanned aerial vehicle; the data return link is used to send the flight environment data detected by the external system to the controller, so that the user can view the unmanned aerial vehicle through the controller.
  • the data backhaul link is preferably independent of the link between the controller and the UAV to send control commands, so that when the data backhaul link is abnormal, the transmission of the controller's position coordinates is not affected.
  • the plug-in system may be at least one of a camera, an infrared sensing system, and a depth of field camera.
  • the camera captures the image around the unmanned aerial vehicle.
  • the image captured by the camera ie, the flight environment data
  • the data backhaul link so that The user can accurately determine the flight environment of the unmanned aerial vehicle.
  • the infrared sensing system or the depth of field camera can sense the relative position information between the unmanned aerial vehicle and its surrounding obstacles (ie, flight environment data), when the data return link is normal.
  • the infrared sensing system or the depth of field camera transmits the perceived relative position information to the user's mobile terminal.
  • control module 403 is configured to control the position where the UAV is flying back to the controller; or, for controlling the UAV to fly back to a predetermined coordinate position.
  • the confirmation module 401 includes an acquisition submodule 4011, an confirmation submodule 4012, and a determination submodule 4013, wherein the acquisition submodule 4011 is configured to acquire the position coordinates of the UAV and the position coordinates of the controller; the confirmation submodule 4012 is configured to determine a distance between the UAV and the controller according to the position coordinates of the UAV acquired by the acquisition submodule 4011 and the position coordinates of the controller; the determination submodule 4013 is configured to determine the determination Whether the distance determined by the submodule exceeds the line of sight of the person.
  • the obtaining submodule 4011 is configured to acquire the position coordinates of the unmanned aerial vehicle by using the positioning system of the unmanned aerial vehicle; receive the position coordinate of the controller sent by the controller, and the position coordinate of the controller is the controller of the controller The positioning system obtained.
  • the positioning system may be a GPS, a base station positioning system, and a WIFI positioning system.
  • the coordinate position of the controller may be transmitted by using a control channel between the controller and the unmanned aerial vehicle, that is, a channel transmission in which the controller sends a control command to the unmanned aerial vehicle.
  • the apparatus may further include: a receiving module 404, the receiving module The 404 is configured to receive an exit return protection mode command; the control module 403 is further configured to transfer control of the UAV to the controller in response to the exit return protection mode command received by the receiving module 404.
  • control module 403 is further configured to: when the distance between the UAV and the controller exceeds the line of sight of the person, and the data backhaul link of the plug-in system is normal, or When the distance between the unmanned aerial vehicle and the controller is within the line of sight range (regardless of whether the data backhaul link of the external system is normal), the normal flight of the unmanned aerial vehicle is controlled, and the control of the unmanned aerial vehicle is handed over to the controller, according to The flight instruction of the controller is flying.
  • the receiving module 404 is further configured to receive a flight instruction sent by the controller, and the flight instruction may be any one or a combination of left turn, right turn, dive, acceleration, deceleration, etc.; control module The 403 is also configured to control the UAV flight based on the received flight instructions.
  • control module 403 may be further configured to control the UAV in the human view when the distance between the UAV and the controller is within the line of sight range and the data backhaul link of the plug-in system is abnormal. Flying within range. At this time, controlling the unmanned aerial vehicle to fly within the line of sight of the person can further improve the flight safety of the unmanned aerial vehicle.
  • the user finds that the UAV can be seen, and because the data backhaul link is abnormal, the user cannot know the unmanned person.
  • the user can also send an instruction to the unmanned transmitter to prohibit the flight out of the range of sight through the controller, and the receiving module is also configured to use And receiving an instruction to prohibit flying out of the line of sight range; the control module is further configured to control the unmanned aerial vehicle to fly in the line of sight range in response to the instruction to prohibit the fly out of the line of sight range.
  • control module 403 is further configured to detect a distance between the UAV and the controller; when the distance between the UAV and the controller reaches the line of sight, control the UAV to fly toward the controller .
  • Controlling the automatic return of the unmanned aerial vehicle can protect the unmanned aerial vehicle, reduce the possibility of collision between the aircraft and the surrounding obstacles, and improve the safety of the unmanned aerial vehicle.
  • FIG. 5 is a block diagram of a control device 500 for an unmanned aerial vehicle, according to an exemplary embodiment.
  • device 500 can be an unmanned aerial vehicle or the like.
  • apparatus 500 can include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, input/output (I/O) interface 512, sensor component 514, and communication component 516. .
  • Processing component 502 typically controls the overall operations of device 500, such as data communications, camera operations, and operations associated with recording operations.
  • Processing component 502 can include one or more processors 520 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 502 can include one or more modules to facilitate interaction between component 502 and other components.
  • processing component 502 can include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.
  • Memory 504 is configured to store various types of data to support operation at device 500. Examples of such data include instructions for any application or method operating on device 500.
  • the memory 504 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable. Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 506 provides power to various components of device 500.
  • Power component 506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 500.
  • Multimedia component 508 includes one or more cameras.
  • the camera can receive external multimedia data.
  • Each camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the I/O interface 512 provides an interface between the processing component 502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like.
  • Sensor assembly 514 includes one or more sensors for providing device 500 with various aspects of status assessment.
  • sensor component 514 can detect the environment in which device 500 is located.
  • Sensor assembly 514 can include an infrared sensor configured to detect the distance of device 500 to surrounding objects.
  • Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 514 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 516 is configured to facilitate wired or wireless communication between device 500 and other devices.
  • the device 500 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 516 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • communication component 516 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • apparatus 500 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 504 comprising instructions executable by processor 520 of apparatus 500 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • a non-transitory computer readable storage medium when instructions in the storage medium are executed by a processor of an unmanned aerial vehicle, enabling the unmanned aerial vehicle to perform a control method of the unmanned aerial vehicle, the method comprising:
  • the UAV When the distance between the UAV and the controller exceeds the line of sight of the person and the data backhaul link of the plug-in system is abnormal, the UAV is controlled to enter the return protection mode.
  • determining whether the distance between the UAV and the controller exceeds a human line of sight includes:
  • acquiring the position coordinates of the UAV and the position coordinates of the controller include:
  • Receiving the position coordinates of the controller sent by the controller, and the position coordinates of the controller are obtained by the controller using the positioning system of the controller;
  • the positioning system includes a global positioning system, a base station positioning system or a wireless high fidelity positioning system.
  • the person's line of sight is a default value or a user-defined value.
  • the plug-in system includes at least one of a camera, an infrared sensing system, and a depth of field camera.
  • controlling the UAV to enter a return protection mode includes:
  • the method further includes:
  • Control of the UAV is handed over to the controller in response to the exit return protection mode command.

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Abstract

一种无人飞行器的控制方法及装置，属于无人飞行器安全领域。所述方法包括：确定无人飞行器与控制器之间的距离是否超过人的视距（101）；检测所述无人飞行器的外挂系统的数据回传链路是否正常（102）；当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式（103）。所述装置包括确定模块（301,401）、检测模块（302,402）和控制模块（303,403）。由于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器自动返航，可以保护无人飞行器，减少无人飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。

Description

无人飞行器的控制方法及装置
本申请基于申请号为CN201510727596.X、申请日为2015年10月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及无人飞行器安全领域，特别涉及一种无人飞行器的控制方法及装置。
背景技术
随着消费级无人飞行器市场正越来越受重视，越来越多的传统的消费级无人飞行器制造企业和信息技术(Information Technology，简称IT)公司投进大量的资金和科研到无人飞行器领域，大量不具备专业技能的用户开始操作无人飞行器进行娱乐目的的飞行并试图超出人的视距范围。当无人飞行器与控制器的距离超过人的视距时，用户无法准确判断无人飞行器的飞行环境，使得无人飞行器的飞行存在潜在的风险。
发明内容
为克服相关技术中存在的问题，本公开提供一种无人飞行器的控制方法及装置。
根据本公开实施例的第一方面，提供了一种无人飞行器的控制方法，所述方法包括：
确定无人飞行器与控制器之间的距离是否超过人的视距；
检测所述无人飞行器的外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
在本公开的一种实现方式中，所述确定无人飞行器与控制器之间的距离是否超过人的视距，包括：
获取所述无人飞行器的位置坐标和所述控制器的位置坐标；
根据所述无人飞行器的位置坐标和所述控制器的位置坐标，确定所述无人飞行器与所述控制器之间的距离；
判断所述距离是否超过所述人的视距。
进一步地，所述获取所述无人飞行器的位置坐标和所述控制器的位置坐标，包括：
采用所述无人飞行器的定位系统获取所述无人飞行器的位置坐标；
接收所述控制器发送的所述控制器的位置坐标，所述控制器的位置坐标是所述控制器采用所述控制器的定位系统获取的；
其中，所述定位系统包括全球定位系统、基站定位系统或无线高保真定位系统。
可选地，所述人的视距为默认值或用户自定义值。
可选地，所述外挂系统包括摄像机、红外传感系统和景深摄像头中的至少一种。
可选地，所述控制所述无人飞行器进入返航保护模式，包括：
控制所述无人飞行器飞回所述控制器所在的位置；或者，
控制所述无人飞行器飞回预定的坐标位置。
在本公开的另一种实现方式中，所述方法还包括：
接收退出返航保护模式指令；
响应于所述退出返航保护模式指令，将所述无人飞行器的控制权移交给所述控制器。
根据本公开实施例的第二方面，提供了一种无人飞行器的控制装置，所述装置包括：
确定模块，用于确定无人飞行器与控制器之间的距离是否超过人的视距；
检测模块，用于检测所述无人飞行器的外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
控制模块，用于当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
在本公开的一种实现方式中，所述确定模块，包括：
获取子模块，用于获取所述无人飞行器的位置坐标和所述控制器的位置坐标，所述位置坐标由定位系统确定；
确定子模块，用于根据所述获取子模块获取到的所述无人飞行器的位置坐标和所述控制器的位置坐标，确定所述无人飞行器与所述控制器之间的距离；
判断子模块，用于判断所述确定子模块确定的所述距离是否超过所述人的视距。
进一步地，所述获取子模块，用于采用所述无人飞行器的定位系统获取所述无人飞行器的位置坐标；接收所述控制器发送的所述控制器的位置坐标，所述控制器的位置坐标是所述控制器采用所述控制器的定位系统获取的；其中，所述定位系统包括全球定位系统、基站定位系统或无线高保真定位系统。
可选地，所述人的视距为默认值或用户自定义值。
可选地，所述外挂系统包括摄像机、红外传感系统和景深摄像头中的至少一种。
可选地，所述控制模块，用于控制所述无人飞行器飞回所述控制器所在的位置；或者，用于控制所述无人飞行器飞回预定的坐标位置。
在本公开的另一种实现方式中，所述装置还包括接收模块，
所述接收模块，用于接收退出返航保护模式指令；
所述控制模块，还用于响应于所述退出返航保护模式指令，将所述无人飞行器的控制权移交给所述控制器。
根据本公开实施例的第三方面，提供了一种无人飞行器的控制装置，所述装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
确定无人飞行器与控制器之间的距离是否超过人的视距；
检测所述无人飞行器的外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
本公开的实施例提供的技术方案可以包括以下有益效果：
由于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器自动返航，可以保护无人飞行器，减少无飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是根据一示例性实施例示出的一种无人飞行器的控制方法的流程图；
图2是根据一示例性实施例示出的另一种无人飞行器的控制方法的流程图；
图3是根据一示例性实施例示出的一种无人飞行器的控制装置的框图；
图4是根据一示例性实施例示出的另一种无人飞行器的控制装置的框图；
图5是根据一示例性实施例示出的另一种无人飞行器的控制装置的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种无人飞行器的控制方法的流程图。该方法应用于无人飞行器，如图1所示，该方法包括以下步骤。
在步骤101中，确定无人飞行器与控制器之间的距离是否超过人的视距。
其中，控制器可以是遥控器或者移动终端。人的视距可以是默认值，该默认值可以在 无人飞行器出厂时，由厂家默认设置；人的视距也可以是用户自定义值，可以由用户在使用过程中，通过遥控器或移动终端等设备进行设定。
在步骤102中，检测无人飞行器的外挂系统的数据回传链路是否正常。
其中，外挂系统用于检测无人飞行器的飞行环境；数据回传链路用于将外挂系统检测到的飞行环境数据发送给控制器，以便用户通过控制器查看无人飞行器的飞行环境。
在步骤103中，当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，控制无人飞行器进入返航保护模式。
其中，控制无人飞行器进入返航保护模式包括控制无人飞行器飞回控制器所在的位置；或者，控制无人飞行器飞回预定的坐标位置。
本公开实施例由于无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器自动返航，可以保护无人飞行器，减少无人飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。
图2是根据一示例性实施例示出的另一种无人飞行器的控制方法的流程图。该方法应用于无人飞行器，在本实施例中，外挂系统可以是摄像机，也可以是红外传感系统或者景深摄像头，如图2所示，该方法包括以下步骤。
在步骤201中，获取无人飞行器的位置坐标和控制器的位置坐标。
其中，控制器可以是遥控器或者移动终端。
该步骤201可以包括：
采用无人飞行器的定位系统获取无人飞行器的位置坐标；
接收控制器发送的控制器的位置坐标，控制器的位置坐标是控制器采用控制器的定位系统获取的。
其中，定位系统可以是全球定位系统(Global Positioning System，简称GPS)、基站定位系统和无线高保真(Wireless Fidelity，简称WIFI)定位系统。
需要说明的是，在本实施例中，控制器的坐标位置可以采用控制器和无人飞行器之间的控制信道传输，即采用控制器向无人飞行器发送控制指令的信道传输。
在步骤202中，根据无人飞行器的位置坐标和控制器的位置坐标，确定无人飞行器与控制器之间的距离。
例如：无人飞行器的位置坐标为(a1，b1)，控制器的位置坐标为(a2，b2)，根据两点间的距离公式即可计算无人飞行器和控制器之间的距离。
在步骤203中，判断无人飞行器与控制器之间的距离是否超过人的视距。
其中，人的视距可以是默认值，该默认值可以在无人飞行器出厂时，由厂家默认设置；人的视距也可以是用户自定义值，可以由用户在使用过程中，通过遥控器或移动终端等设备进行设定。
通过步骤201-203即可实现确定无人飞行器与控制器之间的距离是否超过人的视距。
在步骤204中，检测无人飞行器的外挂系统的数据回传链路是否正常。
其中，外挂系统设置于无人飞行器上，用于检测无人飞行器的飞行环境；数据回传链路用于将外挂系统检测到的飞行环境数据发送给控制器，以便用户通过控制器查看无人飞行器的飞行环境，该数据回传链路优选独立于控制器和无人飞行器之间发送控制指令的链路，从而当该数据回传链路失常以后，不会影响控制器的位置坐标的传输。
进一步地，外挂系统可以是摄像机、红外传感系统和景深摄像头中的至少一种。
当外挂系统为摄像机时，摄像机拍摄无人飞行器周围的影像，当数据回传链路正常时，摄像机拍摄到的影像(即飞行环境数据)通过数据回传链路传输给用户的移动终端，使得用户能准确判断无人飞行器的飞行环境。
当外挂系统为红外传感系统或者景深摄像头时，红外传感系统或者景深摄像头可以感知无人飞行器与其周围障碍物之间的相对位置信息(即飞行环境数据)，当数据回传链路正常时，红外传感系统或者景深摄像头将感知的相对位置信息发送到用户的移动终端。
在本实施例的一种实现方式中，该步骤204可以包括：
周期性通过数据回传链路向控制器发送握手信息；
若设定时长内未接收到控制器发送的响应信息，则判断数据回传链路不正常。
在步骤205中，当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，控制无人飞行器进入返航保护模式。
其中，控制无人飞行器进入返航保护模式包括控制无人飞行器飞回控制器所在的位置；或者，控制无人飞行器飞回预定的坐标位置。
本实施例的方法还可以包括：
当无人飞行器与控制器之间的距离超过人的视距而外挂系统的数据回传链路正常时，或者，当无人飞行器与控制器之间的距离在视距范围内时(无论外挂系统的数据回传链路是否正常)，控制无人飞行器正常飞行。
其中，控制无人飞行器正常飞行是指将无人飞行器的控制权交给控制器，可以包括：
接收控制器发送的飞行指令，飞行指令可以是左转、右转、俯冲、加速、减速等等中的任一种或者多种的组合；
根据接收到的飞行指令控制无人飞行器飞行。
当无人飞行器飞回视距范围时，即用户发现可以看到无人飞行器时，可以通过控制器手动退出返航保护模式，将无人飞行器的控制权移交给控制器，即进入前述正常飞行状态，因此，本实施例的方法还可以包括：
在步骤206中，接收退出返航保护模式指令；
在步骤207中，响应于退出返航保护模式指令，将无人飞行器的控制权移交给控制器。
需要说明的是，实现时，步骤201～203和步骤204的执行不分先后，可以同时执行；也可以先执行步骤201～203，当无人飞行器与控制器之间的距离超过人的视距时，再执行 步骤204；或者，还可以先执行步骤204，当无人飞行器的外挂系统的数据回传链路不正常时，再执行步骤201～203。
此外，该方法还可以包括：
当无人飞行器与控制器之间的距离在视距范围内而外挂系统的数据回传链路不正常时，控制无人飞行器在人的视距范围内飞行。此时控制无人飞行器在人的视距范围内飞行，可以进一步提高无人飞行器的飞行安全性。
实现时，在无人飞行器的飞行过程中，例如，当无人飞行器飞回视距范围时，即用户发现可以看到无人飞行器，而由于数据回传链路不正常，用户无法获知无人飞行器的飞行环境时，或者，在无人飞行器刚起飞时(针对新手用户)，用户还可以通过控制器向无人发送器发送禁止飞出视距范围的指令，则该方法还可以包括：
接收禁止飞出视距范围的指令；
响应于该禁止飞出视距范围的指令，控制无人飞行器在视距范围飞行。
其中，控制无人飞行器在人的视距范围内飞行，可以包括：
检测无人飞行器和控制器之间的距离；
当无人飞行器和控制器之间的距离达到所述视距时，控制无人飞行器朝控制器飞行。
由于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器自动返航，可以保护无人飞行器，减少无飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。
图3是根据一示例性实施例示出的一种无人飞行器的控制的装置的框图。如图3所示，该装置可以包括：确定模块301、检测模块302和控制模块303。其中，确定模块301被配置为用于确定无人飞行器与控制器之间的距离是否超过人的视距。检测模块302被配置为用于检测无人飞行器的外挂系统的数据回传链路是否正常。控制模块303被配置为用于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，控制无人飞行器进入返航保护模式。
其中，控制器可以是遥控器或者移动终端。人的视距可以是默认值，该默认值可以在无人飞行器出厂时，由厂家默认设置；人的视距也可以由是用户自定义值，可以由用户在使用过程中，通过遥控器或移动终端等设备进行设定。
外挂系统用于检测无人飞行器的飞行环境；数据回传链路用于将外挂系统检测到的飞行环境数据发送给控制器，以便用户通过控制器查看无人飞行器的飞行环境。
本公开实施例由于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器返航，可以保护无人飞行器，减少无人飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。
图4是根据一示例性实施例示出的一种无人飞行器的控制的装置的框图。如图4所示，该装置可以包括：确定模块401、检测模块402和控制模块403。其中，确定模块401被配置为用于确定无人飞行器与控制器之间的距离是否超过人的视距。检测模块402被配置为用于检测无人飞行器的外挂系统的数据回传链路是否正常。控制模块403被配置为用于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，控制无人飞行器进入返航保护模式。
其中，控制器可以是遥控器或者移动终端。人的视距可以是默认值，该默认值可以在无人飞行器出厂时，由厂家默认设置；人的视距也可以是由用户自定义值，可以由用户在使用过程中，通过遥控器或移动终端等设备进行设定。
外挂系统设置于无人飞行器上，用于检测无人飞行器的飞行环境；数据回传链路用于将外挂系统检测到的飞行环境数据发送给控制器，以便用户通过控制器查看无人飞行器的飞行环境，该数据回传链路优选独立于控制器和无人飞行器之间发送控制指令的链路，从而当该数据回传链路失常以后，不会影响控制器的位置坐标的传输。
进一步地，外挂系统可以是摄像机、红外传感系统和景深摄像头中的至少一种。
当外挂系统为摄像机时，摄像机拍摄无人飞行器周围的影像，当数据回传链路正常时，摄像机拍摄到的影像(即飞行环境数据)通过数据回传链路传输给用户的移动终端，使得用户能准确判断无人飞行器的飞行环境。
当外挂系统为红外传感系统或者景深摄像头时，红外传感系统或者景深摄像头可以感知无人飞行器与其周围障碍物之间的相对位置信息(即飞行环境数据)，当数据回传链路正常时，红外传感系统或者景深摄像头将感知的相对位置信息发送到用户的移动终端。
进一步地，控制模块403用于控制无人飞行器飞回控制器所在的位置；或者，用于控制无人飞行器飞回预定的坐标位置。
进一步地，确认模块401包括获取子模块4011、确认子模块4012和判断子模块4013，其中，获取子模块4011被配置为用于获取无人飞行器的位置坐标和控制器的位置坐标；确认子模块4012被配置为用于根据获取子模块4011获取到的无人飞行器的位置坐标和控制器的位置坐标，确定无人飞行器与控制器之间的距离；判断子模块4013被配置为用于判断确定子模块确定的距离是否超过人的视距。
更进一步地，获取子模块4011被配置为用于采用无人飞行器的定位系统获取无人飞行器的位置坐标；接收控制器发送的控制器的位置坐标，控制器的位置坐标是控制器采控制器的定位系统获取的。
其中，定位系统可以是GPS、基站定位系统和WIFI定位系统。
需要说明的是，在本实施例中，控制器的坐标位置可以采用控制器和无人飞行器之间的控制信道传输，即采用控制器向无人飞行器发送控制指令的信道传输。
在本公开实施例的一种实现方式中，该装置还可以包括：接收模块404，该接收模块 404被配置为用于接收退出返航保护模式指令；控制模块403还被配置为用于响应于接收模块404接收到的退出返航保护模式指令，将无人飞行器的控制权移交给控制器。
需要说明的是，本实施例中，控制模块403还被配置为用于当无人飞行器与控制器之间的距离超过人的视距而外挂系统的数据回传链路正常时，或者，当无人飞行器与控制器之间的距离在视距范围内时(无论外挂系统的数据回传链路是否正常)，控制无人飞行器正常飞行，即将无人飞行器的控制权交给控制器，根据控制器的飞行指令飞行。
进一步地，接收模块404还被配置为用于接收制器发送的飞行指令，飞行指令可以是左转、右转、俯冲、加速、减速等等中的任一种或者多种的组合；控制模块403还被配置为用于根据接收到的飞行指令控制无人飞行器飞行。
此外，控制模块403，还可以被配置为用于当无人飞行器与控制器之间的距离在视距范围内而外挂系统的数据回传链路不正常时，控制无人飞行器在人的视距范围内飞行。此时控制无人飞行器在人的视距范围内飞行，可以进一步提高无人飞行器的飞行安全性。
实现时，在无人飞行器的飞行过程中，例如，当无人飞行器飞回视距范围时，即用户发现可以看到无人飞行器，而由于数据回传链路不正常，用户无法获知无人飞行器的飞行环境时，或者，在无人飞行器刚起飞时(针对新手用户)，用户还可以通过控制器向无人发送器发送禁止飞出视距范围的指令，则接收模块还被配置为用于接收禁止飞出视距范围的指令；控制模块还被配置为用于响应于该禁止飞出视距范围的指令，控制无人飞行器在视距范围飞行。
进一步地，控制模块403还被配置为用于检测无人飞行器和控制器之间的距离；当无人飞行器和控制器之间的距离达到所述视距时，控制无人飞行器朝控制器飞行。
本公开实施例由于当无人飞行器与控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，用户无法判断无人飞行器的飞行环境，在这种情况下，控制无人飞行器自动返航，可以保护无人飞行器，减少无飞行器与周围障碍物发生碰撞的可能，提高了无人飞行器的安全性。
图5是根据一示例性实施例示出的一种无人飞行器的控制装置500的框图。例如，装置500可以是无人飞行器等。
参照图5，装置500可以包括以下一个或多个组件：处理组件502，存储器504，电力组件506，多媒体组件508，输入/输出(I/O)的接口512，传感器组件514，以及通信组件516。
处理组件502通常控制装置500的整体操作，诸如数据通信，相机操作和记录操作相关联的操作。处理组件502可以包括一个或多个处理器520来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件502可以包括一个或多个模块，便于处理组件502和其他组件之间的交互。例如，处理组件502可以包括多媒体模块，以方便多媒体组件508和处理组件502之间的交互。
存储器504被配置为存储各种类型的数据以支持在装置500的操作。这些数据的示例包括用于在装置500上操作的任何应用程序或方法的指令。存储器504可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电力组件506为装置500的各种组件提供电力。电力组件506可以包括电源管理系统，一个或多个电源，及其他与为装置500生成、管理和分配电力相关联的组件。
多媒体组件508包括一个或多个摄像头。当装置500处于操作模式，如拍摄模式或视频模式时，摄像头可以接收外部的多媒体数据。每个摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
I/O接口512为处理组件502和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。
传感器组件514包括一个或多个传感器，用于为装置500提供各个方面的状态评估。例如，传感器组件514可以检测到装置500所处的环境。传感器组件514可以包括红外传感器，被配置用来检测装置500到周围物体的距离。传感器组件514还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件514还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件516被配置为便于装置500和其他设备之间有线或无线方式的通信。装置500可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件516经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信组件516还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置500可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器504，上述指令可由装置500的处理器520执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当该存储介质中的指令由无人飞行器的处理器执行时，使得无人飞行器能够执行一种无人飞行器的控制方法，该方法包括：
确定无人飞行器与控制器之间的距离是否超过人的视距；
检测无人飞行器的外挂系统的数据回传链路是否正常，外挂系统用于检测无人飞行器 的飞行环境；
当无人飞行器与所述控制器之间的距离超过人的视距且外挂系统的数据回传链路不正常时，控制无人飞行器进入返航保护模式。
在本公开的一种实现方式中，确定无人飞行器与控制器之间的距离是否超过人的视距，包括：
获取无人飞行器的位置坐标和控制器的位置坐标；
根据无人飞行器的位置坐标和控制器的位置坐标，确定无人飞行器与控制器之间的距离；
判断距离是否超过人的视距。
进一步地，获取所述无人飞行器的位置坐标和控制器的位置坐标，包括：
采用所述无人飞行器的定位系统获取无人飞行器的位置坐标；
接收控制器发送的控制器的位置坐标，控制器的位置坐标是控制器采用控制器的定位系统获取的；
其中，定位系统包括全球定位系统、基站定位系统或无线高保真定位系统。
可选地，人的视距为默认值或用户自定义值。
可选地，外挂系统包括摄像机、红外传感系统和景深摄像头中的至少一种。
可选地，控制所述无人飞行器进入返航保护模式，包括：
控制无人飞行器飞回控制器所在的位置；或者，
控制无人飞行器飞回预定的坐标位置。
在本公开的另一种实现方式中，该方法还包括：
接收退出返航保护模式指令；
响应于所述退出返航保护模式指令，将所述无人飞行器的控制权移交给所述控制器。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (15)

  1. 一种无人飞行器的控制方法，其特征在于，所述方法包括：
    确定无人飞行器与控制器之间的距离是否超过人的视距；
    检测所述无人飞行器的外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
    当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
  2. 根据权利要求1所述的方法，其特征在于，所述确定无人飞行器与控制器之间的距离是否超过人的视距，包括：
    获取所述无人飞行器的位置坐标和所述控制器的位置坐标；
    根据所述无人飞行器的位置坐标和所述控制器的位置坐标，确定所述无人飞行器与所述控制器之间的距离；
    判断所述距离是否超过所述人的视距。
  3. 根据权利要求2所述的方法，其特征在于，所述获取所述无人飞行器的位置坐标和所述控制器的位置坐标，包括：
    采用所述无人飞行器的定位系统获取所述无人飞行器的位置坐标；
    接收所述控制器发送的所述控制器的位置坐标，所述控制器的位置坐标是所述控制器采用所述控制器的定位系统获取的；
    其中，所述定位系统包括全球定位系统、基站定位系统或无线高保真定位系统。
  4. 根据权利要求1所述的方法，其特征在于，所述人的视距为默认值或用户自定义值。
  5. 根据权利要求1所述的方法，其特征在于，所述外挂系统包括摄像机、红外传感系统和景深摄像头中的至少一种。
  6. 根据权利要求1所述的方法，其特征在于，所述控制所述无人飞行器进入返航保护模式，包括：
    控制所述无人飞行器飞回所述控制器所在的位置；或者，
    控制所述无人飞行器飞回预定的坐标位置。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收退出返航保护模式指令；
    响应于所述退出返航保护模式指令，将所述无人飞行器的控制权移交给所述控制器。
  8. 一种无人飞行器的控制的装置，其特征在于，所述装置包括：
    确定模块，用于确定无人飞行器与控制器之间的距离是否超过人的视距；
    检测模块，用于检测外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
    控制模块，用于当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
  9. 根据权利要求8所述的装置，其特征在于，所述确定模块，包括：
    获取子模块，用于获取所述无人飞行器的位置坐标和所述控制器的位置坐标；
    确定子模块，用于根据所述获取子模块获取到的所述无人飞行器的位置坐标和所述控制器的位置坐标，确定所述无人飞行器与所述控制器之间的距离；
    判断子模块，用于判断所述确定子模块确定的所述距离是否超过所述人的视距。
  10. 根据权利要求9所述的装置，其特征在于，所述获取子模块，用于采用所述无人飞行器的定位系统获取所述无人飞行器的位置坐标；接收所述控制器发送的所述控制器的位置坐标，所述控制器的位置坐标是所述控制器采用所述控制器的定位系统获取的；其中，所述定位系统包括全球定位系统、基站定位系统或无线高保真定位系统。
  11. 根据权利要求8所述的装置，其特征在于，所述人的视距为默认值或用户自定义值。
  12. 根据权利要求8所述的装置，其特征在于，所述外挂系统包括摄像机、红外传感系统和景深摄像头中的至少一种。
  13. 根据权利要求8所述的装置，其特征在于，所述控制模块，用于控制所述无人飞行器飞回所述控制器所在的位置；或者，用于控制所述无人飞行器飞回预定的坐标位置。
  14. 根据权利要求8所述的装置，其特征在于，所述装置还包括接收模块，
    所述接收模块，用于接收退出返航保护模式指令；
    所述控制模块，还用于响应于所述退出返航保护模式指令，将所述无人飞行器的控制权移交给所述控制器。
  15. 一种无人飞行器的控制的装置，其特征在于，所述装置包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    确定无人飞行器与控制器之间的距离是否超过人的视距；
    检测所述无人飞行器的外挂系统的数据回传链路是否正常，所述外挂系统用于检测所述无人飞行器的飞行环境；
    当所述无人飞行器与所述控制器之间的距离超过所述人的视距且所述外挂系统的数据回传链路不正常时，控制所述无人飞行器进入返航保护模式。
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