WO2017117887A1

WO2017117887A1 - Unmanned aerial vehicle control method and unmanned aerial vehicle control system

Info

Publication number: WO2017117887A1
Application number: PCT/CN2016/079386
Authority: WO
Inventors: 郑卫锋; 宋水; 贾春红
Original assignee: 北京臻迪机器人有限公司
Priority date: 2016-01-06
Filing date: 2016-04-15
Publication date: 2017-07-13
Also published as: CN105620731A; CN105620731B

Abstract

An unmanned aerial vehicle (50) control method and an unmanned aerial vehicle (50) control system, relating to the technical field of unmanned aerial vehicle (50) control, and for use in resolving the problem of slow development of a consumer-grade unmanned aerial vehicle (50) market caused by a complicated unmanned aerial vehicle (50) control process, shortage of controllers, and high costs in the prior art. The unmanned aerial vehicle (50) control method comprises: receiving an input signal (110); determining a function command corresponding to the input signal (120); converting the function command into one or more continuous action commands (130); and controlling an unmanned aerial vehicle (50) to execute the action command (140). The unmanned aerial vehicle (50) control method is used for controlling an unmanned aerial vehicle (50), and simplifies the unmanned aerial vehicle (50) control process.

Description

UAV control method and drone control system

Technical field

The invention relates to the technical field of drone control, in particular to a drone control method and a drone control system.

Background technique

A drone is a non-manned aerial vehicle that is controlled by a wireless remote control device and its own control device.

Due to its high adaptability to the environment, drones have become more and more popular in recent years and are widely used in military, disaster relief, power, agriculture and other fields to provide networks and collect data. In addition to these professional fields, drones have gradually entered the daily life of ordinary people, that is, consumer-grade drones. Consumer-grade drones are widely used and have broad prospects, for example, for photography or transportation.

However, the existing drone control process is very complicated, and every step of the drone needs to be controlled by the control personnel at all times, so it must be controlled by professionally trained personnel, and the professional control drone control personnel are in short supply. And it takes a lot of money to hire a professional manipulator to control the drone. Therefore, although the demand for consumer-grade drones is strong, the market for consumer-grade drones is slow due to the complicated handling process, the shortage of operators and the high cost.

The present invention has been made in view of this.

Summary of the invention

The object of the present invention is to provide a drone control method for solving the problem that the drone control process in the prior art is complicated, the control personnel are scarce, and the cost is high, which leads to a slow development of the consumer-grade drone market.

In order to achieve the above object, the technical solution of the present invention is achieved as follows:

The drone control method provided by the invention comprises:

Receiving an input signal;

Determining a function instruction corresponding to the input signal;

Converting the functional instruction into one or more consecutive motion instructions;

The drone is controlled to execute the action instruction.

Preferably, the function instruction comprises: starting, pausing, landing, recognizing a target, advancing, retreating, ascending, descending, Rotation, Surround Flight, Spiral Flight, Parallel Reciprocating Flight, Vertical Reciprocating Flight, Intermittent Flight, Shooting or Step Stacking.

Further, the function instruction is a shooting instruction, and the step of converting the shooting instruction into one or more consecutive motion instructions specifically includes:

Transfer identification instructions:

Identifying coordinates of the shooting target, and feeding back a recognition success signal and a coordinate signal of the shooting target;

The motion command is generated according to the coordinate signal of the photographing target, and the motion command includes: starting, controlling a lens of the photographing device to face the photographing target direction, and controlling the photographing device to start photographing.

Further, the function instruction is a shooting instruction, and when the shooting instruction is 360° full-angle shooting, the action instruction includes:

Controlling the drone to fly toward the shooting target to a distance from the shooting target to a set distance;

Taking the shooting target as the center of the circle and flying around the radius of the set distance;

The lens of the photographing device is controlled to always face the photographing target direction, and the photographing device is controlled to start photographing.

Further, the function instruction is a stepped stacking item instruction, and the step of converting the stepped stacking item instruction into one or more consecutive action instructions specifically includes:

Transfer identification instructions:

Identifying coordinates of a step of the item to be stacked, and feeding back a coordinate signal identifying the success signal and the step of the item to be stacked;

Generating the motion instruction according to a coordinate signal of the step of the item to be stacked, the motion instruction comprising: starting, flying toward a step of the item to be stacked, hovering a set time to stack the item to the waiting On the steps of stacking items, identify the next step of the item to be stacked.

Compared with the prior art, the drone control method of the present invention has the following advantages:

The drone control method provided by the invention is applied to the process of manipulating the drone, and the controller only needs to control the functions completed by the drone according to the required functions, and the control system can automatically judge the corresponding input signal by inputting corresponding commands. The function instruction converts the function instruction into one or more corresponding motion instructions, and then automatically controls the drone to perform an action corresponding to the action instruction, thereby achieving the function required by the operator. The action command corresponding to the function command may be one action command or multiple action commands. Controlling the drone to control each action by the operator at the moment in the prior art Compared with the method, the drone control method provided by the present invention can automatically control the drone to perform multiple actions to meet the corresponding functional requirements of the operator by simply inputting information indicating the required function, simplifying the pair. The drone's control process makes the drone's control process easy to learn, which reduces the professional demand of the control personnel, shortens the training time for the control personnel, reduces the cost, and improves the utilization rate of the consumer drone. Promote the market development of consumer-grade drones.

Another object of the present invention is to provide a UAV control system to solve the problem that the UAV control process in the prior art is complicated, the control personnel are scarce, and the cost is high, resulting in a slow development of the consumer-grade UAV market.

A drone control system includes: a mobile terminal and a controller disposed on the drone, the mobile terminal including an input end, an instruction judging module, and a signal processing module,

The input end is configured to receive an input signal and transmit the input signal to the instruction determining module;

The instruction determining module is configured to determine a function instruction corresponding to the input signal, and transmit the function instruction to a signal processing module;

The signal processing module is configured to convert the function instruction into one or more consecutive action instructions and transmit to the controller;

The controller is configured to control the drone to execute the action instruction.

Preferably, the UAV control system further includes an identification module disposed on the UAV, the mobile terminal further comprising an input module,

The identification module is configured to identify coordinates of the target, and transmit the identification success signal and the coordinate signal of the target to the input module;

The input module is configured to transmit a coordinate signal of the target to the signal processing module.

Preferably, the mobile terminal further includes an output module, where the output module is configured to receive an action instruction transmitted by the signal processing module and transmit the action instruction to the controller.

Preferably, the drone control system further comprises a ground transceiver for transmitting the action instruction fed back by the output module to the controller.

Preferably, the ground transceiver is further configured to transmit an identification success signal fed back by the identification module and a coordinate signal of the shooting target to the input module.

When the drone control system provided by the present invention is used to control the drone, the controller only needs to control according to the required control. The function completed by the human machine inputs the corresponding command through the input end, and the signal processing module can be converted into one or more action commands according to the function instruction, so that the controller controls the drone to perform the action corresponding to the action instruction to achieve the manipulation. The functions required by the people. The action command corresponding to the function command may be one action command or multiple action commands. Compared with the prior art control system in which the operator controls the drone to complete each action, the drone control system provided by the present invention only needs to perform an input signal process at the input end, The man-machine control system can automatically control the drone to perform multiple actions to meet the corresponding functional requirements of the operator, simplifying the control process of the drone, making the control process of the drone easy to learn, and thus the professional of the manipulator The demand for sex is reduced, the training time for operators is shorter, the cost is reduced, and the utilization rate of consumer-grade drones is increased, and the market development of consumer-grade drones is promoted.

DRAWINGS

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the specific embodiments or the description of the prior art will be briefly described below, and obviously, the attached in the following description The drawings are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

1 is a flowchart 1 of a method for controlling a drone according to an embodiment of the present invention;

2 is a second flowchart of a drone control method according to an embodiment of the present invention;

3 is a flowchart 3 of a method for controlling a drone according to an embodiment of the present invention;

4 is a flowchart 4 of a method for controlling a drone according to an embodiment of the present invention;

FIG. 5 is a schematic diagram 1 of signal transmission of a drone control system according to an embodiment of the present invention; FIG.

6 is a schematic diagram 2 of signal transmission of a drone control system according to an embodiment of the present invention;

7 is a schematic diagram 1 of signal transmission between a signal processing module and a controller in a drone control system according to an embodiment of the present invention;

FIG. 8 is a schematic diagram 2 of signal transmission between a signal processing module and a controller in a drone control system according to an embodiment of the present invention.

Reference mark:

10-input; 20-instruction judging module; 30-signal processing module;

40-controller; 50-unmanned aerial vehicle; 60-identification module;

70-input module; 80-output module; 90-terrestrial transceiver.

detailed description

The technical solutions of the present invention will be clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In the description of the present invention, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The orientation or positional relationship of the indications is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplified description, rather than indicating or implying that the device or component referred to has a specific orientation, in a specific orientation. Construction and manipulation are therefore not to be construed as limiting the invention. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components. The specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.

Referring to FIG. 1-8, the drone control method provided by the present invention includes:

Step 110: Receive an input signal.

Step 120: Determine a function instruction corresponding to the input signal;

Step 130: Convert the function instruction into one or more consecutive action instructions;

Step 140: Control the drone 50 to execute an action instruction.

When the drone control method is applied to the drone control system, the control process of the drone 50 is completed by the input terminal 10, the command judging module 20, the signal processing module 30, and the controller 40 of the drone 50. At this time, the corresponding control steps are as follows:

Step 210, the input terminal 10 receives the input signal, and transmits the input signal to the command determining module 20;

Step 220, the command determining module 20 determines the function command corresponding to the input signal, and transmits the function command to the signal processing module 30;

Step 230, the signal processing module 30 converts the function instructions into one or more consecutive action instructions and transmits them to the controller 40 of the drone 50;

Step 240, the controller 40 controls the drone 50 to execute an action instruction.

When the drone control method provided by the embodiment of the present invention is applied to the process of manipulating the drone 50, the controller only needs to control the functions completed by the drone 50 according to the required function, and the control system can automatically judge by inputting corresponding commands. The function command corresponding to the input signal is converted into a corresponding one or more action commands, and then the drone 50 is automatically controlled to perform an action corresponding to the action command, thereby achieving the function required by the operator. The action instruction corresponding to the function instruction may be an action instruction, such as rising, or multiple action instructions, such as rising first, then advancing, and then flying around. In the drone control method provided by the embodiment of the present invention, only the information indicating the required function can be input once, compared with the control method in the prior art, in which the operator controls the drone 50 to complete each action. The automatic control drone 50 performs a plurality of actions to meet the corresponding functional requirements of the operator, simplifies the manipulation process of the drone 50, makes the control process of the drone 50 easy to learn, and thus the professional demand for the operator. Lowering, training time for the control personnel is shorter, reducing costs, thereby increasing the utilization rate of the consumer-grade drone 50, and promoting the market development of the consumer-grade drone 50.

The input terminal 10 can be a mobile phone, a tablet or other device having a transmission and reception wireless signal. If the mobile phone is used as the input terminal 10, the corresponding application software may be installed on the mobile phone first, and the function option is selected in the interactive interface of the application software, and the command determining module 20 determines the function command corresponding to the input signal. The interactive interface of the above application software can be designed to be relatively simple and easy to understand, so that people without professional training can quickly grasp how to control the drone 50 to perform specified functions.

The above functional commands include, but are not limited to, start, pause, land, target recognition, forward, backward, ascending, descending, rotating, orbiting, spiral flight, parallel reciprocating flight, vertical reciprocating flight, intermittent flight, shooting or stair stacking .

For example, when the function instruction corresponding to the signal input by the operator is a shooting instruction, the step of converting the function instruction into one or more consecutive action instructions specifically includes:

Step 131: transmitting an identification instruction:

Step 132: Identify coordinates of the shooting target, and feed back the recognition success signal and the coordinate signal of the shooting target;

Step 133: Generate an operation command according to the coordinate signal of the shooting target. The operation command includes: starting, controlling the lens of the imaging device to face the shooting target direction, and controlling the shooting device to start shooting.

In a specific implementation, the foregoing steps are performed by the signal processing module 30, the controller 40, the identification module 60, the input module 70, and the controller 40, and the execution process is as follows:

Step 231, the signal processing module 30 transmits an identification instruction to the controller 40:

Step 232, the controller 40 controls the recognition module 60 on the drone 50 to recognize the coordinates of the shooting target, and to input the mode. Block 70 feedbacks the recognition success signal and the coordinate signal of the shooting target;

Step 233, the input module 70 transmits the coordinate signal of the shooting target to the signal processing module 30;

Step 234, the signal processing module 30 generates an action instruction according to the coordinate signal of the shooting target and transmits it to the controller 40.

Specifically, the operator selects the corresponding text or icon on the interactive interface of the input terminal 10, and the input terminal 10 transmits the corresponding signal to the command determining module 20, and the command determining module 20 recognizes that the signal corresponds to the shooting function, and the signal processing module The controller 40 transmits an identification command to the controller 40, and the controller 40 controls the recognition module 60 on the drone 50 to recognize the shooting target. When the recognition module 60 recognizes the shooting target, the input module 70 feeds back the recognition success signal to the signal processing module 30 and The coordinate signal of the shooting target, the signal processing module 30 generates a corresponding series of motion commands and transmits to the controller 40, and the controller 40 controls the drone 50 to execute a corresponding series of motion commands.

In the interactive page, the shooting instruction can be further subdivided, for example, including far and near shooting or 360° full angle shooting, etc., when the operator selects to shoot from far and near, the signal processing module 30 according to the coordinates of the shooting target, the flight path A series of motion commands generated by factors such as flight time and aircraft attitude can be: the camera is facing the shooting target, starts shooting, and flies at a uniform speed toward the shooting target.

When the operator selects 360° full-angle shooting, the motion command may be: controlling the drone to fly toward the shooting target to a distance from the shooting target as a set distance; taking the shooting target as a center, The set distance is a radius around flight; the lens of the photographing device is always directed toward the photographing target direction, and the photographing device is controlled to start photographing. Therefore, the operator does not need to control the turning, advancing and the like of the drone 50 in real time, thereby greatly simplifying the operation process of the drone 50. The above set distance can be selected at the interactive interface, and at the same time, the number of rounding flights can be selected to control the drone 50 to fly one, two or more rounds around the shooting target.

In one of the embodiments of the present invention, the step of the signal processing module 30 generating an action instruction according to the coordinate signal of the photographic target and transmitting the signal to the controller 40 specifically includes:

The signal processing module 30 generates an action instruction according to the coordinate signal of the shooting target and transmits it to the output module 80;

The output module 80 transmits the action command to the controller 40.

The output module 80 can directly transmit the action command to the controller 40, or the output module 80 can also transmit the action command to the controller 40 through the ground transceiver 90. When the output module 80 transmits the action command to the controller 40 through the ground transceiver 90, the step of the output module 80 transmitting the action command to the controller 40 specifically includes:

The output module 80 transmits the action command to the ground transceiver 90;

The ground transceiver 90 transmits an action command fed back by the output module 80 to the controller 40.

Similarly, controller 40 can either feed back signals directly to input module 70 or can transmit signals to input module 70 via terrestrial transceiver 90. When the controller 40 transmits a signal through the ground transceiver 90, the controller 40 controls the recognition module 60 on the drone 50 to recognize the coordinates of the shooting target, and feeds back to the input module 70 the steps of identifying the success signal and the coordinate signal of the shooting target. include:

The controller 40 controls the identification module 60 on the drone 50 to recognize the coordinates of the shooting target, and feeds back to the ground transceiver 90 the recognition success signal and the coordinate signal of the shooting target;

The ground transceiver 90 transmits a recognition success signal and a coordinate signal of the shooting target to the input module 70.

It should be noted that the above identification module 60 can be integrated into the signal processing module 30, and the input module 70 and the output module 80 can be integrated into the signal processing module 30. At this time, the signal between the signal processing module 30 and the controller 40 The transmission can be either direct transmission or indirect transmission through the terrestrial transceiver 90.

In the following, the control unit selects “step stacking items” on the interactive page as an example, and the above-mentioned drone control method is described in detail.

When the function instruction is a step-stacking item, the step of converting the function instruction into one or more consecutive action instructions specifically includes:

Transfer identification instructions:

Generating an action instruction according to a coordinate signal of the step of the item to be stacked, the action instruction includes: starting, flying over the step of the item to be stacked, hovering the set time to stack the item on the step of the item to be stacked, and identifying the next waiting Stack the stairs of the item.

In more detail, the command judging module 20 judges that the function command corresponding to the signal input by the input terminal 10 is a "step stacking item", and the signal processing module 30 transmits a series of action instructions to the controller 40, when the drone 50 successfully recognizes the target. After the first step of the item to be stacked, the signal processing module 30 centers on the coordinates of the identified target (the first step of the item to be stacked), according to the required intermittent flight trajectory and intermittent residence time of the drone 50. And a function of the time and the attitude of the drone 50 to generate a series of motion commands. The controller 40 controls the drone 50 to execute the corresponding action command in sequence, and the drone 50 flies according to the corresponding trajectory, hovering for a certain time on the first step of the item to be stacked, and releasing the goods to make the goods arrive. On the first step of the item to be stacked, the drone 50 then recognizes the step of the next item to be stacked, and feeds back the coordinate signal of the step of the next item to be stacked to the signal processing module 30, and the signal processing module 30 follows the step. The coordinates are centered, combined with the required flight trajectory, intermittent residence time, and time of the drone 50 The function of the attitude of the machine 50 generates a series of motion commands and transmits them to the controller 40 to control the execution of the drone 50; in this cycle, when the drone 50 does not recognize the next step of the item to be stacked, the drone 50 Hover by yourself and wait for the next command. Through the above-mentioned drone control method, the operator does not need to monitor the drone 50 in real time, and controls the drone 50 to start, hover, and rise, and the operation is greatly simplified.

Referring to FIG. 5 to FIG. 8 , an embodiment of the present invention further provides a drone control system, including: a mobile terminal and a controller 40 disposed on the drone 50. The mobile terminal includes an input terminal 10 and an instruction determination module. The signal processing module 30 is configured to receive the input signal and transmit the input signal to the command determining module 20; the command determining module 20 is configured to determine the function command corresponding to the input signal, and transmit the function command to the signal processing module 30. The signal processing module 30 is configured to convert the function instructions into one or more consecutive motion instructions and transmit them to the controller 40; the controller 40 is configured to control the drone 50 to execute the motion instructions.

When the drone control system of the embodiment of the present invention is used to control the drone 50, the operator only needs to input the corresponding command through the input terminal 10 according to the function required to control the drone 50, and the drone control system. The signal processing module 30 can be converted into one or more action commands according to the function instructions, so that the controller 40 controls the drone 50 to automatically perform an action corresponding to the action command to achieve the function required by the operator. The action command corresponding to the function command may be one action command or multiple action commands. In the control process of the UAV control system provided by the embodiment of the present invention, only one input signal needs to be input at the input end, compared with the control system in the prior art, in which the operator controls the drone 50 to complete each action. In the process, the drone control system can automatically control the drone 50 to perform a plurality of actions to meet the corresponding functional requirements of the operator, simplifying the manipulation process of the drone 50, and making the control process of the drone 50 easy to learn. As a result, the professional demand for the control personnel is reduced, the training time for the control personnel is shorter, the cost is reduced, and the utilization rate of the consumer-grade drone 50 is increased, and the market development of the consumer-grade drone 50 is promoted.

In this embodiment, the UAV control system further includes an identification module 60 disposed on the UAV 50. The mobile terminal further includes an input module 70 for recognizing the coordinates of the target and identifying the target of the successful signal. The coordinate signal is transmitted to the input module 70; the input module 70 is used to transmit the coordinate signal of the target to the signal processing module 30. That is, the mobile terminal transmits the signal fed back by the identification module 60 to the signal processor through the input module 70.

In this embodiment, the mobile terminal further includes an output module 80, and the output module 80 is configured to receive the signal processing module 30 for transmission. The action instruction transmits the action command to the controller 40.

In this embodiment, the UAV control system further includes a ground transceiver 90 for transmitting an action command fed back by the output module 80 to the controller 40.

In this embodiment, the ground transceiver 90 is further configured to transmit the recognition success signal fed back by the identification module 60 and the coordinate signal of the target to the input module 70.

It should be noted that the above identification module 60 can be integrated into the controller 40, and the input module 70 and the output module 80 can be integrated into the signal processing module 30. At this time, information transmission between the controller 40 and the signal processing module 30 is performed. It can be transmitted either directly or indirectly via the terrestrial transceiver 90.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A drone control method, comprising:

Receiving an input signal;

Determining a function instruction corresponding to the input signal;

Converting the functional instruction into one or more consecutive motion instructions;

The drone is controlled to execute the action instruction.
The drone control method according to claim 1, wherein the function instruction comprises: starting, pausing, landing, recognizing a target, advancing, retreating, ascending, descending, rotating, encircling flight, spiral flight, parallel reciprocation Flying, vertical reciprocating flight, intermittent flight, shooting or stair stacking.
The UAV control method according to claim 1 or 2, wherein the function instruction is a shooting instruction, and the step of converting the shooting instruction into one or more consecutive action instructions comprises:

Transfer identification instructions:

Identifying coordinates of the shooting target, and feeding back a recognition success signal and a coordinate signal of the shooting target;

The motion command is generated according to the coordinate signal of the photographing target, and the motion command includes: starting, controlling a lens of the photographing device to face the photographing target direction, and controlling the photographing device to start photographing.
The unmanned aerial vehicle control method according to any one of claims 1 to 3, wherein the function instruction is a shooting instruction, and when the shooting instruction is 360° full-angle shooting, the action instruction comprises:

Controlling the drone to fly toward the shooting target to a distance from the shooting target to a set distance;

Taking the shooting target as the center of the circle and flying around the radius of the set distance;

The lens of the photographing device is controlled to always face the photographing target direction, and the photographing device is controlled to start photographing.
The UAV control method according to claim 1 or 2, wherein the function command is a stepped stacking item command, and the step of converting the stepped stacking item command into one or more consecutive action instructions Specifically include:

Transfer identification instructions:

Identifying coordinates of a step of the item to be stacked, and feeding back a coordinate signal identifying the success signal and the step of the item to be stacked;

Generating the action instruction according to a coordinate signal of a step of the item to be stacked, the action instruction comprising: starting, Flying over the steps of the item to be stacked, hovering the set time to stack the items onto the steps of the item to be stacked, identifying the next step of the item to be stacked.
A UAV control system includes: a mobile terminal and a controller disposed on the UAV, the mobile terminal including an input end, an instruction judging module, and a signal processing module, wherein

The input end is configured to receive an input signal and transmit the input signal to the instruction determining module;

The instruction determining module is configured to determine a function instruction corresponding to the input signal, and transmit the function instruction to a signal processing module;

The signal processing module is configured to convert the function instruction into one or more consecutive action instructions and transmit to the controller;

The controller is configured to control the drone to execute the action instruction.
The UAV control system according to claim 6, wherein the UAV control system further comprises an identification module disposed on the UAV, the mobile terminal further comprising an input module,

The identification module is configured to identify coordinates of the target, and transmit the identification success signal and the coordinate signal of the target to the input module;

The input module is configured to transmit a coordinate signal of the target to the signal processing module.
The UAV control system according to claim 6 or 7, wherein the mobile terminal further comprises an output module, the output module is configured to receive an action instruction transmitted by the signal processing module and the action instruction Transfer to the controller.
The UAV control system according to claim 8, wherein the UAV control system further comprises a ground transceiver, wherein the ground transceiver is configured to transmit the action command fed back by the output module to the Controller.
The UAV control system according to claim 9, wherein the ground transceiver is further configured to transmit an identification success signal fed back by the identification module and a coordinate signal of the shooting target to the input module.