WO2017181512A1 - 无人机的飞行控制方法和装置 - Google Patents

无人机的飞行控制方法和装置 Download PDF

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Publication number
WO2017181512A1
WO2017181512A1 PCT/CN2016/086315 CN2016086315W WO2017181512A1 WO 2017181512 A1 WO2017181512 A1 WO 2017181512A1 CN 2016086315 W CN2016086315 W CN 2016086315W WO 2017181512 A1 WO2017181512 A1 WO 2017181512A1
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Prior art keywords
instruction
flight control
flight
drone
executed
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PCT/CN2016/086315
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English (en)
French (fr)
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高鹏
张利军
李玉刚
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高鹏
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Publication of WO2017181512A1 publication Critical patent/WO2017181512A1/zh

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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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • 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

Definitions

  • the invention relates to the field of drones, and in particular to a flight control method and device for a drone.
  • UAVs unmanned aerial vehicles
  • UAV shooting is different from the effects captured by satellites, airplanes or helicopters, presenting a new perspective on the world.
  • most video or image acquisition based on drones is manually controlled by drones.
  • the camera carried by the drone captures the corresponding video or takes the corresponding image.
  • the manual control of the drone's shooting mode has high requirements for the controller's control technology, and requires professional or semi-professional drone shooting practitioners to complete.
  • the technical problem to be solved by the present invention is how to realize the flight control of the drone for an ordinary user who has little or no drone operation experience.
  • a flight control method for a drone including:
  • the flight control instruction combination including each of the to-be-executed flight actions Corresponding respective flight control instructions to be executed;
  • each of the to-be-executed flight control instructions to the drone to perform the flight operations to be executed in the execution sequence.
  • each of the to-be-executed flight control commands is sequentially sent to the drone to make the drone
  • Performing each flight action to be performed in the order of execution includes:
  • the method further includes:
  • execution is stopped or at least one flight control instruction to be executed is skipped.
  • the method further includes:
  • the flight control instruction includes: a horizontal left shift instruction, a horizontal right shift instruction, a vertical upward instruction, a vertical downward instruction, a horizontal forward movement instruction, a horizontal backward movement instruction, a vertical rotation instruction, a vertical reverse rotation instruction, and a horizontal shun Any of a rotary command, a horizontal reverse command, a cross-section command, and a profile reverse command.
  • a flight control method for a drone including:
  • the flight control instruction to be executed is executed to enable the drone to perform a corresponding flight action, including:
  • the flight environment data includes a wind speed in an environment in which the drone is located at a current time
  • the flight state data includes flight attitude information and location information related to the current time of the drone.
  • a flight control apparatus for a drone including:
  • a generating module configured to generate a flight control instruction combination and an instruction execution logic according to an execution flight behavior selected by the user and an execution sequence of each of the to-be-executed flight actions set by the user, where the flight control instruction combination includes Determining each flight control instruction to be executed corresponding to the execution of the flight action;
  • a sending module configured to be connected to the generating module, configured to send, according to the instruction execution logic, each of the to-be-executed flight control commands to the drone, so that the drone performs each in accordance with the execution sequence The flight action is to be performed.
  • the sending module includes:
  • An instruction sending unit configured to send, according to the instruction execution logic, one flight control instruction to be executed in the flight control instruction combination to the drone;
  • the notification receiving unit is connected to the instruction transmitting unit for returning to execute the operation of the instruction transmitting unit when receiving the execution completion notification returned by the drone.
  • the command sending unit is further configured to:
  • the notification receiving unit receives the execution completion notification returned by the drone, determining whether all the instructions in the flight control instruction combination are performed is completed;
  • the device further includes:
  • the change module is configured to stop execution or skip execution of at least one flight control instruction to be executed according to a user's selection.
  • the device further includes:
  • a storage module configured to preset a flight control instruction corresponding to each flight action of the drone
  • the flight control instruction includes: a horizontal left shift instruction, a horizontal right shift instruction, a vertical upward instruction, a vertical downward instruction, a horizontal forward movement instruction, a horizontal backward movement instruction, a vertical rotation instruction, a vertical reverse rotation instruction, and a horizontal shun Any of a rotary command, a horizontal reverse command, a cross-section command, and a profile reverse command.
  • a flight control apparatus for a drone including:
  • An instruction receiving module configured to receive one flight control instruction to be executed in a flight control instruction combination from a client;
  • An instruction execution module coupled to the instruction receiving module, configured to execute the flight control instruction to be executed, so that the drone performs a corresponding flight action
  • An execution completion notification module is connected to the instruction execution module, configured to send an execution completion notification to the client if the execution of the flight control instruction to be executed is completed, so that the client continues to send the flight The next pending flight control command in the control command combination.
  • the instruction execution module includes:
  • An instruction determining unit configured to determine whether the execution of the flight control instruction to be executed is completed
  • a data acquiring unit configured to be connected to the instruction determining unit, configured to acquire flight environment data and/or flight state data of the drone at a current time when the flight control instruction to be executed is not completed;
  • a parameter determining unit configured to be respectively connected to the instruction receiving module and the data acquiring unit, configured to determine, according to the acquired data and the flight control instruction to be executed, a control parameter corresponding to the motor in the drone;
  • a motor control unit coupled to the parameter determining unit, configured to adjust, according to the regulation parameter, a corresponding motor speed, so that the drone performs a flight action corresponding to the flight control instruction;
  • the flight environment data includes a wind speed in an environment in which the drone is located at a current time
  • the flight state data includes flight attitude information and location information related to the current time of the drone.
  • the client sends the respective flight control commands to be executed to the drone according to the instruction execution logic, so that the drone performs the respective flight operations to be executed in the execution order.
  • the flight control method of the unmanned aerial vehicle according to the embodiment of the present invention has almost no requirement for the user's control technology, and the ordinary user who has little or no drone operation experience can also realize the flight control of the drone.
  • FIG. 1 shows a flow chart of a flight control method for a drone according to an embodiment of the present invention
  • FIG. 2 shows another flow chart of a flight control method of a drone according to an embodiment of the present invention
  • FIG. 3 is another flow chart showing a flight control method of a drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an interface of a client according to an embodiment of the invention.
  • FIG. 5 is a flow chart showing a flight control method of a drone according to another embodiment of the present invention.
  • FIG. 6 shows another flow chart of a flight control method of a drone according to another embodiment of the present invention.
  • FIG. 7 is a block diagram showing the structure of a flight control device for a drone according to an embodiment of the present invention.
  • FIG. 8 is a block diagram showing another structure of a flight control device for a drone according to an embodiment of the present invention.
  • FIG. 9 is a block diagram showing another structure of a flight control device for a drone according to an embodiment of the present invention.
  • FIG. 10 is a block diagram showing the structure of a flight control device for a drone according to another embodiment of the present invention.
  • FIG. 11 is a block diagram showing another structure of a flight control device for a drone according to another embodiment of the present invention.
  • FIG. 12 is a block diagram showing the structure of a flight control device of a drone according to another embodiment of the present invention.
  • FIG. 1 shows a flow chart of a flight control method for a drone according to an embodiment of the present invention.
  • the method mainly includes steps 101 to 102.
  • steps 101 to 102 are mainly performed on the client side.
  • the client usually refers to a program or device that provides local services to customers.
  • the client of the embodiment of the present invention refers to a program or device capable of transmitting a flight control instruction to a drone, including but not limited to a remote controller, a computer, a tablet computer, and a mobile phone.
  • Step 101 Generate a flight control instruction combination and an instruction execution logic according to an execution flight behavior selected by the user and an execution sequence of each of the to-be-executed flight actions set by the user;
  • Step 102 Send, according to the instruction execution logic, each of the to-be-executed flight control commands to the drone in sequence, so that the drone performs each flight action to be executed according to the execution sequence.
  • a plurality of control commands corresponding to the respective flight actions are preset in the client as flight control commands.
  • the flight control command combination may include a plurality of to-be-executed flight control commands corresponding to the user selected flight action, and the instruction execution logic may include the order in which the client transmits the respective flight control commands to be executed to the drone.
  • the flight control instruction may include but is not limited to a horizontal left shift instruction, a horizontal right shift instruction, a vertical upward command, a vertical downward command, a horizontal forward command, a horizontal backward command, a vertical spin command, a vertical reverse command, and a level. Sweep command, horizontal reverse command, cross-section command, and profile reverse command.
  • step 102 sequentially sending each of the to-be-executed flight control instructions to the drone to cause the drone to perform according to the And performing the flight operations to be executed in sequence (step 102), which may specifically include:
  • Step 201 Send, according to the instruction execution logic, one flight control instruction to be executed in the flight control instruction combination to the drone;
  • Step 202 Upon receiving the execution completion notification returned by the drone, according to the instruction execution logic, continue to send the next flight control instruction to be executed in the flight control instruction combination to the drone .
  • the client can send each flight control instruction to be executed to the flight control system of the drone through wireless communication methods such as WIFI, radio or Bluetooth.
  • the flight control system of the unmanned aerial vehicle analyzes and executes the corresponding flight action after receiving a flight control command to be executed in the flight control command combination to be executed. After the drone performs the flight action, the execution completion notification is returned to the client. After receiving the execution completion notification, the client sends the next pending flight control instruction to the drone according to the instruction execution logic.
  • the next to-be-executed flight control instruction in the control instruction combination may specifically include:
  • Step 301 When receiving the execution completion notification returned by the drone, determining whether all instructions in the flight control instruction combination are performed is completed;
  • Step 302 In the case that all the instructions in the flight control instruction combination are not executed, according to the instruction execution logic, continue to send the next flight control to be executed in the flight control instruction combination to the drone An instruction until all instructions in the flight control instruction combination are executed.
  • the method further includes: stopping execution or skipping execution of at least one flight control instruction to be executed according to a user's selection.
  • the user can set the operation of the client is relatively simple. For example, after the user selects each flight action to be executed in the client and sets the execution order of each action, the button such as completion (or confirmation execution) can be clicked. Then, the subsequent instruction transmission process is automatically executed by the client.
  • the client can also interact with the user during the process of sending the command. According to the specific application scenario The different manners are not limited in the embodiment of the present invention.
  • the user selects three flight actions to be performed (horizontal right shift, horizontal left shift, and horizontal forward shift). Among them, the first execution level is shifted right once, then the horizontal left is moved twice, and the last execution level is moved forward one time.
  • the client generates a flight control instruction combination and instruction execution logic according to the flight behavior to be executed preset by the user and its execution sequence (step 101).
  • the flight control command combination includes a horizontal right shift command, a horizontal left shift command, and a horizontal forward command.
  • the instruction execution logic includes a first sequence of horizontal right shift instructions, a second sequence of horizontal left shift instructions, a third sequence of horizontal left shift instructions, and a fourth sequence of horizontal forward commands.
  • the client may execute a logic according to the instruction to first send a horizontal right shift instruction to the drone (step 201). After receiving the horizontal right shift instruction from the client, the drone performs a horizontal right shifting flight action and sends an execution completion notification to the client after the action ends. The client receives the execution completion notification, and finds that there is still a flight control instruction to be executed (step 301). The client executes a logic to send a horizontal left shift instruction to the drone (step 302). After receiving the horizontal left shift instruction from the client, the drone performs a horizontal left shift flight action and sends an execution completion notification to the client after the action ends. The client repeats the checking process of step 301 above until all instructions in the flight control command combination are executed.
  • the client may also feed back the current execution status to the user, and the user decides whether to continue executing the subsequent instruction.
  • the user may choose to skip instructions such as rotation that may render the drone dangerous.
  • the user finds that the drone may collide with the building according to a preset path. At this point, the user can choose to stop the unexecuted instructions and end the drone flight.
  • the client executes logic according to the instruction
  • the secondary drone transmits each flight control command to be executed, so that the drone performs each flight action to be executed in the execution order.
  • the embodiment of the present invention has almost no requirements for the user's control technology, and an ordinary user with little or no drone operation experience can also realize the flight control of the drone.
  • FIG. 5 is a flow chart showing a flight control method of a drone according to another embodiment of the present invention. As shown in FIG. 5, the method mainly includes steps 501 to 503. In the embodiment of the present invention, steps 501 to 502 are mainly completed on the side of the drone.
  • Step 501 Receive a flight control instruction to be executed in a flight control instruction combination from a client.
  • Step 502 Perform the flight control instruction to be executed, so that the drone performs a corresponding flight action.
  • Step 503 In the case that the execution of the flight control instruction to be executed is completed, sending an execution completion notification to the client, so that the client continues to send the next flight control instruction to be executed in the flight control instruction combination. .
  • the flight control system of the drone's on-board flight control system After receiving a flight control command to be executed in the flight control command combination to be executed, according to the general protocol of the drone, such as MAVLINK (Micro Air Vehicle Link, the micro-aircraft connection protocol) resolves and performs the corresponding flight action. After the execution is completed, the drone returns an execution completion notification to the client.
  • the flight control system may be one or more processing devices installed on the drone, such as a single chip microcomputer, a digital signal processor, a field programmable array, or a computer.
  • the flight control instruction to be executed is executed, so that the drone performs a corresponding flight action (step 502), which may specifically include steps 601 to 604:
  • Step 601 Determine whether the flight control instruction to be executed is performed.
  • Step 602 In the case that the flight control instruction to be executed is not completed, obtain the location The flight environment data and/or flight status data of the drone at the current time.
  • the flight environment data of the drone includes a wind speed of the drone in an environment at a current time
  • the flight state data of the drone includes a flight related to the drone at a current time.
  • Gesture information and location information can be obtained in real time by the wind speed sensor
  • the flight attitude information can be acquired in real time through the attitude sensor
  • the position information can be obtained in real time through a positioning system such as a GPS (Global Positioning System) or a Beidou.
  • Step 603 Determine, according to the acquired data and the flight control instruction to be executed, a control parameter corresponding to the motor in the drone.
  • the flight control system may perform filtering processing on the acquired data (current speed, flight attitude information, position information), for example, passing the acquired data through a Kalman filter to remove noise and interference to achieve more accurate control.
  • the flight control system calculates a control parameter corresponding to the motor in the drone.
  • the regulation parameter may be a motor speed of a preset time interval, and the preset time interval should be suitable for the regulation frequency of the motor (for example, the frequency is at a level of 100 Hz) and as small as possible, for example, 0.5 s or 1 s, to achieve more precise. control.
  • the embodiment of the present invention can realize the drone flight control by qualitative control of the motor speed increasing, slowing or changing, and can also realize the drone flight control by quantitatively controlling the motor speed value, which is an embodiment of the present invention. No restrictions are imposed.
  • the propeller of the drone refers to a device that converts the rotational power of the motor into a propulsive force by rotating the blade in the air. Further, the propeller of the drone is connected to the motor through standard parts such as a gear, a worm wheel, a worm or a connecting rod. When the motor speed changes, the propeller speed is changed, and the direction and/or speed of the drone is controlled.
  • the embodiment of the present invention is exemplified by taking an unmanned aerial vehicle including four propellers as an example.
  • the control parameters include: a first motor speed, a second motor speed, a third motor speed, and a fourth motor speed.
  • Step 604 Adjust corresponding motor speeds according to the regulation parameter, so that the drone performs a flight action corresponding to the flight control instruction.
  • the first motor may be a motor installed at the head position of the drone
  • the second motor may be a motor installed at the tail position of the drone
  • the third motor and the fourth motor may be installed on the wing of the drone The position of the motor.
  • the rotation speeds of the first motor, the second motor, the third motor, and the fourth motor are respectively increased, and the rotation speed of the corresponding propeller is accelerated, thereby realizing the vertical upward movement of the drone.
  • the rotation speed of the first motor is decreased, the rotation speed of the third motor is increased, the rotation speed reduction amount of the first motor is smaller than the rotation speed increase amount of the third motor, and the propeller head is driven.
  • the rotation speed becomes slower, the speed of the propeller at the tail is increased, and the rotation speed of the propeller of the wing is unchanged, thereby realizing the horizontal forward movement of the drone.
  • the drone realizes each flight action corresponding to each flight control instruction to be executed in accordance with a preset execution sequence by interacting with the client.
  • the embodiment of the present invention has almost no requirements for the user's control technology, and an ordinary user with little or no drone operation experience can also realize the flight control of the drone.
  • UAVs are widely used in film and television shooting, image acquisition and other fields. UAV shooting is different from the effects captured by satellites, airplanes or helicopters, presenting a new perspective on the world.
  • the UAV shooting based on the flight control method of the embodiment of the present invention does not require the user to manually control the drone during the process of capturing video or image acquisition, and has almost no requirement for the user's manipulation technology. At the same time, the UAV can be photographed. Smooth and clear picture.
  • FIG. 7 is a block diagram showing the structure of a flight control device for a drone according to an embodiment of the present invention.
  • the apparatus mainly includes: a generating module 11 configured to generate a flight control instruction combination and an instruction execution according to a flight action to be performed selected by a user and an execution sequence of each of the to-be-executed flight actions set by the user. Logic; wherein the flight control instruction combination includes respective flight control instructions to be executed corresponding to each of the to-be-executed flight actions.
  • the sending module 13 is connected to the generating module 11 and configured to send the to-be-executed flying to the drone according to the instruction execution logic.
  • the line controls the instructions to cause the drone to perform each of the pending flight actions in the order of execution.
  • the sending module 13 includes: an instruction sending unit 131, configured to send, according to the instruction execution logic, one of the flight control instruction combinations to the drone
  • the flight control instruction is to be executed.
  • the notification receiving unit 133 is connected to the instruction transmitting unit 131 for returning to execute the operation of the instruction transmitting unit when receiving the execution completion notification returned by the drone.
  • the instruction sending unit 131 is further configured to: when the notification receiving unit 133 receives the execution completion notification returned by the drone, determine the flight control instruction combination Whether all the instructions of the execution are completed; if all the instructions in the flight control instruction combination are not executed, according to the instruction execution logic, continue to send the next one of the flight control instruction combinations to the drone The flight control command is to be executed until all instructions in the flight control command combination are executed.
  • the notification receiving unit 133 receives the execution completion notification returned by the drone, determine the flight control instruction combination Whether all the instructions of the execution are completed; if all the instructions in the flight control instruction combination are not executed, according to the instruction execution logic, continue to send the next one of the flight control instruction combinations to the drone
  • the flight control command is to be executed until all instructions in the flight control command combination are executed.
  • the apparatus further includes: a storage module 15 configured to preset a flight control instruction corresponding to each flight action of the drone.
  • the flight control instruction includes: a horizontal left shift instruction, a horizontal right shift instruction, a vertical upward instruction, a vertical downward instruction, a horizontal forward movement instruction, a horizontal backward movement instruction, a vertical rotation instruction, a vertical reverse rotation instruction, and a horizontal shun Rotary command, horizontal reverse command, cross-section command and profile reverse command.
  • a storage module 15 configured to preset a flight control instruction corresponding to each flight action of the drone.
  • the flight control instruction includes: a horizontal left shift instruction, a horizontal right shift instruction, a vertical upward instruction, a vertical downward instruction, a horizontal forward movement instruction, a horizontal backward movement instruction, a vertical rotation instruction, a vertical reverse rotation instruction, and a horizontal shun Rotary command, horizontal reverse command, cross-section command and profile reverse command.
  • the apparatus further includes: a change module 17 configured to stop execution or skip execution of at least one flight control instruction to be executed according to a user's selection.
  • a change module 17 configured to stop execution or skip execution of at least one flight control instruction to be executed according to a user's selection.
  • the client executes logic according to the instruction
  • the secondary drone transmits each flight control command to be executed, so that the drone performs each flight action to be executed in the execution order.
  • the embodiment of the present invention has almost no requirements for the user's control technology, and an ordinary user with little or no drone operation experience can also realize the flight control of the drone.
  • FIG. 10 is a block diagram showing the structure of a flight control device of a drone according to another embodiment of the present invention.
  • the apparatus mainly includes: an instruction receiving module 21, configured to receive one of the flight control instruction combinations from the client to execute the flight control instruction.
  • the instruction execution module 23 is connected to the instruction receiving module 21 for executing the flight control instruction to be executed, so that the drone performs a corresponding flight action.
  • An execution completion notification module 25 is connected to the instruction execution module 23, configured to send an execution completion notification to the client, so that the client continues to send the notification, if the execution of the flight control instruction to be executed is completed.
  • the next flight control command to be executed in the flight control command combination For specific principles and examples, refer to the related description of Embodiment 2 and FIG. 5.
  • the instruction execution module 23 includes: an instruction determining unit 231, configured to determine whether the flight control instruction to be executed is performed.
  • the data obtaining unit 233 is connected to the instruction determining unit 231, and configured to acquire the flight environment data and/or the current position of the drone at the current time when the flight control instruction to be executed is not completed. Flight status data.
  • the parameter determining unit 235 is respectively connected to the instruction receiving module 21 and the data acquiring unit 233, and is configured to determine, according to the acquired data and the flight control instruction to be executed, the corresponding control of the motor in the drone parameter.
  • the motor control unit 237 is connected to the parameter determining unit 235 for regulating the corresponding motor speed according to the regulation parameter, so that the drone performs the flight action corresponding to the flight control instruction.
  • the flight environment data includes a wind speed in an environment in which the drone is located at a current time, and the flight state data includes flight attitude information and location information related to the current time of the drone. For specific principles and examples, refer to the related description of Embodiment 2 and FIG. 6.
  • the flight control device of the drone of the embodiment of the invention the drone interacts with the client, It is realized that each flight action corresponding to each flight control instruction to be executed is executed in a preset execution order.
  • the embodiment of the present invention has almost no requirements for the user's control technology, and an ordinary user with little or no drone operation experience can also realize the flight control of the drone.
  • UAVs are widely used in film and television shooting, image acquisition and other fields. UAV shooting is different from the effects captured by satellites, airplanes or helicopters, presenting a new perspective on the world.
  • the UAV shooting based on the flight control method of the embodiment of the present invention does not require the user to manually control the drone during the process of capturing video or image acquisition, and has almost no requirement for the user's manipulation technology. At the same time, the UAV can be photographed. Smooth and clear picture.
  • FIG. 12 is a block diagram showing the structure of a flight control device of a drone according to another embodiment of the present invention.
  • the flight control device 1100 of the drone may be a host server having a computing capability, a personal computer PC, or a portable computer or terminal that can be carried.
  • the specific embodiments of the present invention do not limit the specific implementation of the computing node.
  • the flight control device 1100 of the drone includes a processor 1110, a communication interface 1120, a memory 1130, and a bus 1140.
  • the processor 1110, the communication interface 1120, and the memory 1130 complete communication with each other through the bus 1140.
  • Communication interface 1120 is for communicating with network devices, including, for example, a virtual machine management center, shared storage, and the like.
  • the processor 1110 is configured to execute a program.
  • the processor 1110 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.
  • ASIC Application Specific Integrated Circuit
  • the memory 1130 is used to store files.
  • the memory 1130 may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
  • Memory 1130 can also be a memory array.
  • the memory 1130 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
  • the above program may be program code including computer operating instructions.
  • the program can be specifically used to implement the operations of the steps in Embodiment 1, Embodiment 2.
  • the function is implemented in the form of computer software and sold or used as a stand-alone product, it is considered to some extent that all or part of the technical solution of the present invention (for example, a part contributing to the prior art) is It is embodied in the form of computer software products.
  • the computer software product is typically stored in a computer readable non-volatile storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform all of the methods of various embodiments of the present invention. Or part of the steps.
  • the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • the client sends the respective flight control commands to be executed to the drone according to the instruction execution logic, so that the drone performs the respective flight operations to be executed in the execution order.
  • the flight control method of the unmanned aerial vehicle according to the embodiment of the present invention has almost no requirement for the user's control technology, and the ordinary user who has little or no drone operation experience can also realize the flight control of the drone.

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

Abstract

一种无人机的飞行控制方法和装置，根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑(101)；根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作(102)。上述无人机的飞行控制方法，对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。

Description

无人机的飞行控制方法和装置
交叉引用
本申请主张2016年4月20日提交的中国专利申请号为201610249053.6的优先权，其全部内容通过引用包含于此。
技术领域
本发明涉及无人机领域，尤其涉及一种无人机的飞行控制方法和装置。
背景技术
随着技术的日新月异，无人驾驶飞机(Unmanned Aerial Vehicle，简称无人机)得到普及，广泛应用于航拍、农业、植保、自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等领域。
无人机拍摄不同于采用卫星、飞机或者直升机拍摄到的效果，为人们展现了世界的一个全新角度。目前，基于无人机的视频或图像采集，大多是采用手动控制无人机。在不断干预控制无人机的飞行方向、角度和高度的过程中，无人机携带的摄像机录取相应的视频或拍摄相应的图像。
采用手动控制无人机的拍摄方式，对操控者的操控技术有较高的要求，需要专业或半专业的无人机拍摄从业人员完成。
发明内容
技术问题
有鉴于此，本发明要解决的技术问题是，针对拥有极少甚至没有无人机操作经验的普通使用者，如何实现无人机的飞行控制。
解决方案
为了解决上述技术问题，根据本发明的一实施例，提供了一种无人机的飞行控制方法，包括：
根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑，所述飞行控制指令组合包括与各所述待执行飞行动作对应的各待执行飞行控制指令；
根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。
对于上述无人机的飞行控制方法，在一种可能的实现方式中，根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作，包括：
根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令；
在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
对于上述无人机的飞行控制方法，在一种可能的实现方式中，在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，包括：
在接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；
在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为 止。
对于上述无人机的飞行控制方法，在一种可能的实现方式中，还包括：
根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指令。
对于上述无人机的飞行控制方法，在一种可能的实现方式中，还包括：
预先设置与所述无人机的各飞行动作对应的飞行控制指令；
其中，所述飞行控制指令包括：水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令中的任意一种。
为了解决上述技术问题，根据本发明的另一实施例，提供了一种无人机的飞行控制方法，包括：
接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令；
执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作；
在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
对于上述无人机的飞行控制方法，在一种可能的实现方式中，执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作，包括：
判断所述待执行飞行控制指令是否执行完成；
在所述待执行飞行控制指令没有执行完成的情况下，获取所述无人机在当前时刻的飞行环境数据和/或飞行状态数据；
根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数；
根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞 行控制指令对应的飞行动作；
其中，所述飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。
为了解决上述技术问题，根据本发明的另一实施例，提供了一种无人机的飞行控制装置，包括：
生成模块，用于根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑，所述飞行控制指令组合包括与各所述待执行飞行动作对应的各待执行飞行控制指令；
发送模块，与所述生成模块连接，用于根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。
对于上述无人机的飞行控制装置，在一种可能的实现方式中，所述发送模块包括：
指令发送单元，用于根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令；
通知接收单元，与所述指令发送单元连接，用于在接收到所述无人机返回的执行完成通知的情况下，返回执行所述指令发送单元的操作。
对于上述无人机的飞行控制装置，在一种可能的实现方式中，所述指令发送单元还用于，
在所述通知接收单元接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；
在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个 待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为止。
对于上述无人机的飞行控制装置，在一种可能的实现方式中，所述装置还包括：
变更模块，用于根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指令。
对于上述无人机的飞行控制装置，在一种可能的实现方式中，所述装置还包括：
存储模块，用于预先设置与所述无人机的各飞行动作对应的飞行控制指令；
其中，所述飞行控制指令包括：水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令中的任意一种。
为了解决上述技术问题，根据本发明的另一实施例，提供了一种无人机的飞行控制装置，包括：
指令接收模块，用于接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令；
指令执行模块，与所述指令接收模块连接，用于执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作；
执行完成通知模块，与所述指令执行模块连接，用于在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
对于上述无人机的飞行控制装置，在一种可能的实现方式中，所述指令执行模块包括：
指令判断单元，用于判断所述待执行飞行控制指令是否执行完成；
数据获取单元，与所述指令判断单元连接，用于在所述待执行飞行控制指令没有执行完成的情况下，获取所述无人机在当前时刻的飞行环境数据和/或飞行状态数据；
参数确定单元，分别与所述指令接收模块和所述数据获取单元连接，用于根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数；
电机调控单元，与所述参数确定单元连接，用于根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞行控制指令对应的飞行动作；
其中，所述飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。
有益效果
本发明实施例的无人机的飞行控制方法，客户端根据指令执行逻辑，依次向无人机发送各待执行飞行控制指令，以使无人机按照执行顺序执行各待执行飞行动作。本发明实施例的无人机的飞行控制方法，对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。
根据下面参考附图对示例性实施例的详细说明，本发明的其它特征及方面将变得清楚。
附图说明
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本发明的示例性实施例、特征和方面，并且用于解释本发明的原理。
图1示出根据本发明一实施例的无人机的飞行控制方法的流程图；
图2示出根据本发明一实施例的无人机的飞行控制方法的另一流程图；
图3示出根据本发明一实施例的无人机的飞行控制方法的另一流程图；
图4示出根据本发明一实施例的客户端的界面示意图；
图5示出根据本发明另一实施例的无人机的飞行控制方法的流程图；
图6示出根据本发明另一实施例的无人机的飞行控制方法的另一流程图；
图7示出根据本发明一实施例的无人机的飞行控制装置的结构框图；
图8示出根据本发明一实施例的无人机的飞行控制装置的另一结构框图；
图9示出根据本发明一实施例的无人机的飞行控制装置的另一结构框图；
图10示出根据本发明另一实施例的无人机的飞行控制装置的结构框图；
图11示出根据本发明另一实施例的无人机的飞行控制装置的另一结构框图；
图12示出根据本发明另一实施例的无人机的飞行控制设备的结构框图。
具体实施方式
以下将参考附图详细说明本发明的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
另外，为了更好的说明本发明，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本发明同样可以 实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本发明的主旨。
实施例1
图1示出根据本发明一实施例的无人机的飞行控制方法的流程图。如图1所示，该方法主要包括步骤101至步骤102。在本发明实施例中，步骤101至步骤102主要在客户端侧完成。其中，客户端通常是指为客户提供本地服务的程序或设备。本发明实施例的客户端是指能够向无人机发送飞行控制指令的程序或设备，控制设备包括但不限于遥控器、电脑、平板电脑以及手机等。
步骤101、根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑；
步骤102、根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。
优选地，在客户端内可以预先设置多种与各飞行动作对应的控制指令，作为飞行控制指令。飞行控制指令组合可以包括用户选定飞行动作对应的多个待执行飞行控制指令，指令执行逻辑可以包括客户端向无人机发送各待执行飞行控制指令的顺序。其中，飞行控制指令可以包括但不限于水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令。
在一种可能的实现方式中，如图2所示，根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作(步骤102)，具体可以包括：
步骤201、根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令；
步骤202、在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
其中，客户端可以通过例如WIFI、无线电或蓝牙等无线通讯方式向无人机的飞行控制系统发送各待执行飞行控制指令。无人机机载的飞行控制系统在接收到待执行飞行控制指令组合中的一个待执行飞行控制指令后，解析并执行对应的飞行动作。无人机执行完该飞行动作后，向客户端返回执行完成通知。客户端收到执行完成通知后，根据指令执行逻辑向无人机发送下一个待执行飞行控制指令。
在一种可能的实现方式中，如图3所示，在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令(步骤202)，具体可以包括：
步骤301、在接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；
步骤302、在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为止。
在一种可能的实现方式中，所述方法还包括：根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指令。
其中，用户对客户端的操作可以设置的较为简便。例如，用户在客户端中选择各待执行飞行动作，并设置各动作的执行顺序后，可以点击完成(或确认执行)等按钮。然后，由客户端自动执行后续的指令发送过程。当然，客户端在进行指令发送的过程中也可以与用户交互。根据具体应用场景的不 同，可以采用不同的方式，本发明实施例中不做限定。
举例来说，如图4所示，用户选择3个待执行飞行动作(水平右移、水平左移和水平前移)。其中，先执行水平右移1次，再执行水平左移2次，最后执行水平前移1次。客户端根据用户预设的待执行飞行动作以及其执行顺序，生成飞行控制指令组合和指令执行逻辑(步骤101)。具体而言，飞行控制指令组合包括水平右移指令、水平左移指令和水平前移指令。指令执行逻辑包括第一顺序发送水平右移指令，第二顺序发送水平左移指令，第三顺序发送水平左移指令，第四顺序发送水平前移指令。
具体来说，客户端可以根据指令执行逻辑，先向无人机发送水平右移指令(步骤201)。无人机接收来自客户端的水平右移指令后，执行水平右移的飞行动作，并在动作结束后，向客户端发送执行完成通知。客户端收到执行完成通知，检查后发现还存在待执行飞行控制指令(步骤301)。客户端根据指令执行逻辑，向无人机发送水平左移指令(步骤302)。无人机接收来自客户端的水平左移指令后，执行水平左移的飞行动作，并在动作结束后，向客户端发送执行完成通知。客户端重复上述步骤301的检查过程，直至所述飞行控制指令组合中的所有指令执行完成为止。
此外，客户端收到某个指令的执行完成通知后，也可以向用户反馈目前的执行状态，由用户决定是否继续执行后续指令。根据用户的选择，继续执行、停止执行或者跳过某一个或几个指令，而执行其他的指令。例如，在无人机的飞行过程中，突然刮起大风。此时，用户可以选择跳过例如旋转等可能使无人机存在危险性的指令。再例如，在无人机的飞行过程中，用户发现按照预设的路径可能使无人机碰撞建筑物。此时，用户可以选择停止尚未执行的指令，结束无人机飞行。采用上述控制方式，可以根据周边环境例如天气、地形灵活地选择无人机的飞行动作，保障无人机以及地面行人的安全。
本发明实施例的无人机的飞行控制方法，客户端根据指令执行逻辑，依 次向无人机发送各待执行飞行控制指令，以使无人机按照执行顺序执行各待执行飞行动作。本发明实施例对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。
实施例2
图5示出根据本发明另一实施例的无人机的飞行控制方法的流程图。如图5所示，该方法主要包括步骤501至步骤503。在本发明实施例中，步骤501至步骤502主要在无人机侧完成。
步骤501、接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令；
步骤502、执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作；
步骤503、在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
在每个飞行控制指令的执行过程中，无人机机载的飞行控制系统在接收到待执行飞行控制指令组合中的一个待执行飞行控制指令后，按照无人机的通用协议例如MAVLINK(Micro Air Vehicle Link，微型航空器连接协议)解析并执行对应的飞行动作。执行完成后，无人机向客户端返回执行完成通知。其中，飞行控制系统可以是安装在无人机上的一个或多个处理设备，例如单片机、数字信号处理器、现场可编程阵列或计算机等。
在一种可能的实现方式中，如图6所示，执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作(步骤502)，具体可以包括步骤601至步骤604：
步骤601、判断所述待执行飞行控制指令是否执行完成。
步骤602、在所述待执行飞行控制指令没有执行完成的情况下，获取所 述无人机在当前时刻的飞行环境数据和/或飞行状态数据。
其中，所述无人机所处的飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述无人机的飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。具体来说，风速可以通过风速传感器实时获取，飞行姿态信息可以通过姿态传感器实时获取，位置信息可以通过GPS(Global Positioning System，全球定位系统)、北斗等定位系统实时获取。
步骤603、根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数。
优选地，飞行控制系统可以对所获取的数据(当前时刻的风速、飞行姿态信息、位置信息)进行滤波处理，例如将所获取的数据通过卡尔曼滤波器，去除噪声和干扰，以实现更精确的控制。根据所获取的数据和所述飞行控制指令，飞行控制系统通过计算得到所述无人机中的电机对应的调控参数。具体来说，调控参数可以是预设时间间隔的电机转速，所述预设时间间隔应当适合电机的调控频率(例如频率在100HZ级别)并且尽可能小，例如0.5s或1s，以实现更精确的控制。进一步地，本发明实施例可以通过对电机转速加快、变慢或不变的定性控制实现无人机飞行控制，也可以通过对电机转速数值的定量控制实现无人机飞行控制，本发明实施例不进行限制。
其中，无人机的螺旋桨是指依靠桨叶在空气中旋转，将电机转动功率转化为推进力的装置。进一步地，无人机的螺旋桨通过齿轮、蜗轮、蜗杆或连接杆等标准件与电机连接。电机转速改变时带动螺旋桨转速改变，进而实现对无人机方向和/或速度的控制。本发明实施例以无人机包含四个螺旋桨为例进行示例性说明，调控参数包括：第一电机转速、第二电机转速、第三电机转速和第四电机转速。
步骤604、根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞行控制指令对应的飞行动作。
以“+”类型的气动布局为例进行示例性说明。其中，第一电机可以为安装在无人机机头位置的电机，第二电机可以为安装在无人机机尾位置的电机，第三电机、第四电机可以为安装在无人机机翼位置的电机。例如，在执行垂直向上指令的过程中，第一电机、第二电机、第三电机和第四电机的转速分别增加，带动对应的螺旋桨转速加快，进而实现无人机垂直向上运动。再例如，在执行水平前移指令的过程中，第一电机的转速减小，第三电机的转速增加，第一电机的转速减小量小于第三电机的转速增加量，带动机头的螺旋桨转速变慢，机尾的螺旋桨转速加快，机翼的螺旋桨转速不变，进而实现无人机水平前移运动。
本发明实施例的无人机的飞行控制方法，无人机通过与客户端的交互，实现按照预设执行顺序执行各待执行飞行控制指令对应的各飞行动作。本发明实施例对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。
无人机广泛应用于影视拍摄、图像采集等领域。无人机拍摄不同于采用卫星、飞机或者直升机拍摄到的效果，为人们展现了世界的一个全新角度。基于本发明实施例飞行控制方法的无人机拍摄，在拍摄视频或图像采集的过程中，无需使用者手动控制无人机，对使用者的操控技术几乎没有要求，与此同时，可以拍摄出流畅清晰的画面。
实施例3
图7示出根据本发明一实施例的无人机的飞行控制装置的结构框图。如图7所示，该装置主要包括：生成模块11，用于根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑；其中，所述飞行控制指令组合包括与各所述待执行飞行动作对应的各待执行飞行控制指令。发送模块13，与所述生成模块11连接，用于根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞 行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。具体原理和示例可以参见实施例1以及图1的相关描述。
在一种可能的实现方式中，如图8所示，发送模块13包括：指令发送单元131，用于根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令。通知接收单元133，与所述指令发送单元131连接，用于在接收到所述无人机返回的执行完成通知的情况下，返回执行所述指令发送单元的操作。具体原理和示例可以参见实施例1以及图2的相关描述。
在一种可能的实现方式中，所述指令发送单元131还用于，在所述通知接收单元133接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为止。具体原理和示例可以参见实施例1以及图3的相关描述。
在一种可能的实现方式中，如图9所示，所述装置还包括：存储模块15，用于预先设置与所述无人机的各飞行动作对应的飞行控制指令。其中，所述飞行控制指令包括：水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令。具体原理和示例可以参见实施例1的相关描述。
在一种可能的实现方式中，如图9所述，所述装置还包括：变更模块17，用于根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指令。具体原理和示例可以参见实施例1的相关描述。
本发明实施例的无人机的飞行控制装置，客户端根据指令执行逻辑，依 次向无人机发送各待执行飞行控制指令，以使无人机按照执行顺序执行各待执行飞行动作。本发明实施例对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。
实施例4
图10示出根据本发明另一实施例的无人机的飞行控制装置的结构框图。如图10所示，该装置主要包括：指令接收模块21，用于接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令。指令执行模块23，与所述指令接收模块21连接，用于执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作。执行完成通知模块25，与所述指令执行模块23连接，用于在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。具体原理和示例可以参见实施例2以及图5的相关描述。
在一种可能的实现方式中，如图11所示，指令执行模块23包括：指令判断单元231，用于判断所述待执行飞行控制指令是否执行完成。数据获取单元233，与所述指令判断单元231连接，用于在所述待执行飞行控制指令没有执行完成的情况下，获取所述无人机在当前时刻的所述飞行环境数据和/或所述飞行状态数据。参数确定单元235，分别与所述指令接收模块21和所述数据获取单元233连接，用于根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数。电机调控单元237，与所述参数确定单元235连接，用于根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞行控制指令对应的飞行动作。其中，所述飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。具体原理和示例可以参见实施例2以及图6的相关描述。
本发明实施例的无人机的飞行控制装置，无人机通过与客户端的交互， 实现按照预设执行顺序执行各待执行飞行控制指令对应的各飞行动作。本发明实施例对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。
无人机广泛应用于影视拍摄、图像采集等领域。无人机拍摄不同于采用卫星、飞机或者直升机拍摄到的效果，为人们展现了世界的一个全新角度。基于本发明实施例飞行控制方法的无人机拍摄，在拍摄视频或图像采集的过程中，无需使用者手动控制无人机，对使用者的操控技术几乎没有要求，与此同时，可以拍摄出流畅清晰的画面。
实施例5
图12示出根据本发明另一实施例的无人机的飞行控制设备的结构框图。所述无人机的飞行控制设备1100可以是具备计算能力的主机服务器、个人计算机PC、或者可携带的便携式计算机或终端等。本发明具体实施例并不对计算节点的具体实现做限定。
所述无人机的飞行控制设备1100包括处理器(processor)1110、通信接口(Communications Interface)1120、存储器(memory)1130和总线1140。其中，处理器1110、通信接口1120、以及存储器1130通过总线1140完成相互间的通信。
通信接口1120用于与网络设备通信，其中网络设备包括例如虚拟机管理中心、共享存储等。
处理器1110用于执行程序。处理器1110可能是一个中央处理器CPU，或者是专用集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。
存储器1130用于存放文件。存储器1130可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器1130也可以是存储器阵列。存储器1130还可能被分块，并且所述块可按一定的规则组合成虚拟卷。
在一种可能的实现方式中，上述程序可为包括计算机操作指令的程序代码。该程序具体可用于：实现实施例1、实施例2中各步骤的操作。
本领域普通技术人员可以意识到，本文所描述的实施例中的各示例性单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件形式来实现，取决于技术方案的特定应用和设计约束条件。专业技术人员可以针对特定的应用选择不同的方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
如果以计算机软件的形式来实现所述功能并作为独立的产品销售或使用时，则在一定程度上可认为本发明的技术方案的全部或部分(例如对现有技术做出贡献的部分)是以计算机软件产品的形式体现的。该计算机软件产品通常存储在计算机可读取的非易失性存储介质中，包括若干指令用以使得计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各实施例方法的全部或部分步骤。而前述的存储介质包括U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。
实用性
本发明实施例的无人机的飞行控制方法，客户端根据指令执行逻辑，依次向无人机发送各待执行飞行控制指令，以使无人机按照执行顺序执行各待执行飞行动作。本发明实施例的无人机的飞行控制方法，对使用者的操控技术几乎没有要求，拥有极少甚至没有无人机操作经验的普通使用者也可以实现无人机的飞行控制。

Claims (14)

  1. 一种无人机的飞行控制方法，其特征在于，包括：
    根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑，所述飞行控制指令组合包括与各所述待执行飞行动作对应的各待执行飞行控制指令；
    根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。
  2. 根据权利要求1所述的方法，其特征在于，根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作，包括：
    根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令；
    在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
  3. 根据权利要求2所述的方法，其特征在于，在接收到所述无人机返回的执行完成通知的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，包括：
    在接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；
    在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为止。
  4. 根据权利要求1所述的方法，其特征在于，还包括：
    根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指 令。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，还包括：
    预先设置与所述无人机的各飞行动作对应的飞行控制指令；
    其中，所述飞行控制指令包括：水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令中的任意一种。
  6. 一种无人机的飞行控制方法，其特征在于，包括：
    接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令；
    执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作；
    在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
  7. 根据权利要求6所述的方法，其特征在于，执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作，包括：
    判断所述待执行飞行控制指令是否执行完成；
    在所述待执行飞行控制指令没有执行完成的情况下，获取所述无人机在当前时刻的飞行环境数据和/或飞行状态数据；
    根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数；
    根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞行控制指令对应的飞行动作；
    其中，所述飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。
  8. 一种无人机的飞行控制装置，其特征在于，包括：
    生成模块，用于根据用户选择的待执行飞行动作以及所述用户设置的各所述待执行飞行动作的执行顺序，生成飞行控制指令组合和指令执行逻辑，所述飞行控制指令组合包括与各所述待执行飞行动作对应的各待执行飞行控制指令；
    发送模块，与所述生成模块连接，用于根据所述指令执行逻辑，依次向所述无人机发送各所述待执行飞行控制指令，以使所述无人机按照所述执行顺序执行各待执行飞行动作。
  9. 根据权利要求8所述的装置，其特征在于，所述发送模块包括：
    指令发送单元，用于根据所述指令执行逻辑，向所述无人机发送所述飞行控制指令组合中的一个待执行飞行控制指令；
    通知接收单元，与所述指令发送单元连接，用于在接收到所述无人机返回的执行完成通知的情况下，返回执行所述指令发送单元的操作。
  10. 根据权利要求9所述的装置，其特征在于，所述指令发送单元还用于，
    在所述通知接收单元接收到所述无人机返回的执行完成通知的情况下，判断所述飞行控制指令组合中的所有指令是否执行完成；
    在所述飞行控制指令组合中的所有指令没有执行完成的情况下，根据所述指令执行逻辑，继续向所述无人机发送所述飞行控制指令组合中的下一个待执行飞行控制指令，直至所述飞行控制指令组合中的所有指令执行完成为止。
  11. 根据权利要求8所述的装置，其特征在于，所述装置还包括：
    变更模块，用于根据用户的选择，停止执行或者跳过执行至少一个待执行飞行控制指令。
  12. 根据权利要求8至11中任一项所述的装置，其特征在于，所述装置 还包括：
    存储模块，用于预先设置与所述无人机的各飞行动作对应的飞行控制指令；
    其中，所述飞行控制指令包括：水平左移指令、水平右移指令、垂直向上指令、垂直向下指令、水平前移指令、水平后移指令、垂直顺旋指令、垂直逆旋指令、水平顺旋指令、水平逆旋指令、剖面顺旋指令和剖面逆旋指令中的任意一种。
  13. 一种无人机的飞行控制装置，其特征在于，包括：
    指令接收模块，用于接收来自客户端的飞行控制指令组合中的一个待执行飞行控制指令；
    指令执行模块，与所述指令接收模块连接，用于执行所述待执行飞行控制指令，以使所述无人机执行对应的飞行动作；
    执行完成通知模块，与所述指令执行模块连接，用于在所述待执行飞行控制指令执行完成的情况下，向所述客户端发送执行完成通知，以使所述客户端继续发送所述飞行控制指令组合中的下一个待执行飞行控制指令。
  14. 根据权利要求13所述的装置，其特征在于，所述指令执行模块包括：
    指令判断单元，用于判断所述待执行飞行控制指令是否执行完成；
    数据获取单元，与所述指令判断单元连接，用于在所述待执行飞行控制指令没有执行完成的情况下，获取所述无人机在当前时刻的飞行环境数据和/或飞行状态数据；
    参数确定单元，分别与所述指令接收模块和所述数据获取单元连接，用于根据所获取的数据和所述待执行飞行控制指令，确定所述无人机中的电机对应的调控参数；
    电机调控单元，与所述参数确定单元连接，用于根据所述调控参数调控对应的各电机转速，以使所述无人机执行所述飞行控制指令对应的飞行动 作；
    其中，所述飞行环境数据包括所述无人机在当前时刻所处环境中的风速，所述飞行状态数据包括所述无人机在当前时刻相关的飞行姿态信息和位置信息。
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