WO2017201916A1 - 无人机的控制方法及装置 - Google Patents

无人机的控制方法及装置 Download PDF

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Publication number
WO2017201916A1
WO2017201916A1 PCT/CN2016/098332 CN2016098332W WO2017201916A1 WO 2017201916 A1 WO2017201916 A1 WO 2017201916A1 CN 2016098332 W CN2016098332 W CN 2016098332W WO 2017201916 A1 WO2017201916 A1 WO 2017201916A1
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WO
WIPO (PCT)
Prior art keywords
drone
level
flight
dangerous
meteorological
Prior art date
Application number
PCT/CN2016/098332
Other languages
English (en)
French (fr)
Inventor
王维钊
谢焱
褚跃跃
Original Assignee
北京小米移动软件有限公司
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Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Publication of WO2017201916A1 publication Critical patent/WO2017201916A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of 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
    • G05D1/10—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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0091—Surveillance aids for monitoring atmospheric conditions
    • 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
    • B64U2101/35—UAVs specially adapted for particular uses or applications for science, e.g. meteorology
    • 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]

Definitions

  • the present disclosure relates to the field of aircraft technology, and in particular, to a method and an apparatus for controlling a drone.
  • the unmanned aircraft referred to as the "unmanned aerial vehicle” is a non-manned aircraft operated by radio remote control equipment and its own program control device, which is widely used in scientific detection and danger monitoring.
  • the drone has set a flight route before performing the flight mission, if an emergency situation is encountered during the flight, if it encounters dangerous weather, the flight cannot be returned in time, and the human operation is required to perform the flight. Returning or emergency landing, which increases the processing time of the drone in response to an emergency, and if the drone does not return or land in time, dangerous weather may cause physical damage to the drone.
  • the embodiments of the present disclosure provide a method and an apparatus for controlling a drone to solve the above-mentioned defects in the related art.
  • a method for controlling a drone includes:
  • the determining the current dangerous flight level of the drone according to the acquired meteorological data may include:
  • the dangerous flight level corresponding to the meteorological risk index is determined by querying the preset list, wherein the preset list is used to record the meteorological risk index corresponding to the dangerous flight level and the dangerous flight level.
  • the determining the current dangerous flight level of the drone according to the acquired meteorological data may include:
  • meteorological risk index is greater than the first preset threshold, determining that the dangerous flight level is a first preset level
  • meteorological risk index is not greater than the first preset threshold, determining that the dangerous flight level is a second preset level.
  • the method may further include:
  • the dangerous flight level is the second preset level, controlling the drone to operate in a stable flight or to be taken off state, wherein the second preset level is used to indicate that the drone can be safe The level of flight.
  • the acquiring the meteorological data of the current location of the drone may include:
  • the acquiring the meteorological data of the current location of the drone may include:
  • Meteorological data of the current location of the drone is analyzed from the weather indication message, and the parsed weather data is determined as meteorological data of the current location of the drone.
  • controlling the drone to switch to the second flight state may include:
  • the drone is controlled to fly in accordance with the route.
  • a control device for a drone which may include:
  • An acquisition module configured to acquire meteorological data of a current location of the drone when the drone is in a first flight state, wherein the first flight state is used to indicate that the drone is stably flying or waiting Takeoff state
  • a determining module configured to determine a current dangerous flight level of the drone according to the meteorological data acquired by the acquiring module, wherein the dangerous flight level is used to indicate that different weather is flying to the drone The level of danger caused;
  • a switching module configured to: if the determining module determines that the dangerous flight level is a first preset level, Controlling the drone to switch to the second flight state, wherein the first preset level is used to indicate a level at which the drone cannot safely fly, and the second flight state is used to indicate the The drone is in a state of emergency flight or suspension of takeoff.
  • the determining module may include:
  • a first calculation submodule configured to calculate a meteorological risk index of the current location of the drone according to the meteorological data acquired by the acquisition module
  • Querying a sub-module configured to determine, by querying a preset list, a dangerous flight level corresponding to the meteorological risk index calculated by the first calculating sub-module, wherein the preset list is used to record the dangerous flight level and The meteorological risk index corresponding to the dangerous flight level.
  • the apparatus may further include:
  • control module configured to control the drone to operate in a stable flight or to be taken off state if the determining module determines that the dangerous flight level is the second preset level, wherein the second preset The level is used to indicate the level at which the drone can fly safely.
  • the obtaining module may include:
  • a positioning submodule configured to locate a current location of the drone by GPS
  • the access sub-module is configured to access the network server, and obtain the current location of the positioning sub-module and the meteorological data in the surrounding preset range.
  • the obtaining module may include:
  • a receiving submodule configured to receive a weather indication message sent by the user terminal
  • the parsing sub-module is configured to parse the meteorological data of the current location of the drone from the weather indication message received by the receiving sub-module, and determine the parsed weather data as the drone Meteorological data of the current location.
  • the switching module may include:
  • a target determining submodule configured to determine that the drone is operating at a target location of the second flight state
  • a route determining submodule configured to determine a route of the drone according to the current location and the target location determined by the target determining submodule
  • control submodule configured to control the drone to fly according to the route determined by the route determination submodule.
  • a control device for a drone including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: during the stable flight of the drone or the process of being taken off, the drone may acquire current meteorological data, such as wind level, air temperature, air pressure, thunderstorm area, strong Convective weather, etc., and determine the current dangerous flight level of the drone based on the meteorological data. If the dangerous flight level is the first preset level, the drone is controlled to switch to the second flight state, such as switching to return flight, emergency landing or suspension. In the flight state of take-off, since the drone can automatically acquire meteorological data in real time and carry out emergency treatment in the present disclosure, physical damage to the drone can be avoided in dangerous weather, and since no human intervention is required, the degree is increased to some extent.
  • the autonomous control level of the man-machine since the drone can automatically acquire meteorological data in real time and carry out emergency treatment in the present disclosure, physical damage to the drone can be avoided in dangerous weather, and since no human intervention is required, the degree is increased to some extent.
  • the autonomous control level of the man-machine
  • the disclosure may determine the dangerous flight level corresponding to the meteorological risk index by querying the preset list, and may also determine whether the meteorological risk index is greater than the first preset threshold to determine the dangerous flight level, thereby achieving flexible determination. Dangerous flight level.
  • the present disclosure can locate the current location by GPS, access the network server to obtain the meteorological data of the current location, and realize the automatic determination of the meteorological data of the current location of the drone, without requiring personnel participation, thereby improving the user.
  • the experience can also obtain the meteorological data of the current location of the drone according to the weather indication message sent by the user terminal, so that the user can timely send the meteorological data to the drone when the weather of the current location of the drone is changed. Further avoiding dangerous weather damage to the drone and improving the user experience.
  • FIG. 1A is a flow chart showing a control method of a drone according to an exemplary embodiment.
  • FIG. 1B is a scene diagram of a control method of a drone according to an exemplary embodiment.
  • FIG. 1C is a scene diagram of a control method of a drone according to an exemplary embodiment.
  • FIG. 2 is a flow chart showing a control method of a drone according to an exemplary embodiment.
  • FIG. 3 is a flowchart of a control method of a drone according to an exemplary embodiment 2.
  • FIG. 4 is a block diagram of a control device for a drone according to an exemplary embodiment.
  • FIG. 5 is a block diagram of another control device for a drone according to an exemplary embodiment.
  • FIG. 6 is a block diagram of still another control device of a drone according to an exemplary embodiment.
  • FIG. 7 is a block diagram of a control device suitable for a drone, according to an exemplary embodiment.
  • FIG. 1A is a flowchart of a control method of a drone according to an exemplary embodiment
  • FIG. 1B is a scene diagram of a control method of the drone according to an exemplary embodiment
  • FIG. 1C is an exemplary implementation according to an exemplary embodiment.
  • a scene diagram of a control method of the illustrated drone; the control method of the drone can be applied to a drone, as shown in FIG. 1A, the method comprising the following steps:
  • step 101 when the drone is in the first flight state, the meteorological data of the current location of the drone is obtained.
  • the first flight state is used to indicate a state in which the drone is in stable flight or to be taken off.
  • the state in which the drone is stably flying or to be taken off may indicate the state in which the drone is scheduled to fly according to the preset mission.
  • the meteorological data may include air temperature, air pressure, relative humidity, water vapor pressure, wind power, precipitation, visibility, dust weather, and the like.
  • step 102 based on the acquired meteorological data, the current dangerous flight level of the drone is determined.
  • the hazard level of flight is used to indicate the level of danger caused by different weather conditions for drone flight.
  • the drone may calculate a meteorological risk index based on the acquired meteorological data and determine a dangerous flight level based on the meteorological hazard index. For example, the greater the wind, the greater the corresponding meteorological hazard index; the visibility is determined by the density of PM2.5 particles in the air, the lower the visibility, the greater the corresponding meteorological hazard index; and the greater the precipitation, the corresponding meteorological hazard index It is also bigger.
  • the meteorological risk index can be calculated by considering various meteorological data. For example, the risk index of each data is divided into 10 levels, such as 0-9, and the risk index of each data can be calculated first. The sum of the hazard indices for each data is calculated and the meteorological hazard index for meteorological data is obtained. For example, when the temperature is -20 degrees, the gas The hazard index corresponding to temperature is 9, and when the wind is 7, the hazard index corresponding to wind is 8. When the visibility is 1000 m, the hazard index corresponding to visibility is 8. It can also be calculated according to precipitation, dust weather, etc. The hazard index, and finally the meteorological hazard index corresponding to the meteorological data.
  • the dangerous flight level corresponding to the meteorological risk index may be determined by querying the preset list.
  • the dangerous flight level can be divided into two levels, suitable flight and unsuitable flight.
  • the dangerous flight level may also be classified according to other forms, which is not limited by the disclosure.
  • step 103 if the dangerous flight level is the first preset level, the drone is controlled to switch to the second flight state.
  • the first preset level is used to indicate the level at which the drone cannot safely fly.
  • the second flight state may indicate a state of the emergency flight of the drone; in still another embodiment, if the first flight state is a state to be taken off, The second flight state may indicate a state in which the drone is suspended for takeoff.
  • the drone 110 can acquire meteorological data according to a certain frequency during stable flight.
  • the current location can be located by GPS, and then accessed.
  • the network server 120 obtains the meteorological data of the current location, and the drone can calculate the meteorological risk index according to the meteorological data, and determine the dangerous flight level according to the meteorological risk index, and control the unmanned when determining the first preset level of the dangerous flight level
  • the aircraft switches the flight state, for example, from a state in which the flight is scheduled to be scheduled to a return flight, an emergency landing, or a flight state in which the takeoff is suspended.
  • the drone 110 can receive the meteorological data sent by the user terminal 130 during the stable flight, and the drone 110 can calculate the meteorological risk index according to the meteorological data. And determining the dangerous flight level according to the meteorological danger index, and controlling the drone to switch the flight state when determining the first preset level of the dangerous flight level, for example, switching from the state of the flight according to the flight mission to the return flight, emergency landing or suspension takeoff Flight status.
  • the drone can obtain current meteorological data, such as wind level, temperature, air pressure, thunderstorm area, strong convective weather, etc., and determine the current UAV based on the meteorological data.
  • the dangerous flight level if the dangerous flight level is the first preset level, the drone is controlled to switch to the second flight state, such as switching to the flight state of returning or emergency landing, since the drone can be automatically acquired in real time in the present disclosure.
  • the meteorological data and emergency treatment can avoid physical damage to the drone caused by dangerous weather, and increase the autonomous control level of the drone to some extent because no human intervention is required.
  • determining the current dangerous flight level of the drone according to the acquired meteorological data include:
  • the dangerous flight level corresponding to the meteorological risk index is determined by querying the preset list, wherein the preset list is used to record the meteorological risk index corresponding to the dangerous flight level and the dangerous flight level.
  • determining the current dangerous flight level of the drone based on the acquired meteorological data may include:
  • meteorological risk index is greater than the first preset threshold, determining that the dangerous flight level is the first preset level
  • meteorological risk index is not greater than the first predetermined threshold, it is determined that the dangerous flight level is the second preset level.
  • the method may further include:
  • the drone is controlled to operate in the first flight state, wherein the second preset level is used to indicate the level at which the drone can safely fly.
  • acquiring meteorological data of a current location of the drone may include:
  • acquiring meteorological data of a current location of the drone may include:
  • the meteorological data of the current location of the drone is analyzed from the weather indication message, and the analyzed meteorological data is determined as the meteorological data of the current location of the drone.
  • controlling the drone to switch to the second flight state may include:
  • FIG. 2 is a flowchart of a method for controlling a drone according to an exemplary embodiment of the present invention.
  • the present embodiment uses the above method provided by an embodiment of the present disclosure to perform a flight state according to a weather condition of a current location.
  • the switching is exemplified in conjunction with FIG. 1B, as shown in FIG. 2, including the following steps:
  • step 201 when the drone is in the first flight state, the meteorological data of the current location of the drone is obtained.
  • the first flight state is used to indicate a state in which the drone is in stable flight or to be taken off.
  • the meteorological data of the current location of the drone can be obtained in the following two ways.
  • Method 1 Position the current location of the drone through GPS; access the network server to obtain the meteorological data of the current location and the surrounding preset range.
  • the drone 110 can acquire meteorological data according to a certain frequency.
  • the current location can be located by using the GPS, and then the network server 120 is accessed to obtain the current location. Meteorological data.
  • the peripheral preset range may be within a range in which the current position of the drone extends in the flight direction by a preset distance.
  • Manner 2 receiving the weather indication message sent by the user terminal; analyzing the meteorological data of the current location of the drone from the weather indication message, and determining the analyzed meteorological data as the meteorological data of the current location of the drone.
  • the drone 110 when receiving the weather indication message sent by the user terminal 130 during the stable flight, the drone 110 can analyze the meteorological data of the current location of the drone from the weather indication message.
  • step 202 based on the meteorological data, a meteorological risk index of the current location of the drone is calculated.
  • step 202 For a detailed description of the step 202, reference may be made to the description of the step 102 in the embodiment of FIG. 1A, and details are not described herein.
  • step 203 the current dangerous flight level of the drone is determined based on the meteorological risk index.
  • the hazard level of flight is used to indicate the level of danger caused by different weather conditions for drone flight.
  • the dangerous flight level corresponding to the meteorological risk index may be determined by querying the preset list.
  • the preset list is used to record a meteorological risk index corresponding to a dangerous flight level and a dangerous flight level.
  • the first preset threshold may be obtained by the drone provider through a mass of drone actual usage data statistics and stored in the drone.
  • the first preset threshold may be updated by actual flight data during a preset time period before the user uses the drone, so that the first preset threshold can better distinguish the dangerous flight level corresponding to the meteorological risk index.
  • step 204 if the dangerous flight level is the first preset level, the drone is controlled to switch to the second flight state.
  • the first preset level is used to indicate a level at which the drone cannot safely fly
  • the second flight state is used to indicate a state in which the drone is in emergency flight or suspended.
  • step 205 if the dangerous flight level is the second preset level, the drone is controlled to operate in the first flight state.
  • the second preset level is used to indicate the level at which the drone can safely fly.
  • the present disclosure may determine the dangerous flight level corresponding to the meteorological risk index by querying the preset list, and may also determine whether the meteorological risk index is greater than the first preset threshold to determine the dangerous flight level, thereby realizing Flexibly determine the dangerous flight level; and when the drone acquires the meteorological data, it can locate the current location by GPS, access the network server to obtain the meteorological data of the current location, and realize the automatic determination of the meteorological data of the current location of the drone.
  • the user's experience is not required to participate, and the meteorological data of the current location of the drone can be obtained according to the weather indication message sent by the user terminal, so that the user can timely detect the weather change of the current location of the drone.
  • Sending meteorological data to drones further avoids physical damage to drones caused by dangerous weather and improves the user experience.
  • FIG. 3 is a flowchart of a method for controlling a drone according to an exemplary embodiment of the present invention.
  • the present embodiment uses the above method provided by an embodiment of the present disclosure to control a drone to switch from a stable flight state to a second flight.
  • the state is exemplified for example, as shown in FIG. 3, and includes the following steps:
  • step 301 it is determined that the drone is operating at a target position of the second flight state.
  • the drone if the drone is in the process of stable flight, it can be determined whether to return or land based on the current location and weather data. For example, if the weather near the airport near the drone is not good, or the weather at the nearby airport is good, but the number of the apron is limited, it is impossible to stop, and the weather in the return direction is good and the airport is close to the departure airport, you can choose to return, you can confirm The returning target airport is the target position of the drone working in the second flight state; if the airport near the drone is in good weather and the nearby airport allows the drone to land, it can be determined that the nearby airport is the second flight for the drone The target location of the state.
  • the drone if it is in the to-be-takeoff state, it can be switched to the suspended take-off state to control the aircraft to be put into storage.
  • step 302 the route of the drone is determined according to the current location and the target location.
  • the drone can obtain the route according to the current location and the target location; if the drone does not store the route to each airport, The remote control device sends a request message requesting the remote control device to specify a route according to the current location and the target location.
  • step 303 the drone is controlled to fly in accordance with the route.
  • the route when the drone needs to switch to the second flight state, the route can be determined according to the current location and the target location, and the switch from the first flight state to the second flight state can be realized to avoid the dangerous weather to the drone. Causes damage and improves the user experience.
  • FIG. 4 is a block diagram of a control device for a drone, which is applicable to a drone, and the device includes:
  • the acquiring module 410 is configured to acquire meteorological data of a current location of the drone when the drone is in the first flight state, where the first flight state is used to indicate a state in which the drone is stably flying or to be taken off;
  • the determining module 420 is configured to determine, according to the meteorological data acquired by the obtaining module 410, the current dangerous flight level of the drone, wherein the dangerous flight level is used to indicate a dangerous level caused by different weather to the drone flight;
  • the switching module 430 is configured to control the drone to switch to the second flight state if the determining module 420 determines that the dangerous flight level is the first preset level, wherein the first preset level is used to indicate that the drone cannot fly safely
  • the level of the second flight state is used to indicate the state of the drone's emergency flight or suspension of takeoff.
  • FIG. 5 is a block diagram of another control device for a drone according to an exemplary embodiment. Based on the embodiment of FIG. 4, in an embodiment, the determining module 420 includes:
  • the first calculation sub-module 421 is configured to calculate a meteorological risk index of the current location of the drone according to the meteorological data acquired by the acquisition module;
  • the query sub-module 422 is configured to determine, by querying the preset list, a dangerous flight level corresponding to the meteorological risk index calculated by the first calculating sub-module 421, wherein the preset list is used to record the meteorological level corresponding to the dangerous flight level and the dangerous flight level. Risk index.
  • the determining module 420 includes:
  • a second calculation sub-module 423 configured to calculate a meteorological risk index of the current location of the drone based on the meteorological data
  • the determining sub-module 424 is configured to determine whether the meteorological risk index calculated by the second calculating sub-module 423 is greater than a first preset threshold
  • the first determining sub-module 425 is configured to determine that the dangerous flight level is the first preset level if the determining sub-module 424 determines that the meteorological risk index is greater than the first preset threshold;
  • the second determining sub-module 426 is configured to determine that the dangerous flight level is the second preset level if the determining sub-module 424 determines that the meteorological risk index is not greater than the first predetermined threshold.
  • the apparatus further includes:
  • the control module 440 is configured to control the drone to operate in a stable flight or to be taken off if the determination module 420 determines that the dangerous flight level is the second preset level, wherein the second preset level is used to indicate that the unmanned The level at which the aircraft can fly safely.
  • FIG. 6 is a block diagram of still another control device for a drone according to an embodiment of the present invention.
  • the obtaining module 410 includes:
  • the positioning sub-module 411 is configured to locate the current location of the drone by GPS;
  • the access sub-module 412 is configured to access the network server, and obtain the current location of the positioning sub-module 411 and the meteorological data within the preset range.
  • the obtaining module 410 includes:
  • the receiving submodule 413 is configured to receive a weather indication message sent by the user terminal;
  • the parsing sub-module 414 is configured to parse the meteorological data of the current location of the drone from the weather indication message received by the receiving sub-module, and determine the meteorological data to be meteorological data of the current location of the drone.
  • the switching module 430 includes:
  • a target determining sub-module 431 configured to determine a target position of the drone operating in the second flight state
  • the route determination sub-module 432 is configured to determine a route of the drone according to the current location and the target location determined by the target determination sub-module 431;
  • the control sub-module 433 is configured to control the flight of the drone determined by the route determination sub-module 432.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located in one place. Or it can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • FIG. 7 is a block diagram of a control device suitable for a drone, according to an exemplary embodiment.
  • device 700 can be a drone or the like.
  • apparatus 700 can include one or more of the following components: processing component 702, memory 704, power component 706, multimedia component 708, audio component 710, input/output (I/O) interface 712, sensor component 714, And a communication component 716.
  • Processing component 702 typically controls the overall operation of device 700, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 702 can include one or more processors 720 to execute instructions to perform all or part of the steps described above.
  • processing component 702 can include one or more modules to facilitate interaction between component 702 and other components.
  • processing component 702 can include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.
  • Memory 704 is configured to store various types of data to support operation at device 700. Examples of such data include instructions for any application or method operating on device 700, contact data, and the like.
  • Memory 704 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 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 706 provides power to various components of device 700.
  • Power component 706 can include power management The system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 700.
  • the multimedia component 708 includes a screen between the device 700 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only the boundaries of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 708 includes a front camera and/or a rear camera. When the device 700 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 710 is configured to output and/or input an audio signal.
  • audio component 710 includes a microphone (MIC) that is configured to receive an external audio signal when device 700 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 704 or transmitted via communication component 716.
  • audio component 710 also includes a speaker for outputting an audio signal.
  • the I/O interface 712 provides an interface between the processing component 702 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 714 includes one or more sensors for providing device 700 with various aspects of status assessment.
  • sensor component 714 can detect an open/closed state of device 700, the relative positioning of components, such as a display and a keypad of device 700, and sensor component 714 can also detect a change in position of device 700 or a component of device 700, user The presence or absence of contact with device 700, device 700 orientation or acceleration/deceleration and temperature variation of device 700.
  • Sensor assembly 714 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor component 714 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • Communication component 716 is configured to facilitate wired or wireless communication between device 700 and other devices.
  • the device 700 can access a wireless network based on a communication standard, such as WIFI, 2G or 3G, or a combination thereof.
  • communication component 716 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • communication component 716 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
  • device 700 may be implemented by one or more application specific integrated circuits (ASICs), Word signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation, Perform the above method.
  • ASICs application specific integrated circuits
  • DSP Word signal processor
  • DSPD digital signal processing device
  • PLD programmable logic device
  • FPGA field programmable gate array
  • controller microcontroller, microprocessor or other electronic component implementation
  • non-transitory computer readable storage medium comprising instructions, such as a memory 704 comprising instructions executable by processor 720 of apparatus 700 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.

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Abstract

一种无人机的控制方法及装置。方法包括：当无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，第一飞行状态用于表示无人机稳定飞行或者待起飞的状态（步骤101）；根据获取到的气象数据确定无人机当前的危险飞行级别，其中，危险飞行级别用于表示不同天气对无人机飞行造成的危险级别（步骤102）；如果危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态，其中，第一预设级别用于表示无人机不能安全飞行的级别，第二飞行状态用于表示无人机应急飞行或者暂停起飞的状态（步骤103）。目的是使无人机可自动实时获取气象数据并进行应急处理，避免危险天气对无人机造成物理损坏。

Description

无人机的控制方法及装置
相关申请的交叉引用
本申请基于申请号为CN 201610348845.9、申请日为2016年5月24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
本公开涉及飞行器技术领域，尤其涉及一种无人机的控制方法及装置。
背景技术
无人驾驶飞机简称“无人机”，是一种利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，广泛应用于科学探测和危险监测等领域。
相关技术中，如果无人机在执行飞行任务前已经设定了飞行路线，则如果在飞行过程中遇到紧急情况、如遭遇危险天气则无法及时返航，需要人为操作才可以在执行飞行过程中返航或者紧急降落，这增加了无人机应对紧急情况的处理时间，而且如果无人机没有及时返航或者降落，危险天气可能对无人机造成物理损坏。
发明内容
为克服相关技术中存在的问题，本公开实施例提供一种无人机的控制方法及装置，用以解决相关技术中的上述缺陷。
根据本公开实施例的第一方面，提供一种无人机的控制方法，包括：
当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
如果所述危险飞行级别为第一预设级别，则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
在一实施例中，所述根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，可包括：
根据所述气象数据，计算所述无人机当前所在位置的气象危险指数；
通过查询预设列表确定所述气象危险指数对应的危险飞行级别，其中，所述预设列表用于记录所述危险飞行级别与所述危险飞行级别对应的气象危险指数。
在一实施例中，所述根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，可包括：
根据所述气象数据，计算所述无人机当前所在位置的气象危险指数；
判断所述气象危险指数是否大于第一预设阈值；
如果所述气象危险指数大于所述第一预设阈值，则确定所述危险飞行级别为第一预设级别；
如果所述气象危险指数不大于所述第一预设阈值，则确定所述危险飞行级别为第二预设级别。
在一实施例中，所述方法还可包括：
如果所述危险飞行级别为所述第二预设级别，则控制所述无人机工作在稳定飞行或者待起飞状态，其中，所述第二预设级别用于表示所述无人机能够安全飞行的级别。
在一实施例中，所述获取无人机当前所在位置的气象数据，可包括：
通过GPS定位所述无人机当前所在位置；
访问网络服务器，获取当前所在位置以及周边预设范围内的气象数据。
在一实施例中，所述获取无人机当前所在位置的气象数据，可包括：
接收用户终端发送的气象指示消息；
从所述气象指示消息中解析所述无人机当前所在位置的气象数据，将解析出的所述气象数据确定为所述无人机当前所在位置的气象数据。
在一实施例中，所述控制所述无人机切换至所述第二飞行状态，可包括：
确定所述无人机工作于所述第二飞行状态的目标位置；
根据所述当前所在位置以及所述目标位置，确定所述无人机的航线；
控制所述无人机按照所述航线飞行。
根据本公开实施例的第二方面，提供一种无人机的控制装置，可包括：
获取模块，被配置为当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
确定模块，被配置为根据所述获取模块获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
切换模块，被配置为如果所述确定模块确定所述危险飞行级别为第一预设级别， 则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
在一实施例中，所述确定模块可包括：
第一计算子模块，被配置为根据所述获取模块获取的所述气象数据，计算所述无人机当前所在位置的气象危险指数；
查询子模块，被配置为通过查询预设列表确定所述第一计算子模块计算得到的所述气象危险指数对应的危险飞行级别，其中，所述预设列表用于记录所述危险飞行级别与所述危险飞行级别对应的气象危险指数。
在一实施例中，所述装置还可包括：
控制模块，被配置为如果所述确定模块确定所述危险飞行级别为所述第二预设级别，则控制所述无人机工作在稳定飞行或者待起飞状态，其中，所述第二预设级别用于表示所述无人机能够安全飞行的级别。
在一实施例中，所述获取模块可包括：
定位子模块，被配置为通过GPS定位所述无人机当前所在位置；
访问子模块，被配置为访问网络服务器，获取所述定位子模块定位的所述当前所在位置以及周边预设范围内的气象数据。
在一实施例中，所述获取模块可包括：
接收子模块，被配置为接收用户终端发送的气象指示消息；
解析子模块，被配置为从所述接收子模块接收到的所述气象指示消息中解析所述无人机当前所在位置的气象数据，将解析出的所述气象数据确定为所述无人机当前所在位置的气象数据。
在一实施例中，所述切换模块可包括：
目标确定子模块，被配置为确定所述无人机工作于所述第二飞行状态的目标位置；
航线确定子模块，被配置为根据所述当前所在位置以及所述目标确定子模块确定的所述目标位置，确定所述无人机的航线；
控制子模块，被配置为控制所述无人机按照所述航线确定子模块确定的所述航线飞行。
根据本公开实施例的第三方面，提供一种无人机的控制装置，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：
当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
如果所述危险飞行级别为第一预设级别，则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
本公开的实施例提供的技术方案可以包括以下有益效果：在无人机稳定飞行或者待起飞的过程中，无人机可获取当前的气象数据，如风力级别、气温、气压、雷雨区、强对流天气等，并根据气象数据确定无人机当前的危险飞行级别，如果危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态，如切换到返航、紧急降落或者暂停起飞的飞行状态，由于本公开中无人机可自动实时获取气象数据并进行应急处理，因此可避免危险天气对无人机造成物理损坏，而且由于不需要人为干预，在一定程度上增加了无人机的自主控制等级。
并且，本公开在确定危险飞行级别时，可通过查询预设列表确定气象危险指数对应的危险飞行级别，还可以判断气象危险指数是否大于第一预设阈值确定危险飞行级别，实现了灵活地确定危险飞行级别。
本公开在获取气象数据时，可通过GPS定位当前所在位置，访问网络服务器获取当前所在位置的气象数据，实现了自动确定无人机当前所在位置的气象数据，而不需要人员参与，提高了用户的体验；还可以根据用户终端发送的气象指示消息获取无人机当前所在位置的气象数据，实现了用户在发现无人机当前所在位置的天气发生变化时及时将气象数据发送到无人机，进一步避免危险天气对无人机造成物理损坏，提高了用户的体验。
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1A是根据一示例性实施例示出的无人机的控制方法的流程图。
图1B是根据一示例性实施例示出的无人机的控制方法的场景图。
图1C是根据一示例性实施例示出的无人机的控制方法的场景图。
图2是根据一示例性实施例一示出的无人机的控制方法的流程图。
图3是根据一示例性实施例二示出的无人机的控制方法的流程图。
图4是根据一示例性实施例示出的一种无人机的控制装置的框图。
图5是根据一示例性实施例示出的另一种无人机的控制装置的框图。
图6是根据一示例性实施例示出的再一种无人机的控制装置的框图。
图7是根据一示例性实施例示出的一种适用于无人机的控制装置的框图。
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，不同附图中的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1A是根据一示例性实施例示出的无人机的控制方法的流程图，图1B是根据一示例性实施例示出的无人机的控制方法的场景图，图1C是根据一示例性实施例示出的无人机的控制方法的场景图；该无人机的控制方法可应用在无人机上，如图1A所示，该方法包括以下步骤：
在步骤101中，当无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据。
在一实施例中，第一飞行状态用于表示无人机稳定飞行或者待起飞的状态。
在一实施例中，无人机稳定飞行或者待起飞的状态可以表示无人机按照预设飞行任务规划飞行的状态。
在一实施例中，气象数据可以包括气温、气压、相对湿度、水汽压、风力、降水量、能见度、沙尘天气等。
在步骤102中，根据获取到的气象数据，确定无人机当前的危险飞行级别。
在一实施例中，危险飞行级别用于表示不同天气对无人机飞行造成的危险级别。
在一实施例中，无人机可根据获取到的气象数据，计算气象危险指数，并根据气象危险指数确定危险飞行级别。例如，风力越大，对应的气象危险指数越大；根据空气中含有PM2.5颗粒的密度确定能见度，能见度越低，对应的气象危险指数越大；而降水量越大，对应的气象危险指数也越大。
在一实施例中，可综合考虑各项气象数据计算气象危险指数，例如，每一项数据的危险指数都分为0-9等10个等级，可先计算出每一项数据的危险指数，再计算每一项数据的危险指数的和值，得到气象数据的气象危险指数。例如，气温为-20度时，气 温对应的危险指数为9，风力为7级时，风力对应的危险指数为8，能见度为1000米时，能见度对应的危险指数为8，还可以根据降水量、沙尘天气等计算出对应的危险指数，最后得到气象数据对应的气象危险指数。
在一实施例中，可通过查询预设列表确定气象危险指数对应的危险飞行级别。
在一实施例中，还可以判断气象危险指数是否大于第一预设阈值确定危险飞行级别，实现了灵活地确定危险飞行级别。
在一实施例中，危险飞行级别可以分为适宜飞行和不适宜飞行两个级别。在又一实施例中，危险飞行级别还可以按照其他形式划分级别，本公开对此不作限定。
在步骤103中，如果危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态。
在一实施例中，第一预设级别用于表示无人机不能安全飞行的级别。
在一实施例中，如果第一飞行状态为稳定飞行的状态，则第二飞行状态可以表示无人机应急飞行的状态；在又一实施例中，如果第一飞行状态为待起飞状态，则第二飞行状态可以表示无人机暂停起飞的状态。
在一示例性场景中，如图1B所示，无人机110在稳定飞行的过程中，可按照一定的频率获取气象数据，当需要获取气象数据时，可通过GPS定位当前所在位置，然后访问网络服务器120获取当前所在位置的气象数据，无人机可以根据气象数据计算出气象危险指数，并根据气象危险指数确定危险飞行级别，在确定危险飞行级别位第一预设级别时，控制无人机切换飞行状态，例如，从按照飞行任务规划飞行的状态切换为返航飞行、紧急降落或者暂停起飞的飞行状态。
在一示例性场景中，如图1C所示，无人机110在稳定飞行的过程中，可接收到用户终端130发送的气象数据，无人机110可根据气象数据，计算出气象危险指数，并根据气象危险指数确定危险飞行级别，在确定危险飞行级别位第一预设级别时，控制无人机切换飞行状态，例如从按照飞行任务规划飞行的状态切换为返航飞行、紧急降落或者暂停起飞的飞行状态。
本实施例中，在无人机稳定飞行的过程中，无人机可获取当前的气象数据，如风力级别、气温、气压、雷雨区、强对流天气等，并根据气象数据确定无人机当前的危险飞行级别，如果危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态，如切换到返航或者紧急降落的飞行状态，由于本公开中无人机可自动实时获取气象数据并进行应急处理，因此可避免危险天气对无人机造成物理损坏，而且由于不需要人为干预，在一定程度上增加了无人机的自主控制等级。
在一实施例中，根据获取到的气象数据，确定无人机当前的危险飞行级别，可包 括：
根据气象数据，计算无人机当前所在位置的气象危险指数；
通过查询预设列表确定气象危险指数对应的危险飞行级别，其中，预设列表用于记录危险飞行级别与危险飞行级别对应的气象危险指数。
在一实施例中，根据获取到的气象数据，确定无人机当前的危险飞行级别，可包括：
根据气象数据，计算无人机当前所在位置的气象危险指数；
判断气象危险指数是否大于第一预设阈值；
如果气象危险指数大于第一预设阈值，则确定危险飞行级别为第一预设级别；
如果气象危险指数不大于第一预设阈值，则确定危险飞行级别为第二预设级别。
在一实施例中，方法还可包括：
如果危险飞行级别为第二预设级别，则控制无人机工作在第一飞行状态，其中，第二预设级别用于表示无人机能够安全飞行的级别。
在一实施例中，获取无人机当前所在位置的气象数据，可包括：
通过GPS定位无人机当前所在位置；
访问网络服务器，获取当前所在位置以及周边预设范围内的气象数据。
在一实施例中，获取无人机当前所在位置的气象数据，可包括：
接收用户终端发送的气象指示消息；
从气象指示消息中解析无人机当前所在位置的气象数据，将解析出的气象数据确定为无人机当前所在位置的气象数据。
在一实施例中，控制无人机切换至第二飞行状态，可包括：
确定无人机工作于第二飞行状态的目标位置；
根据当前所在位置以及目标位置，确定无人机的航线；
控制无人机按照航线飞行。
下面以具体实施例来说明本公开实施例提供的技术方案。
图2是根据一示例性实施例一示出的无人机的控制方法的流程图；本实施例利用本公开实施例提供的上述方法，以无人机根据当前所在位置的天气情况进行飞行状态的切换并结合图1B进行示例性说明，如图2所示，包括如下步骤：
在步骤201中，当无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据。
在一实施例中，第一飞行状态用于表示无人机稳定飞行或者待起飞的状态。
在一实施例中，可通过以下两种方式获取无人机当前所在位置的气象数据。
方式一：通过GPS定位无人机当前所在位置；访问网络服务器，获取当前所在位置以及周边预设范围内的气象数据。
如图1B所示，无人机110在稳定飞行的过程中，可按照一定的频率获取气象数据，当需要获取气象数据时，可通过GPS定位当前所在位置，然后访问网络服务器120获取当前所在位置的气象数据。
在一实施例中，周边预设范围可以为无人机当前所在位置往飞行方向延伸预设距离的范围内。
方式二：接收用户终端发送的气象指示消息；从气象指示消息中解析无人机当前所在位置的气象数据，将解析出的气象数据确定为无人机当前所在位置的气象数据。
如图1C所示，无人机110在稳定飞行的过程中，接收到用户终端130发送的气象指示消息时，可从气象指示消息中解析无人机当前所在位置的气象数据。
在步骤202中，根据气象数据，计算无人机当前所在位置的气象危险指数。
步骤202的详细描述可参见图1A实施例的步骤102的描述，则合理不再赘述。
在步骤203中，根据气象危险指数确定无人机当前的危险飞行级别。
在一实施例中，危险飞行级别用于表示不同天气对无人机飞行造成的危险级别。
在一实施例中，可通过查询预设列表确定气象危险指数对应的危险飞行级别。
在一实施例中，预设列表用于记录危险飞行级别与危险飞行级别对应的气象危险指数。
在一实施例中，还可以判断气象危险指数是否大于第一预设阈值确定危险飞行级别，如果气象危险指数大于第一预设阈值，则确定危险飞行级别为第一预设级别；如果气象危险指数不大于第一预设阈值，则确定危险飞行级别为第二预设级别。
在一实施例中，第一预设阈值可以通过无人机提供商通过海量的无人机实际使用数据统计得到，并存储到无人机中。在用户使用无人机的前设定时间段内，可以通过实际飞行数据对第一预设阈值进行更新，从而可以使第一预设阈值能够更好地区分气象危险指数对应的危险飞行等级。
在步骤204中，如果危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态。
在一实施例中，第一预设级别用于表示无人机不能安全飞行的级别，第二飞行状态用于表示无人机应急飞行或者暂停起飞的状态
在步骤205中，如果危险飞行级别为第二预设级别，则控制无人机工作在第一飞行状态。
在一实施例中，第二预设级别用于表示无人机能够安全飞行的级别。
本实施例中，本公开在确定危险飞行级别时，可通过查询预设列表确定气象危险指数对应的危险飞行级别，还可以判断气象危险指数是否大于第一预设阈值确定危险飞行级别，实现了灵活地确定危险飞行级别；并且无人机在获取气象数据时，可通过GPS定位当前所在位置，访问网络服务器获取当前所在位置的气象数据，实现了自动确定无人机当前所在位置的气象数据，而不需要人员参与，提高了用户的体验；还可以根据用户终端发送的气象指示消息获取无人机当前所在位置的气象数据，实现了用户在发现无人机当前所在位置的天气发生变化时及时将气象数据发送到无人机，进一步避免危险天气对无人机造成物理损坏，提高了用户的体验。
图3是根据一示例性实施例二示出的无人机的控制方法的流程图，本实施例利用本公开实施例提供的上述方法，以控制无人机从稳定飞行状态切换至第二飞行状态为例进行示例性说明，如图3所示，包括以下步骤：
在步骤301中，确定无人机工作于第二飞行状态的目标位置。
在一实施例中，如果无人机在稳定飞行的过程中，可根据当前所在位置以及气象数据确定是返航还是降落。例如：如果无人机附近的机场天气也不好，或者附近机场天气好但是停机坪数量有限，无法停机，而且返航方向的天气好而且距离起飞的机场比较近，则可以选择返航，则可确定返航的目标机场为无人机工作于第二飞行状态的目标位置；如果无人机附近机场天气好，并且附近机场允许无人机降落，则可确定附近机场为无人机工作于第二飞行状态的目标位置。
在一实施例中，如果无人机在待起飞状态中，则可切换到暂停起飞状态，控制飞机入库。
在步骤302中，根据当前所在位置以及目标位置，确定无人机的航线。
在一实施例中，如果无人机存储了到各个机场的航线，则可无人机可根据当前所在位置以及目标位置获取航线；如果无人机中没有存储到各个机场的航线，则可向遥控设备送请求消息，请求遥控设备根据当前所在位置以及目标位置指定航线。
在步骤303中，控制无人机按照航线飞行。
本实施例中，当无人机需要切换到第二飞行状态时，可根据当前所在位置以及目标位置，确定航线，实现从第一飞行状态切换到第二飞行状态，避免危险天气对无人机造成损害，提高了用户的体验。
图4是根据一示例性实施例示出的一种无人机的控制装置的框图，该装置可应用在无人机上，该装置包括：
获取模块410，被配置为当无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，第一飞行状态用于表示无人机稳定飞行或者待起飞的状态；
确定模块420，被配置为根据获取模块410获取到的气象数据，确定无人机当前的危险飞行级别，其中，危险飞行级别用于表示不同天气对无人机飞行造成的危险级别；
切换模块430，被配置为如果确定模块420确定危险飞行级别为第一预设级别，则控制无人机切换至第二飞行状态，其中，第一预设级别用于表示无人机不能安全飞行的级别，第二飞行状态用于表示无人机应急飞行或者暂停起飞的状态。
图5是根据一示例性实施例示出的另一种无人机的控制装置的框图，在图4实施例的基础上，在一实施例中，确定模块420包括：
第一计算子模块421，被配置为根据获取模块获取的气象数据，计算无人机当前所在位置的气象危险指数；
查询子模块422，被配置为通过查询预设列表确定第一计算子模块421计算得到的气象危险指数对应的危险飞行级别，其中，预设列表用于记录危险飞行级别与危险飞行级别对应的气象危险指数。
在一实施例中，确定模块420包括：
第二计算子模块423，被配置为根据气象数据，计算无人机当前所在位置的气象危险指数；
判断子模块424，被配置为判断第二计算子模块423计算得到的气象危险指数是否大于第一预设阈值；
第一确定子模块425，被配置为如果判断子模块424判断气象危险指数大于第一预设阈值，则确定危险飞行级别为第一预设级别；
第二确定子模块426，被配置为如果判断子模块424判断气象危险指数不大于第一预设阈值，则确定危险飞行级别为第二预设级别。
在一实施例中，装置还包括：
控制模块440，被配置为如果确定模块420确定危险飞行级别为第二预设级别，则控制所述无人机工作在稳定飞行或者待起飞状态，其中，第二预设级别用于表示无人机能够安全飞行的级别。
图6是根据一示例性实施例示出的再一种无人机的控制装置的框图，在图4和/或图5实施例的基础上，在一实施例中，获取模块410包括：
定位子模块411，被配置为通过GPS定位无人机当前所在位置；
访问子模块412，被配置为访问网络服务器，获取定位子模块411定位的当前所在位置以及周边预设范围内的气象数据。
在一实施例中，获取模块410包括：
接收子模块413，被配置为接收用户终端发送的气象指示消息；
解析子模块414，被配置为从接收子模块接收到的气象指示消息中解析无人机当前所在位置的气象数据，将解析出的气象数据确定为无人机当前所在位置的气象数据。
在一实施例中，切换模块430包括：
目标确定子模块431，被配置为确定无人机工作于第二飞行状态的目标位置；
航线确定子模块432，被配置为根据当前所在位置以及目标确定子模块431确定的目标位置，确定无人机的航线；
控制子模块433，被配置为控制无人机按照航线确定子模块432确定的航线飞行。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
图7是根据一示例性实施例示出的一种适用于无人机的控制装置的框图。例如，装置700可以是无人机等。
参照图7，装置700可以包括以下一个或多个组件：处理组件702，存储器704，电源组件706，多媒体组件708，音频组件710，输入/输出(I/O)的接口712，传感器组件714，以及通信组件716。
处理组件702通常控制装置700的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理元件702可以包括一个或多个处理器720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702可以包括一个或多个模块，便于处理组件702和其他组件之间的交互。例如，处理组件702可以包括多媒体模块，以方便多媒体组件708和处理组件702之间的交互。
存储器704被配置为存储各种类型的数据以支持在设备700的操作。这些数据的示例包括用于在装置700上操作的任何应用程序或方法的指令，联系人数据等。存储器704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。
电源组件706为装置700的各种组件提供电力。电源组件706可以包括电源管理 系统，一个或多个电源，及其他与为装置700生成、管理和分配电力相关联的组件。
多媒体组件708包括在装置700和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件708包括一个前置摄像头和/或后置摄像头。当设备700处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置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。
音频组件710被配置为输出和/或输入音频信号。例如，音频组件710包括一个麦克风(MIC)，当装置700处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器704或经由通信组件716发送。在一些实施例中，音频组件710还包括一个扬声器，用于输出音频信号。
I/O接口712为处理组件702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。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件714包括一个或多个传感器，用于为装置700提供各个方面的状态评估。例如，传感器组件714可以检测到设备700的打开/关闭状态，组件的相对定位，例如组件为装置700的显示器和小键盘，传感器组件714还可以检测装置700或装置700一个组件的位置改变，用户与装置700接触的存在或不存在，装置700方位或加速/减速和装置700的温度变化。传感器组件714可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件714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。
通信组件716被配置为便于装置700和其他设备之间有线或无线方式的通信。装置700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，通信部件716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，通信部件716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700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704，上述指令可由装置700的处理器720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。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、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公开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，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开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。本公开的范围仅由所附的权利要求来限制。

Claims (15)

  1. 一种无人机的控制方法，其特征在于，所述方法包括：
    当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
    根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
    如果所述危险飞行级别为第一预设级别，则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
  2. 根据权利要求1所述的方法，其特征在于，所述根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，包括：
    根据所述气象数据，计算所述无人机当前所在位置的气象危险指数；
    通过查询预设列表确定所述气象危险指数对应的危险飞行级别，其中，所述预设列表用于记录所述危险飞行级别与所述危险飞行级别对应的气象危险指数。
  3. 根据权利要求1所述的方法，其特征在于，所述根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，包括：
    根据所述气象数据，计算所述无人机当前所在位置的气象危险指数；
    判断所述气象危险指数是否大于第一预设阈值；
    如果所述气象危险指数大于所述第一预设阈值，则确定所述危险飞行级别为第一预设级别；
    如果所述气象危险指数不大于所述第一预设阈值，则确定所述危险飞行级别为第二预设级别。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    如果所述危险飞行级别为所述第二预设级别，则控制所述无人机工作在稳定飞行或者待起飞状态，其中，所述第二预设级别用于表示所述无人机能够安全飞行的级别。
  5. 根据权利要求1所述的方法，其特征在于，所述获取无人机当前所在位置的气象数据，包括：
    通过GPS定位所述无人机当前所在位置；
    访问网络服务器，获取当前所在位置以及周边预设范围内的气象数据。
  6. 根据权利要求1所述的方法，其特征在于，所述获取无人机当前所在位置的气象数据，包括：
    接收用户终端发送的气象指示消息；
    从所述气象指示消息中解析所述无人机当前所在位置的气象数据，将解析出的所述气象数据确定为所述无人机当前所在位置的气象数据。
  7. 根据权利要求1所述的方法，其特征在于，所述控制所述无人机切换至所述第二飞行状态，包括：
    确定所述无人机工作于所述第二飞行状态的目标位置；
    根据所述当前所在位置以及所述目标位置，确定所述无人机的航线；
    控制所述无人机按照所述航线飞行。
  8. 一种无人机的控制装置，其特征在于，所述装置包括：
    获取模块，被配置为当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
    确定模块，被配置为根据所述获取模块获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
    切换模块，被配置为如果所述确定模块确定所述危险飞行级别为第一预设级别，则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
  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：
    第一计算子模块，被配置为根据所述获取模块获取的所述气象数据，计算所述无人机当前所在位置的气象危险指数；
    查询子模块，被配置为通过查询预设列表确定所述第一计算子模块计算得到的所述气象危险指数对应的危险飞行级别，其中，所述预设列表用于记录所述危险飞行级别与所述危险飞行级别对应的气象危险指数。
  10. 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：
    第二计算子模块，被配置为根据所述气象数据，计算所述无人机当前所在位置的气象危险指数；
    判断子模块，被配置为判断所述第二计算子模块计算得到的所述气象危险指数是否大于第一预设阈值；
    第一确定子模块，被配置为如果所述判断子模块判断所述气象危险指数大于所述第一预设阈值，则确定所述危险飞行级别为第一预设级别；
    第二确定子模块，被配置为如果所述判断子模块判断所述气象危险指数不大于所述第 一预设阈值，则确定所述危险飞行级别为第二预设级别。
  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：
    控制模块，被配置为如果所述确定模块确定所述危险飞行级别为所述第二预设级别，则控制所述无人机工作在稳定飞行或者待起飞状态，其中，所述第二预设级别用于表示所述无人机能够安全飞行的级别。
  12. 根据权利要求8所述的装置，其特征在于，所述获取模块包括：
    定位子模块，被配置为通过GPS定位所述无人机当前所在位置；
    访问子模块，被配置为访问网络服务器，获取所述定位子模块定位的所述当前所在位置以及周边预设范围内的气象数据。
  13. 根据权利要求8所述的装置，其特征在于，所述获取模块包括：
    接收子模块，被配置为接收用户终端发送的气象指示消息；
    解析子模块，被配置为从所述接收子模块接收到的所述气象指示消息中解析所述无人机当前所在位置的气象数据，将解析出的所述气象数据确定为所述无人机当前所在位置的气象数据。
  14. 根据权利要求8所述的装置，其特征在于，所述切换模块包括：
    目标确定子模块，被配置为确定所述无人机工作于所述第二飞行状态的目标位置；
    航线确定子模块，被配置为根据所述当前所在位置以及所述目标确定子模块确定的所述目标位置，确定所述无人机的航线；
    控制子模块，被配置为控制所述无人机按照所述航线确定子模块确定的所述航线飞行。
  15. 一种无人机的控制装置，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：
    当所述无人机处于第一飞行状态时，获取无人机当前所在位置的气象数据，其中，所述第一飞行状态用于表示所述无人机稳定飞行或者待起飞的状态；
    根据获取到的所述气象数据，确定所述无人机当前的危险飞行级别，其中，所述危险飞行级别用于表示不同天气对所述无人机飞行造成的危险级别；
    如果所述危险飞行级别为第一预设级别，则控制所述无人机切换至所述第二飞行状态，其中，所述第一预设级别用于表示所述无人机不能安全飞行的级别，所述第二飞行状态用于表示所述无人机应急飞行或者暂停起飞的状态。
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