WO2019140695A1 - 控制飞行器飞行的方法及设备 - Google Patents

控制飞行器飞行的方法及设备 Download PDF

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Publication number
WO2019140695A1
WO2019140695A1 PCT/CN2018/073657 CN2018073657W WO2019140695A1 WO 2019140695 A1 WO2019140695 A1 WO 2019140695A1 CN 2018073657 W CN2018073657 W CN 2018073657W WO 2019140695 A1 WO2019140695 A1 WO 2019140695A1
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WIPO (PCT)
Prior art keywords
flight
aircraft
information
trajectory
instruction
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PCT/CN2018/073657
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English (en)
French (fr)
Inventor
苏冠华
颜江
邬凉爽
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880010546.1A priority Critical patent/CN110278717B/zh
Priority to PCT/CN2018/073657 priority patent/WO2019140695A1/zh
Publication of WO2019140695A1 publication Critical patent/WO2019140695A1/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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • the present application relates to the field of aircraft, and more particularly to a method and apparatus for controlling flight of an aircraft.
  • drones have become more and more popular and are widely used in various fields.
  • the drone is usually controlled by the user to control the drone through the remote control, or to fly automatically according to the established flight route. If the drone is to fly according to the established flight route, it is necessary to plan the route ahead of time, that is, it depends on a terminal to perform trajectory planning on the map, and the trajectory route is set according to the positioning position of the Global Positioning System (GPS). And then let the drone execute the set route. Planning a route in this way requires planning through the third perspective of the terminal device. It takes a long time to plan ahead, and the composition picture cannot be viewed in real time during the trajectory planning process.
  • GPS Global Positioning System
  • the embodiment of the present application provides a method and a device for controlling flight of an aircraft, which can simplify the process of route planning, and can view the composition picture in real time during the process of trajectory planning, so that the process of route planning is more intuitive.
  • an embodiment of the present application provides a method for controlling flight of an aircraft, including:
  • time-of-flight axis Determining a time-of-flight axis and a flight trajectory according to the flight trajectory information; wherein the time-of-flight axis is a time axis of the aircraft flying along the flight trajectory, a point on the flight trajectory and the flight time axis Corresponding to the time point;
  • the aircraft is caused to fly along the flight time track along the flight time axis.
  • an embodiment of the present application provides a method for recording a flight path of an aircraft, including:
  • flight path information of the aircraft; wherein the flight path information is used to cause the aircraft to repeatedly fly along the flight time axis along the flight path;
  • the flight path information includes the flight time axis and the a flight trajectory, the time axis of flight is a time axis of flight of the aircraft along the flight trajectory, and a point on the flight trajectory corresponds to a time point on the flight time axis;
  • an apparatus for controlling flight of an aircraft including:
  • a memory for storing program instructions
  • time-of-flight axis Determining a time-of-flight axis and a flight trajectory according to the flight trajectory information; wherein the time-of-flight axis is a time axis of the aircraft flying along the flight trajectory, a point on the flight trajectory and the flight time axis Corresponding to the time point;
  • the aircraft is caused to fly along the flight time track along the flight time axis.
  • an aircraft flight path recording device including:
  • a memory for storing program instructions
  • flight path information of the aircraft; wherein the flight path information is used to cause the aircraft to repeatedly fly along the flight time axis along the flight path;
  • the flight path information includes the flight time axis and the a flight trajectory, the time axis of flight is a time axis of flight of the aircraft along the flight trajectory, and a point on the flight trajectory corresponds to a time point on the flight time axis;
  • the embodiment of the present application provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for controlling flight of an aircraft provided by the first aspect of the embodiments of the present application is implemented.
  • the embodiment of the present application provides a computer readable storage medium, where the computer program is stored, and the computer program is executed by the processor to implement the aircraft flight path recording method provided by the second aspect of the embodiment of the present application.
  • Embodiments of the present application may record flight trajectory information in advance during flight.
  • the aircraft determines a flight time axis and a flight trajectory according to flight trajectory information; the aircraft then follows the flight time axis and along the flight trajectory. flight.
  • the process of route planning is simplified, and the composition picture can be viewed in real time during the process of trajectory planning, so that the process of route planning is more intuitive, so that the aircraft can repeatedly execute the above flight trajectory.
  • FIG. 1 is a schematic structural diagram of an aircraft flight control system according to an embodiment of the present application.
  • FIG. 2 is a schematic flow chart of a method for controlling flight of an aircraft according to an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a method for recording a flight path according to an embodiment of the present application
  • FIG. 4 is a schematic flow chart of another method for controlling flight of an aircraft according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an apparatus for controlling flight of an aircraft according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a flight path recording apparatus according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an apparatus for controlling flight of an aircraft according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a flight path recording device according to an embodiment of the present application.
  • FIG. 1 A flight control system in accordance with an embodiment of the present invention is shown in FIG.
  • the system includes an aircraft 10 and a ground control device 20 for controlling the aircraft; wherein the aircraft 10 may include various types of UAVs 101 (Unmanned Aerial Vehicles), such as a quadrotor UAV, a six-rotor UAV, etc.
  • UAVs 101 Unmanned Aerial Vehicles
  • the imaging device 102 on the UAV 101 is described.
  • the camera device 102 can complete tasks such as aerial photography of the corresponding target during the flight of the aircraft.
  • the aircraft 10 may further include a pan/tilt head, and the camera device 102 may be mounted on the pan/tilt head.
  • the pan/tilt head may be a three-axis pan/tilt head, that is, the posture of the pan/tilt head may be on three axes: a pitch pitch, a roll roll, and a heading yaw. Control is performed to determine the orientation of the pan/tilt, so that the imaging device 102 or the like disposed on the pan/tilt can perform tasks such as aerial photography of the corresponding target.
  • the UAV 101 includes a flight controller that establishes a communication connection with the ground control device 20 via a wireless connection (eg, a wireless connection based on WiFi or radio frequency communication, etc.).
  • the ground control device 20 can be a controller with a rocker that controls the aircraft by the amount of the bar.
  • the ground control device 20 can also be a smart device such as a smart phone or a tablet computer, and can control the UAV 101 to automatically fly by configuring a flight trajectory on the UI of the user interface, or control the UAV 101 to fly automatically by means of a somatosensory manner, or by pre-empting the UAV 101. After the flight path is recorded during the flight, the UAV 101 is controlled to automatically fly along the recorded flight path.
  • the method of controlling flight of an aircraft may include at least the following steps:
  • the flight path information described above is information recorded by the aircraft in advance during the flight.
  • the flight path information needs to be recorded in advance before the flight path information is acquired.
  • the recording process of the flight path information is described in detail in the subsequent embodiments.
  • the flight path information may include a flight time axis and a flight trajectory.
  • the flight trajectory may be position information of a certain point, that is, latitude and longitude information, altitude information, and the like.
  • the time axis of flight is the time axis (or time period) of the flight of the aircraft along the flight path, and the point on the flight path corresponds to the point on the flight time axis.
  • the flight time axis is 0-15s, that is, during the recording of the trajectory information, the aircraft flies for 15s.
  • the aircraft starts from point A at 0s and passes point B at 5s at 2s.
  • point C it finally reaches point D at 15s.
  • point A on the flight path corresponds to 0s on the flight time axis
  • point B on the flight path corresponds to 2s on the flight time axis
  • the upper 5s corresponds
  • the point D on the flight path corresponds to 15s on the flight time axis.
  • S202 Determine a flight time axis and a flight trajectory according to the flight trajectory information.
  • the time-of-flight axis is a time axis of the aircraft flying along the flight trajectory, and the point on the flight trajectory corresponds to a time point on the flight time axis.
  • S203 The aircraft is caused to fly along the flight time track according to the flight time axis.
  • the aircraft repeats the pre-recorded flight trajectory information according to the flight time axis and the flight trajectory, that is, the aircraft reaches the position corresponding to the time point on the flight trajectory at a fixed time point.
  • Embodiments of the present application may record flight trajectory information in advance during flight.
  • the aircraft determines a flight time axis and a flight trajectory according to flight trajectory information; the aircraft then follows the flight time axis and along the flight trajectory. flight.
  • the process of route planning is simplified, and the composition picture can be viewed in real time during the process of trajectory planning, so that the process of route planning is more intuitive, so that the aircraft can repeatedly execute the above flight trajectory.
  • the track recording method may include at least the following steps:
  • S301 Receive an instruction to start recording a flight trajectory.
  • the user can input an instruction to start recording a flight trajectory through the ground control device 103.
  • the instruction may be input through a corresponding control button on the ground control device 103, or through a corresponding amount input command on the ground control device 103, or through a corresponding control on the control panel of the ground control device 103.
  • the manner in which the user operates the ground control device 103 to input an instruction to start recording a flight trajectory is not limited.
  • the flight path information may include a flight time axis and a flight trajectory.
  • the time axis of flight is the time axis (or time period) of the flight of the aircraft along the flight path.
  • the point on the flight path corresponds to the point on the flight time axis, and the corresponding frequency is not limited.
  • the flight path information may include a flight time axis and a flight trajectory.
  • the time axis of flight is the time axis (or time period) of the flight of the aircraft along the flight path.
  • the point on the flight path corresponds to the point on the flight time axis, and the corresponding frequency is not limited.
  • angle information of the gimbal mounted on the aircraft during flight of the aircraft may also be recorded.
  • the angle information of the gimbal may include angle information of the pan/tilt corresponding to each time point on the flight time axis, and the angle information of the pan/tilt at a certain time point may specifically include the pitch angle pitch and the roll angle of the pan/tilt at that time. And the size of the heading angle yaw.
  • the amount of the user's joystick, the speed and acceleration of the aircraft, and the like can also be recorded in real time.
  • S303 Receive an instruction to end the recording of the flight path, and save the flight track information.
  • the user can input an instruction to end the recording of the flight trajectory through the ground control device 103.
  • the instruction may be input through a corresponding control button on the ground control device 103, or through a corresponding amount input command on the ground control device 103, or through a corresponding control on the control panel of the ground control device 103.
  • the manner in which the user operates the ground control device 103 to input an instruction to end the recording of the flight trajectory is not limited.
  • the flight trajectory information can be saved to the local, so that the aircraft can repeat the flight trajectory multiple times after receiving the automatic flight instruction.
  • the flight trajectory information may be saved to the server, and other aircraft may obtain the flight trajectory information of the aircraft from the server after being authorized, and other aircraft may repeat after obtaining the flight trajectory information of the aircraft.
  • the above-described flight trajectory can be applied to a scenario in which multi-machine cooperation or the like is required.
  • the angle information of the gimbal if the angle information of the gimbal is recorded during the flight of the aircraft, the angle information of the gimbal needs to be saved at this time. After the angle information of the gimbal is saved, it can be ensured that when the aircraft repeatedly performs the flight trajectory, the angle of the gimbal can be consistent with the angle of the gimbal when the flight trajectory is pre-recorded, so that the imaging device 102 mounted on the gimbal takes a picture. The angle is consistent.
  • Embodiments of the present application can directly record flight path information during flight, simplify the process of route planning, and can view the composition picture in real time during the process of trajectory planning, so that the process of route planning is more intuitive, so that the aircraft can be repeatedly executed multiple times.
  • the above flight path In addition, the angle information of the pan/tilt during recording can be recorded, so that the aircraft can always maintain the same angle of the camera equipment mounted on the pan/tilt when repeatedly performing the above-mentioned flight path.
  • the flight track information may be adjusted, and the adjusted flight track information may be further updated.
  • adjusting the flight trajectory information may be adjusting the flight time axis. That is, adjusting the flight speed of the aircraft on the time axis of flight and/or adjusting the position of the aircraft on the time axis of flight.
  • adjusting the flight speed of the aircraft on the time axis of flight may be an adjustment of the flight speed of the aircraft at a certain point in time.
  • the flight speed of the aircraft at the time point of 5s on the flight time axis is 20m/s, and the speed of the aircraft at this time point can be reduced to 18m/s or increased to 25m. /s and so on.
  • the flight speed can also be a negative number. When the flight speed is negative, it means that the aircraft flies backwards (downward flight); when the flight speed is positive, it means that the aircraft flies forward (flying).
  • the speed of the flight time axis can be used to determine the flight speed of the aircraft during the whole or part of the flight time, for example, the original 10 seconds to the A point, can be adjusted to 5 seconds or 20 seconds to the A point, further, the original 10 seconds From midpoint to point A, from 20 seconds to point B, it can be adjusted to reach point A in 5 seconds and point B to arrive in point B in 25 seconds.
  • the flight path is the flight path in the recorded flight information.
  • Axis adjustments can be set as needed.
  • adjusting the position of the aircraft on the time axis of flight may be an adjustment of the position of the aircraft at a certain point in time.
  • the height position of the aircraft at a certain point in time can be adjusted, or the latitude and longitude position of the aircraft at a certain point in time can be adjusted, and the like.
  • the flight trajectory can also be viewed.
  • the time of flight axis can be displayed on the control panel of the ground control device 103. The user can view the flight path by dragging the flight timeline.
  • the process of adjusting the flight path information may be adjusted during the actual flight of the aircraft, or may be adjusted on the control panel of the ground control device 103 in the form of a preview after the flight path information is recorded. There is no need to adjust during the actual flight of the aircraft.
  • the flight path information is adjusted according to the actual needs of the user, and the adjusted flight track information is updated to meet the personalized needs of the user and improve the user experience.
  • Another embodiment of the present invention provides a method for controlling flight of an aircraft. As shown in FIG. 4, the method for controlling flight of an aircraft may include at least the following steps:
  • S401 Receive an instruction to start recording a flight trajectory.
  • S401 is consistent with S301, and details are not described herein again.
  • S402 is consistent with S302, and details are not described herein again.
  • S403 Receive an instruction to end the recording of the flight path, and save the flight track information.
  • S403 is consistent with S303, and details are not described herein again.
  • S404 Receive an instruction to adjust flight path information, and update flight path information.
  • S404 is consistent with the step of adjusting the flight path information in the previous embodiment, and details are not described herein again.
  • S405 Receive an instruction to trigger the aircraft to perform a preset action.
  • an instruction to trigger the aircraft to perform a preset action is set for setting a condition for triggering the aircraft to perform a preset action.
  • the user can set an instruction to trigger the aircraft to perform a preset action through the ground control device 103.
  • the foregoing preset actions may be, for example, but not limited to, hotspot following, speed adjustment, position adjustment, pan/tilt direction adjustment, or camera device parameter adjustment.
  • Hotspot follow-up is to control the camera device to shoot towards a hot spot, but keep the flight path unchanged or substantially unchanged during the shooting.
  • the camera If the camera is mounted on the pan/tilt, the camera can be shot toward a hot spot by controlling the angle of the pan/tilt.
  • the direction of the aircraft nose can be controlled to cause the camera device to shoot toward a hot spot. It can be known that, no matter how the angle of the gimbal changes, or how the direction of the nose changes, the flight path of the aircraft remains consistent or substantially consistent with the pre-recorded flight trajectory during the shooting around a hot spot. Or the intervention of other external conditions, the flight path can be adjusted appropriately.
  • the speed adjustment is to adjust the flight speed of the aircraft. It can be known that after the speed adjustment, the aircraft can still automatically recover the flight speed recorded when the flight track is pre-recorded.
  • the position adjustment is to adjust the specific position of the aircraft. It can be known that after the position adjustment, the aircraft can still fly back to the pre-recorded flight path.
  • the pan/tilt direction adjustment is to adjust the pitch angle pitch, the roll angle roll, and the heading angle yaw of the gimbal.
  • the camera device is photographed toward a hot spot by adjusting the angle of the gimbal.
  • the camera device parameters adjust the camera parameters of the camera device.
  • the above preset actions can be completed directly or indirectly through the aircraft.
  • the flight speed or position of the aircraft can be directly adjusted, and for example, the direction of the pan/tilt can be controlled by the aircraft or the imaging parameters of the imaging device can be adjusted.
  • S406 is consistent with S201, and details are not described herein again.
  • S407 Determine a flight time axis and a flight trajectory according to the flight trajectory information.
  • S407 is consistent with S202, and details are not described herein again.
  • S408 The aircraft is caused to fly along the flight time track according to the flight time axis.
  • S408 is consistent with S203, and details are not described herein again.
  • S409 Detect whether there is an instruction to trigger the aircraft to perform a preset action, and if so, cause the aircraft to perform a preset action.
  • S408 and S409 can be performed simultaneously.
  • the command to trigger the aircraft to perform the preset action comprises: flying the aircraft to a point on the flight trajectory corresponding to the preset time point on the flight time axis.
  • the user may select a time point on the time axis of the flight, and set a preset action on the time point, such as reducing the flight speed, and then controlling the aircraft to reduce the flight speed when flying to a point on the flight path corresponding to the time point; Or hovering the preset time, hovering at this point in time, and so on.
  • command to trigger the aircraft to perform the preset action may also be a route segment on the flight trajectory corresponding to the preset time period on which the aircraft flies to the flight time axis.
  • time points can be selected on the flight time axis, and corresponding preset actions are set for different time points.
  • the instruction for triggering the aircraft to perform the preset action comprises: the aircraft recognizing that the photographic subject exists in the shooting picture, and the photographic object satisfies a condition that triggers the aircraft to perform the preset action.
  • the photographing screen is a screen photographed by the image capturing apparatus.
  • the photographic subject satisfies the condition that triggers the aircraft to perform the preset action
  • the aircraft is caused to perform the preset action.
  • the condition that triggers the aircraft to perform the preset action is that the character makes a certain gesture, and the preset action is a hotspot follow, then when the aircraft is flying along the flight time axis and along the flight path, If it is recognized that there is a character in the shooting picture, and the character makes a certain gesture (such as waving), the aircraft is triggered to perform hotspot following on the character, that is, controlling the imaging device to shoot toward the character. It can be known that during the shooting towards the character, the aircraft still flies along the flight path.
  • the command to trigger the aircraft to perform the preset action comprises: receiving a control instruction sent by the controller matched with the aircraft; wherein the control instruction is used to control the aircraft to perform the preset action.
  • the triggering manner is different from the first two triggering modes.
  • the triggering condition is not set in advance, and is automatically triggered during the subsequent flight of the aircraft, but is temporarily triggered by the outside during the flight of the flying device, for example, It is the user inputting an instruction at the ground control device 103 to cause the aircraft to perform a preset action.
  • Embodiments of the present application can directly record flight path information during flight, simplify the process of route planning, and can view the composition picture in real time during the process of trajectory planning, so that the process of route planning is more intuitive, so that the aircraft can be repeatedly executed multiple times.
  • a triggering instruction for controlling the aircraft to perform a preset action may be set, so that the aircraft automatically or passively performs a preset action during the repeated execution of the flight trajectory to meet the personalized needs of the user and improve the user experience.
  • FIG. 5 is a schematic structural diagram of an apparatus for controlling flight of an aircraft provided by an embodiment of the present application.
  • the apparatus 50 for controlling flight of an aircraft may include at least an acquiring unit 510, a determining unit 520, and a flying unit 530, wherein:
  • the acquiring unit 510 is configured to acquire flight trajectory information; wherein the flight trajectory information is information recorded in advance during flight of the aircraft.
  • the determining unit 520 is configured to determine a flight time axis and a flight trajectory according to the flight trajectory information; wherein the flight time axis is a time axis of the aircraft flying along the flight trajectory, and the point on the flight trajectory corresponds to a time point on the flight time axis.
  • the flight unit 530 is configured to fly the aircraft along the flight time axis and along the flight path.
  • the means 50 for controlling flight of the aircraft further comprises:
  • the first receiving unit 540 is configured to receive an instruction to start recording a flight trajectory before the acquiring unit 510 acquires the flight trajectory information.
  • the record keeping unit 550 is configured to record flight path information of the aircraft; the flight track information includes a flight time axis and a flight track.
  • the second receiving unit 560 is configured to receive an instruction to end the recording of the flight trajectory, and save the flight trajectory information and the angle information of the pan/tilt.
  • the aircraft includes a pan/tilt; the flight path information further includes angle information of the pan/tilt; wherein the angle information of the pan/tilt is angle information of the pan/tilt during flight, and the angle information and flight of the pan/tilt The track corresponds.
  • the device 50 for controlling the flight of the aircraft further includes: a third receiving unit 570, configured to receive an instruction for adjusting the flight track information after the record holding unit 550 saves the flight track information and the angle information of the pan/tilt, Update flight path information.
  • a third receiving unit 570 configured to receive an instruction for adjusting the flight track information after the record holding unit 550 saves the flight track information and the angle information of the pan/tilt, Update flight path information.
  • the third receiving unit 570 is specifically configured to receive an instruction to adjust a time of flight axis; wherein the command to adjust the time of flight axis is used to adjust the flight speed of the aircraft on the time axis of flight and/or adjust the aircraft at The position on the flight time axis.
  • the device 50 for controlling the flight of the aircraft further comprises: an execution unit 580, configured to trigger the aircraft to perform the preset action in the process of flying the aircraft according to the flight time axis and along the flight path.
  • the command causes the aircraft to perform a preset action.
  • the command to trigger the aircraft to perform the preset action comprises: flying the aircraft to a point on the flight trajectory corresponding to the preset time point on the time axis of flight.
  • the command to trigger the aircraft to perform the preset action includes the aircraft recognizing the presence of the photographic subject in the photographic frame, and the photographic subject satisfies the condition that the triggering aircraft performs the preset action.
  • the command to trigger the aircraft to perform the preset action comprises: receiving a control command sent by a controller that matches the aircraft; wherein the control command is used to control the aircraft to perform a preset action.
  • the apparatus 50 for controlling aircraft flight further includes a fourth receiving unit 590 for receiving an instruction to trigger the aircraft to perform a preset action before the executing unit 580 causes the aircraft to perform a preset action.
  • FIG. 6 is a schematic structural diagram of a flight path recording apparatus according to an embodiment of the present application.
  • the flight path recording apparatus 60 may include at least a fifth receiving unit 610, a recording unit 620, and a receiving and holding unit 630, where:
  • the fifth receiving unit 610 is configured to receive an instruction to start recording a flight trajectory.
  • the recording unit 620 is configured to record flight path information of the aircraft; wherein the flight track information is used to make the aircraft repeatedly fly along the flight time axis and along the flight path; the flight path information includes a flight time axis and a flight path, and the flight time axis is an aircraft The time axis along the flight path corresponds to the point in time on the flight time axis.
  • the receiving and holding unit 630 is configured to receive an instruction to end the recording of the flight trajectory, and save the flight trajectory information.
  • the flight path recording device 60 further includes a sixth receiving unit 640, configured to receive an instruction to adjust the flight track information after the receiving and holding unit 630 saves the flight track information, and update the flight track information.
  • FIG. 7 is a schematic structural diagram of an apparatus for controlling flight of an aircraft provided by an embodiment of the present application.
  • the apparatus 70 for controlling flight of an aircraft may include: at least one processor 701, such as a CPU, at least one network interface 704, a user interface 703, and a memory. 705, at least one communication bus 702, and optionally, a display screen 706.
  • the communication bus 702 is used to implement connection communication between these components.
  • the user interface 703 may include a touch screen, a keyboard or a mouse, and the like.
  • the network interface 704 can optionally include a standard wired interface, a wireless interface (e.g., a WI-FI interface) through which a communication connection can be established with the server.
  • a wireless interface e.g., a WI-FI interface
  • the memory 705 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory, and the memory 705 includes a flash in the embodiment of the present invention.
  • the memory 705 can optionally also be at least one storage system located remotely from the aforementioned processor 701. As shown in FIG. 7, an operating system, a network communication module, a user interface module, and program instructions may be included in the memory 705 as a computer storage medium.
  • the network interface 704 can be connected to a receiver, a transmitter, or other communication module.
  • the other communication modules can include, but are not limited to, a WiFi module, a Bluetooth module, and the like. It can be understood that the device for controlling the flight of the aircraft in the embodiment of the present invention may also be used. Includes receivers, transmitters, and other communication modules.
  • the processor 701 can be used to call program instructions stored in the memory 705 and perform the following operations:
  • the locally stored flight trajectory information is obtained from the memory 705, or the flight trajectory information is acquired from the server through the network interface 704; wherein the flight trajectory information is information recorded in advance during the flight of the aircraft.
  • the flight time axis and the flight trajectory are determined according to the flight trajectory information; wherein the flight time axis is a time axis of the aircraft flying along the flight trajectory, and the point on the flight trajectory corresponds to a time point on the flight time axis.
  • the aircraft is allowed to fly along the flight time axis along the flight path.
  • the processor 701 before the processor 701 acquires the flight trajectory, the processor 701 is further configured to:
  • An instruction to start recording a flight path is received by the receiver.
  • the flight path information of the aircraft is recorded; the flight path information includes a flight time axis and a flight path.
  • the flight path information further includes angle information of the pan/tilt; wherein the angle information of the pan/tilt is angle information of the pan/tilt during flight, and the angle information of the pan/tilt corresponds to the flight path.
  • the processor 701 is further configured to: receive an instruction to adjust the flight track information through the receiver, and update in the memory 705. Flight path information.
  • the processor 701 receiving, by the receiver, the instruction to adjust the flight trajectory information includes: receiving, by the receiver, an instruction to adjust a flight time axis; wherein the instruction to adjust the time of flight axis is used to adjust the flight time axis of the aircraft The speed of flight on and/or the position of the aircraft on the flight time axis.
  • the processor 701 is further configured to: when the aircraft detects that there is an instruction to trigger the aircraft to perform a preset action during flight according to the flight time axis and along the flight trajectory, causing the aircraft to execute the preset action.
  • the command to trigger the aircraft to perform the preset action comprises: flying the aircraft to a point on the flight trajectory corresponding to the preset time point on the time axis of flight.
  • the instruction to trigger the aircraft to perform the preset action includes: the aircraft recognizes that there is a photographic subject in the shooting picture, and the photographic subject satisfies a condition that triggers the aircraft to perform the preset action.
  • the command to trigger the aircraft to perform the preset action comprises: receiving a control command sent by the controller that matches the aircraft; wherein the control command is used to control the aircraft to perform the preset action.
  • the processor 701 is configured to enable the aircraft to execute the preset if the aircraft detects that there is an instruction to trigger the aircraft to perform a preset action during flight of the aircraft according to the time axis of flight and along the flight path. Before the action, the processor 701 is further configured to: receive, by the receiver, an instruction to trigger the aircraft to perform a preset action.
  • FIG. 8 is a schematic structural diagram of a flight path recording device provided by an embodiment of the present application.
  • the flight path recording device 80 may include: at least one processor 801, such as a CPU, at least one network interface 804, a user interface 803, and a memory 805.
  • At least one communication bus 802, optionally, may also include a display screen 806.
  • the communication bus 802 is used to implement connection communication between these components.
  • the user interface 803 may include a touch screen, a keyboard or a mouse, and the like.
  • the network interface 804 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface) through which a communication connection can be established with the server.
  • a wireless interface such as a WI-FI interface
  • the memory 805 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory, and the memory 805 includes a flash in the embodiment of the present invention.
  • the memory 805 can optionally also be at least one storage system located remotely from the aforementioned processor 801. As shown in FIG. 8, an operating system, a network communication module, a user interface module, and program instructions may be included in the memory 805 as a computer storage medium.
  • the network interface 804 may be connected to a receiver, a transmitter, or other communication module.
  • the other communication modules may include, but are not limited to, a WiFi module, a Bluetooth module, and the like. It can be understood that the flight track recording device in the embodiment of the present invention may also include Receiver, transmitter and other communication modules, etc.
  • the processor 801 can be used to call program instructions stored in the memory 805 and perform the following operations:
  • An instruction to start recording a flight path is received by the receiver.
  • Flight path information of the aircraft wherein the flight path information is used to make the aircraft repeatedly fly along the flight time axis and along the flight path;
  • the flight path information includes a flight time axis and a flight path, and the flight time axis is the flight of the aircraft along the flight path.
  • the time axis, the point on the flight path corresponds to the time point on the flight time axis.
  • the receiver receives an instruction to end the flight path and saves the flight path information.
  • the processor 801 is further configured to: receive an instruction to adjust the flight track information, and update the flight track information.
  • flight path recording device 80 of the present embodiment can be specifically implemented according to the method in the foregoing method embodiment, and details are not described herein again.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory RAM.

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Abstract

本申请实施例提供了一种控制飞行器飞行的方法及设备。其中，上述控制飞行器飞行的方法包括：获取飞行轨迹信息；其中，飞行轨迹信息为飞行器预先在飞行过程中录制的信息；根据飞行轨迹信息确定飞行时间轴及飞行轨迹；使飞行器按照飞行时间轴、沿着飞行轨迹飞行。实施本申请实施例可以通过预先在飞行过程中录制飞行轨迹信息，简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观，使飞行器能重复多次执行上述飞行轨迹。

Description

控制飞行器飞行的方法及设备 技术领域
本申请涉及飞行器领域，尤其涉及一种控制飞行器飞行的方法及设备。
背景技术
随着无人机技术的发展，无人机越来越普及，被广泛应用于各个领域。无人机在飞行时，通常是由用户通过遥控器控制无人机飞行，或者是按照既定飞行航线自动飞行。若使得无人机按照既定的飞行航线进行飞行，需要提前进行航线规划，即需要依赖于一个终端在地图上进行轨迹规划，根据全球定位系统(Global Positioning System，GPS)定位位置来设定轨迹路线，然后使无人机执行设定的航线。采用这种方式规划航线，需要通过终端设备的第三视角来进行规划，需要花费较长的时间提前进行规划，且在轨迹规划的过程中无法实时查看构图画面。
发明内容
本申请实施例提供了一种控制飞行器飞行的方法及设备，能够简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观。
第一方面，本申请实施例提供了一种控制飞行器飞行的方法，包括：
获取飞行轨迹信息；其中，所述飞行轨迹信息为预先在飞行器飞行过程中录制的信息；
根据所述飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
使所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行。
第二方面，本申请实施例提供了一种飞行器飞行轨迹录制方法，包括：
接收开始录制飞行轨迹的指令；
记录飞行器的飞行轨迹信息；其中，所述飞行轨迹信息用于使所述飞行器 重复按照所述飞行时间轴、沿着所述飞行轨迹飞行；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
第三方面，本申请实施例提供了一种控制飞行器飞行的设备，包括：
存储器，用于存储程序指令；
处理器，用于调用所述存储器中的程序指令并执行：
获取飞行轨迹信息；其中，所述飞行轨迹信息为预先在飞行器飞行过程中录制的信息，
根据所述飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
使所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行。
第四方面，本申请实施例提供了一种飞行器飞行轨迹录制设备，包括：
存储器，用于存储程序指令；
处理器，用于调用所述存储器中的程序指令并执行：
接收开始录制飞行轨迹的指令；
记录飞行器的飞行轨迹信息；其中，所述飞行轨迹信息用于使所述飞行器重复按照所述飞行时间轴、沿着所述飞行轨迹飞行；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
第五方面，本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现本申请实施例第一方面提供的控制飞行器飞行的方法。
第六方面，本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现本申请实施例第二方面提供的飞行器飞行轨迹录制方法。
实施本申请实施例可以通过预先在飞行过程中录制飞行轨迹信息，在获得飞行轨迹信息的情况下，飞行器根据飞行轨迹信息确定飞行时间轴及飞行轨 迹；飞行器再按照飞行时间轴、沿着飞行轨迹飞行。简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观，使飞行器能重复多次执行上述飞行轨迹。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍。
图1为本申请实施例提供的一种飞行器飞行控制系统结构示意图；
图2为本申请实施例提供的一种控制飞行器飞行的方法流程示意图；
图3为本申请实施例提供的一种飞行轨迹录制方法流程示意图；
图4为本申请实施例提供的另一种控制飞行器飞行的方法流程示意图；
图5为本申请实施例提供的一种控制飞行器飞行的装置结构示意图；
图6为本申请实施例提供的一种飞行轨迹录制装置结构示意图；
图7为本申请实施例提供的一种控制飞行器飞行的设备结构示意图；
图8为本申请实施例提供的一种飞行轨迹录制设备结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
在图1中示出了本发明实施例的一种飞行控制系统。该系统包括飞行器10及用于飞行器进行控制的地面控制设备20；其中，飞行器10可以包括各类型的UAV101(Unmanned Aerial Vehicle，无人机)，例如四旋翼UAV、六旋翼UAV等、搭载在所述UAV101上的摄像设备102。摄像设备102可以在飞行器飞行的过程中完成相应目标的航拍等任务。此外，飞行器10还可以包括云台，摄像设备102可以搭载在云台上，云台可以是三轴云台，即该云台的姿态可以在俯仰pitch、横滚roll以及航向yaw三个轴上进行控制，以便于确定出云台的朝向，使得配置在云台上的摄像设备102等能够完成相应目标的航拍等任务。
UAV101中包括飞行控制器，飞行控制器通过无线连接方式(例如基于WiFi或射频通信的无线连接方式等)与所述地面控制设备20建立通信连接。 所述地面控制设备20可以是带摇杆的控制器，通过杆量来对飞行器进行控制。所述地面控制设备20也可以为智能手机、平板电脑等智能设备，可以通过在用户界面UI上配置飞行轨迹来控制UAV101自动飞行，或者通过体感等方式来控制UAV101自动飞行，或者通过预先在UAV101飞行的过程中记录好飞行轨迹后，控制UAV101沿着记录好的飞行轨迹自动飞行。
接下来结合图1示出的飞行控制系统，介绍本申请实施例提供的控制飞行器飞行的方法。如图2所示，控制飞行器飞行的方法至少可以包括以下几个步骤：
S201：获取飞行轨迹信息。
具体地，上述飞行轨迹信息为飞行器预先在飞行过程中录制的信息。在获取飞行轨迹信息之前，需要提前录制飞行轨迹信息。飞行轨迹信息的录制过程详见后续实施例的描述。
具体地，飞行轨迹信息可以包括飞行时间轴及飞行轨迹。飞行轨迹可以是某个点的位置信息，即经纬度信息、高度信息等。飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴(或者时间段)，飞行轨迹上的点与飞行时间轴上的点对应。
例如，飞行时间轴为0-15s，即在录制轨迹信息的过程中，飞行器飞行了15s，在这15s的飞行过程中，飞行器在0s时从A点出发，在2s时经过B点、在5s时经过C点，最终在15s时到达D点。从上述飞行器的飞行过程可以看出，飞行轨迹上的A点与飞行时间轴上的0s对应；飞行轨迹上的B点与飞行时间轴上的2s对应；飞行轨迹上的C点与飞行时间轴上的5s对应；飞行轨迹上的D点与飞行时间轴上的15s对应。
S202：根据飞行轨迹信息确定飞行时间轴及飞行轨迹。
具体地，上述飞行时间轴为飞行器沿着上述飞行轨迹飞行的时间轴，上述飞行轨迹上的点与上述飞行时间轴上的时间点对应。
S203：使飞行器按照飞行时间轴、沿着飞行轨迹飞行。
具体地，飞行器按照飞行时间轴、沿着飞行轨迹飞行即为重复上述预先录制的飞行轨迹信息，即为飞行器在固定的时间点到达上述飞行轨迹上与该时间点对应的位置。
实施本申请实施例可以通过预先在飞行过程中录制飞行轨迹信息，在获得 飞行轨迹信息的情况下，飞行器根据飞行轨迹信息确定飞行时间轴及飞行轨迹；飞行器再按照飞行时间轴、沿着飞行轨迹飞行。简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观，使飞行器能重复多次执行上述飞行轨迹。
接下来介绍本申请实施例提供的轨迹录制方法，如图3所示，轨迹录制方法至少可以包括以下几个步骤：
S301：接收开始录制飞行轨迹的指令。
具体地，用户可以通过地面控制设备103输入开始录制飞行轨迹的指令。具体可以通过地面控制设备103上相应的控制按钮输入指令，或者通过地面控制设备103上相应的杆量输入指令，或者通过地面控制设备103的控制面板上相应的控件输入指令等。这里，对用户操作地面控制设备103输入开始录制飞行轨迹的指令的方式不作限制。
S302：记录飞行器的飞行轨迹信息。
具体地，飞行轨迹信息可以包括飞行时间轴及飞行轨迹。飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴(或者时间段)，飞行轨迹上的点与飞行时间轴上的点对应，对应的频率不做限制。具体可参照上一实施例S201中的解释，在此不再赘述。
在一些实施例中，除了记录飞行器的飞行轨迹信息之外，还可以记录飞行器在飞行过程中，搭载在飞行器上的云台的角度信息。云台的角度信息可以包括在飞行时间轴上的各个时间点对应的云台的角度信息，某一个特定时间点的云台的角度信息具体可包括当时云台的俯仰角pitch、横滚角roll以及航向角yaw的大小。
在一些实施例中，还可以实时记录用户的操作杆量、飞行器的速度与加速度等。
S303：接收结束录制飞行轨迹的指令，并保存飞行轨迹信息。
具体地，用户可以通过地面控制设备103输入结束录制飞行轨迹的指令。具体可以通过地面控制设备103上相应的控制按钮输入指令，或者通过地面控制设备103上相应的杆量输入指令，或者通过地面控制设备103的控制面板上相应的控件输入指令等。这里，对用户操作地面控制设备103输入结束录制飞行轨迹的指令的方式不作限制。
具体地，结束录制飞行轨迹后，可将飞行轨迹信息保存至本地，以便飞行器在接收到自动飞行的指令后，可以重复多次执行上述飞行轨迹。
具体地，结束录制飞行轨迹后，可将飞行轨迹信息保存至服务器，其他飞行器可以经授权后从上述服务器获得该飞行器的飞行轨迹信息，其他飞行器在获得该飞行器的飞行轨迹信息后也可重复多次执行上述飞行轨迹，可应用于需要实现多机协作等的场景中。
在一些实施例，若在飞行器飞行的过程中，记录了云台的角度信息，则此时还需保存云台的角度信息。保存云台的角度信息后，可以保证飞行器在后续重复执行该飞行轨迹时，云台的角度可以与预先录制飞行轨迹时云台的角度一致，以便搭载在云台上的摄像设备102拍摄画面的角度保持一致。
实施本申请实施例可以直接在飞行过程中录制飞行轨迹信息，简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观，使飞行器能重复多次执行上述飞行轨迹。另外，还能记录录制过程中云台的角度信息，使飞行器在重复执行上述飞行轨迹时能够始终保持搭载在云台上的摄像设备的角度一致。
在一种可能的实施例中，上述保存飞行轨迹信息之后，还可以对飞行轨迹信息进行调整，并进一步更新调整后的飞行轨迹信息。
具体地，调整飞行轨迹信息可以是调整飞行时间轴。即调整飞行器在飞行时间轴上的飞行速度和/或调整飞行器在飞行时间轴上的位置。
具体地，调整飞行器在飞行时间轴上的飞行速度可以是对飞行器在某个时间点上的飞行速度进行调整。例如，在保存的飞行轨迹信息中，飞行器在飞行时间轴上5s的时间点上的飞行速度是20m/s，经过调整可以将飞行器在该时间点上的速度降低为18m/s或者增加为25m/s等。可以知道的是，飞行速度还可以为负数，当飞行速度为负数时，表示飞行器往后飞(倒飞)；当飞行速度为正数时，表示飞行器往前飞(正飞)。
具体的，调飞行时间轴的速度可以对飞行器在整个或者部分飞行时间的飞行速度，例如：原来10秒中到A点，可以调整为5秒或者20秒到A点，进一步的，原来10秒中到A点、20秒中到B点，可以调整为5秒中到达A点、25秒钟到达B点，飞行轨迹为录制的飞行信息中的飞行轨迹，这里只是示意性的，实际的时间轴调整可以根据需要设置。
具体地，调整飞行器在飞行时间轴上的位置可以是对飞行器在某个时间点上飞行器的位置进行调整。例如可以调整飞行器在某个时间点的高度位置，或者调整飞行器在某个时间点的经纬度位置等等。
此外，上述保存飞行轨迹信息之后，还可以查看飞行轨迹。飞行时间轴可以显示在地面控制设备103的控制面板上。用户可以通过拖动飞行时间轴来查看飞行轨迹。
可以知道的是，调整飞行轨迹信息的过程可以是飞行器在实际飞行的过程中调整的，也可以是在录制飞行轨迹信息完成后，以预览的形式在地面控制设备103的控制面板上进行调整，此时无需在飞行器实际飞行的过程中调整。
实施本申请实施例可以在完成录制飞行轨迹信息之后，根据用户的实际需求对飞行轨迹信息进行调整，并对调整后的飞行轨迹信息进行更新，满足用户的个性化需求，提升用户体验。
本发明实施例提供了另外一种控制飞行器飞行的方法，如图4所示，控制飞行器飞行的方法至少可以包括以下几个步骤：
S401：接收开始录制飞行轨迹的指令。
具体地，S401与S301一致，在此不再赘述。
S402：记录飞行器的飞行轨迹信息。
具体地，S402与S302一致，在此不再赘述。
S403：接收结束录制飞行轨迹的指令，并保存飞行轨迹信息。
具体地，S403与S303一致，在此不再赘述。
S404：接收调整飞行轨迹信息的指令，更新飞行轨迹信息。
具体地，S404与上一实施例中对飞行轨迹信息进行调整的步骤一致，在此不再赘述。
S405：接收设置触发飞行器执行预设动作的指令。
具体地，设置触发飞行器执行预设动作的指令用于设置触发飞行器执行预设动作的条件。用户可以通过地面控制设备103设置触发飞行器执行预设动作的指令。
具体地，上述预设动作例如可以但不限于是热点追随、速度调整、位置调整、云台方向调整或者摄像设备参数调整等。
热点追随即为控制摄像设备朝着某个热点进行拍摄，但是在拍摄过程中保 持飞行轨迹不变或者大体不变。若摄像射设备搭载在云台上，则可以通过控制云台的角度使摄像设备朝着某个热点进行拍摄。若摄像设备直接与飞行器相连，没有搭载在云台上，则可以控制飞行器机头的方向使摄像设备朝着某个热点进行拍摄。可以知道的是，无论云台的角度如何变化，或者机头的方向如何变化，在围绕某个热点的拍摄过程中，飞行器的飞行轨迹始终保持与预先录制的飞行轨迹一致或者大体一致，在用户或者其他外界条件的干预下，可以适当的调节飞行轨迹。
速度调整即为调整飞行器的飞行速度，可以知道的是，在进行速度调整之后，飞行器依然可以自动恢复预先录制飞行轨迹时记录的飞行速度。
位置调整即为调整飞行器的具体位置，可以知道的是，在进行位置调整之后，飞行器依然可以飞回到预先录制的飞行轨迹上去。
云台方向调整即为调整云台的俯仰角pitch、横滚角roll以及航向角yaw的大小。通过调整云台的角度使摄像设备朝着某个热点进行拍摄。
摄像设备参数调整摄像设备的摄像参数。
可以知道的是，上述预设动作均可通过飞行器直接或者间接完成。例如可以直接调整飞行器的飞行速度或者位置，又例如可以通过飞行器控制云台的方向或者调整摄像设备的摄像参数等等。
S406：获取飞行轨迹信息。
具体地，S406与S201一致，在此不再赘述。
S407：根据飞行轨迹信息确定飞行时间轴及飞行轨迹。
具体地，S407与S202一致，在此不再赘述。
S408：使飞行器按照飞行时间轴、沿着飞行轨迹飞行。
具体地，S408与S203一致，在此不再赘述。
S409：检测是否存在触发飞行器执行预设动作的指令，若是，则使飞行器执行预设动作。
具体地，S408和S409可以是同时进行的。
可选地，触发飞行器执行预设动作的指令包括：飞行器飞行到飞行时间轴上的预设时间点对应的飞行轨迹上的点。例如用户可以在飞行时间轴上选取一个时间点，对该时间点设置预设动作，如降低飞行速度，则飞行器在飞行到该时间点对应的飞行轨迹上的点时，控制飞行器降低飞行速度；或者悬停预设时 间，则在该时间点进行悬停等等。
此外，触发飞行器执行预设动作的指令还可以是飞行器飞行到飞行时间轴上的预设时间段对应的飞行轨迹上的路线段。
可以知道的是，可以在飞行时间轴上选取多个时间点，分别对不同的时间点设置相应的预设动作。
可选地，触发所述飞行器执行预设动作的指令包括：飞行器识别出拍摄画面中存在拍摄对象，且拍摄对象满足触发飞行器执行预设动作的条件。
具体地，拍摄画面为摄像设备拍摄的画面。当识别出拍摄画面中存在拍摄对象，且拍摄对象满足触发飞行器执行预设动作的条件时，则使飞行器执行预设动作。例如，假设拍摄对象为某个人物，触发飞行器执行预设动作的条件为该人物做了某个手势，预设动作为热点追随，那么当飞行器在按照飞行时间轴、沿着飞行轨迹飞行的过程中，若识别出拍摄画面中存在一个人物，且该人物做了某个手势(比如挥手)，则触发飞行器对该人物进行热点跟随，即控制摄像设备朝着该人物进行拍摄。可以知道的是，在朝着该人物进行拍摄的过程中，飞行器依然沿着飞行轨迹飞行。
可选地，触发飞行器执行预设动作的指令包括：接收与飞行器匹配的控制器发送的控制指令；其中，控制指令用于控制飞行器执行预设动作。
具体地，这种触发方式与前两种触发方式不同，不是预先设置好触发的条件，在飞行器后续的飞行过程中自动触发，而是在飞形器飞行的过程中由外界临时触发，例如可以是用户在地面控制设备103输入指令，使飞行器执行预设动作。
实施本申请实施例可以直接在飞行过程中录制飞行轨迹信息，简化航线规划的过程，且在轨迹规划的过程中可以实时查看构图画面，使航线规划的过程更加直观，使飞行器能重复多次执行上述飞行轨迹。此外，可以设置控制飞行器执行预设动作的触发指令，使飞行器在重复执行上述飞行轨迹的过程中自动或者被动的执行预设动作，满足用户的个性化需求，提升用户体验。
上述详细阐述了本申请实施例的方法，下面为了便于更好地实施本申请实施例的上述方案，相应地，下面还提供用于配合实施上述方案的相关装置。
如图5示出的本申请实施例提供的控制飞行器飞行的装置结构示意图，控制飞行器飞行的装置50至少可以包括：获取单元510、确定单元520、飞行单 元530，其中：
获取单元510，用于获取飞行轨迹信息；其中，飞行轨迹信息为预先在飞行器飞行过程中录制的信息。
确定单元520，用于根据飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴，飞行轨迹上的点与所飞行时间轴上的时间点对应。
飞行单元530，用于使飞行器按照飞行时间轴、沿着飞行轨迹飞行。
在一个可能的实施例中，控制飞行器飞行的装置50还包括：
第一接收单元540，用于在获取单元510获取飞行轨迹信息之前，接收开始录制飞行轨迹的指令。
记录保存单元550，用于记录飞行器的飞行轨迹信息；飞行轨迹信息包括飞行时间轴及飞行轨迹。
第二接收单元560，用于接收结束录制飞行轨迹的指令，并保存飞行轨迹信息及所述云台的角度信息。
在一个可能的实施例中，飞行器包括云台；飞行轨迹信息还包括云台的角度信息；其中，云台的角度信息为飞行器在飞行过程中云台的角度信息，云台的角度信息与飞行轨迹对应。
在一个可能的实施例中，控制飞行器飞行的装置50还包括：第三接收单元570，用于在记录保存单元550保存飞行轨迹信息及云台的角度信息之后，接收调整飞行轨迹信息的指令，更新飞行轨迹信息。
在一个可能的实施例中，第三接收单元570具体用于接收调整飞行时间轴的指令；其中，调整飞行时间轴的指令用于调整飞行器在飞行时间轴上的飞行速度和/或调整飞行器在飞行时间轴上的位置。
在一个可能的实施例中，控制飞行器飞行的装置50还包括：执行单元580，用于在飞行器按照飞行时间轴、沿着飞行轨迹飞行的过程中，若检测到存在触发飞行器执行预设动作的指令，则使飞行器执行预设动作。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：飞行器飞行到飞行时间轴上的预设时间点对应的飞行轨迹上的点。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：飞行器识别出拍摄画面中存在拍摄对象，且拍摄对象满足触发飞行器执行预设动作的条 件。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：接收与所述飞行器匹配的控制器发送的控制指令；其中，控制指令用于控制飞行器执行预设动作。
在一个可能的实施例中，控制飞行器飞行的装置50还包括：第四接收单元590，用于在执行单元580使飞行器执行预设动作之前，接收设置触发飞行器执行预设动作的指令。
可理解的是，本实施例的控制飞行器飞行的装置50的各功能模块的功能可根据上述方法实施例中的方法具体实现，此处不再赘述。
如图6示出的本申请实施例提供的飞行轨迹录制装置结构示意图，飞行轨迹录制装置60至少可以包括：第五接收单元610、记录单元620、接收保存单元630，其中：
第五接收单元610，用于接收开始录制飞行轨迹的指令。
记录单元620，用于记录飞行器的飞行轨迹信息；其中，飞行轨迹信息用于使飞行器重复按照飞行时间轴、沿着飞行轨迹飞行；飞行轨迹信息包括飞行时间轴及飞行轨迹，飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴，飞行轨迹上的点与飞行时间轴上的时间点对应。
接收保存单元630，用于接收结束录制飞行轨迹的指令，并保存飞行轨迹信息。
在一个可能的实施例中，飞行轨迹录制装置60还包括第六接收单元640，用于在接收保存单元630保存飞行轨迹信息之后，接收调整飞行轨迹信息的指令，更新飞行轨迹信息。
可理解的是，本实施例的飞行轨迹录制装置60的各功能模块的功能可根据上述方法实施例中的方法具体实现，此处不再赘述。
图7示出了本申请实施例提供的一种控制飞行器飞行的设备结构示意图，控制飞行器飞行的设备70可以包括：至少一个处理器701，例如CPU，至少一个网络接口704，用户接口703，存储器705，至少一个通信总线702，可选地，还可以包括显示屏706。其中，通信总线702用于实现这些组件之间的连接通信。其中，用户接口703可以包括触摸屏、键盘或鼠标等等。网络接口704可选的可以包括标准的有线接口、无线接口(如WI-FI接口)，通过网络 接口704可以与服务器建立通信连接。存储器705可以是高速RAM存储器，也可以是非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器，存储器705包括本发明实施例中的flash。存储器705可选的还可以是至少一个位于远离前述处理器701的存储系统。如图7所示，作为一种计算机存储介质的存储器705中可以包括操作系统、网络通信模块、用户接口模块以及程序指令。
需要说明的是，网络接口704可以连接接收器、发射器或其他通信模块，其他通信模块可以包括但不限于WiFi模块、蓝牙模块等，可以理解，本发明实施例中控制飞行器飞行的设备也可以包括接收器、发射器和其他通信模块等。
处理器701可以用于调用存储器705中存储的程序指令，并执行以下操作：
从存储器705获取本地存储的飞行轨迹信息，或者通过网络接口704从服务器获取飞行轨迹信息；其中，飞行轨迹信息为预先在飞行器飞行过程中录制的信息。
根据飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴，飞行轨迹上的点与飞行时间轴上的时间点对应。
使飞行器按照飞行时间轴、沿着飞行轨迹飞行。
在一个可能的实施例中，处理器701获取飞行轨迹之前，处理器701还用于：
通过接收器接收开始录制飞行轨迹的指令。
记录飞行器的飞行轨迹信息；飞行轨迹信息包括飞行时间轴及飞行轨迹。
通过接收器接收结束录制飞行轨迹的指令，并保存飞行轨迹信息至存储器705。
在一个可能的实施例中，飞行轨迹信息还包括云台的角度信息；其中，云台的角度信息为飞行器在飞行过程中云台的角度信息，云台的角度信息与飞行轨迹对应。
在一个可能的实施例中，处理器701保存飞行轨迹信息及云台的角度信息至存储器705之后，处理器701还用于：通过接收器接收调整飞行轨迹信息的 指令，并在存储器705中更新飞行轨迹信息。
在一个可能的实施例中，处理器701通过接收器接收调整飞行轨迹信息的指令包括：通过接收器接收调整飞行时间轴的指令；其中，调整飞行时间轴的指令用于调整飞行器在飞行时间轴上的飞行速度和/或调整飞行器在飞行时间轴上的位置。
在一个可能的实施例中，处理器701还用于：在飞行器按照飞行时间轴、沿着飞行轨迹飞行的过程中，若检测到存在触发飞行器执行预设动作的指令，则使飞行器执行预设动作。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：飞行器飞行到飞行时间轴上的预设时间点对应的飞行轨迹上的点。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：飞行器识别出拍摄画面中存在拍摄对象，且拍摄对象满足触发飞行器执行预设动作的条件。
在一个可能的实施例中，触发飞行器执行预设动作的指令包括：接收与飞行器匹配的控制器发送的控制指令；其中，控制指令用于控制飞行器执行预设动作。
在一个可能的实施例中，处理器701用于在飞行器按照飞行时间轴、沿着飞行轨迹飞行的过程中，若检测到存在触发飞行器执行预设动作的指令，则使飞行器执行所述预设动作之前，处理器701还用于：通过接收器接收设置触发飞行器执行预设动作的指令。
可理解的是，本实施例的控制飞行器飞行的设备70的功能可根据上述方法实施例中的方法具体实现，此处不再赘述。
图8示出了本申请实施例提供的一种飞行轨迹录制设备结构示意图，飞行轨迹录制设备80可以包括：至少一个处理器801，例如CPU，至少一个网络接口804，用户接口803，存储器805，至少一个通信总线802，可选地，还可以包括显示屏806。其中，通信总线802用于实现这些组件之间的连接通信。其中，用户接口803可以包括触摸屏、键盘或鼠标等等。网络接口804可选的可以包括标准的有线接口、无线接口(如WI-FI接口)，通过网络接口804可以与服务器建立通信连接。存储器805可以是高速RAM存储器，也可以是非 不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器，存储器805包括本发明实施例中的flash。存储器805可选的还可以是至少一个位于远离前述处理器801的存储系统。如图8所示，作为一种计算机存储介质的存储器805中可以包括操作系统、网络通信模块、用户接口模块以及程序指令。
需要说明的是，网络接口804可以连接接收器、发射器或其他通信模块，其他通信模块可以包括但不限于WiFi模块、蓝牙模块等，可以理解，本发明实施例中飞行轨迹录制设备也可以包括接收器、发射器和其他通信模块等。
处理器801可以用于调用存储器805中存储的程序指令，并执行以下操作：
通过接收器接收开始录制飞行轨迹的指令。
记录飞行器的飞行轨迹信息；其中，飞行轨迹信息用于使飞行器重复按照飞行时间轴、沿着飞行轨迹飞行；飞行轨迹信息包括飞行时间轴及飞行轨迹，飞行时间轴为飞行器沿着飞行轨迹飞行的时间轴，飞行轨迹上的点与飞行时间轴上的时间点对应。
通过接收器接收结束录制飞行轨迹的指令，并保存飞行轨迹信息。
在一种可能的实施例中，保存飞行轨迹信息之后，处理器801还用于：接收调整飞行轨迹信息的指令，更新飞行轨迹信息。
可理解的是，本实施例的飞行轨迹录制设备80的功能可根据上述方法实施例中的方法具体实现，此处不再赘述。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体RAM等。在不冲突的情况下，本实施例和实施方案中的技术特征可以任意组合。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (26)

  1. 一种控制飞行器飞行的方法，其特征在于，包括：
    获取飞行轨迹信息；其中，所述飞行轨迹信息为预先在飞行器飞行过程中录制的信息；
    根据所述飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
    使所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行。
  2. 如权利要求1所述的方法，其特征在于，所述获取飞行轨迹信息之前，所述方法还包括：
    接收开始录制飞行轨迹的指令；
    记录所述飞行器的飞行轨迹信息；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹；
    接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
  3. 如权利要求2所述的方法，其特征在于，所述飞行器包括云台；
    所述飞行轨迹信息还包括云台的角度信息；其中，所述云台的角度信息为所述飞行器在飞行过程中云台的角度信息，所述云台的角度信息与所述飞行轨迹对应。
  4. 如权利要求2或3所述的方法，其特征在于，所述保存飞行轨迹信息之后，所述方法还包括：接收调整所述飞行轨迹信息的指令，更新所述飞行轨迹信息。
  5. 如权利要求4所述的方法，其特征在于，所述接收调整所述飞行轨迹信息的指令包括：接收调整所述飞行时间轴的指令；其中，所述调整所述飞行时间轴的指令用于调整所述飞行器在所述飞行时间轴上的飞行速度和/或调整所述飞行器在所述飞行时间轴上的位置。
  6. 如权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    在所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行的过程中，若检测到存在触发所述飞行器执行预设动作的指令，则使所述飞行器执行所述预设动作。
  7. 如权利要求6所述的方法，其特征在于，所述触发所述飞行器执行预设动作的指令包括：所述飞行器飞行到所述飞行时间轴上的预设时间点对应的飞行轨迹上的点。
  8. 如权利要求6所述的方法，其特征在于，所述飞行器包括摄像设备，所述摄像设备用于获取拍摄画面；
    所述触发所述飞行器执行预设动作的指令包括：所述飞行器识别出所述拍摄画面中存在拍摄对象，且所述拍摄对象满足触发所述飞行器执行所述预设动作的条件。
  9. 如权利要求6所述的方法，其特征在于，所述触发所述飞行器执行预设动作的指令包括：接收与所述飞行器匹配的控制器发送的控制指令；其中，所述控制指令用于控制所述飞行器执行预设动作。
  10. 如权利要求6-9任一项所述的方法，其特征在于，所述在所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行的过程中，若检测到存在触发所述飞行器执行预设动作的指令，则使所述飞行器执行所述预设动作之前，所述方法还包括：接收设置触发所述飞行器执行预设动作的指令。
  11. 一种飞行器飞行轨迹录制方法，其特征在于，包括：
    接收开始录制飞行轨迹的指令；
    记录飞行器的飞行轨迹信息；其中，所述飞行轨迹信息用于使所述飞行器重复按照所述飞行时间轴、沿着所述飞行轨迹飞行；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
    接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
  12. 如权利要求11所述的方法，其特征在于，所述保存飞行轨迹信息之后，所述方法还包括：接收调整所述飞行轨迹信息的指令，更新所述飞行轨迹信息。
  13. 一种控制飞行器飞行的设备，其特征在于，包括：
    存储器，用于存储程序指令；
    处理器，用于调用所述存储器中的程序指令并执行：
    获取飞行轨迹信息；其中，所述飞行轨迹信息为预先在飞行器飞行过程中录制的信息；
    根据所述飞行轨迹信息确定飞行时间轴及飞行轨迹；其中，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
    使所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行。
  14. 如权利要求13所述的设备，其特征在于，所述处理器获取飞行轨迹之前，所述处理器还用于：
    接收开始录制飞行轨迹的指令；
    记录所述飞行器的飞行轨迹信息；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹；
    接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
  15. 如权利要求14所述的设备，其特征在于，所述飞行器包括云台；
    所述飞行轨迹信息还包括云台的角度信息；其中，所述云台的角度信息为所述飞行器在飞行过程中云台的角度信息，所述云台的角度信息与所述飞行轨迹对应。
  16. 如权利要求14或15所述的设备，其特征在于，所述处理器保存所述飞行轨迹信息及所述云台的角度信息之后，所述处理器还用于：接收调整所述飞行轨迹信息的指令，更新所述飞行轨迹信息。
  17. 如权利要求16所述的设备，其特征在于，所述处理器接收调整所述飞行轨迹信息的指令包括：接收调整所述飞行时间轴的指令；其中，所述调整所述飞行时间轴的指令用于调整所述飞行器在所述飞行时间轴上的飞行速度和/或调整所述飞行器在所述飞行时间轴上的位置。
  18. 如权利要求13-17任一项所述的设备，其特征在于，所述处理器还用于：在所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行的过程中，若检测到存在触发所述飞行器执行预设动作的指令，则使所述飞行器执行所述预设动作。
  19. 如权利要求18所述的设备，其特征在于，所述触发所述飞行器执行预设动作的指令包括：所述飞行器飞行到所述飞行时间轴上的预设时间点对应的飞行轨迹上的点。
  20. 如权利要求18所述的设备，其特征在于，所述飞行器包括摄像设备，所述摄像设备用于获取拍摄画面；
    所述触发所述飞行器执行预设动作的指令包括：所述飞行器识别出所述拍摄画面中存在拍摄对象，且所述拍摄对象满足触发所述飞行器执行所述预设动作的条件。
  21. 如权利要求18所述的设备，其特征在于，所述触发所述飞行器执行预设动作的指令包括：接收与所述飞行器匹配的控制器发送的控制指令；其中，所述控制指令用于控制所述飞行器执行预设动作。
  22. 如权利要求18-21任一项所述的设备，其特征在于，所述处理器用于在所述飞行器按照所述飞行时间轴、沿着所述飞行轨迹飞行的过程中，若检测到存在触发所述飞行器执行预设动作的指令，则使所述飞行器执行所述预设动作之前，所述处理器还用于：接收设置触发所述飞行器执行预设动作的指令。
  23. 一种飞行器飞行轨迹录制设备，其特征在于，包括：
    存储器，用于存储程序指令；
    处理器，用于调用所述存储器中的程序指令并执行：
    接收开始录制飞行轨迹的指令；
    记录飞行器的飞行轨迹信息；其中，所述飞行轨迹信息用于使所述飞行器重复按照所述飞行时间轴、沿着所述飞行轨迹飞行；所述飞行轨迹信息包括所述飞行时间轴及所述飞行轨迹，所述飞行时间轴为所述飞行器沿着所述飞行轨迹飞行的时间轴，所述飞行轨迹上的点与所述飞行时间轴上的时间点对应；
    接收结束录制飞行轨迹的指令，并保存所述飞行轨迹信息。
  24. 如权利要求23所述的设备，其特征在于，所述保存飞行轨迹信息之后，所述处理器还用于：接收调整所述飞行轨迹信息的指令，更新所述飞行轨迹信息。
  25. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-10任一项所述的控制飞行器飞行的方法。
  26. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求11-12任一项所述的飞行器飞行轨迹录制方法。
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