WO2020244648A1

WO2020244648A1 - Aerial vehicle control method and apparatus, and aerial vehicle

Info

Publication number: WO2020244648A1
Application number: PCT/CN2020/094763
Authority: WO
Inventors: 钟自鸣
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-06-06
Filing date: 2020-06-05
Publication date: 2020-12-10
Also published as: CN110162075B; CN110162075A

Abstract

An aerial vehicle control method and apparatus, and an aerial vehicle. The method comprises: obtaining a virtual crane arm parameter (301); determining the movement information of a virtual crane arm according to the virtual crane arm parameter (302); receiving a flight control command (303); and according to the flight control command and the movement information of the virtual crane arm, flying in accordance with the movement of the virtual crane arm (304). The movement of the virtual crane arm is implemented by means of the flight of the aerial vehicle, a real physical crane arm can be can replaced, physical limitations can be eliminated, a variable virtual arm length is achieved, and the storage, transportation and use space problems caused by the physical arm length of the crane arm can be avoided. Moreover, because the aerial vehicle flies in accordance with the movement of the virtual crane arm, a conventional image capture person can get started at the fastest speed without the experience of remote manipulation of the aerial vehicle to manipulate the aerial vehicle to achieve photography based on a crane arm.

Description

Aircraft control method, device and aircraft

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on June 6, 2019, the application number is 201910491800.0, and the application name is "An aircraft control method, device and aircraft", the entire content of which is incorporated herein by reference Applying.

Technical field

This application relates to the technical field of aircraft, and in particular to an aircraft control method, device and aircraft.

Background technique

As a camera supporting device, the rocker arm is a large auxiliary shooting equipment commonly used in large-scale film and television works such as TV dramas, movies, and advertisements, and can achieve all-round scene shooting. The common camera and photographic auxiliary equipment in life is a tripod. Its function is to fix the camera position, adjust the level, and facilitate the photographer to push, pull and pan. The rocker arm adds a lifting function on the basis of the tripod, and makes the lens shake Time can get a larger range of activities than a tripod, so that you can shoot magnificent and atmospheric scenes. The range of motion of the rocker arm camera completely depends on the physical size of the rocker arm, but the physical size is closely related to the storage, transportation and use space of the rocker arm. Nowadays, most rocker arms have long arms and heavy weights, so they are "a big move" in use.

With the development of flight technology, aircraft, for example, Unmanned Aerial Vehicle (UAV), also known as UAV, has been widely used. UAV is a new concept equipment under rapid development. It has the advantages of small size, light weight, flexible maneuverability, fast response and low operational requirements. The drone is equipped with multiple types of camera equipment through the PTZ, which can realize real-time image transmission.

As the core sports carrying platform of aerial cameras, drones have high maneuverability and large range of activities, which also leads to too "free" aerial photography of drones. Traditional image shooters basically do not have superb flight control experience and are difficult to use. The existing UAV joystick control method achieves the shooting effect of the traditional rocker arm, which also means that it is difficult for the existing aerial drones to directly replace the traditional rocker camera.

Summary of the invention

In order to solve the above technical problems, the present invention provides an aircraft control method, device, and aircraft, which replace the real physical rocker with a virtual rocker arm.

The embodiments of the present invention disclose the following technical solutions:

In the first aspect, an embodiment of the present invention provides an aircraft control method applied to an aircraft, including:

Obtain virtual rocker parameters;

Determine the motion trajectory information of the virtual rocker arm according to the virtual rocker arm parameters;

Receive flight control commands;

According to the flight control command and the motion trajectory information of the virtual rocker arm, fly according to the motion trajectory of the virtual rocker arm.

In some embodiments, the virtual rocker arm parameters include at least one of the following parameters:

The rocker arm length, the boom length, the distance between the aircraft and the positioning point, the position of the aircraft, and the position of the positioning point, wherein the positioning point refers to the fulcrum of the virtual rocker arm, and the virtual rocker arm circles the positioning point When rotating, the rocker arm length refers to the arm length of the virtual rocker arm, and the boom length refers to the flying height range of the aircraft.

In some embodiments, the anchor point includes at least one of the following:

The specified space coordinate point and the specified target object.

In some embodiments, the acquiring the virtual rocker arm parameters includes:

Acquire the virtual rocker parameter according to the user's setting operation.

In some embodiments, the acquiring the virtual rocker arm parameters includes:

The position of the aircraft and the position of the positioning point are detected to obtain the virtual rocker arm parameters.

In some embodiments, the detecting the position of the aircraft and the position of the anchor point to obtain the virtual rocker arm parameter includes:

The position of the aircraft and the position of the positioning point are detected to obtain the distance between the aircraft and the positioning point.

In some embodiments, the detecting the position of the positioning point of the aircraft to obtain the distance between the aircraft and the positioning point includes:

Directly measure the distance between the aircraft and the positioning point by laser or infrared; or

The coordinate position of the aircraft and the coordinate position of the positioning point are respectively obtained through a satellite positioning system, and the distance between the aircraft and the positioning point is determined according to the coordinate position of the aircraft and the coordinate position of the positioning point.

In some embodiments, the motion trajectory information of the virtual rocker arm includes at least one of the following:

The flight radius, flight altitude, flight altitude range and location of the positioning point of the aircraft.

In some embodiments, the flying according to the motion trajectory of the virtual rocker arm according to the flight control command and the motion trajectory information of the virtual rocker arm includes:

Mapping the flight control command to a virtual rocker control command;

According to the virtual rocker arm control command, take the position of the positioning point as the center of the circle, and fly according to the flying height and flying radius of the aircraft; or

According to the virtual rocker arm control command, within the flying height range, fly upward or downward.

In some embodiments, the mapping the flight control command to a virtual rocker control command includes:

When the flight control command is to fly forward or to the right, map the flight control command to a right turn command of the virtual rocker;

When the flight control command is to fly backward or to the left, map the flight control command to a left turn command of the virtual rocker;

When the flight control command is upward flight, mapping the flight control command to the upward command of the virtual rocker;

When the flight control command is downward flight, the flight control command is mapped to the downward command of the virtual rocker arm.

In some embodiments, the flight control command includes the flight speed of the aircraft, and the method further includes:

The flight speed of the aircraft is adjusted in real time according to the flight speed indicated by the flight control command.

In some embodiments, the method further includes:

The position of the positioning point is detected, and when the position of the positioning point moves, the positioning point is synchronized to fly.

In some embodiments, the synchronous flight following the positioning point includes:

Fly synchronously according to the moving direction and moving speed of the positioning point.

In the second aspect, an embodiment of the present invention provides an aircraft control device applied to an aircraft, including:

Obtaining module for obtaining virtual rocker parameters;

A determining module, configured to determine the motion trajectory information of the virtual rocker arm according to the parameters of the virtual rocker arm;

The receiving module is used to receive flight control commands;

The control module is used for flying according to the motion trajectory of the virtual rocker arm according to the flight control command and the motion trajectory information of the virtual rocker arm.

In some embodiments, the anchor point includes at least one of the following:

The specified space coordinate point and the specified target object.

In some embodiments, the acquisition module is used to:

Acquire the virtual rocker parameter according to the user's setting operation.

In some embodiments, the acquisition module is used to:

In some embodiments, the control module is used to:

Mapping the flight control command to a virtual rocker control command;

In some embodiments, the control module is used to:

In some embodiments, the flight control command includes the flight speed of the aircraft, and the control module is further used for:

In some embodiments, the control module is also used for:

In some embodiments, the control module is used to:

In the second aspect, an embodiment of the present invention provides an aircraft, including:

body;

An arm, connected to the fuselage;

The power plant is arranged on the arm;

At least one processor located in the body; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1-13. Methods.

The embodiment of the present invention includes: acquiring virtual rocker arm parameters; determining the motion trajectory information of the virtual rocker arm according to the virtual rocker arm parameters; receiving flight control commands; according to the flight control command and the motion trajectory information of the virtual rocker arm, Fly according to the motion trajectory of the virtual rocker arm. The embodiment of the present invention realizes the movement of the virtual rocker arm through the flight of the aircraft, which can replace the real physical rocker arm, can get rid of physical limitations, realize the variable virtual arm length, and can avoid the storage, transportation and the physical arm length of the rocker arm. Use space issues. Moreover, because the aircraft flies in accordance with the motion trajectory of the virtual rocker arm, it is possible for traditional imaging personnel to get started at the fastest speed without the experience of remote control of the aircraft, and manipulate the aircraft to achieve rocker shooting.

Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the specification, claims and drawings.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the technical solution of the present invention, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

Figure 1 is a schematic diagram of a drone provided by an embodiment of the present invention;

Figure 2 is a schematic diagram of the architecture of a drone provided by an embodiment of the present invention;

3 is a schematic flowchart of an aircraft control method provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of a rocker triangle provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of the movement track of a virtual rocker provided by an embodiment of the present invention;

6 is a schematic flowchart of another aircraft control method provided by an embodiment of the present invention;

FIG. 7 is a schematic diagram of positioning point movement provided by an embodiment of the present invention;

Figure 8 is a schematic diagram of an aircraft control device provided by an embodiment of the present invention;

Figure 9 is a schematic diagram of the aircraft hardware structure provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily if there is no conflict.

The steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer-executable instructions. And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.

The embodiment of the present invention provides an aircraft control method, device and aircraft. The aircraft control method can be applied to various aircraft. The following description of the present invention uses an unmanned aerial vehicle (UAV) as an example of the aircraft. It will be obvious to those skilled in the art that other types of aircraft can be used without limitation, and the embodiments of the present invention can be applied to various types of UAVs. For example, the UAV may be a small UAV. In some embodiments, the UAV may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through the air. The embodiment of the present invention is not limited to this, and the UAV may also be other types of UAV or Removable device.

Please refer to FIG. 1 and FIG. 2, which are schematic diagrams of the drone 100 according to an embodiment of the present invention.

The UAV 100 may include a frame 110, a power system 120, a flight control system 130, a pan/tilt 140, an image acquisition device 150, and the like. Wherein, the flight control system 130 is installed in the frame 110, and the pan/tilt 140 is installed in the frame 110. The flight control system 130 can be coupled with the power system 120, the pan/tilt 140, and the image acquisition device 150 to achieve communication.

The frame 110 may include a fuselage and a tripod (also referred to as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage and used for supporting the UAV 100 when it is landed.

The power system 120 may include an electronic governor (referred to as an ESC) 121, one or more propellers 123, and one or more motors 122 corresponding to the one or more propellers 123, wherein the motor 122 is connected to the electronic governor 121 and the propeller 123, the motor 122 and the propeller 123 are arranged on the corresponding arm; the electronic governor 121 is used to receive the driving signal generated by the flight control system 130, and according to the driving signal to provide a driving current to the motor 122 to control The speed of the motor 122. The motor 122 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 100, and the power enables the drone 100 to realize one or more degrees of freedom of movement. In some embodiments, the drone 100 may rotate around one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis, a pan axis, and a pitch axis. It can be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor.

The flight control system 130 may include a flight controller 131 and a sensing system 132. The sensing system 132 is used to measure the attitude information of the drone 100, that is, the position information and state information of the drone 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 132 may include, for example, at least one of sensors such as a gyroscope, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The flight controller 131 is used to control the flight of the drone 100, for example, it can control the flight of the drone 100 according to the attitude information measured by the sensor system 132. It is understandable that the flight controller 131 can control the drone 100 according to pre-programmed program instructions, and can also control the drone 100 by responding to one or more control instructions from other devices.

The pan/tilt head 140 may include an electric regulator 141 and a motor 142. The pan-tilt 140 is used to carry the image acquisition device 150. The flight controller 131 can control the movement of the pan/tilt head 140 through the ESC 141 and the motor 142. Optionally, in some other embodiments, the pan/tilt head 140 may further include a controller for controlling the movement of the pan/tilt head 140 by controlling the ESC 141 and the motor 142. It is understandable that the pan/tilt head 140 may be independent of the drone 100 or a part of the drone 100. It can be understood that the motor 142 may be a DC motor or an AC motor. In addition, the motor 142 may be a brushless motor or a brush motor. It is also understandable that the pan-tilt 140 may be located at the top of the rack 110 or at the bottom of the rack 110.

The image acquisition device 150 may be a device for acquiring images, such as a camera or a video camera. The image acquisition device 150 may communicate with the flight control system 130 and take pictures under the control of the flight control system 130.

It can be understood that the above-mentioned naming of the components of the drone 100 is only for identification purposes, and should not be understood as a limitation to the embodiments of the present invention.

Example 1:

FIG. 3 is a schematic flowchart of an aircraft control method provided by an embodiment of the present invention. The aircraft control method of the embodiment of the present invention can be executed by the various components in the above-mentioned drone, which is not limited herein.

Please refer to Figure 3, the aircraft control method includes:

Step 301: Obtain virtual rocker parameters.

Referring to FIG. 4, the virtual rocker arm parameters may include at least one of the following parameters: rocker arm length, boom length, the distance between the aircraft and the positioning point, the position of the aircraft, and the position of the positioning point.

Among them, the rocker arm length is the arm length of the virtual rocker arm, which is the length from the apex of the boom to the positioning point. The boom length is the range within which the virtual rocker arm can be raised and lowered, and corresponds to the flying height range of the aircraft in the embodiment of the present invention.

The anchor point refers to the fulcrum of the virtual rocker arm, that is, the virtual rocker arm rotates around the anchor point.

The anchor point can be set as a designated space coordinate point or a designated target object.

Among them, the spatial coordinate point may refer to a coordinate point composed of longitude, latitude, and height.

The specified target object may be an object, for example, it may be a remote control, a user terminal (such as a mobile phone), etc., or an operator, specifically, the palm, arm, head, etc. of the operator.

In step 301, the virtual rocker arm parameters can be acquired according to the user's setting operation. For example, the user sets all or part of the virtual rocker arm parameters through an application (App) in the user terminal, and transmits the set parameters to the aircraft.

Through the embodiment of the present invention, the virtual rocker arm parameters, such as the rocker arm length, can be set according to the user's setting operation, which can get rid of physical limitations and realize variable virtual arm length.

It is also possible to obtain the virtual rocker arm parameters by detecting the position of the aircraft and the position of the positioning point.

Wherein, the position of the aircraft and the position of the positioning point may be detected through a variety of detection methods to obtain the distance between the aircraft and the positioning point.

For example, when the virtual rocker arm parameter includes the distance between the aircraft and the positioning point, the distance between the aircraft and the positioning point is directly measured by laser or infrared rays.

Specifically, optical transceivers can be installed at both ends of the aircraft and the positioning point, and by emitting laser or infrared at one end and receiving at the other end, the distance between the aircraft and the positioning point can be measured.

It is also possible to obtain the coordinate position of the aircraft and the coordinate position of the anchor point through a satellite positioning system, and determine the distance between the aircraft and the anchor point according to the coordinate position of the aircraft and the coordinate position of the anchor point.

The satellite positioning system can be GPS or Beidou system. The coordinate position of the aircraft can be obtained through the sensor system of the aircraft.

The coordinate position may include longitude, latitude, and altitude.

Step 302: Determine the motion trajectory information of the virtual rocker arm according to the virtual rocker arm parameters.

Wherein, the motion track information of the virtual rocker arm may include:

Please refer to FIG. 4 again, the triangle of the rocker arm can be determined according to the parameters of the virtual rocker arm, and then the motion trajectory information of the virtual rocker arm can be determined.

The three vertices of the rocker triangle are respectively: the anchor point, the aircraft and the top of the boom. According to the parameters of the virtual rocker arm, the three side lengths of the rocker arm triangle can be obtained, and then the rocker arm triangle is determined, thereby determining the motion trajectory information of the virtual rocker arm.

5, the range of the motion trajectory of the virtual rocker arm may be a cylindrical surface formed by the above-mentioned rocker arm triangle.

The range of the motion trajectory of the virtual rocker arm may be a part of a cylindrical surface. For example, if the rocking range of the virtual rocker arm is set in the range of ±90 degrees, the aircraft can only fly within a range of 180 degrees around the positioning point.

Step 303: Receive a flight control command.

The flight control command may be: a lever amount command of the remote control, a voice command, an operation command of an application program, a somatosensory operation command, and the like.

Wherein, the lever amount command of the remote control refers to the command of the joystick of the remote control. By pulling the joystick, different lever amount commands can be issued to instruct the aircraft to rise, fall, forward, backward, and left. , Turn right, turn left, turn right, etc.

The voice command may be a voice command issued by the operator, such as up, down, left, right, etc.

The operation command of the application program may be that the operator performs a setting operation through an application program (App) in the user terminal, for example, by sliding or tapping on the touch screen of the user terminal to indicate the flying direction of the aircraft.

The somatosensory operation command may be a gesture instruction of the operator. For example, the operator makes an action of waving his arm to the left to instruct the aircraft to fly to the left, and the operator makes an action of waving his arm downwards to instruct the aircraft to fly downward.

Step 304: According to the flight control command and the motion trajectory information of the virtual rocker arm, fly according to the motion trajectory of the virtual rocker arm.

In an embodiment of the present invention, the flight control command is mapped to a virtual rocker control command according to the motion trajectory information of the virtual rocker arm, and the position of the positioning point is taken as the center of the circle according to the virtual rocker arm control command, Fly according to the flying height and flying radius of the aircraft, or according to the virtual rocker control command, within the flying height range, flying upwards or downwards.

Under normal circumstances, the flight control command can instruct the aircraft itself to ascend, descend, forward, backward, left, right, turn left, turn right, etc. The embodiment of the present invention emphasizes the flight behavior of the aircraft. By setting the rocker arm length and other parameters, the rocker triangle formed by the virtual rocker arm can be obtained. When the flight control command is received, the flight control command is mapped to the virtual rocker arm control command, for example, the drone remote control The command channel is remapped according to the rocker controller, so that traditional image shooters who do not have experience in drone remote control can get started at the fastest speed.

When the aircraft simulates the motion of the rocker arm, the aircraft flies according to the motion trajectory of the virtual rocker arm, that is, when the flight control command instructs the aircraft to move forward, backward, left or right, the flight control command is converted into the corresponding virtual Rocker arm control command, fly along the preset virtual rocker arm's trajectory, that is, arc.

In an embodiment of the present invention, the flight control command can be mapped to a virtual rocker control command in the following manner:

In an embodiment of the present invention, the right turn command of the virtual rocker arm is for the aircraft to fly in a clockwise direction, with the positioning point as the center, according to the flying height and flying radius of the aircraft;

The left turn command of the virtual rocker arm is for the aircraft to fly in a counterclockwise direction, with the positioning point as the center, according to the flying height and the flying radius of the aircraft;

The upward command of the virtual rocker is for the aircraft to fly upward within the preset flying height range;

The downward command of the virtual rocker arm is for the aircraft to fly downward within the preset flying height range.

In an embodiment of the present invention, the flight control command includes the flight speed of the aircraft, and the flight speed of the aircraft is adjusted in real time according to the flight speed indicated by the flight control command.

Wherein, when the aircraft receives a flight control command, the straight-line flight speed is determined according to the flight control command, and when the flight control command is flying forward, right, backward, or right, the straight-line flight speed is converted into an arc The tangential speed of the line flight is flying according to the tangential speed. Among them, the arc is the arc with the positioning point as the center of the circle and the flying height and flying radius of the aircraft. When the speed indicated by the flight control command is adjusted, the tangential speed of the aircraft flying along the arc is adjusted accordingly.

In addition, when the flight control command is a left turn or a right turn, the nose direction can be adjusted according to the flight control command, but the flight trajectory remains unchanged. In this way, the camera angle of the aircraft can be adjusted accordingly.

In addition to flight control commands, the aircraft can also receive camera control commands, such as changing the camera focal length, aperture, and controlling the camera's horizontal rotation, vertical tilt and other operation control commands, and control the camera to shoot accordingly through these control commands.

The aircraft flies according to the motion trajectory of the virtual rocker arm. The motion of the aircraft is restricted by the geometric constraints of the real rocker arm. For example, it can only move on a cylindrical surface outside a fixed radius with the remote control as the center. However, the motion behavior and control method are no different from the effects of the traditional rocker arm. It allows traditional image shooters to get started at the fastest speed without the experience of remote control of the aircraft, and manipulate the aircraft to achieve rocker shooting.

Example 2:

FIG. 6 is a schematic flowchart of another aircraft control method according to an embodiment of the present invention. Another aircraft control method in the embodiment of the present invention may be executed by a drone, and the embodiment of the present invention is not limited to this.

Referring to FIG. 6, the aircraft control method includes:

Step 601: Obtain virtual rocker parameters.

The virtual rocker arm parameters may include at least one of the following parameters: rocker arm length, boom length, distance between the aircraft and the positioning point, the position of the aircraft, and the position of the positioning point.

In step 601, the virtual rocker arm parameters can be acquired according to the user's setting operation. For example, the user sets all or part of the virtual rocker arm parameters through an application (App) in the user terminal, and transmits the set parameters to the aircraft.

The satellite positioning system can be GPS or Beidou system. The coordinate position and height of the aircraft can be obtained through the sensor system of the aircraft.

The coordinate position may include longitude, latitude, and altitude.

Step 602: Determine the motion trajectory information of the virtual rocker arm according to the virtual rocker arm parameters.

Wherein, the motion track information of the virtual rocker arm may include:

According to the parameters of the virtual rocker arm, the triangle of the rocker arm can be determined, and then the motion trajectory information of the virtual rocker arm can be determined.

The range of the motion track of the virtual rocker arm may be a cylindrical surface formed by the above-mentioned rocker arm triangle.

Step 603: Receive a flight control command.

Step 604: According to the flight control command and the motion trajectory information of the virtual rocker arm, fly according to the motion trajectory of the virtual rocker arm.

The aircraft flies in accordance with the motion trajectory of the virtual rocker arm. The motion of the aircraft is as restricted by the geometric constraints of the real rocker arm. For example, it can only move on a cylindrical surface with a remote controller as the center and outside a fixed radius. The rocker arm, but the motion behavior and control method are no different from the effect of the traditional rocker arm, which allows traditional image shooters to get started at the fastest speed without the experience of remote control of the aircraft, and manipulate the aircraft to achieve rocker shooting.

Step 605: Detect the position of the anchor point, and when the position of the anchor point moves, follow the anchor point to fly synchronously.

Among them, the location of the anchor point can be detected by means of satellite positioning or image recognition. For example, when the positioning point is a remote control, the position change can be detected in real time according to the satellite positioning module (such as a GPS module) in the remote control; when the positioning point is an operator, the position of the operator can be detected in real time according to image recognition.

In an embodiment of the present invention, when the position of the positioning point moves, the flight is synchronized according to the moving direction and moving speed of the positioning point.

Please refer to Figure 7. When the position of the anchor point moves, the moving direction and speed of the aircraft are the same as the anchor point, that is to say, the movement of the anchor point is used as the plane moving speed of the entire system, and the effect is equivalent to the photographer Pushing the entire rocker arm camera system to move, compared to pushing a real rocker arm to move, the method in the embodiment of the present invention is obviously more flexible, lighter, and without real physical burden.

Example 3:

Fig. 8 is a schematic diagram of an aircraft control device provided by an embodiment of the present invention. Wherein, the device can be configured in the above-mentioned aircraft.

Referring to Figure 8, the aircraft control device includes:

The obtaining module 801 is used to obtain virtual rocker parameters.

In an embodiment of the present invention, the virtual rocker arm parameters include at least one of the following parameters:

Rocker arm length, boom length, the distance between the aircraft and the positioning point, the position of the aircraft and the positioning point.

In an embodiment of the present invention, the acquiring module 801 is configured to acquire virtual rocker parameters in at least one of the following ways:

Acquiring the virtual rocker parameters according to the user's setting operation;

For example, the user sets all or part of the virtual rocker parameters through an application (App) in the user terminal, and transmits the set parameters to the aircraft.

In an embodiment of the present invention, the obtaining module 801 is configured to:

In an embodiment of the present invention, the acquisition module is configured to:

The determining module 802 is configured to determine the motion trajectory information of the virtual rocker arm according to the parameters of the virtual rocker arm.

In an embodiment of the present invention, the motion track information of the virtual rocker arm includes:

According to the parameters of the virtual rocker arm, the triangle of the rocker arm can be determined, and then the motion track information of the virtual rocker arm can be determined.

The receiving module 803 is used to receive flight control commands.

The control module 804 is configured to fly according to the motion trajectory of the virtual rocker arm according to the flight control command and the motion trajectory information of the virtual rocker arm.

In an embodiment of the present invention, the control module 804 is configured to:

Mapping the flight control command to a virtual rocker control command;

In an embodiment of the present invention, the flight control command includes the flight speed of the aircraft, and the control module 804 is further used for:

In an embodiment of the present invention, the control module 804 is further configured to:

When the position of the anchor point moves, the moving direction and speed of the aircraft are the same as the anchor point, that is to say, the movement of the anchor point is taken as the plane moving speed of the entire system. The effect is equivalent to the photographer pushing the entire rocker arm The camera system moves, compared to pushing a real rocker arm to move, the method in the embodiment of the present invention is obviously more flexible and lighter and has no real physical burden.

Example 4:

Figure 9 is a schematic diagram of the aircraft hardware structure provided by an embodiment of the present invention. The aircraft may be a drone or the like. As shown in Figure 9, the aircraft includes:

Body 90;

The arm 91 is connected to the fuselage 90;

The power unit 911 is arranged on the arm 91;

One or more processors 901 are provided in the body 90; and

A memory 902 communicatively connected with the processor 901.

In FIG. 9, a processor 901 is taken as an example.

The processor 901 and the memory 902 may be connected through a bus or in other ways. In FIG. 9, the connection through a bus is taken as an example.

The memory 902, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the shooting control method provided in the embodiments of the present invention /Module (for example, the acquisition module 801, the determination module 802, the receiving module 803, and the control module 804 shown in FIG. 8). The processor 901 executes various functional applications and data processing of the aircraft by running the non-volatile software programs, instructions, and modules stored in the memory 902, that is, implements the aircraft control method provided by the method embodiment.

The memory 902 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the aircraft. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 902 may optionally include a memory remotely provided with respect to the processor 901, and these remote memories may be connected to the aircraft through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 902, and when executed by the one or more processors 901, the aircraft control method provided in the embodiment of the present invention is executed, for example, the above-described Steps 601 to 605 of the method, or implement the functions of modules 801-804 in FIG. 8.

Exemplarily, the aircraft may further include a communication interface, which is used to implement communication with other devices, such as a server. Other devices included in the aircraft are not limited here.

The aircraft can execute the aircraft control method provided by the embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in the aircraft embodiment, please refer to the aircraft control method provided in the embodiment of the present invention.

The embodiment of the present invention provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are When the aircraft is executed, the aircraft is caused to execute the aircraft control method provided by the embodiment of the present invention. For example, the method steps 601 to 605 in FIG. 6 described above are executed, or the functions of modules 801-804 in FIG. 8 are realized.

The embodiment of the present invention provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make an aircraft execute the aircraft provided by the embodiments of the present invention Control Method. For example, the method steps 601 to 605 in FIG. 6 described above are executed, or the functions of modules 801-804 in FIG. 8 are realized.

It should be noted that the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physically separate. Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above embodiments, a person of ordinary skill in the art can clearly understand that each embodiment can be implemented by software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the method of the embodiments can be implemented by a computer program instructing relevant hardware. The program can be stored in a computer readable storage medium, and the program is executed At this time, it may include the flow of the embodiment of each method as described. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, the ordinary The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not divorce the essence of the corresponding technical solutions from the implementations of the present invention Examples of the scope of technical solutions.

Claims

An aircraft control method, applied to an aircraft, includes:

Obtain virtual rocker parameters;

Determine the motion trajectory information of the virtual rocker arm according to the virtual rocker arm parameters;

Receive flight control commands;

According to the flight control command and the motion trajectory information of the virtual rocker arm, fly according to the motion trajectory of the virtual rocker arm.
The method according to claim 1, wherein the virtual rocker parameter includes at least one of the following parameters:

The rocker arm length, the boom length, the distance between the aircraft and the positioning point, the position of the aircraft, and the position of the positioning point, wherein the positioning point refers to the fulcrum of the virtual rocker arm, and the virtual rocker arm circles the positioning point When rotating, the rocker arm length refers to the arm length of the virtual rocker arm, and the boom length refers to the flying height range of the aircraft.
The method according to claim 2, wherein the positioning point comprises at least one of the following:

The specified space coordinate point and the specified target object.
The method according to any one of claims 1 to 3, wherein said obtaining said virtual rocker arm parameters comprises:

Acquire the virtual rocker parameter according to the user's setting operation.
The method according to claim 2 or 3, wherein said obtaining said virtual rocker arm parameters comprises:

The position of the aircraft and the position of the positioning point are detected to obtain the virtual rocker arm parameters.
The method according to claim 5, wherein the detecting the position of the aircraft and the position of the positioning point to obtain the virtual rocker arm parameter comprises:

The position of the aircraft and the position of the positioning point are detected to obtain the distance between the aircraft and the positioning point.
The method according to claim 6, wherein the detecting the position of the positioning point of the aircraft to obtain the distance between the aircraft and the positioning point comprises:

Directly measure the distance between the aircraft and the positioning point by laser or infrared; or

The coordinate position of the aircraft and the coordinate position of the positioning point are respectively obtained through a satellite positioning system, and the distance between the aircraft and the positioning point is determined according to the coordinate position of the aircraft and the coordinate position of the positioning point.
The method according to claim 1, wherein the motion track information of the virtual rocker arm includes at least one of the following:

The flight radius, flight altitude, flight altitude range and location of the positioning point of the aircraft.
The method according to claim 8, wherein the flying according to the motion trajectory of the virtual rocker arm according to the flight control command and the motion trajectory information of the virtual rocker arm comprises:

Mapping the flight control command to a virtual rocker control command;

According to the virtual rocker arm control command, take the position of the positioning point as the center of the circle, and fly according to the flying height and flying radius of the aircraft; or

According to the virtual rocker arm control command, within the flying height range, fly upward or downward.
The method according to claim 9, wherein the mapping the flight control command to a virtual rocker control command comprises:

When the flight control command is to fly forward or to the right, map the flight control command to a right turn command of the virtual rocker;

When the flight control command is to fly backward or to the left, map the flight control command to a left turn command of the virtual rocker;

When the flight control command is upward flight, mapping the flight control command to the upward command of the virtual rocker;

When the flight control command is downward flight, the flight control command is mapped to the downward command of the virtual rocker arm.
The method according to claim 1, wherein the flight control command includes the flight speed of the aircraft, and the method further comprises:

The flight speed of the aircraft is adjusted in real time according to the flight speed indicated by the flight control command.
The method of claim 2, wherein the method further comprises:

The position of the positioning point is detected, and when the position of the positioning point moves, the positioning point is synchronized to fly.
The method according to claim 12, wherein said following the positioning point to fly synchronously comprises:

Fly synchronously according to the moving direction and moving speed of the positioning point.
An aircraft control device applied to an aircraft, characterized in that it comprises:

Obtaining module for obtaining virtual rocker parameters;

A determining module, configured to determine the motion trajectory information of the virtual rocker arm according to the parameters of the virtual rocker arm;

The receiving module is used to receive flight control commands;

The control module is used for flying according to the motion trajectory of the virtual rocker arm according to the flight control command and the motion trajectory information of the virtual rocker arm.
The device according to claim 14, wherein the virtual rocker parameter includes at least one of the following parameters:

The rocker arm length, the boom length, the distance between the aircraft and the positioning point, the position of the aircraft, and the position of the positioning point, wherein the positioning point refers to the fulcrum of the virtual rocker arm, and the virtual rocker arm circles the positioning point When rotating, the rocker arm length refers to the arm length of the virtual rocker arm, and the boom length refers to the flying height range of the aircraft.
The device according to claim 15, wherein the positioning point comprises at least one of the following:

The specified space coordinate point and the specified target object.
The device according to any one of claims 14-16, wherein the acquisition module is configured to:

Acquire the virtual rocker parameter according to the user's setting operation.
The device according to claim 15 or 16, wherein the acquisition module is configured to:

The position of the aircraft and the position of the positioning point are detected to obtain the virtual rocker arm parameters.
The device according to claim 18, wherein the acquisition module is configured to:

The position of the aircraft and the position of the positioning point are detected to obtain the distance between the aircraft and the positioning point.
The device according to claim 19, wherein the acquisition module is configured to:

Directly measure the distance between the aircraft and the positioning point by laser or infrared; or

The coordinate position of the aircraft and the coordinate position of the positioning point are respectively obtained through a satellite positioning system, and the distance between the aircraft and the positioning point is determined according to the coordinate position of the aircraft and the coordinate position of the positioning point.
The device according to claim 14, wherein the motion trajectory information of the virtual rocker arm includes at least one of the following:

The flight radius, flight altitude, flight altitude range and location of the positioning point of the aircraft.
The device according to claim 21, wherein the control module is configured to:

Mapping the flight control command to a virtual rocker control command;

According to the virtual rocker arm control command, take the position of the positioning point as the center of the circle, and fly according to the flying height and flying radius of the aircraft; or

According to the virtual rocker arm control command, within the flying height range, fly upward or downward.
The device according to claim 22, wherein the control module is configured to:

When the flight control command is to fly forward or to the right, map the flight control command to a right turn command of the virtual rocker;

When the flight control command is to fly backward or to the left, map the flight control command to a left turn command of the virtual rocker;

When the flight control command is upward flight, mapping the flight control command to the upward command of the virtual rocker;

When the flight control command is downward flight, the flight control command is mapped to the downward command of the virtual rocker arm.
The device according to claim 14, wherein the flight control command includes the flight speed of the aircraft, and the control module is further used for:

The flight speed of the aircraft is adjusted in real time according to the flight speed indicated by the flight control command.
The device according to claim 15, wherein the control module is further configured to:

The position of the positioning point is detected, and when the position of the positioning point moves, the positioning point is synchronized to fly.
The device according to claim 25, wherein the control module is configured to:

Fly synchronously according to the moving direction and moving speed of the positioning point.
An aircraft, characterized in that it comprises:

body;

An arm, connected to the fuselage;

The power plant is arranged on the arm;

At least one processor located in the body; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1-13. Methods.