WO2021097772A1

WO2021097772A1 - Aircraft control method, device and system, and storage medium

Info

Publication number: WO2021097772A1
Application number: PCT/CN2019/120036
Authority: WO
Inventors: 吴博
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2021-05-27
Also published as: CN112313597A

Abstract

An aircraft control method, an aircraft, a server, a flight system and a computer-readable storage medium. The method comprises: acquiring flight data corresponding to an aircraft (S101); sending the flight data to a server in communication connection with the aircraft (S102); acquiring navigation information generated by the server according to the flight data (S103); and executing a flight operation according to the navigation information (S104). According to the method, the navigation capability of an aircraft is thus improved.

Description

Aircraft control method, equipment, system and storage medium

Technical field

This application relates to the technical field of aircraft control, and in particular to an aircraft control method, equipment, system and storage medium.

Background technique

Aircraft such as unmanned aerial vehicles can be used in various fields such as aerial photography, agricultural plant protection, electric power inspections, disaster relief, and cruise performances, with a wide range of applications. At present, the architecture of the UAV is an all-in-one framework. All necessary sensors and processors are installed inside the UAV, and the UAV is controlled by the remote control and image transmission system. However, due to the limited computing resources of the processor installed inside the drone, the application of the drone in many aspects is restricted, such as the delivery of the drone, the drone inspection, and so on. In general, UAVs cannot complete fully autonomous navigation over a large area.

Therefore, how to improve the navigation capabilities of drones and other aircraft has become an urgent problem to be solved.

Summary of the invention

Based on this, this application provides an aircraft control method, equipment, system and storage medium to improve the navigation capabilities of aircraft such as unmanned aerial vehicles.

In the first aspect, this application provides an aircraft control method, the method including:

Obtain flight data corresponding to the aircraft;

Sending the flight data to a server communicatively connected with the aircraft;

Acquiring navigation information generated by the server according to the flight data;

Perform flight operations according to the navigation information.

In the second aspect, this application also provides an aircraft control method, the method including:

Obtain at least one flight data corresponding to at least one aircraft;

According to the at least one flight data, navigation information corresponding to the at least one aircraft is generated for the at least one aircraft to perform flight operations according to the navigation information.

In a third aspect, this application also provides an aircraft, the aircraft including a body, a photographing device, a memory and a processor;

The photographing device is connected to the body to photograph images;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Obtain flight data corresponding to the aircraft;

Perform flight operations according to the navigation information.

In a fourth aspect, the present application also provides a server, the server including a memory and a processor;

The memory is used to store a computer program;

Obtain at least one flight data corresponding to at least one aircraft;

In a fifth aspect, the present application also provides a flight system, the flight system includes a server and at least one aircraft, and the server is in communication connection with the at least one aircraft;

The at least one aircraft is used to obtain flight data;

The at least one aircraft is used to send the flight data to the server;

The server is configured to generate corresponding navigation information according to the flight data;

The at least one aircraft is configured to obtain the navigation information from the server, and perform flight operations according to the navigation information.

In a sixth aspect, the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor implements the aircraft control method described above .

The aircraft control method, aircraft, server, flight system, and computer-readable storage medium disclosed in the present application. The aircraft sends flight data to the server through interactive communication with the server, and generates navigation information through the server’s powerful processing capabilities, and the aircraft uses the navigation information Perform flight operations, thereby improving the navigation capabilities of the aircraft.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic block diagram of a flight system provided by an embodiment of the present application;

2 is a schematic flowchart of steps of an aircraft control method provided by an embodiment of the present application;

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

Fig. 4 is a schematic block diagram of an aircraft provided by an embodiment of the present application;

Fig. 5 is a schematic block diagram of a server provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiments of the present application provide an aircraft control method, an aircraft, a server, a flight system, and a computer-readable storage medium, which are used to improve the navigation capability of the aircraft.

Please refer to FIG. 1. FIG. 1 is a schematic block diagram of a flight system according to an embodiment of the application. As shown in FIG. 1, the flight system 100 may include at least one aircraft 110 and a server 120, and the aircraft 110 and the server 120 are in communication connection.

The aircraft 110 may be a rotary-wing aircraft. Of course, the aircraft may also be other types of unmanned aerial vehicles or movable devices, and the embodiments of the present application are not limited thereto.

The server 120 may be an independent server, or a server cluster, or a system composed of multiple servers according to a certain logic. In practical applications, the server can be a drone server or a cloud server.

Exemplarily, the aircraft 110 includes a body, a camera, and the like. The camera is connected to the body and can be mounted under the aircraft 110 for image shooting. It is understandable that the photographing device may also be provided in other suitable positions of the aircraft, such as the nose of the aircraft, and the embodiment of the present application is not limited to this.

In one embodiment, the aircraft 110 further includes a positioning device, which is mounted on the aircraft 110 and is used to collect the positioning data of the aircraft in real time. Specifically, the positioning data may include longitude information and latitude information.

The aircraft 110 also includes an inertial measurement device, which is used to measure the flight speed and attitude data of the aircraft.

The aircraft 110 also includes a distance measuring device, which is mounted on the aircraft 110 and used to measure distance data, altitude data, and the like of the aircraft. The distance measuring device includes at least one of the following: Time of Flight (TOF) ranging detection equipment, radar, ultrasonic detection equipment, laser detection equipment, and the like.

When the aircraft 110 performs a flight, the aircraft 110 obtains flight data, where the flight data includes at least one of the aircraft's operational data, image data, and environmental data; and flight data based on the aircraft, such as various sensor devices and The camera acquires the operating data of the aircraft itself and the image data and environmental data of its location, which can effectively integrate the status of each point in the integrated space at each time period, thereby providing a basis for real-time updates of navigation data by the server. The operating data includes at least one of positioning data, posture data, and altitude data; and the environmental data includes at least one of depth data, temperature data, and distance data. In particular, the relevant information of the aircraft body can be obtained from the operational data of the aircraft. For example, the position of the aircraft in the three-dimensional space can be determined through the positioning data and the altitude data, and the attitude data can reflect the shape of the aircraft at any point in the three-dimensional space; Environmental data and image data can be used to obtain map information around the aircraft's flight trajectory at any point in time. Of course, rough map information can also be obtained by using environmental data and/or image data.

The aircraft 110 sends the acquired flight data to the server 120, and the server 120 is used to generate corresponding navigation information according to the flight data. The aircraft 110 obtains the navigation information, and performs flight operations according to the navigation information. The powerful processing capability of the server 120 generates navigation information, and the aircraft 110 performs flight operations based on the navigation information, which solves the problem of the aircraft 110’s own calculation load, and realizes the ultra-long-distance flight of the aircraft 110 and fully autonomous navigation in a large range. The navigation capability of the aircraft 110 is improved.

Exemplarily, acquiring the navigation information by aircraft 110 includes:

The navigation information sent by the server 120 is received in a preset period; or the navigation information sent by the server 120 is actively acquired, wherein the navigation information is stored on the server. That is, the aircraft 110 can either adopt an active method, such as accepting user instructions and responding to a specific trigger method to obtain the navigation information, or adopt a passive method to obtain the navigation information, not limited to a certain fixed method.

Exemplarily, the aircraft 110 performing flight operations according to the navigation information includes:

The aircraft 110 generates flight path information corresponding to the aircraft 110 according to the navigation information, and executes flight operations according to the flight path information. Since the operation of generating flight path information does not require high computing resources, the aircraft 110's own processor can meet the requirements, and perform flight operations according to the flight path information generated by itself. The real-time performance is good, and the problem of flight control delay of the aircraft 110 can be avoided. . In the same way, the manual control instructions for the aircraft and the operation information for the aircraft accessories are completed on the aircraft 110's own processor, which requires high real-time requirements and small calculations, which can avoid the need for remote processing of all instructions due to the channel Factors such as insufficient bandwidth or signal interference cause transmission delay problems, thereby further improving the response speed of the aircraft and improving the user experience.

Exemplarily, the aircraft 110 sends the depth data to the server 120 at the first transmission frequency. Optionally, the first transmission frequency is at least 20 Hz. When the current network bandwidth meets the transmission requirements, deep data is sent at a transmission frequency above 20hz, realizing fast data transmission.

Exemplarily, the aircraft 110 sends the image data to the server 120 at the second transmission frequency. Wherein, the image data includes data in at least one direction, for example, the image data includes data in six directions; optionally, the second transmission frequency is at least 20 Hz. In practical applications, it is not necessary to upload all the data in the six directions. For example, upload the data in the three directions at the second transmission frequency. While reducing the amount of data transmission, it can also meet the data volume of the navigation information generated by the server. demand.

Exemplarily, the aircraft 110 sends the flight data to the server 120 based on the communication link adapted to the current network bandwidth. Wherein, the communication link includes a 5G communication link. The aircraft 110 sends the flight data to the server 120 based on the 5G communication link. With the development of 5G communication, aircraft 110 is configured with a 5G communication link, and flight data is sent through the 5G communication link, so as to realize real-time communication between aircraft 110 and server 120.

Exemplarily, the server 120 generates corresponding navigation information according to the flight data, including:

The server 120 generates navigation information according to the flight data and historical navigation data, where the historical navigation data includes flight data, image data, and environmental data corresponding to the voyage performed by at least one aircraft 110. Optionally, the historical navigation data may also include flight data, image data, environmental data, etc. collected by other equipment such as a movable platform and a fixed shooting point device. Exemplarily, historical navigation data can also be provided through existing two-dimensional or three-dimensional map services. The server 120 generates navigation information with reference to historical navigation data and flight data. Compared with the method of generating navigation information only from the flight data of the aircraft 110, the generated navigation information is more reliable. The aircraft 110 performs flight operations based on the navigation information. Improve the accuracy of navigation.

According to the flight data, comprehensive map information including partial map information corresponding to the at least one aircraft 110 is generated. The server 120 generates integrated map information by integrating the flight data of multiple aircraft 110. The integrated map information can realize more precise navigation of each aircraft 110, or alternatively, the integrated map information can also perform scheduling control on each aircraft 110. .

Exemplarily, the server 120 sends the local map information corresponding to the at least one aircraft 110 to the corresponding aircraft 110 at the third transmission frequency. Wherein, the third transmission frequency is at least 10 Hz.

According to the flight data, at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information is generated. For example, the server 120 generates scene understanding information according to image data corresponding to at least one aircraft 110. For another example, the server 120 generates map construction information according to the depth map data and positioning data corresponding to the at least one aircraft 110. According to the navigation information such as scene understanding information, map construction information, complex route planning information, scheduling planning information, etc., the accuracy of navigation of the aircraft 110 can be further improved.

Exemplarily, the server 120 performs scheduling control on at least one aircraft 110 according to the scheduling planning information. For example, taking drones as an example, when drones need to be coordinated by multiple drones, such as drone delivery or drone inspections, different drones are dispatched through the server to achieve multiple unmanned Efficient collaboration between machines.

It can be understood that the above-mentioned naming of the components of the flight system is only for identification purposes, and does not limit the embodiments of the present application accordingly.

The aircraft control method provided by the embodiments of the present application will be described in detail below based on the flight system, the aircraft in the flight system, and the server in the flight system. It should be understood that the flight system in FIG. 1 does not constitute a limitation on the application scenario of the aircraft control method.

Please refer to FIG. 2, which is a schematic flowchart of an aircraft control method provided by an embodiment of the present application. This method can be used in any type of aircraft provided in the foregoing embodiments to improve the navigation capability of the aircraft.

As shown in Figure 2, the aircraft control method specifically includes steps S101 to S104.

S101. Obtain flight data corresponding to the aircraft.

During the flight of the aircraft, the flight data corresponding to the current flight of the aircraft is obtained. Wherein, the flight data includes at least one of operating data, image data, and environmental data of the aircraft.

The operating data includes at least one of positioning data, attitude data, and altitude data. Positioning data includes longitude information and latitude information; attitude data includes flight attitude angle, specifically including heading angle, pitch angle and roll angle.

The environmental data includes at least one of depth data, temperature data, and distance data.

S102. Send the flight data to a server communicatively connected with the aircraft.

After obtaining the flight data corresponding to the current flight of the aircraft, the flight data is sent to a server that is communicatively connected with the aircraft.

Exemplarily, the sending the flight data to a server communicatively connected with the aircraft includes:

The flight data is sent to the server based on the communication link adapted to the current network bandwidth of the aircraft.

The aircraft is equipped with at least one communication link, and different communication links are adapted to different network bandwidths. For example, communication links include 4G communication links, 5G communication links, and so on. After obtaining the flight data corresponding to the current flight of the aircraft, the flight data is sent to the server based on the communication link adapted to the current network bandwidth of the aircraft. For example, based on the 5G communication link adapted to the current network bandwidth of the aircraft, the flight data is sent to the server.

The depth data is sent to the server at the first transmission frequency.

For the depth data in the flight data, it is sent to the server at the first transmission frequency. Wherein, the first transmission frequency is at least 20hz.

For example, the resolution size of the depth data is 640*480, and the bit width of each pixel is 2 bytes. When the first transmission frequency is 20hz, the bandwidth of the depth data is: 640*480*2*20=12288000Bytes/s . This bandwidth not only meets the accuracy requirements of depth data, but also meets the data volume requirements of the server to generate navigation information.

The image data is sent to the server at a second transmission frequency, and the image data includes data in at least one direction.

For the image data in the flight data, the image data includes data in six directions. In practical applications, it is not necessary to upload all the data in the six directions, such as uploading the data in three directions.

For the upload of image data, for example, the resolution size of the image data is 640*480, and the bit width of each pixel is 1 byte. When uploading data in six directions and the second transmission frequency is 20hz, the image data The bandwidth is: 640*480*1*20*6=36864000Bytes/s. Similarly, while the bandwidth meets the accuracy requirements of image data, it can also meet the data volume requirements of the server to generate navigation information.

S103. Obtain navigation information generated by the server according to the flight data.

The server receives the flight data sent by the aircraft, and generates corresponding navigation information according to the flight data. The aircraft obtains the navigation information generated by the server according to the flight data.

Exemplarily, the obtaining the navigation information generated by the server according to the flight data includes:

Receive the navigation information sent by the server in a preset period; or

Actively acquire the navigation information sent by the server, where the navigation information is stored on the server.

Specifically, there are multiple ways for the aircraft to obtain the navigation information generated by the server according to the flight data. For example, one of the methods is that the server directly sends the navigation information to the aircraft in a preset period, and the aircraft receives the navigation information sent by the server in the preset period. Another example is that the navigation information is stored on the server, and the aircraft actively obtains the navigation information sent by the server.

Acquire navigation information generated by the server according to the flight data and historical navigation data, where the historical navigation data includes flight data, image data, and environmental data corresponding to the voyage performed by at least one aircraft.

In one embodiment, the historical navigation data of the aircraft is saved, where the historical navigation data includes flight data, image data, and environmental data corresponding to the voyage performed by at least one aircraft. Optionally, historical navigation data may also include flight data, image data, environmental data, etc. collected by other equipment such as a movable platform and a fixed shooting point device. The server generates corresponding navigation information according to the received flight data and historical navigation data sent by the aircraft. The aircraft obtains the navigation information generated by the server based on the flight data and historical navigation data. Compared with the method of generating navigation information only from the flight data of the aircraft, the generated navigation information is more reliable, and the aircraft performs flight operations based on the navigation information, which can further improve the accuracy of navigation.

Obtain comprehensive map information corresponding to at least one aircraft generated by the server according to at least one flight data corresponding to at least one aircraft.

Acquire at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information generated by the server according to at least one of the flight data.

The navigation information generated by the server according to the at least one flight data also includes scene understanding information, map construction information, complex route planning information, scheduling planning information, and the like. The aircraft acquires at least one of scene understanding information, map construction information, complex path planning information, and scheduling planning information.

S104. Perform a flight operation according to the navigation information.

After the aircraft obtains the navigation information, it performs flight operations based on the navigation information.

Exemplarily, the executing flight operation according to the navigation information includes:

Generating flight path information corresponding to the aircraft according to the navigation information;

Perform flight operations according to the flight path information.

The aircraft generates flight path information corresponding to the current flight according to the acquired navigation information, and executes flight operations based on the flight path information. Since the operation of generating flight path information does not require high computing resources, the aircraft's own processor can meet the requirements and perform flight operations based on the flight path information generated by itself. The real-time performance is good and the problem of delay in flight control of the aircraft can be avoided.

The above-mentioned embodiment uses the aircraft to communicate with the server to send flight data to the server, and the server generates navigation information through the powerful processing capability of the server. The aircraft performs flight operations based on the navigation information, which solves the problem of the aircraft’s own computational load and realizes the aircraft Ultra-long-distance flight and full-autonomous navigation in a wide range, thereby improving the navigation capabilities of the aircraft.

Please refer to FIG. 3, which is a schematic flowchart of another aircraft control method provided by an embodiment of the present application. This method can be used in any server provided in the foregoing embodiments to improve the navigation capability of the aircraft.

As shown in Fig. 3, the aircraft control method specifically includes steps S201 to S202.

S201. Acquire at least one flight data corresponding to at least one aircraft.

The server is in communication connection with at least one aircraft, and acquires at least one flight data corresponding to the at least one aircraft, for example, receives flight data sent by the at least one aircraft.

Wherein, the flight data includes at least one of operating data, image data, and environmental data of the aircraft. The operating data includes at least one of positioning data, attitude data, and altitude data. Positioning data includes longitude information and latitude information; attitude data includes flight attitude angles, specifically including heading, pitch, and roll angles; environmental data includes at least one of depth data, temperature data, and distance data.

S202. Generate navigation information corresponding to the at least one aircraft according to the at least one flight data, so that the at least one aircraft can perform a flight operation according to the navigation information.

After acquiring the flight data corresponding to the at least one aircraft, the server generates navigation information corresponding to the at least one aircraft according to the flight data. The aircraft obtains the navigation information generated by the server, and performs flight operations based on the navigation information.

Exemplarily, the generating navigation information corresponding to the at least one aircraft according to the at least one flight data includes:

According to the at least one flight data, comprehensive map information including partial map information corresponding to the at least one aircraft is generated.

After acquiring flight data corresponding to multiple aircraft, the server generates comprehensive map information according to the multiple flight data, where the comprehensive map information includes local map information corresponding to each aircraft.

Exemplarily, the server sends the local map information corresponding to the aircraft to the corresponding aircraft at the third transmission frequency. Wherein, the third transmission frequency is at least 10 Hz. For example, the server sends the local map information to the aircraft through a communication link (such as a 5G communication link) adapted to the current network bandwidth at a transmission frequency of 10 Hz.

According to the at least one flight data, at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information is generated.

For example, the server generates scene understanding information according to image data corresponding to at least one aircraft. The server generates map construction information according to the depth map data and positioning data corresponding to the at least one aircraft.

Exemplarily, after the server generates scheduling planning information according to flight data corresponding to at least one aircraft, the server may perform scheduling control on at least one aircraft according to the scheduling planning information. For example, taking drones as an example, when drones need to be coordinated by multiple drones, such as drones delivering express delivery or drone inspections, different drones are scheduled through the server.

In the above embodiment, the server interacts with at least one aircraft through interactive communication. The server obtains at least one flight number corresponding to the at least one aircraft, and generates corresponding navigation information based on the at least one flight data through the powerful processing capability of the server, for the at least one aircraft to execute the execution according to the navigation information. Flight operations, thereby improving the navigation capabilities of the aircraft. In addition, a large-scale information exchange and fusion is realized between the aircraft through the server. The server schedules multiple aircraft, and multiple aircraft use the server to achieve centralized management, which makes collaborative work more efficient.

Please refer to FIG. 4, which is a schematic block diagram of an aircraft provided by an embodiment of the present application. The aircraft 400 includes a camera 410, a processor 411, and a memory 412. The processor 411, the memory 412 and the camera 410 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus. The aircraft 400 also includes a body, and the photographing device 410 is connected to the body to photograph images.

Specifically, the processor 411 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 412 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor is used to run a computer program stored in a memory, and implement the following steps when executing the computer program:

Obtain flight data corresponding to the aircraft;

Perform flight operations according to the navigation information.

In some embodiments, the flight data includes at least one of operating data of the aircraft, image data of the aircraft, and environmental data of the aircraft. The operating data includes at least one of positioning data, posture data, and altitude data. The environmental data includes at least one of depth data, temperature data, and distance data.

In some embodiments, when the processor implements the sending of the flight data to a server that is communicatively connected with the aircraft, it specifically implements:

The depth data is sent to the server at the first transmission frequency.

In some embodiments, the first transmission frequency is at least 20hz.

In some embodiments, the image data includes data in six directions. The second transmission frequency is at least 20hz.

In some embodiments, the communication link includes a 5G communication link.

In some embodiments, when the processor implements the acquisition of the navigation information generated by the server according to the flight data, it specifically implements:

Receive the navigation information sent by the server in a preset period; or

In some embodiments, when the processor implements the flight operation according to the navigation information, it specifically implements:

Perform flight operations according to the flight path information.

Please refer to FIG. 5, which is a schematic block diagram of a server provided by an embodiment of the present application. The server 500 includes a processor 511 and a memory 512, and the processor 511 and the memory 512 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 511 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 512 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Obtain at least one flight data corresponding to at least one aircraft;

In some embodiments, when the processor implements the generating of navigation information corresponding to the at least one aircraft according to the at least one flight data, it specifically implements:

In some embodiments, the processor further implements the following steps when executing the computer program:

The local map information corresponding to the at least one aircraft is sent to the corresponding aircraft at the third transmission frequency.

In some embodiments, the third transmission frequency is at least 10 Hz.

According to the scheduling planning information, scheduling control is performed on at least one aircraft.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the present application The steps of the aircraft control method provided by the embodiment.

The computer-readable storage medium may be the internal storage unit of the aircraft or server described in the foregoing embodiment, for example, the hard disk or memory of the aircraft or server. The computer-readable storage medium may also be an external storage device of the aircraft or server, such as a plug-in hard disk equipped on the aircraft or server, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital). , SD) card, flash card (Flash Card), etc.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

An aircraft control method, characterized by comprising:

Obtain flight data corresponding to the aircraft;

Sending the flight data to a server communicatively connected with the aircraft;

Acquiring navigation information generated by the server according to the flight data;

Perform flight operations according to the navigation information.
The method according to claim 1, wherein the flight data includes at least one of operating data of the aircraft, image data of the aircraft, and environmental data of the aircraft.
The method according to claim 2, wherein the operating data includes at least one of positioning data, attitude data, and altitude data.
The method according to claim 2, wherein the environmental data includes at least one of depth data, temperature data, and distance data.
The method according to claim 4, wherein the sending the flight data to a server communicatively connected with the aircraft comprises:

The depth data is sent to the server at the first transmission frequency.
The method according to claim 5, wherein the first transmission frequency is at least 20 Hz.
The method according to claim 2, wherein the sending the flight data to a server communicatively connected with the aircraft comprises:

The image data is sent to the server at a second transmission frequency, and the image data includes data in at least one direction.
The method according to claim 7, wherein the image data includes data in six directions.
The method according to claim 7, wherein the second transmission frequency is at least 20 Hz.
The method according to claim 1, wherein the sending the flight data to a server communicatively connected with the aircraft comprises:

The flight data is sent to the server based on the communication link adapted to the current network bandwidth of the aircraft.
The method according to claim 10, wherein the communication link comprises a 5G communication link.
The method according to claim 1, wherein said obtaining navigation information generated by said server according to said flight data comprises:

Acquire navigation information generated by the server according to the flight data and historical navigation data, where the historical navigation data includes flight data, image data, and environmental data corresponding to the voyage performed by at least one aircraft.
The method according to claim 1, wherein said obtaining navigation information generated by said server according to said flight data comprises:

Obtain comprehensive map information corresponding to at least one aircraft generated by the server according to at least one flight data corresponding to at least one aircraft.
The method according to claim 1, wherein said obtaining navigation information generated by said server according to said flight data comprises:

Acquire at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information generated by the server according to at least one of the flight data.
The method according to claim 1, wherein said obtaining navigation information generated by said server according to said flight data comprises:

Receive the navigation information sent by the server in a preset period; or

Actively acquire the navigation information sent by the server, where the navigation information is stored on the server.
The method according to claim 1, wherein the performing flight operations according to the navigation information comprises:

Generating flight path information corresponding to the aircraft according to the navigation information;

Perform flight operations according to the flight path information.
An aircraft control method, characterized by comprising:

Obtain at least one flight data corresponding to at least one aircraft;

According to the at least one flight data, navigation information corresponding to the at least one aircraft is generated for the at least one aircraft to perform flight operations according to the navigation information.
The method according to claim 17, wherein the generating navigation information corresponding to the at least one aircraft according to the at least one flight data comprises:

According to the at least one flight data, comprehensive map information including partial map information corresponding to the at least one aircraft is generated.
The method according to claim 17, wherein the generating navigation information corresponding to the at least one aircraft according to the at least one flight data comprises:

According to the at least one flight data, at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information is generated.
The method according to claim 18, wherein the method further comprises:

The local map information corresponding to the at least one aircraft is sent to the corresponding aircraft at the third transmission frequency.
The method according to claim 20, wherein the third transmission frequency is at least 10 Hz.
The method according to claim 19, wherein the method further comprises:

According to the scheduling planning information, scheduling control is performed on at least one aircraft.
An aircraft, characterized in that the aircraft includes a body, a photographing device, a memory and a processor;

The photographing device is connected to the body to photograph images;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Obtain flight data corresponding to the aircraft;

Sending the flight data to a server communicatively connected with the aircraft;

Acquiring navigation information generated by the server according to the flight data;

Perform flight operations according to the navigation information.
The aircraft according to claim 23, wherein the flight data includes at least one of operating data of the aircraft, image data of the aircraft, and environmental data of the aircraft.
The aircraft according to claim 24, wherein the operation data includes at least one of positioning data, attitude data, and altitude data.
The aircraft according to claim 24, wherein the environmental data includes at least one of depth data, temperature data, and distance data.
The aircraft according to claim 26, wherein when the processor realizes the sending of the flight data to a server that is communicatively connected with the aircraft, it specifically implements:

The depth data is sent to the server at the first transmission frequency.
The aircraft according to claim 27, wherein the first transmission frequency is at least 20 Hz.
The aircraft according to claim 24, wherein when the processor realizes the sending of the flight data to a server that is communicatively connected with the aircraft, it specifically implements:

The image data is sent to the server at a second transmission frequency, and the image data includes data in at least one direction.
The aircraft according to claim 29, wherein the image data includes data in six directions.
The aircraft according to claim 29, wherein the second transmission frequency is at least 20 Hz.
The aircraft according to claim 23, wherein when the processor realizes the sending of the flight data to a server that is communicatively connected with the aircraft, it specifically realizes:

The flight data is sent to the server based on the communication link adapted to the current network bandwidth of the aircraft.
The aircraft of claim 32, wherein the communication link comprises a 5G communication link.
The aircraft according to claim 23, wherein when the processor implements the acquisition of the navigation information generated by the server according to the flight data, it specifically implements:

Acquire navigation information generated by the server according to the flight data and historical navigation data, where the historical navigation data includes flight data, image data, and environmental data corresponding to the voyage performed by at least one aircraft.
The aircraft according to claim 23, wherein when the processor implements the acquisition of the navigation information generated by the server according to the flight data, it specifically implements:

Obtain comprehensive map information corresponding to at least one aircraft generated by the server according to at least one flight data corresponding to at least one aircraft.
The aircraft according to claim 23, wherein when the processor implements the acquisition of the navigation information generated by the server according to the flight data, it specifically implements:

Acquire at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information generated by the server according to at least one of the flight data.
The aircraft according to claim 23, wherein when the processor implements the acquisition of the navigation information generated by the server according to the flight data, it specifically implements:

Receive the navigation information sent by the server in a preset period; or

Actively acquire the navigation information sent by the server, where the navigation information is stored on the server.
The aircraft according to claim 23, wherein when the processor implements the flight operation according to the navigation information, it specifically implements:

Generating flight path information corresponding to the aircraft according to the navigation information;

Perform flight operations according to the flight path information.
A server, characterized in that the server includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Obtain at least one flight data corresponding to at least one aircraft;

According to the at least one flight data, navigation information corresponding to the at least one aircraft is generated for the at least one aircraft to perform flight operations according to the navigation information.
The server according to claim 39, wherein when the processor implements the generating of navigation information corresponding to the at least one aircraft according to the at least one flight data, it specifically implements:

According to the at least one flight data, comprehensive map information including partial map information corresponding to the at least one aircraft is generated.
The server according to claim 39, wherein when the processor implements the generating of navigation information corresponding to the at least one aircraft according to the at least one flight data, it specifically implements:

According to the at least one flight data, at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information is generated.
The server according to claim 40, wherein the processor further implements the following steps when executing the computer program:

The local map information corresponding to the at least one aircraft is sent to the corresponding aircraft at the third transmission frequency.
The server according to claim 42, wherein the third transmission frequency is at least 10 Hz.
The server according to claim 41, wherein the processor further implements the following steps when executing the computer program:

According to the scheduling planning information, scheduling control is performed on at least one aircraft.
A flight system, characterized by comprising a server and at least one aircraft, the server being in communication connection with the at least one aircraft;

The at least one aircraft is used to obtain flight data;

The at least one aircraft is used to send the flight data to the server;

The server is configured to generate corresponding navigation information according to the flight data;

The at least one aircraft is configured to obtain the navigation information from the server, and perform flight operations according to the navigation information.
The flight system according to claim 45, wherein the flight data includes at least one of operating data of the aircraft, image data of the aircraft, and environmental data of the aircraft.
The flight system according to claim 46, wherein the environmental data includes at least one of depth data, temperature data, and distance data.
The flight system of claim 47, wherein the sending the flight data to the server comprises:

The depth data is sent to the server at the first transmission frequency.
The flight system of claim 46, wherein the sending the flight data to the server comprises:

The image data is sent to the server at a second transmission frequency, and the image data includes data in at least one direction.
The flight system according to claim 45, wherein the sending the flight data to the server comprises:

The flight data is sent to the server based on the communication link adapted to the current network bandwidth of the aircraft.
The flight system of claim 50, wherein the communication link comprises a 5G communication link.
The flight system according to claim 45, wherein said generating corresponding navigation information according to said flight data comprises:

According to the flight data, comprehensive map information corresponding to the at least one aircraft is generated.
The flight system according to claim 45, wherein said generating corresponding navigation information according to said flight data comprises:

According to the flight data, at least one of scene understanding information, map construction information, complex route planning information, and scheduling planning information is generated.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the method described in any one of claims 1 to 16. The aircraft control method described above, or the aircraft control method described in any one of claims 17 to 22 can be implemented.