WO2022266883A1

WO2022266883A1 - Flight task editing method, flight method, control terminal, unmanned aerial vehicle, and system

Info

Publication number: WO2022266883A1
Application number: PCT/CN2021/101824
Authority: WO
Inventors: 刘要; 张晓明; 高雯娟; 赵新海; 任书锋; 尚雅文
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2022-12-29
Also published as: CN116457741A

Abstract

A flight task editing method, applied to a control terminal (100), and comprising: (011) displaying one or more pre-stored flight tasks on the control terminal (100); (012) in response to a user input, selecting the one or more flight tasks to generate a flight task instruction; and (013) sending the flight task instruction to an unmanned aerial vehicle (200), the flight task instruction being used for controlling flight of the unmanned aerial vehicle (200).

Description

Flight mission editing method, flight method, control terminal, unmanned aerial vehicle and system

technical field

The present application relates to the field of flight technology, in particular to a flight task editing method, a flight method, a control terminal, an unmanned aerial vehicle and an unmanned aerial vehicle system.

Background technique

With the advancement of technology, the application range of drones is becoming more and more extensive. In addition to the aerial photography function, drones can also fly along a predetermined trajectory or fly in formations of multiple drones without unmanned control. However, the current UAVs cannot complete other tasks during the flight without manual control during flight, such as taking pictures and videos while flying along a predetermined trajectory, which limits the use of UAVs Scenes.

Contents of the invention

Embodiments of the present application provide a flight mission editing method, a flight method, a control terminal, an unmanned aerial vehicle and an unmanned aerial vehicle system.

The flight mission editing method of the embodiment of the present application includes displaying on the control terminal one or more pre-stored components corresponding to the flight mission; responding to user input, selecting one or more of the components and determining the arrangement order of the components, to generate a mission instruction; sending the mission instruction to the unmanned aerial vehicle, where the mission instruction is used to control the unmanned aerial vehicle to fly.

The flight method of the embodiment of the present application includes receiving flight mission instructions, the flight mission instructions are generated based on the components corresponding to one or more flight missions selected by the user on the control terminal and the arrangement order of the components; and according to the The flight mission instruction is flown, and an execution result of the flight mission instruction is generated.

The control terminal in the embodiment of the present application includes a display, a processor, and a communication interface, the display is used to display components corresponding to one or more pre-stored flight missions; in response to user input, one or more flight missions are selected, and the The processor generates flight mission instructions according to the flight missions corresponding to the selected multiple components and the arrangement order of the components; the communication interface is used to send the flight mission instructions to the unmanned aerial vehicle, the Flight mission instructions are used to control the UAV to fly.

The unmanned aerial vehicle of the embodiment of the present application includes a processor and a communication interface, the communication interface is used to receive flight mission instructions, and the flight mission instructions are based on the components corresponding to one or more flight missions selected by the user on the control terminal and The arrangement order of the components is generated; the processor is also used to fly according to the flight mission instruction, and generate the execution result of the flight mission instruction.

The unmanned aerial vehicle system of the embodiment of the present application includes a terminal and an unmanned aerial vehicle. The control terminal is used for a flight task editing method, and the flight task editing method includes displaying on the control terminal one or more flight task correspondences stored in advance. components; in response to user input, select one or more of the components and determine the arrangement order of the components to generate a flight mission instruction; send the flight mission instruction to the unmanned aerial vehicle, and the flight mission instruction is used to control all The unmanned aerial vehicle is flying. The unmanned aerial vehicle is used for a flight method, and the flight method includes receiving a flight mission instruction, and the flight mission instruction is based on the components corresponding to one or more flight missions selected by the user on the control terminal and the arrangement order of the components generated; and flying according to the flight mission instruction, and generating an execution result of the flight mission instruction.

In the flight mission editing method, flight method and unmanned aerial vehicle system of the embodiments of the present application, one or more flight missions pre-stored are displayed on the control terminal, and then one or more flight missions are selected by the user to generate a flight mission. Mission instructions, and finally send the generated flight mission instructions to the unmanned aerial vehicle, so that the unmanned aerial vehicle can be controlled to fly according to the flight mission instructions. Users can edit one or more flight missions simply and quickly through the editing operation on the visual interface of the control terminal, so as to generate flight mission instructions containing a variety of different flight missions, so that the unmanned aerial vehicle can automatically realize multiple missions. flight mission. For example, when flying along a predetermined trajectory (that is, flight route), other flight tasks such as taking pictures and videos can be performed at any position on the way, thereby expanding the usage scenarios of the UAV 200 .

Description of drawings

Fig. 1 is a schematic diagram of a scene of an unmanned aerial vehicle system provided by an embodiment of the present application.

Fig. 2 is a schematic flow chart of the flight task editing method provided by the embodiment of the present application.

Fig. 3 and Fig. 4 are schematic diagrams of scenes of the flight mission editing method provided by the embodiment of the present application.

Fig. 5 is a schematic flow chart of the flight task editing method provided by the embodiment of the present application.

Fig. 6 is a schematic diagram of a scenario of a flight task editing method provided by an embodiment of the present application.

Fig. 7 is a schematic flow chart of the flight task editing method provided by the embodiment of the present application.

FIG. 8 and FIG. 9 are schematic diagrams of scenes of the flight task editing method provided by the embodiment of the present application.

Fig. 10 is a schematic flow chart of the flight task editing method provided by the embodiment of the present application.

Fig. 11 is a schematic diagram of a scenario of a flight task editing method provided by an embodiment of the present application.

FIG. 12 to FIG. 15 are schematic flowcharts of the flight method provided by the embodiment of the present application.

Fig. 16 is a schematic diagram of connection between a processor and a computer-readable storage medium provided by an embodiment of the present application.

detailed description

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, "plurality" means two or more, unless otherwise specifically defined. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a mechanical connection or an electrical connection Or they can communicate with each other; they can be directly connected, or indirectly connected through an intermediary, and can be internal communication between two components or an interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

At present, there are many applications of drones that can be realized through automatic flight without manual operation by users. For example, one or more unmanned aerial vehicles fly along a predetermined flight route to complete tasks such as watering and spraying pesticides in the area where the crops of the farm are located. However, it is difficult to achieve more complex flight tasks through simple automatic flight, such as taking fixed-point photos at multiple specific locations on the predetermined flight route, so as to obtain information on key areas. The current mission editor for drones can only set the scheduled flight route of the drone separately, but to realize the flight of multiple drones along the scheduled flight route, it is necessary to set the scheduled flight route for each drone The setting is more cumbersome to operate. However, if more complex flight tasks are to be automatically performed (such as taking photos at specific locations on the way when flying on a predetermined flight route), professional programmers are required to perform complex programming, which greatly limits the application scenarios of drones. .

Please refer to Fig. 1 and Fig. 2, the embodiment of the present application provides a flight mission editing method, which is applied to the control terminal 100, and the flight mission editing method includes:

011: display on the control terminal 100 the components corresponding to one or more pre-stored flight missions;

012: In response to user input, select one or more components and determine the sequence of the components to generate flight mission instructions;

013: Send a flight mission instruction to the UAV 200, the flight mission instruction is used to control the UAV 200 to fly.

The embodiment of the present application also provides an unmanned aerial vehicle system 1000 , and the unmanned aerial vehicle system 1000 includes a control terminal 100 and an unmanned aerial vehicle 200 . The control terminal 100 may include a processor 110, a display 120 and a communication interface 130. The display 120 is used to display the components corresponding to one or more pre-stored flight missions; in response to user input, select one or more components; the processor 110 selects one or more components according to the selected The mission corresponding to one or more components and the arrangement sequence of the components are used to generate the mission instruction; the communication interface 130 is used to send the mission instruction to the unmanned aerial vehicle 200, and the mission instruction is used to control the unmanned aerial vehicle 200 to perform flight. That is to say, step 011 may be implemented by the display 120 , and step 012 and step 013 may be implemented by the processor 110 .

Specifically, the control terminal 100 may be a mobile terminal (such as a mobile phone, a tablet computer, etc.) and/or a remote controller. For example, the control terminal 100 is a mobile terminal, the processor 110 and the display 120 are all arranged on the mobile terminal, the mobile terminal is connected to the UAV 200 in communication, and after the mobile terminal edits the flight mission instruction, it can be directly sent to the UAV 200, To control the flight of the unmanned aerial vehicle 200; or, the control terminal 100 is a remote controller, and the processor 110 and the display 120 are all set on the remote controller. The unmanned aerial vehicle 200 flies; or, the control terminal 100 is a mobile terminal and a remote controller, the display 120 is arranged on the mobile terminal, and there are two processors 110, which are respectively arranged on the mobile terminal and the remote controller, and the remote controller communicates with the unmanned aerial vehicle 200 Connection, remote control and mobile terminal communication connection, after the mobile terminal edits the flight mission command, send it to the remote control, and then forwarded to the UAV 200 by the remote control, so as to control the flight of the UAV 200. In this embodiment of the present application, the control terminal 100 is described by taking a remote controller as an example.

In other embodiments, the control terminal 100 may also include any terminal capable of running web pages or application programs, such as a desktop computer. After the control terminal 100 edits the flight mission instruction, it sends it to the mobile terminal, and then the mobile terminal forwards it to the UAV 200, or the mobile terminal forwards it to the remote controller, and the remote controller forwards it to the UAV 200 to control the unmanned aerial vehicle 200. Aircraft 200 flies.

The remote controller can have a built-in mission editing program for realizing flight mission editing, and the display 120 can have touch and display functions. Referring to Fig. 3, display 120 shows one or more prestored flight missions, such as take-off, hovering, route flight, photographing, video recording, etc., and each flight mission corresponds to a component (photographing component as shown in Fig. 3 , airline flight components, etc.).

The display 120 can also display an editing area 121 where one or more components can be combined freely. The processor 110 may select one or more flight missions in response to user input to the display 120 to generate flight mission instructions. Specifically, the user drags the components into the editing area 121 through a dragging operation on the components, and can adjust the arrangement order of the components in the editing area 121 through the dragging operation. The components in the editing area 121 are the missions selected in response to user input.

It can be understood that, in general, the arrangement order of the components may be the execution order of the flight tasks. For example, as shown in FIG. 3 , the flight tasks in the editing area 121 include take-off, route flight, video recording and landing. The route flight and video recording are juxtaposed, indicating that during the route flight process, video recording is always performed, and the take-off task is executed first, and then the route is executed simultaneously. Fly and video, and finally perform the landing.

Of course, the execution time of different flight tasks may be partially repeated. During the execution of a flight task (such as route flight), other flight tasks (such as taking pictures or videos) are performed. Please refer to Figure 4. At this time, the user clicks on the route to fly The task is to display the route S of the flight route, and then set (such as drag) the components (such as taking pictures) that are executed during the flight of the route at a specific position of the route, so that when the unmanned aerial vehicle 200 flies to the specific position, Perform photoshoot tasks.

After the user selects and edits the components in the editing area 121 , the processor 110 can generate flight mission instructions according to the components in the editing area 121 . The flight mission instruction includes one or more flight missions that the user wants to perform, and may also include the execution sequence of multiple flight missions.

Then the control terminal 100 sends the edited flight mission instruction to the unmanned aerial vehicle 200. After the unmanned aerial vehicle 200 receives the flight mission instruction, it executes one or Multiple flight missions.

In the flight mission editing method, the control terminal 100 and the unmanned aerial vehicle system 1000 of the embodiment of the present application, by displaying one or more flight missions pre-stored on the control terminal 100, and then selecting one or more flight missions by the user, Therefore, the flight mission instruction is generated, and finally the generated flight mission instruction is sent to the UAV 200, so that the UAV 200 can be controlled to fly according to the flight mission instruction. The user can edit one or more flight missions simply and quickly through the editing operation of the visual interface of the control terminal 100, so as to generate flight mission instructions containing a variety of different flight missions, so that the unmanned aerial vehicle 200 can automatically realize multiple missions. flight missions. For example, when flying along a predetermined trajectory (that is, flight route), other flight tasks such as taking pictures and videos can be performed at any position on the way, thereby expanding the usage scenarios of the UAV 200 .

Referring to Figures 1 and 5, in some embodiments, step 012 also includes:

0121: Receive the user's drag and drop operation on components to select one or more components and determine the arrangement order;

0122: Receive the user's input operation to set the number of unmanned aerial vehicles that perform the mission corresponding to the selected component;

0123: Generate flight mission instructions according to the arrangement order, the flight missions corresponding to the selected components, and the number of unmanned aerial vehicles.

In some embodiments, the display 120 is used to receive the user's drag operation on the components, and the processor 110 is used to determine one or more components selected by the drag operation and their arrangement order, and then the display 120 receives the user's input operation, and processes The processor 110 determines the number of unmanned aerial vehicles that execute the mission corresponding to the selected component according to the input operation; the processor 110 generates a flight task order. That is to say, step 0121 and step 0122 can be implemented by the display 120 in cooperation with the processor 110 , and step 0123 can be implemented by the processor 110 .

Specifically, please refer to FIG. 3 and FIG. 4 again. When the user edits the flight mission instruction on the display 120, the display 120 can display one or more components corresponding to the flight mission. Drag and drop to the editing area 121 of the display 120 , and the user can adjust the arrangement order of the flight missions in the editing area 121 through the dragging operation. And during the execution of a specific flight mission (such as route flight), other flight tasks (such as taking pictures, videos, etc.) can be performed at the same time. Use the drag operation to drag the camera components to a specific position on the route, so as to realize fixed-point photography on the route.

Please refer to Fig. 3, in other embodiments, the remote controller can also include a microphone 130, and the user can input the name of the flight mission to be performed according to one or more flight mission components displayed, thereby selecting the One or more components of an instruction, and the order of the components can be adjusted by voice input.

Please refer to FIG. 6, after determining the flight mission to be performed, the user can also input the number of unmanned aerial vehicles for the flight mission to be performed through an input operation, so that one or more unmanned aerial vehicles 200 can perform the same flight mission .

The processor 110 can generate the flight mission instruction according to the selected flight mission, the sequence of the flight mission (i.e. the execution order), and the number of unmanned aerial vehicles executing the selected flight mission, and then send the flight mission instruction to the The number of unmanned aerial vehicles 200 corresponding to the number of human aerial vehicles, so that the corresponding number of unmanned aerial vehicles 200 are automatically formed, and according to the sequence of the flight missions, one or more selected flight missions are executed.

Wherein, the flight mission instructions may include relative position information. After determining the number of UAVs 200, the processor 110 may generate an equal number of flight mission instructions to be sent to the corresponding number of UAVs 200 respectively. The flight mission instructions include the leader The flight mission order of the wingman and the flight mission orders of multiple wingmen, the position of the lead plane is the reference point, and the flight mission order of each wingman contains the relative position information with the reference point, so that the relationship between the lead plane and the wingman can be adjusted according to the relative position information. The relative positions among them make the corresponding number of unmanned aerial vehicles 200 automatically form and fly according to the mission execution.

For example, if the number of unmanned aerial vehicles 200 input by the user is 5, then five unmanned aerial vehicles 200 can be used to perform the flight mission. Keep a predetermined distance with the wingman, such as 5 unmanned aerial vehicles 200 are arranged in a rectangle, the lead plane is located at the center of the rectangle, and 4 wingmen are located at the 4 vertices of the rectangle, so that multiple unmanned aerial vehicles 200 are automatically arranged in formation, and Perform the same flight mission; or, 5 unmanned aerial vehicles 200 are arranged in a circle, the lead plane is located in the center of the circle, and 4 wingmen are located in the circumference of the circle and are evenly distributed, so that multiple unmanned aerial vehicles 200 are automatically arranged in formation , and perform the same flight mission.

In other embodiments, it can be understood that the unmanned aerial vehicle 200 does not know the time to execute the flight mission instruction, therefore, when the communication interface 130 sends the flight mission instruction to the unmanned aerial vehicle 200, it also sends the start execution instruction at the same time, so that the unmanned aerial vehicle 200 200 starts to execute the flight mission instruction after receiving the start execution instruction, or, the start execution instruction indicates to execute the flight mission instruction after a predetermined period of time (such as 30 seconds, 1 minute, 2 minutes, etc.), then the unmanned aerial vehicle 200 receives After the predetermined period of time for starting to execute the instruction, the flight mission instruction will start to be executed.

Please refer to Fig. 1 and Fig. 7, in some embodiments, the mission editing method also includes:

014: Receive the user's input operation, and determine the attribute of the flight task. The attribute includes at least one of execution times, target point coordinates, flight speed, flight altitude, and shooting parameters.

In some embodiments, the display 120 is also used to receive the user's input operation, and the processor 110 is also used to determine the attribute of the flight task according to the input operation, and the attribute includes the number of executions, the coordinates of the target point, the flight speed, the flight height, and the shooting parameters. at least one of the That is to say, step 014 may be implemented by the display 120 in cooperation with the processor 110 .

Specifically, after the user selects a flight task through a drag operation, the attribute of the flight task can also be determined through an input operation on the flight task. For example, the user can display the property setting interface of the flight task by clicking on the flight task, and then the user can edit the property of the flight task.

Please refer to Figure 8, taking the flight task as an example of route flight, in the attribute setting interface of route flight, including the number of executions, the number of round trips along the route can be set, if the number of executions is 1, the unmanned aerial vehicle 200 travels along the route once , the number of executions is 2, then the unmanned aerial vehicle 200 goes back and forth twice along the route; in the attribute setting interface of route flight, it also includes the coordinates of the target point, the starting point and the end point of the route can be set, and the starting point can be the current positioning position of the unmanned aerial vehicle 200 , no setting is required, and the end point is the coordinates of the target point.

The property setting interface of the route flight can display a map within the flight range of the UAV 200 centered on the current positioning position. The user can also select the starting point and the ending point by clicking the operation, and the user can also set the passing point between the starting point and the ending point. (the characteristic position of the route of the unmanned aerial vehicle 200), the processor 110 automatically plans the route according to the starting point, the end point, and the passing point, so that the unmanned aerial vehicle 200 takes off from the starting point, passes through the passing point, and then reaches the end point; The attribute setting interface of the UAV 200 can also include flight speed and flight altitude, and the flight speed of the UAV 200 and the flight altitude of the UAV 200 can be set. Take the flight mission as an example to take pictures. In the property setting interface of taking pictures, shooting parameters such as shooting frame rate and continuous shooting times are included to set the shooting parameters when the camera performs the taking pictures.

Please refer to Fig. 1 and Fig. 10, in some embodiments, the flight mission editing method also includes:

015: Receive and display the execution result generated by the UAV 200 executing the flight mission.

In some embodiments, the processor 110 is also used to receive the execution result generated by the UAV 200 executing the flight task; the display 120 is also used to display the execution result. That is to say, step 015 may be implemented by the processor 110 in cooperation with the display 120 .

Specifically, after the unmanned aerial vehicle 200 executes each flight mission or a part of the flight mission, it may generate the execution result of the flight mission. For example, for the flight task of taking pictures at a specific location on the route, after the task of taking pictures is performed, result information is generated to indicate that the task of taking pictures is completed, and the result information may also include images obtained by taking pictures.

The UAV 200 can send the execution result to the control terminal 100, and the control terminal 100 can display the execution result. For example, after the photographing task is completed, the control terminal 100 displays "photographing completed", and may display the image obtained by photographing. Thereby enabling the user to understand the execution of the flight mission, it is convenient for the user to know in time whether there is a fault in the unmanned aerial vehicle 200 according to the execution of the flight mission. Then it is possible that the camera of the UAV 200 is malfunctioning. In this way, the control terminal 100 can display the execution result of the flight mission, which is convenient for the user to quickly locate the failure of the UAV 200 .

In some embodiments, after editing the flight mission, the user can choose whether to store the flight mission instruction, so that when the user wants to execute the same flight mission instruction again, he can quickly execute the stored flight mission instruction without re-editing the flight mission. flight mission instructions.

For example, the flight mission instructions can be stored in the memory 140 of the control terminal 100, or stored in the cloud (such as a cloud server), and the control terminal 100 obtains the stored flight instructions by accessing the cloud server.

As shown in FIG. 11 , the display 120 can display a list of stored flight mission instructions. After receiving the user's selection operation on the list, the flight mission instruction selected by the user can be determined, and the flight mission instruction will be sent to the corresponding wireless station. The manned aerial vehicle 200 is used to quickly execute the selected flight mission instructions.

And when the user wants to execute a flight mission instruction that is less different from the stored flight mission instructions (such as only adjusting the shooting parameters of the photographing mission), the user can also edit the stored flight mission instructions, thereby according to the already stored flight mission instructions. Some flight mission instructions can quickly generate flight mission instructions with small differences, which reduces the workload of users editing flight mission instructions.

Referring to Figures 1 and 12, the embodiment of the present application also provides a flight method, which is applied to an unmanned aerial vehicle 200, and the flight method includes:

021: Receive flight mission instructions, the flight mission instructions are generated based on the components corresponding to one or more flight missions selected by the user on the control terminal 100 and the arrangement order of the components;

022: Fly according to the flight mission instructions, and generate the execution results of the flight mission instructions.

The unmanned aerial vehicle 200 of the embodiment of the present application includes a processor 210 and a communication interface 220, the communication interface 220 is used to receive flight mission instructions, and the flight mission instructions are based on the components corresponding to one or more flight missions selected by the user on the control terminal 100 and the arrangement order of the components; the processor 210 is used for flying according to the flight mission instruction, and generating the execution result of the flight mission instruction. That is to say, step 021 and step 022 may be executed by the processor 210 .

Specifically, after receiving the flight mission instruction sent by the control terminal 100, the unmanned aerial vehicle 200 can fly according to the flight mission instruction. The flight mission instruction includes one or more flight missions, such as route flight, take-off, hovering, photographing, video recording, etc., and the processor 210 parses the flight mission instruction to determine the execution of the flight mission according to the sequence of the flight missions in the flight mission instruction. sequence, and then execute the flight missions in sequence according to the execution sequence, thus completing the automatic flight.

For example, please refer to FIG. 3 , the flight task instruction includes four flight tasks of take-off, route flight, video recording and landing, wherein the video recording task and the route flight task are arranged side by side, that is to say, video recording is always performed during the route flight phase. After the unmanned aerial vehicle 200 received the mission instruction, the processor 210 of the unmanned aerial vehicle 200 parsed four flight missions, and then controlled the unmanned aerial vehicle 200 to take off and take off to a preset altitude (generally the height of normal flight, After the experience value or the altitude value set in advance by the user), the route flight task is started and the video recording function is turned on. The unmanned aerial vehicle 200 flies along the route until the end of the route. stop, the video recording task ends, and then the unmanned aerial vehicle 200 performs the landing task, and completes the entire flight task instruction after landing. In this way, the unmanned aerial vehicle 200 can automatically execute complex flight mission instructions without manual operation.

Referring to Figure 1 and Figure 13, in some embodiments, step 022 includes:

0221: Receive the flight mission instruction and start execution instruction, and execute the flight mission instruction according to the start execution instruction.

In some embodiments, the communication interface 220 is used to receive the flight mission instruction and start execution instruction; the processor 210 is used to execute the flight mission instruction according to the start execution instruction. That is to say, step 0221 may be executed by the processor 210 .

Specifically, it can be understood that the unmanned aerial vehicle 200 does not know the time to execute the flight mission instruction. When the unmanned aerial vehicle 200 receives the flight mission instruction, it also receives the start execution instruction. After receiving the start execution instruction, the unmanned aerial vehicle 200, That is, start to execute the flight mission instruction, or start to execute the instruction to execute the flight mission instruction after a predetermined period of time (such as 30 seconds, 1 minute, 2 minutes, etc.), then after the unmanned aerial vehicle 200 receives the predetermined period of time for the start of execution instruction, That is to say, the execution of the flight mission instruction begins. After the flight mission instruction is executed, the execution result of the flight mission instruction can be generated to indicate the execution status of each flight mission of the flight mission instruction, such as whether the execution is completed, whether there is any abnormality in the execution result, and so on.

Please refer to FIGS. 1 and 14. In some embodiments, the mission instruction also includes relative position information. When the number of unmanned aerial vehicles is multiple, step 022 includes:

0222: Take any UAV 200 as a reference point, adjust the relative position between the current UAV 200 and the UAV 200 at the reference point according to the relative position information, so that multiple UAVs 200 form a formation and follow the Flight mission instructions to fly.

In some embodiments, the processor 210 is configured to take any UAV 200 as a reference point, and adjust the relative position between the current UAV 200 and the UAV 200 at the reference point according to the relative position information, so that A plurality of UAVs 200 form a formation and fly according to the mission instructions. That is to say, step 0221 may be executed by the processor 210 .

Specifically, after the unmanned aerial vehicle 200 receives the flight mission instruction, the unmanned aerial vehicle 200 can send a request to apply as the lead aircraft to the control terminal 100, and the control terminal 100 can send the request corresponding to the first received request to the unmanned aerial vehicle 200. Set as the lead plane, and send the position information of the lead plane to other unmanned aerial vehicles 200 as wingmen in real time, each wingman can use the position information of the lead plane as a reference point, and then according to the relative position information contained in the flight execution command, The position between the current wingman and the reference point is adjusted, so that the automatic formation of multiple unmanned aerial vehicles 200 is carried out according to the mission execution.

Please refer to Fig. 1 and Fig. 15, in some embodiments, the flying method also includes:

023: Send the execution result to the control terminal 100, and the control terminal 100 is used to display the execution result.

In some embodiments, the communication interface 220 is also used to send the execution result to the control terminal 100, and the control terminal 100 is used to display the execution result. That is to say, step 023 may be implemented by the processor 210 .

Specifically, after the unmanned aerial vehicle 200 executes each flight mission or a part of the flight mission, it may generate the execution result of the flight mission. The execution result includes whether the flight mission is completed and the data generated after the flight mission is executed. According to the execution result, it can be judged whether there is any abnormality in the execution result.

The UAV 200 can send the execution result to the control terminal 100, and the control terminal 100 can display the execution result. For example, after the video recording task is completed, the control terminal 100 displays "recording has been completed" and can display the recorded video. Thereby enabling the user to understand the execution of the flight mission, it is convenient for the user to know in time whether there is a fault in the unmanned aerial vehicle 200 according to the execution of the flight mission. If the recording task is executed abnormally, it may be that the camera is faulty. In this way, the UAV 200 can send the execution result to be displayed by the control terminal 100 , which is convenient for the user to quickly locate the failure of the UAV 200 .

Referring to FIG. 16, the embodiment of the present application also provides a non-volatile computer-readable storage medium 300 containing a computer program 302. When the computer program 302 is executed by one or more processors 400, the processors 400 execute the above-mentioned The flight task editing method or flight method of any embodiment.

For example, referring to FIG. 1, when the computer program 302 is executed by one or more processors 400, the processors 400 are made to perform the following steps:

011: displaying one or more pre-stored flight missions on the control terminal 100;

012: Responding to user input, select one or more flight missions to generate flight mission instructions;

For another example, referring to FIG. 1, when the computer program 302 is executed by one or more processors 400, the processors 400 are made to perform the following steps:

0121: Receive the user's drag operation on the components corresponding to the flight missions, so as to select one or more flight missions and determine the arrangement order of the flight missions;

0122: Receive an input operation from the user to set the number of UAVs performing the selected mission;

0123: Generate flight mission instructions according to the sorting order, selected flight missions, and the number of unmanned aerial vehicles.

It can be understood that the schematic diagrams corresponding to the various embodiments include the time sequence of executing actions, which is only an exemplary description. According to needs, the time sequence before each executing action can be changed. At the same time, there is no contradiction between the various embodiments. In the case of conflicts, one or more embodiments may be combined or split to adapt to different application scenarios, and details are not described here.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "exemplary embodiments", "an example", "specific examples", or "some examples" are meant to be implemented in conjunction with A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flowcharts or otherwise described herein may be understood as representing modules, fragments or portions of code comprising one or more procedures for performing specific logical functions or steps of a process, and The scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which should be considered herein Embodiments of the application are understood by those skilled in the art to which they belong.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequential listing of programs for performing logical functions, embodied in any computer-readable medium for Instruction execution systems, devices, or devices (such as computer-based systems, systems including processor 210, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices, or equipment for use.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims

A method for editing a flight mission, characterized in that it is applied to a control terminal, comprising:

displaying on the control terminal the components corresponding to one or more pre-stored flight missions;

selecting and ordering one or more of the components in response to user input to generate a mission order; and

Sending the flight mission instruction to the unmanned aerial vehicle, the flight mission instruction is used to control the unmanned aerial vehicle to fly.
The flight mission editing method according to claim 1, wherein, in response to user input, selecting one or more flight missions to generate flight mission instructions includes:

receiving a user's drag operation on the components, so as to select one or more of the components and determine the arrangement order;

receiving an input operation from a user to set the number of unmanned aerial vehicles that execute the flight mission corresponding to the selected component;

The flight mission instruction is generated according to the arrangement order, the flight mission corresponding to the selected component, and the number of unmanned aerial vehicles.
The mission editing method according to claim 2, wherein the sending the mission instruction to the unmanned aerial vehicle includes:

According to the number of unmanned aerial vehicles, send the flight mission instruction and start execution instruction to the corresponding unmanned aerial vehicles.
The flight mission editing method according to claim 2, wherein the flight mission instruction also includes relative position information, and when the number of the unmanned aerial vehicles is multiple, the control of the unmanned aerial vehicles to fly, include:

Taking any one of the unmanned aerial vehicles as a reference point, arranging a plurality of the unmanned aerial vehicles according to the relative position information, so that the plurality of the unmanned aerial vehicles form a formation and fly according to the mission instruction.
The flight task editing method according to claim 1, further comprising:

An execution result generated by the unmanned aerial vehicle executing the flight task is received and displayed.
The flight task editing method according to claim 1, further comprising:

The execution order of the flight missions is determined according to the sequence of the flight missions in the flight mission instructions.
The flight task editing method according to claim 1, wherein the flight task includes at least one of take-off, hovering, route flight, photographing, and video recording.
The flight task editing method according to claim 1, further comprising:

The attribute of the flight task is determined by receiving the user's input operation, and the attribute includes at least one of execution times, target point coordinates, flight speed, flight altitude, and shooting parameters.
The flight task editing method according to claim 1, further comprising;

The flight mission instructions are stored.
The mission editing method according to claim 9, further comprising: before sending the mission instruction to the unmanned aerial vehicle:

Receive a user's selection operation, and select any stored flight mission instruction.
The flight mission editing method according to claim 1, wherein the control terminal comprises a remote controller or a mobile terminal.
A flying method, characterized in that it is applied to an unmanned aerial vehicle, comprising:

Receive flight mission instructions, the flight mission instructions are generated based on the components corresponding to one or more flight missions selected by the user on the control terminal and the arrangement order of the components; and

Flying is performed according to the flight mission instruction, and an execution result of the flight mission instruction is generated.
The flight method according to claim 12, wherein the flight task instruction is based on one or more of the components selected by the user, the arrangement order, and the user's settings according to the user's drag operation on the components. The number of UAVs performing the mission corresponding to the selected component is determined.
The flying method according to claim 13, wherein the flying according to the flight mission instructions includes:

receiving the flight mission instruction and the start execution instruction, and executing the flight mission instruction according to the start execution instruction.
The flight method according to claim 13, wherein the mission instruction also includes relative position information, and when the number of the unmanned aerial vehicle is multiple, the flight according to the mission instruction includes:

Taking any of the unmanned aerial vehicles as a reference point, adjusting the relative position between the current unmanned aerial vehicle and the unmanned aerial vehicle at the reference point according to the relative position information, so that a plurality of the unmanned aerial vehicles The manned air vehicles form a formation and fly according to the flight mission instructions.
The flying method according to claim 12, characterized in that, the execution order of the flight tasks is determined according to the arrangement order of the flight tasks in the flight task instruction.
The flight method according to claim 12, wherein the flight task includes at least one of take-off, hovering, route flight, photographing, and video recording.
The flying method according to claim 12, wherein the attribute of the flight task is determined according to the user's input operation, and the attribute includes at least one of execution times, target point coordinates, flight speed, flight altitude, and shooting parameters.
The flight method according to claim 12, characterized in that the flight mission instructions are stored in the control terminal.
The flying method according to claim 19, characterized in that, the flight mission instruction sent to the UAV is determined according to the selection operation of the stored flight mission instruction by the user.
The flying method according to claim 12, further comprising:

sending the execution result to the control terminal, where the control terminal is used to display the execution result.
A control terminal, characterized in that the control terminal includes a display, a processor and a communication interface, and the display is used to display components corresponding to one or more pre-stored flight missions; in response to user input, select one or more The above-mentioned components, the processor is used to generate flight mission instructions according to the flight mission corresponding to the selected one or more of the components and the sequence of the components; the communication interface is used to send the flight mission An instruction is sent to the unmanned aerial vehicle, and the mission instruction is used to control the unmanned aerial vehicle to fly.
The control terminal according to claim 22, wherein the display is specifically configured to receive a user's drag operation on the component; the processor is specifically configured to determine one or more components selected by the drag operation. The components and the arrangement order; the display is also used to receive the user's input operation; the processor is also used to set the flight mission corresponding to the selected component according to the input operation The number of unmanned aerial vehicles; the processor is further configured to generate the flight mission instruction according to the arrangement order, the flight mission corresponding to the selected components, and the number of unmanned aerial vehicles.
The control terminal according to claim 23, wherein the communication interface is further used to send the mission instruction and start execution instruction to the corresponding UAV according to the number of the UAV.
The control terminal according to claim 23, wherein the flight mission instruction also includes relative position information, and when the number of the unmanned aerial vehicles is multiple, the processor is also used to use any one of the unmanned aerial vehicles The manned aerial vehicle is used as a reference point, and a plurality of the unmanned aerial vehicles are arranged according to the relative position information, so that the plurality of the unmanned aerial vehicles form a formation and fly according to the mission instruction.
The control terminal according to claim 22, wherein the communication interface is further used for receiving execution results generated by the unmanned aerial vehicle executing the flight mission, and the display is used for displaying the execution results.
The control terminal according to claim 22, wherein the processor is further configured to determine the execution order of the flight missions according to the arrangement order of the flight missions in the flight mission instructions.
The control terminal according to claim 22, wherein the flight task includes at least one of takeoff, hovering, route flight, photographing, and video recording.
The control terminal according to claim 22, wherein the display is also used to receive user input operations to determine the attributes of the flight mission, the attributes include execution times, target point coordinates, flight speed, flight altitude , at least one of shooting parameters.
The control terminal according to claim 22, characterized in that, the control terminal further comprises a memory, and the memory is used for storing the flight mission instructions.
The control terminal according to claim 30, wherein, before sending the flight mission instruction to the unmanned aerial vehicle, the display is also used to receive a user's selection operation to select any stored flight mission instruction.
A kind of unmanned aerial vehicle, it is characterized in that, described unmanned aerial vehicle comprises processor and communication interface, and described communication interface is used for receiving flight task instruction, and described flight task instruction is based on one or more selected by the user on the control terminal. The components corresponding to each flight mission and the sequence of the components are generated; the processor is used to fly according to the flight mission instructions, and generate the execution results of the flight mission instructions.
The unmanned aerial vehicle according to claim 32, wherein the mission instruction is one or more of the components selected according to the user's drag operation on the components, the arrangement order, and user settings The number of unmanned aerial vehicles performing the mission corresponding to the selected component is determined.
The unmanned aerial vehicle according to claim 33, wherein the communication interface is also used to receive the flight task instruction and start execution instruction, and the processor is also used to execute the flight according to the start execution instruction task order.
The unmanned aerial vehicle according to claim 33, wherein the mission instruction also includes relative position information, and when the number of the unmanned aerial vehicles is multiple, the processor is also used to use any one of the The unmanned aerial vehicle is a reference point, and the relative position between the current unmanned aerial vehicle and the unmanned aerial vehicle located at the reference point is adjusted according to the relative position information, so that a plurality of the unmanned aerial vehicles form a formation and Fly in accordance with the stated flight mission instructions.
The unmanned aerial vehicle according to claim 32, wherein the execution order of the flight tasks is determined according to the sequence of the flight tasks in the flight task instructions.
The unmanned aerial vehicle according to claim 32, wherein the flight mission includes at least one of take-off, hovering, route flight, photographing, and video recording.
The unmanned aerial vehicle according to claim 32, wherein the attribute of the flight task is determined according to the user's input operation, and the attribute includes at least one of execution times, target point coordinates, flight speed, flight height, and shooting parameters .
The unmanned aerial vehicle according to claim 32, wherein the mission instructions are stored in the control terminal.
The unmanned aerial vehicle according to claim 39, wherein the mission instruction sent to the unmanned aerial vehicle is determined according to a user's selection operation on the stored mission instruction.
The unmanned aerial vehicle according to claim 32, wherein the communication interface is further used to send the execution result to the control terminal, and the control terminal is used to display the execution result.
An unmanned aerial vehicle system, characterized in that it comprises a control terminal and an unmanned aerial vehicle, the control terminal is used to execute the mission editing method described in any one of claims 1-11, and the unmanned aerial vehicle is used to execute The flying method according to any one of claims 12-21.