CN105867416A - Flying control method and device of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Flying control method and device of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN105867416A CN105867416A CN201610249040.9A CN201610249040A CN105867416A CN 105867416 A CN105867416 A CN 105867416A CN 201610249040 A CN201610249040 A CN 201610249040A CN 105867416 A CN105867416 A CN 105867416A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention relates to a flying control method and device of an unmanned aerial vehicle and the unmanned aerial vehicle. The flying control method of the unmanned aerial vehicle mainly comprises the steps that a flying control instruction from a client side is received, wherein flying control instructions are control instructions which are preset in the client side and correspond to flying actions; according to the flying control instruction, data of the flying environment where the unmanned aerial vehicle is located and/or flying state data of the unmanned aerial vehicle are obtained; a motor in the unmanned aerial vehicle is controlled according to the obtained data and the flying control instruction so as to make the unmanned aerial vehicle execute the corresponding flying action. According to the flying control method of the unmanned aerial vehicle, the requirement for the control technique of a user of the unmanned aerial vehicle hardly exists; common users with very little and even no operation experience of the unmanned aerial vehicle can perform flying control over the unmanned aerial vehicle.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to the flight control method of a kind of unmanned plane, device and
Unmanned plane.
Background technology
Along with making rapid progress of technology, unmanned vehicle (Unmanned Aerial Vehicle, letter
Claim unmanned plane) popularized, be widely used in taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation, calamity
Difficult rescue, observe wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief,
The fields such as movies-making, manufacture romance.
Unmanned plane shooting is different from the effect using satellite, aircraft or helicopter to photograph, for people's exhibition
One brand-new angle in the Xian Liao world.At present, video based on unmanned plane or IMAQ, mostly adopt
Use Non-follow control unmanned plane.The heading of unmanned plane, angle and the process of height is controlled constantly intervening
In, the video camera that unmanned plane carries is enrolled corresponding video or shoots corresponding image.
Use the style of shooting of Non-follow control unmanned plane, the manipulation technology of user had higher requirement,
Professional or semi-professional unmanned plane shooting practitioner is needed to complete.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, few even without unmanned plane for having
The commonly used person of operating experience, the flight how realizing unmanned plane controls.
Solution
In order to solve above-mentioned technical problem, according to one embodiment of the invention, it is provided that a kind of unmanned plane
Flight control method, including:
Receiving the flight control instruction from client, described flight control instruction is in described client
The control instruction corresponding with each flare maneuver pre-set；
According to described flight control instruction, obtain flight environment of vehicle data residing for described unmanned plane and/or described
The Flight Condition Data of unmanned plane；
According to acquired data and described flight control instruction, control the motor in described unmanned plane, with
Described unmanned plane is made to perform corresponding flare maneuver.
For the flight control method of above-mentioned unmanned plane, in a kind of possible implementation, according to described
Flight control instruction, obtains the flight environment of vehicle data residing for described unmanned plane and/or the flight of described unmanned plane
Status data, including:
Judge whether described flight control instruction has performed；
In the case of described flight control instruction has been not carried out, obtain described unmanned plane when current
The described flight environment of vehicle data carved and/or described Flight Condition Data；
Wherein, described flight environment of vehicle data include described unmanned plane wind in current time local environment
Speed, described Flight Condition Data includes that described unmanned plane is in the relevant flight attitude information of current time and position
Confidence ceases.
For the flight control method of above-mentioned unmanned plane, in a kind of possible implementation, according to being obtained
The data taken and described flight control instruction, control the motor in described unmanned plane, so that described unmanned plane
Perform corresponding flare maneuver, including:
According to acquired data and described flight control instruction, determine that the motor in described unmanned plane is corresponding
Regulation and control parameter；
According to each motor speed that the regulation and control of described regulation and control parameter are corresponding, so that described unmanned plane performs correspondence
Flare maneuver.
For the flight control method of above-mentioned unmanned plane, in a kind of possible implementation, described regulation and control
Parameter includes: the first motor speed, the second motor speed, the 3rd motor speed and the 4th motor speed.
In order to solve above-mentioned technical problem, according to another embodiment of the present invention, it is provided that a kind of unmanned plane
Flight control method, including:
Pre-set the flight control instruction corresponding with each flare maneuver of described unmanned plane；
The flare maneuver selected according to user, sends flight control instruction to described unmanned plane, so that described
Unmanned plane performs corresponding flare maneuver.
For the flight control method of above-mentioned unmanned plane, in a kind of possible implementation, described flight
Control instruction includes: the instruction that moves upward, moves downward instruction, overlook movement instruction, look up motion and refer to
Make, the instruction that travels forward, rearward movement instruction, to the left movement instruction, move right instruction, just transport
Move and instruct and bear any one turned in movement instruction.
In order to solve above-mentioned technical problem, according to another embodiment of the present invention, it is provided that a kind of unmanned plane
Flight control assemblies, including:
Command reception module, for receiving the flight control instruction from client, described flight controls to refer to
Order is the control instruction corresponding with each flare maneuver pre-set in described client；
Data acquisition module, is connected with described command reception module, is used for according to described flight control instruction,
Obtain the flight environment of vehicle data residing for described unmanned plane and/or the Flight Condition Data of described unmanned plane；
Flight control modules, is connected with described command reception module and described data acquisition module respectively, uses
According to acquired data and described flight control instruction, control the motor in described unmanned plane, so that
Described unmanned plane performs corresponding flare maneuver.
For the flight control assemblies of above-mentioned unmanned plane, in a kind of possible implementation, described data
Acquisition module includes:
Instruction judging unit, is connected with described command reception module, is used for judging described flight control instruction
Whether execution completes；
Data capture unit, is connected with described instruction judging unit, for not having in described flight control instruction
In the case of having execution to complete, obtain described unmanned plane current time described flight environment of vehicle data and/
Or described Flight Condition Data；
Wherein, described flight environment of vehicle data include described unmanned plane wind in current time local environment
Speed, described Flight Condition Data includes that described unmanned plane is in the relevant flight attitude information of current time and position
Confidence ceases.
For the flight control assemblies of above-mentioned unmanned plane, in a kind of possible implementation, described flight
Control module includes:
Parameter determination unit, is connected with described command reception module and described data acquisition module respectively, uses
According to acquired data and described flight control instruction, determine that the motor in described unmanned plane is corresponding
Regulation and control parameter；
Motor control unit, is connected with described parameter determination unit, for regulating and controlling according to described regulation and control parameter
Corresponding each motor speed, so that described unmanned plane performs corresponding flare maneuver.
For the flight control assemblies of above-mentioned unmanned plane, in a kind of possible implementation, described regulation and control
Parameter includes: the first motor speed, the second motor speed, the 3rd motor speed and the 4th motor speed.
In order to solve above-mentioned technical problem, according to another embodiment of the present invention, it is provided that a kind of unmanned plane
Flight control assemblies, including:
Instruction presetting module, for pre-setting the flight control corresponding with each flare maneuver of described unmanned plane
System instruction；
Instruction sending module, is connected with described instruction presetting module, moves for the flight selected according to user
Make, send flight control instruction to described unmanned plane, so that described unmanned plane performs corresponding flare maneuver.
For the flight control assemblies of above-mentioned unmanned plane, in a kind of possible implementation, described flight
Control instruction includes: the instruction that moves upward, moves downward instruction, overlook movement instruction, look up motion and refer to
Make, the instruction that travels forward, rearward movement instruction, to the left movement instruction, move right instruction, just transport
Move and instruct and bear any one turned in movement instruction.
In order to solve above-mentioned technical problem, according to another embodiment of the present invention, it is provided that a kind of unmanned plane,
Being provided with air velocity transducer, attitude transducer and position sensor, described unmanned plane uses above-mentioned unmanned plane
Flight control assemblies.
Beneficial effect
The flight control method of the unmanned plane of the embodiment of the present invention, is sent in advance to unmanned plane by client
The control instruction corresponding with each flare maneuver arranged, so that described unmanned plane performs corresponding flight and moves
Make, to the manipulation technology of unmanned plane user almost without requiring.For having seldom even without unmanned
The commonly used person of machine operating experience, the present invention can realize the flight of unmanned plane and control.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the further feature of the present invention and side
Face will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting specification together illustrates with specification
The exemplary embodiment of the present invention, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the flow chart of the flight control method of unmanned plane according to an embodiment of the invention；
Fig. 2 illustrates another flow chart of the flight control method of unmanned plane according to an embodiment of the invention；
Fig. 3 a to Fig. 3 j illustrate according to one embodiment of the invention "+" motor controls in the aerodynamic arrangement of type
Schematic diagram；
Fig. 4 a to Fig. 4 j illustrates according to one embodiment of the invention motor control in the aerodynamic arrangement of " X " type
Schematic diagram processed；
Fig. 5 illustrates the flow chart of the flight control method of unmanned plane according to another embodiment of the present invention；
Fig. 6 illustrates the structured flowchart of the flight control assemblies of unmanned plane according to an embodiment of the invention；
Fig. 7 illustrates another structural frames of the flight control assemblies of unmanned plane according to an embodiment of the invention
Figure；
Fig. 8 illustrates the structured flowchart of the flight control assemblies of unmanned plane according to another embodiment of the present invention.
Detailed description of the invention
Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.Attached
Reference identical in figure represents the same or analogous element of function.Although enforcement shown in the drawings
The various aspects of example, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as
Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous
Detail.It will be appreciated by those skilled in the art that do not have some detail, the present invention is equally
Implement.In some instances, for method well known to those skilled in the art, means, element and circuit
It is not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the flow chart of the flight control method of unmanned plane according to an embodiment of the invention.Such as Fig. 1
Shown in, the method specifically includes that
Step 101, receiving from the flight control instruction of client, described flight control instruction is in institute
The control instruction corresponding with each flare maneuver pre-set in stating client；
Step 102, according to described flight control instruction, obtain the flight environment of vehicle number residing for described unmanned plane
According to and/or the Flight Condition Data of described unmanned plane；
Step 103, according to acquired data and described flight control instruction, control in described unmanned plane
Motor so that described unmanned plane performs corresponding flare maneuver.
In the present embodiment, step 101 mainly completes at unmanned pusher side to step 103.Preferably, visitor
The control instruction that multiple and each flare maneuver is corresponding can be pre-set in the end of family, refer to as flight control
Order.Wherein, flight control instruction can include but not limited to: the instruction that moves upward, move downward instruction,
Overlook movement instruction, look up movement instruction, the instruction that travels forward, rearward movement instruct, refer to left movement
Make, move right instruction, forward rotating movements instruction and negative turn movement instruction.
User can select to expect the flare maneuver that unmanned plane completes, and client then can select according to user
Flare maneuver to unmanned plane send corresponding flight control instruction.Specifically, client can be passed through
The such as wireless communication mode such as WIFI, radio or bluetooth sends flight to the flight control system of unmanned plane
Control instruction.The flight control system of unmanned aerial vehicle onboard is after receiving flight control instruction, according to unmanned
The puppy parc of machine such as MAVLINK (Micro Air Vehicle Link, micro-air-vehicles connection protocol)
Resolve and perform the flare maneuver of correspondence.Wherein, flight control system can be mounted on unmanned plane
One or more processing equipments, such as single-chip microcomputer, digital signal processor, field programmable gate array or meter
Calculation machine etc..
In a kind of possible implementation, as in figure 2 it is shown, according to described flight control instruction, obtain
Flight environment of vehicle data residing for described unmanned plane and/or the Flight Condition Data (step of described unmanned plane
102), specifically may include that
Step 201, judge whether described flight control instruction has performed；
Step 202, in the case of described flight control instruction has been not carried out, obtain described unmanned
Machine is in the described flight environment of vehicle data of current time and/or described Flight Condition Data.
During the execution of flight control instruction, flight control system can accurately control nothing with continuation
The attitude in man-machine each moment, and then accurately control the whole flight course of unmanned plane.Wherein, described nothing
Man-machine residing flight environment of vehicle data include described unmanned plane wind speed in current time local environment, institute
The Flight Condition Data stating unmanned plane includes the flight attitude information that described unmanned plane is correlated with at current time
And positional information.Specifically, wind speed can be obtained in real time by air velocity transducer, flight attitude information
Can be obtained in real time by attitude transducer, positional information can pass through GPS (Global Positioning
System, global positioning system), the alignment system such as the Big Dipper obtains in real time.
In a kind of possible implementation, as in figure 2 it is shown, according to acquired data and described flight
Control instruction, controls the motor in described unmanned plane, so that described unmanned plane performs corresponding flare maneuver
(step 103), specifically may include that
Step 203, according to acquired data and described flight control instruction, determine in described unmanned plane
Regulation and control parameter corresponding to motor；
Step 204, according to each motor speed corresponding to described regulation and control parameter regulation and control, so that described unmanned plane
Perform corresponding flare maneuver.
Flight control system is by acquired data (wind speed of current time, flight attitude information, position
Information) be filtered processing, such as by acquired data by Kalman filter, remove noise and
Interference, to realize more precise control.According to acquired data and described flight control instruction, flight
Control system is by regulation and control parameter corresponding to the motor that is calculated in described unmanned plane.Specifically, adjust
Control parameter can be the motor speed of prefixed time interval, and described prefixed time interval should be suitable for motor
Regulation and control frequency (such as frequency is in 100HZ rank) and the least, such as 0.5s or 1s, to realize
More precise control.Further, the present embodiment can by motor speed accelerate, slack-off or constant
Qualitative contrlol realize UAV Flight Control, it is also possible to by real to the fixing quantity of motor speed numerical value
Existing UAV Flight Control, the present embodiment does not limits.
The present embodiment comprises as a example by four screws illustrative by unmanned plane.Aerodynamic arrangement is main
Can include "+" type and " X " type.Specifically, set up with the fuselage extension direction of unmanned plane
Three-dimensional system of coordinate, such as using the direction of head and tail as X-axis, using the direction of wing as Y-axis side
To, will be perpendicular to the direction of fuselage as Z-direction.As shown in Fig. 3 a to Fig. 3 j, for "+" type
Aerodynamic arrangement, in this aerodynamic arrangement, is in cornerwise screw line direction and X-direction and Y
Direction of principal axis is parallel.As shown in Fig. 4 a to Fig. 4 j, for the aerodynamic arrangement of " X " type, in this aerodynamic arrangement
In, it is in cornerwise screw line direction and intersects with X-direction and Y direction.Need explanation
It is, "+" in the aerodynamic arrangement of type and the aerodynamic arrangement of " X " type, though corresponding identical flight
The identical flight control instruction of action, is likely to difference to the control mode of each screw.
Wherein, the screw of unmanned plane refers to rely on blade to rotate in atmosphere, is turned by electric machine rotation power
Turn to the device of propulsive force.Further, the screw of unmanned plane is by gear, worm gear, worm screw or company
The standard components such as extension bar are connected with motor.Drive revolution speed of propeller to change when motor speed changes, and then realize
To unmanned plane direction and/or the control of speed.The regulation and control parameter of the present embodiment includes: the first motor speed,
Second motor speed, the 3rd motor speed and the 4th motor speed.Specifically, as Fig. 3 a to Fig. 3 j,
Shown in Fig. 4 a to Fig. 4 j, 1 to 4 four motors representing unmanned plane respectively (first motor the 1, second motor 2,
3rd motor the 3, the 4th motor 4), in a coordinate system, arrow upwards represents the motor speed of correspondence and adds
Hurry up, it is slack-off that downward arrow represents motor speed, and the motor speed that H represents correspondence is constant.
As shown in Fig. 3 a to Fig. 3 j, by "+" as a example by the aerodynamic arrangement of type illustrative.Wherein,
First motor 1 can be the motor being arranged on unmanned plane Handpiece Location, and the second motor 2 can be to be arranged on nothing
The motor of man-machine tail position, the 3rd motor the 3, the 4th motor 4 can be to be arranged on unmanned plane wing position
Motor.As shown in Figure 3 a, such as during the instruction that performs to move upward, the first motor 1, the
The rotating speed of two motor the 2, the 3rd motors 3 and the 4th motor 4 increases respectively, drives corresponding revolution speed of propeller
Accelerate, and then realize unmanned plane and move upward.As shown in Figure 3 d, more such as in execution movement instruction is looked up
During, the faster rotational speed of the first motor 1, the rotating speed of the 3rd motor 3 is slack-off, turning of the first motor 1
Speed increments is equal with the speed decrease of the 3rd motor 3, and the rotating speed of the second motor 2 and the 4th motor 4 is not
Becoming, drive the revolution speed of propeller of head to accelerate, the revolution speed of propeller of tail is slack-off, and the screw of wing turns
Speed is constant, and then realizes unmanned plane and look up motion.In other flare maneuvers, the first motor 1, second
The rotation speed change situation of motor the 2, the 3rd motor 3 and the 4th motor 4 sees shown in Fig. 3 a to Fig. 3 j.Need
Bright, not shown in Fig. 3 a to Fig. 3 j motor speed accelerate time increments or motor speed slack-off time
Reduction amount.Such as, for overlooking motion (Fig. 3 c), the speed decrease of the first motor 1 and the 3rd electricity
The rotating speed increments of machine 3 is equal.For travel forward (Fig. 3 e), the speed decrease of the first motor 1 is little
Rotating speed increments in the 3rd motor 3.
As shown in Fig. 4 a to Fig. 4 j, illustrative as a example by the aerodynamic arrangement of " X " type.Its
In, the first motor 1 and the second motor 2 can be to be arranged on the parallel support frame with unmanned plane wing vertical to lean on
The motor of nearly heading position, the 3rd motor 3 and the 4th motor 4 can be to be arranged on and unmanned plane wing
The vertical parallel support frame motor near heading position.As shown in fig. 4 a, such as performing upwards
During movement instruction, the first motor the 1, second motor the 2, the 3rd motor 3 and rotating speed of the 4th motor 4
Increase respectively, drive corresponding revolution speed of propeller to accelerate, and then realize unmanned plane and move upward.Such as Fig. 4 d
Shown in, more such as during performing to look up movement instruction, the 3rd motor 3 and the rotating speed of the 4th motor 4
Accelerating, the rotating speed of the first motor 1 and the second motor 2 is slack-off, and the rotating speed of the 3rd motor 3 and the 4th motor 4 increases
The speed decrease of dosage and the first motor 1 and the second motor 2 is equal, drives the screw of heading to turn
Speed is accelerated, and the revolution speed of propeller in tail direction is slack-off, and then realizes unmanned plane and look up motion.Fly at other
During action is made, the first motor the 1, second motor the 2, the 3rd motor 3 and rotation speed change situation of the 4th motor 4
See shown in Fig. 4 a to Fig. 4 j.During it should be noted that motor speed is accelerated not shown in Fig. 4 a to Fig. 4 j
Increments or motor speed slack-off time reduction amount.Such as, for overlooking motion (Fig. 4 c), the 3rd
The speed decrease of motor 3 and the 4th motor 4 and the first motor 1 and the rotating speed increments phase of the second motor 2
Deng.For travel forward (Fig. 4 e), the speed decrease of the 3rd motor 3 and the 4th motor 4 is less than first
Motor 1 and the rotating speed increments of the second motor 2.
The flight control method of the unmanned plane of the embodiment of the present invention, is sent in advance to unmanned plane by client
The control instruction corresponding with each flare maneuver arranged, so that described unmanned plane performs corresponding flight and moves
Make.To the manipulation technology of user almost without requiring, seldom operate even without unmanned plane for having
The commonly used person of experience, the present invention can realize the flight of unmanned plane and control.
Unmanned plane is widely used in the field such as movies-making, IMAQ.Unmanned plane shooting is different from employing
The effect that satellite, aircraft or helicopter photograph, presents a brand-new angle in the world for people.
Unmanned plane based on the present embodiment flight control method shoots, in shooting video or the process of IMAQ
In, it is not necessary to user's Non-follow control unmanned plane, to the manipulation technology of user almost without requiring, with this
Meanwhile, smoothness picture clearly can be shot.
Embodiment 2
Fig. 5 illustrates the flow chart of the flight control method of unmanned plane according to another embodiment of the present invention.As
Shown in Fig. 5, the method specifically includes that
Step 501, pre-set the flight control instruction corresponding with each flare maneuver of described unmanned plane；
Step 502, the flare maneuver selected according to user, send flight control instruction to described unmanned plane,
So that described unmanned plane performs corresponding flare maneuver.
In the present embodiment, step 501 mainly completes at client-side to step 502.Wherein, client
Typically refer to provide program or the equipment of local service for client.The client of the present embodiment refer to
Unmanned plane sends program or the equipment of flight control instruction, and control equipment includes but not limited to remote controller, electricity
Brain, panel computer and mobile phone etc..Preferably, multiple and each flight can be pre-set in client
The control instruction that action is corresponding, as flight control instruction.Wherein, flight control instruction can include but
Be not limited to: the instruction that moves upward, move downward instruction, overlook movement instruction, look up movement instruction, to
Front movement instruction, rearward movement instruction, to the left movement instruction, move right instruction, forward rotating movements instruct
Movement instruction is turned with negative.
User can select to expect the flare maneuver that unmanned plane completes, and client then can select according to user
Flare maneuver to unmanned plane send corresponding flight control instruction.Specifically, client can be passed through
The such as wireless communication mode such as WIFI, radio or bluetooth sends flight to the flight control system of unmanned plane
Control instruction.The flight control system of unmanned aerial vehicle onboard is after receiving flight control instruction, according to unmanned
The puppy parc of machine resolves and performs the flare maneuver of correspondence.Concrete principle and example may refer to embodiment
The associated description of 1.
The flight control method of the unmanned plane of the embodiment of the present invention, is sent in advance to unmanned plane by client
The control instruction corresponding with each flare maneuver arranged, so that described unmanned plane performs corresponding flight and moves
Make.To the manipulation technology of user almost without requiring, seldom operate even without unmanned plane for having
The commonly used person of experience, the present invention can realize the flight of unmanned plane and control.
Embodiment 3
Fig. 6 illustrates the structured flowchart of the flight control assemblies of unmanned plane according to an embodiment of the invention.As
Shown in Fig. 6, this device specifically includes that command reception module 11, for receiving the flight from client
Control instruction, described flight control instruction is that pre-set in described client with each flare maneuver pair
The control instruction answered.Data acquisition module 13, is connected with described command reception module 11, for according to institute
State flight control instruction, obtain flying of the flight environment of vehicle data residing for described unmanned plane and/or described unmanned plane
Row status data.Flight control modules 15, respectively with described command reception module 11 and described data acquisition
Module 13 connects, and for according to acquired data and described flight control instruction, controls described unmanned plane
In motor so that described unmanned plane performs corresponding flare maneuver.Concrete principle and example may refer to
The associated description of embodiment 1 and Fig. 1.
In a kind of possible implementation, as it is shown in fig. 7, data acquisition module 13 includes: instruction is sentenced
Disconnected unit 131, is connected with described command reception module 11, is used for whether judging described flight control instruction
Execution completes.Data capture unit 133, is connected with described instruction judging unit 131, for flying described
In the case of row control instruction has been not carried out, obtain the described flight at current time of the described unmanned plane
Environmental data and/or described Flight Condition Data.Wherein, described flight environment of vehicle data include described unmanned plane
Wind speed in current time local environment, described Flight Condition Data includes that described unmanned plane is when current
Carve relevant flight attitude information and positional information.Concrete principle and example may refer to embodiment 1 and
The associated description of Fig. 2.
In a kind of possible implementation, as it is shown in fig. 7, flight control modules 15 includes: parameter is true
Cell 151, is connected with described command reception module 11 and described data acquisition module 15 respectively, is used for
According to acquired data and described flight control instruction, determine the tune that the motor in described unmanned plane is corresponding
Control parameter.Motor control unit 153, is connected with described parameter determination unit 151, for according to described tune
Each motor speed that control parameter regulation and control are corresponding, so that described unmanned plane performs corresponding flare maneuver.Specifically
Principle and example may refer to the associated description of embodiment 1 and Fig. 2.
In a kind of possible implementation, described flight control instruction includes: the instruction that moves upward, to
Lower movement instruction, overlook movement instruction, look up movement instruction, the instruction that travels forward, rearward movement instruction,
To the left movement instruction, move right instruction, forward rotating movements instruction and negative turn movement instruction.Concrete principle and
Example may refer to embodiment 1 and Fig. 3 a to Fig. 3 j, the associated description of Fig. 4 a to Fig. 4 j.
In a kind of possible implementation, described regulation and control parameter includes: the first motor speed, the second electricity
Machine rotating speed, the 3rd motor speed and the 4th motor speed.Concrete principle and example may refer to embodiment 1
And Fig. 3 a to Fig. 3 j, the associated description of Fig. 4 a to Fig. 4 j.
The invention still further relates to a kind of unmanned plane, be provided with air velocity transducer, attitude transducer and position sensing
Device, described unmanned plane uses above-mentioned flight control assemblies.
The flight control assemblies of the unmanned plane of the embodiment of the present invention, is sent in advance to unmanned plane by client
The control instruction corresponding with each flare maneuver arranged, so that described unmanned plane performs corresponding flight and moves
Make.To the manipulation technology of user almost without requiring, seldom operate even without unmanned plane for having
The commonly used person of experience, the present invention can realize the flight of unmanned plane and control.
Unmanned plane is widely used in the field such as movies-making, IMAQ.Unmanned plane shooting is different from employing
The effect that satellite, aircraft or helicopter photograph, presents a brand-new angle in the world for people.
Unmanned plane based on the present embodiment flight control assemblies shoots, in shooting video or the process of IMAQ
In, it is not necessary to user's Non-follow control unmanned plane, to the manipulation technology of user almost without requiring, with this
Meanwhile, smoothness picture clearly can be shot.
Embodiment 4
Fig. 8 illustrates the structured flowchart of the flight control assemblies of unmanned plane according to another embodiment of the present invention.
As shown in Figure 8, this device specifically includes that instruction presetting module 21, is used for pre-setting unmanned with described
The flight control instruction that each flare maneuver of machine is corresponding.Instruction sending module 23, presets mould with described instruction
Block 21 connects, and for the flare maneuver selected according to user, sends flight control instruction to described unmanned plane,
So that described unmanned plane performs corresponding flare maneuver.Concrete principle and example may refer to embodiment 2
Associated description.
In a kind of possible implementation, described flight control instruction includes: the instruction that moves upward, to
Lower movement instruction, overlook movement instruction, look up movement instruction, the instruction that travels forward, rearward movement instruction,
To the left movement instruction, move right instruction, forward rotating movements instruction and negative turn movement instruction.Concrete principle and
Example may refer to the associated description of embodiment 2.
The flight control assemblies of the unmanned plane of the embodiment of the present invention, is sent in advance to unmanned plane by client
The control instruction corresponding with each flare maneuver arranged, so that described unmanned plane performs corresponding flight and moves
Make.To the manipulation technology of user almost without requiring, seldom operate even without unmanned plane for having
The commonly used person of experience, the present invention can realize the flight of unmanned plane and control.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
In this, any those familiar with the art, can be easily in the technical scope that the invention discloses
Expect change or replace, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with described scope of the claims.
Claims (13)
1. the flight control method of a unmanned plane, it is characterised in that including:
Receiving the flight control instruction from client, described flight control instruction is in described client
The control instruction corresponding with each flare maneuver pre-set；
According to described flight control instruction, obtain flight environment of vehicle data residing for described unmanned plane and/or described
The Flight Condition Data of unmanned plane；
According to acquired data and described flight control instruction, control the motor in described unmanned plane, with
Described unmanned plane is made to perform corresponding flare maneuver.
Method the most according to claim 1, it is characterised in that according to described flight control instruction,
Obtain the flight environment of vehicle data residing for described unmanned plane and/or the Flight Condition Data of described unmanned plane, bag
Include:
Judge whether described flight control instruction has performed；
In the case of described flight control instruction has been not carried out, obtain described unmanned plane when current
The described flight environment of vehicle data carved and/or described Flight Condition Data；
Wherein, described flight environment of vehicle data include described unmanned plane wind in current time local environment
Speed, described Flight Condition Data includes that described unmanned plane is in the relevant flight attitude information of current time and position
Confidence ceases.
Method the most according to claim 1 and 2, it is characterised in that according to acquired data and
Described flight control instruction, controls the motor in described unmanned plane, so that described unmanned plane performs correspondence
Flare maneuver, including:
According to acquired data and described flight control instruction, determine that the motor in described unmanned plane is corresponding
Regulation and control parameter；
According to each motor speed that the regulation and control of described regulation and control parameter are corresponding, so that described unmanned plane performs correspondence
Flare maneuver.
Method the most according to claim 3, it is characterised in that described regulation and control parameter includes: first
Motor speed, the second motor speed, the 3rd motor speed and the 4th motor speed.
5. the flight control method of a unmanned plane, it is characterised in that including:
Pre-set the flight control instruction corresponding with each flare maneuver of described unmanned plane；
The flare maneuver selected according to user, sends flight control instruction to described unmanned plane, so that described
Unmanned plane performs corresponding flare maneuver.
Method the most according to claim 1 or 5, it is characterised in that described flight control instruction bag
Include: the instruction that moves upward, move downward instruction, overlook movement instruction, look up movement instruction, transport forward
Move instruction, rearward movement instruction, to the left movement instruction, move right instruction, forward rotating movements instruction and bear
Turn in movement instruction any one.
7. the flight control assemblies of a unmanned plane, it is characterised in that including:
Command reception module, for receiving the flight control instruction from client, described flight controls to refer to
Order is the control instruction corresponding with each flare maneuver pre-set in described client；
Data acquisition module, is connected with described command reception module, is used for according to described flight control instruction,
Obtain the flight environment of vehicle data residing for described unmanned plane and/or the Flight Condition Data of described unmanned plane；
Flight control modules, is connected with described command reception module and described data acquisition module respectively, uses
According to acquired data and described flight control instruction, control the motor in described unmanned plane, so that
Described unmanned plane performs corresponding flare maneuver.
Device the most according to claim 7, it is characterised in that described data acquisition module includes:
Instruction judging unit, is connected with described command reception module, is used for judging described flight control instruction
Whether execution completes；
Data capture unit, is connected with described instruction judging unit, for not having in described flight control instruction
In the case of having execution to complete, obtain described unmanned plane current time described flight environment of vehicle data and/
Or described Flight Condition Data；
Wherein, described flight environment of vehicle data include described unmanned plane wind in current time local environment
Speed, described Flight Condition Data includes that described unmanned plane is in the relevant flight attitude information of current time and position
Confidence ceases.
9. according to the device described in claim 7 or 8, it is characterised in that described flight control modules bag
Include:
Parameter determination unit, is connected with described command reception module and described data acquisition module respectively, uses
According to acquired data and described flight control instruction, determine that the motor in described unmanned plane is corresponding
Regulation and control parameter；
Motor control unit, is connected with described parameter determination unit, for regulating and controlling according to described regulation and control parameter
Corresponding each motor speed, so that described unmanned plane performs corresponding flare maneuver.
Device the most according to claim 9, it is characterised in that described regulation and control parameter includes: the
One motor speed, the second motor speed, the 3rd motor speed and the 4th motor speed.
The flight control assemblies of 11. 1 kinds of unmanned planes, it is characterised in that including:
Instruction presetting module, for pre-setting the flight control corresponding with each flare maneuver of described unmanned plane
System instruction；
Instruction sending module, is connected with described instruction presetting module, moves for the flight selected according to user
Make, send flight control instruction to described unmanned plane, so that described unmanned plane performs corresponding flare maneuver.
12. according to the device described in claim 7 or 11, it is characterised in that described flight control instruction
Including: the instruction that moves upward, move downward instruction, overlook movement instruction, look up movement instruction, forward
Movement instruction, rearward movement instruction, to the left movement instruction, move right instruction, forward rotating movements instruct and
Negative turn in movement instruction any one.
13. 1 kinds of unmanned planes, are provided with air velocity transducer, attitude transducer and position sensor, and it is special
Levying and be, described unmanned plane uses the flight control assemblies as according to any one of claim 7 to 10.
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