CN110278717A - Control the method and apparatus of aircraft flight - Google Patents
Control the method and apparatus of aircraft flight Download PDFInfo
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- CN110278717A CN110278717A CN201880010546.1A CN201880010546A CN110278717A CN 110278717 A CN110278717 A CN 110278717A CN 201880010546 A CN201880010546 A CN 201880010546A CN 110278717 A CN110278717 A CN 110278717A
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- 238000004590 computer program Methods 0.000 claims description 9
- 238000004321 preservation Methods 0.000 claims description 6
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- 238000007689 inspection Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 description 15
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The embodiment of the present application provides a kind of method and apparatus for controlling aircraft flight.Wherein, the method for above-mentioned control aircraft flight includes: acquisition flight path information；Wherein, flight path information is the information that aircraft is recorded in flight course in advance；Flight time axis and flight path are determined according to flight path information；Aircraft is set to fly according to flight time axis, along flight path.Implement the embodiment of the present application can be by recording flight path information in flight course in advance, simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning, so that aircraft is repeated as many times and executes above-mentioned flight path.
Description
This application involves aircraft field more particularly to a kind of method and apparatus for controlling aircraft flight.
With the development of unmanned air vehicle technique, unmanned plane is more more and more universal, is widely used in every field.Unmanned plane passes through remote control control unmanned plane during flying by user in flight, usually, or flies automatically according to the set line of flight.If unmanned plane is made to fly according to the set line of flight, it needs to carry out flight course planning in advance, the terminal that needs to rely on carries out trajectory planning on map, according to global positioning system (Global Positioning System, GPS) position location sets path, and unmanned plane is then made to execute the course line of setting.Course line is planned in this way, needs to be planned by the third visual angle of terminal device, needs that longer time is spent to be planned in advance, and can not real time inspection composition picture during trajectory planning.
Summary of the invention
The embodiment of the present application provides a kind of method and apparatus for controlling aircraft flight, can simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning.
In a first aspect, the embodiment of the present application provides a kind of method for controlling aircraft flight, comprising:
Obtain flight path information；Wherein, the flight path information is the information recorded during aircraft flight in advance；
Flight time axis and flight path are determined according to the flight path information；Wherein, the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；
The aircraft is set to fly according to the flight time axis, along the flight path.
Second aspect, the embodiment of the present application provide a kind of aircraft flight track method for recording, comprising:
Receive the instruction for starting to record flight path；
Record the flight path information of aircraft；Wherein, the flight path information is for making the aircraft repeat to fly according to the flight time axis, along the flight path；The flight path information includes the flight time axis and the flight path, and the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；
The instruction for terminating to record flight path is received, and saves the flight path information.
The third aspect, the embodiment of the present application provide a kind of equipment for controlling aircraft flight, comprising:
Memory, for storing program instruction；
Processor, for calling program instruction and execution in the memory:
Obtain flight path information；Wherein, the flight path information is the information recorded during aircraft flight in advance,
Flight time axis and flight path are determined according to the flight path information；Wherein, the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；
The aircraft is set to fly according to the flight time axis, along the flight path.
Fourth aspect, the embodiment of the present application provide a kind of aircraft flight track recording arrangement, comprising:
Memory, for storing program instruction；
Processor, for calling program instruction and execution in the memory:
Receive the instruction for starting to record flight path；
Record the flight path information of aircraft；Wherein, the flight path information is for making the aircraft repeat to fly according to the flight time axis, along the flight path；The flight path information includes the flight time axis and the flight path, and the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；
The instruction for terminating to record flight path is received, and saves the flight path information.
5th aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored thereon with computer program, the computer program realizes the control aircraft flight that the embodiment of the present application first aspect provides method when being executed by processor.
6th aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored thereon with computer program, and the computer program realizes the aircraft flight track method for recording that the embodiment of the present application second aspect provides when being executed by processor.
Implement the embodiment of the present application can be by recording flight path information in flight course in advance, and in the case where obtaining flight path information, aircraft determines flight time axis and flight path according to flight path information；Aircraft flies according still further to flight time axis, along flight path.Simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning, so that aircraft is repeated as many times and execute above-mentioned flight path.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the drawings to be used in the embodiments are briefly described below.
Fig. 1 is a kind of vehicle flight control system structural schematic diagram provided by the embodiments of the present application；
Fig. 2 is a kind of method flow schematic diagram for controlling aircraft flight provided by the embodiments of the present application；
Fig. 3 is a kind of flight path method for recording flow diagram provided by the embodiments of the present application；
Fig. 4 is the method flow schematic diagram of another control aircraft flight provided by the embodiments of the present application；
Fig. 5 is a kind of apparatus structure schematic diagram for controlling aircraft flight provided by the embodiments of the present application；
Fig. 6 is a kind of flight path record device structural schematic diagram provided by the embodiments of the present application；
Fig. 7 is a kind of device structure schematic diagram for controlling aircraft flight provided by the embodiments of the present application；
Fig. 8 is a kind of flight path recording arrangement structural schematic diagram provided by the embodiments of the present application.
Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described.
A kind of flight control system of the embodiment of the present invention is shown in FIG. 1.The system includes aircraft 10 and the ground control equipment 20 that is controlled for aircraft；Wherein, aircraft 10 may include all types of UAV101 (Unmanned Aerial Vehicle, unmanned plane), such as quadrotor UAV, six rotor UAV etc., the picture pick-up device 102 being mounted on the UAV101.Picture pick-up device 102 can complete the tasks such as take photo by plane of respective objects during aircraft flight.Furthermore, aircraft 10 can also include holder, picture pick-up device 102 can be mounted on holder, holder can be three axis holders, i.e. the posture of the holder can be controlled on pitching pitch, roll roll and tri- axis of course yaw, in order to determine the direction of holder, so that picture pick-up device 102 etc. of the configuration on holder can complete the tasks such as take photo by plane of respective objects.
It include flight controller in UAV101, flight controller is established by radio connection (such as radio connection based on WiFi or radio communication etc.) and the ground control equipment 20 and communicated to connect.The ground control equipment 20 can be the controller with rocking bar, be controlled by rod volume aircraft.The smart machines such as the ground control equipment 20 or smart phone, tablet computer, it can be flown automatically by configuring flight path on user interface UI to control UAV101, or UAV101 is controlled by modes such as body-sensings and is flown automatically, or by advance UAV101 fly during recorded flight path after, control UAV101 fly automatically along the flight path recorded.
Next flight control system shown in fig. 1 is combined, the method for introducing control aircraft flight provided by the embodiments of the present application.As shown in Fig. 2, the method for control aircraft flight at least may include following steps:
S201: flight path information is obtained.
Specifically, above-mentioned flight path information is the information that aircraft is recorded in flight course in advance.Before obtaining flight path information, need to record flight path information in advance.The recording process of flight path information is detailed in the description of subsequent embodiment.
Specifically, flight path information may include flight time axis and flight path.Flight path can be the location information of some point, i.e. latitude and longitude information, elevation information etc..Flight time axis is the time shaft (or period) that aircraft flies along flight path, and the point in flight path is corresponding with the point on flight time axis.
For example, flight time axis is 0-15s, i.e., during recording trace information, aircraft flight 15s, in the flight course of this 15s, aircraft in 0s from A point, in 2s by B point, pass through C point in 5s, the final arrival D point in 15s.It is corresponding with the 0s on flight time axis to can be seen that the point of the A in flight path from the flight course of above-mentioned aircraft；B point in flight path is corresponding with the 2s on flight time axis；C point in flight path is corresponding with the 5s on flight time axis；D point in flight path is corresponding with the 15s on flight time axis.
S202: flight time axis and flight path are determined according to flight path information.
Specifically, above-mentioned flight time axis is the time shaft that aircraft flies along above-mentioned flight path, and the point in above-mentioned flight path is corresponding with the time point on above-mentioned flight time axis.
S203: aircraft is made to fly according to flight time axis, along flight path.
Specifically, aircraft is to repeat the above-mentioned flight path information prerecorded according to flight time axis, along flight path flight, and as aircraft is put at a fixed time reaches position corresponding with the time point in above-mentioned flight path.
Implement the embodiment of the present application can be by recording flight path information in flight course in advance, and in the case where obtaining flight path information, aircraft determines flight time axis and flight path according to flight path information；Aircraft flies according still further to flight time axis, along flight path.Simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning, so that aircraft is repeated as many times and execute above-mentioned flight path.
Next track method for recording provided by the embodiments of the present application is introduced, as shown in figure 3, track method for recording at least may include following steps:
S301: the instruction for starting to record flight path is received.
Specifically, user can input the instruction for starting to record flight path by ground control equipment 103.It can specifically be inputted and be instructed by control button corresponding in ground control equipment 103, perhaps pass through corresponding control input instruction in rod volume input instruction corresponding in ground control equipment 103 or the control panel for passing through ground control equipment 103 etc..Here, the mode for the instruction for starting to record flight path is inputted with no restriction to user's operation ground control equipment 103.
S302: the flight path information of aircraft is recorded.
Specifically, flight path information may include flight time axis and flight path.Flight time axis is the time shaft (or period) that aircraft flies along flight path, and the point in flight path is corresponding with the point on flight time axis, and corresponding frequency is with no restrictions.It specifically can refer to the explanation in an embodiment S201, details are not described herein.
In some embodiments, other than the flight path information of record aircraft, aircraft can also be recorded in flight course, be mounted in the angle information of carry-on holder.The angle information of holder may include the angle information of the corresponding holder of various time points on flight time axis, and the angle information of the holder of some particular point in time specifically may include the size of the pitch angle pitch of holder at that time, roll angle roll and course angle yaw.
In some embodiments, operation rod volume, the velocity and acceleration of aircraft etc. of user can also be recorded in real time.
S303: the instruction for terminating to record flight path is received, and saves flight path information.
Specifically, user can record the instruction of flight path by 103 end of input of ground control equipment.It can specifically be inputted and be instructed by control button corresponding in ground control equipment 103, perhaps pass through corresponding control input instruction in rod volume input instruction corresponding in ground control equipment 103 or the control panel for passing through ground control equipment 103 etc..Here, the mode of the instruction of flight path is recorded to 103 end of input of user's operation ground control equipment with no restriction.
Specifically, terminate after recording flight path, flight path information can be saved to local, so that aircraft is after receiving the instruction flown automatically, can be repeated as many times and execute above-mentioned flight path.
Specifically, terminate after recording flight path, flight path information can be saved to server, other aircraft can be to obtain the flight path information of the aircraft after authorized from above-mentioned server, other aircraft also can be repeated several times after the flight path information for obtaining the aircraft and execute above-mentioned flight path, may be applicable to realize in the scene of Multi computer cooperation etc..
In some embodiments, if having recorded the angle information of holder during aircraft flight, then the angle information for saving holder is also needed at this time.After the angle information for saving holder, can guarantee aircraft it is subsequent repeat the flight path when, the angle of holder can be consistent with the angle of holder when prerecording flight path, so that the angle for 102 shooting picture of picture pick-up device being mounted on holder is consistent.
Flight path information can directly be recorded in flight course by implementing the embodiment of the present application, simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning, so that aircraft is repeated as many times and executes above-mentioned flight path.In addition, the angle information of holder in recording process can also be recorded, aircraft is enable to remain that the angle for the picture pick-up device being mounted on holder is consistent when repeating above-mentioned flight path.
In a kind of possible embodiment, after above-mentioned preservation flight path information, flight path information can also be adjusted, and further update flight path information adjusted.
Specifically, adjustment flight path information can be adjustment flight time axis.I.e. adjustment aircraft is in the position of flying speed and/or adjustment aircraft on flight time axis on flight time axis.
Specifically, adjustment aircraft the flying speed on flight time axis can be to aircraft at some time point on flying speed be adjusted.For example, flying speed of the aircraft on flight time axis on the time point of 5s is 20m/s in the flight path information of preservation, be adjusted can by aircraft at the time point on speed be reduced to 18m/s or increase as 25m/s etc..It is appreciated that flying speed can also be negative, when flying speed is negative, indicate that aircraft flies (inverted flight) backward；When flying speed is positive number, indicate that aircraft flies (just fly) forward.
Specifically, adjust the speed of flight time axis can be to aircraft in entire or the part flight time flying speed, such as: A point is arrived in originally 10 seconds, adjustable is 5 seconds or 20 seconds to A point, further, arrives B point in originally 10 seconds to A point, in 20 seconds, adjustable is arrival A point, 25 seconds arrival B points in 5 seconds, flight path is the flight path in the flight information recorded, and only schematical here, actual time axial adjustment can according to need setting.
Specifically, position of the adjustment aircraft on flight time axis, which can be, is adjusted the position of aircraft upper aircraft at some time point.Such as the height and position of adjustable aircraft at some time point, or the longitude and latitude position etc. of adjustment aircraft at some time point.
In addition, can also look at flight path after above-mentioned preservation flight path information.Flight time axis may be displayed on the control panel of ground control equipment 103.User can check flight path by towed flight time shaft.
It is appreciated that, the process of adjustment flight path information can be what aircraft adjusted during practical flight, it is also possible to after the completion of recording flight path information, it is adjusted on the control panel of ground control equipment 103 in the form of preview, at this time without being adjusted during aerocraft real flight.
Flight path information can be adjusted according to the actual demand of user, and be updated to flight path information adjusted after completing to record flight path information by implementing the embodiment of the present application, met the individual demand of user, promoted user experience.
The embodiment of the invention provides the methods of another control aircraft flight, as shown in figure 4, the method for control aircraft flight at least may include following steps:
S401: the instruction for starting to record flight path is received.
Specifically, S401 is consistent with S301, and details are not described herein.
S402: the flight path information of aircraft is recorded.
Specifically, S402 is consistent with S302, and details are not described herein.
S403: the instruction for terminating to record flight path is received, and saves flight path information.
Specifically, S403 is consistent with S303, and details are not described herein.
S404: receiving the instruction of adjustment flight path information, updates flight path information.
Specifically, the step of being adjusted in S404 and a upper embodiment to flight path information is consistent, and details are not described herein.
S405: the instruction that setting triggering aircraft executes deliberate action is received.
Specifically, the instruction that setting triggering aircraft executes deliberate action executes the condition of deliberate action for triggering aircraft to be arranged.The instruction that triggering aircraft executes deliberate action can be arranged in user by ground control equipment 103.
Specifically, above-mentioned deliberate action for example can be, but not limited to be hot spot is followed, speed adjusts, position adjusts, holder direction adjusts or picture pick-up device parameter adjusts etc..
Hot spot, which is followed, to be shot as control picture pick-up device towards some hot spot, but keeps flight path constant or substantially constant in shooting process.If camera shooting jet device is mounted on holder, picture pick-up device can be made to be shot towards some hot spot by controlling the angle of holder.If picture pick-up device is directly connected with aircraft, it is not mounted on holder, then the direction that can control aircraft head shoots picture pick-up device towards some hot spot.It is appreciated that, no matter how the angle of holder changes, or how the direction of head changes, in the shooting process around some hot spot, the flight path of aircraft remains consistent or unanimous on the whole with the flight path prerecorded, it, can adjusting flight path appropriate under the intervention of user or other external conditions.
Speed adjustment is to adjust the flying speed of aircraft, it is appreciated that after carrying out speed adjustment, flying speed that aircraft records when still can restore to prerecord flight path automatically.
Position adjustment is the specific location for adjusting aircraft, it is appreciated that after carrying out position adjustment, aircraft can still fly back to going in the flight path prerecorded.
The adjustment of holder direction is the size of the pitch angle pitch of adjustment holder, roll angle roll and course angle yaw.Picture pick-up device is shot towards some hot spot by adjusting the angle of holder.
The camera parameter of picture pick-up device parameter adjustment picture pick-up device.
It is appreciated that above-mentioned deliberate action can directly or indirectly be completed by aircraft.Such as can directly adjust the flying speed of aircraft perhaps position in another example by the direction of flying vehicles control holder or the camera parameter etc. of picture pick-up device can be adjusted.
S406: flight path information is obtained.
Specifically, S406 is consistent with S201, and details are not described herein.
S407: flight time axis and flight path are determined according to flight path information.
Specifically, S407 is consistent with S202, and details are not described herein.
S408: aircraft is made to fly according to flight time axis, along flight path.
Specifically, S408 is consistent with S203, and details are not described herein.
S409: detect whether that there is triggering aircraft executes the instruction of deliberate action, if so, aircraft is made to execute deliberate action.
Specifically, S408 and S409 can be while carry out.
Optionally, the instruction of triggering aircraft execution deliberate action includes: the point in the corresponding flight path of preset time point in aircraft flight to flight time axis.Such as user can choose a time point on flight time axis, and deliberate action is arranged to the time point, such as reduces flying speed, then for aircraft when flight is to point in the time point corresponding flight path, control aircraft reduces flying speed；Or hovering preset time, then carry out hovering at the time point etc..
In addition, the instruction that triggering aircraft executes deliberate action can also be the route segment in the corresponding flight path of preset time period in aircraft flight to flight time axis.
It is appreciated that multiple time points can be chosen on flight time axis, corresponding deliberate action is arranged to different time points respectively.
Optionally, triggering the aircraft and executing the instruction of deliberate action includes: that aircraft identifies that there are reference objects in shooting picture, and reference object meets the condition that triggering aircraft executes deliberate action.
Specifically, shooting picture is the picture of picture pick-up device shooting.When identifying in shooting picture there are reference object, and when reference object meets triggering aircraft and executes the condition of deliberate action, then aircraft is made to execute deliberate action.Such as, assuming that reference object is some personage, the condition that triggering aircraft executes deliberate action is that the personage has done some gesture, deliberate action is followed for hot spot, so when aircraft according to flight time axis, fly along flight path during, if identifying, there are a personages in shooting picture, and the personage has done some gesture (for example waving), it then triggers aircraft to follow personage progress hot spot, i.e. control picture pick-up device is shot towards the personage.It is appreciated that aircraft still flies along flight path during shooting towards the personage.
Optionally, it includes: reception and the control instruction that the matched controller of aircraft is sent that triggering aircraft, which executes the instruction of deliberate action,；Wherein, control instruction executes deliberate action for controlling aircraft.
Specifically, this triggering mode is different from first two triggering mode, it is not the condition for pre-setting triggering, the automatic trigger in the subsequent flight course of aircraft, but by extraneous interim triggering during the flight of winged shape device, such as can be user and input instruction in ground control equipment 103, so that aircraft is executed deliberate action.
Flight path information can directly be recorded in flight course by implementing the embodiment of the present application, simplify the process of flight course planning, and the process of flight course planning can be kept more intuitive with real time inspection composition picture during trajectory planning, so that aircraft is repeated as many times and executes above-mentioned flight path.Furthermore, it is possible to which the triggering command that control aircraft executes deliberate action is arranged, keep aircraft automatic during repeating above-mentioned flight path or passively executes deliberate action, meets the individual demand of user, promote user experience.
It is above-mentioned to illustrate the method for the embodiment of the present application, the relevant apparatus for cooperate implementation above scheme correspondingly is also provided below following for convenient for better implementing the above scheme of the embodiment of the present application.
The apparatus structure schematic diagram of control aircraft flight provided by the embodiments of the present application as shown in Figure 5, the device 50 for controlling aircraft flight at least may include: acquiring unit 510, determination unit 520, flying unit 530, in which:
Acquiring unit 510, for obtaining flight path information；Wherein, flight path information is the information recorded during aircraft flight in advance.
Determination unit 520, for determining flight time axis and flight path according to flight path information；Wherein, flight time axis is the time shaft that aircraft flies along flight path, and the point in flight path is corresponding with the time point on institute's flight time axis.
Flying unit 530, for making aircraft fly according to flight time axis, along flight path.
In a possible embodiment, the device 50 of aircraft flight is controlled further include:
First receiving unit 540, for receiving the instruction for starting to record flight path before acquiring unit 510 obtains flight path information.
Storage unit 550 is recorded, for recording the flight path information of aircraft；Flight path information includes flight time axis and flight path.
Second receiving unit 560 for receiving the instruction for terminating to record flight path, and saves the angle information of flight path information and the holder.
In a possible embodiment, aircraft includes holder；Flight path information further includes the angle information of holder；Wherein, the angle information of holder is the angle information of aircraft holder in flight course, and the angle information of holder is corresponding with flight path.
In a possible embodiment, control the device 50 of aircraft flight further include: third receiving unit 570, for receiving the instruction of adjustment flight path information after record storage unit 550 saves the angle information of flight path information and holder, flight path information is updated.
In a possible embodiment, third receiving unit 570 is specifically used for receiving the instruction of adjustment flight time axis；Wherein, the instruction of flight time axis is adjusted for adjusting aircraft in the position of flying speed and/or adjustment aircraft on flight time axis on flight time axis.
In a possible embodiment, control the device 50 of aircraft flight further include: execution unit 580, for aircraft according to flight time axis, fly along flight path during, if detect the presence of triggering aircraft execute deliberate action instruction, make aircraft execute deliberate action.
In a possible embodiment, the instruction of triggering aircraft execution deliberate action includes: the point in the corresponding flight path of preset time point in aircraft flight to flight time axis.
In a possible embodiment, it includes: that aircraft identifies that there are reference objects in shooting picture, and reference object meets the condition that triggering aircraft executes deliberate action that triggering aircraft, which executes the instruction of deliberate action,.
In a possible embodiment, it includes: the control instruction for receiving and sending with the matched controller of the aircraft that triggering aircraft, which executes the instruction of deliberate action,；Wherein, control instruction executes deliberate action for controlling aircraft.
In a possible embodiment, the device 50 of aircraft flight is controlled further include: the 4th receiving unit 590 executes the instruction of deliberate action for before execution unit 580 makes aircraft execute deliberate action, receiving setting triggering aircraft.
It will be appreciated that the function of each functional module of the device 50 of the control aircraft flight of the present embodiment can be implemented according to the method in above method embodiment, details are not described herein again.
Flight path record device structural schematic diagram provided by the embodiments of the present application as shown in Figure 6, flight path record device 60 at least may include: the 5th receiving unit 610, recording unit 620, receive storage unit 630, in which:
5th receiving unit 610, for receiving the instruction for starting to record flight path.
Recording unit 620, for recording the flight path information of aircraft；Wherein, flight path information is for making aircraft repeat to fly according to flight time axis, along flight path；Flight path information includes flight time axis and flight path, and flight time axis is the time shaft that aircraft flies along flight path, and the point in flight path is corresponding with the time point on flight time axis.
Storage unit 630 is received, for receiving the instruction for terminating to record flight path, and saves flight path information.
In a possible embodiment, flight path record device 60 further includes the 6th receiving unit 640, for receiving the instruction of adjustment flight path information after receiving storage unit 630 and saving flight path information, updates flight path information.
It will be appreciated that the function of each functional module of the flight path record device 60 of the present embodiment can be implemented according to the method in above method embodiment, details are not described herein again.
Fig. 7 shows a kind of device structure schematic diagram for controlling aircraft flight provided by the embodiments of the present application, the equipment 70 for controlling aircraft flight may include: at least one processor 701, such as CPU, at least one network interface 704, user interface 703, memory 705, at least one communication bus 702, it optionally, can also include display screen 706.Wherein, communication bus 702 is for realizing the connection communication between these components.Wherein, user interface 703 may include touch screen, keyboard or mouse etc..Network interface 704 optionally may include standard wireline interface and wireless interface (such as WI-FI interface), can be established and be communicated to connect with server by network interface 704.Memory 705 can be high speed RAM memory, be also possible to non-labile memory (non-volatile memory), for example, at least a magnetic disk storage, and memory 705 includes the flash in the embodiment of the present invention.Memory 705 optionally can also be that at least one is located remotely from the storage system of aforementioned processor 701.As shown in fig. 7, as may include operating system, network communication module, Subscriber Interface Module SIM and program instruction in a kind of memory 705 of computer storage medium.
It should be noted that, network interface 704 can connect receiver, transmitter or other communication modules, other communication modules can include but is not limited to WiFi module, bluetooth module etc., it is appreciated that the equipment for controlling aircraft flight in the embodiment of the present invention also may include receiver, transmitter and other communication modules etc..
Processor 701 can be used for calling the program instruction stored in memory 705, and execute following operation:
The flight path information being locally stored is obtained from memory 705, or flight path information is obtained from server by network interface 704；Wherein, flight path information is the information recorded during aircraft flight in advance.
Flight time axis and flight path are determined according to flight path information；Wherein, flight time axis is the time shaft that aircraft flies along flight path, and the point in flight path is corresponding with the time point on flight time axis.
Aircraft is set to fly according to flight time axis, along flight path.
In a possible embodiment, before processor 701 obtains flight path, processor 701 is also used to:
The instruction for starting to record flight path is received by receiver.
Record the flight path information of aircraft；Flight path information includes flight time axis and flight path.
The instruction for terminating to record flight path is received by receiver, and saves flight path information to memory 705.
In a possible embodiment, flight path information further includes the angle information of holder；Wherein, the angle information of holder is the angle information of aircraft holder in flight course, and the angle information of holder is corresponding with flight path.
In a possible embodiment, processor 701 saves after the angle information to memory 705 of flight path information and holder, processor 701 is also used to: being received the instruction of adjustment flight path information by receiver, and is updated flight path information in memory 705.
In a possible embodiment, processor 701 includes: that the instruction of adjustment flight time axis is received by receiver by the instruction that receiver receives adjustment flight path information；Wherein, the instruction of flight time axis is adjusted for adjusting aircraft in the position of flying speed and/or adjustment aircraft on flight time axis on flight time axis.
In a possible embodiment, processor 701 is also used to: aircraft according to flight time axis, fly along flight path during, if detect the presence of triggering aircraft execute deliberate action instruction, make aircraft execute deliberate action.
In a possible embodiment, the instruction of triggering aircraft execution deliberate action includes: the point in the corresponding flight path of preset time point in aircraft flight to flight time axis.
In a possible embodiment, it includes: that aircraft identifies that there are reference objects in shooting picture, and reference object meets the condition that triggering aircraft executes deliberate action that triggering aircraft, which executes the instruction of deliberate action,.
In a possible embodiment, it includes: reception and the control instruction that the matched controller of aircraft is sent that triggering aircraft, which executes the instruction of deliberate action,；Wherein, control instruction executes deliberate action for controlling aircraft.
In a possible embodiment, processor 701 be used for aircraft according to flight time axis, fly along flight path during, if detecting the presence of the instruction that triggering aircraft executes deliberate action, before so that aircraft is executed the deliberate action, processor 701 is also used to: receiving the instruction that setting triggering aircraft executes deliberate action by receiver.
It will be appreciated that the function of the equipment 70 of the control aircraft flight of the present embodiment can be implemented according to the method in above method embodiment, details are not described herein again.
Fig. 8 shows a kind of flight path recording arrangement structural schematic diagram provided by the embodiments of the present application, flight path recording arrangement 80 may include: at least one processor 801, such as CPU, at least one network interface 804, user interface 803, memory 805, at least one communication bus 802, it optionally, can also include display screen 806.Wherein, communication bus 802 is for realizing the connection communication between these components.Wherein, user interface 803 may include touch screen, keyboard or mouse etc..Network interface 804 optionally may include standard wireline interface and wireless interface (such as WI-FI interface), can be established and be communicated to connect with server by network interface 804.Memory 805 can be high speed RAM memory, be also possible to non-labile memory (non-volatile memory), for example, at least a magnetic disk storage, and memory 805 includes the flash in the embodiment of the present invention.Memory 805 optionally can also be that at least one is located remotely from the storage system of aforementioned processor 801.As shown in figure 8, as may include operating system, network communication module, Subscriber Interface Module SIM and program instruction in a kind of memory 805 of computer storage medium.
It should be noted that, network interface 804 can connect receiver, transmitter or other communication modules, other communication modules can include but is not limited to WiFi module, bluetooth module etc., it is appreciated that flight path recording arrangement also may include receiver, transmitter and other communication modules etc. in the embodiment of the present invention.
Processor 801 can be used for calling the program instruction stored in memory 805, and execute following operation:
The instruction for starting to record flight path is received by receiver.
Record the flight path information of aircraft；Wherein, flight path information is for making aircraft repeat to fly according to flight time axis, along flight path；Flight path information includes flight time axis and flight path, and flight time axis is the time shaft that aircraft flies along flight path, and the point in flight path is corresponding with the time point on flight time axis.
The instruction for terminating to record flight path is received by receiver, and saves flight path information.
In a kind of possible embodiment, after saving flight path information, processor 801 is also used to: being received the instruction of adjustment flight path information, is updated flight path information.
It will be appreciated that the function of the flight path recording arrangement 80 of the present embodiment can be implemented according to the method in above method embodiment, details are not described herein again.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, it is that relevant hardware can be instructed to complete by computer program, the program can be stored in a computer-readable storage medium, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory RAM etc..In the absence of conflict, the technical characteristic in the present embodiment and embodiment can be in any combination.
The above disclosure is only the preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (26)
- A method of control aircraft flight characterized by comprisingObtain flight path information；Wherein, the flight path information is the information recorded during aircraft flight in advance；Flight time axis and flight path are determined according to the flight path information；Wherein, the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；The aircraft is set to fly according to the flight time axis, along the flight path.
- The method as described in claim 1, which is characterized in that before the acquisition flight path information, the method also includes:Receive the instruction for starting to record flight path；Record the flight path information of the aircraft；The flight path information includes the flight time axis and the flight path；The instruction for terminating to record flight path is received, and saves the flight path information.
- Method according to claim 2, which is characterized in that the aircraft includes holder；The flight path information further includes the angle information of holder；Wherein, the angle information of the holder is the angle information of aircraft holder in flight course, and the angle information of the holder is corresponding with the flight path.
- Method as claimed in claim 2 or claim 3, which is characterized in that after the preservation flight path information, the method also includes: the instruction for adjusting the flight path information is received, the flight path information is updated.
- Method as claimed in claim 4, which is characterized in that the instruction for receiving the adjustment flight path information includes: to receive the instruction for adjusting the flight time axis；Wherein, the instruction of the adjustment flight time axis is for adjusting the aircraft in the position of flying speed and/or the adjustment aircraft on the flight time axis on the flight time axis.
- The method according to claim 1 to 5, which is characterized in that the method also includes:The aircraft according to the flight time axis, fly along the flight path during, trigger the instruction that the aircraft executes deliberate action if detecting the presence of, the aircraft made to execute the deliberate action.
- Method as claimed in claim 6, which is characterized in that the instruction that the triggering aircraft executes deliberate action includes: the point in the corresponding flight path of preset time point in the aircraft flight to the flight time axis.
- Method as claimed in claim 6, which is characterized in that the aircraft includes picture pick-up device, and the picture pick-up device is for obtaining shooting picture；The instruction that the triggering aircraft executes deliberate action includes: that the aircraft identifies that there are reference objects in the shooting picture, and the reference object meets the condition that the aircraft executes the deliberate action that triggers.
- Method as claimed in claim 6, which is characterized in that the instruction that the triggering aircraft executes deliberate action includes: the control instruction for receiving and sending with the matched controller of the aircraft；Wherein, the control instruction executes deliberate action for controlling the aircraft.
- Method as claim in any one of claims 6-9, it is characterized in that, it is described the aircraft according to the flight time axis, along the flight path fly during, the instruction that the aircraft executes deliberate action is triggered if detecting the presence of, before so that the aircraft is executed the deliberate action, the method also includes: it receives setting and triggers the instruction that the aircraft executes deliberate action.
- A kind of aircraft flight track method for recording characterized by comprisingReceive the instruction for starting to record flight path；Record the flight path information of aircraft；Wherein, the flight path information is for making the aircraft repeat to fly according to the flight time axis, along the flight path；The flight path information includes the flight time axis and the flight path, and the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；The instruction for terminating to record flight path is received, and saves the flight path information.
- Method as claimed in claim 11, which is characterized in that after the preservation flight path information, the method also includes: the instruction for adjusting the flight path information is received, the flight path information is updated.
- A kind of equipment controlling aircraft flight characterized by comprisingMemory, for storing program instruction；Processor, for calling program instruction and execution in the memory:Obtain flight path information；Wherein, the flight path information is the information recorded during aircraft flight in advance；Flight time axis and flight path are determined according to the flight path information；Wherein, the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；The aircraft is set to fly according to the flight time axis, along the flight path.
- Equipment as claimed in claim 13, which is characterized in that before the processor obtains flight path, the processor is also used to:Receive the instruction for starting to record flight path；Record the flight path information of the aircraft；The flight path information includes the flight time axis and the flight path；The instruction for terminating to record flight path is received, and saves the flight path information.
- Equipment as claimed in claim 14, which is characterized in that the aircraft includes holder；The flight path information further includes the angle information of holder；Wherein, the angle information of the holder is the angle information of aircraft holder in flight course, and the angle information of the holder is corresponding with the flight path.
- Equipment as described in claims 14 or 15, it is characterized in that, after the processor saves the angle information of the flight path information and the holder, the processor is also used to: being received the instruction for adjusting the flight path information, is updated the flight path information.
- Equipment as claimed in claim 16, which is characterized in that it includes: to receive the instruction for adjusting the flight time axis that the processor, which receives and adjusts the instruction of the flight path information,；Wherein, the instruction of the adjustment flight time axis is for adjusting the aircraft in the position of flying speed and/or the adjustment aircraft on the flight time axis on the flight time axis.
- Such as the described in any item equipment of claim 13-17, it is characterized in that, the processor is also used to: the aircraft according to the flight time axis, along the flight path fly during, the instruction that the aircraft executes deliberate action is triggered if detecting the presence of, the aircraft is made to execute the deliberate action.
- Equipment as claimed in claim 18, which is characterized in that the instruction that the triggering aircraft executes deliberate action includes: the point in the corresponding flight path of preset time point in the aircraft flight to the flight time axis.
- Equipment as claimed in claim 18, which is characterized in that the aircraft includes picture pick-up device, and the picture pick-up device is for obtaining shooting picture；The instruction that the triggering aircraft executes deliberate action includes: that the aircraft identifies that there are reference objects in the shooting picture, and the reference object meets the condition that the aircraft executes the deliberate action that triggers.
- Equipment as claimed in claim 18, which is characterized in that the instruction that the triggering aircraft executes deliberate action includes: the control instruction for receiving and sending with the matched controller of the aircraft；Wherein, the control instruction executes deliberate action for controlling the aircraft.
- Such as the described in any item equipment of claim 18-21, it is characterized in that, the processor be used for the aircraft according to the flight time axis, along the flight path fly during, the instruction that the aircraft executes deliberate action is triggered if detecting the presence of, before so that the aircraft is executed the deliberate action, the processor is also used to: being received setting and is triggered the instruction that the aircraft executes deliberate action.
- A kind of aircraft flight track recording arrangement characterized by comprisingMemory, for storing program instruction；Processor, for calling program instruction and execution in the memory:Receive the instruction for starting to record flight path；Record the flight path information of aircraft；Wherein, the flight path information is for making the aircraft repeat to fly according to the flight time axis, along the flight path；The flight path information includes the flight time axis and the flight path, and the flight time axis is the time shaft that the aircraft flies along the flight path, and the point in the flight path is corresponding with the time point on the flight time axis；The instruction for terminating to record flight path is received, and saves the flight path information.
- Equipment as claimed in claim 23, which is characterized in that after the preservation flight path information, the processor is also used to: the instruction for adjusting the flight path information is received, the flight path information is updated.
- A kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the method such as the described in any item control aircraft flights of claim 1-10 is realized when the computer program is executed by processor.
- A kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that such as claim 11-12 described in any item aircraft flight track method for recording are realized when the computer program is executed by processor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/073657 WO2019140695A1 (en) | 2018-01-22 | 2018-01-22 | Method and device for controlling flight of aircraft |
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| CN110278717B CN110278717B (en) | 2022-08-02 |
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| CN110278717B (en) | 2022-08-02 |
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