WO2018188001A1 - Flight action editing and formation control system and control method for unmanned aerial vehicle - Google Patents

Flight action editing and formation control system and control method for unmanned aerial vehicle Download PDF

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Publication number
WO2018188001A1
WO2018188001A1 PCT/CN2017/080312 CN2017080312W WO2018188001A1 WO 2018188001 A1 WO2018188001 A1 WO 2018188001A1 CN 2017080312 W CN2017080312 W CN 2017080312W WO 2018188001 A1 WO2018188001 A1 WO 2018188001A1
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Prior art keywords
action
time
control system
flight
blocks
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PCT/CN2017/080312
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French (fr)
Chinese (zh)
Inventor
曾华均
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曾华均
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Application filed by 曾华均 filed Critical 曾华均
Priority to PCT/CN2017/080312 priority Critical patent/WO2018188001A1/en
Publication of WO2018188001A1 publication Critical patent/WO2018188001A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the invention relates to the technical field of drones, in particular to a flight action editing and formation control system and a control method for a drone.
  • drones are increasingly being used in industries such as industry, agriculture, and military. Closely related to ordinary users is the application of civilian drones, such as: aerial photography, drone performance, drone competition and so on.
  • the application of civil drones is the application of drones in entertainment, namely entertainment drones.
  • Entertainment drones both to entertain themselves and entertain others, may be a demand closer to consumers than "self-portraits".
  • the existing entertainment drones are usually pre-programmed by the company before the factory leaves the action instructions of the drone and burned into the flight control system, thereby realizing the functions of the drone entertainment users.
  • the user cannot actively arrange the actions of the drone, and can only passively accept the arranged actions, and can only control one drone, and cannot coordinately control multiple drones.
  • the technical problem to be solved by the present invention is to provide a flight action editing and formation control system and control method for a drone, which enables the user to edit and assemble more than one drone flight action.
  • a technical solution adopted by the present invention is to provide a flight action editing and formation control system for a drone, the control system comprising: at least one time axis; a plurality of action blocks, each of which The action blocks are independent of each other, each of the action blocks corresponding to a predetermined flight action; and a processor configured to, when receiving the first selection of the plurality of the action blocks in time sequence on the at least one of the time axes Generating a control command for each of the action blocks corresponding to a second selection of execution time of a predetermined flight action, the control command being such that at least one drone is based on the first selection and the second selection At least one time axis, the predetermined flight actions corresponding to each of the action blocks are sequentially performed in chronological order, and the execution time of the second selection is performed.
  • another technical solution adopted by the present invention is to provide a flight action editing and formation control method for a drone, the control method comprising: displaying at least one time axis and a plurality of action blocks, wherein Each of the action blocks is independent of each other, each of the action blocks corresponding to a predetermined flight action; receiving a first selection of a plurality of the action blocks in chronological order on at least one of the time axes and for each of the The action block corresponds to a second selection of an execution time of the predetermined flight action; generating, according to the first selection and the second selection, a control instruction, wherein the control instruction may cause the at least one drone to pass the first selection and The at least one time axis after the second selection sequentially performs a predetermined flight action corresponding to each of the action blocks in chronological order, and executes an execution time of the second selection.
  • the control system of the present invention comprises: at least one time axis; a plurality of action blocks, each action block being independent of each other, each action block corresponding to a predetermined action; And when receiving, by the user, the first selection of the plurality of the action blocks in chronological order on at least one of the time axes and the second selection of the execution time of the predetermined flight action for each of the action blocks, Generating a control instruction, wherein the control instruction may cause the at least one drone to sequentially perform a predetermined flight corresponding to each of the action blocks in chronological order according to at least one time axis after the first selection and the second selection Acting and executing the execution time of the second selection.
  • the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.
  • FIG. 1 is a schematic structural view of an embodiment of a flight action editing and formation control system of a drone of the present invention
  • FIG. 2 is a schematic structural view of another embodiment of a flight action editing and formation control system of the drone of the present invention.
  • FIG. 3 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the unmanned aerial vehicle of the present invention.
  • FIG. 4 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention.
  • FIG. 5 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention.
  • FIG. 6 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention.
  • FIG. 7 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention.
  • FIG. 8 is a schematic structural view of still another embodiment of a flight motion editing and formation control system of the drone of the present invention.
  • FIG. 9 is a flow chart showing an embodiment of a flight operation editing and formation control method of the unmanned aerial vehicle of the present invention.
  • FIG. 1 is a schematic structural diagram of an embodiment of a flight action editing and formation control system of a drone of the present invention.
  • the control system includes at least one time axis 101, a plurality of action blocks 102, and a processor 103.
  • the time axis 101 may be more than one.
  • One time axis 101 generally corresponds to one drone.
  • one time axis 101 may also correspond to multiple drones. For example, when multiple drones perform the same actions, A plurality of drones are controlled using a timeline 101.
  • Each action block 102 is independent of one another for selection by the user, and each action block 102 corresponds to a predetermined action.
  • the predetermined actions corresponding to each action block 102 may all be different predetermined actions, or may be the same predetermined action. In practical applications, in general, in order to make the control system simple and clear, the predetermined actions corresponding to each action block 102 may be different predetermined actions.
  • the processor 103 generates a control instruction when receiving a first selection of the plurality of action blocks 102 in chronological order on the at least one timeline 101 and a second selection of the execution time of the predetermined flight action for each action block 102.
  • the control command may cause the at least one drone to sequentially perform the predetermined flight action corresponding to each action block 102 in chronological order according to the at least one time axis 101 after the first selection and the second selection, and perform execution of the second selection. time.
  • the flight action and flight time of the drone are determined according to the user's choice. Therefore, in this way, the user can edit and construct the flight plan of the drone, so that the user can truly participate.
  • the editing and formation of drones will increase the entertainment and enhance the user experience.
  • the control system of the present invention includes: at least one time axis; a plurality of action blocks, each action block being independent of each other, each action block corresponding to a predetermined action; and a processor configured to receive the user at the at least one of the times a control instruction is generated on the axis when the first selection of the plurality of the action blocks in chronological order and the second selection of the execution time of the predetermined flight action for each of the action blocks, the control command may cause at least one none
  • the human machine sequentially performs a predetermined flight action corresponding to each of the action blocks in chronological order according to at least one time axis after the first selection and the second selection, and executes an execution time of the second selection.
  • the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.
  • the timeline 101 and the plurality of action blocks 102 are all displayed on the interface 10 of the control system.
  • the action block 102 can be dragged under the operation of the user and then filled into the timeline 101.
  • the timeline 101 and the plurality of action blocks 102 are both displayed on the interface of the control system.
  • the action block 102 can be dragged.
  • the user can directly fill the action block 102 into the timeline 101 by dragging.
  • the action block 102 is The time point or time period on the timeline 101 and the execution of the predetermined flight action. In this way, it is convenient for the user to edit and form the flight movement of the drone, thereby improving user participation.
  • the control system includes two or more time axes 101, two or more time axes 101 are respectively connected to two or more drones, and two or more time axes 101 are vertically from top to bottom. Arrange and start to align. Two or more time axes 101 can edit and group the flight operations of two or more drones. More than two time axes 101 are arranged longitudinally from top to bottom, and the starting position is aligned, so that the user can effectively and conveniently control the flight time of each UAV flight action.
  • more than two timelines 101 can be directly displayed; or, only one timeline 101 is displayed, and a corresponding button is set, and when the user clicks the button, the user clicks once to display a timeline 101.
  • only one timeline 101 is displayed, the user enters a number, and then displays the timeline 101 corresponding to the number of digits, for example, user input 2, then 2 timelines 101 are displayed, and so on.
  • the user can easily and conveniently edit and construct flight movements for a plurality of drones to avoid editing and formation confusion.
  • the original length of each action block 102 corresponds to a default execution time of a predetermined flight action. Further, the original length of each action block 102 is equal, that is, the default execution time of the corresponding predetermined flight action of each action block 102 is equal.
  • the original length of each action block 102 can be elongated or shortened after being filled into the timeline 101 to change the execution time of the action block 102 corresponding to the predetermined flight action. In this way, it is convenient for the user to make a second selection, that is, for each action block 102 corresponding to a second selection of the execution time of the predetermined flight action.
  • the time axis 101 is composed of a plurality of time blocks 1011 arranged in chronological order, and each time block 1011 corresponds to an equal predetermined time, and the action block 102 can be dragged under the operation of the user. Filled into the time block 1011 on the time axis 101, on the time axis 101 after the filling, the execution time of the corresponding predetermined flight action in each action block 102 is equal to the predetermined time.
  • each time of each flight action is required to be equal, each time block 1011 corresponds to an equal predetermined time, and the time of execution of the corresponding predetermined action in each action block 102 is equal. In this way, it is possible to quickly and easily achieve the purpose of editing and forming multiple drones to perform equal-time flight operations.
  • the time axis 101 is composed of a plurality of time blocks 1011 arranged in chronological order, each time block 1011 corresponds to an unequal predetermined time, and the action block 102 can be dragged under the operation of the user. And in the time block 1011 on the time axis 101, on the time axis 101 after the filling, the execution time of the corresponding predetermined flight action in each action block 102 is not equal, and the length of each time block 1011 can be lengthened. Or shortened to change the execution time of the action block 102 corresponding to the predetermined flight action.
  • each time block 1011 corresponds to an unequal predetermined time, and each time The length of the time block 1011 can be lengthened or shortened to change the execution time of the action block 102 corresponding to the predetermined flight action. In this way, the user's needs can be well satisfied.
  • the control system further includes a light bar 104, and the light bar 104 is displayed on the control system.
  • the interface can be dragged under the operation of the user, and then filled on the time axis 101, so that the drone switches the light at the time point when the timeline 101 is filled with the light bar 104.
  • the length of the light bar 104 can be lengthened and shortened to control the time of the light switch.
  • the light bar 104 is directly populated on the action block 102 of the timeline 101, that is, the overlay is populated on the action block 102.
  • the interface of the control system is provided with a control command sending button 105.
  • the control command is sent to the flight control system of the drone, so that the flight control system controls according to the control command. Drone.
  • control command including the user's first choice and the second choice can be conveniently transmitted to the flight control system of the drone to realize communication between the control system and the flight control system, so that the control system passes the flight control
  • the system realizes the control of the drone, realizes the flying action of the UAV edited and formed by the user, and achieves the purpose of entertainment.
  • the control system further includes a play interface 106.
  • the play interface 106 is provided with a vernier caliper 1061.
  • the vernier caliper 1061 covers more than two timelines 101, and the vernier caliper 1061 moves to the right at a constant speed with time on the time axis 101.
  • the predetermined flight action corresponding to the action block 102 on the timeline 101 is played, or the predetermined flight action and the light switch command corresponding to the action block 102 on the play time axis 101 are played.
  • the predetermined flight action includes at least one of upward flight, downward flight, left flight, rightward flight, 90 degrees to the left, 90 degrees to the right, 180 degrees to the left, and 180 degrees to the right.
  • the above predetermined action may be represented by a specific arrowed line when the interface is displayed, for example, an upward flight may be represented as a straight line with an upward pointing arrow, and a downward flight may be represented as a straight line with a downward pointing arrow. and many more.
  • control method of the present embodiment is a control method of the above control system, and the related content is detailed. For the description, please refer to the above control system section, which will not be described here.
  • the control method includes:
  • Step S101 Display at least one time axis and a plurality of action blocks, wherein each action block is independent of each other, and each action block corresponds to a predetermined flight action;
  • Step S102 receiving a first selection of a plurality of action blocks in a chronological order by the user on at least one time axis and a second selection of an execution time of the predetermined flight action corresponding to each action block;
  • Step S103 generating, according to the first selection and the second selection, a control instruction, wherein the control instruction may cause the at least one drone to sequentially execute each action block in chronological order according to at least one time axis after the first selection and the second selection. Corresponding scheduled flight actions, and execution time of the second selection is performed.
  • the first selection is performed by the receiving user dragging and dragging a plurality of action blocks onto the time axis.
  • Embodiments of the present invention display at least one time axis and a plurality of action blocks, wherein each action block is independent of each other, each action block corresponds to a predetermined flight action; and the receiving user chronologically pairs the plurality of action blocks on at least one time axis a first selection and a second selection of an execution time of the predetermined flight action for each action block; generating a control command according to the first selection and the second selection, the control instruction may cause the at least one drone to pass the first selection and the At least one time axis after the selection, the predetermined flight actions corresponding to each action block are sequentially performed in chronological order, and the execution time of the second selection is performed.
  • the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

A flight action editing and formation control system and control method for an unmanned aerial vehicle. The control system comprises: at least one time axis (101); a plurality of action blocks (102), with the action blocks (102) being independent from one another, and each of the action blocks (102) corresponding to a predetermined flight action; and a processor (103) for generating a control instruction when receiving a first selection of a user for the plurality of action blocks (102) on the at least one time axis (101) according to a time sequence and a second selection thereof for an execution time of the predetermined flight action corresponding to each of the action blocks (102), wherein the control instruction can enable at least one unmanned aerial vehicle to successively execute, according to the at least one time axis (101) after the first selection and the second selection and according to the time sequence, the predetermined flight action corresponding to each of the action blocks (102), and execute the execution time for the second selection. By means of the method, users can edit and form flight actions of one or more unmanned aerial vehicles by themselves.

Description

无人机的飞行动作编辑及编队控制***和控制方法 Flight action editing and formation control system and control method for drone
【技术领域】[Technical Field]
本发明涉及无人机技术领域，特别是涉及一种无人机的飞行动作编辑及编队控制***和控制方法。The invention relates to the technical field of drones, in particular to a flight action editing and formation control system and a control method for a drone.
【背景技术】 【Background technique】
随着无人机的快速发展，无人机被越来越多地应用在工业、农业、军事等行业方面。与普通用户息息相关的是民用无人机的应用，例如：航拍、无人机表演、无人机比赛等等。With the rapid development of drones, drones are increasingly being used in industries such as industry, agriculture, and military. Closely related to ordinary users is the application of civilian drones, such as: aerial photography, drone performance, drone competition and so on.
民用无人机的应用，尤其需要提出的是，无人机在娱乐方面的应用，即娱乐无人机。娱乐无人机，既娱乐自己，又娱乐他人，这也许是比“自拍”距离消费者更近的一个需求。现有的娱乐无人机通常是公司出厂前，已经预先编排好无人机的动作指令并烧录入飞控***中，从而实现无人机娱乐用户的功能。The application of civil drones, in particular, is the application of drones in entertainment, namely entertainment drones. Entertainment drones, both to entertain themselves and entertain others, may be a demand closer to consumers than "self-portraits". The existing entertainment drones are usually pre-programmed by the company before the factory leaves the action instructions of the drone and burned into the flight control system, thereby realizing the functions of the drone entertainment users.
但是，现有的娱乐无人机，用户不能主动编排无人机的动作，只能被动接受编排好的动作，而且只能控制一个无人机，不能协调控制多个无人机。However, in the existing entertainment drones, the user cannot actively arrange the actions of the drone, and can only passively accept the arranged actions, and can only control one drone, and cannot coordinately control multiple drones.
【发明内容】 [Summary of the Invention]
本发明主要解决的技术问题是提供一种无人机的飞行动作编辑及编队控制***和控制方法，能够使用户自己编辑及编队一个以上的无人机的飞行动作。The technical problem to be solved by the present invention is to provide a flight action editing and formation control system and control method for a drone, which enables the user to edit and assemble more than one drone flight action.
为解决上述技术问题，本发明采用的一个技术方案是：提供一种无人机的飞行动作编辑及编队控制***，所述控制***包括：至少一个时间轴；多个动作方块，每个所述动作方块相互独立，每个所述动作方块对应预定飞行动作；处理器，用于当接收到所述用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择时，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a flight action editing and formation control system for a drone, the control system comprising: at least one time axis; a plurality of action blocks, each of which The action blocks are independent of each other, each of the action blocks corresponding to a predetermined flight action; and a processor configured to, when receiving the first selection of the plurality of the action blocks in time sequence on the at least one of the time axes Generating a control command for each of the action blocks corresponding to a second selection of execution time of a predetermined flight action, the control command being such that at least one drone is based on the first selection and the second selection At least one time axis, the predetermined flight actions corresponding to each of the action blocks are sequentially performed in chronological order, and the execution time of the second selection is performed.
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种无人机的飞行动作编辑及编队控制方法，所述控制方法包括：显示至少一个时间轴和多个动作方块，其中，每个所述动作方块相互独立，每个所述动作方块对应预定飞行动作；接收用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择；根据所述第一选择和所述第二选择，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a flight action editing and formation control method for a drone, the control method comprising: displaying at least one time axis and a plurality of action blocks, wherein Each of the action blocks is independent of each other, each of the action blocks corresponding to a predetermined flight action; receiving a first selection of a plurality of the action blocks in chronological order on at least one of the time axes and for each of the The action block corresponds to a second selection of an execution time of the predetermined flight action; generating, according to the first selection and the second selection, a control instruction, wherein the control instruction may cause the at least one drone to pass the first selection and The at least one time axis after the second selection sequentially performs a predetermined flight action corresponding to each of the action blocks in chronological order, and executes an execution time of the second selection.
本发明的有益效果是：区别于现有技术的情况，本发明控制***包括：至少一个时间轴；多个动作方块，每个动作方块相互独立，每个动作方块对应预定动作；处理器，用于当接收到所述用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择时，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。由于可以接收用户对动作方块的第一选择和执行时间的第二选择，并据此生成控制指令，该控制指令可以控制无人机按照用户的编辑和编队的飞行动作及执行时间进行执行，通过这种方式，能够使用户自己编辑及编队一个以上的无人机的飞行动作。The beneficial effects of the present invention are: different from the prior art, the control system of the present invention comprises: at least one time axis; a plurality of action blocks, each action block being independent of each other, each action block corresponding to a predetermined action; And when receiving, by the user, the first selection of the plurality of the action blocks in chronological order on at least one of the time axes and the second selection of the execution time of the predetermined flight action for each of the action blocks, Generating a control instruction, wherein the control instruction may cause the at least one drone to sequentially perform a predetermined flight corresponding to each of the action blocks in chronological order according to at least one time axis after the first selection and the second selection Acting and executing the execution time of the second selection. Since the user can receive the first selection of the action block and the second selection of the execution time, and generate a control instruction according to the control instruction, the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.
【附图说明】 [Description of the Drawings]
图1是本发明无人机的飞行动作编辑及编队控制***一实施方式的结构示意图；1 is a schematic structural view of an embodiment of a flight action editing and formation control system of a drone of the present invention;
图2是本发明无人机的飞行动作编辑及编队控制***另一实施方式的结构示意图；2 is a schematic structural view of another embodiment of a flight action editing and formation control system of the drone of the present invention;
图3是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；3 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the unmanned aerial vehicle of the present invention;
图4是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；4 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention;
图5是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；5 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention;
图6是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；6 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention;
图7是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；7 is a schematic structural view of still another embodiment of a flight action editing and formation control system of the drone of the present invention;
图8是本发明无人机的飞行动作编辑及编队控制***又一实施方式的结构示意图；8 is a schematic structural view of still another embodiment of a flight motion editing and formation control system of the drone of the present invention;
图9是本发明无人机的飞行动作编辑及编队控制方法一实施方式的流程示意图。9 is a flow chart showing an embodiment of a flight operation editing and formation control method of the unmanned aerial vehicle of the present invention.
【具体实施方式】【detailed description】
下面结合附图和实施方式对本发明进行详细说明。The invention will now be described in detail in conjunction with the drawings and embodiments.
参阅图1，图1是本发明无人机的飞行动作编辑及编队控制***一实施方式的结构示意图，该控制***包括：至少一个时间轴101、多个动作方块102以及处理器103。Referring to FIG. 1, FIG. 1 is a schematic structural diagram of an embodiment of a flight action editing and formation control system of a drone of the present invention. The control system includes at least one time axis 101, a plurality of action blocks 102, and a processor 103.
时间轴101可以是一个以上，一个时间轴101一般对应一个无人机，当然，一个时间轴101也可以对应多个无人机，例如，当多个无人机执行的动作均相同时，可以采用一个时间轴101控制多个无人机。The time axis 101 may be more than one. One time axis 101 generally corresponds to one drone. Of course, one time axis 101 may also correspond to multiple drones. For example, when multiple drones perform the same actions, A plurality of drones are controlled using a timeline 101.
每个动作方块102相互独立，以供用户进行选择，每个动作方块102对应预定动作。每个动作方块102对应的预定动作可以均是不一样的预定动作，也可以是一样的预定动作。在实际应用中，一般情况下，为了使得控制***简洁明了，每个动作方块102对应的预定动作可以均是不一样的预定动作。Each action block 102 is independent of one another for selection by the user, and each action block 102 corresponds to a predetermined action. The predetermined actions corresponding to each action block 102 may all be different predetermined actions, or may be the same predetermined action. In practical applications, in general, in order to make the control system simple and clear, the predetermined actions corresponding to each action block 102 may be different predetermined actions.
当接收到用户在至少一个时间轴101上按照时间顺序对多个动作方块102的第一选择和对每个动作方块102对应预定飞行动作的执行时间的第二选择时，处理器103生成控制指令，控制指令可以使得至少一个无人机根据经过第一选择和第二选择后的至少一个时间轴101，按照时间顺序依次执行每个动作方块102对应的预定飞行动作，且执行第二选择的执行时间。The processor 103 generates a control instruction when receiving a first selection of the plurality of action blocks 102 in chronological order on the at least one timeline 101 and a second selection of the execution time of the predetermined flight action for each action block 102. The control command may cause the at least one drone to sequentially perform the predetermined flight action corresponding to each action block 102 in chronological order according to the at least one time axis 101 after the first selection and the second selection, and perform execution of the second selection. time.
也就是说，控制指令中，无人机的飞行动作以及飞行时间是根据用户的选择确定的，因此，通过这种方式，能够使得用户编辑以及编队无人机的飞行方案，使用户真正实现参与无人机的编辑及编队，为用户增加娱乐性，提高用户体验。That is to say, in the control command, the flight action and flight time of the drone are determined according to the user's choice. Therefore, in this way, the user can edit and construct the flight plan of the drone, so that the user can truly participate. The editing and formation of drones will increase the entertainment and enhance the user experience.
本发明实施方式控制***包括：至少一个时间轴；多个动作方块，每个动作方块相互独立，每个动作方块对应预定动作；处理器，用于当接收到所述用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择时，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。由于可以接收用户对动作方块的第一选择和执行时间的第二选择，并据此生成控制指令，该控制指令可以控制无人机按照用户的编辑和编队的飞行动作及执行时间进行执行，通过这种方式，能够使用户自己编辑及编队一个以上的无人机的飞行动作。The control system of the present invention includes: at least one time axis; a plurality of action blocks, each action block being independent of each other, each action block corresponding to a predetermined action; and a processor configured to receive the user at the at least one of the times a control instruction is generated on the axis when the first selection of the plurality of the action blocks in chronological order and the second selection of the execution time of the predetermined flight action for each of the action blocks, the control command may cause at least one none The human machine sequentially performs a predetermined flight action corresponding to each of the action blocks in chronological order according to at least one time axis after the first selection and the second selection, and executes an execution time of the second selection. Since the user can receive the first selection of the action block and the second selection of the execution time, and generate a control instruction according to the control instruction, the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.
其中，参见图2，时间轴101和多个动作方块102均显示在控制***的界面10，动作方块102可以在用户的操作下进行拖拉，进而填充入时间轴101上。时间轴101和多个动作方块102均显示在控制***的界面，动作方块102可以拖拉，在界面上，用户直接可以通过拖拉的方式将动作方块102填充入时间轴101上，该动作方块102在时间轴101上所在的时间点或者时间段及执行该预定飞行动作。通过这种方式，能够方便用户对无人机的飞行动作进行编辑及编队，从而提高用户的参与性。2, the timeline 101 and the plurality of action blocks 102 are all displayed on the interface 10 of the control system. The action block 102 can be dragged under the operation of the user and then filled into the timeline 101. The timeline 101 and the plurality of action blocks 102 are both displayed on the interface of the control system. The action block 102 can be dragged. On the interface, the user can directly fill the action block 102 into the timeline 101 by dragging. The action block 102 is The time point or time period on the timeline 101 and the execution of the predetermined flight action. In this way, it is convenient for the user to edit and form the flight movement of the drone, thereby improving user participation.
参见图2，在一实施方式中，控制***包括两个以上的时间轴101，两个以上的时间轴101分别连接两个以上的无人机，两个以上的时间轴101由上往下纵向排列，且开始位置对齐。两个以上的时间轴101，可以分别对两个以上的无人机的飞行动作进行编辑及编队。两个以上的时间轴101由上往下纵向排列，且开始位置对齐，可以简单方便地使用户对每个无人机飞行动作的飞行时间均进行有效控制。Referring to FIG. 2, in an embodiment, the control system includes two or more time axes 101, two or more time axes 101 are respectively connected to two or more drones, and two or more time axes 101 are vertically from top to bottom. Arrange and start to align. Two or more time axes 101 can edit and group the flight operations of two or more drones. More than two time axes 101 are arranged longitudinally from top to bottom, and the starting position is aligned, so that the user can effectively and conveniently control the flight time of each UAV flight action.
在实际应用中，两个以上的时间轴101可以直接展示出来；或者，仅展示一个时间轴101，设置一个相应的按钮，监测到用户点击该按钮时，点击一次，即多展示一个时间轴101；或者，仅展示一个时间轴101，用户输入数字，再展示对应该数字个数的时间轴101，例如：用户输入2，则再展示2个时间轴101，等等。通过上述方式，能够使用户简单方便地对多个无人机分别编辑及编队飞行动作，避免出现编辑及编队混乱。In practical applications, more than two timelines 101 can be directly displayed; or, only one timeline 101 is displayed, and a corresponding button is set, and when the user clicks the button, the user clicks once to display a timeline 101. Or, only one timeline 101 is displayed, the user enters a number, and then displays the timeline 101 corresponding to the number of digits, for example, user input 2, then 2 timelines 101 are displayed, and so on. In the above manner, the user can easily and conveniently edit and construct flight movements for a plurality of drones to avoid editing and formation confusion.
其中，参见图3，每个动作方块102的原始长度对应预定飞行动作的默认的执行时间。进一步，每个动作方块102的原始长度均相等，也就是说，每个动作方块102的对应预定飞行动作的默认的执行时间是相等的。每个动作方块102的原始长度在填充入时间轴101后均可拉长或缩短，以改变动作方块102对应预定飞行动作的执行时间。通过这种方式，能够方便用户进行第二选择，即对每个动作方块102对应预定飞行动作的执行时间的第二选择。Wherein, referring to FIG. 3, the original length of each action block 102 corresponds to a default execution time of a predetermined flight action. Further, the original length of each action block 102 is equal, that is, the default execution time of the corresponding predetermined flight action of each action block 102 is equal. The original length of each action block 102 can be elongated or shortened after being filled into the timeline 101 to change the execution time of the action block 102 corresponding to the predetermined flight action. In this way, it is convenient for the user to make a second selection, that is, for each action block 102 corresponding to a second selection of the execution time of the predetermined flight action.
上述是通过改变动作方块的原始长度来改变动作方块对应预定飞行动作的执行时间的。也可以通过其他方式改变动作方块对应预定飞行动作的执行时间，具体说明如下：The above is to change the execution time of the action block corresponding to the predetermined flight action by changing the original length of the action block. It is also possible to change the execution time of the action block corresponding to the predetermined flight action by other means, as follows:
在一实施方式中，参加图4，时间轴101由按照时间顺序排列的多个时间方块1011组成，每个时间方块1011对应相等的预定时间，动作方块102可以在用户的操作下进行拖拉，进而填充入时间轴101上的时间方块1011中，填充后的时间轴101上，每个动作方块102中对应的预定飞行动作的执行时间均为相等的预定时间。In an embodiment, participating in FIG. 4, the time axis 101 is composed of a plurality of time blocks 1011 arranged in chronological order, and each time block 1011 corresponds to an equal predetermined time, and the action block 102 can be dragged under the operation of the user. Filled into the time block 1011 on the time axis 101, on the time axis 101 after the filling, the execution time of the corresponding predetermined flight action in each action block 102 is equal to the predetermined time.
当编辑及编队多个无人机飞行动作，要求每个飞行动作执行的时间相等时，每个时间方块1011对应相等的预定时间，每个动作方块102中对应的预定动作执行的时间均为相等的预定时间，通过这种方式，能够快速简便地达到编辑及编队多个无人机执行相等时间的飞行动作的目的。When editing and forming a plurality of drone flight actions, each time of each flight action is required to be equal, each time block 1011 corresponds to an equal predetermined time, and the time of execution of the corresponding predetermined action in each action block 102 is equal. In this way, it is possible to quickly and easily achieve the purpose of editing and forming multiple drones to perform equal-time flight operations.
在另一实施方式中，参见图5，时间轴101由按照时间顺序排列的多个时间方块1011组成，每个时间方块1011对应不相等的预定时间，动作方块102可以在用户的操作下进行拖拉，进而填充入时间轴101上的时间方块1011中，填充后的时间轴101上，每个动作方块102中对应的预定飞行动作的执行时间不相等，且每个时间方块1011的长度可拉长或缩短，以改变动作方块102对应预定飞行动作的执行时间。In another embodiment, referring to FIG. 5, the time axis 101 is composed of a plurality of time blocks 1011 arranged in chronological order, each time block 1011 corresponds to an unequal predetermined time, and the action block 102 can be dragged under the operation of the user. And in the time block 1011 on the time axis 101, on the time axis 101 after the filling, the execution time of the corresponding predetermined flight action in each action block 102 is not equal, and the length of each time block 1011 can be lengthened. Or shortened to change the execution time of the action block 102 corresponding to the predetermined flight action.
当用户希望编辑及编队执行时间不等的飞行动作时，此时，每个动作方块102中对应的预定动作执行的执行时间不相等，每个时间方块1011对应不相等的预定时间，且每个时间方块1011的长度可拉长或缩短，以改变动作方块102对应预定飞行动作的执行时间，通过这种方式，可以很好地满足用户的需求。When the user wishes to edit and perform flight operations with different execution times, at this time, the execution time of the corresponding predetermined action execution in each action block 102 is not equal, and each time block 1011 corresponds to an unequal predetermined time, and each time The length of the time block 1011 can be lengthened or shortened to change the execution time of the action block 102 corresponding to the predetermined flight action. In this way, the user's needs can be well satisfied.
其中，无人机在飞行的时候，配合灯光的开关，飞行效果会更好，娱乐性会更强，此时，参见图6，控制***还包括灯光条104，灯光条104显示在控制***的界面，且可以在用户的操作下进行拖拉，进而填充在时间轴101上，以使得无人机在时间轴101上填充有灯光条104的时间点进行灯光的开关。进一步，灯光条104的长度可以拉长和缩短，以控制灯光的开关的时间。在一实施方式中，灯光条104直接填充在时间轴101的动作方块102上，也就是叠加填充在动作方块102上。Among them, when the drone is flying, with the switch of the light, the flight effect will be better and the entertainment will be stronger. At this time, referring to Fig. 6, the control system further includes a light bar 104, and the light bar 104 is displayed on the control system. The interface can be dragged under the operation of the user, and then filled on the time axis 101, so that the drone switches the light at the time point when the timeline 101 is filled with the light bar 104. Further, the length of the light bar 104 can be lengthened and shortened to control the time of the light switch. In one embodiment, the light bar 104 is directly populated on the action block 102 of the timeline 101, that is, the overlay is populated on the action block 102.
参见图7，控制***的界面设置有控制指令发送按键105，当监测到用户点击控制指令发送按键105时，将控制指令向无人机的飞控***发送，以使飞控***根据控制指令控制无人机。Referring to FIG. 7, the interface of the control system is provided with a control command sending button 105. When the user clicks the control command sending button 105, the control command is sent to the flight control system of the drone, so that the flight control system controls according to the control command. Drone.
通过这种方式，能够很方便地将包含用户第一选择和第二选择的控制指令向无人机的飞控***发送，实现控制***与飞控***之间的通信，使控制***通过飞控***实现对无人机的控制，实现用户编辑及编队的无人机飞行动作，达到娱乐的目的。In this way, the control command including the user's first choice and the second choice can be conveniently transmitted to the flight control system of the drone to realize communication between the control system and the flight control system, so that the control system passes the flight control The system realizes the control of the drone, realizes the flying action of the UAV edited and formed by the user, and achieves the purpose of entertainment.
参见图8，控制***还包括播放界面106，播放界面106上设置有游标卡尺1061，游标卡尺1061覆盖在两个以上的时间轴101上，游标卡尺1061随着时间轴101上时间的移动向右匀速移动，以播放时间轴101上动作方块102对应的预定飞行动作，或以播放时间轴101上动作方块102对应的预定飞行动作和灯光的开关指令。Referring to FIG. 8, the control system further includes a play interface 106. The play interface 106 is provided with a vernier caliper 1061. The vernier caliper 1061 covers more than two timelines 101, and the vernier caliper 1061 moves to the right at a constant speed with time on the time axis 101. The predetermined flight action corresponding to the action block 102 on the timeline 101 is played, or the predetermined flight action and the light switch command corresponding to the action block 102 on the play time axis 101 are played.
其中，预定飞行动作包括向上飞行、向下飞行、向左飞行、向右飞行、向左转弯90度、向右转弯90度、向左旋转180度、向右旋转180度中的至少一个。The predetermined flight action includes at least one of upward flight, downward flight, left flight, rightward flight, 90 degrees to the left, 90 degrees to the right, 180 degrees to the left, and 180 degrees to the right.
上述预定动作在界面显示时，可以采用特定的带有箭头的线条表示，例如：向上飞行可以表示为带有朝上的箭头的直线，向下飞行可以表示为带有朝下的箭头的直线，等等。The above predetermined action may be represented by a specific arrowed line when the interface is displayed, for example, an upward flight may be represented as a straight line with an upward pointing arrow, and a downward flight may be represented as a straight line with a downward pointing arrow. and many more.
参见图9，图9是本发明无人机的飞行动作编辑及编队控制方法一实施方式的流程示意图，需要说明的是，本实施方式的控制方法是上述控制***的控制方法，相关内容的详细说明请参见上述控制***部分，在此不再赘叙。该控制方法包括：9 is a schematic flow chart of an embodiment of a flight operation editing and formation control method for a drone of the present invention. It should be noted that the control method of the present embodiment is a control method of the above control system, and the related content is detailed. For the description, please refer to the above control system section, which will not be described here. The control method includes:
步骤S101：显示至少一个时间轴和多个动作方块，其中，每个动作方块相互独立，每个动作方块对应预定飞行动作；Step S101: Display at least one time axis and a plurality of action blocks, wherein each action block is independent of each other, and each action block corresponds to a predetermined flight action;
步骤S102：接收用户在至少一个时间轴上按照时间顺序对多个动作方块的第一选择和对每个动作方块对应预定飞行动作的执行时间的第二选择；Step S102: receiving a first selection of a plurality of action blocks in a chronological order by the user on at least one time axis and a second selection of an execution time of the predetermined flight action corresponding to each action block;
步骤S103：根据第一选择和第二选择，生成控制指令，控制指令可以使得至少一个无人机根据经过第一选择和第二选择后的至少一个时间轴，按照时间顺序依次执行每个动作方块对应的预定飞行动作，且执行第二选择的执行时间。Step S103: generating, according to the first selection and the second selection, a control instruction, wherein the control instruction may cause the at least one drone to sequentially execute each action block in chronological order according to at least one time axis after the first selection and the second selection. Corresponding scheduled flight actions, and execution time of the second selection is performed.
其中，第一选择是通过接收用户对多个动作方块进行拖拉并填充入时间轴上而进行的。The first selection is performed by the receiving user dragging and dragging a plurality of action blocks onto the time axis.
本发明实施方式显示至少一个时间轴和多个动作方块，其中，每个动作方块相互独立，每个动作方块对应预定飞行动作；接收用户在至少一个时间轴上按照时间顺序对多个动作方块的第一选择和对每个动作方块对应预定飞行动作的执行时间的第二选择；根据第一选择和第二选择，生成控制指令，控制指令可以使得至少一个无人机根据经过第一选择和第二选择后的至少一个时间轴，按照时间顺序依次执行每个动作方块对应的预定飞行动作，且执行第二选择的执行时间。由于可以接收用户对动作方块的第一选择和执行时间的第二选择，并据此生成控制指令，该控制指令可以控制无人机按照用户的编辑和编队的飞行动作及执行时间进行执行，通过这种方式，能够使用户自己编辑及编队一个以上的无人机的飞行动作。Embodiments of the present invention display at least one time axis and a plurality of action blocks, wherein each action block is independent of each other, each action block corresponds to a predetermined flight action; and the receiving user chronologically pairs the plurality of action blocks on at least one time axis a first selection and a second selection of an execution time of the predetermined flight action for each action block; generating a control command according to the first selection and the second selection, the control instruction may cause the at least one drone to pass the first selection and the At least one time axis after the selection, the predetermined flight actions corresponding to each action block are sequentially performed in chronological order, and the execution time of the second selection is performed. Since the user can receive the first selection of the action block and the second selection of the execution time, and generate a control instruction according to the control instruction, the control instruction can control the drone to execute according to the user's editing and formation flight actions and execution time, In this way, the user can edit and organize more than one drone's flight action.
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (14)

  1. 一种无人机的飞行动作编辑及编队控制***，其特征在于，所述控制***包括：A flight action editing and formation control system for a drone, characterized in that the control system comprises:
    至少一个时间轴；At least one timeline;
    多个动作方块，每个所述动作方块相互独立，每个所述动作方块对应预定飞行动作；a plurality of action blocks, each of the action blocks being independent of each other, each of the action blocks corresponding to a predetermined flight action;
    处理器，用于当接收到所述用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择时，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。a processor, configured to receive, when receiving, the first selection of the plurality of the action blocks in time sequence on the at least one of the time axes, and the execution time of the predetermined flight action corresponding to each of the action blocks And generating, by the at least one drone, each of the action blocks in chronological order according to at least one time axis after the first selection and the second selection. Corresponding scheduled flight actions, and execution time of the second selection is performed.
  2. 根据权利要求1所述的控制***，其特征在于，所述时间轴和多个所述动作方块均显示在所述控制***的界面，所述动作方块可以在用户的操作下进行拖拉，进而填充入所述时间轴上。The control system according to claim 1, wherein the time axis and the plurality of the action blocks are displayed on an interface of the control system, and the action block can be dragged and filled under a user operation. On the timeline.
  3. 根据权利要求2所述的控制***，其特征在于，所述控制***包括两个以上的时间轴，所述两个以上的时间轴分别连接两个以上的无人机，所述两个以上的时间轴由上往下纵向排列，且开始位置对齐。The control system according to claim 2, wherein said control system comprises two or more time axes, said two or more time axes respectively connecting two or more drones, said two or more The time axis is arranged vertically from top to bottom and the starting position is aligned.
  4. 根据权利要求2所述的控制***，其特征在于，每个所述动作方块的原始长度对应所述预定飞行动作的默认的执行时间。The control system of claim 2 wherein the original length of each of said action blocks corresponds to a default execution time of said predetermined flight action.
  5. 根据权利要求4所述的控制***，其特征在于，每个所述动作方块的原始长度均相等，且每个所述动作方块的原始长度在填充入所述时间轴后均可拉长或缩短，以改变所述动作方块对应预定飞行动作的执行时间。The control system according to claim 4, wherein the original lengths of each of the action blocks are equal, and the original length of each of the action blocks can be elongated or shortened after being filled into the time axis. To change the execution time of the action block corresponding to the predetermined flight action.
  6. 根据权利要求2所述的控制***，其特征在于，所述时间轴由按照时间顺序排列的多个时间方块组成，每个所述时间方块对应相等的预定时间，所述动作方块可以在用户的操作下进行拖拉，进而填充入所述时间轴上的所述时间方块中，填充后的所述时间轴上，每个所述动作方块中对应的预定飞行动作的执行时间均为相等的所述预定时间。The control system according to claim 2, wherein said time axis is composed of a plurality of time blocks arranged in chronological order, each of said time blocks corresponding to an equal predetermined time, said action block being available to the user Dragging in operation, and filling into the time block on the time axis, on the time axis after filling, the execution time of the corresponding predetermined flight action in each of the action blocks is equal scheduled time.
  7. 根据权利要求2所述的控制***，其特征在于，所述时间轴由按照时间顺序排列的多个时间方块组成，每个所述时间方块对应不相等的预定时间，所述动作方块可以在用户的操作下进行拖拉，进而填充入所述时间轴上的所述时间方块中，填充后的所述时间轴上，每个所述动作方块中对应的预定飞行动作的执行时间不相等，且每个所述时间方块的长度可拉长或缩短，以改变所述动作方块对应预定飞行动作的执行时间。The control system according to claim 2, wherein said time axis is composed of a plurality of time blocks arranged in chronological order, each of said time blocks corresponding to an unequal predetermined time, said action block being available to the user Dragging, and then filling into the time block on the time axis, on the time axis after filling, the execution time of the corresponding predetermined flight action in each of the action blocks is not equal, and each time The length of the time block may be lengthened or shortened to change the execution time of the action block corresponding to the predetermined flight action.
  8. 根据权利要求2所述的控制***，其特征在于，所述控制***还包括灯光条，所述灯光条显示在所述控制***的界面，且可以在用户的操作下进行拖拉，进而填充在所述时间轴上，以使得无人机在所述时间轴上填充有所述灯光条的时间点进行灯光的开关。The control system according to claim 2, wherein the control system further comprises a light bar, the light bar is displayed on an interface of the control system, and can be dragged under the operation of the user to fill the space On the time axis, the light is turned on and off at a point in time when the drone is filled with the light bar on the time axis.
  9. 根据权利要求8所述的控制***，其特征在于，所述灯光条的长度可以拉长和缩短，以控制所述灯光的开关的时间The control system of claim 8 wherein said length of said light bar is elongated and shortened to control the time of switching of said light
  10. 根据权利要求2所述的控制***，其特征在于，所述控制***的界面设置有控制指令发送按键，当监测到所述用户点击所述控制指令发送按键时，将所述控制指令向所述无人机的飞控***发送，以使所述飞控***根据所述控制指令控制所述无人机。The control system according to claim 2, wherein the interface of the control system is provided with a control command sending button, and when the user is detected to click the control command sending button, the control command is The flight control system of the drone is transmitted to cause the flight control system to control the drone according to the control command.
  11. 根据权利要求3或8所述的控制***，其特征在于，所述控制***还包括播放界面，所述播放界面上设置有游标卡尺，所述游标卡尺覆盖在所述两个以上的时间轴上，所述游标卡尺随着所述时间轴上时间的移动向右匀速移动，以播放所述时间轴上所述动作方块对应的预定飞行动作，或以播放所述时间轴上所述动作方块对应的预定飞行动作和所述灯光的开关指令。The control system according to claim 3 or 8, wherein the control system further comprises a play interface, the play interface is provided with a vernier caliper, and the vernier caliper covers the two or more time axes. The vernier caliper moves to the right uniformly with the movement of time on the time axis to play a predetermined flight action corresponding to the action block on the time axis, or to play a predetermined flight corresponding to the action block on the time axis Action and switching instructions for the light.
  12. 根据权利要求1-10任一项所述的控制***，其特征在于，所述预定飞行动作包括向上飞行、向下飞行、向左飞行、向右飞行、向左转弯90度、向右转弯90度、向左旋转180度、向右旋转180度中的至少一个。A control system according to any one of claims 1 to 10, wherein the predetermined flight action comprises upward flight, downward flight, left flight, right flight, left turn 90 degrees, right turn 90 At least one of degrees, 180 degrees to the left, and 180 degrees to the right.
  13. 一种无人机的飞行动作编辑及编队控制方法，其特征在于，所述控制方法包括： A flight action editing and formation control method for a drone, characterized in that the control method comprises:
    显示至少一个时间轴和多个动作方块，其中，每个所述动作方块相互独立，每个所述动作方块对应预定飞行动作；Displaying at least one time axis and a plurality of action blocks, wherein each of the action blocks is independent of each other, and each of the action blocks corresponds to a predetermined flight action;
    接收用户在至少一个所述时间轴上按照时间顺序对多个所述动作方块的第一选择和对每个所述动作方块对应预定飞行动作的执行时间的第二选择；Receiving, by the user, a first selection of the plurality of the action blocks in chronological order on at least one of the time axes and a second selection of an execution time of a predetermined flight action for each of the action blocks;
    根据所述第一选择和所述第二选择，生成控制指令，所述控制指令可以使得至少一个无人机根据经过所述第一选择和所述第二选择后的至少一个时间轴，按照时间顺序依次执行每个所述动作方块对应的预定飞行动作，且执行所述第二选择的执行时间。And generating, according to the first selection and the second selection, a control instruction, wherein the control instruction may cause the at least one drone to follow the time according to at least one time axis after the first selection and the second selection The predetermined flight action corresponding to each of the action blocks is sequentially performed in sequence, and the execution time of the second selection is performed.
  14. 根据权利要求13所述的控制方法，其特征在于，所述第一选择是通过接收所述用户对多个所述动作方块进行拖拉并填充入所述时间轴上而进行的。The control method according to claim 13, wherein said first selection is performed by receiving said user dragging and dragging said plurality of action blocks onto said time axis.
PCT/CN2017/080312 2017-04-12 2017-04-12 Flight action editing and formation control system and control method for unmanned aerial vehicle WO2018188001A1 (en)

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