CN109324605A - A kind of flying vehicles control method, apparatus, equipment and storage medium - Google Patents
A kind of flying vehicles control method, apparatus, equipment and storage medium Download PDFInfo
- Publication number
- CN109324605A CN109324605A CN201811377493.5A CN201811377493A CN109324605A CN 109324605 A CN109324605 A CN 109324605A CN 201811377493 A CN201811377493 A CN 201811377493A CN 109324605 A CN109324605 A CN 109324605A
- Authority
- CN
- China
- Prior art keywords
- key
- information
- module
- control
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000006835 compression Effects 0.000 claims abstract description 32
- 238000007906 compression Methods 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 25
- 230000015654 memory Effects 0.000 claims description 18
- 238000005507 spraying Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000000994 depressogenic effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of flying vehicles control method, apparatus, equipment and storage mediums.This method comprises: main control module receives the key information that key module generates；Main control module identifies marking keys, compressing time and the compression number in the key information, to generate the corresponding control instruction of the key information；Main control module sends aircraft by communication module for the control instruction, and control aircraft is acted.Solving the remote controler of aircraft by the above method, that there are keys is more, it is complicated for operation, it is more demanding to the professional knowledge of operator, it is easy to cause some maloperations, the problem of being unfavorable for the popularization of this technology, it realizes through shirtsleeve operation step and controls aircraft, while leading to too small amount of key to realize the beneficial effect of complex operations process.
Description
Technical field
The present embodiments relate to unmanned vehicle technical field more particularly to a kind of flying vehicles control method, apparatus, set
Standby and storage medium.
Background technique
With popularizing for unmanned vehicle, more and more users begin to use unmanned vehicle to carry out various fly
Row operation.
Existing unmanned vehicle needs user of service's both hands to operate, and a hand controls aircraft by operation steering yoke and flies
Line direction, another hand click other keys, carry out the operation (acceleration or sprinkling etc.) of other function.This results in aircraft
Remote controler that there are keys is more, it is complicated for operation, it is more demanding to the professional knowledge of operator, be easy to cause and some accidentally grasp
Make, is unfavorable for the popularization of this technology.
Summary of the invention
The present invention provides a kind of flying vehicles control method, apparatus, equipment and storage medium, passes through shirtsleeve operation to realize
Step controls aircraft, while leading to too small amount of key to realize the purpose of complex operations process.
In a first aspect, being applied to plant protection drone the embodiment of the invention provides a kind of flying vehicles control method, comprising:
Main control module receives the key information that key module generates；Wherein, the key information include it is following at least one:
At least two be pressed marking keys, key at least two compressing times and same key pressing at least twice time
Number；Wherein, the key module includes at least four direction key；
Main control module identifies marking keys, compressing time and the compression number in the key information, to generate
The corresponding control instruction of the key information；
Main control module sends aircraft by communication module for the control instruction, and control aircraft is acted.
Second aspect, the embodiment of the invention also provides a kind of flying vehicles control devices, comprising:
Key information receiving module, for receiving the key information of key module generation；Wherein, the key information includes
It is following at least one: at least two be pressed marking keys, key at least two compressing times and same key extremely
Few compression number twice；
Control instruction generation module, for marking keys, compressing time and the compression number in the key information into
Row identification, to generate the corresponding control instruction of the key information；
Flying vehicles control module controls aircraft for sending aircraft by communication module for the control instruction
It is acted.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the flying vehicles control method as described in any embodiment.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the flying vehicles control method as described in any embodiment when the program is executed by processor.
The present invention receives the key information that key module generates by main control module, and to the key in the key information
Mark, compressing time and compression number are identified, to generate the corresponding control instruction of the key information, finally by the control
System instruction is sent to aircraft by communication module, and control aircraft is acted.Solve aircraft remote controler exist by
Key is more, complicated for operation, more demanding to the professional knowledge of operator, is easy to cause some maloperations, is unfavorable for this skill
The problem of popularization of art, realizes through shirtsleeve operation step and controls aircraft, while leading to too small amount of key to realize
The beneficial effect of complex operations process.
Detailed description of the invention
Fig. 1 is a kind of flow chart for flying vehicles control method that the embodiment of the present invention one provides；
Fig. 2A is a kind of flow chart of flying vehicles control method provided by Embodiment 2 of the present invention；
Fig. 2 B is a kind of structural schematic diagram of key module provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structure chart for flying vehicles control device that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for flying vehicles control method that the embodiment of the present invention one provides, the technology in the present embodiment
Scheme is optionally suitable for operating the scene of aircraft by the key module on remote-control handle.But it is understood that this
Technical solution is readily applicable in other application scenarios, simply by the presence of needing to operate certain by the key module on remote-control handle
One equipment.This method can be executed by flight control assemblies, which can be real by the mode of software and/or hardware
It is existing, it is generally disposed in processor, in the present embodiment, which, which can be, is configured in the processor of aircraft, can also
To be disposed in the processing of remote-control handle.
Wherein, aircraft is not carried people to fly using what radio robot and the presetting apparatus provided for oneself manipulated
Device.It can be understood as the unmanned vehicle of unmanned plane this kind, especially plant protection drone.With reference to Fig. 1, this method is specific
Include:
S101, main control module receive the key information that key module generates.
Wherein, main control module is the control instrument or control unit for realizing one or more control laws, in the present embodiment
In, main control module can reside in aircraft, can also exist in remote-control handle, and the position of main control module is not done in this implementation
It limits.But since main control module needs to process key information, in order to improve processing speed, information transmitting is reduced, it can be with
Control unit is set in remote-control handle.Key module is the direction key for being used to control aircraft direction in remote-control handle,
The key module includes at least four direction key.Key information is that one or more direction keys of remote-control handle are pressed
When, the information of generation, key information include it is following at least one: at least two be pressed marking keys, key at least two
The compression number at least twice of kind compressing time and same key.
Specifically, corresponding key can be generated when one or more of key module four direction key is pressed
Information.The key information is received by main control module.
S102, main control module identify marking keys, compressing time and the compression number in the key information, with
Generate the corresponding control instruction of the key information.
Wherein, marking keys are for showing that the source of key information is which of direction key；Compressing time is used for
Show the time that some direction key is pressed, to be compared with preset time；Compression number is for showing preset time
The number that some interior direction key is pressed.Control instruction be main control module generate execute certain movement for controlling aircraft
Instruction.
Specifically, main control module receives key information, to the marking keys, compressing time and pressing carried in key information
Number is identified, and the corresponding control instruction for being used to control aircraft is generated according to key information.
S103, main control module send aircraft by communication module for the control instruction, and control aircraft is moved
Make.
Communication module refers to through WIFI mode or 4G mode, so that the information between remote-control handle and aircraft is able to
Interactive module.The communication module can be used for sending control instruction to aircraft.
Specifically, main control module generates corresponding control instruction according to key information, and by the control instruction by leading to
Letter module is sent to aircraft.Aircraft is received to control each structure on aircraft after control instruction and execute control instruction and be assigned
Movement.
The embodiment of the present invention receives the key information that key module generates by main control module, and in the key information
Marking keys, compressing time and compression number identified, to generate the corresponding control instruction of the key information, finally will
The control instruction is sent to aircraft by communication module, and control aircraft is acted.Solves the remote controler of aircraft
It is more that there are keys, complicated for operation, more demanding to the professional knowledge of operator, is easy to cause some maloperations, is unfavorable for
The problem of popularization of this technology, realizes through shirtsleeve operation step and controls aircraft, while leading to too small amount of key
To realize the beneficial effect of complex operations process.
Embodiment two
Fig. 2A is a kind of flow chart of flying vehicles control method provided by Embodiment 2 of the present invention.The present embodiment is to implement
The refinement carried out on the basis of example one, provide several main control modules in the key information marking keys, compressing time and
Compression number is identified, to generate the concrete mode of the corresponding control instruction of the key information；The present embodiment is also to remote control
The function of display module is described in detail on handle.
With reference to Fig. 2A, the present embodiment specifically comprises the following steps:
S201, main control module receive the key information that key module generates.
Specifically, corresponding key can be generated when one or more of key module four direction key is pressed
Information.The key information is received by main control module.
If the key information that S202, main control module receive key module generation is identified as either direction key when default
Interior compression number is one, then generates the first control information as control instruction.Wherein, the first control information is winged for controlling
Row device carries out steering flight according to direction representated by the direction key.
Specifically, this key is believed if a direction key in key module is pressed once within a preset time
Breath issues main control module, main control module receive after the case information to marking keys therein, compressing time and compression number into
Row identification generates the first control information.Also, by this be used to control aircraft according to direction representated by the direction key into
Row turns to the first control information of flight as control instruction.
S203, main control module send aircraft by communication module for the control instruction, and control aircraft is moved
Make.
Specifically, main control module generates corresponding control instruction according to key information, and by the control instruction by leading to
Letter module is sent to aircraft.Aircraft is received to control each structure on aircraft after control instruction and execute control instruction and be assigned
Movement.
S204, main control module receive the current acquisition information that aircraft issues by communication module.
Wherein, currently acquisition information is that the equipment (device/module) of aircraft collected needs to pass to remote-control handle
The general name of the information shown.The current acquisition information that aircraft issues, include at least following one: aircraft obtains camera shooting
The image information of equipment acquisition is as current acquisition information；The obstacle distance information that aircraft obtains range sensor acquisition is made
Currently to acquire information；Aircraft obtains battery level information as current acquisition information.Communication module can be used for aircraft
Send control instruction
Wherein, picture pick-up device is that optical image signal is changed into electric signal, in order to the equipment for storing or transmitting.Away from
Refer to the device that may determine that with a distance between peripheral obstacle and distance sensing device from sensing device.If laser sensor is one
The sensor that kind is measured using laser technology, it is made of laser, laser detector and measuring circuit, can be used for surveying
Span from.Battery level information is the information for embodying aircraft current electric quantity.
Specifically, one or more in aircraft reception image information, obstacle distance information and battery level information
As current acquisition delivering.Main control module receives the current acquisition information that aircraft issues by communication module.
S205, main control module control display module show the current acquisition information.
Wherein, display module refers to setting and controls the module for display of handle, to display module in the present embodiment
Specific composition with no restrictions, shown as long as can be carried out information.
Specifically, main control module receives the current acquisition information that aircraft issues by communication module, and control display mould
Block shows the current acquisition information.
On the basis of the above embodiments, step S202 could alternatively be: if main control module receives key module generation
Key information be identified as same direction key compression number be at least twice when, then generate second control information as control
Instruction.Wherein, the second control information accelerates to fly for controlling aircraft according to direction representated by the direction key.
Specifically, this is pressed if a direction key in key module is pressed more than twice within a preset time
Key information issues main control module, and main control module receives after the case information to marking keys therein, compressing time and pressing time
Number is identified, the second control information is generated.Also, this is used to control aircraft according to side representated by the direction key
Information is controlled as control instruction to the second of acceleration flight.On the basis of the above embodiments, step S202 could alternatively be:
If the key information that main control module receives key module generation is identified as two different directions keys and is pressed, the is generated
Three control information are as control instruction.Wherein, third control information is pressed for controlling aircraft according to described two different directions
Centerline direction between both direction corresponding to key is deviated.
Specifically, this key is believed if two different directions keys in key module are pressed within a preset time
Breath issues main control module, main control module receive after the case information to marking keys therein, compressing time and compression number into
Row identification generates third and controls information.Also, this is used to control aircraft according to corresponding to described two different directions keys
The third control information that centerline direction between both direction is deviated is as control instruction.
On the basis of the above embodiments, step S202 could alternatively be: if main control module receives key module generation
Key information be identified as either direction key compressing time be more than preset time when, then generate the 4th control information as control
System instruction.Wherein, the 4th control information accelerates flight simultaneously according to direction representated by the direction key for controlling aircraft
Increase spraying swath.
Wherein, spraying swath refers to that especially plant protection drone sprays insecticide range (amplitude).
Specifically, if a direction key in key module is being depressed past preset time, by this key information
Main control module is issued, main control module carries out marking keys therein, compressing time and compression number after receiving the case information
Identification generates the 4th control information.Also, it is used to control aircraft (especially plant protection drone) for this to press according to the direction
Direction representated by key accelerates to fly and increase the 4th control information of spraying swath as control instruction.
Fig. 2 B is a kind of structural schematic diagram of key module provided by Embodiment 2 of the present invention.In conjunction with Fig. 2 B to key module
The key information of generation is described, and key module includes preceding translation key 21, right translation key 22, rear translation key 23, a left side
Translate key 24 and reset key 25.
When key module is pressed once within a preset time, then generation is for controlling aircraft according to the direction key
Representative direction turn to the first control information of flight.It is pressed once as before moved to right key 22 within a preset time,
It then generates and controls information according to first that right turn to flight for controlling aircraft.
When key module within a preset time is pressed twice and its above, generate for controlling aircraft according to described
Direction representated by direction key accelerates the second control information of flight.As preceding translation key 21 presses twice within a preset time
And its when above, generate and accelerate the second of flight to control information according to forward direction for controlling aircraft.
When within a preset time, the key information that main control module receives key module generation is identified as two different directions
When key is pressed, then generate for controlling aircraft according between both direction corresponding to described two different directions keys
The information that centerline direction is deviated is as control instruction.Such as in preset time, (being also likely to be simultaneously) right translation is detected
Key 22 and rear translation key 23 are pressed, then generate and be used as control according to the information that right back is deviated for controlling aircraft
System instruction.
When the compressing time that the key information that main control module receives key module generation is identified as either direction key is super
When crossing preset time, then give birth to for controlling aircraft according to the acceleration flight of direction representated by the direction key and increasing spraying swath
Instruction as control instruction.If left key 24 is depressed past preset time, then give birth to for control aircraft according to
Left direction accelerates to fly and increases the instruction of spraying swath as control instruction.
If detecting, reset key 25 is pressed, and is controlled aircraft down or is reduced spraying swath, can also directly control winged
Row device carries out operation according to preset speed and sprinkling amplitude.
The embodiment of the present invention receives the key information that key module generates by main control module, and in the key information
Marking keys, compressing time and compression number identified, to generate the corresponding control instruction of the key information, finally will
The control instruction is sent to aircraft by communication module, and control aircraft is acted.The present embodiment additionally provides several
Main control module identifies marking keys, compressing time and the compression number in the key information, to generate the key
The concrete mode of the corresponding control instruction of information.The present embodiment also retouch in detail to the function of display module on remote-control handle
It states.Solving the remote controler of aircraft, that there are keys is more, complicated for operation, more demanding to the professional knowledge of operator, holds
The problem of easily leading to some maloperations, being unfavorable for the popularization of this technology, realize through shirtsleeve operation step control it is winged
Row device, while leading to too small amount of key to realize the beneficial effect of complex operations process.
Embodiment three
Fig. 3 is a kind of structure chart for flying vehicles control device that the embodiment of the present invention three provides.It should be noted that the control
Device processed is equivalent to main control module.The device includes: key information receiving module 31, control instruction generation module 32 and aircraft
Control module 33.Wherein:
Key information receiving module 31, for receiving the key information of key module generation；Wherein, the key information packet
Include it is following at least one: at least two be pressed marking keys, key at least two compressing times and same key
Compression number at least twice；
Control instruction generation module 32, for marking keys, compressing time and the compression number in the key information
It is identified, to generate the corresponding control instruction of the key information；
Flying vehicles control module 33, for sending aircraft, control flight by communication module for the control instruction
Device is acted.
The embodiment of the present invention receives the key information that key module generates by main control module, and in the key information
Marking keys, compressing time and compression number identified, to generate the corresponding control instruction of the key information, finally will
The control instruction is sent to aircraft by communication module, and control aircraft is acted.Solves the remote controler of aircraft
It is more that there are keys, complicated for operation, more demanding to the professional knowledge of operator, is easy to cause some maloperations, is unfavorable for
The problem of popularization of this technology, realizes through shirtsleeve operation step and controls aircraft, while leading to too small amount of key
To realize the beneficial effect of complex operations process.
On the basis of the above embodiments, control instruction generation module can be used for:
If the key information that main control module receives key module generation is identified as either direction key within a preset time
Compression number be one, then generate first control information as control instruction；Wherein, the first control information is for controlling aircraft
Steering flight is carried out according to direction representated by the direction key.
On the basis of the above embodiments, control instruction generation module can be used for:
If the compression number that the key information that main control module receives key module generation is identified as same direction key is
When at least twice, then the second control information is generated as control instruction；Wherein, second control information for control aircraft according to
Direction representated by the direction key accelerates flight.
On the basis of the above embodiments, control instruction generation module can be used for:
If the key information that main control module receives key module generation is identified as two different directions keys and is pressed,
Third control information is then generated as control instruction；Wherein, third control information for control aircraft according to it is described two not
Centerline direction between both direction corresponding to equidirectional key is deviated.
On the basis of the above embodiments, control instruction generation module can be used for:
If the compressing time that the key information that main control module receives key module generation is identified as either direction key is super
When crossing preset time, then the 4th control information is generated as control instruction；Wherein, the 4th control information is pressed for controlling aircraft
Accelerate to fly according to direction representated by the direction key and increases spraying swath.
On the basis of the above embodiments, further includes:
Current acquisition information receiving module, for receiving the current acquisition information that aircraft issues by communication module；
Current acquisition information display module, shows the current acquisition information for controlling display module.
On the basis of the above embodiments, the current acquisition information that the aircraft issues includes at least following one:
Aircraft obtains the image information of picture pick-up device acquisition as current acquisition information；
Aircraft obtains the obstacle distance information of range sensor acquisition as current acquisition information；
Aircraft obtains battery level information as current acquisition information.
A kind of flying vehicles control device provided in this embodiment can be used for executing the aircraft that any of the above-described embodiment provides
Control method has corresponding function and beneficial effect.
Example IV
Fig. 4 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.As shown in figure 4, the electronics is set
Standby includes processor 40, memory 41, communication module 42, input unit 43 and output device 44；Processor 40 in electronic equipment
Quantity can be one or more, in Fig. 4 by taking a processor 40 as an example；Processor 40, memory 41 in electronic equipment,
Communication module 42, input unit 43 and output device 44 can be connected by bus or other modes, to be connected by bus in Fig. 4
It is connected in example.
Memory 41 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, if the corresponding module of one of the present embodiment flying vehicles control is (for example, in a kind of flying vehicles control device
Key information receiving module 31, control instruction generation module 32 and flying vehicles control module 33).Processor 40 passes through operation storage
Software program, instruction and module in memory 41, at the various function application and data of electronic equipment
Reason, that is, realize a kind of above-mentioned flying vehicles control method.
Memory 41 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data according to electronic equipment
Deng.In addition, memory 41 may include high-speed random access memory, it can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 41 can
It further comprise the memory remotely located relative to processor 40, these remote memories can pass through network connection to electronics
Equipment.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Communication module 42 for establishing connection with display screen, and realizes the data interaction with display screen.Input unit 43 can
Number for receiving input or character information, and generate key related with the user setting of electronic equipment and function control
Signal input.It can be understood as the direction key on remote-control handle in the present embodiment.
A kind of flying vehicles control that any embodiment of the present invention provides can be performed in a kind of electronic equipment provided in this embodiment
Method, specific corresponding function and beneficial effect.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction is used to execute a kind of flying vehicles control method when being executed by computer processor, this method comprises:
Main control module receives the key information that key module generates；Wherein, the key information include it is following at least one:
At least two be pressed marking keys, key at least two compressing times and same key pressing at least twice time
Number；Wherein, the key module includes at least four direction key；
Main control module identifies marking keys, compressing time and the compression number in the key information, to generate
The corresponding control instruction of the key information；
Main control module sends aircraft by communication module for the control instruction, and control aircraft is acted.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed aircraft control provided by any embodiment of the present invention
Relevant operation in method processed.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are used so that a calculatings electromechanics
Sub- equipment (can be personal computer, server or network electronic devices etc.) executes described in each embodiment of the present invention
Method.
It is worth noting that, in the embodiment of above-mentioned flying vehicles control device, included each unit and module are
It is divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；Separately
Outside, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of flying vehicles control method, which is characterized in that be applied to plant protection drone, comprising:
Main control module receives the key information that key module generates；Wherein, the key information include it is following at least one: at least
At least two compressing times of marking keys, key that two are pressed and the compression number at least twice of same key；Its
In, the key module includes at least four direction key；
Main control module identifies marking keys, compressing time and the compression number in the key information, described in generating
The corresponding control instruction of key information；
Main control module sends aircraft by communication module for the control instruction, and control aircraft is acted.
2. control method according to claim 1, which is characterized in that the main control module is to pressing in the key information
Key mark, compressing time and compression number are identified, to generate the corresponding control instruction of the key information, further includes:
If main control module receive key module generation key information be identified as either direction key within a preset time by
When pressure number is one time, then the first control information is generated as control instruction；Wherein, the first control information is for controlling aircraft
Steering flight is carried out according to direction representated by the direction key.
3. control method according to claim 1, which is characterized in that the main control module is to pressing in the key information
Key mark, compressing time and compression number are identified, to generate the corresponding control instruction of the key information, comprising:
If it is at least that the key information that main control module receives key module generation, which is identified as the compression number of same direction key,
When twice, then the second control information is generated as control instruction；Wherein, the second control information is for controlling aircraft according to described
Direction representated by direction key accelerates flight.
4. control method according to claim 1, which is characterized in that the main control module is to pressing in the key information
Key mark, compressing time and compression number are identified, to generate the corresponding control instruction of the key information, comprising:
If the key information that main control module receives key module generation is identified as two different directions keys and is pressed, give birth to
At third control information as control instruction；Wherein, third control information is for controlling aircraft according to described two not Tongfangs
It is deviated to the centerline direction between both direction corresponding to key.
5. control method according to claim 1, which is characterized in that the main control module is to pressing in the key information
Key mark, compressing time and compression number are identified, to generate the corresponding control instruction of the key information, comprising:
If the compressing time that the key information that main control module receives key module generation is identified as either direction key is more than pre-
If when the time, then generating the 4th control information as control instruction；Wherein, the 4th control information is for controlling aircraft according to institute
Direction representated by direction key is stated to accelerate to fly and increase spraying swath.
6. control method according to claim 1, which is characterized in that the main control module passes through the control instruction logical
Letter module is sent to aircraft, after control aircraft is acted, further includes:
Main control module receives the current acquisition information that aircraft issues by communication module；
Main control module control display module shows the current acquisition information.
7. control method according to claim 6, which is characterized in that the current acquisition information that the aircraft issues, until
Less include following one:
Aircraft obtains the image information of picture pick-up device acquisition as current acquisition information；
Aircraft obtains the obstacle distance information of range sensor acquisition as current acquisition information；
Aircraft obtains battery level information as current acquisition information.
8. a kind of flying vehicles control device characterized by comprising
Key information receiving module, for receiving the key information of key module generation；Wherein, the key information includes following
At least one: at least two be pressed marking keys, key at least two compressing times and same key at least two
Secondary compression number；
Control instruction generation module, for knowing to marking keys, compressing time and the compression number in the key information
Not, to generate the corresponding control instruction of the key information；
Flying vehicles control module, for sending aircraft by communication module for the control instruction, control aircraft is carried out
Movement.
9. a kind of electronic equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
A kind of existing flying vehicles control method as claimed in claim 1.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
A kind of flying vehicles control method as claimed in claim 1 is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377493.5A CN109324605A (en) | 2018-11-19 | 2018-11-19 | A kind of flying vehicles control method, apparatus, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377493.5A CN109324605A (en) | 2018-11-19 | 2018-11-19 | A kind of flying vehicles control method, apparatus, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109324605A true CN109324605A (en) | 2019-02-12 |
Family
ID=65257708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811377493.5A Pending CN109324605A (en) | 2018-11-19 | 2018-11-19 | A kind of flying vehicles control method, apparatus, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109324605A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275545A (en) * | 2019-05-29 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| CN112189331A (en) * | 2019-09-09 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Control method of movable platform, remote control equipment and movable platform assembly thereof |
| WO2022134299A1 (en) * | 2020-12-25 | 2022-06-30 | 深圳市大疆创新科技有限公司 | Control method, device, system, and computer-readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890861A (en) * | 2015-05-05 | 2015-09-09 | 余江 | Control method of multi-rotor aircraft and multi-rotor aircraft |
| CN105843245A (en) * | 2015-11-27 | 2016-08-10 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
| CN106512434A (en) * | 2015-09-09 | 2017-03-22 | 王军 | Aircraft controller and control method thereof |
| CN106681354A (en) * | 2016-12-02 | 2017-05-17 | 广州亿航智能技术有限公司 | Flight control method and flight control device for unmanned aerial vehicles |
| CN107301765A (en) * | 2016-04-15 | 2017-10-27 | 零度智控（北京）智能科技有限公司 | Remote control thereof, device and terminal |
| CN108227729A (en) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | A kind of motion sensing control system and motion sensing control method |
| CN108513649A (en) * | 2017-05-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Flight control method, equipment, machine readable storage medium and system |
-
2018
- 2018-11-19 CN CN201811377493.5A patent/CN109324605A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890861A (en) * | 2015-05-05 | 2015-09-09 | 余江 | Control method of multi-rotor aircraft and multi-rotor aircraft |
| CN106512434A (en) * | 2015-09-09 | 2017-03-22 | 王军 | Aircraft controller and control method thereof |
| CN105843245A (en) * | 2015-11-27 | 2016-08-10 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle control system and unmanned aerial vehicle control method |
| CN107301765A (en) * | 2016-04-15 | 2017-10-27 | 零度智控（北京）智能科技有限公司 | Remote control thereof, device and terminal |
| CN106681354A (en) * | 2016-12-02 | 2017-05-17 | 广州亿航智能技术有限公司 | Flight control method and flight control device for unmanned aerial vehicles |
| CN108227729A (en) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | A kind of motion sensing control system and motion sensing control method |
| CN108513649A (en) * | 2017-05-24 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Flight control method, equipment, machine readable storage medium and system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275545A (en) * | 2019-05-29 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| CN110275545B (en) * | 2019-05-29 | 2022-04-08 | 山东智翼航空科技有限公司 | Unmanned aerial vehicle ground control system with intelligent protection function |
| CN112189331A (en) * | 2019-09-09 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Control method of movable platform, remote control equipment and movable platform assembly thereof |
| WO2021046671A1 (en) * | 2019-09-09 | 2021-03-18 | 深圳市大疆创新科技有限公司 | Control method for movable platform, remote control apparatus for same, and movable platform assembly |
| CN112189331B (en) * | 2019-09-09 | 2022-06-03 | 深圳市大疆创新科技有限公司 | Control method of movable platform, remote control equipment and movable platform assembly thereof |
| WO2022134299A1 (en) * | 2020-12-25 | 2022-06-30 | 深圳市大疆创新科技有限公司 | Control method, device, system, and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109324605A (en) | A kind of flying vehicles control method, apparatus, equipment and storage medium | |
| US11036216B2 (en) | Voice-controllable unmanned aerial vehicle for object retrieval and delivery | |
| CN107300970A (en) | Virtual reality exchange method and device | |
| WO2019144629A1 (en) | Image collection control method and device, image collection system and tof camera | |
| CN105867420B (en) | Rapid mode switching system and method applied to unmanned aerial vehicle | |
| CN112435454A (en) | Unmanned aerial vehicle system, unmanned aerial vehicle control method, device, equipment and medium | |
| US20210233529A1 (en) | Imaging control method and apparatus, control device, and imaging device | |
| CN103531015A (en) | Method for realizing remote control function, and electronic device thereof | |
| US20180253179A1 (en) | Method and apparatus for screen control between terminals and storage medium | |
| US20230096333A2 (en) | Navigation apparatus | |
| CN106371455B (en) | A kind of intelligent interactive method and system | |
| KR20170090826A (en) | Intelligent system for object detection drone based on smart device using VPN, and Intelligent object detection method for the same | |
| CN102915126B (en) | A kind of method, Apparatus and system of light ray remote-control location | |
| CN109542250B (en) | Inter-server switching control method, KVM video processor and spliced wall system | |
| JP2020042787A (en) | Automatic driving support method, driving device, support device, and computer-readable storage medium | |
| CN105511496A (en) | Method and device for controlling unmanned aerial vehicle | |
| WO2021018049A1 (en) | Unmanned aerial vehicle starting method, unmanned aerial vehicle, and remote control device | |
| CN112114969A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN111459068A (en) | Ground comprehensive display control system and method for unmanned aerial vehicle-mounted day and night photoelectric system | |
| CN110827487A (en) | Article image data acquisition method and device, storage medium and electronic equipment | |
| JP7124280B2 (en) | Information processing device and program | |
| CN111610850A (en) | Method for man-machine interaction based on unmanned aerial vehicle | |
| CN205353937U (en) | Laser response interactive installation | |
| CN107079109B (en) | Camera shutter control method, apparatus and system | |
| US20110244442A1 (en) | Video whiteboard apparatus and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 510000, No. 1, Cheng Cheng Road, Gaotang Software Park, Guangzhou, Guangdong, Tianhe District, 3A01 Applicant after: XAG Co., Ltd. Address before: 510000, No. 1, Cheng Cheng Road, Gaotang Software Park, Guangzhou, Guangdong, Tianhe District, 3A01 Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190212 |
|
| RJ01 | Rejection of invention patent application after publication |