WO2016188486A1 - 飞行控制方法及装置、电子设备 - Google Patents

飞行控制方法及装置、电子设备 Download PDF

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Publication number
WO2016188486A1
WO2016188486A1 PCT/CN2016/083729 CN2016083729W WO2016188486A1 WO 2016188486 A1 WO2016188486 A1 WO 2016188486A1 CN 2016083729 W CN2016083729 W CN 2016083729W WO 2016188486 A1 WO2016188486 A1 WO 2016188486A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
signal
flight
flight direction
direction control
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.)
Ceased
Application number
PCT/CN2016/083729
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English (en)
French (fr)
Inventor
张鹏飞
蔡炜
夏勇峰
叶华林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xiaomi Inc
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Xiaomi Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xiaomi Inc filed Critical Xiaomi Inc
Priority to KR1020177004818A priority Critical patent/KR101935181B1/ko
Priority to EP16799373.2A priority patent/EP3306432B1/en
Priority to JP2016573059A priority patent/JP6486970B2/ja
Priority to RU2017102706A priority patent/RU2663937C2/ru
Publication of WO2016188486A1 publication Critical patent/WO2016188486A1/zh
Priority to US15/722,001 priority patent/US10569874B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • G05D1/0033—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 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

Definitions

  • Embodiments of the present disclosure relate to the field of aircraft control technologies, and in particular, to a flight control method and apparatus, and an electronic device.
  • Aircraft can be used in many fields, such as aerial photography, goods transportation, etc., with low cost, small size, high flexibility and many other characteristics.
  • the user Through wireless communication between the aircraft and the remote control device, the user can control the flight of the aircraft to accomplish the desired flight target.
  • Embodiments of the present disclosure provide a flight control method and apparatus, and an electronic device to solve the deficiencies in the related art.
  • a flight control method including:
  • the driving the aircraft to fly according to the flight direction control instruction include:
  • the driving the aircraft to perform flight according to the flight direction control instruction comprises:
  • the flight direction control command is a left turn or a right turn
  • the flight in the vertical direction of the line between the aircraft and the control user is performed, so that the angle value and the length value in the coordinate information are unchanged.
  • the driving the aircraft to perform flight according to the flight direction control instruction comprises:
  • the aircraft is driven according to the linear component and the rotational component such that a length value in the coordinate information changes according to the linear component, and an angular value changes according to the rotational component.
  • the determining a relative positional relationship between the aircraft and the control user includes:
  • Sensing signals transmitted by the signal transceiving device at the control user are respectively sensed by a plurality of signal sensing devices mounted on different positions of the aircraft;
  • the relative positional relationship is determined based on the mounting position of the signal sensing device on the aircraft.
  • the determining a relative positional relationship between the aircraft and the control user includes:
  • the relative positional relationship is determined based on the mounting position of the signal transmitting device on the aircraft.
  • the determining a relative positional relationship between the aircraft and the control user includes:
  • it also includes:
  • the driving the aircraft to perform flight according to the flight direction control instruction comprises:
  • the aircraft is driven in accordance with the converted target direction.
  • a flight control apparatus including:
  • a relationship determining unit that determines a relative positional relationship between the aircraft and the control user
  • a coordinate system determining unit that determines a polar coordinate system with the control user as an origin according to the relative positional relationship
  • a receiving unit configured to receive a flight direction control command sent by the control user, where the flight direction control instruction is generated based on the polar coordinate system;
  • the driving unit drives the aircraft to fly according to the flight direction control instruction according to the coordinate information of the aircraft in the polar coordinate system.
  • the driving unit includes:
  • a first driving subunit when the flight direction control command is forward or backward, flying along a connecting direction between the aircraft and the control user, so that the length value in the coordinate information changes, the angle value constant.
  • the driving unit includes:
  • a second driving subunit when the flight direction control command is a left turn or a right turn, flying in a vertical direction along a line connecting the aircraft and the control user, so that the angle value in the coordinate information Change, length value does not change.
  • the driving unit includes:
  • Extracting a subunit when the flight direction control command is an oblique flight, extracting a linear component and a rotational component included in the flight direction control instruction, the linear component corresponding to the forward or backward movement of the aircraft, the rotation a component corresponding to a left turn or a right turn of the aircraft;
  • the third driving subunit drives the aircraft according to the linear component and the rotational component such that the length value in the coordinate information changes according to the linear component, and the angular value changes according to the rotational component.
  • the relationship determining unit includes:
  • a sensing subunit respectively sensing, by the plurality of signal sensing devices mounted on different positions of the aircraft, the sensing signals emitted by the signal transmitting and receiving device at the control user;
  • Comparing the subunits comparing the signal intensities respectively sensed by the plurality of signal sensing devices, wherein the signal sensing device having the strongest signal strength, the signal sensing device having the weakest signal strength, and the projection of the control user in the vertical direction are in the same line, And the signal sensing device with the strongest signal strength and the control user are adjacent nodes on the straight line;
  • the first relationship determining subunit determines the relative positional relationship according to a mounting position of the signal sensing device on the aircraft.
  • the relationship determining unit includes:
  • a device determining subunit determining, according to the received response message returned by the signal transceiving device, a first and last received detection signal of the signal transceiving device, wherein the signal transmitting device corresponding to the detecting signal and the control user respectively
  • the projections in the vertical direction are in the same straight line, and the signal sensing device corresponding to the first received detection signal and the control user are adjacent nodes on the straight line;
  • the second relationship determining subunit determines the relative positional relationship according to a mounting position of the signal transmitting device on the aircraft.
  • the relationship determining unit includes:
  • Reading the subunit reading the first positioning information of the aircraft through the first positioning device installed on the aircraft;
  • Receiving a subunit receiving second positioning information sent by the signal transceiving device at the control user, where the second positioning information is generated by a second positioning device at the control user;
  • a third relationship determining subunit according to the first positioning information and the second positioning information, The relative positional relationship is determined.
  • it also includes:
  • Reading unit reading a type identifier included in the flight direction control instruction
  • a determining unit determining, according to the type identifier, a type of the flight direction control instruction; wherein, when the type identifier is a first value, indicating that the flight direction control instruction is generated based on the polar coordinate system; When the type identifier is the second value, indicating that the flight direction control command is generated based on the flight coordinate system of the aircraft, the driving unit directly executes the flight direction control command to drive the aircraft.
  • the driving unit includes:
  • the fourth driving subunit drives the aircraft in accordance with the converted target direction.
  • an electronic device including:
  • a memory configured to store processor executable instructions
  • processor is configured to:
  • the embodiment of the present disclosure can establish a polar coordinate system with the user as the origin and adopt a flight direction control instruction based on the polar coordinate system, so that the user can Completion is centered on itself and does not require consideration and control from the perspective of the aircraft, which helps to simplify handling and reduce the control difficulty of the aircraft.
  • FIG. 1 is a schematic diagram of a scenario of flight control according to an exemplary embodiment
  • FIG. 2 is a flow chart showing a flight control method according to an exemplary embodiment
  • FIG. 3 is a schematic diagram showing a coordinate relationship of flight control according to an exemplary embodiment
  • FIG. 4 is a flow chart showing another flight control method according to an exemplary embodiment
  • FIG. 5 is a schematic diagram showing determining a relative positional relationship according to an exemplary embodiment
  • FIG. 6 is a schematic diagram showing another determination of a relative positional relationship according to an exemplary embodiment
  • FIG. 7 is a schematic diagram of a flight control according to an exemplary embodiment
  • FIG. 8 is a schematic diagram of another flight control according to an exemplary embodiment
  • FIG. 9 is a schematic diagram of still another flight control according to an exemplary embodiment.
  • FIGS. 10-18 are block diagrams of a flight control device, according to an exemplary embodiment
  • FIG. 19 is a schematic structural diagram of an apparatus for flight control according to an exemplary embodiment.
  • FIG. 1 is a schematic diagram of a flight control scenario according to an exemplary embodiment. As shown in FIG. 1 , a signal transmission between a remote control device and an aircraft is performed wirelessly, and then the user sends a control command to the aircraft through the remote control device. You can control the aircraft to fly.
  • the control when the user sends a control command to the aircraft through the remote control device, especially the flight direction control command, the control needs to be implemented from the "angle of the aircraft"; for example, when the flight direction control command is "leftward", it should be understood as an aircraft. Turn to the left side of yourself.
  • the flight record of the aircraft is far away and the orientation of the aircraft is not easily observed, or when the aircraft adopts the four-axis structure shown in FIG. 1, the user often cannot distinguish the real-time posture of the aircraft, and thus it is difficult to realize from the "aircraft angle". control.
  • the embodiments of the present disclosure solve the above-described technical problems existing in the related art by improving the flight control of the aircraft.
  • FIG. 2 is a flow chart showing a flight control method according to an exemplary embodiment. As shown in FIG. 1 , the method is used in an aircraft and may include the following steps.
  • step 202 a relative positional relationship between the aircraft and the controlling user is determined.
  • the aircraft may perform acquisition of the relative positional relationship according to a preset period; or, as another exemplary embodiment, the aircraft may receive the flight direction control instruction each time , the acquisition of the relative positional relationship is performed.
  • step 204 a polar coordinate system with the control user as an origin is determined according to the relative positional relationship.
  • step 206 a flight direction control command sent by the control user is received, and the flight direction control command is generated based on the polar coordinate system.
  • control user transmits the flight direction control command and other types of commands or information and the like to the aircraft through the signal transceiving device, and the signal transceiving device can be built in the remote control device.
  • Data can be implemented by any type of wireless between the aircraft and the remote control device.
  • the embodiment of the present disclosure does not limit the transmission, such as WIFI or Bluetooth.
  • the flight control command is generated based on the polar coordinate system, and the origin of the polar coordinate system is at the control user, the flight control for the aircraft is actually implemented by controlling the user.
  • the aircraft can make its own adjustment according to the target direction corresponding to the flight direction control command.
  • step 208 the aircraft is driven to fly according to the flight direction control command according to the coordinate information of the aircraft in the polar coordinate system.
  • the control user is located at the O point, and a polar coordinate system OX with the O point as the origin is established.
  • the aircraft can know its own coordinate information in the polar coordinate system OX according to the relative positional relationship between itself and the control user, assuming that the aircraft is located at point A and the coordinate information is ( ⁇ , ⁇ ). Then, controlling the user's flight control of the aircraft, without having to consider the real-time attitude of the aircraft, etc., but issuing the flight direction control command centered on itself, and the aircraft only needs to convert the flight direction control command into its own coordinate information. Adjust it.
  • the aircraft may complete the flight by converting the target direction corresponding to the flight direction control command from the polar coordinate system into its own flight coordinate system, thereby performing the converted target direction.
  • the flight direction control command is used to control the flight direction of the aircraft, such as "front, rear, left, right” and the like, and does not include “up, down” or the like of the three-dimensional space.
  • the embodiment of the present disclosure performs coordinate conversion on the target direction of the flight direction control instruction, so that the user only needs to directly control according to the control target of the user, without performing the conversion of the control target from the perspective of the aircraft. Thereby greatly reducing the difficulty of handling the aircraft.
  • FIG. 4 is a flow chart showing another flight control method according to an exemplary embodiment. As shown in FIG. 4, the method may include the following steps.
  • step 402 the aircraft initiates the flight.
  • step 404 the aircraft receives a flight direction control command issued by the controlling user.
  • the control user can implement signal transmission and reception with the aircraft through the remote control device, for example, the remote control device can be remotely controlled by a dedicated aircraft, or can be implemented by installing an APP on a smart device such as a smart phone or a smart tablet;
  • the wireless signal can be sent and received between the remote control device and the aircraft through WIFI, Bluetooth, and the like.
  • step 406 the corresponding instruction type is identified by reading the value of the type identifier in the flight direction control instruction; when the type identifier is the first value, the target direction is obtained based on the polar coordinate system, and the process proceeds to step 408.
  • the type identifier is the second value, the target direction is obtained based on the flight coordinate system of the aircraft, and the process proceeds to step 410.
  • the polar coordinate system is a coordinate system with the control user as the origin
  • the flight coordinate system is a coordinate system with the aircraft as the origin.
  • the control user issues a flight direction control command based on the polar coordinate system
  • the corresponding target direction is obtained based on the polar coordinate system, which helps the user to perform effective flight control when it is difficult to distinguish the flight attitude of the aircraft (especially for a quadcopter, etc.).
  • this requires the aircraft to convert the corresponding target direction to its own flight coordinate system before it can successfully complete the mission.
  • the corresponding target direction is obtained based on the flight coordinate system, that is, the user issues the flight direction control command based on the angle of the aircraft, and the aircraft can directly execute the corresponding flight direction control command, ie, The mission can be successfully completed.
  • a corresponding format switch can be set on the remote control device, so that the user can control the flight direction control command of the required type through the switch.
  • the format of the control instruction may be preset, and one or more data bits in the control instruction are identified as types, thereby expressing the user's control manner. Assuming that the type identifier includes two data bits, the first value is when the type identifier is “00”, that is, the target direction in the flight direction control instruction is obtained based on the polar coordinate system, and when the type identifier is “01”, The second value, That is, the target direction in the flight direction control command is obtained based on the flight coordinate system.
  • step 404' a signal transceiving operation is performed between the aircraft and the controlling user.
  • step 406' the aircraft determines the relative positional relationship between the aircraft and the controlling user based on the signal transceiving conditions.
  • the relative positional relationship between the aircraft and the controlling user is determined by steps 404'-406'; wherein there is no necessary sequence between steps 404'-406' and steps 404-406.
  • the aircraft may perform steps 404'-406' in a predetermined manner, such as in accordance with a preset period, or after receiving a flight direction control command.
  • the relative positional relationship between the aircraft and the control user can be determined, and based on the above-mentioned "signal transceiving" mode, the relative positional relationship is determined.
  • the sensing signals transmitted by the signal transmitting and receiving devices at the control user are respectively sensed by a plurality of signal sensing devices mounted on different positions on the aircraft; and the signal strengths respectively sensed by the plurality of signal sensing devices are compared,
  • the signal sensing device with the strongest signal strength, the signal sensing device with the weakest signal strength, and the projection of the control user in the vertical direction are in the same straight line, and the signal sensing device with the strongest signal strength and the control user are the straight line.
  • An adjacent node determining the relative positional relationship according to a mounting position of the signal sensing device on the aircraft.
  • the control user uses the smart phone as a remote control device to realize remote control of the aircraft; the smart phone is equipped with a signal transmitting and receiving device of any wireless signal, and sends a sensing signal through the signal transmitting and receiving device.
  • a plurality of signal sensing devices are disposed at different positions on the aircraft. For example, in the four-axis aircraft shown in FIG. 5, a signal sensing device 1, a signal sensing device 2, a signal sensing device 3, and a signal sensing device 4 are respectively disposed. Each of the signal sensing devices respectively senses the induced signal and notifies the sensed signal strength to the aircraft.
  • the processor is compared by the processor to obtain the signal strength device with the strongest signal strength and the weakest.
  • the signal sensing device 4 senses the strongest signal and the signal sensing device 2 senses the weakest signal strength, it is considered to control the user (ie, the remote control device, such as the smart phone in FIG. 5), the signal sensing device 4, and the signal sensing.
  • the projections of the devices 2 in the vertical direction are on the same straight line.
  • the aircraft can assume that the orientation of the control user is a certain fixed direction, and the corresponding polar coordinate system can also be determined accordingly, for example, the polar coordinate system OX is as shown in FIG. 5.
  • the aircraft is at the A( ⁇ , ⁇ ) point within the polar coordinate system OX.
  • the distance of ⁇ is OA, which can be calculated according to the signal sensing intensity of the signal sensing device 4 and the signal sensing device 2 (for example, pre-storing the correspondence between the signal sensing intensity and the distance); or, the relative distance can also be used. For example, if the point A recorded at a certain moment is taken as the “origin point”, the subsequent distance change adopts a relative distance change from the point A.
  • ⁇ is the angle between OA and OX, and can be calculated after determining the polar axis (ie, the X-axis) of the polar coordinate system OX.
  • the coordinate position of the A point in the polar coordinate system OX can be combined to obtain the current attitude of the aircraft itself, and the direction 1 and the ray OA of the aircraft.
  • the offset angle ⁇ between the aircraft, the aircraft can be considered during the flight drive to itself, without controlling the user to understand the real-time attitude of the aircraft.
  • a plurality of signal transmitting devices mounted on different positions on the aircraft respectively transmit a detection signal to the signal transmitting and receiving device at the control user, respectively; according to the received response of the signal transmitting device a message determining a first and last received detection signal of the signal transceiving device, wherein the signal transmitting device corresponding to the detection signal and the control user are respectively in the same direction in a vertical direction, and the first received detection signal
  • the corresponding signal sensing device and the control user are adjacent nodes on the line; and the relative positional relationship is determined according to a mounting position of the signal transmitting device on the aircraft.
  • a signal transmitting device 1 As shown in FIG. 6, different positions on the aircraft are provided with a signal transmitting device 1, a signal transmitting device 2, a signal transmitting device 3, a signal transmitting device 4, and the like, and a signal transmitting and receiving device is disposed at a control user (ie, in a smartphone).
  • the signal transceiving device can respectively receive detection signals from each signal transmitting device on the aircraft.
  • each signal transmitting device Since the setting position of each signal transmitting device is different, and the relative distance between each signal transmitting device and the smart phone is also different, when all the signal transmitting devices simultaneously send out the detecting signal, the signal transmitting and receiving device in the smart phone will be These detection signals are received at different times.
  • Each signal detecting device can include its own identity in the transmitted detection signal, and the smart phone can distinguish and record the receiving order of the detection signals corresponding to each signal transmitting device.
  • the signal transmitting device 1, the signal transmitting device 2, the signal transmitting device 3, and the signal transmitting device 4 correspond to the receiving times t1, t2, t3, and t4, respectively, and the time t4 is the earliest and the time t2 is the latest, then It is considered that the projections of the control user (i.e., the remote control device, such as the smartphone in Fig. 6), the signal transmitting device 4, and the signal transmitting device 2 in the vertical direction are on the same straight line. Then, the manner of determining the relative positional relationship is similar to the embodiment shown in FIG. 5, and details are not described herein again.
  • a positioning device such as a GPS chip, a Beidou positioning chip, etc.
  • a positioning device may be installed on the remote control device of the aircraft and the control user, respectively, for respectively obtaining positioning information of the aircraft and the remote control device (such as latitude and longitude information, etc.) ), the relative positional relationship between the two can be calculated by sharing the positioning information between the aircraft and the remote control device.
  • step 408 the aircraft converts the target direction in the flight direction control command based on the relative positional relationship with the controlling user.
  • an instruction is executed to perform flight driving to the target direction.
  • step 406 the aircraft directly executes the received flight direction control command; if it is transferred by step 408, the aircraft needs to receive the flight party.
  • the target direction in the control command is converted, and the drive control is performed in accordance with the converted target direction.
  • the aircraft may adopt a corresponding flight control mode for the difference of the target direction.
  • the flight direction control command is forward or backward
  • the flight direction is controlled along the line between the aircraft and the control user, so that the length value in the coordinate information changes and the angle value does not change.
  • the aircraft should fly and extend the aircraft along the direction of the ray OA by adjusting and distributing the power of each drive component (such as the drive motor on the four axes of the quadcopter). It is assumed that the flight is to point A' and the coordinate information is changed to ( ⁇ ', ⁇ ).
  • the control user does not need to care about the real-time attitude of the aircraft at point A.
  • the orientation of the aircraft may not be the OA direction, but the aircraft is based on the relative positional relationship between itself and the control user and the coordinate information of point A. You can adjust the real-time attitude and flight direction by yourself, and smoothly achieve the flight to A'.
  • the aircraft should decrease ⁇ , ⁇ , that is, fly in the ray AO direction.
  • the flight direction control command is a left turn or a right turn
  • the flight is performed in a vertical direction along the line connecting the aircraft and the control user, so that the angle value in the coordinate information changes and the length value does not change.
  • the aircraft should adjust and distribute the power of each drive component (such as the drive motor on the four axes of the quadcopter) so that the flight direction of the aircraft is always with itself.
  • the line connecting point O is vertical, in other words, the aircraft flies along a circular arc with the point O as the center and OA as the radius.
  • the orientation of the aircraft during flight is tangent to the arc; for example, the aircraft flies from point A to point A" And the coordinate information is changed to ( ⁇ , ⁇ ').
  • the flight path and control process of the aircraft are completely centered on the O point at which the user is controlled, which helps to simplify the flight control process for controlling the user.
  • the flight direction control command is a right turn
  • the aircraft should make ⁇ constant, ⁇ decrease, that is, fly in the tangential direction of the right side of the OA.
  • the flight direction control command is an oblique flight
  • extracting a linear component and a rotational component included in the flight direction control command the linear component corresponding to the forward or backward of the aircraft, the rotational component corresponding to the left or right turn of the aircraft;
  • the linear component and the rotational component drive the aircraft such that the length value in the coordinate information changes in accordance with the linear component, and the angular value changes in accordance with the rotational component.
  • “Slanted” means not only the front-rear or left-right direction, but also the components of the front, back, and left and right directions. Therefore, when the flight direction control command issued by the control user is oblique, the aircraft should tilt the direction.
  • the direction is decomposed into the front-rear direction (ie, the linear component) and the left-right direction (ie, the rotational component) to simultaneously control the flight of the aircraft. For example, if the aircraft is originally at the A( ⁇ , ⁇ ) point, and based on the target direction of the flight direction control command, the linear component decomposed needs to be adjusted and the steering component obtained by the decomposition needs to be adjusted for ⁇ and adjusted separately.
  • ⁇ " and ⁇ that is, the flight target is B ( ⁇ ", ⁇ ").
  • the embodiment of the present disclosure also provides flight An embodiment of a control device.
  • FIG. 10 is a block diagram of a flight control device, according to an exemplary embodiment.
  • the apparatus includes a relationship determining unit 1001, a coordinate system determining unit 1002, a receiving unit 1003, and a driving unit 1004.
  • the relationship determining unit 1001 is configured to determine a relative positional relationship between the aircraft and the control user;
  • the coordinate system determining unit 1002 is configured to determine a polar coordinate system with the control user as an origin according to the relative positional relationship;
  • the receiving unit 1003 is configured to receive a flight direction control command sent by the control user, where the flight direction control instruction is generated based on the polar coordinate system;
  • the driving unit 1004 is configured to drive the aircraft to fly according to the flight direction control instruction according to coordinate information of the aircraft in the polar coordinate system.
  • FIG. 11 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the embodiment may be: based on the foregoing embodiment shown in FIG. 10, the driving unit 1004 may include: a first driving Subunit 1004A.
  • the first driving subunit 1004A is configured to fly along a connecting direction between the aircraft and the control user when the flight direction control command is forward or backward, so that the coordinate information is The length value changes and the angle value does not change.
  • FIG. 12 is a block diagram of another flight control apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in FIG. 10, the driving unit 1004 may include: a second driving Subunit 1004B.
  • the second driving subunit 1004B is configured to fly in a vertical direction of a line between the aircraft and the control user when the flight direction control command is a left turn or a right turn, so that the The angle value in the coordinate information changes and the length value does not change.
  • FIG. 13 is another flight control device according to an exemplary embodiment.
  • the driving unit 1004 may include: an extracting subunit 1004C and a third driving subunit 1004D.
  • the extracting subunit 1004C is configured to extract a linear component and a rotational component included in the flight direction control instruction when the flight direction control command is an oblique flight, the linear component corresponding to the advancement of the aircraft Or retreating, the rotational component corresponding to the left or right turn of the aircraft;
  • a third driving subunit 1004D configured to drive the aircraft according to the linear component and the rotational component such that a length value in the coordinate information changes according to the linear component, and an angular value changes according to the rotational component .
  • FIG. 14 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the relationship determining unit 1001 may include: a sensor.
  • the sensing subunit 1001A is configured to respectively sense the sensing signals emitted by the signal transmitting and receiving device at the control user by using a plurality of signal sensing devices mounted on different positions on the aircraft;
  • the comparison subunit 1001B is configured to compare signal intensities respectively sensed by the plurality of signal sensing devices, wherein the signal inductive device having the strongest signal strength, the signal inducting device having the weakest signal strength, and the projection of the control user in the vertical direction a signal sensing device that is in the same straight line and has the strongest signal strength and the control user is an adjacent node on the line;
  • the first relationship determining subunit 1001C is configured to determine the relative positional relationship based on a mounting position of the signal sensing device on the aircraft.
  • the structures of the sensing subunit 1001A, the comparing subunit 1001B, and the first relationship determining subunit 1001C in the device embodiment shown in FIG. 14 may also be included in the foregoing device embodiment of FIG. 11-13.
  • the embodiment of the present disclosure is not limited in this regard.
  • FIG. 15 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the relationship determining unit 1001 may include: a transmitter.
  • the unit 1001D the device determination subunit 1001E, and the second relationship determination subunit 1001F.
  • the transmitting subunit 1001D is configured to simultaneously send a detection signal to the signal transmitting and receiving apparatus at the control user through a plurality of signal transmitting devices mounted on different positions on the aircraft;
  • the device determining subunit 1001E is configured to determine, according to the received response message returned by the signal transceiving device, a first and last received detection signal of the signal transceiving device, and the signal transmitting device corresponding to the detecting signal
  • the control user's respective projections in the vertical direction are in the same straight line, and the signal sensing device corresponding to the first received detection signal and the control user are adjacent nodes on the straight line;
  • the second relationship determining subunit 1001F is configured to determine the relative positional relationship based on a mounting position of the signal transmitting device on the aircraft.
  • FIG. 16 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the relationship determining unit 1001 may include: reading, based on the foregoing embodiment shown in FIG.
  • a reading subunit 1001G configured to read first positioning information of the aircraft by a first positioning device mounted on the aircraft;
  • the receiving subunit 1001H is configured to receive second positioning information sent by the signal transceiving device at the control user, where the second positioning information is used by the second positioning device at the control user generate;
  • the third relationship determining subunit 1001I is configured to determine the relative positional relationship according to the first positioning information and the second positioning information.
  • FIG. 17 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the apparatus may further include: a reading unit based on the foregoing embodiment shown in FIG. 1006 and determination unit 1005.
  • the reading unit 1006 is configured to read the type identifier included in the flight direction control instruction
  • the determining unit 1005 is configured to determine the type of the flight direction control instruction according to the type identifier; wherein, when the type identifier is the first value, indicating that the flight direction control instruction is generated based on the polar coordinate system When the type identifier is the second value, indicating that the flight direction control instruction is generated based on the flight coordinate system of the aircraft, the driving unit 1004 directly executes the flight direction control instruction to drive the aircraft.
  • the configuration of the reading unit 1006 and the determining unit 1005 in the device embodiment shown in FIG. 17 may also be included in the foregoing device embodiment of FIG. 11-16, and the embodiment of the present disclosure is not limited. .
  • FIG. 18 is a block diagram of another flight control apparatus according to an exemplary embodiment.
  • the driving unit 1004 may include: a conversion subunit based on the foregoing embodiment shown in FIG. 1004E and fourth drive subunit 1004F.
  • the conversion subunit 1004E is configured to convert a target direction corresponding to the flight direction control instruction from the polar coordinate system to a flight coordinate system of the aircraft;
  • a fourth driving subunit 1004F configured to drive the flight in accordance with the converted target direction Device.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the embodiments of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • an embodiment of the present disclosure further provides a flight control apparatus, including: a processor; a memory configured to store processor-executable instructions; wherein the processor is configured to: determine a relative relationship between the aircraft and the control user a positional relationship; determining, according to the relative positional relationship, a polar coordinate system with the control user as an origin; receiving a flight direction control command sent by the control user, the flight direction control instruction is generated based on the polar coordinate system; The coordinate information of the aircraft in the polar coordinate system drives the aircraft to fly according to the flight direction control instruction.
  • embodiments of the present disclosure also provide a terminal, the terminal including a memory, and one or more programs, wherein one or more programs are stored in the memory and configured to be configured by one or more processors
  • Executing the one or more programs includes an instruction configured to: determine a relative positional relationship between the aircraft and the control user; and determine a polar coordinate system with the control user as an origin according to the relative positional relationship; Receiving a flight direction control command sent by the control user, the flight direction control command is generated based on the polar coordinate system; and driving the aircraft according to the flight direction according to coordinate information of the aircraft in the polar coordinate system Control instructions to fly.
  • FIG. 19 is a block diagram of an apparatus 1900 for flight control, according to an exemplary embodiment.
  • device 1900 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a gaming console, a tablet device, a medical device, a fitness device, a personal digital assistant, and the like.
  • apparatus 1900 can include one or more of the following components: processing component 1902, memory 1904, power component 1906, multimedia component 1908, audio component 1910, input/output (I/O) interface 1912, sensor component 1914, and Communication component 1916.
  • Processing component 1902 typically controls the overall operation of device 1900, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 1902 can include one or more processors 1920 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 1902 can include one or more modules to facilitate interaction between component 1902 and other components.
  • processing component 1902 can include a multimedia module to facilitate interaction between multimedia component 1908 and processing component 1902.
  • Memory 1904 is configured to store various types of data to support operation at device 1900. Examples of such data include instructions for any application or method configured to operate on device 1900, contact data, phone book data, messages, pictures, videos, and the like.
  • Memory 1904 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable Programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic or optical disk.
  • Power component 1906 provides power to various components of device 1900.
  • Power component 1906 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 1900.
  • Multimedia component 1908 includes a screen between the device 1900 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 1908 includes a front camera and/or a rear camera. When the device 1900 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 1910 is configured to output and/or input an audio signal.
  • audio component 1910 includes a microphone (MIC) that is configured to receive an external audio signal when device 1900 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 1904 or transmitted via communication component 1916.
  • the audio component 1910 also includes a speaker configured to output an audio signal.
  • the I/O interface 1912 provides an interface between the processing component 1902 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 1914 includes one or more sensors configured to provide various aspects of state assessment for device 1900.
  • sensor assembly 1914 can detect an open/closed state of device 1900, a relative positioning of components, such as the display and keypad of device 1900, and sensor component 1914 can also detect a change in position of a component of device 1900 or device 1900. The presence or absence of contact by the user with the device 1900, the orientation or acceleration/deceleration of the device 1900 and the temperature change of the device 1900.
  • Sensor assembly 1914 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 1914 can also include light Sensors, such as CMOS or CCD image sensors, are configured for use in imaging applications.
  • the sensor assembly 1914 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 1916 is configured to facilitate wired or wireless communication between device 1900 and other devices.
  • the device 1900 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 1916 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 1916 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra wideband
  • Bluetooth Bluetooth
  • device 1900 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation configured to perform the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation configured to perform the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 1904 comprising instructions executable by processor 1920 of apparatus 1900 to perform the above method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • the embodiment of the present disclosure establishes a polar coordinate system with the user as the origin, and adopts a flight direction control instruction based on the polar coordinate system, so that the user can complete himself or herself in the control process without considering and controlling from the perspective of the aircraft. It helps to simplify the control and reduce the control difficulty of the aircraft.

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Abstract

一种飞行控制方法及装置、电子设备，该方法包括：确定飞行器与控制用户之间的相对位置关系（202）；根据所述相对位置关系，确定以所述控制用户为原点的极坐标系（204）；接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成（206）；根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行（208）。

Description

飞行控制方法及装置、电子设备
本申请基于申请号为201510284823.6、申请日为2015年5月28日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
背景技术
本公开实施例涉及飞行器控制技术领域，尤其涉及飞行控制方法及装置、电子设备。
背景技术
飞行器可以用于很多领域，比如航拍、物品运输等，具有成本低、体积小、灵活性高等诸多特点。通过飞行器与遥控设备之间的无线通信，用户可以控制飞行器的飞行，以完成希望的飞行目标。
发明内容
本公开实施例提供飞行控制方法及装置、电子设备，以解决相关技术中的不足。
根据本公开实施例的第一方面，提供一种飞行控制方法，包括：
确定飞行器与控制用户之间的相对位置关系；
根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
可选的，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行， 包括：
当所述飞行方向控制指令为前进或后退时，沿所述飞行器与所述控制用户之间的连线方向飞行，以使所述坐标信息中的长度值变化、角度值不变。
可选的，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
当所述飞行方向控制指令为左转或右转时，沿所述飞行器与所述控制用户之间的连线的垂直方向飞行，以使所述坐标信息中的角度值变化、长度值不变。
可选的，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
当所述飞行方向控制指令为斜向飞行时，提取所述飞行方向控制指令中包含的直线分量和转动分量，所述直线分量对应于所述飞行器的前进或后退、所述转动分量对应于所述飞行器的左转或右转；
根据所述直线分量和所述转动分量驱动所述飞行器，以使所述坐标信息中的长度值按照所述直线分量变化、角度值按照所述转动分量变化。
可选的，所述确定飞行器与控制用户之间的相对位置关系，包括：
通过所述飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；
比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；
根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
可选的，所述确定飞行器与控制用户之间的相对位置关系，包括：
通过所述飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；
根据接收到的所述信号收发装置返回的响应消息，确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；
根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
可选的，所述确定飞行器与控制用户之间的相对位置关系，包括：
通过所述飞行器上安装的第一定位装置，读取所述飞行器的第一定位信息；
接收所述控制用户处的信号收发装置发送的第二定位信息，所述第二定位信息由所述控制用户处的第二定位装置生成；
根据所述第一定位信息和所述第二定位信息，确定所述相对位置关系。
可选的，还包括：
读取所述飞行方向控制指令中包含的类型标识；
根据所述类型标识，判定所述飞行方向控制指令的类型；其中，当所述类型标识为第一值时，表明所述飞行方向控制指令基于所述极坐标系生成；当所述类型标识为第二值时，表明所述飞行方向控制指令基于所述飞行器的飞行坐标系生成，并直接执行所述飞行方向控制指令，以驱动所述飞行器。
可选的，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
将所述飞行方向控制指令对应的目标方向由所述极坐标系转换至所述 飞行器的飞行坐标系；
按照转换后的目标方向驱动所述飞行器。
根据本公开实施例的第二方面，提供一种飞行控制装置，包括：
关系确定单元，确定飞行器与控制用户之间的相对位置关系；
坐标系确定单元，根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
接收单元，接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
驱动单元，根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
可选的，所述驱动单元包括：
第一驱动子单元，当所述飞行方向控制指令为前进或后退时，沿所述飞行器与所述控制用户之间的连线方向飞行，以使所述坐标信息中的长度值变化、角度值不变。
可选的，所述驱动单元包括：
第二驱动子单元，当所述飞行方向控制指令为左转或右转时，沿所述飞行器与所述控制用户之间的连线的垂直方向飞行，以使所述坐标信息中的角度值变化、长度值不变。
可选的，所述驱动单元包括：
提取子单元，当所述飞行方向控制指令为斜向飞行时，提取所述飞行方向控制指令中包含的直线分量和转动分量，所述直线分量对应于所述飞行器的前进或后退、所述转动分量对应于所述飞行器的左转或右转；
第三驱动子单元，根据所述直线分量和所述转动分量驱动所述飞行器，以使所述坐标信息中的长度值按照所述直线分量变化、角度值按照所述转动分量变化。
可选的，所述关系确定单元包括：
感应子单元，通过所述飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；
比较子单元，比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；
第一关系确定子单元，根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
可选的，所述关系确定单元包括：
发送子单元，通过所述飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；
装置确定子单元，根据接收到的所述信号收发装置返回的响应消息，确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；
第二关系确定子单元，根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
可选的，所述关系确定单元包括：
读取子单元，通过所述飞行器上安装的第一定位装置，读取所述飞行器的第一定位信息；
接收子单元，接收所述控制用户处的信号收发装置发送的第二定位信息，所述第二定位信息由所述控制用户处的第二定位装置生成；
第三关系确定子单元，根据所述第一定位信息和所述第二定位信息， 确定所述相对位置关系。
可选的，还包括：
读取单元，读取所述飞行方向控制指令中包含的类型标识；
判断单元，根据所述类型标识，判定所述飞行方向控制指令的类型；其中，当所述类型标识为第一值时，表明所述飞行方向控制指令基于所述极坐标系生成；当所述类型标识为第二值时，表明所述飞行方向控制指令基于所述飞行器的飞行坐标系生成，则所述驱动单元直接执行所述飞行方向控制指令，以驱动所述飞行器。
可选的，所述驱动单元包括：
转换子单元，将所述飞行方向控制指令对应的目标方向由所述极坐标系转换至所述飞行器的飞行坐标系；
第四驱动子单元，按照转换后的目标方向驱动所述飞行器。
根据本公开实施例的第三方面，提供一种电子设备，包括：
处理器；
配置为存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
确定飞行器与控制用户之间的相对位置关系；
根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
本公开的实施例提供的技术方案可以包括以下有益效果：
由上述实施例可知，本公开实施例通过建立以用户为原点的极坐标系，并采用基于该极坐标系的飞行方向控制指令，使得用户在控制过程中可以 完成以自身为中心，无需从飞行器的角度进行考虑和控制，有助于简化操控、减低飞行器的控制难度。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开实施例的原理。
图1是根据一示例性实施例示出的一种飞行控制的场景示意图；
图2是根据一示例性实施例示出的一种飞行控制方法的流程图；
图3是根据一示例性实施例示出的一种飞行控制的坐标关系的示意图；
图4是根据一示例性实施例示出的另一种飞行控制方法的流程图；
图5是根据一示例性实施例示出的一种确定相对位置关系的示意图；
图6是根据一示例性实施例示出的另一种确定相对位置关系的示意图；
图7是根据一示例性实施例示出的一种飞行控制的示意图；
图8是根据一示例性实施例示出的另一种飞行控制的示意图；
图9是根据一示例性实施例示出的又一种飞行控制的示意图；
图10-18是根据一示例性实施例示出的一种飞行控制装置的框图；
图19是根据一示例性实施例示出的一种用于飞行控制的装置的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开实施例相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述 的、本公开实施例的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种飞行控制的场景示意图，如图1所示，遥控设备与飞行器之间采用无线方式实现信号传输，则用户通过遥控设备向飞行器发送控制指令后，即可控制飞行器进行飞行。
在相关技术中，用户通过遥控设备向飞行器发送控制指令时，尤其是飞行方向控制指令，需要从“飞行器的角度”来实现控制；比如飞行方向控制指令为“向左”时，应当理解为飞行器向自身的左侧转向。然而，当飞行器的飞行记录较远而不易观察到飞行器的朝向，或者当飞行器采用图1所示的四轴结构时，用户往往无法区分飞行器的实时姿态，因而难以从“飞行器的角度”来实现控制。
因此，本公开实施例通过对飞行器的飞行控制进行改进，以解决相关技术中存在的上述技术问题。
图2是根据一示例性实施例示出的一种飞行控制方法的流程图，如图1所示，该方法用于飞行器中，可以包括以下步骤。
在步骤202中，确定飞行器与控制用户之间的相对位置关系。
在本实施例中，作为一示例性实施方式，飞行器可以按照预设周期来执行对相对位置关系的获取；或者，作为另一示例性实施方式，飞行器可以在每次接收到飞行方向控制指令时，执行对相对位置关系的获取。
在步骤204中，根据所述相对位置关系，确定以所述控制用户为原点的极坐标系。
在步骤206中，接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成。
在本实施例中，控制用户通过信号收发装置向飞行器发送飞行方向控制指令以及其他类型的指令或信息等数据，该信号收发装置可以内置于遥控设备中。飞行器与遥控设备之间可以通过任意类型的无线方式实现数据 传输，比如WIFI或蓝牙等，本公开实施例并不对此进行限制。
在本实施例中，由于飞行方向控制指令是基于极坐标系生成的，且该极坐标系的原点在控制用户处，则对于飞行器的飞行控制，实际上是以控制用户为中心来实现的，而无需考虑飞行器的实时姿态(比如朝向等)，可以由飞行器根据飞行方向控制指令对应的目标方向进行自行调整。
在步骤208中，根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
如图3所示，假定控制用户位于O点处，并建立以该O点为原点的极坐标系OX。飞行器根据自身与控制用户之间的相对位置关系，可以了解到自身在该极坐标系OX内的坐标信息，假定飞行器位于A点且坐标信息为(ρ，θ)。那么，控制用户对于飞行器的飞行控制，可以不必考虑飞行器的实时姿态等问题，而是以自身为中心来发出飞行方向控制指令，而飞行器只需要将该飞行方向控制指令转换为对自身坐标信息的调整即可。比如作为一示例性实施方式，飞行器可以通过将飞行方向控制指令对应的目标方向由极坐标系转换至自身的飞行坐标系内，从而通过执行转换后的目标方向，即可完成飞行。
在本实施例中，飞行方向控制指令用于控制飞行器的飞行方向，比如“前、后、左、右”等平面内的方向控制，而不包括立体空间的“上、下”等。
由上述实施例可知，本公开实施例通过对飞行方向控制指令的目标方向进行坐标转换，使得用户只需要直接根据自己的控制目标进行控制即可，而无需从飞行器的角度进行控制目标的转换，从而极大地降低了飞行器的操控难度。
图4是根据一示例性实施例示出的另一种飞行控制方法的流程图，如图4所示，该方法可以包括以下步骤。
在步骤402中，飞行器启动飞行。
在步骤404中，飞行器接收到控制用户发出的飞行方向控制指令。
在本实施例中，控制用户可以通过遥控设备实现与飞行器之间的信号收发，比如该遥控设备可以为专用的飞行器遥控，或者可以由智能手机、智能平板等智能设备上安装APP后实现；其中，遥控设备与飞行器之间可以通过WIFI、蓝牙等方式实现无线信号收发。
在步骤406中，通过读取飞行方向控制指令中的类型标识的数值，识别相应的指令类型；当类型标识为第一值时，说明目标方向为基于极坐标系得到，转入步骤408，当类型标识为第二值时，说明目标方向为基于飞行器的飞行坐标系得到，转入步骤410。
在本实施例中，极坐标系为以控制用户为原点的坐标系，飞行坐标系为以飞行器为原点的坐标系。当控制用户基于极坐标系发出飞行方向控制指令时，相应的目标方向为基于极坐标系得到，有助于用户在不易区分飞行器的飞行姿态(尤其对于四轴飞行器等)时进行有效的飞行控制，但这需要由飞行器对相应的目标方向进行转换至自身的飞行坐标系后，才能够顺利完成飞行任务。当控制用户基于飞行坐标系发出飞行方向控制指令时，相应的目标方向为基于飞行坐标系得到，即用户基于飞行器的角度发出该飞行方向控制指令，飞行器可以直接执行相应的飞行方向控制指令，即可顺利完成飞行任务。
在本实施例中，可以在遥控设备上设置相应的格式切换开关，使用户通过该开关控制发出所需类型的飞行方向控制指令。
在本实施例中，可以预先设置控制指令的格式，将控制指令中的一个或多个数据位作为类型标识，从而表现用户的控制方式。假定类型标识包括两个数据位，则当该类型标识为“00”时为第一值，即飞行方向控制指令中的目标方向为基于极坐标系得到，当该类型标识为“01”时为第二值， 即飞行方向控制指令中的目标方向为基于飞行坐标系得到。
在步骤404’中，飞行器与控制用户之间进行信号收发操作。
在步骤406’中，飞行器根据信号收发情况，确定飞行器与控制用户之间的相对位置关系。
在本实施例中，通过步骤404’-406’来确定飞行器与控制用户之间的相对位置关系；其中，步骤404’-406’与步骤404-406之间并不存在必然的先后顺序。飞行器可以按照预设方式来执行步骤404’-406’，比如按照预设周期执行，或者在接收到飞行方向控制指令后执行。
在本实施例中，基于飞行器与控制用户(即遥控设备)之间的信号收发，可以确定飞行器与控制用户之间的相对位置关系，下面基于上述“信号收发”方式，对确定相对位置关系的几种方式进行举例说明。
实施方式一
作为一示例性实施方式，通过飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
如图5所示，假定控制用户将智能手机作为遥控设备，实现对飞行器的遥控控制；该智能手机中配置有任意无线信号的信号收发装置，并通过该信号收发装置发出感应信号。在飞行器上的不同位置设置有多个信号感应装置，比如在图5所示的四轴飞行器中，分别设置有信号感应装置1、信号感应装置2、信号感应装置3和信号感应装置4等，则每个信号感应装置分别对上述的感应信号进行感应，并将感应到的信号强度告知飞行器上的 处理器，由该处理器比较得出信号强度最强和最弱的信号感应装置。
假定信号感应装置4感应到的信号强度最强、信号感应装置2感应到的信号强度最弱，则认为控制用户(即遥控设备，比如图5中的智能手机)、信号感应装置4和信号感应装置2各自在垂直方向的投影处于同一直线上。飞行器可以假定控制用户的朝向为某个固定方向，则相应的极坐标系也可相应确定，比如该极坐标系OX如图5所示。
假定飞行器在该极坐标系OX内处于A(ρ，θ)点。其中，ρ为OA的距离，可以根据信号感应装置4和信号感应装置2的信号感应强度来计算(比如预先存储信号感应强度与距离之间的对应关系)；或者，也可以采用相对距离的方式，比如将某个时刻记录下的A点作为“原点”，则后续的距离变化均采用与该A点的相对距离变化。θ为OA与OX之间的夹角，在确定了极坐标系OX的极轴(即X轴)朝向后，即可计算得到。
同时，由于每个信号感应装置在飞行器上的安装位置是预先确定的，因而可以结合A点在极坐标系OX内的坐标位置，得到飞行器自身的当前姿态，以及飞行器朝向的方向1与射线OA之间的偏移角度α，则飞行器在对自身的飞行驱动过程中，可以将该偏移角度α加以考虑，而无需控制用户了解该飞行器的实时姿态。
实施方式二
作为另一示例性实施方式，通过飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；根据接收到的所述信号收发装置返回的响应消息，确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
如图6所示，飞行器上的不同位置设置有信号发射装置1、信号发射装置2、信号发射装置3和信号发射装置4等，而在控制用户处(即智能手机中)设置有信号收发装置，该信号收发装置可以分别接收飞行器上的每个信号发射装置发出的检测信号。
由于每个信号发射装置的设置位置不同，因而每个信号发射装置与智能手机之间的相对距离也存在差异，则当所有信号发射装置同时发出检测信号时，智能手机中的信号收发装置会在不同时刻接收到这些检测信号。每个信号检测装置可以在发射的检测信号中包含自身的身份标识，则智能手机可以区分并记录下每个信号发射装置对应的检测信号的接收顺序。
比如图6所示，假定信号发射装置1、信号发射装置2、信号发射装置3和信号发射装置4分别对应于接收时刻t1、t2、t3和t4，且t4时刻最早、t2时刻最晚，则认为控制用户(即遥控设备，比如图6中的智能手机)、信号发射装置4和信号发射装置2各自在垂直方向的投影处于同一直线上。然后，关于相对位置关系的确定方式，与图5所示的实施例相似，此处不再赘述。
实施方式三
作为又一示例性实施方式，可以分别在飞行器和控制用户的遥控设备上安装定位装置(如GPS芯片、北斗定位芯片等)，以用于分别得到飞行器和遥控设备的定位信息(如经纬度信息等)，则通过飞行器与遥控设备之间对自身定位信息的共享，即可计算得到两者之间的相对位置关系。
在步骤408中，飞行器根据与控制用户之间的相对位置关系，对飞行方向控制指令中的目标方向进行转换。
在步骤410，执行指令，向目标方向进行飞行驱动。
在本实施例中，若由步骤406转入，则飞行器直接执行接收到的飞行方向控制指令即可；若由步骤408转入，则飞行器需要对接收到的飞行方 向控制指令中的目标方向进行转换，并按照转换后的目标方向进行驱动控制。
当飞行方向控制指令为基于极坐标系生成时，针对目标方向的不同，飞行器可以采用相应的飞行控制方式。
1、前后飞行
当飞行方向控制指令为前进或后退时，沿飞行器与控制用户之间的连线方向飞行，以使坐标信息中的长度值变化、角度值不变。
如图7所示，假定控制用户位于O点，并建立以O点为原点的极坐标系OX，而飞行器位于A点且坐标信息为(ρ，θ)，表明线段OA长度为ρ、OX与OA的夹角为θ。
当控制用户发出的飞行方向控制指令为前进时，飞行器应当通过对各个驱动组件(比如四轴飞行器的四个轴上的驱动电机)的动力调整和分配，使飞行器沿射线OA的延伸方向飞行，假定飞行至A’点且坐标信息变更为(ρ’，θ)。
在上述过程中，控制用户并不需要关心飞行器在A点时的实时姿态，比如飞行器的朝向可能并不是OA方向，但飞行器基于自身与控制用户之间的相对位置关系和A点的坐标信息，可以自行调整实时姿态和飞行方向，顺利实现向A’的飞行。类似地，当飞行方向控制指令为后退时，飞行器应当使ρ减小、θ不变，即沿射线AO方向飞行。
2、左右飞行
当飞行方向控制指令为左转或右转时，沿飞行器与控制用户之间的连线的垂直方向飞行，以使坐标信息中的角度值变化、长度值不变。
如图8所示，假定控制用户位于O点，并建立以O点为原点的极坐标系OX，而飞行器位于A点且坐标信息为(ρ，θ)，表明线段OA长度为ρ、OX与OA的夹角为θ。
当控制用户发出的飞行方向控制指令为左转时，飞行器应当通过对各个驱动组件(比如四轴飞行器的四个轴上的驱动电机)的动力调整和分配，使飞行器的飞行方向始终与自身和O点的连线垂直，换言之，飞行器沿以O点为圆心、OA为半径的圆弧飞行，飞行器在飞行过程中的朝向与该圆弧相切；比如，飞行器由A点飞行至A”点且坐标信息变更为(ρ，θ’)。
在上述过程中，飞行器的飞行线路和控制过程完全以控制用户所处的O点为中心，有助于简化控制用户的飞行控制过程。类似地，当飞行方向控制指令为右转时，飞行器应当使ρ不变、θ减小，即沿OA的右侧切线方向飞行。
3、斜向飞行
当飞行方向控制指令为斜向飞行时，提取飞行方向控制指令中包含的直线分量和转动分量，该直线分量对应于飞行器的前进或后退、该转动分量对应于飞行器的左转或右转；根据直线分量和转动分量驱动飞行器，以使坐标信息中的长度值按照直线分量变化、角度值按照转动分量变化。
如图9所示，假定控制用户位于O点，并建立以O点为原点的极坐标系OX，而飞行器位于A点且坐标信息为(ρ，θ)，表明线段OA长度为ρ、OX与OA的夹角为θ。
“斜向”是指并非单纯的前后或左右方向，而是同时包含了前后和左右这两个方向的分量，因而当控制用户发出的飞行方向控制指令为斜向时，飞行器应当将该斜向方向分解至前后方向(即直线分量)和左右方向(即转动分量)，以同时控制飞行器的飞行。比如，飞行器原本处于A(ρ，θ)点，而基于飞行方向控制指令的目标方向，分解得到的直线分量需要对ρ进行调整、分解得到的转向分量需要对θ进行调整，并分别得到调整后的ρ”和θ”，即飞行目标为B(ρ”，θ”)点。
与前述的飞行控制方法的实施例相对应，本公开实施例还提供了飞行 控制装置的实施例。
图10是根据一示例性实施例示出的一种飞行控制装置框图。参照图10，该装置包括关系确定单元1001、坐标系确定单元1002、接收单元1003和驱动单元1004。
其中，关系确定单元1001，被配置为确定飞行器与控制用户之间的相对位置关系；
坐标系确定单元1002，被配置为根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
接收单元1003，被配置为接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
驱动单元1004，被配置为根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
如图11所示，图11是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，驱动单元1004可以包括：第一驱动子单元1004A。
其中，第一驱动子单元1004A，被配置为当所述飞行方向控制指令为前进或后退时，沿所述飞行器与所述控制用户之间的连线方向飞行，以使所述坐标信息中的长度值变化、角度值不变。
如图12所示，图12是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，驱动单元1004可以包括：第二驱动子单元1004B。
其中，第二驱动子单元1004B，被配置为当所述飞行方向控制指令为左转或右转时，沿所述飞行器与所述控制用户之间的连线的垂直方向飞行，以使所述坐标信息中的角度值变化、长度值不变。
如图13所示，图13是根据一示例性实施例示出的另一种飞行控制装 置的框图，该实施例在前述图10所示实施例的基础上，驱动单元1004可以包括：提取子单元1004C和第三驱动子单元1004D。
其中，提取子单元1004C，被配置为当所述飞行方向控制指令为斜向飞行时，提取所述飞行方向控制指令中包含的直线分量和转动分量，所述直线分量对应于所述飞行器的前进或后退、所述转动分量对应于所述飞行器的左转或右转；
第三驱动子单元1004D，被配置为根据所述直线分量和所述转动分量驱动所述飞行器，以使所述坐标信息中的长度值按照所述直线分量变化、角度值按照所述转动分量变化。
如图14所示，图14是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，关系确定单元1001可以包括：感应子单元1001A、比较子单元1001B和第一关系确定子单元1001C。
其中，感应子单元1001A，被配置为通过所述飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；
比较子单元1001B，被配置为比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；
第一关系确定子单元1001C，被配置为根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
需要说明的是，上述图14所示的装置实施例中的感应子单元1001A、比较子单元1001B和第一关系确定子单元1001C的结构也可以包含在前述图11-13的装置实施例中，对此本公开实施例不进行限制。
如图15所示，图15是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，关系确定单元1001可以包括：发送子单元1001D、装置确定子单元1001E和第二关系确定子单元1001F。
其中，发送子单元1001D，被配置为通过所述飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；
装置确定子单元1001E，被配置为根据接收到的所述信号收发装置返回的响应消息，确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；
第二关系确定子单元1001F，被配置为根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
需要说明的是，上述图15所示的装置实施例中的发送子单元1001D、装置确定子单元1001E和第二关系确定子单元1001F的结构也可以包含在前述图11-13的装置实施例中，对此本公开实施例不进行限制。
如图16所示，图16是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，关系确定单元1001可以包括：读取子单元1001G、接收子单元1001H和第三关系确定子单元1001I。
读取子单元1001G，被配置为通过所述飞行器上安装的第一定位装置，读取所述飞行器的第一定位信息；
接收子单元1001H，被配置为接收所述控制用户处的信号收发装置发送的第二定位信息，所述第二定位信息由所述控制用户处的第二定位装置 生成；
第三关系确定子单元1001I，被配置为根据所述第一定位信息和所述第二定位信息，确定所述相对位置关系。
需要说明的是，上述图16所示的装置实施例中的读取子单元1001G、接收子单元1001H和第三关系确定子单元1001I的结构也可以包含在前述图11-13的装置实施例中，对此本公开实施例不进行限制。
如图17所示，图17是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，该装置还可以包括：读取单元1006和判断单元1005。
其中，读取单元1006，被配置为读取所述飞行方向控制指令中包含的类型标识；
判断单元1005，被配置为根据所述类型标识，判定所述飞行方向控制指令的类型；其中，当所述类型标识为第一值时，表明所述飞行方向控制指令基于所述极坐标系生成；当所述类型标识为第二值时，表明所述飞行方向控制指令基于所述飞行器的飞行坐标系生成，则所述驱动单元1004直接执行所述飞行方向控制指令，以驱动所述飞行器。
需要说明的是，上述图17所示的装置实施例中的读取单元1006和判断单元1005的结构也可以包含在前述图11-16的装置实施例中，对此本公开实施例不进行限制。
如图18所示，图18是根据一示例性实施例示出的另一种飞行控制装置的框图，该实施例在前述图10所示实施例的基础上，驱动单元1004可以包括：转换子单元1004E和第四驱动子单元1004F。
转换子单元1004E，被配置为将所述飞行方向控制指令对应的目标方向由所述极坐标系转换至所述飞行器的飞行坐标系；
第四驱动子单元1004F，被配置为按照转换后的目标方向驱动所述飞行 器。
需要说明的是，上述图18所示的装置实施例中的转换子单元1004E和第四驱动子单元1004F的结构也可以包含在前述图11-17的装置实施例中，对此本公开实施例不进行限制。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
相应的，本公开实施例还提供一种飞行控制装置，包括：处理器；配置为存储处理器可执行指令的存储器；其中，所述处理器被配置为：确定飞行器与控制用户之间的相对位置关系；根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
相应的，本公开实施例还提供一种终端，所述终端包括有存储器，以及一个或者一个以上的程序，其中一个或者一个以上程序存储于存储器中，且经配置以由一个或者一个以上处理器执行所述一个或者一个以上程序包含配置为进行以下操作的指令：确定飞行器与控制用户之间的相对位置关系；根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；接 收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
图19是根据一示例性实施例示出的一种用于飞行控制的装置1900的框图。例如，装置1900可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。
参照图19，装置1900可以包括以下一个或多个组件：处理组件1902，存储器1904，电源组件1906，多媒体组件1908，音频组件1910，输入/输出(I/O)接口1912，传感器组件1914，以及通信组件1916。
处理组件1902通常控制装置1900的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件1902可以包括一个或多个处理器1920来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件1902可以包括一个或多个模块，便于处理组件1902和其他组件之间的交互。例如，处理组件1902可以包括多媒体模块，以方便多媒体组件1908和处理组件1902之间的交互。
存储器1904被配置为存储各种类型的数据以支持在装置1900的操作。这些数据的示例包括配置为在装置1900上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器1904可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)、电可擦除可编程只读存储器(EEPROM)、可擦除可编程只读存储器(EPROM)、可编程只读存储器(PROM)、只读存储器(ROM)、磁存储器、快闪存储器、磁盘或光盘。
电源组件1906为装置1900的各种组件提供电力。电源组件1906可以包括电源管理系统，一个或多个电源，及其他与为装置1900生成、管理和分配电力相关联的组件。
多媒体组件1908包括在所述装置1900和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件1908包括一个前置摄像头和/或后置摄像头。当装置1900处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件1910被配置为输出和/或输入音频信号。例如，音频组件1910包括一个麦克风(MIC)，当装置1900处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器1904或经由通信组件1916发送。在一些实施例中，音频组件1910还包括一个扬声器，配置为输出音频信号。
I/O接口1912为处理组件1902和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件1914包括一个或多个传感器，配置为为装置1900提供各个方面的状态评估。例如，传感器组件1914可以检测到装置1900的打开/关闭状态，组件的相对定位，例如所述组件为装置1900的显示器和小键盘，传感器组件1914还可以检测装置1900或装置1900一个组件的位置改变，用户与装置1900接触的存在或不存在，装置1900方位或加速/减速和装置1900的温度变化。传感器组件1914可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件1914还可以包括光 传感器，如CMOS或CCD图像传感器，配置为在成像应用中使用。在一些实施例中，该传感器组件1914还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件1916被配置为便于装置1900和其他设备之间有线或无线方式的通信。装置1900可以接入基于通信标准的无线网络，如WiFi、2G或3G、或它们的组合。在一个示例性实施例中，通信组件1916经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件1916还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术、红外数据协会(IrDA)技术、超宽带(UWB)技术、蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置1900可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，配置为执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器1904，上述指令可由装置1900的处理器1920执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开实施例的其它实施方案。本申请旨在涵盖本公开实施例的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开实施例的一般性原理并包括本公开实施例未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开实施例的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开实施例并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开实施例的范围仅由所附的权利要求来限制。
工业实用性
本公开实施例通过建立以用户为原点的极坐标系，并采用基于该极坐标系的飞行方向控制指令，使得用户在控制过程中可以完成以自身为中心，无需从飞行器的角度进行考虑和控制，有助于简化操控、减低飞行器的控制难度。

Claims (19)

  1. 一种飞行控制方法，包括：
    确定飞行器与控制用户之间的相对位置关系；
    根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
    接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
    根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
  2. 根据权利要求1所述的方法，其中，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
    当所述飞行方向控制指令为前进或后退时，沿所述飞行器与所述控制用户之间的连线方向飞行，以使所述坐标信息中的长度值变化、角度值不变。
  3. 根据权利要求1所述的方法，其中，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
    当所述飞行方向控制指令为左转或右转时，沿所述飞行器与所述控制用户之间的连线的垂直方向飞行，以使所述坐标信息中的角度值变化、长度值不变。
  4. 根据权利要求1所述的方法，其中，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
    当所述飞行方向控制指令为斜向飞行时，提取所述飞行方向控制指令中包含的直线分量和转动分量，所述直线分量对应于所述飞行器的前进或后退、所述转动分量对应于所述飞行器的左转或右转；
    根据所述直线分量和所述转动分量驱动所述飞行器，以使所述坐标信息中的长度值按照所述直线分量变化、角度值按照所述转动分量变化。
  5. 根据权利要求1所述的方法，其中，所述确定飞行器与控制用户之间的相对位置关系，包括：
    通过所述飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；
    比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；
    根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
  6. 根据权利要求1所述的方法，其中，所述确定飞行器与控制用户之间的相对位置关系，包括：
    通过所述飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；
    根据接收到的所述信号收发装置返回的响应消息，确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；
    根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
  7. 根据权利要求1所述的方法，其中，所述确定飞行器与控制用户之间的相对位置关系，包括：
    通过所述飞行器上安装的第一定位装置，读取所述飞行器的第一定位信息；
    接收所述控制用户处的信号收发装置发送的第二定位信息，所述第二 定位信息由所述控制用户处的第二定位装置生成；
    根据所述第一定位信息和所述第二定位信息，确定所述相对位置关系。
  8. 根据权利要求1所述的方法，其中，还包括：
    读取所述飞行方向控制指令中包含的类型标识；
    根据所述类型标识，判定所述飞行方向控制指令的类型；其中，当所述类型标识为第一值时，表明所述飞行方向控制指令基于所述极坐标系生成；当所述类型标识为第二值时，表明所述飞行方向控制指令基于所述飞行器的飞行坐标系生成，并直接执行所述飞行方向控制指令，以驱动所述飞行器。
  9. 根据权利要求1所述的方法，其中，所述驱动所述飞行器按照所述飞行方向控制指令进行飞行，包括：
    将所述飞行方向控制指令对应的目标方向由所述极坐标系转换至所述飞行器的飞行坐标系；
    按照转换后的目标方向驱动所述飞行器。
  10. 一种飞行控制装置，包括：
    关系确定单元，确定飞行器与控制用户之间的相对位置关系；
    坐标系确定单元，根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
    接收单元，接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
    驱动单元，根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
  11. 根据权利要求10所述的装置，其中，所述驱动单元包括：
    第一驱动子单元，当所述飞行方向控制指令为前进或后退时，沿所述飞行器与所述控制用户之间的连线方向飞行，以使所述坐标信息中的长度 值变化、角度值不变。
  12. 根据权利要求10所述的装置，其中，所述驱动单元包括：
    第二驱动子单元，当所述飞行方向控制指令为左转或右转时，沿所述飞行器与所述控制用户之间的连线的垂直方向飞行，以使所述坐标信息中的角度值变化、长度值不变。
  13. 根据权利要求10所述的装置，其中，所述驱动单元包括：
    提取子单元，当所述飞行方向控制指令为斜向飞行时，提取所述飞行方向控制指令中包含的直线分量和转动分量，所述直线分量对应于所述飞行器的前进或后退、所述转动分量对应于所述飞行器的左转或右转；
    第三驱动子单元，根据所述直线分量和所述转动分量驱动所述飞行器，以使所述坐标信息中的长度值按照所述直线分量变化、角度值按照所述转动分量变化。
  14. 根据权利要求10所述的装置，其中，所述关系确定单元包括：
    感应子单元，通过所述飞行器上安装于不同位置的多个信号感应装置，分别感应所述控制用户处的信号收发装置发射的感应信号；
    比较子单元，比较多个信号感应装置分别感应到的信号强度，其中信号强度最强的信号感应装置、信号强度最弱的信号感应装置和所述控制用户各自在垂直方向的投影处于同一直线，且信号强度最强的信号感应装置与所述控制用户为该直线上的相邻节点；
    第一关系确定子单元，根据信号感应装置在所述飞行器上的安装位置，确定所述相对位置关系。
  15. 根据权利要求10所述的装置，其中，所述关系确定单元包括：
    发送子单元，通过所述飞行器上安装于不同位置的多个信号发射装置，分别同时向所述控制用户处的信号收发装置发送检测信号；
    装置确定子单元，根据接收到的所述信号收发装置返回的响应消息， 确定所述信号收发装置最先和最后接收到的检测信号，所述检测信号对应的信号发射装置与所述控制用户各自在垂直方向的投影处于同一直线，且最先接收到的检测信号对应的信号感应装置与所述控制用户为该直线上的相邻节点；
    第二关系确定子单元，根据信号发射装置在所述飞行器上的安装位置，确定所述相对位置关系。
  16. 根据权利要求10所述的装置，其中，所述关系确定单元包括：
    读取子单元，通过所述飞行器上安装的第一定位装置，读取所述飞行器的第一定位信息；
    接收子单元，接收所述控制用户处的信号收发装置发送的第二定位信息，所述第二定位信息由所述控制用户处的第二定位装置生成；
    第三关系确定子单元，根据所述第一定位信息和所述第二定位信息，确定所述相对位置关系。
  17. 根据权利要求10所述的装置，其中，还包括：
    读取单元，读取所述飞行方向控制指令中包含的类型标识；
    判断单元，根据所述类型标识，判定所述飞行方向控制指令的类型；其中，当所述类型标识为第一值时，表明所述飞行方向控制指令基于所述极坐标系生成；当所述类型标识为第二值时，表明所述飞行方向控制指令基于所述飞行器的飞行坐标系生成，则所述驱动单元直接执行所述飞行方向控制指令，以驱动所述飞行器。
  18. 根据权利要求10所述的装置，其中，所述驱动单元包括：
    转换子单元，将所述飞行方向控制指令对应的目标方向由所述极坐标系转换至所述飞行器的飞行坐标系；
    第四驱动子单元，按照转换后的目标方向驱动所述飞行器。
  19. 一种电子设备，包括：
    处理器；
    配置为存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    确定飞行器与控制用户之间的相对位置关系；
    根据所述相对位置关系，确定以所述控制用户为原点的极坐标系；
    接收所述控制用户发送的飞行方向控制指令，所述飞行方向控制指令基于所述极坐标系生成；
    根据所述飞行器在所述极坐标系内的坐标信息，驱动所述飞行器按照所述飞行方向控制指令进行飞行。
PCT/CN2016/083729 2015-05-28 2016-05-27 飞行控制方法及装置、电子设备 Ceased WO2016188486A1 (zh)

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US20180022454A1 (en) 2018-01-25
JP6486970B2 (ja) 2019-03-20
EP3306432A4 (en) 2018-06-20
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CN104898699B (zh) 2020-03-17

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