WO2018095407A1 - 控制无人机飞行的方法及装置 - Google Patents

控制无人机飞行的方法及装置 Download PDF

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Publication number
WO2018095407A1
WO2018095407A1 PCT/CN2017/112862 CN2017112862W WO2018095407A1 WO 2018095407 A1 WO2018095407 A1 WO 2018095407A1 CN 2017112862 W CN2017112862 W CN 2017112862W WO 2018095407 A1 WO2018095407 A1 WO 2018095407A1
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WIPO (PCT)
Prior art keywords
flight
drone
route
route adjustment
reference point
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/CN2017/112862
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English (en)
French (fr)
Inventor
吴斌
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.)
Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Publication date
Application filed by Guangzhou Xaircraft Technology Co Ltd filed Critical Guangzhou Xaircraft Technology Co Ltd
Priority to PL17873557T priority Critical patent/PL3547066T3/pl
Priority to JP2019548513A priority patent/JP6882505B2/ja
Priority to EP17873557.7A priority patent/EP3547066B1/en
Priority to ES17873557T priority patent/ES2913548T3/es
Priority to AU2017366538A priority patent/AU2017366538B2/en
Priority to RU2019116801A priority patent/RU2715104C1/ru
Priority to US16/462,847 priority patent/US11498676B2/en
Priority to KR1020197015233A priority patent/KR102296455B1/ko
Priority to CA3051668A priority patent/CA3051668C/en
Publication of WO2018095407A1 publication Critical patent/WO2018095407A1/zh
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
    • G05D1/12—Target-seeking control
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/223—Command input arrangements on the remote controller, e.g. joysticks or touch screens
    • 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]
    • 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
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • 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

  • the invention relates to the technical field of drones, in particular to a method for controlling flight of a drone and a device for controlling flight of a drone.
  • Unmanned Aerial Vehicle is a non-manned aircraft operated by radio remote control equipment and self-contained program control devices. UAVs are widely used in plant protection, urban management, geology, meteorology, electric power, disaster relief, video shooting and other industries.
  • UAV plant protection has the characteristics of small damage to crops and high utilization rate of pesticides. More and more farmers or farmers use drones for plant protection operations, especially the use of drones for pesticide spraying and fertilizer spraying.
  • the following two ways can be used to control the flight path: one is to manually control the drone's attitude or flight speed to control the drone's edge.
  • the first method mentioned above can be flexibly controlled manually in small plot operations, but requires the operator to participate in the whole process, and correct the flight of the drone with human perception. It is easy to cause the drone when performing a slightly larger plot task. Deviate from the flight route.
  • the operation is accurate and does not require people to participate, but it needs to be surveyed in advance, the surveying and mapping requirements are high, and the existing technology cannot be real-time strained in the case of actual operation changes.
  • At least some embodiments of the present invention provide a method of controlling flight of a drone and a corresponding apparatus for controlling flight of the drone to overcome the above problems or at least partially solve the above problems.
  • an embodiment of the present invention discloses a method for controlling flight of a drone, the method comprising:
  • the route of the drone is adjusted based on the route adjustment command.
  • the method before the step of determining the initial flight position and the head direction in which the drone is currently staying, the method further includes:
  • the input flight speed parameters and flight distance parameters are received.
  • the step of flying straight along the head direction from the initial flight position is:
  • a straight flight is performed along the direction of the nose in accordance with the speed specified by the speed parameter.
  • the route adjustment instruction is an instruction issued by the remote control device, and the remote control device generates a route adjustment instruction by:
  • a route adjustment command is generated based on the route adjustment direction and/or the route adjustment range.
  • the route adjustment operation includes at least one of the following operations:
  • the operator moves the control rocker in the remote control device
  • the step of adjusting the route of the drone based on the route adjustment instruction, if the route adjustment instruction is received during the flight includes:
  • the drone During the flight, if a route adjustment command is received, the drone is flew to the reference point based on the route adjustment direction and the route adjustment range;
  • the step of adjusting the route of the drone based on the route adjustment instruction, if the route adjustment instruction is received during the flight includes:
  • the drone During the flight, if a route adjustment command is received, the drone is flew to the reference point based on the route adjustment direction and the route adjustment range;
  • the UAV flight is controlled based on the flight distance parameter and a remaining distance determined by a distance between the initial flight location and the reference point.
  • One embodiment of the present invention also discloses an apparatus for controlling the flight of a drone, the apparatus comprising:
  • An information determining module configured to determine an initial flight position and a head direction at which the drone is currently staying
  • a flight module configured to fly straight from the starting flight position along the direction of the nose
  • the direction adjustment module is configured to adjust the route of the drone based on the route adjustment command if a route adjustment command is received during flight.
  • the device further includes:
  • the parameter receiving module is configured to receive the input flight speed parameter and the flight distance parameter.
  • the flight module is further configured to:
  • a straight flight is performed along the direction of the nose in accordance with the speed specified by the speed parameter.
  • the route adjustment instruction is an instruction issued by the remote control device, and the remote control device generates a route adjustment instruction by:
  • a route adjustment command is generated based on the route adjustment direction and/or the route adjustment range.
  • the route adjustment operation includes at least one of the following operations:
  • the operator moves the control rocker in the remote control device
  • the direction adjustment module includes:
  • a first reference point flight submodule configured to, when receiving a route adjustment command during flight, fly the drone to a reference point based on the route adjustment direction and the route adjustment range;
  • a first reference point coordinate acquisition submodule configured to acquire coordinates of the reference point
  • a target point coordinate determining submodule configured to determine a coordinate of the target point based on a direction angle determined by a starting flight position and coordinates of the reference point, and the flight distance parameter;
  • a first real-time heading angle acquisition sub-module configured to obtain a real-time heading angle of the drone
  • a first route deviation calculation submodule configured to calculate a route deviation according to a direction angle determined by the initial flight position and coordinates of the reference point and the heading angle
  • a first direction alignment sub-module configured to control the drone to be aligned with the target point based on the route deviation
  • the first flight control submodule is configured to calculate a distance between the reference point and the target point, and control the drone to fly to the target point.
  • the direction adjustment module includes:
  • a second reference point flight submodule configured to, when receiving a route adjustment command during flight, fly the drone to the reference point based on the route adjustment direction and the route adjustment range;
  • a second reference point coordinate acquisition submodule configured to acquire coordinates of the reference point
  • a second real-time heading angle acquisition sub-module configured to acquire a real-time heading angle of the drone
  • a second route deviation calculation sub-module configured to calculate a route deviation based on a direction angle determined by a starting flight position and coordinates of the reference point, and a heading angle of the drone in real time;
  • a second direction alignment submodule configured to control a direction in which the drone is aligned with the direction angle determined by the coordinates of the initial flight position and the reference point based on the route deviation
  • a distance calculation submodule configured to calculate a distance between the initial flight position and the reference point
  • a second flight control sub-module configured to control the drone flight based on the flight distance parameter and a remaining distance determined by a distance between the initial flight location and the reference point.
  • the drone determines the starting flight position and the direction of the head of the drone, it can fly directly from the starting flight position and fly straight along the direction of the nose.
  • the route of the drone can be adjusted based on the route adjustment command.
  • At least some embodiments of the present invention combine the manual fine adjustment correction and the automatic navigation of the drone so that the drone can fly along the straight line desired by the operator, and can
  • the route can be corrected by the remote control device, and the operator can make the drone along the desired straight line through a simple operation. Precise flight simplifies the operation and improves the resilience of the drone.
  • FIG. 1 is a flow chart showing the steps of an embodiment of a method for controlling flight of a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a flight path of a drone in an embodiment of a method for controlling flight of a drone according to an alternative embodiment of the present invention
  • FIG. 3 is a structural block diagram of an embodiment of an apparatus for controlling flight of a drone according to an embodiment of the present invention.
  • FIG. 1 a flow chart of steps of an embodiment of a method for controlling flight of a drone according to the present invention is shown, which may specifically include the following steps:
  • Step 101 Determine an initial flight position and a head direction in which the drone currently stays;
  • the starting flight location may be where the drone currently resides.
  • a position can be pre-defined as the dwelling position of the drone, that is, the position where the drone is stopped. If the drone is not in the pre-defined parking position, the operator can place or fly the drone to the parked position.
  • the initial flight position of the drone and the head direction of the drone can be detected by a positioning device on the drone, such as a compass instrument, a GPS positioning system, and the like.
  • the initial flight position of the drone can be expressed in latitude and longitude, and the head direction of the drone can be represented by the heading angle.
  • the method may further include the steps of: receiving the input flight speed parameter and the flight distance parameter.
  • the flight speed parameter and the flight distance parameter required for the current operation may be first input through the remote control device.
  • the flight speed parameter specifies the flight speed at which the drone is operating.
  • the flight distance parameter refers to the linear distance that the UAV needs to fly when it is operating.
  • the remote control device may send the flight speed parameter and the flight distance parameter to the drone through the communication module.
  • the remote control device may be a device with a touch screen display, or other remote controllers having physical input buttons and other functional physical buttons, which are not limited in this embodiment of the present invention.
  • Step 102 Starting from the initial flight position, flying straight along the direction of the nose;
  • the drone determines the starting flight position of the current stop and the direction of the head of the drone, when starting the work, it can start from the starting flight position and fly straight along the direction of the nose of the drone.
  • step 102 may further be: starting from the initial flight position, flying in a straight line along the direction of the nose according to the speed specified by the speed parameter.
  • the flight path determined by the drone may be: starting with the starting flight position as the starting point A ray from the head of the drone is used as a flight path.
  • the drone can define a virtual point on the straight line along the head of the drone, as the end point, and use the straight line determined by the starting point and the ending point as the flight path. .
  • the operator can place or fly the aircraft to the O point and adjust the direction of the nose, assuming that the head direction is toward the A1 point, then no one
  • the machine can use the straight line composed of OA1 as the flight route.
  • the drone after determining the flight route, the drone can have the ability to fly along a straight flight path, and when the drone deviates from the straight flight path, it can return to the straight line as soon as possible, thereby Keep a small deviation.
  • Step 103 If a route adjustment command is received during the flight, the route of the drone is adjusted based on the route adjustment command.
  • the deviation of the head direction is likely to be manually adjusted, so that the direction of the head cannot be accurately aligned with the direction desired by the operator, resulting in the determination of the drone.
  • the flight route is inconsistent with the flight route actually required by the operator. For example, as shown in FIG. 2, it is assumed that the flight path actually required by the operator is a straight line composed of OA, and when the operator adjusts the direction of the nose, the head direction is aligned.
  • the point A1 is such that the flight path determined by the drone is a straight line composed of the OA1, which deviates from the route OA that the operator actually needs to fly.
  • the operator can issue a route adjustment command to the drone through the remote control device, and the drone can automatically adjust the route during the flight of the drone based on the route adjustment command.
  • the route adjustment command issued by the operator can be used to notify the drone from point A1 toward point A.
  • the drone can converge toward point A according to the route adjustment command after receiving the route adjustment command.
  • the remote control device may generate a route adjustment command in the following manner:
  • Detecting a route adjustment operation performed by an operator in the remote control device determining a route adjustment direction and/or a route adjustment range corresponding to the route adjustment operation; and generating a route adjustment instruction based on the route adjustment direction and/or the route adjustment range.
  • the route adjustment operation can be issued through the remote control device.
  • the route adjustment operation may include an operator sliding operation of the touchscreen slider in the remote control device.
  • the touch screen slider can be displayed in the control panel of the control device in the form of a progress bar. When the operator slides the progress bar, it is determined that the operator initiates the route adjustment operation.
  • the touch screen slider can be displayed in a horizontal direction.
  • the operator wants to control the drone to shift to the left.
  • the operator slides to the right the operator wants to Control the drone to shift to the right.
  • the touch screen slider can be divided into a plurality of small cells, and each small cell preset corresponds to an offset amplitude of the drone, and according to the number of small cells that the operator slides on the touch screen slider, Determine the magnitude of the drone offset, which is the distance the drone deviates from the current location.
  • the route adjustment operation may include an operator clicking operation on a physical direction button in the remote control device.
  • the operator can also trigger the route adjustment operation through the physical direction button in the remote control device.
  • the remote control device there may be physical direction buttons in four directions of up, down, left, and right.
  • the operator clicks the physical button in the left direction the operator wants to control the drone to shift to the left when operating.
  • the operator clicks on the physical button in the right direction the operator wants to control the drone to shift to the right.
  • the offset amplitude of the corresponding drone can be set in advance, and the amplitude of the drone offset can be determined according to the number of clicks of the operator in the same direction in the remote control device, that is, the drone deviates from the current The distance from the location.
  • the route adjustment operation may further include an operator's touch operation on the touch screen direction button in the remote control device, that is, the physical directions of the upper, lower, left, and right directions in the previous embodiment.
  • the direction button can be set as a virtual button to be displayed in the control interface of the remote control device. When the operator clicks the virtual button in the left direction, the operator wants to control the drone to shift to the left. When the operator clicks the virtual button in the right direction, the operator wants to control the drone to shift to the right.
  • the offset amplitude of the corresponding drone can be set in advance, and the amplitude of the drone offset can be determined according to the number of clicks of the operator in the same direction in the remote control device, that is, the drone deviates from the current The distance from the location.
  • the route adjustment operation may further include an operator moving the control rocker in the remote control device.
  • the operator moves the control joystick to the left, the operator wants to control the drone to Left offset, when the operator moves the control stick to the right, the operator wants to control the drone to shift to the right.
  • the offset amplitude of the mobile joystick corresponding to the drone can also be set in advance, and the amplitude of the drone offset can be determined according to the number of movements of the operator in the same direction in the remote control device, that is, the drone The distance from the current location.
  • the remote control device detects the route adjustment operation performed by the operator in the remote control device
  • the movement direction and the movement distance of the operator for the touch screen slider, or the direction of the physical direction button or the virtual direction button and the number of clicks may be used.
  • the route adjustment direction and/or the route adjustment range corresponding to the route adjustment operation are determined for the moving direction of the joystick and the number of movements.
  • the movement direction corresponding to the route adjustment operation can be obtained as the left direction, and the route adjustment range is 5 meters.
  • the route adjustment instruction may be generated according to the route adjustment direction and/or the route adjustment range, and the route is adjusted.
  • the command is sent to the drone through the communication module, and the drone can adjust the route according to the route adjustment direction and/or the route adjustment range.
  • the remote control device may generate the route adjustment command only according to the route adjustment direction, and after receiving the route adjustment command, the drone is offset from the route adjustment direction by a preset amplitude.
  • the remote control device may generate a route adjustment command according to the route adjustment direction and the route adjustment range, and after receiving the route adjustment command, the drone shifts the distance corresponding to the route adjustment range to the route adjustment direction.
  • the drone shifts the distance corresponding to the route adjustment range to the route adjustment direction.
  • the route that the user needs to operate the drone is an OA straight line, but due to the operation error, the operator aligns the head of the drone with the A1 direction, and the flight path determined by the drone is OA1 straight line, and along The OA1 flies in a straight line direction.
  • the operator finds that the drone does not fly along the OA direction, and determines that it is a deviation route.
  • the operator can send a route adjustment command to the right by the remote control device, for example, After shifting to the A2 point, the drone moves to the A2 position after receiving the route adjustment command, so that the drone flies in a straight line toward the O-A2 direction, and the operator continuously corrects the route according to the above method, when the drone is biased When moving to point C of Fig. 2, it starts to fly in the direction of CA.
  • the bolded portion is the flight path of the drone's current work.
  • step 103 may include the following sub-steps:
  • Sub-step S11 if a route adjustment instruction is received during the flight, the drone is flew to the reference point based on the route adjustment direction and the route adjustment range;
  • the route adjustment direction carried in the command and the route adjustment range may be adjusted according to the route, or according to the route adjustment instruction
  • the direction of the carried route and the preset route adjustment range will fly the drone to the reference point, which is point C in Figure 2.
  • Sub-step S12 acquiring coordinates of the reference point
  • the drone After determining the reference point, the drone can obtain the reference point through the positioning device in the drone.
  • the coordinates as shown in Figure 2, the coordinates of point C.
  • Sub-step S13 determining a coordinate of the target point based on the direction angle determined by the initial flight position and the coordinates of the reference point, and the flight distance parameter;
  • the direction angle between the two can be determined.
  • the target point can be calculated. coordinate of.
  • the direction angle of the OC can be determined, and then the coordinates of the point A can be obtained according to the direction angle of the OC, the coordinates of the O point, and the flight distance parameter.
  • Sub-step S14 obtaining a heading angle of the drone in real time
  • the drone's own compass can obtain the real-time heading angle of the drone.
  • Sub-step S15 calculating a route deviation according to the direction angle determined by the initial flight position and the coordinates of the reference point and the heading angle;
  • the difference between the two can be calculated as the route deviation.
  • Sub-step S16 controlling the drone to be aligned with the target point based on the route deviation
  • the real-time heading angle is added to the route deviation, and the actual flight angle can be obtained. Then, the nose direction of the drone can be adjusted to align with the actual flight angle, so that the drone Align the target point.
  • Sub-step S17 calculating a distance between the reference point and the target point, and controlling the drone to fly to the target point.
  • the distance between the reference point and the target point can be calculated as the remaining distance of the current flight route, and then the drone can be controlled to fly the remaining distance according to the speed specified by the flight speed parameter.
  • step 103 may include the following sub-steps:
  • Sub-step S21 if a route adjustment instruction is received during flight, the drone is flew to the reference point based on the route adjustment direction and the route adjustment range;
  • Sub-step S22 acquiring coordinates of the reference point
  • Sub-step S23 acquiring a heading angle of the drone in real time
  • Sub-step S24 calculating a course deviation based on the direction angle determined by the initial flight position and the coordinates of the reference point, and the heading angle of the drone in real time;
  • Sub-step S25 controlling, according to the route deviation, a direction in which the drone is aligned with the direction angle determined by the coordinates of the initial flight position and the reference point;
  • Sub-step S26 calculating a distance between the initial flight position and the reference point
  • Sub-step S27 controlling the drone flight based on the flight distance parameter and the remaining distance determined by the distance between the initial flight position and the reference point.
  • the embodiment of sub-step S21 - sub-step S27 is different from the embodiment of sub-step S11 - sub-step S17 described above, except that the coordinates of the target point are not exactly obtained in the embodiment, and the calculation of the route deviation is based on The direction angle determined by the coordinates of the initial flight position and the reference point, and the difference of the heading angle of the UAV in real time, determine the route deviation, and after obtaining the route deviation, the real-time heading angle is added to the route deviation, then Obtain the angle of the actual flight path, and then adjust the nose direction of the drone to the angle of the actual flight path.
  • the actual flight path angle is the vector determined by the coordinates of the starting flight position and the reference point. direction.
  • the drone When calculating the remaining distance, first calculate the distance traveled between the starting flight position and the reference point, and then calculate the remaining distance according to the difference between the flight distance parameter and the distance of the flight, and then, the drone can be controlled according to The speed specified by the flight speed parameter flies the remaining distance.
  • the drone when the drone determines the starting flight position and the direction of the head of the drone, it can directly fly from the starting flight position and fly straight along the direction of the nose. During the flight, If the drone receives the route adjustment command, the route of the drone can be adjusted based on the route adjustment command. At least some embodiments of the present invention combine the manual fine adjustment correction and the automatic navigation of the drone to make the drone follow the operator.
  • the required straight-line flight can be used to correct the route through the remote control device when the operator detects that the drone flight deviates from the route during the flight without the mapping. The operator can simply operate the operation. Let the drone fly precisely along the desired line, simplifying the operation and improving the resilience of the drone.
  • FIG. 3 a block diagram of an embodiment of an apparatus for controlling flight of a drone of the present invention is shown, which may include the following modules:
  • the information determining module 301 is configured to determine an initial flight position and a head direction in which the drone is currently staying;
  • a flight module 302 configured to fly straight from the starting flight position along the direction of the nose
  • the direction adjustment module 303 is configured to adjust the route of the drone based on the route adjustment command if a route adjustment command is received during flight.
  • the apparatus further includes:
  • the parameter receiving module is configured to receive the input flight speed parameter and the flight distance parameter.
  • the flight module 302 is further configured to:
  • a straight flight is performed along the direction of the nose in accordance with the speed specified by the speed parameter.
  • the route adjustment command is an instruction issued by the remote control device, and the remote control device generates a route adjustment command in the following manner:
  • a route adjustment command is generated based on the route adjustment direction and/or the route adjustment range.
  • the route adjustment operation includes at least one of the following operations:
  • the operator moves the control rocker in the remote control device
  • the direction adjustment module 303 includes:
  • a first reference point flight submodule configured to, when receiving a route adjustment command during flight, fly the drone to a reference point based on the route adjustment direction and the route adjustment range;
  • a first reference point coordinate acquisition submodule configured to acquire coordinates of the reference point
  • a target point coordinate determining submodule configured to determine a coordinate of the target point based on a direction angle determined by a starting flight position and coordinates of the reference point, and the flight distance parameter;
  • a first real-time heading angle acquisition sub-module configured to obtain a real-time heading angle of the drone
  • a first route deviation calculation submodule configured to calculate a route deviation according to a direction angle determined by the initial flight position and coordinates of the reference point and the heading angle
  • a first direction alignment sub-module configured to control the drone to be aligned with the target point based on the route deviation
  • the first flight control submodule is configured to calculate a distance between the reference point and the target point, and control the drone to fly to the target point.
  • the direction adjustment module includes:
  • a second reference point flight submodule configured to, when receiving a route adjustment command during flight, fly the drone to the reference point based on the route adjustment direction and the route adjustment range;
  • a second reference point coordinate acquisition submodule configured to acquire coordinates of the reference point
  • a second real-time heading angle acquisition sub-module configured to acquire a real-time heading angle of the drone
  • a second route deviation calculation sub-module configured to calculate a route deviation based on a direction angle determined by a starting flight position and coordinates of the reference point, and a heading angle of the drone in real time;
  • a second direction alignment submodule configured to control a direction in which the drone is aligned with the direction angle determined by the coordinates of the initial flight position and the reference point based on the route deviation
  • a distance calculation submodule configured to calculate a distance between the initial flight position and the reference point
  • a second flight control sub-module configured to control the drone flight based on the flight distance parameter and a remaining distance determined by a distance between the initial flight location and the reference point.
  • At least some embodiments of the present invention can be provided as a method, apparatus, or computer program product.
  • at least some of the embodiments of the present invention can be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware.
  • at least some embodiments of the present invention can employ a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer usable program code embodied therein. form.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction device implements the functions specified in one or more blocks of the flowchart or in a flow or block of the flowchart.
  • At least some embodiments of the present invention provide a method for controlling flight of a drone and a corresponding device for controlling flight of the drone having the following beneficial effects: combining manual fine adjustment correction and automatic navigation of the drone
  • the UAV can fly along the straight line that the operator wants, and can correct the route through the remote control device when the operator detects that the UAV flies off the route without flying and mapping.
  • the operator can make the drone accurately fly along the desired line with a simple operation, which simplifies the operation process and improves the resilience of the drone.

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Abstract

一种控制无人机飞行的方法及装置，方法包括：确定无人机当前所停留的起始飞行位置以及机头方向（101）；从起始飞行位置出发，沿着机头方向直线飞行（102）；在飞行过程中，若接收到路线调节指令，基于路线调节指令调节无人机的航线（103）。可以在不进行测绘的情况下，在飞行的过程中，当操作人员检测到无人机飞行偏离航线时，可以通过遥控装置对航线进行修正，操作人员通过简单的操作就可以让无人机沿着想要的直线精准飞行，简化了操作过程，提升了无人机的应变能力。

Description

控制无人机飞行的方法及装置 技术领域
本发明涉及无人机技术领域，特别是涉及一种控制无人机飞行的方法以及一种控制无人机飞行的装置。
背景技术
无人驾驶飞机简称无人机(Unmanned Aerial Vehicle，简称UAV)，是一种利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。无人机的用途广泛，经常被应用于植保、城市管理、地质、气象、电力、抢险救灾、视频拍摄等行业。
随着无人机植保技术的发展，使得无人机植保具有对作物损害小、农药利用率高等特点。越来越多的农户或农场主利用无人机进行植保作业，特别是利用无人机进行农药喷洒和化肥喷洒。
在现有技术中，在无人机在植保作业时，通常可以采用如下了两种方式进行飞行路线的控制：一种是人工持遥控器控制无人机姿态或飞行速度以控制无人机沿相应的轨迹飞行；一种是在地面端上传或设置航线的方式让无人机自动执行相应的航线来达到作业的任务。
上述第一种方式在小地块作业时人工能够灵活控制，但需要操作人员全程参与，以人的感知去修正无人机的飞行，在执行稍大地块任务的时候很容易导致无人机偏离飞行路线。
上述第二种方式中作业执行精准，不需要人参与，但需要提前测绘，测绘要求高，并且在实际作业情况变动的情况现有技术无法做到实时应变。
发明内容
本发明至少部分实施例提供了一种控制无人机飞行的方法和相应的一种控制无人机飞行的装置，以克服上述问题或者至少部分地解决上述问题。
为了解决上述问题，本发明其中一实施例公开了一种控制无人机飞行的方法，所述方法包括：
确定无人机当前所停留的起始飞行位置以及机头方向；
从所述起始飞行位置出发，沿着所述机头方向直线飞行；
在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线。
可选地，在所述确定无人机当前所停留的起始飞行位置以及机头方向的步骤之前，还包括：
接收输入的飞行速度参数以及飞行距离参数。
可选地，所述从所述起始飞行位置出发，沿着所述机头方向直线飞行的步骤为：
从所述起始飞行位置出发，沿着所述机头方向按照所述速度参数所指定的速度直线飞行。
可选地，所述路线调节指令为遥控装置发出的指令，所述遥控装置采用如下方式生成路线调节指令：
检测操作人员在遥控装置中执行的航线调整操作；
确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；
基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
可选地，所述航线调整操作至少包括如下操作的一种：
操作人员对遥控装置中的触屏滑条的滑动操作；
操作人员对遥控装置中的物理方向按钮的点击操作；
操作人员对遥控装置中的控制摇杆的移动操作；
操作人员对遥控装置中的触屏方向按钮的点触操作。
可选地，所述在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线的步骤包括：
在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
获取所述参考点的坐标；
基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
获取无人机实时的航向角；
依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
基于所述航线偏差，控制无人机对准所述目标点；
计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
可选地，所述在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线的步骤包括：
在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
获取所述参考点的坐标；
获取无人机实时的航向角；
基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角的方向；
计算所述起始飞行位置与所述参考点之间的距离；
基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
本发明其中一实施例还公开了一种控制无人机飞行的装置，所述装置包括：
信息确定模块，设置为确定无人机当前所停留的起始飞行位置以及机头方向；
飞行模块，设置为从所述起始飞行位置出发，沿着所述机头方向直线飞行；
方向调节模块，设置为在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线。
可选地，所述装置还包括：
参数接收模块，设置为接收输入的飞行速度参数以及飞行距离参数。
可选地，所述飞行模块还设置为：
从所述起始飞行位置出发，沿着所述机头方向按照所述速度参数所指定的速度直线飞行。
可选地，所述路线调节指令为遥控装置发出的指令，所述遥控装置采用如下方式生成路线调节指令：
检测操作人员在遥控装置中执行的航线调整操作；
确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；
基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
可选地，所述航线调整操作至少包括如下操作的一种：
操作人员对遥控装置中的触屏滑条的滑动操作；
操作人员对遥控装置中的物理方向按钮的点击操作；
操作人员对遥控装置中的控制摇杆的移动操作；
操作人员对遥控装置中的触屏方向按钮的点触操作。
可选地，所述方向调节模块包括：
第一参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
第一参考点坐标获取子模块，设置为获取所述参考点的坐标；
目标点坐标确定子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
第一实时航向角获取子模块，设置为获取无人机实时的航向角；
第一航线偏差计算子模块，设置为依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
第一方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述目标点；
第一飞行控制子模块，设置为计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
可选地，所述方向调节模块包括：
第二参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
第二参考点坐标获取子模块，设置为获取所述参考点的坐标；
第二实时航向角获取子模块，设置为获取无人机实时的航向角；
第二航线偏差计算子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
第二方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角的方向；
距离计算子模块，设置为计算所述起始飞行位置与所述参考点之间的距离；
第二飞行控制子模块，设置为基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
本发明至少部分实施例包括以下优点：
当无人机确定了起始飞行位置以及无人机机头方向以后，可以直接从起始飞行位置出发，沿着机头方向直线飞行，在飞行过程中，若无人机接收到路线调节指令，可以基于该路线调节指令调节无人机的航线，本发明至少部分实施例结合人工微调修正和无人机自动导航的方式使得无人机沿着操作人员想要的直线飞行，能够在不进行测绘的情况下，在飞行的过程中，当操作人员检测到无人机飞行偏离航线时，可以通过遥控装置对航线进行修正，操作人员通过简单的操作就可以让无人机沿着想要的直线精准飞行，简化了操作过程，提升了无人机的应变能力。
附图说明
图1是本发明其中一实施例的一种控制无人机飞行的方法实施例的步骤流程图；
图2是本发明其中一可选实施例的一种控制无人机飞行的方法实施例中的无人机飞行路线示意图；
图3是本发明其中一实施例的一种控制无人机飞行的装置实施例的结构框图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
参照图1，示出了本发明的一种控制无人机飞行的方法实施例的步骤流程图，具体可以包括如下步骤：
步骤101，确定无人机当前所停留的起始飞行位置以及机头方向；
在具体实现中，起始飞行位置可以为无人机当前驻留的位置。在植保作业中，可以预先规定一个位置作为无人机的驻留位置，即无人机停机的位置。若无人机没有在该预先规定的驻留位置，则操作人员可以把无人机放置或飞行到驻留位置。
在具体实现中，在无人机起飞前，可以通过无人机上的定位装置，如罗盘仪、GPS定位系统等来检测无人机的起始飞行位置以及无人机机头方向。
在实际中，无人机的起始飞行位置可以用经纬度来表示，无人机机头方向可以用航向角来表示。
在一种可选实施例中，在步骤101之前，还可以包括如下步骤：接收输入的飞行速度参数以及飞行距离参数。
具体的，操作人员在执行作业之前，可以首先通过遥控装置输入当前作业所需的飞行速度参数以及飞行距离参数。
飞行速度参数指定的是无人机作业时的飞行速度。
飞行距离参数指的是无人机作业时需要飞行的直线距离。
遥控装置接收到操作人员输入的飞行速度参数以及飞行距离参数以后，可以将该飞行速度参数以及飞行距离参数通过通信模块发送至无人机中。
在具体实现中，该遥控装置可以为具有触摸屏显示器的装置，也可以是其他具有物理输入按键和其他功能物理按键的遥控器，本发明实施例对此不作限制。
步骤102，从所述起始飞行位置出发，沿着所述机头方向直线飞行；
当无人机确定当前停留的起始飞行位置以及无人机机头方向以后，在开始作业时，可以从起始飞行位置出发，沿着无人机机头方向直线飞行。
在一种可选实施例中，当确定飞行速度参数以后，步骤102进一步可以为：从起始飞行位置出发，沿着所述机头方向按照速度参数所指定的速度直线飞行。
在具体实现中，当无人机确定当前停留的起始飞行位置以及无人机机头方向以后，在开始作业时，无人机确定的飞行路线可以为：以起始飞行位置作为起点，沿着无人机机头方向发出的一条射线作为飞行路线。
在实际中，在以起始飞行位置作为起点以后，无人机可以在沿着无人机机头方向的直线上定义一个虚拟的点，作为终点，将该起点与终点确定的直线作为飞行路线。
例如，如图2的无人机飞行路线示意图所示，假设O点为起点，操作人员可把飞机放置或飞行到O点，并调节机头方向，假设机头方向朝向A1点，则无人机可以将OA1的组成的直线作为飞行路线。
在本发明其中一实施例中，当确定飞行路线以后，无人机能够具备沿着直线的飞行路线飞行的能力，当无人机偏离该直线的飞行路线时，可以尽快返回该直线上，从而保持比较小的偏差。
步骤103，在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线。
在具体实现中，由于通过操作人员的感知来调节机头方向，但人工调节机头方向时很可能出现偏差，使得机头方向无法精准对准操作人员想要的方向，导致无人机确定的飞行路线与操作人员实际需要的飞行路线不一致的情形，例如，如图2所示，假设操作人员实际需要的飞行路线是OA组成的直线，而操作人员调节机头方向时，机头方向对准的是A1点，使得无人机确定的飞行路线为OA1的组成的直线，与操作人员实际需要飞行的路线OA存在偏差。在这种情况下，操作人员可以通过遥控装置向无人机发出路线调节指令，无人机基于该路线调节指令可以自动调节无人机飞行过程中的航线。例如，操作人员发出的路线调整指令可以用于通知无人机从A1点朝A点方 向偏移，如向A2点方向偏移，则无人机接收到路线调节指令以后可以根据该路线调节指令朝A点收敛。
在一种实施方式中，遥控装置可以采用如下方式生成路线调节指令：
检测操作人员在遥控装置中执行的航线调整操作；确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
具体的，在无人机飞行过程中，当操作人员观察到无人机偏离航线时，可以通过遥控装置发出航线调整操作。
在一种实施方式中，该航线调整操作可以包括操作人员对遥控装置中的触屏滑条的滑动操作。例如，该触屏滑条可以以进度条的形式展现在控制装置的控制界面中，当操作人员滑动该进度条时，则判定操作人员发起了航线调整操作。
可选地，该触屏滑条可以以水平方向展示，当操作人员向左滑动时，说明操作人员想要控制无人机向左偏移，当操作人员向右滑动时，说明操作人员想要控制无人机向右偏移。
可选地，该触屏滑条上可以划分成多个小格，每个小格预设对应无人机的偏移幅度，根据操作人员在触屏滑条上滑动的小格的数量，可以确定无人机偏移的幅度，即无人机偏离当前所处的位置的距离。
在另一种实施方式中，该航线调整操作可以包括操作人员对遥控装置中的物理方向按钮的点击操作。
具体的，操作人员还可以通过遥控装置中的物理方向按钮来触发航线调整操作。例如，在遥控装置中可以具有上、下、左、右四个方向的物理方向按钮，当操作人员点击左方向的物理按钮时，说明操作人员想要控制无人机向左偏移，当操作人员点击右方向的物理按钮时，说明操作人员想要控制无人机向右偏移。
可选地，还可以预先设置一次点击对应无人机的偏移幅度，根据操作人员在遥控装置中的同一个方向的点击次数，可以确定无人机偏移的幅度，即无人机偏离当前所处的位置的距离。
在另一种实施方式中，该航线调整操作还可以包括操作人员对遥控装置中的触屏方向按钮的点触操作，即上一实施例中的上、下、左、右四个方向的物理方向按钮可以设置成虚拟按键的方式显示在遥控装置的控制界面中。当操作人员点击左方向的虚拟按钮时，说明操作人员想要控制无人机向左偏移，当操作人员点击右方向的虚拟按钮时，说明操作人员想要控制无人机向右偏移。
可选地，还可以预先设置一次点击对应无人机的偏移幅度，根据操作人员在遥控装置中的同一个方向的点击次数，可以确定无人机偏移的幅度，即无人机偏离当前所处的位置的距离。
在另一种实施方式中，该航线调整操作还可以包括操作人员对遥控装置中的控制摇杆的移动操作，当操作人员向左移动控制摇杆时，说明操作人员想要控制无人机向左偏移，当操作人员向右移动控制摇杆时，说明操作人员想要控制无人机向右偏移。
可选地，还可以预先设置一次移动摇杆对应无人机的偏移幅度，根据操作人员在遥控装置中的同一个方向的移动次数，可以确定无人机偏移的幅度，即无人机偏离当前所处的位置的距离。
需要说明的是，本发明实施例并不限于上述航线调整操作，本领域技术人员执行其他操作以达到控制方向的目的均是可以的，本发明实施例对此不作限制。
当遥控装置检测到操作人员在遥控装置中执行的航线调整操作时，可以根据操作人员针对触屏滑条的移动方向以及移动距离，或者，针对物理方向按钮或虚拟方向按钮的方向以及点击次数，或者，针对摇杆的移动方向以及移动次数确定该航线调整操作对应的航线调整方向和/或航线调整幅度。
例如，用户在遥控装置中点击了一次左方向的物理按钮，假设一次点击对应的偏移幅度是5米，则可以得到该航线调整操作对应的移动方向为向左方向，航线调整幅度为5米。
遥控装置确定无人机调整的航线调整方向和/或航线调整幅度以后，可以根据该航线调整方向和/或航线调整幅度生成路线调节指令，并将该路线调节 指令通过通信模块发送至无人机中，则无人机可以根据航线调整方向和/或航线调整幅度进行航线调整。
在一种实施方式中，遥控装置可以只根据航线调整方向生成路线调节指令，则无人机接收到路线调节指令以后，向航线调整方向偏移预设的幅度。
在另一种实施方式中，遥控装置可以根据航线调整方向以及航线调整幅度生成路线调节指令，则无人机接收到路线调节指令以后，向航线调整方向偏移航线调整幅度对应的距离。在实际中，在无人机作业过程中，当操作人员发现无人机偏离航线以后，可能需要多次修正才可以将无人机修正至正确的航线上来。例如，参考图2，用户需要无人机作业的航线是OA直线，但由于操作误差，操作人员将无人机机头对准A1方向，则无人机确定的飞行路线为OA1直线，并沿着OA1直线方向飞行，此时，操作人员发现无人机并没有沿着OA方向飞行，判定其为偏离航线，操作人员可以通过遥控装置向无人机发出向右偏移的路线调节指令，例如，向A2点偏移，无人机接收到路线调节指令以后，移动到A2位置，这样无人机就朝着O-A2方向飞直线，操作人员按照上述方法不断修正航线，当无人机偏移到图2的C点时，则开始沿着C-A方向飞行。通过上述的修正，在图2中，加粗部分即为无人机当次作业的飞行轨迹。
在一种可选实施例中，步骤103可以包括如下子步骤：
子步骤S11，在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
具体的，在无人机飞行过程中，当接收到遥控装置发送的路线调节指令以后，可以根据该路线调节指令中携带的航线调整方向以及所述航线调整幅度，或者，根据该路线调节指令中携带的航线调整方向以及预设的航线调整幅度，将无人机飞行到参考点，即图2中的C点。
例如，操作人员通过控制摇杆使得无人机飞到图2中的C点后，操作人员会松开摇杆，无人机则可以将C点作为参考点。
子步骤S12，获取所述参考点的坐标；
确定参考点以后，无人机可以通过无人机中的定位装置，获取参考点的 坐标，如图2中C点的坐标。
子步骤S13，基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
确定参考点的坐标以后，根据起始飞行位置的坐标以及参考点的坐标，可以确定两者之间的方向角，根据起始飞行位置的坐标、上述方向角度以及飞行距离参数，可以计算目标点的坐标。
例如，在图2中，根据O点和C点，可以确定OC的方向角，随后根据OC的方向角、O点的坐标以及飞行距离参数，可以得到A点的坐标。
子步骤S14，获取无人机实时的航向角；
在具体实现中，无人机自身的罗盘可以获取无人机实时的航向角。
子步骤S15，依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
得到无人机实时的航向角以及起始飞行位置与参考点的坐标所确定的方向角以后，可以计算两者的差值，作为航线偏差。
子步骤S16，基于所述航线偏差，控制无人机对准所述目标点；
得到航线偏差以后，将实时的航向角补上该航线偏差，则可以得到实际要飞行的航线角度，随后可以调整无人机的机头方向对准该实际要飞行的航线角度，使得无人机对准目标点。
子步骤S17，计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
无人机对准目标点以后，可以计算参考点与目标点之间的距离，作为当次飞行路线剩余的距离，随后，可以控制无人机按照飞行速度参数指定的速度飞行该剩余的距离。
例如，在图2中，将无人机机头对准A点以后，获得C点到A点的距离，控制无人机飞行该距离，则到达A点时，无人机完成当次路线的作业。
在另一种可选实施例中，步骤103可以包括如下子步骤：
子步骤S21，在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
子步骤S22，获取所述参考点的坐标；
子步骤S23，获取无人机实时的航向角；
子步骤S24，基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
子步骤S25，基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角度的方向；
子步骤S26，计算所述起始飞行位置与所述参考点之间的距离；
子步骤S27，基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
子步骤S21-子步骤S27的实施例与上述子步骤S11-子步骤S17的实施例相比，其区别在于，本实施例并不确切获得目标点的坐标，在计算航线偏差时，是根据起始飞行位置与参考点的坐标所确定的方向角度，以及所述无人机实时的航向角的差值，确定航线偏差，得到航线偏差以后，将实时的航向角补上该航线偏差，则可以得到实际要飞行的航线角度，随后可以调整无人机的机头方向对准该实际要飞行的航线角度，该实际要飞行的航线角度即为起始飞行位置与参考点的坐标所确定的向量方向。在计算剩余距离时，首先计算起始飞行位置与参考点之间的已飞行的距离，随后根据飞行距离参数与该已飞行的距离的差值，计算剩余距离，随后，可以控制无人机按照飞行速度参数指定的速度飞行该剩余的距离。
在本发明至少部分实施例中，当无人机确定了起始飞行位置以及无人机机头方向以后，可以直接从起始飞行位置出发，沿着机头方向直线飞行，在飞行过程中，若无人机接收到路线调节指令，可以基于该路线调节指令调节无人机的航线，本发明至少部分实施例结合人工微调修正和无人机自动导航的方式使得无人机沿着操作人员想要的直线飞行，能够在不进行测绘的情况下，在飞行的过程中，当操作人员检测到无人机飞行偏离航线时，可以通过遥控装置对航线进行修正，操作人员通过简单的操作就可以让无人机沿着想要的直线精准飞行，简化了操作过程，提升了无人机的应变能力。
需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明至少部分实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作并不一定是本发明至少部分实施例所必须的。
参照图3，示出了本发明的一种控制无人机飞行的装置实施例的结构框图，可以包括如下模块：
信息确定模块301，设置为确定无人机当前所停留的起始飞行位置以及机头方向；
飞行模块302，设置为从所述起始飞行位置出发，沿着所述机头方向直线飞行；
方向调节模块303，设置为在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线。
在一种可选实施例中，所述装置还包括：
参数接收模块，设置为接收输入的飞行速度参数以及飞行距离参数。
在一种可选实施例中，所述飞行模块302还设置为：
从所述起始飞行位置出发，沿着所述机头方向按照所述速度参数所指定的速度直线飞行。
在一种可选实施例中，所述路线调节指令为遥控装置发出的指令，所述遥控装置采用如下方式生成路线调节指令：
检测操作人员在遥控装置中执行的航线调整操作；
确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；
基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
在一种可选实施例中，所述航线调整操作至少包括如下操作的一种：
操作人员对遥控装置中的触屏滑条的滑动操作；
操作人员对遥控装置中的物理方向按钮的点击操作；
操作人员对遥控装置中的控制摇杆的移动操作；
操作人员对遥控装置中的触屏方向按钮的点触操作。
在一种可选实施例中，所述方向调节模块303包括：
第一参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
第一参考点坐标获取子模块，设置为获取所述参考点的坐标；
目标点坐标确定子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
第一实时航向角获取子模块，设置为获取无人机实时的航向角；
第一航线偏差计算子模块，设置为依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
第一方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述目标点；
第一飞行控制子模块，设置为计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
在另一种可选实施例中，所述方向调节模块包括：
第二参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
第二参考点坐标获取子模块，设置为获取所述参考点的坐标；
第二实时航向角获取子模块，设置为获取无人机实时的航向角；
第二航线偏差计算子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
第二方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角的方向；
距离计算子模块，设置为计算所述起始飞行位置与所述参考点之间的距离；
第二飞行控制子模块，设置为基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本发明至少部分实施例可提供为方法、装置、或计算机程序产品。因此，本发明至少部分实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明至少部分实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明至少部分实施例是参照根据本发明至少部分实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明至少部分实施例的可选实施例，但本领域内的技术 人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括可选实施例以及落入本发明至少部分实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本发明所提供的一种控制无人机飞行的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
工业实用性
如上所述，本发明至少部分实施例提供的一种控制无人机飞行的方法和相应的一种控制无人机飞行的装置具有以下有益效果：结合人工微调修正和无人机自动导航的方式使得无人机沿着操作人员想要的直线飞行，能够在不进行测绘的情况下，在飞行的过程中，当操作人员检测到无人机飞行偏离航线时，可以通过遥控装置对航线进行修正，操作人员通过简单的操作就可以让无人机沿着想要的直线精准飞行，简化了操作过程，提升了无人机的应变能力。

Claims (14)

  1. 一种控制无人机飞行的方法，所述方法包括：
    确定无人机当前所停留的起始飞行位置以及机头方向；
    从所述起始飞行位置出发，沿着所述机头方向直线飞行；
    在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线。
  2. 根据权利要求1所述的方法，其中，在所述确定无人机当前所停留的起始飞行位置以及机头方向的步骤之前，还包括：
    接收输入的飞行速度参数以及飞行距离参数。
  3. 根据权利要求2所述的方法，其中，所述从所述起始飞行位置出发，沿着所述机头方向直线飞行的步骤为：
    从所述起始飞行位置出发，沿着所述机头方向按照所述速度参数所指定的速度直线飞行。
  4. 根据权利要求2或3所述的方法，其中，所述路线调节指令为遥控装置发出的指令，所述遥控装置采用如下方式生成路线调节指令：
    检测操作人员在遥控装置中执行的航线调整操作；
    确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；
    基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
  5. 根据权利要求4所述的方法，其中，所述航线调整操作至少包括如下操作的一种：
    操作人员对遥控装置中的触屏滑条的滑动操作；
    操作人员对遥控装置中的物理方向按钮的点击操作；
    操作人员对遥控装置中的控制摇杆的移动操作；
    操作人员对遥控装置中的触屏方向按钮的点触操作。
  6. 根据权利要求4所述的方法，其中，所述在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线的步骤包括：
    在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
    获取所述参考点的坐标；
    基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
    获取无人机实时的航向角；
    依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
    基于所述航线偏差，控制无人机对准所述目标点；
    计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
  7. 根据权利要求4所述的方法，其中，所述在飞行过程中，若接收到路线调节指令，基于所述路线调节指令调节所述无人机的航线的步骤包括：
    在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
    获取所述参考点的坐标；
    获取无人机实时的航向角；
    基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
    基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角的方向；
    计算所述起始飞行位置与所述参考点之间的距离；
    基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
  8. 一种控制无人机飞行的装置，所述装置包括：
    信息确定模块，设置为确定无人机当前所停留的起始飞行位置以及机头方向；
    飞行模块，设置为从所述起始飞行位置出发，沿着所述机头方向直线飞行；
    方向调节模块，设置为在飞行过程中，若接收到路线调节指令，基于所 述路线调节指令调节所述无人机的航线。
  9. 根据权利要求8所述的装置，其中，还包括：
    参数接收模块，设置为接收输入的飞行速度参数以及飞行距离参数。
  10. 根据权利要求9所述的装置，其中，所述飞行模块还设置为：
    从所述起始飞行位置出发，沿着所述机头方向按照所述速度参数所指定的速度直线飞行。
  11. 根据权利要求9或10所述的装置，其中，所述路线调节指令为遥控装置发出的指令，所述遥控装置采用如下方式生成路线调节指令：
    检测操作人员在遥控装置中执行的航线调整操作；
    确定所述航线调整操作对应的航线调整方向和/或航线调整幅度；
    基于所述航线调整方向和/或航线调整幅度生成路线调节指令。
  12. 根据权利要求11所述的装置，其中，所述航线调整操作至少包括如下操作的一种：
    操作人员对遥控装置中的触屏滑条的滑动操作；
    操作人员对遥控装置中的物理方向按钮的点击操作；
    操作人员对遥控装置中的控制摇杆的移动操作；
    操作人员对遥控装置中的触屏方向按钮的点触操作。
  13. 根据权利要求11所述的装置，其中，所述方向调节模块包括：
    第一参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
    第一参考点坐标获取子模块，设置为获取所述参考点的坐标；
    目标点坐标确定子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述飞行距离参数，确定目标点的坐标；
    第一实时航向角获取子模块，设置为获取无人机实时的航向角；
    第一航线偏差计算子模块，设置为依据所述起始飞行位置与所述参考点的坐标所确定的方向角以及所述航向角，计算航线偏差；
    第一方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述目标点；
    第一飞行控制子模块，设置为计算所述参考点与所述目标点之间的距离，控制所述无人机飞向所述目标点。
  14. 根据权利要求11所述的装置，其中，所述方向调节模块包括：
    第二参考点飞行子模块，设置为在飞行过程中，若接收到路线调节指令，基于所述航线调整方向以及所述航线调整幅度将无人机飞行至参考点；
    第二参考点坐标获取子模块，设置为获取所述参考点的坐标；
    第二实时航向角获取子模块，设置为获取无人机实时的航向角；
    第二航线偏差计算子模块，设置为基于起始飞行位置与所述参考点的坐标所确定的方向角，以及所述无人机实时的航向角，计算航线偏差；
    第二方向对准子模块，设置为基于所述航线偏差，控制无人机对准所述起始飞行位置与所述参考点的坐标所确定的方向角的方向；
    距离计算子模块，设置为计算所述起始飞行位置与所述参考点之间的距离；
    第二飞行控制子模块，设置为基于所述飞行距离参数以及所述起始飞行位置与所述参考点之间的距离所确定的剩余距离，控制所述无人机飞行。
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