CN106227232A - The control method of unmanned plane, device and equipment - Google Patents
The control method of unmanned plane, device and equipment Download PDFInfo
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- CN106227232A CN106227232A CN201610594860.1A CN201610594860A CN106227232A CN 106227232 A CN106227232 A CN 106227232A CN 201610594860 A CN201610594860 A CN 201610594860A CN 106227232 A CN106227232 A CN 106227232A
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- 230000000875 corresponding effect Effects 0.000 description 16
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- 238000004891 communication Methods 0.000 description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
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Abstract
The present invention provides the control method of a kind of unmanned plane, device and equipment, and the method includes: the first route information that unmanned plane receiving control apparatus sends；First route information includes the second position information of destination；Unmanned plane navigates by water to destination according to the first route information.Control equipment is according to the unmanned plane positional information, the second position information of destination and the route information of other unmanned planes that are presently in obtained, for the route of unmanned plane planning navigation to destination and obtain this route information and be sent to unmanned plane；After unmanned plane receives this route information, navigate by water to destination according to this route information, plan navigation route from for unmanned plane, to unmanned plane from obtaining route information, until unmanned plane navigates by water to destination, whole process, without manual intervention, effectively raises the intellectuality of unmanned plane.
Description
Technical field
The present invention relates to automation field, particularly relate to the control method of a kind of unmanned plane, device and equipment.
Background technology
UAV (English: Unmanned Aerial Vehicle, it is called for short: UAV), also referred to as unmanned plane, is to utilize
The most manned aircraft that radio robot is handled.
Current unmanned plane is mostly that user carries out Remote by the manipulation of remote controller.Concrete operations include walking as follows
Rapid: 1, user is placed on open ground unmanned plane, and opening remote control device and Intelligent flight battery；2, user perform break bar move
Make, start motor；3, user's the most upwardly throttle lever after electric motor starting, allows unmanned plane steadily take off；4, carry out when needs
During shooting, user stirs Deformation control switch, is shot by wheels-up；5, when unmanned plane needs to decline, user dials
Dynamic deformation controls lever switch drop, and slow drop-down throttle lever, makes unmanned plane slowly fall.
Current this control mode, wants to realize the navigation of unmanned plane, and user must be controlled by remote controller, intelligence
Level can be changed low, it is impossible to meet the demand of user.
Summary of the invention
The embodiment of the present invention provides the control method of a kind of unmanned plane, device and equipment, is used for solving unmanned plane and navigated by water
Cheng Zhong, the problem that intelligent level is low.
Embodiment of the present invention first aspect provides the control method of a kind of unmanned plane, including:
The first route information that unmanned plane receiving control apparatus sends；Described first route information includes the second of destination
Positional information.
Described unmanned plane navigates by water to described destination according to described first route information.
In conjunction with first aspect, in the first possible real-time mode of first aspect, described first route information includes institute
Stating the navigation route of unmanned plane, described method also includes:
When described unmanned plane detects that on described navigation route, front predeterminable range exists obstacle, described unmanned plane changes
Described obstacle is avoided in navigation course, and obtains the 3rd positional information being presently in；
Described 3rd positional information is sent to described control equipment by described unmanned plane；
Described unmanned plane receive described control equipment send the second route information, and according to described second route information to
Described destination navigates by water；
Wherein, described second route information is that described control equipment is according to described second position information, described 3rd position
The route information of information and other unmanned planes is the route information that described unmanned plane is planned again.
In conjunction with first aspect, in the first possible real-time mode of first aspect, the second in first aspect may be real
Time mode in, described method also includes:
The status information of described unmanned plane is sent to described control equipment by described unmanned plane；
Described unmanned plane receives at least one position, level point that described control equipment sends, and the fall that will finally receive
Drop point site is as target landing place；
Described unmanned plane drop to described target landing place；
Wherein, position, described level point is that described control equipment is worked as according to the state information acquisition of described unmanned plane
The level point positional information landed obtained around the information of front position.
In conjunction with first aspect, in the first possible real-time mode of first aspect, the second in first aspect may be real
Time mode in, may be in real-time mode at the third of first aspect, described method also includes:
Described unmanned plane receives the shooting control command that described control equipment sends；
Described unmanned plane shoots video according to described shooting control command, and described video is returned described control equipment.
Embodiment of the present invention second aspect provides the control method of a kind of unmanned plane, including:
Control equipment obtain primary importance information that the first unmanned plane is presently in, the second position information of destination and
The route information of other unmanned planes；
Described control equipment is according to described primary importance information, described second position information and the road of other unmanned planes described
For described first unmanned plane, line information, plans that navigation to the route of described destination and obtains the first route information；
Described first route information is sent to described first unmanned plane by described control equipment, so that described first unmanned plane
According to described first route information navigation to described destination.
In conjunction with second aspect, in the first possible real-time mode of second aspect, described method also includes:
If described control equipment Inspection deviates, to described first unmanned plane, the route that described first route information is corresponding, then obtain
Take the 3rd positional information that described first unmanned plane is current；
Described control equipment is according to described 3rd positional information, described second position information and other unmanned planes described
Route information, plans again that for described first unmanned plane navigation to the route of described destination and obtains the second route information；
Described second route information is sent to described first unmanned plane by described control equipment, so that described first unmanned plane
Continue navigation to described destination.
In conjunction with second aspect, in the first possible real-time mode of second aspect, the second in second aspect may be real
Time mode in, described control equipment is according to described primary importance information, described second position information and other unmanned planes described
For described first unmanned plane, route information, plans that navigation to the route of described destination and obtains the first route information, described side
Method also includes:
Described control equipment obtains the information about power of described first unmanned plane；
Described control equipment is according to described information about power, described primary importance information and described second position information, it is judged that
Whether described first unmanned plane meets navigation condition；
Wherein, described navigation condition includes network connection conditions and electrical demand condition.
In conjunction with second aspect, in the first possible real-time mode of second aspect, the second in second aspect may be real
Time mode, second aspect the third may in real-time mode, described control equipment according to described information about power, described first
Positional information and described second position information, it is judged that whether described first unmanned plane meets navigation condition, including:
Described control equipment is according to the information about power of described unmanned plane, described primary importance information and described second confidence
Breath, it is judged that can the dump energy in the information about power of described first unmanned plane navigate by water to described destination；
Described control equipment obtains the 4th positional information that described control equipment is presently in, and according to the described second position
Information and described 4th positional information, it is judged that the 4th position that described control equipment is presently in and the distance of the described second position
The maximum distance that network connects can be met；
When the dump energy in the information about power of described first unmanned plane can navigate by water to described destination, and described control
The 4th position that equipment is presently in meets, with the distance of the described second position, the maximum distance that network is connected, the most described first nothing
Man-machine meet navigation condition.
In conjunction with second aspect, in the first possible real-time mode of second aspect, the second in second aspect may be real
Time mode, second aspect the third may real-time mode, may be in real-time mode at the 4th kind of second aspect, described side
Method also includes:
Described control equipment obtains the status information of described first unmanned plane；Described status information includes that described first is unmanned
The current location information of machine and information about power；
Described control equipment, according to described information about power, determines that whether the electricity of described first unmanned plane is less than presetting electricity
Amount；
If described control equipment determines the electricity of described first unmanned plane less than presetting electricity, the most described control equipment according to
Described current location information, obtains at least one the level point positional information that can land around current location information；
At least one level point positional information described is sent to described first unmanned plane by described control equipment.
In conjunction with second aspect, in the first possible real-time mode of second aspect, the second in second aspect may be real
Time mode, second aspect the third may real-time mode, the 4th kind of second aspect may real-time mode, in second party
In the possible real-time mode of the 5th kind of face, described method also includes:
Described control equipment sends shooting control command to described first unmanned plane, so that described first unmanned plane is according to institute
State shooting control command shooting video, and described video is returned described control equipment.
The embodiment of the present invention third aspect provides the control device of a kind of unmanned plane, including: receiver module and processing module；
The first route information that described receiver module sends for receiving control apparatus；Described first route information includes mesh
The second position information on ground；
Described processing module is used for the control device controlling described unmanned plane according to described first route information to described mesh
Ground navigate by water.
In conjunction with the third aspect, in the first possible real-time mode of the third aspect, described device also includes: first sends
Module；
Described processing module is additionally operable to when detecting that on described navigation route, front predeterminable range exists obstacle, changes boat
Described obstacle is avoided in row course, and obtains the 3rd positional information being presently in；
Described first sending module is for sending described 3rd positional information to described control equipment；
Described receiver module is additionally operable to receive the second route information that described control equipment sends；
Described processing module is additionally operable to control to navigate by water to described destination according to described second route information；
Wherein, described second route information is that described control equipment is according to described second position information, described 3rd position
The route information of information and other unmanned planes is the route information that described unmanned plane is planned again.
In conjunction with the third aspect, in the first possible real-time mode of the third aspect, the second in the third aspect may be real
Time mode in, described device also includes: the second sending module；
Described second sending module sets for the status information controlling device of described unmanned plane is sent extremely described control
Standby；
Described receiver module is additionally operable to receive at least one position, level point that described control equipment sends, and will be followed by most
The position, level point received is as target landing place；
Described processing module is additionally operable to control and drop to described target landing place；
Wherein, position, described level point is that described control equipment obtains according to the status information controlling device of described unmanned plane
The level point positional information landed obtained around the described current location information taken.
In conjunction with the third aspect, in the first possible real-time mode of the third aspect, the second in the third aspect may be real
Time mode, may be in real-time mode at the third of the third aspect, described unmanned plane also includes: taking module, wherein,
Described receiver module is additionally operable to receive the shooting control command that described control equipment sends；
Described taking module is for shooting video according to described shooting control command, and described video is returned described control
Equipment.
Embodiment of the present invention fourth aspect provides the control device of a kind of unmanned plane, including: processing module and sending module,
Wherein,
Described processing module is used for obtaining primary importance information, the second position of destination that the first unmanned plane is presently in
Information and the route information of other unmanned planes；
Described processing module is additionally operable to according to described primary importance information, described second position information and described other are unmanned
For described first unmanned plane, the route information of machine, plans that navigation to the route of described destination and obtains the first route information；
Described sending module is for sending described first route information to described first unmanned plane, so that described first nothing
Man-machine according to described first route information navigation extremely described destination.
In conjunction with fourth aspect, in the first possible real-time mode of fourth aspect, if described processing module is for described
Control equipment Inspection and deviate, to described first unmanned plane, the route that described first route information is corresponding, then obtain described first unmanned
The 3rd positional information that machine is current；
Described processing module is additionally operable to according to described 3rd positional information, described second position information and other nothings described
Man-machine route information, plans again that for described first unmanned plane navigation to the route of described destination and obtains the second route letter
Breath；
Described sending module is for sending described second route information to described first unmanned plane, so that described first nothing
Man-machine continuation navigation is to described destination.
In conjunction with fourth aspect, in the first possible real-time mode of fourth aspect, the second in fourth aspect may be real
Time mode in, described processing module is for obtaining the information about power of described first unmanned plane, and according to described information about power, described
Primary importance information and described second position information, it is judged that whether described first unmanned plane meets navigation condition；
Wherein, described navigation condition includes network connection conditions and electrical demand condition.
In conjunction with fourth aspect, in the first possible real-time mode of fourth aspect, the second in fourth aspect may be real
Time mode, may be in real-time mode at the third of fourth aspect, described processing module is specifically for according to described unmanned plane
Information about power, described primary importance information and described second position information, it is judged that in the information about power of described first unmanned plane
Can dump energy navigate by water to described destination；
The 4th positional information that described processing module is presently in specifically for the described control equipment of acquisition, and according to described
Second position information and described 4th positional information, it is judged that the 4th position that described control equipment is presently in and described second
Can the distance put meet the maximum distance that network connects；
Described processing module is specifically additionally operable to when the dump energy in the information about power of described first unmanned plane can navigate by water
The 4th position that extremely described destination, and described control equipment is presently in meets network with the distance of the described second position and is connected
Maximum distance, the most described first unmanned plane meets navigation condition.
In conjunction with fourth aspect, in the first possible real-time mode of fourth aspect, the second in fourth aspect may be real
Time mode, fourth aspect the third may real-time mode, may be in real-time mode at the 4th kind of fourth aspect, described place
Reason module is for obtaining the status information of described first unmanned plane；Described status information includes the present bit of described first unmanned plane
Confidence breath and information about power；
Described processing module, for according to described information about power, determines that whether the electricity of described first unmanned plane is less than presetting
Electricity；If described control equipment determines that the electricity of described first unmanned plane is less than presets electricity, the most described control equipment is according to institute
State current location information, obtain at least one the level point positional information that can land around current location information；
Described sending module is for being sent to described first unmanned plane by least one level point positional information described.
In conjunction with fourth aspect, in the first possible real-time mode of fourth aspect, the second in fourth aspect may be real
Time mode, fourth aspect the third may real-time mode, the 4th kind of fourth aspect may real-time mode, in four directions
In the possible real-time mode of the 5th kind of face, described sending module is additionally operable to send shooting control command to described first unmanned plane,
So that described first unmanned plane shoots video according to described shooting control command, and described video is returned described control equipment.
The embodiment of the present invention the 5th aspect provides a kind of unmanned plane, including: receptor, processor:
The first route information that described receptor sends for receiving control apparatus；Described first route information includes purpose
The second position information on ground；
Described processor is used for controlling described unmanned plane and navigates by water to described destination according to described first route information.
The embodiment of the present invention the 6th aspect provides the control equipment of a kind of unmanned plane, including: processor and transmitter:
Described processor is used for:
Obtain primary importance information that the first unmanned plane is presently in, the second position information of destination and other are unmanned
The route information of machine；
According to described primary importance information, described second position information and the route information of other unmanned planes described, for institute
State the first unmanned plane planning navigation and to the route of described destination and obtain the first route information；
Described transmitter is for sending described first route information to described first unmanned plane, so that described first is unmanned
Machine is according to described first route information navigation extremely described destination.
The embodiment of the present invention the 7th aspect provides the control system of a kind of unmanned plane, including: it is unmanned that the 5th aspect provides
Machine, and the control equipment that the 6th aspect provides.
The control method of unmanned plane, device and the equipment that the embodiment of the present invention provides, controls equipment unmanned according to obtain
Positional information, the second position information of destination and the route information of other unmanned planes that machine is presently in, advises for unmanned plane
Draw navigation to the route of destination and to obtain this route information and be sent to unmanned plane；After unmanned plane receives this route information, root
Navigate by water to destination according to this route information, plan navigation route from for unmanned plane, to unmanned plane from obtaining route information, directly
Navigating by water to destination to unmanned plane, whole process, without manual intervention, effectively raises the intellectuality of unmanned plane.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is this
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the application scenarios schematic diagram of the control method of unmanned plane of the present invention；
Fig. 2 is the flow chart of the control method embodiment one of unmanned plane of the present invention；
Fig. 3 is the flow chart of the control method embodiment two of unmanned plane of the present invention；
Fig. 4 is the flow chart of the control method embodiment three of unmanned plane of the present invention；
Fig. 5 is the flow chart of the control method embodiment six of unmanned plane of the present invention；
Fig. 6 is the flow chart of the control method embodiment seven of unmanned plane of the present invention；
Fig. 7 is the flow chart of the control method embodiment eight of unmanned plane of the present invention；
Fig. 8 is the flow chart of the control method embodiment nine of unmanned plane of the present invention；
Fig. 9 is the flow chart of the control method embodiment ten of unmanned plane of the present invention；
Figure 10 is the interaction figure of the control method embodiment 12 of unmanned plane of the present invention；
Figure 11 is the structural representation controlling device embodiment one of unmanned plane of the present invention；
Figure 12 is the structural representation controlling device embodiment two of unmanned plane of the present invention；
Figure 13 is the structural representation controlling device embodiment three of unmanned plane of the present invention；
Figure 14 is the structural representation controlling device embodiment four of unmanned plane of the present invention；
Figure 15 is the structural representation controlling device embodiment five of unmanned plane of the present invention；
Figure 16 is the structural representation of unmanned plane of the present invention；
Figure 17 is the structural representation of unmanned aerial vehicle (UAV) control equipment of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be this
The ordinary meaning that bright one of ordinary skill in the art are understood.In the description of the present application, term " first ", " second " etc. are only used for
Purpose is described, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.
Fig. 1 is the application scenarios schematic diagram of the control method of unmanned plane of the present invention.As it is shown in figure 1, the control of this unmanned plane
Method is mainly used in unmanned plane and control equipment.Wherein, unmanned plane refers to the journey utilizing radio control set He providing for oneself
Sequence controls the most manned aircraft that device is handled.Control equipment, for controlling the navigation of unmanned plane, including for its programme path, sends out
Send control signal that unmanned plane is controlled, process and real-time data cube computation etc. when there being unexpected situation to carry out.Wherein, control
Equipment may is that smart mobile phone, vehicle-mounted computer, automobile entertainment main frame, PC, panel computer, Intelligent worn device or its
His smart machine, the present embodiment does not do concrete restriction.
It should be noted that control equipment can have multiple stage, unmanned plane can also have multi rack.One control equipment can be controlled
System at least one frame unmanned plane, and a frame unmanned plane only accepts the control controlling equipment during navigation.When a control
When equipment controls to multiple UAVs, control equipment can be transmitted signal according to the mark of unmanned plane, it is ensured that controls equipment
Accuracy to unmanned aerial vehicle (UAV) control.The mark of unmanned plane can be compile according to certain rules number, it is also possible to be the physics of unmanned plane
Address, it is also possible to for other mark, be not particularly limited.
Unmanned plane in the embodiment of the present invention, control equipment by obtain unmanned plane be presently in positional information, mesh
The second position information on ground and the route information of other unmanned planes, for the route of unmanned plane planning navigation to destination, nothing
Man-machine get this route after navigate by water, effectively raise the level of intelligence of unmanned plane.Achieve and there is no doing of user
In the case of Yu, unmanned plane just can complete the target set.Such as: when vehicle congestion when, user without accurate to nothing
Man-machine being controlled, unmanned plane just can navigate by water to the generation point that blocks up, intelligence shooting road surface real-time traffic condition, and returns to use
Family, allows user understand vehicle congestion situation or reason.And for example: when finding after user gos out to fall article, unmanned plane can be with intelligence
Can return family get article, and carry the article got and return and give user, effectively saved the time of user.
Fig. 2 is the flow chart of the control method embodiment one of unmanned plane of the present invention, as in figure 2 it is shown, the execution of the present embodiment
Main body is unmanned plane, and the method for the present embodiment includes:
The first route information that S101: unmanned plane receiving control apparatus sends；First route information includes the of destination
Two positional informationes.
In the present embodiment, the first route information be control equipment be presently in by unmanned plane primary importance information, mesh
The second position information on ground and the route information of other unmanned planes, carried out the route information planned by three-dimensional map.Its
In, primary importance information includes: the position that unmanned plane is presently in；Second position information includes: unmanned plane navigation needs to arrive
Destination.
Such as: when the vehicle congestion having vehicle accident to cause, second position information is the incident point of vehicle accident；First
Route information be exactly unmanned plane from the position being presently in navigation to the route information of incident point of vehicle accident.
And for example: have article to fall at home, second position information is exactly to fall the family of article；First route information is exactly unmanned
Machine from the position being presently in navigation to the route information of the family falling article.
S102；Unmanned plane navigates by water to destination according to the first route information.
In the present embodiment, unmanned plane navigates by water to destination according to the first route information, during navigation, controls to set
Standby and unmanned plane is attached by wireless signal, so that unmanned function and control equipment communicate.Wherein, this wireless signal
May is that WLAN (English: Wireless Fidelity, be called for short: WiFi), it is also possible to be mobile Internet, such as: the
Four generation communication systems (English: the 4th Generation communication system, to be called for short 4G) or the communication of the 5th generation
System (English: the 5th Generation communication system, to be called for short 5G), or other wireless data, with
And their combination, the present embodiment is not particularly limited.Wherein, the WiFi of 5G is used can to realize the remote of control equipment and unmanned plane
Distance communication.
In the control method of the present embodiment unmanned plane, the position letter that control equipment is presently according to the unmanned plane obtained
Breath, the second position information of destination and the route information of other unmanned planes, for the road of unmanned plane planning navigation to destination
Line also obtains this route information and is sent to unmanned plane；After unmanned plane receives this route information, according to this route information to purpose
Ground navigates by water, and plans navigation route from for unmanned plane, to unmanned plane from obtaining route information, until unmanned plane navigates by water to purpose
Ground, whole process, without manual intervention, effectively raises the intellectuality of unmanned plane.
Fig. 3 is the flow chart of the control method embodiment two of unmanned plane of the present invention, as it is shown on figure 3, the execution of the present embodiment
Main body is unmanned plane, and the present embodiment is on the basis of embodiment one, and unmanned plane enters to destination according to the first route information
Row navigation, runs into explanation during obstacle during navigation, and the method for the present embodiment includes:
S201: the first route information includes the navigation route of unmanned plane；When unmanned plane detects that on navigation route, front is pre-
If distance exists obstacle, unmanned plane changes navigation course and avoids obstacle, and obtains the 3rd positional information being presently in.
In the present embodiment, unmanned plane is provided with detection device, goes forward for monitoring navigation route during navigation in real time
Whether side has obstacle, effectively avoids unmanned plane and runs into colliding of obstacle.Wherein, this detection device can be radar, also
Can be that other have whether detection front has the device of obstacle, the present embodiment do restriction further.Obstacle can be nothing
The man-machine UFO that runs into during navigation can also be the fixed buildings etc. not accounted for during planning the first route.
When unmanned plane detects that on navigation route, front predeterminable range exists obstacle, and in order to avoid obstacle, unmanned plane must not
Without departing from the navigation route in the first route information, after the navigation route of unmanned plane deviation, unmanned plane obtains the be presently in
Three positional informationes, are sent to control equipment, and navigation route is planned in request again, by the route navigation after planning.3rd position letter
Breath includes: unmanned plane avoids the current location after obstacle.
Can also be nearest in the navigation route in Automatic-searching and the first route information after the navigation route of unmanned plane deviation
A point, by line navigation to this point, and continue to navigate by water by the navigation route in the first route information.
3rd positional information is sent to controlling equipment by S202: unmanned plane.
Control equipment receives the 3rd positional information, according to second position information, the 3rd positional information and other are unmanned
The route information of machine is the route information that unmanned plane is planned again, and this route information is the second route information.
The second route information that S203: unmanned plane receiving control apparatus sends, and according to the second route information to destination
Navigation.
If it should be noted that unmanned plane encounters again obstacle according to during the second route information navigation, re-executing
The above-mentioned steps of the present embodiment, until navigation is to destination.
Whether unmanned plane has obstacle by front on detection navigation route, when obstacle having been detected, automatically avoids barrier
Hinder, and navigate by water according to the second route information receiving the transmission of control equipment.So it is effectively guaranteed the boat of unmanned plane
Row safety.
Fig. 4 is the flow chart of the control method embodiment three of unmanned plane of the present invention, as shown in Figure 4, the execution of the present embodiment
Main body is unmanned plane, and the present embodiment is on the basis of above-described embodiment, unmanned plane according to the first route information to destination
Navigate by water, the explanation that electricity is not enough during navigation, the method for the present embodiment includes:
The status information of unmanned plane is sent to controlling equipment by S301: unmanned plane.
Control equipment is according to the landing landed obtained around the current location information of the state information acquisition of unmanned plane
Dot position information is as position, level point.
At least one position, level point that S302: unmanned plane receiving control apparatus sends, and the landing that will finally receive
Point position is as target landing place.
S303: unmanned plane drop to target landing place.
It should be noted that when unmanned plane receives a position, level point, this position, level point is target landing position
Put.When unmanned plane receives multiple position, level point, using the position, level point that finally receives as target landing place.Its
In, position, multiple level point is the control equipment information about power according to unmanned plane, the situation of other unmanned planes and ground route
Situation, determined by real-time position, level point.
In the present embodiment, its status information is sent to control equipment by unmanned plane, and control equipment according to practical situation is
Unmanned plane sends level point, this ensures that theres unmanned plane in the case of electricity is low, also can safe falling.Further, nothing is worked as
Man-machine when droping to target landing place, alarm ring vertical landing can be sent, can further ensure landing by alarm ring
Safety.
Embodiment four is on the basis of above-described embodiment, and unmanned plane navigates by water to destination, connects during navigation
Connecing disconnected explanation, the method for the present embodiment includes:
When unmanned plane is during navigation, after unmanned plane and control equipment disconnecting, automatically calling hovering instruction, performing
Hovering action.
When unmanned plane reconnects upper with control equipment, unmanned plane connects before controlling equipment disconnecting according to unmanned plane
Last instruction arrived, continues executing with associative operation.This ensures that there the navigation of unmanned plane, be all in the control controlling equipment
Carried out under system.
Embodiment five is on the basis of above-described embodiment, and unmanned plane navigates to destination according to the first route information
OK, operating according to actual demand navigation process user, the method for the present embodiment includes:
Unmanned plane during navigation, unmanned plane machine can receiving control apparatus sends at any time various control signals, its
In, this control signal includes: controls the signal in unmanned plane navigation direction, the signal of control unmanned plane during flying height, control nobody
The signal of machine landing, control unmanned plane carry out the signal shot and the signal controlling unmanned plane return；
Unmanned plane performs corresponding action after receiving control signal, this action includes: change unmanned plane navigation direction,
Change that the cruising height of unmanned plane, unmanned plane carry out landing, unmanned plane carries out shooting and unmanned plane returns.It is achieved thereby that
The user's real-time control to unmanned plane.
Fig. 5 is the flow chart of the control method embodiment six of unmanned plane of the present invention, as it is shown in figure 5, the execution of the present embodiment
Main body is unmanned plane, and the method for the present embodiment is on the basis of above-described embodiment, the behaviour that unmanned plane navigation is carried out to destination
Make.
The shooting control command that S401: unmanned plane receiving control apparatus sends.
S402: unmanned plane is according to shooting control command shooting video, and video returns control equipment.
In the present embodiment, optionally, the route preset by control equipment after unmanned plane has shot video returns.Specifically
For, when the vehicle congestion having vehicle accident to cause, the shooting control command that unmanned plane receiving control apparatus sends, and according to bat
Taking the photograph control command, the time set that carries out spiraling in the position set shoots the video of the scene of a traffic accident, and by traffic thing
Therefore live video returns control equipment, and return by the route preset.This video can be stamped position and main body by control equipment
Label, and be uploaded to high in the clouds for other users watch.
Optionally, when there being article to fall at home, unmanned plane navigation to destination, can unmanned plane judge receive airplane parking area
The connection signal sent；When unmanned plane receives the connection signal that airplane parking area sends, unmanned plane lands according to this connection signal
To airplane parking area.Airplane parking area is reported by external loudspeaker will arrive information；Unmanned plane continues near airplane parking area and lands.
The connection signal that airplane parking area sends can be WiFi signal, can be Bluetooth signal or infrared signal, not do
Particularly limit.
Unmanned plane receives the article and return signal being in that fall.Airplane parking area controls this unmanned plane and takes off, and this unmanned plane takes off
The route set by control equipment afterwards makes a return voyage.Wherein, the process maked a return voyage is similar with the process of navigation, does not repeats them here.
Fig. 6 is the flow chart of the control method embodiment seven of unmanned plane of the present invention, as shown in Figure 6, the execution of the present embodiment
Main body is control equipment, and the method for the present embodiment includes:
S501: control equipment obtains primary importance information, the second confidence of destination that the first unmanned plane is presently in
Breath and the route information of other unmanned planes.
In the present embodiment, primary importance information can be the first unmanned plane present bit that control equipment is obtained by location
The information put；Second position information can be that the input obtaining user obtains, it is also possible to pre-sets, it is also possible to by it
He obtains mode, and the present embodiment does not do particularly restriction.
S502: control equipment according to primary importance information, second position information and the route information of other unmanned planes, be the
One unmanned plane plans that navigation to the route of destination and obtains the first route information.
In the present embodiment, the route information of other unmanned planes can be after the control equipment corresponding to other unmanned planes is uploaded
Obtaining, it is also possible to obtain from three-dimensional map, the present embodiment does not do particularly restriction.Control equipment is according to the obtained
One positional information, second position information and the route information of other unmanned planes, be the first unmanned plane planning boat by three-dimensional map
Walk to the route of destination.
S503: control equipment and the first route information is sent to the first unmanned plane, so that the first unmanned plane is according to the first via
Line information is navigated by water to destination.
In the present embodiment, the most optionally, when the vehicle congestion having vehicle accident to cause, control equipment and obtain first
The primary importance information that unmanned plane is presently in, the second position information of the incident point of vehicle accident；And according to the first unmanned plane
The primary importance information being presently in, the second position information of the incident point of vehicle accident and obtained by three-dimensional map other
The route information of unmanned plane, is the first unmanned plane planning navigation to first route of incident point of vehicle accident by three-dimensional map
Information, and the first route information obtained is sent to unmanned plane, so that the first unmanned plane navigates by water extremely according to the first route information
The incident point of vehicle accident.
Concrete optional, when there being article to fall at home, control equipment obtains the primary importance that the first unmanned plane is presently in
Information, falls the second position information of article man；And according to the primary importance information that the first unmanned plane is presently in, fall article
The second position information of family and the route information of other unmanned planes obtained by three-dimensional map, and be first by three-dimensional map
Unmanned plane planning is navigated by water to the first route information falling article man, and sends the first route information obtained to unmanned plane,
So that the first unmanned plane navigates by water to the family falling article according to the first route information.
In the control method of the present embodiment unmanned plane, the position that control equipment is presently according to the first unmanned plane obtained
Information, the second position information of destination and the route information of other unmanned planes, be that the first unmanned plane planning navigation is to purpose
The route on ground also obtains this route information and is sent to the first unmanned plane；So that the first unmanned plane according to this route information to destination
Navigate by water, thus effectively raise the intellectuality of unmanned plane.
Fig. 7 is the flow chart of the control method embodiment eight of unmanned plane of the present invention, as it is shown in fig. 7, the execution of the present embodiment
Main body is control equipment, and this enforcement is on the basis of above-described embodiment, and whether control equipment is the first unmanned plane planning navigation
Route, the judgement carried out, the method for the present embodiment includes:
S601: control equipment obtains the information about power of the first unmanned plane.
S602: control equipment according to information about power, primary importance information and second position information, it is judged that the first unmanned plane is
No meet navigation condition；Wherein, navigation condition includes network connection conditions and electrical demand condition.
S603: if the first unmanned plane meets navigation condition, then be the first unmanned plane planning navigation route.
In the present embodiment, it is judged that can information about power meet navigation condition, specifically includes: control equipment according to the first nothing
Man-machine information about power, primary importance information and second position information, it is judged that the residue electricity in the information about power of the first unmanned plane
Can amount navigate by water to destination；It is to say, when for user's programme path information, be first contemplated that the surplus of the first unmanned plane
Can remaining electricity meet the requirement navigated by water to destination, determines whether when meeting this and requiring, meet what network connected
Demand, otherwise feeds back to user by corresponding information.
Wherein, it is judged that the demand of the network connection that can unmanned plane meet control equipment specifically includes, and controls equipment and obtains
The 4th positional information that control equipment is presently in, and according to second position information and the 4th positional information, it is judged that control equipment
Can the 4th position being presently in meet, with the distance of the second position, the maximum distance that network is connected；
When the dump energy in the information about power of the first unmanned plane can navigate by water to destination, and control equipment is presently in
The 4th position meet, with the distance of the second position, the maximum distance that network is connected, then the first unmanned plane meets navigation condition, for
This first unmanned plane plans the route navigated by water to destination.
Whether meet condition of contact it should be noted that judge that network connects and judge electrical demand whether condition, not
There is sequencing, as long as there being a condition to be unsatisfactory for, cannot be that this first unmanned plane plans the route navigated by water to destination.
Fig. 8 is the flow chart of the control method embodiment nine of unmanned plane of the present invention, as shown in Figure 8, the execution of the present embodiment
Main body is control equipment, and this enforcement is on the basis of above-described embodiment, controls equipment Inspection to the first unmanned plane deviation first
The operation performed by route that route information is corresponding, the method for the present embodiment includes:
S701: if controlling equipment Inspection to deviate, to the first unmanned plane, the route that the first route information is corresponding, then obtain first
The 3rd positional information that unmanned plane is current.
In the present embodiment, it can be that unmanned plane is in navigation process that the first unmanned plane deviates route corresponding to the first route information
In when running into obstacle, the route that the first route information of deviateing to ensure the safety of navigation is corresponding.It can also be unmanned plane
Due to the route that deviation the first route information caused by other external force is corresponding, do not do particularly restriction at this.If inspection
Measure the first unmanned plane and deviate the route that the first route information is corresponding, then obtain the 3rd positional information that the first unmanned plane is current,
And perform S702.
S702: control equipment according to the 3rd positional information, second position information and the route information of other unmanned planes, for
First unmanned plane plans that navigation to the route of destination and obtains the second route information again.
In the present embodiment, the 3rd positional information can be control equipment active obtaining, it is also possible to be that the first unmanned plane is sent out
Give control equipment, be not particularly limited.Second route information is also to be obtained according to three-dimensional map planning herein
, with the first route info class seemingly, do not repeat at this.
S703: control equipment and send the second route information to the first unmanned plane, so that the first unmanned plane continues navigation extremely
Destination.
In the present embodiment, when detection equipment Inspection deviates, to the first unmanned plane, the route that the first route information is corresponding, it is the
One unmanned plane plans the second route information, further increases the level of intelligence of the first unmanned plane navigation.
Fig. 9 is the flow chart of the control method embodiment ten of unmanned plane of the present invention, as it is shown in figure 9, the execution of the present embodiment
Main body is control equipment, and this enforcement is on the basis of above-described embodiment, and control equipment enters according to the first unmanned plane information about power
The process of row, the method for the present embodiment includes:
S801: control equipment obtains the status information of the first unmanned plane.
In the present embodiment, the status information of the first unmanned plane can be control equipment active obtaining, it is also possible to be first
Unmanned plane is sent to control equipment, is not particularly limited.Wherein, status information includes the present bit of the first unmanned plane
Confidence breath and information about power.
S802: control equipment, according to information about power, determines that whether the electricity of the first unmanned plane is less than presetting electricity.
In the present embodiment, when the first unmanned plane dispatches from the factory, can be that it arranges one in advance according to the performance of the first unmanned plane
If electricity；User sets a default electricity also dependent on the practical situation of unmanned plane.Certainly, default electricity can also be to control to set
Standby setting.It is not particularly limited at this.When default electricity is arranged at the first unmanned plane, control equipment and the first unmanned plane
During connection, control equipment is received by the default electricity that the first unmanned plane sends.The first unmanned plane is obtained during navigation
Information about power judges whether, less than presetting electricity, when less than when presetting electricity, to perform S803.Otherwise, monitoring in real time first is unmanned
The electricity of machine.
S803: if control equipment determines that the electricity of the first unmanned plane less than presetting electricity, then controls equipment according to present bit
Confidence ceases, and obtains at least one the level point positional information that can land around current location information.
In the present embodiment, position, level point can be according to acquired in three-dimensional map, naturally it is also possible to by other
Approach obtains, and obtains level point and first has to consider to avoid the major trunk roads on road surface, and is relatively spacious region；First unmanned plane
Electricity estimates navigation maximum distance and the real time status etc. of other unmanned planes navigation.It is that the first unmanned plane plans that at least one lands
Point.
At least one level point positional information is sent to the first unmanned plane by S804: control equipment.
In the present embodiment, send the position in level point, be that control equipment sent to the first unmanned plane every the time set
's.The setting time herein can be a fixing numerical value, it is also possible to is the numerical value being continually changing according to certain rules, the
The level point positional information that one unmanned plane receiving control apparatus sends, and select last received as target landing place, enter
Row landing.Optionally, the first unmanned plane can also open alarm ring, the progressive peace ensureing unmanned plane landing in descent
Quan Xing.
Embodiment 11 is on the basis of above-described embodiment, and the first unmanned plane enters to destination according to the first route information
Row navigation, operates according to actual demand, and the method for the present embodiment includes:
Control equipment sends shooting control command to the first unmanned plane, so that the first unmanned plane is clapped according to shooting control command
Take the photograph video, and video is returned control equipment.
In the present embodiment, when controlling equipment Inspection to the first unmanned plane navigation to destination, send to the first unmanned plane
Shooting control command, the first unmanned plane shoots after receiving shooting order.Such as: when the vehicle having vehicle accident to cause is gathered around
Time stifled, when controlling equipment Inspection to the first unmanned plane navigation to the scene of a traffic accident, send shooting to the first unmanned plane and control life
Order, so that the first unmanned plane shoots according to shooting order.
Optionally, the first unmanned plane navigation during, control equipment can at any time to the first unmanned plane machine send each
Plant control signal, so that the first unmanned plane performs corresponding action according to this control signal.
Wherein, identical with embodiment five of this control signal and corresponding action, here is omitted.
It should be noted that in the above-described embodiments, optionally, controller sends control signal is to need to be entered by high in the clouds
Row protocol conversion, is sent to the first unmanned plane by the agreement after conversion and realizes the control to the first unmanned plane.Can certainly
Change by other means, the most do not do particularly restriction.
Figure 10 is the interaction figure of the control method embodiment 12 of unmanned plane of the present invention, and as shown in Figure 10, this embodiment exists
Above-described embodiment further includes step specific as follows:
Primary importance information that S901, control equipment are presently according to unmanned plane, the second position information control of destination
The route information of control equipment and other unmanned planes is that unmanned plane planning navigation to the route of destination and obtains by three-dimensional map
First route information.
S902, control equipment send the first route information to unmanned plane.
S903, unmanned plane receive the first route information, and navigate by water to destination according to the first route information.
S904, during navigation, when unmanned plane detects that on navigation route, front predeterminable range exists obstacle, unmanned
Machine changes navigation course and avoids obstacle, and obtains the 3rd positional information being presently in, and sends the 3rd positional information to control
Control equipment；
S905, control equipment obtain the 3rd positional information that unmanned plane sends；And according to the 3rd positional information, the second position
Information and the route information of other unmanned planes, plan again that for unmanned plane navigation to the route of destination and obtains the second route
Information；
S906, control equipment send the second route information to unmanned plane；
S907, unmanned plane receive the second route information, and navigate by water to destination according to the second route information；
S908, unmanned plane send the status information of unmanned plane to controlling equipment；
S909, control equipment receive the status information of unmanned plane, when the electricity of the unmanned plane in the status information of unmanned plane
Less than presetting electricity, then control equipment is according to the current location information in the status information of unmanned plane, plans at least for unmanned plane
One level point positional information.
S910, control equipment send at least one level point positional information to unmanned plane.
At least one position, level point that S911, unmanned plane receiving control apparatus send, and the landing that will finally receive
Point position is as target landing place, and lands.
S912, unmanned plane send, to controlling equipment, the signal navigated by water to target location.
S913, control equipment receive and navigate by water to the signal of target location, send shooting control command to unmanned plane.
S914, unmanned plane receive shooting control command, and according to shooting control command shooting video, and video is returned control
Control equipment.
S915, control equipment receive the video returned, and plan return route for unmanned plane.
S916, unmanned plane structure return route, and press return route navigation.
Control equipment according to obtain unmanned plane be presently in positional information, the second position information of destination and its
The route information of his unmanned plane, for the route of unmanned plane planning navigation to destination and obtain this route information and be sent to unmanned
Machine；After unmanned plane receives this route information, navigate by water to destination according to this route information, navigate by water from for unmanned plane planning
Route, to unmanned plane from obtaining route information, until unmanned plane navigates by water to destination, whole process is without manual intervention, effectively
The intellectuality that improve unmanned plane.Meanwhile, unmanned plane running into obstacle, unmanned plane electricity is less than preset value and unmanned plane navigation
The operation carried out to destination, without manual intervention, further improves the intellectuality of unmanned plane.
Figure 11 is the structural representation controlling device embodiment one of unmanned plane of the present invention；As shown in figure 11, this unmanned plane
Control device include: receiver module 11 and processing module 12；The first via that receiver module 11 sends for receiving control apparatus
Line information；First route information includes the second position information of destination；Processing module 12 is for controlling the control dress of unmanned plane
Put and navigate by water to destination according to the first route information.
The control device of the unmanned plane of the present embodiment, may be used for the technology of embodiment of the method shown in Fig. 2 or Figure 10 that performs
Scheme, it is similar with technique effect that it realizes principle, and here is omitted.
Figure 12 is the structural representation controlling device embodiment two of unmanned plane of the present invention；As shown in figure 12, this embodiment
Also include on the basis of embodiment one: the first sending module 21；
Processing module 12 is additionally operable to when detecting that on navigation route, front predeterminable range exists obstacle, changes navigation course
Avoid obstacle, and obtain the 3rd positional information being presently in；First sending module 21 is for sending the 3rd positional information extremely
Control equipment；Receiver module 11 is additionally operable to the second route information that receiving control apparatus sends；Processing module 12 is additionally operable to control
Navigate by water to destination according to the second route information；Wherein, the second route information be control equipment according to second position information, the 3rd
The route information of positional information and other unmanned planes is the route information that unmanned plane is planned again.
The device that controls of the unmanned plane of the present embodiment may be used for performing the technical side of embodiment of the method shown in Fig. 3 or Figure 10
Case, it is similar with technique effect that it realizes principle, and here is omitted.
Figure 13 is the structural representation controlling device embodiment three of unmanned plane of the present invention；As shown in figure 13, this embodiment
Also include on the basis of above-described embodiment: the second sending module 31；Second sending module 31 is for filling the control of unmanned plane
The status information put sends to control equipment；Receiver module 11 is additionally operable at least one position, level point that receiving control apparatus sends
Put, and using the position, level point that finally receives as target landing place；Processing module 12 is additionally operable to control and drop to target
Landing place；Wherein, position, level point is the control equipment present bit according to the state information acquisition controlling device of unmanned plane
The level point positional information landed that confidence breath around obtains.
The control device of the unmanned plane of the present embodiment, may be used for the technology of embodiment of the method shown in Fig. 4 or Figure 10 that performs
Scheme, it is similar with technique effect that it realizes principle, and here is omitted.
Figure 14 is the structural representation controlling device embodiment four of unmanned plane of the present invention；As shown in figure 14, this embodiment
Also including on the basis of above-described embodiment: taking module 41, wherein, receiver module 11 is additionally operable to what receiving control apparatus sent
Shooting control command；Taking module 41 is for shooting video according to shooting control command, and video returns control equipment.
The device that controls of the unmanned plane of the present embodiment may be used for performing the technical side of embodiment of the method shown in Fig. 5 or Figure 10
Case, it is similar with technique effect that it realizes principle, and here is omitted.
Figure 15 is the structural representation controlling device embodiment five of unmanned plane of the present invention；As shown in figure 15, the present embodiment
Also including on the basis of above-described embodiment: processing module 51 and sending module 52, wherein, processing module 51 is for acquisition first
Primary importance information, the second position information of destination and the route information of other unmanned planes that unmanned plane is presently in；Place
Reason module 51 is additionally operable to according to primary importance information, second position information and the route information of other unmanned planes, is first unmanned
Machine plans that navigation to the route of destination and obtains the first route information；Sending module 52 is for sending the first route information extremely
First unmanned plane, so that the first unmanned plane navigates by water to destination according to the first route information.
In the present embodiment, the device that controls of unmanned plane may be used for performing the technical side of embodiment of the method shown in Fig. 6 or Figure 10
Case, it is similar with technique effect that it realizes principle, and here is omitted.
Further, the most as shown in figure 15, in unmanned aerial vehicle (UAV) control device embodiment six of the present invention, the present embodiment is above-mentioned
On the basis of embodiment, if processing module 51 is for controlling equipment Inspection, to deviate the first route information to the first unmanned plane corresponding
Route, then obtain the 3rd positional information that the first unmanned plane is current；Processing module 51 be additionally operable to according to the 3rd positional information, second
Positional information and the route information of other unmanned planes, be that the first unmanned plane plans that navigation to the route of destination and obtains again
Second route information；Sending module 52 is for sending the second route information to the first unmanned plane, so that the first unmanned plane continues
Navigation is to destination.
In the present embodiment, the device that controls of unmanned plane may be used for performing the technical side of embodiment of the method shown in Fig. 8 or Figure 10
Case, it is similar with technique effect that it realizes principle, and here is omitted.
Further, the most as shown in figure 15, in unmanned aerial vehicle (UAV) control device embodiment seven of the present invention, the present embodiment is above-mentioned
On the basis of embodiment, processing module 51 is used for obtaining the information about power of the first unmanned plane, and according to information about power, primary importance
Information and second position information, it is judged that whether the first unmanned plane meets navigation condition；Wherein, navigation condition includes network connection strap
Part and electrical demand condition.
Specifically, processing module 51 is specifically for the information about power according to unmanned plane, primary importance information and the second position
Information, it is judged that can the dump energy in the information about power of the first unmanned plane navigate by water to destination；Processing module 51 specifically for
Obtain the 4th positional information that control equipment is presently in, and according to second position information and the 4th positional information, it is judged that control
Can the 4th position that equipment is presently in meet, with the distance of the second position, the maximum distance that network is connected；Processing module 51 has
Body is additionally operable to when the dump energy in the information about power of the first unmanned plane can navigate by water to destination, and control equipment is presently in
The 4th position meet, with the distance of the second position, the maximum distance that network is connected, then the first unmanned plane meets navigation condition.
The device that controls of the unmanned plane in the present embodiment may be used for performing the technical scheme of embodiment of the method shown in Figure 10,
It is similar with technique effect that it realizes principle, and here is omitted.
Further, the most as shown in figure 15, in unmanned aerial vehicle (UAV) control device embodiment eight of the present invention, the present embodiment is above-mentioned
On the basis of embodiment, processing module 51 is for obtaining the status information of the first unmanned plane；Status information includes the first unmanned plane
Current location information and information about power；Whether processing module 51 for according to information about power, determines the electricity of the first unmanned plane
Less than presetting electricity；If control equipment determines that the electricity of the first unmanned plane less than presetting electricity, then controls equipment according to present bit
Confidence ceases, and obtains at least one the level point positional information that can land around current location information；Sending module 52 is near
A few level point positional information is sent to the first unmanned plane.
Further, sending module 52 is additionally operable to send shooting control command to the first unmanned plane, so that the first unmanned plane
According to shooting control command shooting video, and video is returned control equipment.
In the present embodiment, the device that controls of unmanned plane may be used for performing the technical scheme of embodiment of the method shown in Figure 10, its
Realizing principle similar with technique effect, here is omitted.
In unmanned aerial vehicle example one of the present invention, as shown in figure 16, this unmanned plane includes: receptor 61, processor 62: its
In, the first route information that receptor 61 sends for receiving control apparatus；First route information includes the second of destination
Confidence ceases；Processor 62 is used for controlling unmanned plane and navigates by water to destination according to the first route information.
The unmanned plane of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 2 or Figure 10, and it realizes
Principle is similar with technique effect, and here is omitted.
Further, the most as shown in figure 16, in unmanned aerial vehicle example two of the present invention, the present embodiment is at above-described embodiment
On the basis of farther include: transmitter 63, wherein, processor 62 is additionally operable to when detecting that on navigation route, front predeterminable range is deposited
When obstacle, change navigation course and avoid obstacle, and obtain the 3rd positional information being presently in；Transmitter 63 is for by the 3rd
Positional information sends to controlling equipment；Receptor 61 is additionally operable to the second route information that receiving control apparatus sends；Processor 62
It is additionally operable to control to navigate by water to destination according to the second route information；Wherein, the second route information is that control equipment is according to second
The route information of confidence breath, the 3rd positional information and other unmanned planes is the route information that unmanned plane is planned again.
Unmanned plane in the present embodiment may be used for performing the technical scheme of embodiment of the method shown in Fig. 3 or Figure 10, in fact
Existing principle is similar with technique effect, and here is omitted.
Further, the most as shown in figure 16, in unmanned aerial vehicle example three of the present invention, the present embodiment is at above-described embodiment
On the basis of, transmitter 63 is for sending the status information controlling device of unmanned plane to controlling equipment；Receptor 61 is additionally operable to
At least one position, level point that receiving control apparatus sends, and is landed position as target in the position, level point finally received
Put；Processor 62 is additionally operable to control and drop to target landing place；Wherein, position, level point is that control equipment is according to unmanned plane
The level point positional information landed obtained around the current location information of the state information acquisition controlling device.
Unmanned plane in the present embodiment may be used for performing the technical scheme of embodiment of the method shown in Fig. 4 or Figure 10, in fact
Existing principle is similar with technique effect, and here is omitted.
Further, the most as shown in figure 16, in unmanned aerial vehicle example four of the present invention, the present embodiment is at above-described embodiment
On the basis of farther include: video camera 64, wherein, receptor 61 be additionally operable to receiving control apparatus send shooting control command；
Video camera 64 is for shooting video according to shooting control command, and video returns control equipment.
Unmanned plane in the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 5 or Figure 10, in fact
Existing principle is similar with technique effect, and here is omitted.
The embodiment one of the controller of unmanned plane of the present invention, as shown in figure 17, this controller includes: processor 71 and transmission
Device 72: wherein, processor 71 is used for obtaining primary importance information, the second confidence of destination that the first unmanned plane is presently in
Breath and the route information of other unmanned planes；Route letter according to primary importance information, second position information and other unmanned planes
Breath, is that the first unmanned plane planning navigation to the route of destination and obtains the first route information；Transmitter 72 is for by the first via
Line information sends to the first unmanned plane, so that the first unmanned plane navigates by water to destination according to the first route information.
The controller of unmanned plane in the present embodiment, may be used for performing the technical side of embodiment of the method shown in Fig. 6 or Figure 10
Case, it is similar with technique effect that it realizes principle, and here is omitted.
Further, the most as shown in figure 17, in the embodiment two of the controller of unmanned plane of the present invention, the present embodiment is upper
Farther include on the basis of stating embodiment: if processor 71 deviates the first route for controlling equipment Inspection to the first unmanned plane
The route that information is corresponding, then obtain the 3rd positional information that the first unmanned plane is current；Processor 71 is additionally operable to according to the 3rd position
Information, second position information and the route information of other unmanned planes, be that the first unmanned plane plans that navigation is to destination again
Route also obtains the second route information；Transmitter 72 is for sending the second route information to the first unmanned plane, so that the first nothing
Man-machine continuation is navigated by water to destination.
Further, the most as shown in figure 17, in the embodiment three of the controller of unmanned plane of the present invention, the present embodiment is upper
Farther include on the basis of stating embodiment: processor 71 is for obtaining the information about power of the first unmanned plane, and believes according to electricity
Breath, primary importance information and second position information, it is judged that whether the first unmanned plane meets navigation condition；Wherein, navigation condition bag
Include network connection conditions and electrical demand condition.
Concrete, processor 71 is specifically for the information about power according to unmanned plane, primary importance information and second confidence
Breath, it is judged that can the dump energy in the information about power of the first unmanned plane navigate by water to destination；Processor 71 is specifically for obtaining
The 4th positional information that control equipment is presently in, and according to second position information and the 4th positional information, it is judged that control equipment
Can the 4th position being presently in meet, with the distance of the second position, the maximum distance that network is connected；Processor 71 is specifically also used
In navigating by water to destination when the dump energy in the information about power of the first unmanned plane, and control equipment be presently in the 4th
Position meets, with the distance of the second position, the maximum distance that network is connected, then the first unmanned plane meets navigation condition.
In the present embodiment, the controller of unmanned plane may be used for performing the technical scheme of embodiment of the method shown in Figure 10, in fact
Existing principle is similar with technique effect, and here is omitted.
Further, the most as shown in figure 17, in the embodiment four of the controller of unmanned plane of the present invention, the present embodiment is above-mentioned
On the basis of embodiment, processor 71 is for obtaining the status information of the first unmanned plane；Status information includes the first unmanned plane
Current location information and information about power；Processor 71, for according to information about power, determines whether the electricity of the first unmanned plane is less than
Preset electricity；If control equipment determines that the electricity of the first unmanned plane less than presetting electricity, then controls equipment according to present bit confidence
Breath, obtains at least one the level point positional information that can land around current location information；Transmitter 72 is for by least one
Level point positional information is sent to the first unmanned plane.
Further, transmitter 72 is additionally operable to send shooting control command to the first unmanned plane, so that the first unmanned plane root
According to shooting control command shooting video, and video is returned control equipment.
In the present embodiment, the controller of unmanned plane may be used for performing the technical scheme of embodiment of the method shown in Figure 10, in fact
Existing principle is similar with technique effect, and here is omitted.
In the embodiment of unmanned aerial vehicle control system, this system includes: the unmanned plane of above-described embodiment and unmanned aerial vehicle (UAV) control
Device.
The control system of the unmanned plane that the present embodiment provides, the position that control equipment is presently according to the unmanned plane obtained
Information, the second position information of destination and the route information of other unmanned planes, for unmanned plane planning navigation to destination
Route also obtains this route information and is sent to unmanned plane；After unmanned plane receives this route information, according to this route information to mesh
Ground navigate by water, from for unmanned plane plan navigation route, to unmanned plane from obtain route information, until unmanned plane navigate by water to mesh
Ground, whole process, without manual intervention, effectively raises the intellectuality of unmanned plane.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be led to
The hardware crossing programmed instruction relevant completes.Aforesaid program can be stored in a computer read/write memory medium.This journey
Sequence upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. the control method of a unmanned plane, it is characterised in that including:
The first route information that unmanned plane receiving control apparatus sends；Described first route information includes the second position of destination
Information；
Described unmanned plane navigates by water to described destination according to described first route information.
Method the most according to claim 1, it is characterised in that described first route information includes the navigation of described unmanned plane
Route, described method also includes:
When described unmanned plane detects that on described navigation route, front predeterminable range exists obstacle, described unmanned plane changes navigation
Described obstacle is avoided in course, and obtains the 3rd positional information being presently in；
Described 3rd positional information is sent to described control equipment by described unmanned plane；
Described unmanned plane receives the second route information that described control equipment sends, and according to described second route information to described
Destination navigates by water；
Wherein, described second route information is that described control equipment is according to described second position information, described 3rd positional information
And the route information of other unmanned planes is the route information that described unmanned plane is planned again.
Method the most according to claim 1, it is characterised in that described method also includes:
The status information of described unmanned plane is sent to described control equipment by described unmanned plane；
Described unmanned plane receives at least one position, level point that described control equipment sends, and the level point that will finally receive
Position is as target landing place；
Described unmanned plane drop to described target landing place；
Wherein, position, described level point is the described control equipment described present bit according to the state information acquisition of described unmanned plane
The level point positional information landed that confidence breath around obtains.
Method the most according to claim 1, it is characterised in that described method also includes:
Described unmanned plane receives the shooting control command that described control equipment sends；
Described unmanned plane shoots video according to described shooting control command, and described video is returned described control equipment.
5. the control method of a unmanned plane, it is characterised in that including:
Control equipment obtain primary importance information that the first unmanned plane is presently in, the second position information of destination and other
The route information of unmanned plane；
Described control equipment is believed according to the route of described primary importance information, described second position information and other unmanned planes described
For described first unmanned plane, breath, plans that navigation to the route of described destination and obtains the first route information；
Described first route information is sent to described first unmanned plane by described control equipment so that described first unmanned plane according to
Described first route information navigation is to described destination.
Method the most according to claim 5, it is characterised in that described method also includes:
If described control equipment Inspection deviates, to described first unmanned plane, the route that described first route information is corresponding, then obtain institute
State the 3rd positional information that the first unmanned plane is current；
Described control equipment is according to described 3rd positional information, described second position information and the route of other unmanned planes described
Information, plans again that for described first unmanned plane navigation to the route of described destination and obtains the second route information；
Described second route information is sent to described first unmanned plane by described control equipment, so that described first unmanned plane continues
Navigation is to described destination.
7. according to the method described in claim 5 or 6, it is characterised in that described control equipment according to described primary importance information,
Described second position information and the route information of other unmanned planes described, for described first unmanned plane planning navigation to described purpose
Ground route and obtain the first route information, described method also includes:
Described control equipment obtains the information about power of described first unmanned plane；
Described control equipment is according to described information about power, described primary importance information and described second position information, it is judged that described
Whether the first unmanned plane meets navigation condition；
Wherein, described navigation condition includes network connection conditions and electrical demand condition.
Method the most according to claim 7, it is characterised in that described control equipment according to described information about power, described
One positional information and described second position information, it is judged that whether described first unmanned plane meets navigation condition, including:
Described control equipment according to the information about power of described unmanned plane, described primary importance information and described second position information,
Judge that can the dump energy in the information about power of described first unmanned plane navigate by water to described destination；
Described control equipment obtains the 4th positional information that described control equipment is presently in, and according to described second position information
With described 4th positional information, it is judged that can the distance of the 4th position that described control equipment is presently in and the described second position
Meet the maximum distance that network connects；
When the dump energy in the information about power of described first unmanned plane can navigate by water to described destination, and described control equipment
The 4th position being presently in meets, with the distance of the described second position, the maximum distance that network is connected, the most described first unmanned plane
Meet navigation condition.
Method the most according to claim 7, it is characterised in that described method also includes:
Described control equipment obtains the status information of described first unmanned plane；Described status information includes described first unmanned plane
Current location information and information about power；
Described control equipment, according to described information about power, determines that whether the electricity of described first unmanned plane is less than presetting electricity；
If described control equipment determines that the electricity of described first unmanned plane is less than presets electricity, the most described control equipment is according to described
Current location information, obtains at least one the level point positional information that can land around current location information；
At least one level point positional information described is sent to described first unmanned plane by described control equipment.
Method the most according to claim 7, it is characterised in that described method also includes:
Described control equipment sends shooting control command to described first unmanned plane, so that described first unmanned plane is according to described bat
Take the photograph control command shooting video, and described video is returned described control equipment.
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