WO2018218536A1 - Flight control method, apparatus and control terminal and control method therefor, and unmanned aerial vehicle - Google Patents

Abstract

Provided are a flight control method, device, control terminal and system, and an unmanned aerial vehicle. The flight control method comprises: determining the altitude of a take-off position point of an unmanned aerial vehicle (S101); acquiring the relative height between the altitude of a way-point in an air route and the altitude of the take-off position point (S102); and controlling the unmanned aerial vehicle such that same flies along the air route according to the relative height (S103). The flight of an unmanned aerial vehicle can be controlled based on the altitude of a way-point in an air route, thereby ensuring the consistency of the air route height every time the unmanned aerial vehicle executes the same air route.

Description

Flight control method, device, control terminal and control method thereof, drone Technical field

The present invention relates to the field of flight technology, and in particular, to a flight control method, device, control terminal, control method thereof, and drone.

Background technique

With the continuous advancement of science and technology, the functions of Unmanned Aerial Vehicle (UAV) are continuously enriched, and its application fields are also expanding, including professional aerial photography, agricultural irrigation, electric power cruise, remote sensing mapping, and 3D reconstruction. Generally, the flight path of the aircraft is set through the ground flight control console, and the aircraft is controlled to fly according to the set route to complete the corresponding task.

Currently, the route planning of drones is based on a relatively high degree of approach. That is, at the time of planning, the relative height of each waypoint is set, and then when the flight phase of the flight is initialized, the altitude of the drone is taken off, and the relative altitude of the waypoint is added, that is, the actual flight of all the waypoints is obtained. height. There is an obvious problem with this approach, that is, when taking off at different locations, the final route height must be different. However, in some industry sectors, there are strict requirements on the absolute altitude of the flight of the UAV. For example, if the flight altitude is inconsistent, the actual operation effect will be affected.

Summary of the invention

The embodiment of the invention discloses a flight control method, a device, a control terminal and a control method thereof, and a drone to ensure the consistency of the route height when the drone performs the same route each time.

A first aspect of an embodiment of the present invention discloses a flight control method, including:

Determining the altitude of the point at which the drone takes off;

Obtaining a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location;

The drone is controlled to fly on the route according to the relative height.

A second aspect of the embodiments of the present invention discloses a control method for controlling a terminal, including:

Obtain the altitude of the point where the drone takes off;

Determining the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off;

The drone is controlled to fly on the route according to the relative height.

A third aspect of the embodiments of the present invention discloses a flight control device, including: a memory and a processor.

The memory is configured to store program instructions;

The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:

Determining the altitude of the point at which the drone takes off;

Obtaining a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location;

The drone is controlled to fly on the route according to the relative height.

A fourth aspect of the embodiments of the present invention discloses a control terminal, including a memory and a processor.

The memory is configured to store program instructions;

The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:

Obtain the altitude of the point where the drone takes off;

Determining the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off;

The drone is controlled to fly on the route according to the relative height.

A fifth aspect of an embodiment of the present invention discloses a drone, including:

body;

a power system disposed on the fuselage for providing flight power;

A flight control device as described in the third aspect.

The embodiment of the present invention first determines the altitude of the take-off position of the drone, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls the unmanned according to the relative height. The aircraft flies on the route. In this way, based on the altitude of the waypoint in the route, the altitude is determined according to the altitude of the waypoint in the route and the altitude of the takeoff position of the drone when performing the route task, and the drone is controlled according to the relative height. Flying on the route ensures the consistency of the route height of the drone every time the same route is executed.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying for creative labor.

1 is a schematic flow chart of a flight control method according to an embodiment of the present invention;

2 is a schematic flow chart of a flight control method according to another embodiment of the present invention;

FIG. 3a is a schematic diagram of determining an altitude of a waypoint in a route according to an embodiment of the present invention; FIG.

FIG. 3b is a schematic diagram of determining a relative height according to an altitude of a waypoint in a route and a takeoff position of a drone according to an embodiment of the present invention; FIG.

FIG. 3c is a schematic diagram of determining an altitude of a waypoint in a route according to another embodiment of the present invention; FIG.

FIG. 3d is a schematic diagram of determining an altitude of a waypoint in a route according to another embodiment of the present invention; FIG.

4 is a schematic flowchart of a control method of a control terminal according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a flight control device according to an embodiment of the present invention; FIG.

6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;

7 is a schematic structural view of a drone according to an embodiment of the present invention;

detailed description

The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to be "connected" to another component, it may be directly connected to another component or may have a centered component at the same time. In addition, the "connection" herein may be a mechanical connection or an electrical connection. The electrical connection may be a wired connection or a wireless connection.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiments of the present invention provide a flight control method. FIG. 1 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

S101. Determine an altitude of a point where the drone takes off.

Specifically, the take-off position of the drone may be a position where the drone is located when the drone is powered on, or may be a position where the drone is located when the drone is started, or may be an unmanned person. After the power system is started, the height sensor disposed under the fuselage of the drone detects the position at which the altitude changes. At the point of takeoff, the drone determines the altitude at which it is currently located. At present, the drone is generally equipped with a barometer. The drone can determine the altitude of the takeoff position by the barometer. However, because the barometer has a large error, if the barometer is used to measure the altitude of the takeoff position of the drone, A large error is generated when calculating the relative altitude of the waypoints of subsequent routes.

In some embodiments, determining an altitude of the UAV takeoff location comprises: acquiring RTK data, and determining an altitude of the UAV takeoff location based on the acquired RTK data. The positioning device configured on the drone can accurately determine the altitude of the drone based on the acquired RTK data.

It should be noted that, by obtaining the obtained RTK data, determining the altitude of the take-off position of the drone is only one embodiment for determining the altitude, and those skilled in the art may also determine the take-off position of the drone by other embodiments. The altitude of the embodiment is not limited in the embodiment of the present invention.

S102. Obtain a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location.

Specifically, before the drone performs the route task, the control terminal sends the route information in the route to the drone, wherein the route includes multiple waypoints, wherein the route information includes at least the location information of each waypoint. (Longitude, Latitude), in some embodiments, the route information may include, in addition to the location information of each waypoint, an index ID of the waypoint, waypoint action information, route attributes associated with the waypoint, etc. The waypoint action includes but is not limited to pan/tilt control information and shooting control information. The route attributes associated with the waypoint may include, but are not limited to, a flight mode of a straight flight mode, a coordinated turn mode, a POI, and the like. After receiving the route information sent by the control terminal, the processor of the drone can obtain the relative altitude between the altitude of the waypoint in the route and the altitude of the departure point of the drone, because each waypoint in the route The altitude of the drone is determined to be constant. The drone takes off at different take-off positions to perform the route task. If the drone wants to maintain the same altitude when performing the route, the UAV processor needs different height control. The parameters, ie the processor of the drone, need to obtain the relative heights of the different waypoints relative to the point of takeoff.

S103. Control the drone to fly on the route according to the relative height.

Specifically, the unmanned aerial vehicle obtains a relative height between an altitude of a waypoint in the route and an altitude of the unmanned aircraft takeoff position, according to position information (longitude, latitude) of the waypoint in the route, and the relative height. The drone is controlled to traverse each waypoint in the route to complete the route task.

The embodiment of the present invention first determines the altitude of the take-off position of the drone, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls the unmanned according to the relative height. The aircraft flies on the route. In this way, based on the altitude of the waypoints in the route, the altitude of the route according to the route is obtained. And the relative height determined by the altitude of the take-off position of the drone when performing the current mission, and controlling the drone to fly on the route according to the relative height, can ensure the altitude of the route when the drone performs the same route each time. Consistency.

Embodiments of the present invention provide a flight control method. FIG. 2 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 2, based on the foregoing embodiment, the method in this embodiment may include:

S201: Obtain RTK data, and determine an altitude of a take-off position of the drone according to the RTK data;

Specifically, real-time dynamic carrier differential positioning (RTK) is a global navigation satellite system (GNSS) high-precision positioning technology, and its positioning accuracy can reach centimeter level. Two stations are required in the RTK-based positioning scheme: the base station and the rover, which are user receivers and can be installed on different carriers, such as drones, where the RTK data includes at least: the carrier phase observed by the base station. At least one of pseudorange information and coordinate information. Among them, the rover needs to receive the RTK data transmitted by the base station to complete the RTK positioning, thereby obtaining the precise position.

At present, there are two types of data transmission by the base station: one is transmitted through the radio station, and the rover receives the RTK data transmitted by the radio station through the communication interface of the radio station; the other is transmitted through the network RTK, that is, through the wireless network (2G) , 3G or 4G, etc.), the rover receives RTK data through the wireless network base station.

In some embodiments, the obtaining RTK data comprises: acquiring RTK data transmitted by an RTK ground station. Specifically, the drone can obtain the RTK data transmitted by the radio station through the communication interface of the radio station, or the drone can acquire the RTK data sent by the radio network base station through the wireless network communication interface, and after obtaining the RTK data, the drone The altitude of the takeoff location point can be determined based on the acquired RTK data.

In some embodiments, the obtaining the RTK data comprises: acquiring RTK data sent by the control terminal. Specifically, in the network RTK transmission mode, RTK data is transmitted through the wireless network base station, whereas the transmitting board of the wireless network base station is generally installed in parallel or downward. Therefore, when the drone flies to a higher altitude, the drone may not receive the RTK data transmitted by the wireless network base station. Here, the RTK data can be received by the control terminal of the drone on the ground. Specifically, the control terminal can configure the wireless network communication interface or the radio station communication interface, receive the RTK data from the wireless network base station, or receive the radio station of the RTK ground station. The RTK data is sent, and then the control terminal forwards the received RTK data to the drone.

In some embodiments, determining the altitude of the takeoff location point based on the acquired RTK data comprises: determining a height difference between a location of the drone takeoff location point and the RTK ground station based on the RTK data, determining according to the altitude difference The altitude at which the drone takes off. Specifically, after receiving the RTK data, the UAV can calculate the relative positional relationship between the UAV and the base station according to the RTK data. For example, the UAV and the base station can be determined. The height difference between the two, and the altitude of the take-off position of the drone is determined according to the height difference. Further, when the altitude of the base station is acquired, the altitude of the take-off position of the drone may be determined according to the height difference and the altitude of the base station.

S202. Obtain a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location point;

Specifically, the altitude of the waypoints in the route may be saved in the control terminal of the drone, wherein the control terminal includes a dedicated remote controller, a smart phone, a tablet computer, a laptop computer, a wearable device (watch, bracelet) One or more of them. Obtaining the relative height between the altitude of the waypoints in the route and the altitude of the UAV takeoff location may include the following feasible ways:

A feasible way is to send the altitude of the departure point of the drone to the control terminal, and receive the relative height between the altitude of the waypoint in the route sent by the control terminal and the altitude of the takeoff position. Specifically, when the drone is at the take-off position, the altitude of the drone is determined, and the altitude is transmitted to the control terminal, and the control terminal can determine each of the routes according to the altitude of the received take-off position. The altitude of the waypoint and the altitude of the takeoff location determine the relative height of each waypoint. After determining the relative height of each waypoint, the control terminal can combine the route information with the relative height of each waypoint in the route. Send to the drone.

Another feasible manner: receiving the altitude of the waypoint in the route sent by the control terminal; determining the altitude of the waypoint in the route and the takeoff location according to the altitude of the waypoint in the route and the altitude of the departure point of the drone The relative height between the altitudes of the points. Specifically, before performing the route task, the control terminal sends the saved route information together with the altitude of the waypoint in the route to the drone, and the drone can receive the route information and the altitude of the waypoint in the route, according to the route. The altitude of each waypoint and the altitude of the takeoff location determine the relative height of each waypoint.

Another possible way is to determine the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location. Specifically, the altitude of the waypoints in the route is stored inside the drone, for example, stored in the memory of the drone, and stored in the flight control system of the drone, and the drone receives the route information sent by the control terminal. That is, the relative height may be determined according to the altitude of the departure point of the drone that performs the current route and the altitude of the waypoint in the route.

S203. Control the drone to fly on the route according to the relative height.

The specific methods and principles of step S203 and step S103 are the same, and are not described here.

The altitude determination process of the waypoints in the route in the route will be described in detail below. The determination of the altitude of the waypoints in the route includes the following feasible ways:

A feasible way: the altitude of the waypoint in the route is based on the previous or previous execution of the flight The altitude of the line at the takeoff position of the drone is determined by the relative height between the waypoint in the route set by the control terminal and the takeoff position of the drone.

Specifically, as shown in FIG. 3a, the user determines the location information of each waypoint in the route by controlling the interaction interface of the terminal, and the user determines the flight altitude of each waypoint by controlling the interaction interface of the terminal, that is, determining the flight altitude in the route. The relative height between the waypoint and the point at which the drone takes off. For example, the user determines the coordinate information of the four waypoints A, B, C, and D by way of dot on the map, and determines the four waypoints A, B, C, and D by setting the waypoint. The relative altitudes H _A , H _B , H _C , H _D of the altitude of the take-off position of the drone. When the route is executed for the previous or previous times, the drone determines the altitude d of the take-off position, specifically determined. The altitude of the departure point of the drone can be seen in the foregoing section and will not be described here. At this time, the drone can transmit the altitude of the take-off position to the control terminal, and the control terminal can determine the altitude of the waypoint in the route according to the altitude of the take-off position point and the relative height of the waypoint in the route determined by the user, that is, determine A. The altitudes of the four destinations of B, C, and D are H _A +d, H _B +d, H _C +d, and H _D +d, respectively, and the altitude of the waypoints in the route is saved. For example, as shown in FIG. 3b, when the route task is executed next time, the drone may take off at another location, and the control terminal may send the saved route information and the altitude of the waypoint in the route to the drone, and further, control The terminal may also receive the altitude of the current take-off position sent by the drone, and determine the relative height of each waypoint in the route relative to the current take-off position according to the altitude of the take-off position, and then The relative altitude and route information are sent to the drone. The altitude of the current takeoff location is d ₁ . When performing this route mission, the altitudes of the four destinations A, B, C, and D in the route are H _A1 = H _A + dd ₁ and H _B1 = H, respectively. _B + dd ₁ , H _C1 = H _C + dd ₁ , H _D1 = H _D + dd ₁ .

Another possible way: the altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route.

Specifically, as shown in FIG. 3c, the user determines the location information of each waypoint in the route by controlling the interaction interface of the terminal, and the user determines the flight altitude of each waypoint by controlling the interaction interface of the terminal, that is, setting the route in the route. The relative height between the waypoint and the point at which the drone takes off. For example, the user determines the coordinate information of the four waypoints A, B, C, and D and the relative heights of the altitudes of the four destinations A, B, C, and D relative to the takeoff position of the drone, H _A , H _B , H _C , H _D , during the previous or previous execution of the route, the drone took off from the position shown in the figure, however, the user planned relative heights H _A , H _B , H _C , H _D may not be the optimal flight altitude. When the drone reaches the waypoint according to the location information of the waypoints in the route and the planned relative height, the user can send a control command to the drone through the control terminal, and the control command is used for adjustment. The flight altitude of the drone on the waypoints in the route, for example, according to the position information of the waypoints A, B, C, D and the relative heights of the user-planned waypoints A, B, C, D H _A , H _B , H _C , H _D , the drone arrives at the waypoints A, B, C, D. At this time, if the drone does not reach the optimal flight altitude at the waypoints A, B, C, D, the user can adjust through the control terminal. The flying height of the man-machine at the position information indicated by waypoints A, B, C, D, controlling the drone to reach the optimal flying height , that is, the flight altitude indicated by the waypoints A ₁ , B ₁ , C ₁ , D _{1 is} reached. When the optimal height is reached, the user performs a first confirmation operation on the interactive interface of the control terminal (ie, the second operation of the later part of this document) The control terminal sends a first confirmation command to the drone after detecting the confirmation operation, and the drone can determine the altitude of the waypoints A ₁ , B ₁ , C ₁ , D ₁ according to the acquired RTK data. The height and the altitude of the waypoints A ₁ , B ₁ , C ₁ , D ₁ are sent to the control terminal, and the control terminal receives the altitude for preservation. When the drone performs the next route, the route is modified to the route indicated by the waypoints A ₁ , B ₁ , C ₁ , D ₁ , that is, the position information of the waypoints in the route is unchanged, and the altitude of the route becomes the waypoint A ₁ , the altitude of B ₁ , C ₁ , D ₁ .

Another feasible way: the altitude of the waypoints in the route is determined according to the acquired RTK data during the route planning process.

Specifically, as shown in FIG. 3d, during the route planning process, the user can control the drone to fly through the control terminal, when the user controls the drone to fly to a certain point and wants to use the location as a waypoint in the route. For example, the user controls the drone to fly to the location point A, and wants to use the location point A as the waypoint A in the route, and the user performs a second confirmation operation on the interactive interface of the control terminal (ie, the part of the later part of this document) In the third operation, after the control terminal detects the confirmation operation, the control terminal sends a second confirmation command to the drone, and the drone acquires the position information and the altitude of the position point A through the RTK data, and confirms the waypoint B in this way. , C, D position information and altitude, send the location information and altitude of the waypoints A, B, C, D to the control terminal, the control terminal receives the waypoints A, B, C, D sent by the drone The location information and altitude are saved.

The embodiment of the present invention first determines the altitude of the take-off position of the drone according to the RTK data, and then obtains the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone, and finally controls according to the relative height. The drone flies on the route. In this way, based on the altitude of the waypoints in the route, the relative altitude determined according to the altitude of the route in the route and the altitude of the takeoff position of the drone when performing the route task is obtained, and the uncontrolled according to the relative height is controlled. The flight of the aircraft on the route can ensure the consistency of the route height of the drone every time the same route is executed.

FIG. 4 is a schematic flowchart diagram of a control method of a control terminal according to an embodiment of the present invention. A flight control method for controlling a terminal, which is described in this embodiment, includes:

401. Obtain an altitude of a departure point of the drone.

Specifically, the drone determines the altitude of the take-off position point when performing the current route task by the manner as described above, and the drone passes the altitude of the take-off position point through the downlink data link with the control terminal. Height sent to control The terminal controls the terminal to obtain the altitude of the takeoff location point.

402. Determine a relative height between an altitude of a waypoint in the route and an altitude of the departure point of the drone.

Specifically, after acquiring the altitude of the departure point of the drone, the control terminal determines, according to the altitude of the waypoint in the route pre-stored by the control terminal and the acquired altitude of the takeoff position of the drone. The relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off. Specifically, the altitude of each waypoint in the route is subtracted from the altitude of the takeoff position of the drone to obtain the relative height of the corresponding waypoint, and the relative height of each waypoint in the route is obtained in this way.

In some feasible implementation manners, determining a relative height between an altitude of a waypoint in the route and an altitude of the drone takeoff location includes: detecting a first operation of the user, determining an altitude selected by the first operation For the altitude corresponding to the waypoint in the route, determine the relative height between the altitude of the waypoint in the route and the altitude of the departure point of the drone. Specifically, the control terminal may configure an interaction interface that interacts with the user, where the interaction interface may be a touch display screen, and before performing the current task, the interaction interface may perform the navigation on the route when the route is executed the previous time or the previous time. The altitude of the point is displayed. During the execution of the waypoint task, the user selects the altitude of the waypoint in the route through the first operation. For example, the first operation may be a click operation, and after detecting the click operation of the user, the control terminal is The relative height of each waypoint in the route may be determined according to the method described above according to the altitude of the waypoint in the route selected by the user and the altitude of the takeoff position of the drone when performing the route task.

In the embodiment of the present invention, the altitude of the waypoint in the route is determined during the previous or previous execution of the route.

In some feasible implementation manners, obtaining an altitude of a drone take-off position when the route is executed the previous time or the previous time; according to the previous or previous execution of the route, the drone take-off position The altitude of the route and the altitude of the route in the waypoint are determined by the relative height between the waypoint in the route set by the control terminal and the departure point of the drone. For specific principles and explanations, please refer to the related descriptions of FIG. 3a and 3b, and details are not described herein again.

In some feasible implementation manners, during the previous or previous execution of the route, a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route; After the operation, the altitude of the waypoint in the route sent by the drone is received. For specific principles and explanations, please refer to the related description part of FIG. 3c, and details are not described herein again.

In some feasible implementation manners, during the route planning process, a flight control command is sent to the drone to control the flight of the drone to the waypoint; after detecting the third operation of the user, according to the route sent by the receiving drone Location information and altitude of the midpoint. For specific principles and explanations, please refer to the related description of FIG. 3d, and details are not described herein again.

403. Control the drone to fly on the route according to the relative height.

Specifically, before controlling the drone to perform the current route task, the control terminal sends the route information to the drone, and the control terminal determines the altitude of the waypoint in the route and the altitude of the takeoff position of the drone. After the relative height between the two, the relative height is sent to the drone to control the drone to fly on the route, that is, to control the coordinate information of the waypoint according to the waypoint in the route and the altitude of the waypoint in the route and the absence The relative height between the altitudes of the man-machine take-off position points on the route, so that even if the take-off position point when performing the route task this time is different from the take-off position point when the previous or previous execution of the route task is performed, It is still possible to ensure that the route height at the time of the execution of the route task is consistent with the route height at the previous or previous execution of the route task.

In the embodiment of the present invention, the altitude of the take-off position of the drone is first obtained, and then the relative height between the altitude of the waypoint in the route and the altitude of the take-off position of the drone is determined, and finally according to the relative height control. The drone is flying on the route, and the drone can be controlled based on the absolute altitude, thereby ensuring the consistency of the route height of the drone every time the same route is executed.

Embodiments of the present invention provide a flight control device. FIG. 5 is a schematic structural diagram of a flight control device according to an embodiment of the present invention. As shown in FIG. 5, the method in this embodiment may include: a memory 501 and a processor 502.

The memory 501 is configured to store program instructions;

The processor 502 is configured to execute the program instructions stored in the memory, when the program instructions are executed, to:

Determining the altitude of the point at which the drone takes off;

Obtaining a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location;

The drone is controlled to fly on the route according to the relative height.

In some embodiments, when the processor 502 determines the altitude of the UAV takeoff location point, specifically for:

Obtain RTK data and determine the altitude of the UAV takeoff location based on the RTK data.

In some embodiments, when the processor 502 acquires RTK data, it is specifically used to:

Obtain the RTK data sent by the RTK ground station.

In some embodiments, when the processor 502 acquires RTK data, it is specifically used to:

Obtain the RTK data sent by the control terminal.

In some embodiments, when the processor 502 determines the altitude of the departure point of the drone based on the RTK data, the processor 502 is specifically configured to:

The height difference between the position of the take-off position of the drone and the RTK ground station is determined according to the RTK data, and the altitude of the take-off position of the drone is determined according to the height difference.

In some embodiments, when the processor 502 determines the altitude of the take-off position of the drone according to the height difference, specifically, the processor 502 is configured to:

The altitude of the take-off position of the drone is determined according to the height difference and the altitude of the RTK ground station.

In some embodiments, when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:

Receiving a relative height between an altitude of a waypoint in the route sent by the control terminal and an altitude of the takeoff location point.

In some embodiments, when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:

Receiving an altitude of a waypoint in a route sent by the control terminal;

The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the departure point of the drone.

In some embodiments, when the processor 502 acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to:

The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location.

In some embodiments, the altitude of the waypoints in the route is based on the altitude of the unmanned aircraft takeoff location point when the route was executed the previous time or the previous time and the navigation of the route set by the user through the control terminal. The relative height between the point and the point at which the drone takes off is determined.

In some embodiments, the altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route.

In some embodiments, the altitude of the waypoints in the route is determined based on the acquired RTK data during the route planning process.

The embodiment of the invention provides a control terminal. FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention. As shown in FIG. 6, the method in this embodiment may include: a memory 601 and a processor 602.

The memory 601 is configured to store program instructions;

The processor 602 is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to:

Obtain the altitude of the point where the drone takes off;

Determining the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off;

The drone is controlled to fly on the route according to the relative height.

In some embodiments, the processor 602 determines the relative height between the altitude of the waypoint in the route and the altitude of the drone takeoff location, specifically for:

Detecting the first operation of the user, determining the altitude selected by the first operation as the altitude corresponding to the waypoint in the route;

Determine the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off.

In some embodiments, the processor 602 controls the drone to fly on the route according to the relative height, specifically for:

The relative altitude is sent to the drone to control the drone to fly on the route.

In some embodiments, the processor 602 is further configured to:

Obtaining the altitude at which the drone takes off at the time of the previous or previous execution of the route;

Determining the relative altitude between the waypoint of the UAV takeoff position when the route is executed in the previous or previous times and the waypoint of the UAV and the UAV takeoff position set by the user through the control terminal The altitude of the waypoint in the route.

In some embodiments, the processor 602 is further configured to:

During the previous or previous execution of the route, a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route;

After detecting the second operation of the user, receiving the altitude of the waypoint in the route sent by the drone.

In some embodiments, the processor 602 is further configured to:

During the route planning process, a flight control command is sent to the drone to control the drone flight to the waypoint;

After detecting the third operation of the user, receiving the location information and the altitude of the waypoints in the route sent by the drone.

Embodiments of the present invention provide a drone. FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 7, the unmanned aerial vehicle includes a fuselage 701, a power system 702, and a flight control device 703. The power system 702 is mounted to the body 701 for providing flight power. The flight control device 703 is any of the above-mentioned flight control devices disclosed in the embodiments of the present invention, and the principles and implementations thereof are similar to the above embodiments, and are not described herein again.

Specifically, the power system includes one or more of a propeller, a motor, and an electric power. The unmanned aerial vehicle may further include a pan/tilt 704 and an imaging device 705, and the imaging device 705 is mounted on the main body of the unmanned aerial vehicle through the pan/tilt 704. The imaging device 705 is used for image or video shooting during the flight of the unmanned aerial vehicle, including but not limited to a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc., and the pan/tilt 704 is multi-axis transmission and stabilized. System The motor compensates for the photographing angle of the image forming apparatus 705 by adjusting the rotation angle of the rotating shaft, and prevents or reduces the shake of the image forming apparatus 705 by setting an appropriate buffer mechanism. The drone receives the control command of the control terminal 800, and controls the drone to perform a corresponding action according to the command.

It should be noted that, for the foregoing various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Because certain steps may be performed in other sequences or concurrently in accordance with the present invention. In addition, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

A person skilled in the art may understand that all or part of the various steps of the foregoing embodiments may be performed by a program to instruct related hardware. The program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

The above describes a flight control method, a device, a control terminal, a control method thereof, and a drone provided by the embodiments of the present invention. The specific examples are used herein to explain the principles and implementation manners of the present invention. The description of the embodiments is only for helping to understand the method of the present invention and its core ideas; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scopes. The description herein is not to be construed as limiting the invention.

Claims (37)

A flight control method, characterized in that the method comprises: Determining the altitude of the point at which the drone takes off; Obtaining a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location; The drone is controlled to fly on the route according to the relative height. The method of claim 1 wherein The determining the altitude of the drone takeoff location includes: Obtain RTK data and determine the altitude of the UAV takeoff location based on the RTK data. The method of claim 2 wherein: The obtaining RTK data includes: Obtain the RTK data sent by the RTK ground station. The method of claim 2 wherein: The obtaining RTK data includes: Obtain the RTK data sent by the control terminal. A method according to any of claims 2-4, characterized in that The determining, according to the RTK data, the altitude of the departure point of the drone includes: The height difference between the position of the take-off position of the drone and the RTK ground station is determined according to the RTK data, and the altitude of the take-off position of the drone is determined according to the height difference. The method of claim 5 wherein: Determining, according to the height difference, an altitude of a take-off position of the drone includes: The altitude of the take-off position of the drone is determined according to the height difference and the altitude of the RTK ground station. A method according to any one of claims 1 to 6, wherein The relative height between the altitude of the waypoint in the acquisition route and the altitude of the takeoff location includes: Receiving a relative height between an altitude of a waypoint in the route sent by the control terminal and an altitude of the takeoff location point. A method according to any one of claims 1 to 6, wherein The relative height between the altitude of the waypoint in the acquisition route and the altitude of the takeoff location includes: Receiving an altitude of a waypoint in a route sent by the control terminal; The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the departure point of the drone. A method according to any one of claims 1 to 6, wherein The relative height between the altitude of the waypoint in the acquisition route and the altitude of the takeoff location includes: The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location. The method of any of claims 1-9, wherein the method further comprises The altitude of the waypoint in the route is based on the altitude of the departure point of the drone when the route is executed the previous time or the previous time, and the waypoint and the take-off position of the drone in the route set by the user through the control terminal. The relative height between the points is determined. The method according to any one of claims 1 to 9, wherein the method further comprises: The altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route. Method according to any of claims 1-9, characterized in that The altitude of the waypoints in the route is determined according to the acquired RTK data during the route planning process. A control method for controlling a terminal, the method comprising: Obtain the altitude of the point where the drone takes off; Determining the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off; The drone is controlled to fly on the route according to the relative height. The method of claim 13 wherein: The relative height between the altitude of the waypoint in the determined route and the altitude of the takeoff location of the drone includes: Detecting the first operation of the user, determining the altitude selected by the first operation as the altitude corresponding to the waypoint in the route; Determine the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off. Method according to claim 13 or 14, characterized in that The controlling the drone to fly on the route according to the relative height comprises: The relative altitude is sent to the drone to control the drone to fly on the route. The method according to any one of claims 13 to 15, wherein the method further comprises: Obtaining the altitude at which the drone takes off at the time of the previous or previous execution of the route; Determining the relative altitude between the waypoint of the UAV takeoff position when the route is executed in the previous or previous times and the waypoint of the UAV and the UAV takeoff position set by the user through the control terminal The altitude of the waypoint in the route. The method according to any one of claims 13 to 15, wherein the method further comprises: During the previous or previous execution of the route, a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route; After detecting the second operation of the user, receiving the altitude of the waypoint in the route sent by the drone. The method according to any one of claims 13 to 15, wherein the method further comprises: During the route planning process, a flight control command is sent to the drone to control the drone flight to the waypoint; After detecting the third operation of the user, receiving the location information and the altitude of the waypoints in the route sent by the drone. A flight control device includes: a memory and a processor, The memory is configured to store program instructions; The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to: Determining the altitude of the point at which the drone takes off; Obtaining a relative height between an altitude of a waypoint in the route and an altitude of the takeoff location; The drone is controlled to fly on the route according to the relative height. The device according to claim 19, characterized in that When the processor determines the altitude of the departure point of the drone, it is specifically used to: Obtain RTK data and determine the altitude of the UAV takeoff location based on the RTK data. The device according to claim 20, wherein When the processor acquires RTK data, it is specifically used to: Obtain the RTK data sent by the RTK ground station. The device according to claim 20, wherein When the processor acquires RTK data, it is specifically used to: Obtain the RTK data sent by the control terminal. Apparatus according to any one of claims 20-22, wherein When the processor determines the altitude of the takeoff position of the drone according to the RTK data, it is specifically used to: The height difference between the position of the take-off position of the drone and the RTK ground station is determined according to the RTK data, and the altitude of the take-off position of the drone is determined according to the height difference. The device according to claim 23, wherein When the processor determines the altitude of the take-off position of the drone according to the height difference, the processor is specifically configured to: The altitude of the take-off position of the drone is determined according to the height difference and the altitude of the RTK ground station. Apparatus according to any one of claims 19-24, wherein When the processor acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to: Receiving a relative height between an altitude of a waypoint in the route sent by the control terminal and an altitude of the takeoff location point. Apparatus according to any one of claims 19-24, wherein When the processor acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to: Receiving an altitude of a waypoint in a route sent by the control terminal; The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the departure point of the drone. Apparatus according to any one of claims 19-24, wherein When the processor acquires the relative height between the altitude of the waypoint in the route and the altitude of the takeoff location, the processor is specifically configured to: The relative height between the altitude of the waypoint in the route and the altitude of the takeoff location is determined according to the altitude of the waypoint in the route and the altitude of the unmanned takeoff location. Apparatus according to any of claims 19-27, wherein the method further comprises The altitude of the waypoint in the route is based on the altitude of the departure point of the drone when the route is executed the previous time or the previous time, and the waypoint and the take-off position of the drone in the route set by the user through the control terminal. The relative height between the points is determined. The device according to any one of claims 19 to 27, wherein the method further comprises: The altitude of the waypoints in the route is determined based on the acquired RTK data during the previous or previous execution of the route. Apparatus according to any one of claims 19-27, wherein The altitude of the waypoints in the route is determined according to the acquired RTK data during the route planning process. A control terminal includes a memory and a processor, The memory is configured to store program instructions; The processor is configured to execute the program instructions stored by the memory, when the program instructions are executed, the processor is configured to: Obtain the altitude of the point where the drone takes off; Determining the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off; The drone is controlled to fly on the route according to the relative height. The control terminal according to claim 31, characterized in that When the processor determines the relative height between the altitude of the waypoint in the route and the altitude of the departure point of the drone, it is specifically used to: Detecting the first operation of the user, determining the altitude selected by the first operation as the altitude corresponding to the waypoint in the route; Determine the relative height between the altitude of the waypoint in the route and the altitude of the point at which the drone takes off. A control terminal according to claim 31 or 32, wherein When the processor controls the drone to fly on the route according to the relative height, the processor is specifically configured to: The relative altitude is sent to the drone to control the drone to fly on the route. The control terminal according to any one of claims 31 to 33, wherein the processor is further configured to: Obtaining the altitude at which the drone takes off at the time of the previous or previous execution of the route; Determining the relative altitude between the waypoint of the UAV takeoff position when the route is executed in the previous or previous times and the waypoint of the UAV and the UAV takeoff position set by the user through the control terminal The altitude of the waypoint in the route. The control terminal according to any one of claims 31 to 33, wherein the processor is further configured to: During the previous or previous execution of the route, a control command is sent to the drone to adjust the flight altitude of the drone on the waypoint in the route; After detecting the second operation of the user, receiving the altitude of the waypoint in the route sent by the drone. The control terminal according to any one of claims 31 to 33, wherein the processor is further configured to: During the route planning process, a flight control command is sent to the drone to control the drone flight to the waypoint; After detecting the third operation of the user, receiving the location information and the altitude of the waypoints in the route sent by the drone. A drone that includes: body; a power system disposed on the fuselage for providing flight power; A flight control device according to any of claims 19-30.

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