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Surrounding flight control method and device, terminal and storage medium

A control method and controller technology, applied in the field of unmanned aerial vehicles

Inactive Publication Date: 2019-07-02
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a control method, device, terminal, and storage medium for orbiting flight, so as to solve the problem that the drone's existing point of interest orbiting flight cannot be better applied to complex trajectories in three-dimensional space

Method used

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  • Surrounding flight control method and device, terminal and storage medium
  • Surrounding flight control method and device, terminal and storage medium
  • Surrounding flight control method and device, terminal and storage medium

Examples

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Embodiment 1

[0057] Figure 1a It is a schematic flow chart of a control method for flying around a point of interest provided by Embodiment 1 of the present invention. This method is applicable to the situation where the UAV is controlled to fly around a point of interest. This method can be controlled by the control device for flying around in the embodiment of the present invention. To execute, the device can be implemented in the form of software and / or hardware, and specifically can be integrated in the drone.

[0058]It should be noted that the method provided by the embodiment of the present invention specifically relates to consumer-grade drone products for intelligent aerial photography. The consumer-grade drone products are drones used for flying aerial photography. The functional program is used to enable the drone to fly autonomously through the integrated functional program, so the execution subject of the method provided by this embodiment can be the drone.

[0059] Simultane...

Embodiment 2

[0080] Figure 2a It is a schematic flow chart of a control method for orbiting flight provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments. In this embodiment, the determination of the next orbiting plane is further embodied as: determining The first normal vector of the initial surrounding plane passing the interest point; according to the first normal vector and the preset angle, determine the second normal vector of the next surrounding plane passing the interest point; according to the The second normal vector is used to determine the next surrounding plane.

[0081] In addition, this embodiment will control the UAV to change orbit from the initial orbital plane to the next orbital plane to perform orbital flight, which is further embodied as: obtaining the rotation from the initial orbital plane to the next orbital plane the direction of rotation; provide the UAV with a first sub-speed parallel t...

Embodiment 3

[0110] image 3 A structural block diagram of a control device for orbiting flight provided by Embodiment 3 of the present invention, which is applicable to the situation where the UAV is controlled to fly around a point of interest. This method can be controlled by the control device for orbiting flight in the embodiment of the present invention To execute, the device can be implemented in the form of software and / or hardware, and specifically can be integrated in the drone. Such as image 3 As shown, the device includes: an initial information determination module 31 , a first plane determination module 32 , a second plane determination module 33 , and a flight control module 34 .

[0111] Wherein, the initial information determination module 31 is used to determine the interest point to be surrounded and the surrounding parameters, wherein the surrounding parameters include the surrounding radius, the surrounding direction and the surrounding speed;

[0112] The first pla...

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Abstract

The embodiment of the invention discloses a surrounding flight control method and device, a terminal and a storage medium. The method comprises the steps that a point of interest to be surrounded andsurrounding parameters are determined; an initial surrounding plane is determined according to the surrounding parameters and the point of interest; a next surrounding plane is determined, wherein thenext surrounding plane is a plane centered at the point of interest and at a predetermined angle to the initial surrounding plane; a drone is controlled to carry out surrounding flight from the initial surrounding plane to the next surrounding plane. By adopting the method, the drone can stereoscopically encircle a user-selected point of interest in a three-dimensional space, and a more complicated flight trajectory is provided for special inspection scenes such as bridge surrounding inspection and security inspection. At the same time, a new lens capture field is provided for intelligent aerial photography of the drone. The functional utility of the drone flying around the point of interest is effectively improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a control method, device, terminal and storage medium for flying around. Background technique [0002] At present, UAV products are mostly used for aerial photography, while consumer-level UAV products intelligently realize some flight aerial photography actions that originally required rich aerial photography manipulation experience and fine control through programs, thus better opening up consumer-level products. The market for drone products. [0003] Existing drones have intelligent flight functions around points of interest. At present, the realization of points of interest around the scene is limited to flying in a plane or a relatively simple trajectory set in three-dimensional space, such as a polyline segment or a circle in a horizontal plane. . [0004] However, as a flying platform with high spatial mobility, UAVs have c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 钟自鸣
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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