A flight control method, device and intelligent terminal

Abstract

Embodiments of the present invention provide a flight control method, device and intelligent terminal. Among them, the method includes: the intelligent terminal acquires at least two pieces of route data; the intelligent terminal associates at least one aircraft with each piece of route data respectively according to the information of at least two preset aircrafts; the intelligent terminal sends each piece of route data to at least one aircraft associated with the route data respectively according to the association result. By adopting the embodiments of the present invention, the control of one intelligent terminal for multiple aircrafts is realized, the flight efficiency is improved, and the automatic and intelligent requirements of the user for controlling multiple aircrafts are also met.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft applications, and in particular, to a flight control method, device, and intelligent terminal. Background Art

[0002] An unmanned aerial vehicle (UAV) is an aircraft that uses a radio remote control device and a self-contained program control device to complete flight operations. The UAV does not require a pilot to fly the aircraft in the cabin, and the entire flight process is completed under the control of electronic devices. Therefore, it is widely used in fields such as reconnaissance, disaster relief, wildlife observation, mapping, news reporting, and power line inspection.

[0003] Currently, in terms of flight control of UAVs, generally, one user can only control a single UAV through a remote control, resulting in low control efficiency. Summary of the Invention

[0004] Embodiments of the present invention provide a flight control method, device, and intelligent terminal that can control at least two aircraft simultaneously.

[0005] On the one hand, embodiments of the present invention provide a flight control method, including:

[0006] Obtaining at least two pieces of route data;

[0007] According to the information of at least two aircraft preset, associating at least one aircraft with each piece of route data respectively;

[0008] According to the association result, sending each piece of route data to at least one aircraft associated with the route data;

[0009] If an execution command is received on a preset control interface, sending an execution instruction to each corresponding aircraft that has received the route data, where the execution instruction is used to trigger each aircraft to execute the corresponding route data;

[0010] Detecting the route execution status of each aircraft, and determining whether there are aircraft in different route execution statuses according to the detection result of the route execution status;

[0011] If there are aircraft in different route execution statuses, sending a prompt on the control interface to allow or disallow triggering to continue route-related operations.

[0012] Correspondingly, embodiments of the present invention further provide a flight control device, including:

[0013] An obtaining module, configured to obtain at least two pieces of route data;

[0014] An association processing module, configured to associate at least one aircraft with each flight route data respectively according to the information of at least two preset aircrafts;

[0015] A sending module, configured to send each flight route data to at least one aircraft associated with the flight route data respectively according to the association result;

[0016] The sending module is further configured to, if an execution command is received on a preset control interface, send an execution instruction to each corresponding aircraft that has received the flight route data, where the execution instruction is used to trigger each aircraft to execute the corresponding flight route data;

[0017] A detection module, configured to detect the flight route execution status of each aircraft, and determine whether there are aircrafts that are not in the same flight route execution status according to the detection result of the flight route execution status;

[0018] A control module, configured to, if there are aircrafts that are not in the same flight route execution status, give a prompt on the control interface to allow or not allow triggering to continue performing operations related to the flight route.

[0019] Correspondingly, an embodiment of the present invention further provides an intelligent terminal, where the intelligent terminal includes a user interface and a processor; the user interface is configured to process human-computer interaction data; the processor is configured to:

[0020] Obtain at least two flight route data; associate at least one aircraft with each flight route data respectively according to the information of at least two preset aircrafts; send each flight route data to at least one aircraft associated with the flight route data respectively according to the association result; if an execution command is received on a preset control interface, send an execution instruction to each corresponding aircraft that has received the flight route data, where the execution instruction is used to trigger each aircraft to execute the corresponding flight route data; detect the flight route execution status of each aircraft, and determine whether there are aircrafts that are not in the same flight route execution status according to the detection result of the flight route execution status; if there are aircrafts that are not in the same flight route execution status, give a prompt on the control interface to allow or not allow triggering to continue performing operations related to the flight route.

[0021] An embodiment of the present invention can send different flight route data to multiple aircrafts for execution as needed. The flight route data can be multiple flight route data obtained by splitting one main flight route data, or multiple originally independent flight route data. An embodiment of the present invention realizes the control of one-to-many aircrafts for aircrafts, improves the flight efficiency, and also meets the user's requirements for the automation and intelligence of controlling multiple aircrafts. Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic structural diagram of a flight control system according to an embodiment of the present invention;

[0024] Figure 2 It is a schematic structural diagram of another flight control system according to an embodiment of the present invention;

[0025] Figure 3 It is a schematic structural diagram of yet another flight control system according to an embodiment of the present invention;

[0026] Figure 4 It is a schematic flowchart of a flight control method according to an embodiment of the present invention;

[0027] Figure 5 It is a schematic flowchart of another flight control method according to an embodiment of the present invention;

[0028] Figure 6 It is a schematic structural diagram of a flight control device according to an embodiment of the present invention;

[0029] Figure 7 It is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention. Detailed implementation manners

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0031] In the embodiments of the present invention, an intelligent terminal can control multiple aircraft separately or simultaneously, and send flight instructions to make the multiple aircraft execute flight tasks respectively. The intelligent terminal can be an intelligent terminal with wireless or wired communication functions such as a personal computer, a smart phone, and a tablet computer. When the intelligent terminal obtains multiple route data, it can allocate at least one aircraft to each route data, and then send each route data to the allocated multiple aircraft simultaneously or successively to achieve simultaneous flight control of multiple aircraft.

[0032] Such as Figure 1As shown in the figure, it is a schematic structural diagram of a flight control system according to an embodiment of the present invention, including an intelligent terminal, a broadcasting device, and multiple aircraft. The intelligent terminal can control the multiple aircraft through the broadcasting device. When sending route data, the intelligent terminal can be connected to a broadcasting device through a USB data cable, and broadcast each route data to the corresponding aircraft through this broadcasting device. Specifically, the route data and the aircraft identifier associated with the route data can be encapsulated into a broadcast message. After each aircraft receives a broadcast message, it compares the aircraft identifier in the broadcast message with its own identifier. If they are the same, it extracts the route data in this broadcast message and executes this route data; if they are different, it discards this broadcast message.

[0033] As Figure 2 shown in the figure, it is a schematic structural diagram of another flight control system according to an embodiment of the present invention, including an intelligent terminal, multiple remote controllers, and multiple aircraft. Each remote controller can control one aircraft. The intelligent terminal is connected to each remote controller through wireless transmission or through a wired transmission method using a USB data cable, and sends commands such as route data to each remote controller, and then the remote controller sends them to the aircraft it can control. The intelligent terminal associates an aircraft with each route data, and then sends the route data to the corresponding remote controller for final transmission to the aircraft.

[0034] As Figure 3 shown in the figure, it is a schematic structural diagram of yet another flight control system according to an embodiment of the present invention, including an intelligent terminal and multiple aircraft. The intelligent terminal can directly communicate with each aircraft through wireless transmission. For example, the intelligent terminal itself is equipped with a WiFi module, and multiple aircraft can access the WiFi module to receive commands such as route data sent by the intelligent terminal.

[0035] In addition, when the intelligent terminal needs to control multiple aircraft to fly simultaneously, there may be intersection points between the routes represented by the route data executed by the aircraft. At these intersection points, collisions may occur between different aircraft. The so-called intersection point refers to that on the routes represented by two route data, the distance between two waypoints is within a certain distance threshold, and the aircraft executing the route data may fly to the corresponding waypoints simultaneously. These two waypoints are the intersection points, or are called dangerous position points. When it is detected that there are dangerous position points, the two route data with intersection points between them will be updated and adjusted to avoid the possibility of collisions between the corresponding aircraft when executing flight tasks.

[0036] Specifically, please refer to Figure 4, is a schematic flowchart of a flight control method according to an embodiment of the present invention. The method according to the embodiment of the present invention can be executed by a smart terminal. Specifically, the smart terminal may include a smart terminal with wireless or wired transmission functions such as a personal computer, a smart phone, a smart wearable device, etc. The method includes the following steps.

[0037] S401: The smart terminal acquires at least two route data. The at least two route data may be two or more route data configured by the user by editing waypoints on the smart terminal. The smart terminal includes a touch screen, and a corresponding user interface is displayed on the touch screen. The user completes the dotting operation on the map displayed on this interface. Each point serves as a waypoint of the route, and connecting each waypoint in sequence obtains the route. The route data mainly includes data such as the coordinates of the waypoints. The at least two route data may also be sent from other smart terminals to the smart terminal. For example, multiple route data generated after route editing by other smart terminals with large screens are sent to the smart terminal such as a smart phone and a smart wearable device.

[0038] S402: The smart terminal associates at least one aircraft with each route data according to the information of at least two aircraft preset. The relevant information of the aircraft that has established a connection with the smart terminal or has been registered in the smart terminal is recorded in the smart terminal. The information of the at least two aircraft may include: the identifier of each aircraft, the communication identifier of the remote controller corresponding to each aircraft, or the communication identifier of the wireless communication module set in each aircraft, etc. The information of the aircraft mainly serves to distinguish different aircraft and establish a communication connection between the smart terminal and different aircraft.

[0039] A user interface can be provided to the user to facilitate the user to select an aircraft for each route. Of course, the smart terminal can also make the selection by itself. There may be differences in the functions between aircraft, and there are also differences in the functions registered in the smart terminal. For example, some aircraft can execute longer routes, but the image quality of the pictures taken by the functional devices such as cameras may be relatively poor. While some aircraft have better shooting image quality. Based on the specialties of different aircraft and the requirements of each route data, the smart terminal can intelligently select an aircraft for a certain route data so as to best execute the flight task corresponding to the route data.

[0040] After associating at least one aircraft with each route data, the association relationship between the route data and the relevant information of the aircraft can be recorded in the form of a mapping table. For example, the route data and the identifier of the aircraft are mapped and stored in the mapping table.

[0041] S403: According to the association result, the intelligent terminal sends each flight route data to at least one aircraft associated with the flight route data. According to the association relationship, the intelligent terminal can send the flight route data to the corresponding aircraft.

[0042] Specifically and optionally, in S403, sending each flight route data to at least one aircraft associated with the flight route data may specifically include: The intelligent terminal sends at least two pieces of flight route data obtained to a flight route broadcast module to trigger the flight route broadcast module to broadcast the at least two pieces of flight route data to at least two aircraft. The flight route broadcast module is a separate broadcast device, and each piece of information broadcast by it includes the flight route data and the aircraft identifier associated with the flight route data. After receiving the broadcast message, the aircraft compares the aircraft identifier with its own identifier. If they are the same, it can extract and execute the corresponding flight route data in the broadcast message.

[0043] Specifically and optionally, in S403, sending each flight route data to at least one aircraft associated with the flight route data may specifically include: The intelligent terminal respectively determines the remote controller corresponding to each aircraft; The intelligent terminal sends the flight route data associated with the aircraft corresponding to the determined remote controller to the remote controller, so that the remote controller controls the flight of the corresponding aircraft according to the received flight route data. That is to say, the association relationship between the flight route data and the remote controller identifier of the aircraft can be stored in the mapping table. When sending a certain piece of flight route data, the intelligent terminal finds the identifier of the remote controller associated with the flight route data, such as the hardware address of the remote controller, to facilitate directly sending the piece of flight route data based on the identifier of the remote controller. Similarly, the operation of sending the corresponding flight route data to the remote controller of the opposite station can be completed. Each remote controller controls the corresponding aircraft to execute the corresponding flight task.

[0044] Specifically and optionally, in S403, sending each flight route data to at least one aircraft associated with the flight route data may specifically include: The intelligent terminal respectively sends the corresponding flight route data to the flight control module configured in the aircraft associated with the flight route data, so that the flight control module controls the flight of the corresponding aircraft according to the received flight route data. That is to say, the association relationship between the flight route data and the communication module identifier of the aircraft can be stored in the mapping table. When sending a certain piece of flight route data, the intelligent terminal finds the identifier of the communication module associated with the flight route data, such as the Bluetooth or WiFi address of the communication module, etc., to facilitate directly sending the corresponding flight route data to the aircraft based on the identifier of the communication module, and controlling the corresponding aircraft to execute the corresponding flight task.

[0045] Before sending the data of each flight route, it is also possible to determine whether to split the flight route data. Specifically, the method according to an embodiment of the present invention further includes: if among the at least two pieces of flight route data obtained, there is flight route data that meets the preset splitting conditions, then perform splitting processing on the flight route data that meets the splitting conditions to obtain a plurality of sub-flight route data, and send each piece of sub-flight route data after the splitting processing to at least one aircraft; the flight route data that meets the preset splitting conditions refers to: the length of the flight route represented by the flight route data is greater than a preset length threshold, or the number of waypoints of the flight route represented by the flight route data is greater than a preset number threshold, or the remaining power of the aircraft associated with the flight route data is less than the power required to complete the flight route data.

[0046] The embodiment of the present invention can send different flight route data to multiple aircraft for execution as needed. The flight route data can be multiple pieces of flight route data obtained by splitting one main flight route data, or multiple originally independent flight route data. The embodiment of the present invention realizes the control of one-to-many aircraft, improves the flight efficiency, and also meets the user's requirements for the automation and intelligence of controlling multiple aircraft.

[0047] Please refer to Figure 5 , which is a schematic flowchart of another flight control method according to an embodiment of the present invention. The method according to an embodiment of the present invention can be executed by an intelligent terminal. Specifically, the intelligent terminal can include intelligent terminals with wireless or wired transmission functions such as personal computers, smart phones, and smart wearable devices. The method includes the following steps.

[0048] S501: The intelligent terminal obtains at least two pieces of flight route data.

[0049] S502: The intelligent terminal respectively associates at least one aircraft with each piece of flight route data according to the information of at least two aircraft preset.

[0050] S503: The intelligent terminal determines the flight route position points indicated by each piece of flight route data, and determines the estimated arrival time values of each flight route position point; wherein, determining the estimated arrival time values of each flight route position point includes: calculating the estimated arrival time value for the aircraft to reach the corresponding flight route position according to the preset flight speed of the aircraft and the obtained flight route position point.

[0051] S504: The intelligent terminal determines whether the flight route position points indicated by each piece of flight route data include dangerous position points according to the flight route position points and the estimated arrival time values. The dangerous position point refers to a situation where on the flight routes represented by two pieces of flight route data, the distance between two waypoints is within a certain distance threshold, and the aircraft executing the flight route data may fly to the corresponding waypoints simultaneously. The two corresponding waypoints on the two flight routes are dangerous position points for each other.

[0052] S505: If a dangerous position point is included, the intelligent terminal triggers route update processing based on the dangerous position point. The update operation includes modifying the coordinates of multiple dangerous position points so that the distance between two dangerous position points that are mutually dangerous to each other is greater than a preset threshold.

[0053] When no dangerous position point is included or after the route with dangerous position points has been updated, the following S506 is executed.

[0054] S506: The intelligent terminal respectively sends each route data to at least one aircraft associated with the route data according to the association result.

[0055] It should be noted that S503 - S505 may also be executed at a certain time node between the time when S506 sends the route data to the corresponding aircraft.

[0056] S503 - S505 are verification steps. It is also possible that after the aircraft receives the route data, the intelligent terminal will perform safety verification on the routes of multiple aircraft to ensure that there are no intersections at the same altitude. When a route intersection is found, the system will assume that all routes are executed at the same time, and push the positions of the aircraft in the air according to the estimated speed and time, and then check the possibility of the aircraft reaching the same position at the same time; when it is detected that there are coincidence points or proximity points in time and position, the intelligent terminal will issue a warning to the user, so that the user can adjust the points where intersections (dangerous position points) may occur. And if the routes are not executed at the same time, the user can set the start execution time, and the intelligent terminal will verify the safety of the routes according to the start execution time. The specific verification method refers to the above description.

[0057] S507: If an execution command is received on the preset control interface, the intelligent terminal sends an execution instruction to each corresponding aircraft that has received the route data. The execution instruction is used to trigger each aircraft to execute the corresponding route data.

[0058] S508: The intelligent terminal detects the route execution status of each aircraft;

[0059] S509: The intelligent terminal controls the control interface according to the detection result of the route execution status.

[0060] After the user uploads the flight route to all aircraft, multiple aircraft can be selected simultaneously, and the user can click "Start Execution" of the route. If all aircraft successfully start execution, they will take off simultaneously and start executing the route. Due to different feedback times between different flight systems or interference in communication when the system sends the execution command, the command to start executing the route may fail. At this time, the intelligent terminal will allow / disallow the user to continue with route-related operations according to the logic of whether all selected aircraft are still in the same execution state.

[0061] Optionally, S509 includes: If it is determined according to the route execution status that there are aircraft with unexecuted route data, a first prompt is issued on the control interface, and the first prompt is used to indicate that the execution command cannot be received; obtain the identifiers of the aircraft with unexecuted route data; issue a second prompt on the control interface, and the second prompt is used to indicate waiting to receive the execution command; if the execution command is received again on the control interface, send an execution instruction to the aircraft indicated by the identifier of the aircraft with unexecuted route data obtained. Specifically, when some aircraft routes have not started execution: the start button is grayed out (first prompt), deselect the aircraft that have started executing the route, and the start route button is enabled (second prompt). After enabling, the user can issue the start execution command again.

[0062] Specifically, S509 includes: If it is determined according to the route execution status that there are aircraft with unexecuted route data, a third prompt is issued on the control interface, and the third prompt is used to indicate that the flight control command cannot be received; obtain the identifiers of the aircraft with executed route data; issue a fourth prompt on the control interface, and the fourth prompt is used to indicate waiting to receive the flight control command for the aircraft; if the flight control command for the aircraft is received on the control interface, send a flight control instruction to the aircraft indicated by the identifier of the aircraft with executed route data obtained. When some aircraft routes have not started execution: the pause and end buttons are grayed out (third prompt), deselect the aircraft that have not started executing the route, and the pause and end route buttons are enabled (fourth prompt). After enabling, the user can pause and end the flight of the aircraft that has already received the command.

[0063] Specifically, the S509 includes: if it is determined according to the flight route execution status that there are aircraft that have not taken off, a fifth prompt is issued on the control interface, and the fifth prompt is used to prompt that the takeoff command for the aircraft cannot be received; obtain the aircraft identifier of the aircraft that has not taken off; issue a sixth prompt on the control interface, and the sixth prompt is used to prompt waiting to receive the takeoff command for the aircraft; if a takeoff command for the aircraft is received on the control interface, send a flight control command to the aircraft indicated by the obtained aircraft identifier of the aircraft that has not taken off. When some aircraft have not taken off: the takeoff button is grayed out (fifth prompt), deselect the aircraft that have taken off, and the takeoff button is enabled (sixth prompt). After being enabled, the user can trigger the takeoff of the aircraft that has not taken off.

[0064] Specifically, the S509 includes: if it is determined according to the flight route execution status that there are aircraft that have not taken off, a seventh prompt is issued on the control interface, and the seventh prompt is used to prompt that the return command for the aircraft cannot be received; obtain the aircraft identifier of the aircraft that has taken off; issue an eighth prompt on the control interface, and the eighth prompt is used to prompt waiting to receive the return command for the aircraft; if a return command for the aircraft is received on the control interface, send a return command to the aircraft indicated by the obtained aircraft identifier of the aircraft that has taken off. When some aircraft have not taken off: the landing and return buttons are grayed out (seventh prompt), deselect the aircraft that have not taken off, and the landing and return buttons are enabled (eighth prompt). After being enabled, the user can control the aircraft that has taken off to return or land.

[0065] An embodiment of the present invention also provides a computer storage medium, in which a program is stored, and when the stored program is executed, it is used to execute the above Figure 4 or Figure 5 flight control method.

[0066] An embodiment of the present invention can send different route data to multiple aircraft for execution as needed. The route data can be multiple route data split from one main route data, or multiple originally independent route data. An embodiment of the present invention realizes the control of one-to-many aircraft for aircraft, improves flight efficiency, and also meets the user's requirements for the automation and intelligence of controlling multiple aircraft. And it can also intelligently detect potential flight safety hazards, and to a certain extent, ensure flight safety under one-to-many control.

[0067] Please refer to Figure 6 , which is a schematic structural diagram of a flight control device according to an embodiment of the present invention. The device according to an embodiment of the present invention can be applied to a smart terminal. Specifically, the smart terminal can include a smart terminal with wireless or wired transmission functions such as a personal computer, a smart phone, and a smart wearable device. The device includes the following modules.

[0068] An acquisition module 101 is configured to acquire at least two flight route data. An association processing module 102 is configured to, according to information of at least two preset aircraft, associate at least one aircraft with each flight route data respectively. A sending module 103 is configured to, according to the association result, send each flight route data to at least one aircraft associated with the flight route data.

[0069] In a specific implementation, optionally, the apparatus further includes: a first determination module 104, configured to determine flight route position points indicated by each flight route data, and determine an estimated arrival time value of each flight route position point; a second determination module 105, configured to determine whether a dangerous position point is included in the flight route position points indicated by each flight route data according to the flight route position points and the estimated arrival time value; an update processing module 106, configured to, if a dangerous position point is included, trigger flight route update processing according to the dangerous position point.

[0070] In a specific implementation, the first determination module 104 is specifically configured to: calculate an estimated arrival time value for the aircraft to reach the corresponding flight route position according to a preset flight speed of the aircraft and the acquired flight route position points.

[0071] In a specific implementation, in an embodiment, the sending module 103 is specifically configured to: send the acquired at least two flight route data to a flight route broadcast module, so as to trigger the flight route broadcast module to broadcast the at least two flight route data to at least two aircraft.

[0072] In another embodiment, the sending module 103 is specifically configured to respectively determine a remote controller corresponding to each aircraft, and send the flight route data associated with the aircraft corresponding to the determined remote controller to the remote controller, so that the remote controller controls the flight of the corresponding aircraft according to the received flight route data.

[0073] In still another embodiment, the sending module 103 is specifically configured to respectively send corresponding flight route data to flight control modules configured in the aircraft associated with the flight route data, so that the flight control modules control the flight of the corresponding aircraft according to the received flight route data.

[0074] In a specific implementation, optionally, the apparatus further includes: a splitting processing module 107, configured to, if the acquired at least two flight route data include flight route data meeting a preset splitting condition, perform splitting processing on the flight route data meeting the splitting condition to obtain a plurality of sub-flight route data; in this case, the sending module 103 is further configured to send each of the sub-flight route data after splitting processing to at least one aircraft; wherein, the flight route data meeting the preset splitting condition refers to: the length of the flight route represented by the flight route data is greater than a preset length threshold, or the number of waypoints of the flight route represented by the flight route data is greater than a preset number threshold.

[0075] In a specific implementation, optionally, the device further includes: the sending module 103 is further configured to, if an execution command is received on a preset control interface, send an execution instruction to each corresponding aircraft that has received route data, where the execution instruction is used to trigger each aircraft to execute the corresponding route data; a detection module 108, configured to detect the route execution status of each aircraft. A control module 109, configured to control the control interface according to the detection result of the route execution status.

[0076] In a specific implementation, in one embodiment, the control module 109 is specifically configured to, if it is determined according to the route execution status that there is an aircraft with unexecuted route data, issue a first prompt on the control interface, where the first prompt is used to prompt that the execution command cannot be received; obtain the identifier of the aircraft with unexecuted route data; issue a second prompt on the control interface, where the second prompt is used to prompt waiting to receive the execution command; if an execution command is received on the control interface again, send an execution instruction to the aircraft indicated by the identifier of the aircraft with unexecuted route data obtained.

[0077] In another embodiment, the control module 109 is specifically configured to, if it is determined according to the route execution status that there is an aircraft with unexecuted route data, issue a third prompt on the control interface, where the third prompt is used to prompt that the flight control command cannot be received; obtain the identifier of the aircraft that has executed the route data; issue a fourth prompt on the control interface, where the fourth prompt is used to prompt waiting to receive the flight control command for the aircraft; if a flight control command for the aircraft is received on the control interface, send a flight control instruction to the aircraft indicated by the identifier of the aircraft that has executed the route data obtained.

[0078] In yet another embodiment, the control module 109 is specifically configured to, if it is determined according to the route execution status that there is an aircraft that has not taken off, issue a fifth prompt on the control interface, where the fifth prompt is used to prompt that the takeoff command for the aircraft cannot be received; obtain the aircraft identifier of the aircraft that has not taken off; issue a sixth prompt on the control interface, where the sixth prompt is used to prompt waiting to receive the takeoff command for the aircraft; if a takeoff command for the aircraft is received on the control interface, send a flight control instruction to the aircraft indicated by the obtained aircraft identifier of the aircraft that has not taken off.

[0079] In yet another embodiment, the control module 109 is specifically configured to: if it is determined according to the execution status of the flight route that there is an aircraft that has not taken off, issue a seventh prompt on the control interface, where the seventh prompt is used to prompt that the return command for the aircraft cannot be received; obtain the aircraft identifier of the aircraft that has taken off; issue an eighth prompt on the control interface, where the eighth prompt is used to prompt to wait for receiving the return command for the aircraft; and if a return command for the aircraft is received on the control interface, send a return instruction to the aircraft indicated by the obtained aircraft identifier of the aircraft that has taken off.

[0080] For the specific implementation of each module of the device according to the embodiments of the present invention, reference may be made to the descriptions of relevant functions and steps in the above embodiments, which will not be elaborated herein.

[0081] The embodiments of the present invention can send different flight route data to multiple aircraft for execution as needed. The flight route data may be multiple flight route data obtained by splitting one main flight route data, or multiple originally independent flight route data. The embodiments of the present invention realize the control of one-to-many aircraft for the aircraft, improve the flight efficiency, and also meet the user's requirements for the automation and intelligence of the control of multiple aircraft. And it can also intelligently detect potential flight safety hazards, and to a certain extent ensure the flight safety under one-to-many control.

[0082] Please refer to Figure 7 , which is a schematic structural diagram of an intelligent terminal according to an embodiment of the present invention. The intelligent terminal according to the embodiment of the present invention may be a terminal such as a smart phone, a tablet computer, or a personal computer. The intelligent terminal includes: a power supply, a communication interface, and components such as physical buttons and a housing, and further includes: a user interface 201, a processor 202, and a memory 203.

[0083] The user interface 201 mainly includes components such as a touch screen for data processing of interactions with users. For example, it displays an interaction interface, receives user interaction data, and issues corresponding prompts to users, etc. The memory 203 may include volatile memory; the memory 203 may also include non-volatile memory; the memory 203 may further include a combination of the above types of memory. The processor 202 may be a central processing unit (CPU). The processor 202 may further include a hardware chip. The above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0084] Optionally, the memory 203 is further configured to store program instructions. The processor 202 may call the program instructions to implement, as in this application Figure 4 and 5 the flight control method shown in the embodiments.

[0085] Specifically, the processor 202 calls the program instructions to perform the following steps:

[0086] The instruction acquires at least two route data;

[0087] According to the information of at least two aircraft preset, at least one aircraft is associated with each route data respectively;

[0088] According to the association result, each route data is respectively sent to at least one aircraft associated with the route data.

[0089] Specifically, the processor 202 calls the program instructions to further perform the following steps:

[0090] Determine the route position points indicated by each route data, and determine the estimated arrival time values of each route position point;

[0091] According to the route position points and the estimated arrival time values, determine whether the route position points indicated by each route data include dangerous position points;

[0092] If a dangerous position point is included, route update processing is triggered according to the dangerous position point.

[0093] Specifically, when the processor 202 calls the program instruction to execute the step of determining the estimated arrival time values of the respective route position points, it specifically executes: calculating the estimated arrival time values for the aircraft to reach the corresponding route positions according to the preset flight speed of the aircraft and the obtained route position points.

[0094] Specifically, in one implementation, when the processor 202 calls the program instruction to execute the step of separately sending each route data to at least one aircraft associated with the route data, it specifically executes: sending the obtained at least two route data to a route broadcast module to trigger the route broadcast module to broadcast the at least two route data to at least two aircraft.

[0095] In another implementation, when the processor 202 calls the program instruction to execute the step of separately sending each route data to at least one aircraft associated with the route data, it specifically executes: separately determining the remote controller corresponding to each aircraft, and sending the route data associated with the aircraft corresponding to the determined remote controller to the remote controller, so that the remote controller controls the flight of the corresponding aircraft according to the received route data.

[0096] In yet another implementation, when the processor 202 calls the program instruction to execute the step of separately sending each route data to at least one aircraft associated with the route data, it specifically executes: separately sending the corresponding route data to the flight control modules configured in the aircrafts associated with the route data, so that the flight control modules control the flights of the corresponding aircrafts according to the received route data.

[0097] Specifically, the processor 202 also executes the following steps when calling the program instruction:

[0098] If the obtained at least two route data include route data that meets the preset splitting conditions, then perform splitting processing on the route data that meets the splitting conditions to obtain a plurality of sub-route data, and send each of the split sub-route data to at least one aircraft.

[0099] The route data that meets the preset splitting conditions refers to: the length of the route represented by the route data is greater than a preset length threshold, or the number of waypoints of the route represented by the route data is greater than a preset number threshold.

[0100] Specifically, the processor 202 also executes the following steps when calling the program instruction:

[0101] If an execution command is received on the preset control interface, an execution instruction is sent to each corresponding aircraft that has received the route data, and the execution instruction is used to trigger each aircraft to execute the corresponding route data;

[0102] Detect the route execution status of each aircraft;

[0103] Control the control interface according to the detection result of the route execution status.

[0104] Specifically, in one implementation manner, when the processor 202 calls the program instruction to execute the step of controlling the control interface according to the detection result of the route execution status, it specifically executes:

[0105] If it is determined according to the route execution status that there is an aircraft with unexecuted route data, a first prompt is issued on the control interface, and the first prompt is used to prompt that the execution command cannot be received;

[0106] Obtain the identifier of the aircraft with unexecuted route data;

[0107] A second prompt is issued on the control interface, and the second prompt is used to prompt waiting to receive the execution command;

[0108] If an execution command is received again on the control interface, an execution instruction is sent to the aircraft indicated by the identifier of the obtained aircraft with unexecuted route data.

[0109] Specifically, in another implementation manner, when the processor 202 calls the program instruction to execute the step of controlling the control interface according to the detection result of the route execution status, it specifically executes:

[0110] If it is determined according to the route execution status that there is an aircraft with unexecuted route data, a third prompt is issued on the control interface, and the third prompt is used to prompt that the flight control command cannot be received;

[0111] Obtain the identifier of the aircraft that has executed the route data;

[0112] A fourth prompt is issued on the control interface, and the fourth prompt is used to prompt waiting to receive the flight control command for the aircraft;

[0113] If a flight control command for the aircraft is received on the control interface, a flight control instruction is sent to the aircraft indicated by the identifier of the obtained aircraft that has executed the route data.

[0114] Specifically, in yet another implementation manner, when the processor 202 calls the program instruction to execute the step of controlling the control interface according to the detection result of the route execution status, it specifically executes:

[0115] If it is determined according to the flight route execution status that there are aircraft that have not taken off, a fifth prompt is issued on the control interface, and the fifth prompt is used to prompt that the takeoff command for the aircraft cannot be received;

[0116] Obtain the aircraft identifier of the aircraft that has not taken off;

[0117] A sixth prompt is issued on the control interface, and the sixth prompt is used to prompt waiting to receive the takeoff command for the aircraft;

[0118] If a takeoff command for the aircraft is received on the control interface, a flight control instruction is sent to the aircraft indicated by the obtained aircraft identifier of the aircraft that has not taken off.

[0119] Specifically, in another embodiment, when the processor 202 calls the program instruction to execute the step of controlling the control interface according to the detection result of the flight route execution status, it specifically executes:

[0120] If it is determined according to the flight route execution status that there are aircraft that have not taken off, a seventh prompt is issued on the control interface, and the seventh prompt is used to prompt that the return command for the aircraft cannot be received;

[0121] Obtain the aircraft identifier of the aircraft that has taken off;

[0122] An eighth prompt is issued on the control interface, and the eighth prompt is used to prompt waiting to receive the return command for the aircraft;

[0123] If a return command for the aircraft is received on the control interface, a return instruction is sent to the aircraft indicated by the obtained aircraft identifier of the aircraft that has taken off.

[0124] For the specific implementation of the processor of the intelligent terminal in the embodiments of the present invention, reference may be made to the description of the relevant functions and steps in the above embodiments, which will not be elaborated here.

[0125] The embodiments of the present invention can send different flight route data to multiple aircraft for execution as needed. The flight route data can be multiple flight route data split from one main flight route data, or multiple originally independent flight route data. The embodiments of the present invention realize the control of one-to-many aircraft for aircraft, improve the flight efficiency, and also meet the user's requirements for the automation and intelligence of controlling multiple aircraft. And it can also intelligently detect potential flight safety hazards, and to a certain extent ensure flight safety under one-to-many control.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0127] The above-disclosed are only some embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A flight control method, characterized in that, it includes: Obtaining route data corresponding to at least two routes; According to the information of at least two preset aircraft, associating at least one aircraft with the route data respectively; According to the association result, sending the route data to at least one aircraft associated with the route data respectively; In response to receiving an execution command on a preset control interface, sending an execution instruction to each aircraft that has received the route data, where the execution instruction is used to trigger each aircraft to execute the corresponding route data; Detecting the route execution status of each aircraft; and In response to determining that there is an aircraft that has not executed the corresponding route data according to the route execution status, giving a prompt on the control interface, where the prompt is used to indicate whether to allow or not to allow triggering an operation related to continuing to execute the route.

2. The method according to claim 1, characterized in that, it further includes: Determining the route position points indicated by each route data, and determining the estimated arrival time values of each of the route position points; According to the route position points and the estimated arrival time values, determining whether the route position points indicated by each route data include dangerous position points; In response to including the dangerous position points, triggering route update processing according to the dangerous position points.

3. The method according to claim 2, characterized in that, The determining the estimated arrival time values of each of the route position points includes: Calculating the estimated arrival time value for the aircraft to reach the corresponding route position point according to the preset flight speed of the aircraft and the obtained route position point.

4. The method according to any one of claims 1-3, characterized in that, The sending the route data to at least one aircraft associated with the route data respectively includes: Sending the route data corresponding to the at least two obtained routes to a route broadcast module to trigger the route broadcast module to broadcast the route data corresponding to the at least two routes to the at least two aircraft.

5. The method according to any one of claims 1-3, characterized in that, The sending the route data to at least one aircraft associated with the route data respectively includes: Respectively determining the remote controller corresponding to each aircraft; Sending the route data associated with the aircraft corresponding to the determined remote controller to the remote controller, so that the remote controller controls the flight of the corresponding aircraft according to the received route data.

6. The method according to any one of claims 1-3, characterized in that, The sending the route data to at least one aircraft associated with the route data respectively includes: Respectively sending the corresponding route data to the flight control modules configured in the aircraft associated with the route data, so that the flight control modules control the flight of the corresponding aircraft according to the received route data.

7. The method according to any one of claims 1-3, characterized in that, it further includes: In response to the flight route data corresponding to the at least two flight routes obtained including flight route data that meets the preset splitting conditions, perform splitting processing on the flight route data that meets the preset splitting conditions to obtain a plurality of sub-flight route data, and send each piece of the split processing sub-flight route data to at least one aircraft; Among them, the flight route data that meets the preset splitting conditions refers to: the length of the flight route represented by the flight route data is greater than the preset length threshold, or the number of waypoints of the flight route represented by the flight route data is greater than the preset quantity threshold.

8. The method according to any one of claims 1-3, characterized in that, the issuing of a prompt on the control interface includes: issuing a first prompt on the control interface, the first prompt being used to prompt that an execution command cannot be received; obtaining the identifier of the aircraft that has not executed the corresponding flight route data; issuing a second prompt on the control interface, the second prompt being used to prompt waiting to receive an execution command; In response to receiving an execution command on the control interface again, send an execution instruction to the aircraft indicated by the identifier of the aircraft that has not executed the corresponding flight route data obtained.

9. The method according to any one of claims 1-3, characterized in that, the issuing of a prompt on the control interface includes: issuing a third prompt on the control interface, the third prompt being used to prompt that a flight control command cannot be received; obtaining the identifier of the aircraft that has executed the corresponding flight route data; issuing a fourth prompt on the control interface, the fourth prompt being used to prompt waiting to receive a flight control command for the aircraft; In response to receiving a flight control command for the aircraft on the control interface, send a flight control instruction to the aircraft indicated by the identifier of the aircraft that has executed the corresponding flight route data obtained.

10. The method according to any one of claims 1-3, characterized in that, the issuing of a prompt on the control interface includes: In response to the aircraft that has not executed the corresponding flight route data including an aircraft that has not taken off, issue a fifth prompt on the control interface, the fifth prompt being used to prompt that a takeoff command for the aircraft cannot be received; obtaining the aircraft identifier of the aircraft that has not taken off; issuing a sixth prompt on the control interface, the sixth prompt being used to prompt waiting to receive a takeoff command for the aircraft; In response to receiving a takeoff command for the aircraft on the control interface, send a flight control instruction to the aircraft indicated by the obtained aircraft identifier of the aircraft that has not taken off.

11. The method according to any one of claims 1-3, characterized in that, the issuing of a prompt on the control interface includes: In response to the aircraft that has not executed the corresponding flight route data including an aircraft that has not taken off, issue a seventh prompt on the control interface, the seventh prompt being used to prompt that a return command for the aircraft cannot be received; obtaining the aircraft identifier of the aircraft that has taken off; issuing an eighth prompt on the control interface, the eighth prompt being used to prompt waiting to receive a return command for the aircraft; In response to receiving a return command for the aircraft on the control interface, a return instruction is sent to the aircraft indicated by the obtained identified aircraft that has taken off.

12. A flight control device, characterized in that, it includes: an acquisition module, configured to acquire route data corresponding to at least two routes; an association processing module, configured to respectively associate at least one aircraft with the route data according to information of at least two preset aircraft; a sending module, configured to respectively send the route data to at least one aircraft associated with the route data according to the association result; the sending module is further configured to, in response to receiving an execution command on a preset control interface, send an execution instruction to each aircraft that has received the route data, where the execution instruction is used to trigger each aircraft to execute the corresponding route data; a detection module, configured to detect the route execution status of each aircraft; a display module, configured to issue a prompt on the control interface in response to determining that there is an aircraft that has not executed the corresponding route data according to the route execution status, where the prompt is used to indicate whether to allow or not to allow triggering an operation related to continuing to execute the route.

13. An intelligent terminal, characterized in that, the intelligent terminal includes a user interface and a processor; the user interface is configured to process human-computer interaction data; the processor is specifically configured to perform the following steps: acquire route data corresponding to at least two routes; respectively associate at least one aircraft with the route data according to information of at least two preset aircraft; respectively send the route data to at least one aircraft associated with the route data according to the association result; in response to receiving an execution command on a preset control interface, send an execution instruction to each aircraft that has received the route data, where the execution instruction is used to trigger each aircraft to execute the corresponding route data; detect the route execution status of each aircraft; and in response to determining that there is an aircraft that has not executed the corresponding route data according to the route execution status, issue a prompt on the control interface, where the prompt is used to indicate whether to allow or not to allow triggering an operation related to continuing to execute the route.

Images