Method and device for accompanying flight control of unmanned aerial vehicle, manned aircraft and storage medium

Abstract

Embodiments of the present application provide a method and device for accompanying flight control of a UAV, a manned aircraft and a storage medium. The method comprises: determining accompanying flight positions of at least one UAV in response to a position locking instruction of the at least one UAV; receiving a flight control signal for the manned aircraft, converting the flight control signal to obtain a control signal for the UAV; performing corresponding flight control on the manned aircraft in response to the flight control signal, and performing corresponding control on the UAV in response to the control signal, so that each UAV located at each accompanying flight position performs accompanying flight control on the manned aircraft. Based on the conversion between the flight control signal of the manned aircraft and the control signal of the UAV, the manned aircraft and the UAV have corresponding instantaneous forward speed, corresponding instantaneous translation speed and corresponding instantaneous vertical speed, so that the UAV can keep synchronous relative static with the manned aircraft, and the accompanying flight control of the UAV on the manned aircraft is realized.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method for controlling the flight of a UAV, a device for controlling the flight of a UAV, a corresponding manned aircraft, and a corresponding computer-readable storage medium. Background Technology

[0002] Typically, drones can be used to film moving objects, such as moving vehicles, flying manned aircraft, walking people, and other moving objects. After identifying the subject, the drone camera keeps the subject's position relatively fixed in the frame. This is mainly manifested in the fact that as the selected subject moves, it becomes smaller in the frame. At this time, the drone can accelerate to follow, making the subject appear larger in the frame, and then decelerate to maintain the size of the moving subject in the frame.

[0003] In the technology of drones for filming moving objects, the drone makes a post-judgment decision. It needs to make a move based on the moving object being filmed before it can make a move. As the speed of the object increases, the drone's judgment lags behind, and it can only achieve follow-up filming, but not accompanying filming. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a method for flight accompaniment control of a drone, a flight accompaniment control device for a drone, a corresponding manned aircraft, and a corresponding computer-readable storage medium to overcome or at least partially solve the above problems.

[0005] This invention discloses a method for controlling the flight of a drone, the method comprising:

[0006] In response to a position lock command for at least one drone, determine the accompaniment position of at least one drone;

[0007] Receive flight control signals for manned aircraft, and convert the flight control signals to obtain control signals for unmanned aerial vehicles;

[0008] The system responds to the flight control signal to perform corresponding flight control on the manned aircraft and responds to the control signal to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle located at each escort position performs corresponding escort control on the manned aircraft.

[0009] Optionally, the response to the position-locking command for at least one UAV, determining the escort position of at least one UAV, includes:

[0010] In response to a command to lock the position of at least one UAV, at least one standby point is displayed on the onboard terminal of the manned aircraft; the standby point is used to indicate the accompaniment point where the UAV is accompanying the manned aircraft.

[0011] In response to the confirmation command for the target accompaniment point, the accompaniment position of at least one UAV is determined based on the target accompaniment point.

[0012] Optionally, the escort position is determined based on the coordinate information of the target escort point; determining the escort position of at least one UAV based on the target escort point includes:

[0013] The target accompaniment point is located and converted to generate the coordinate information corresponding to the target accompaniment point.

[0014] Optionally, the coordinate information includes longitude and latitude information, and the step of performing a positioning transformation on the target accompaniment point to generate the coordinate information corresponding to the target accompaniment point includes:

[0015] Obtain the axis center and axis center positioning coordinates of the manned aircraft, and determine the relative distance between the target escort point and the axis center;

[0016] Based on the relative distance and the axis positioning coordinates of the manned aircraft, the longitude and latitude information corresponding to the target escort point are determined.

[0017] Optionally, the onboard terminal of the manned aircraft displays the standby point based on a planar display, and the relative distance includes a relative lateral distance and a relative longitudinal distance; determining the relative distance between the target escort point and the axis includes:

[0018] Obtain the planar information between the target escort point and the axis of the manned aircraft; the planar information includes the relative straight-line distance;

[0019] Obtain the angle between the target escort point and the axis relative to the north-south vertical axis;

[0020] Based on the Pythagorean theorem, the relative lateral distance and the relative longitudinal distance between the target stalking point and the axis are calculated using the angle between the relative straight-line distance and the relative north-south vertical axis.

[0021] The axisymmetric coordinates of the manned spacecraft include axisymmetric longitude and axisymmetric latitude information; determining the longitude and latitude information corresponding to the target rendezvous point based on the relative distance and the axisymmetric coordinates of the manned spacecraft includes:

[0022] Using the axis positioning longitude information and the relative lateral distance, the longitude information corresponding to the target escort point is generated;

[0023] Furthermore, using the axis positioning latitude information and the relative longitudinal distance, the latitude information corresponding to the target escort point is generated.

[0024] Optionally, the coordinate information includes altitude information, and the step of performing a positioning transformation on the target accompaniment point to generate the coordinate information corresponding to the target accompaniment point includes:

[0025] In response to a confirmation command for the target standby altitude range of the UAV, the current flight altitude of the manned aircraft is obtained; wherein, the standby altitude range of the UAV includes a set altitude for each standby altitude range, and the set altitude is set relative to the altitude of the manned aircraft;

[0026] Obtain the target set altitude corresponding to the target standby altitude range, and generate the altitude information corresponding to the target escort point using the current flight altitude of the manned aircraft and the target set altitude.

[0027] Optionally, the flight control signal includes at least a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal is used to indicate the forward speed in a preset first direction, the roll signal is used to indicate the instantaneous translational speed in a preset second direction, and the throttle signal is used to indicate the instantaneous vertical speed in a preset third direction.

[0028] The process of converting the flight control signal to obtain a control signal for the UAV includes:

[0029] Based on the flight control pitch signal, roll signal, and throttle signal in the flight control signals, the forward speed corresponding to the preset first direction, the instantaneous translation speed corresponding to the preset second direction, and the instantaneous vertical speed corresponding to the preset third direction of the manned aircraft are determined respectively.

[0030] The flight control pitch signal, roll signal, and throttle signal for the UAV are generated by using the forward speed corresponding to the first preset direction, the instantaneous translation speed corresponding to the second preset direction, and the instantaneous vertical speed corresponding to the third preset direction of the manned aircraft.

[0031] This invention also discloses a flight control device for a drone, the device comprising:

[0032] The accompaniment position determination module is used to determine the accompaniment position of at least one drone in response to a position locking command for at least one drone.

[0033] The control signal conversion module is used to receive flight control signals for the manned aircraft and convert the flight control signals to obtain control signals for the UAVs; the control signal response module is used to respond to the flight control signals to perform corresponding flight control on the manned aircraft and respond to the control signals to perform corresponding control on the UAVs, so that each UAV located at each escort position performs corresponding escort control on the manned aircraft.

[0034] Optionally, the escort location determination module includes:

[0035] The standby point display submodule is used to respond to a position locking command for at least one UAV and display at least one standby point on the onboard terminal of the manned aircraft; the standby point is used to indicate the accompaniment point of the UAV accompanying the manned aircraft.

[0036] The escort position determination submodule is used to respond to the confirmation command for the target escort point and determine the escort position of at least one UAV based on the target escort point.

[0037] Optionally, the escort position is determined based on the coordinate information of the target escort point; the escort position determination submodule includes:

[0038] The coordinate information generation unit is used to perform positioning transformation on the target accompaniment point and generate the coordinate information corresponding to the target accompaniment point.

[0039] Optionally, the coordinate information includes longitude information and latitude information, and the coordinate information generation unit includes:

[0040] The relative distance determination subunit is used to obtain the axis center and axis center positioning coordinates of the manned aircraft, and to determine the relative distance between the target escort point and the axis center;

[0041] The latitude and longitude generation subunit is used to determine the longitude and latitude information corresponding to the target escort point based on the relative distance and the axis positioning coordinates of the manned aircraft.

[0042] Specifically, the onboard terminal of the manned aircraft displays the standby point based on a planar display, and the relative distance includes the relative lateral distance and the relative longitudinal distance; the process of determining the relative distance between the target escort point and the axis includes obtaining planar information of the target escort point and the axis of the manned aircraft; the planar information includes the relative straight-line distance; obtaining the angle between the target escort point and the axis relative to the north-south vertical axis; and calculating the relative lateral distance and relative longitudinal distance between the target escort point and the axis based on the Pythagorean theorem and using the relative straight-line distance and the relative north-south vertical axis. Furthermore, the axisymmetric positioning coordinates of the manned spacecraft include axisymmetric positioning longitude information and axisymmetric positioning latitude information; the process of determining the longitude and latitude information corresponding to the target escort point based on the relative distance and the axisymmetric positioning coordinates of the manned spacecraft includes generating the longitude information corresponding to the target escort point using the axisymmetric positioning longitude information and the relative lateral distance; and generating the latitude information corresponding to the target escort point using the axisymmetric positioning latitude information and the relative longitudinal distance.

[0043] Optionally, the coordinate information includes height information, and the coordinate information generation unit includes:

[0044] The target standby altitude range confirmation subunit is used to respond to the confirmation command for the target standby altitude range of the UAV and obtain the current flight altitude of the manned aircraft; wherein, the standby altitude range of the UAV includes the set altitude for each standby altitude range, and the set altitude is set relative to the altitude of the manned aircraft.

[0045] The altitude information generation subunit is used to obtain the target set altitude corresponding to the target standby altitude range, and generate the altitude information corresponding to the target escort point using the current flight altitude of the manned aircraft and the target set altitude.

[0046] Optionally, the flight control signal includes at least a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal is used to indicate the forward speed in a preset first direction, the roll signal is used to indicate the instantaneous translational speed in a preset second direction, and the throttle signal is used to indicate the instantaneous vertical speed in a preset third direction.

[0047] The control signal conversion module includes:

[0048] The speed determination submodule is used to determine the forward speed of the manned aircraft in a preset first direction, the instantaneous translation speed in a preset second direction, and the instantaneous vertical speed in a preset third direction, respectively, based on the flight control pitch signal, roll signal, and throttle signal in the flight control signals.

[0049] The control signal generation submodule is used to generate flight control pitch signals, roll signals, and throttle signals for the UAV by using the forward speed corresponding to the preset first direction, the instantaneous translation speed corresponding to the preset second direction, and the instantaneous vertical speed corresponding to the preset third direction of the manned aircraft.

[0050] This invention also discloses a manned aircraft, comprising: a flight control device for the UAV, a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements any of the flight control methods for the UAV.

[0051] This invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the aforementioned drone accompaniment control methods.

[0052] The embodiments of the present invention have the following advantages:

[0053] In this embodiment of the invention, after locking the position of the UAV and determining the standby point, the conversion between the flight control signal of the manned aircraft and the control signal of the UAV can enable the manned aircraft and the UAV to have corresponding instantaneous forward speed, corresponding instantaneous translational speed and corresponding instantaneous vertical speed. Based on the coordination between the manned aircraft and the UAV, the problem of UAV's lagging judgment and control is avoided, and the UAV can keep synchronous and relatively stationary with the manned aircraft, realizing the UAV's escort control of the manned aircraft. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating the steps of an embodiment of the drone escort control method of the present invention;

[0055] Figure 2 This is a flowchart illustrating the steps of another embodiment of the drone escort control method of the present invention;

[0056] Figure 3 This is a schematic diagram showing the standby position on the airborne terminal of a manned aircraft, as provided in an embodiment of the present invention.

[0057] Figures 4A to 4B This is a schematic diagram illustrating the determination of latitude and longitude of the accompaniment point provided in an embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of an application scenario for controlling a drone to accompany other drones, provided in an embodiment of the present invention.

[0059] Figure 6 This is a schematic diagram of the drone escort control system provided in an embodiment of the present invention;

[0060] Figure 7 This is a structural block diagram of an embodiment of a drone flight control device according to the present invention. Detailed Implementation

[0061] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Typically, drones can be used to film moving objects, such as moving vehicles, manned aircraft in flight, people walking, and other moving objects. This allows for the filming of moving objects. After identifying the subject, the drone's camera maintains the object's relatively fixed position in the frame. This is achieved by the selected object appearing smaller in the frame as it moves; the drone can then accelerate to make the object appear larger, before slowing down to maintain its size within the frame. Similarly, there are schemes where the subject periodically sends its position to the drone, and the drone follows the movement of the tracked object.

[0063] In the technology of drone photography of moving objects, the drone operates on a post-judgment logic, requiring the moving object being photographed to take action before it takes action itself. As the speed of the object increases, due to the drone's delayed judgment and performance limitations, it can only follow the object and cannot stay in front of it to keep shooting. In other words, as the delayed shooting increases, its shooting gradually becomes a follower state, unable to achieve synchronous accompanying shooting. Furthermore, the following and shooting angles are limited, and the drone cannot customize the position for accompanying and shooting.

[0064] Furthermore, in the related technologies of drone formation flight, the basic logic is mainly to configure each drone independently, and then execute a unified script through the assigned flight path and hovering point. Similarly, it cannot rely on the cooperation between drones to complete formation or escort. That is, the realization logic of drone formation flight depends on the pre-designed flight route and script, and cannot flexibly follow or escort according to the needs at the time.

[0065] To achieve escort photography through the collaboration of manned aircraft and drones, the core idea of ​​this invention is that after locking the drone's position and determining its standby point, the conversion between the flight control signals of the manned aircraft and the control signals of the drone allows both the manned aircraft and the drone to have corresponding instantaneous forward speed, instantaneous instantaneous translational speed, and instantaneous instantaneous vertical speed. Based on the collaboration between the manned aircraft and the drone, the problem of the drone's lagging judgment and control is avoided, allowing the drone to maintain synchronous relative stillness with the manned aircraft. This enables the drone to remain in any position, achieving escort control of the manned aircraft by the drone and achieving a synchronous escort effect.

[0066] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of a drone escort control method according to the present invention, which may specifically include the following steps:

[0067] Step 101: In response to the position locking command for at least one drone, determine the escort position of at least one drone;

[0068] In this embodiment of the invention, based on the coordination between the manned aircraft and the drone, the drone can maintain a synchronous and relatively stationary position with the manned aircraft, thereby enabling the drone to accompany the manned aircraft.

[0069] The collaboration between manned aircraft and drones requires a communication connection between them. This can be achieved by controlling at least one drone as a wingman of the manned aircraft, so that the manned aircraft can control the drone based on the control signals generated by the manned aircraft while maintaining a communication connection.

[0070] The process of achieving drone-guided flight control of manned aircraft involves the relative positional relationship between the drone and the manned aircraft, which is manifested in the position locking process.

[0071] In practical applications, when the manned aircraft is stationary or hovering, the user can activate the wingman setting function through the preset software on the onboard terminal of the manned aircraft. After establishing a data communication connection and binding between the drone and the manned aircraft via Bluetooth or wireless WiFi, the drone enters a waiting mode for setting signal input. The manned aircraft can respond to the position lock command for the drone. This position lock command can carry relevant information about the standby point selected for the drone, which can be used to determine the drone's wingman position. After the drone confirms its specific wingman position, it can indicate that the position lock between the drone and the manned aircraft is complete. The drone with a confirmed specific wingman position can be considered the controlled wingman of the manned aircraft.

[0072] It should be noted that there can be multiple controlled wingmen, so the position of at least one drone can be confirmed.

[0073] Step 102: Receive flight control signals for manned aircraft and convert the flight control signals to obtain control signals for unmanned aerial vehicles;

[0074] The process of achieving drone-to-managed aircraft escort control includes not only the position locking process to ensure relative positional relationship, but also the separate control of the manned aircraft and the drone, i.e., the flight control process, because the drone needs to be controlled simultaneously with the manned aircraft's flight maneuvers.

[0075] The flight control process, specifically, involves receiving flight control signals for the manned aircraft and then converting these signals into control signals for the drone. These control signals enable the drone to maintain a corresponding instantaneous forward speed, instantaneous translational speed, and instantaneous vertical speed between the drone and the manned aircraft. This ensures that, based on the converted control signals, the drone and the manned aircraft can maintain relative stillness by maintaining their respective speeds.

[0076] Step 103: Respond to the flight control signal to perform corresponding flight control on the manned aircraft, and respond to the control signal to perform corresponding control on the UAV, so that each UAV located at each escort position can perform corresponding escort control on the manned aircraft.

[0077] After locking the drone's position and determining its standby point, and after converting the flight control signals of the manned aircraft and the control signals of the drone to obtain control signals that enable the drone and the manned aircraft to have corresponding instantaneous forward speed, instantaneous translational speed, and instantaneous vertical speed, the drone can respond to the converted control signals while simultaneously controlling the manned aircraft in response to the flight control signals. This allows the drone to have the same instantaneous forward speed, instantaneous translational speed, and instantaneous vertical speed as the manned aircraft, thus achieving the same control over the drone while the manned aircraft is performing flight maneuvers.

[0078] While the manned aircraft is performing flight maneuvers, the drone is also controlled in the same way. This involves not only speed control but also directional control. To ensure the drone possesses instantaneous forward speed, instantaneous translational speed, and instantaneous vertical speed corresponding to the manned aircraft, it can have a preset instantaneous forward speed in a first direction, a preset instantaneous translational speed in a second direction, and a preset instantaneous vertical speed in a third direction. Specifically, the speeds of the drone and the manned aircraft can be the same, or they can maintain a fixed or linear relationship. The preset first, second, and third directions can be directions maintained during movement along a predetermined trajectory, or they can be other different directions. This embodiment of the invention does not limit these directions.

[0079] In some embodiments of the present invention, after controlling each drone to accompany the manned aircraft, the drones located at various accompanying positions can also be controlled to perform corresponding accompanying control on the manned aircraft. This accompanying control may include accompanying photography and related functions extended to the manned aircraft via the drones, such as accompanying lighting, accompanying signal enhancement / signal provision, etc. For example, during the accompanying photography process, the various accompanying positions of the drones can be the shooting positions of the drones during the accompanying photography process, allowing photography to be completed during the accompanying flight. Specifically, the drone's gimbal camera can use image recognition technology to keep the manned aircraft as the subject continuously within the field of view. It should be noted that the image recognition technology for the specific photography process can utilize existing technologies, and will not be elaborated upon in the embodiments of the present invention.

[0080] In this embodiment of the invention, after locking the position of the UAV and determining the standby point, the conversion between the flight control signal of the manned aircraft and the control signal of the UAV can enable the manned aircraft and the UAV to have corresponding instantaneous forward speed, corresponding instantaneous translational speed and corresponding instantaneous vertical speed. Based on the coordination between the manned aircraft and the UAV, the problem of UAV's lagging judgment and control is avoided, and the UAV can keep synchronous and relatively stationary with the manned aircraft, realizing the UAV's escort control of the manned aircraft.

[0081] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the drone escort control method of the present invention, which may specifically include the following steps:

[0082] Step 201: In response to the position lock command for at least one UAV, display at least one standby point on the onboard terminal of the manned aircraft;

[0083] In this embodiment of the invention, based on the collaboration between the manned aircraft and the drone, the drone can maintain synchronous relative stillness with the manned aircraft, thereby achieving drone-guided flight control of the manned aircraft. The process of achieving drone-guided flight control of the manned aircraft involves the relative positional relationship between the drone and the manned aircraft, which is manifested in the position locking process.

[0084] The position locking process involves responding to a position locking command for at least one UAV and determining the escort position of at least one UAV.

[0085] In practical applications, when the manned aircraft is stationary or hovering, the user can activate the wingman setting function through the preset software on the onboard terminal of the manned aircraft. After establishing a data communication connection and binding between the drone and the manned aircraft via Bluetooth or wireless WiFi, the drone enters a waiting mode for setting signal input. The manned aircraft can respond to the position lock command for the drone. This position lock command can carry relevant information about the standby point selected for the drone, which can be used to determine the drone's wingman position. After the drone confirms its specific wingman position, it can indicate that the position lock between the drone and the manned aircraft is complete. The drone with a confirmed specific wingman position can be considered the controlled wingman of the manned aircraft.

[0086] Specifically, after the drone enters the waiting setup signal input mode, at least one standby point can be displayed on the onboard terminal of the manned aircraft. The standby point refers to the location of the drone around the flying car during its wingman flight. For example... Figure 3 As shown, the airborne terminal can display standby points on a plane, and the displayed standby points are usually located around the manned aircraft. They can be mainly used to indicate the accompaniment points for the drone to accompany the manned aircraft. At this time, the user can select the displayed standby points through the airborne terminal to confirm the drone's accompaniment position and complete the position locking operation between the drone and the manned aircraft.

[0087] It should be noted that multiple drones can be designated as controlled wingmen, in which case the accompaniment position of at least one drone can be confirmed. The allowed number of controlled wingmen to be simultaneously set is primarily determined by the number of displayed standby points. The number of standby points is determined based on the flight control and network performance of the manned aircraft; that is, the maximum number of wingmen is also determined based on the flight control and network performance of the manned aircraft.

[0088] Step 202: In response to the confirmation command for the target escaping point, determine the escaping position of at least one drone based on the target escaping point;

[0089] After the onboard terminal of the manned aircraft displays at least one standby point, the user can select a standby point for the drone through the terminal. At this time, based on the relevant information of the standby point selected by the user for the drone, such as the target escort point, a confirmation command for the target escort point is generated so that by responding to the confirmation command for the target escort point, the escort position of at least one drone can be determined according to the target escort point.

[0090] In practical applications, the escort position can be determined based on the coordinate information of the target escort point. The manned aircraft can use a positioning conversion module to convert the target escort point and generate the corresponding coordinate information. This coordinate information can then be sent to the drone. Upon receiving the coordinate information, the drone can return a message to the aircraft indicating that it is proceeding towards the target coordinates, thus informing the aircraft that it is deploying according to these coordinates. Furthermore, the drone can return a "ready in position" status upon reaching the target coordinates, indicating that it has locked onto and confirmed the escort position, completing the drone's position locking process. For drone position locking, a standby altitude can also be used. When the drone reaches the standby point and returns the "ready in position" status to the manned aircraft, if the standby altitude is 0, the drone can be in an unlocked state at the standby point; if the standby altitude is greater than 0, the drone can be in a hovering state at the standby point.

[0091] It should be noted that multiple drones can be controlled as wingmen, and the wingman position of at least one drone can be confirmed. When confirming the wingman position of at least one drone, the user usually needs to select at least one target wingman position.

[0092] In practical applications, the positioning transformation performed by a manned aircraft on a target escort point can typically include three-dimensional information such as longitude, latitude, and altitude.

[0093] The determination of the latitude and longitude information corresponding to the target escort point can be mainly achieved through the axis positioning coordinates of the manned aircraft and the relative distance between the target escort point and the axis of the manned aircraft. Specifically, by obtaining the axis of the manned aircraft and its positioning coordinates, the relative distance between the target escort point and the axis is determined. Then, based on the relative distance and the axis positioning coordinates of the manned aircraft, the longitude and latitude information corresponding to the target escort point is determined.

[0094] Specifically, refer to Figures 4A to 4B The diagram illustrates the determination of latitude and longitude of the accompaniment point provided in an embodiment of the present invention.

[0095] For determining the relative distance between the target escort point and the axis, the determined relative distance must include at least the relative lateral distance and the relative longitudinal distance between the target escort point and the axis. This is because... Figure 3 As shown, the airborne terminal mainly uses a planar display of the standby position. At this time, the planar information of the target escort point and the axis of the manned aircraft can be obtained, such as the relative straight-line distance between the UAV and the axis. In practical applications, UWB technology (Ultra-Wideband) can be used to obtain the accurate distance between the UAV and the manned aircraft in planar space. Then, a magnetic compass can be used to determine the angle between the target escort point and the axis relative to the north-south vertical axis. Based on the Pythagorean theorem, the relative lateral distance and the relative longitudinal distance between the target escort point and the axis can be calculated using the relative straight-line distance and the relative north-south vertical axis.

[0096] For example, assuming the relative straight-line distance between the drone (represented as the target accompaniment point, i.e., point B) and the axis (i.e., point A) is L1, the relative lateral distance between the target accompaniment point (i.e., point B) and the axis (i.e., point A) is g, and the relative longitudinal distance between the target accompaniment point (i.e., point B) and the axis (i.e., point A) is j, then the relative straight-line distance L1, the relative lateral distance g, and the relative longitudinal distance j can be configured as follows: Figure 4A The right triangle shown can be represented by the Pythagorean theorem L = j 2 +g 2 Substitute the relative straight-line distance L1 into L in the Pythagorean theorem to calculate the solutions for the relative horizontal distance g and the relative vertical distance j.

[0097] Since it is impossible to accurately determine the two unknowns in the Pythagorean theorem based on a single known value, such as Figure 4B As shown, the angle with due north on the ground can also be introduced at this time. By using the angle between the target's homing point and the north-south vertical axis, the relative lateral distance g and the relative longitudinal distance j can be solved. It should be noted that the specific formula for the angle between the relative straight-line distance L1 and due north on the ground is a general calculation formula, and will not be elaborated in this embodiment of the invention.

[0098] After calculating the relative lateral distance g and the relative longitudinal distance j, the longitude and latitude information corresponding to the target escort point can be determined based on the axis positioning coordinates of the manned aircraft.

[0099] Specifically, the axis positioning coordinates of the manned spacecraft include axis positioning longitude information and axis positioning latitude information. At this time, the axis positioning longitude information and the relative lateral distance can be used to generate the longitude information corresponding to the target escort point, and the axis positioning latitude information and the relative longitudinal distance can be used to generate the latitude information corresponding to the target escort point.

[0100] The geographic positioning coordinates of the flying car's centerline are achieved using RTK (Real-Time Kinematic, a technology for real-time dynamic relative positioning based on carrier phase observations). For example, assuming the centerline positioning longitude is 'a' and the centerline positioning latitude is 'b', the longitude of the target companion point can be calculated as m = a + g, and the latitude as n = b + j. It should be noted that when using the geographic North Pole as the fixed coordinate system direction, if the selected target companion point is located in the third or fourth quadrant of the coordinate system, then the longitude of the target companion point can be calculated as m = ag, or the latitude as n = bj.

[0101] In the process of positioning and converting the target accompaniment point to obtain the coordinate information corresponding to the target accompaniment point, the method for determining the altitude information corresponding to the target accompaniment point can be expressed as follows: in response to the confirmation command of the UAV's target standby altitude range, the current flight altitude of the manned aircraft is obtained, and then the current flight altitude of the manned aircraft and the target set altitude corresponding to the target standby altitude range are used to generate the altitude information corresponding to the target accompaniment point.

[0102] Specifically, while the airborne terminal displays standby locations for users to select for the drone, it can also provide users with the ability to set the standby altitude of the drone. This can be mainly manifested in the display of standby altitude ranges for setting the drone on the airborne terminal. These standby altitude ranges can include the set altitudes for each standby altitude range, and the set altitudes are set relative to the altitude of the manned aircraft.

[0103] Since the set altitude is relative to the manned aircraft's altitude, the altitude information corresponding to the target escort point is related to the manned aircraft's operating status. If the manned aircraft is hovering, there is a current flight altitude, and the altitude information corresponding to the target escort point will be determined based on the sum of the set altitude corresponding to the selected standby altitude range and the current flight altitude. If the aircraft is stationary or moving on the ground, there is no flight altitude, i.e., the flight altitude is 0. In this case, the altitude information corresponding to the target escort point can be directly determined based on the set altitude corresponding to the selected standby altitude range.

[0104] The standby altitude range for the drone can be selected from low, medium, and high. Different altitudes can be set for each of these ranges, with the principles being to avoid exceeding the signal exchange range of the flying car network, prevent collisions between drones, and be influenced by the operational status of the manned aircraft. For example, if the manned aircraft is stationary, the low altitude can be ground level (0m), the medium altitude can be 0+3m, and the high altitude can be 0+6m. Furthermore, different standby altitudes can be selected for different drones. This embodiment of the invention does not impose any limitations on these options.

[0105] In some embodiments of the present invention, after the manned aircraft determines the target accompaniment point and performs positioning transformation to obtain the accompaniment position corresponding to the target accompaniment point, in order to facilitate the UAV's execution of the heading operation after receiving the coordinate information corresponding to the accompaniment position, such as (m,n,z), the manned aircraft can also plan the UAV route from the airport to the accompaniment position and send the UAV route to the UAV. Specifically, to avoid collisions between the UAV and the manned aircraft during the UAV's positioning at the standby point, a preset no-fly zone (usually circular) with a safe radius or distance q for the manned aircraft can be generated with the axis of the manned aircraft as the center, and the flight path of the UAV can be automatically calculated while avoiding this no-fly zone.

[0106] Step 203: Convert the flight control signal to obtain the control signal for the UAV, respond to the flight control signal to perform corresponding flight control on the manned aircraft, and respond to the control signal to perform corresponding control on the UAV.

[0107] In this embodiment of the invention, the process of implementing the drone's escort control of the manned aircraft includes not only the position locking process to ensure the relative position relationship, but also the separate control of the manned aircraft and the drone, i.e., the flight control process, since it is necessary to perform the same control on the drone while the manned aircraft is performing flight actions.

[0108] The flight control process, specifically, involves receiving flight control signals for the manned aircraft and converting them into control signals for the drone. These control signals enable the drone to maintain corresponding instantaneous forward speed, instantaneous translational speed, and instantaneous vertical speed between itself and the manned aircraft. This ensures that, based on the converted control signals, the drone and the manned aircraft can maintain relative stillness at the same speed, allowing for simultaneous control of the drone while the manned aircraft performs its flight maneuvers.

[0109] The motion control logic of manned aircraft (such as rotorcraft flying cars) and drones mainly controls the forward speed, instantaneous translational speed, and instantaneous vertical speed by controlling the pitch angle, roll angle, and throttle of the aircraft.

[0110] Specifically, flight control signals include at least flight control pitch signals, roll signals, and throttle signals. The combined effect of these signals changes the direction of motion. The flight control pitch signal can be used to determine the forward velocity in a preset first direction. Specifically, when the manned aircraft is pitched according to the flight control pitch signal, it undergoes a forward displacement in the preset first direction, resulting in a certain forward velocity. The roll signal can be used to determine the instantaneous translational velocity in a preset second direction. Specifically, when the manned aircraft is roll-controlled according to the roll signal, it undergoes a translational displacement in the preset second direction, resulting in a certain instantaneous translational velocity. The throttle signal can be used to determine the instantaneous vertical velocity in a preset third direction. Specifically, when the manned aircraft is throttle-controlled according to the throttle signal, it undergoes a vertical displacement in the preset third direction, resulting in a certain instantaneous vertical velocity.

[0111] When converting flight control signals, in order to ensure that there are corresponding instantaneous forward speeds, instantaneous translational speeds, and instantaneous vertical speeds between the UAV and the manned aircraft, the flight control pitch, roll, and throttle signals in the flight control signals can be used to determine the corresponding forward speeds in the first preset direction, the corresponding instantaneous translational speeds in the second preset direction, and the corresponding instantaneous vertical speeds in the third preset direction for the manned aircraft. Then, the flight control pitch, roll, and throttle signals for the UAV can be generated using the corresponding forward speeds in the first preset direction, the corresponding instantaneous translational speeds in the second preset direction, and the corresponding instantaneous vertical speeds in the third preset direction for the manned aircraft. This allows the UAV to have the same instantaneous forward speeds, instantaneous translational speeds, and instantaneous vertical speeds as the manned aircraft, enabling the same control of the UAV while the manned aircraft is performing flight maneuvers.

[0112] Specifically, the corresponding speeds of the drone and the manned aircraft can be the same, or they can be speeds that maintain a certain fixed or linear relationship; their preset first direction, preset second direction, and preset third direction can be corresponding directions maintained during movement along a predetermined trajectory, or they can be other different directions. In this embodiment of the invention, there are no restrictions on these aspects.

[0113] For example, suppose the instantaneous forward speed of the manned aircraft is V1, the instantaneous lateral speed is V2, and the instantaneous vertical speed is V3, and the instantaneous forward speed of the controlled wingman is v1, the instantaneous lateral speed is v2, and the instantaneous vertical speed is v3. Then, by converting the signals, V1 = v1, V2 = v2, and V3 = v3 can be controlled.

[0114] For flight control signals of manned aircraft, such as pitch, roll, and throttle signals, which involve adjusting the power output W of the rotor motor, it is assumed that the received flight control signal for the manned aircraft is S, and there exists a conversion relationship between the control signal and flight speed for both manned aircraft and drones, V = f1(S, x), where x can include other variables of the same type for rotorcraft (e.g., weight, power, etc.), which are not limited in this embodiment of the invention.

[0115] In the embodiments of the present invention, V is required. 载人飞行器 =V 无人机 ,f1(S 载人飞行器 x 载人飞行器 )=f1(S 无人机 x 无人机 ), x 载人飞行器 x 无人机 For fixed parameters, that is, there exists S 无人机 =f2(S 载人飞行器 The conversion relationship between manned aircraft and unmanned aircraft is used to ensure that their forward speed, instantaneous translation speed, and instantaneous vertical speed are the same or maintain a certain fixed / linear relationship.

[0116] It should be noted that the aforementioned conversion relationship can be established by measuring the control signals S of manned aircraft and unmanned aerial vehicles at the same speeds v1 to vn in a test environment. 载人飞行器1 ~S 载人飞行器n , and S 无人机1 ~S 无人机n Since both sets of logical formulas are V = f1(S, x), S can be calculated through data statistics. 无人机 =f2(S 载人飞行器 For example, assuming the manned aircraft is a flying car, and given that the flying car's range speed is 30 km / h, its control signal input is w. And if the control signal input of a drone at 30 km / h can be experimentally measured to be u, then during flight control, control signals w and u can be sent simultaneously to both the flying car and the drone to achieve synchronization between the two aircraft.

[0117] In some embodiments of the present invention, the drones are controlled simultaneously with the manned aircraft performing flight maneuvers. That is, after controlling each drone to accompany the manned aircraft, the drones located at various accompanying positions can also be controlled to perform corresponding accompanying control on the manned aircraft. This accompanying control may include accompanying photography and related functions extended to the manned aircraft via the drones, such as accompanying lighting, accompanying signal enhancement / signal provision, etc. In other words, the provided standby points and the determined accompanying points may be related to the functions provided by the drones at those locations. For example, during accompanying photography, the various accompanying positions of the drones can be the shooting positions of the drones during the accompanying photography process, allowing photography to be completed during the accompanying flight. Specifically, the drone's gimbal camera can use image recognition technology to keep the manned aircraft continuously within the field of view as the subject. It should be noted that the image recognition technology for the specific photography process can utilize existing technologies, and the embodiments of the present invention will not elaborate further.

[0118] In this embodiment of the invention, after locking the position of the UAV and determining the standby point, the conversion between the flight control signal of the manned aircraft and the control signal of the UAV can enable the manned aircraft and the UAV to have corresponding instantaneous forward speed, corresponding instantaneous translational speed and corresponding instantaneous vertical speed. Based on the coordination between the manned aircraft and the UAV, the problem of UAV's lagging judgment and control is avoided, and the UAV can keep synchronous and relatively stationary with the manned aircraft, realizing the UAV's escort control of the manned aircraft.

[0119] Reference Figure 5 This illustration shows an application scenario diagram of controlling a drone's escort flight provided by an embodiment of the present invention. It relates to a scenario where a drone escorts and films a manned aircraft. During the escort flight filming process, the provided standby points can be points used to indicate that the drone is escorting the manned aircraft. The various escort positions of the drone can be the filming positions of each drone during the escort flight filming process. The manned aircraft can include, but is not limited to, ordinary manned aircraft (such as rotorcraft) and vehicles such as flying cars; this embodiment of the present invention does not impose any limitations on this.

[0120] In this embodiment of the invention, taking a flying car as an example, at least one drone can be controlled to become a controlled wingman, allowing the drone to remain synchronously stationary with the photographed aircraft or flying car, and to maintain and take pictures at any position, achieving a synchronous escort effect.

[0121] Reference Figure 6The diagram illustrates a flight companion control system for a drone provided in an embodiment of the present invention. The process of flight companion control based on the flight companion control system may include a position locking process and a flight control process. The flight companion control system involves a flying car standby switching module, a flying car flight control module, a flying car flight control signal conversion module, a data transmission signal module, and a drone flight control module. The position locking process can be mainly implemented based on the flying car standby switching module, and the flight control process can be mainly implemented based on the flying car flight control module, the flying car flight control signal conversion module, the data transmission signal module, and the drone flight control module.

[0122] Specifically, the standby conversion module for flying cars is mainly used to convert the target shooting point after the user selects a standby point for the drone, i.e., determines the target shooting point, to obtain the coordinate information corresponding to the target shooting point. This allows the drone to send a standby position signal to the drone, which carries coordinate information. This facilitates the control of the drone to move to the standby point based on the coordinates of the standby positioning point, thus completing the position lock.

[0123] The flight control module for flying cars is mainly used to generate flight control signals for the flying car based on user-input control signals. The motion control logic of the flying car primarily controls the pitch angle, roll angle, and throttle position of the aircraft to achieve control of forward speed, instantaneous translational speed, and instantaneous vertical speed. Therefore, the received flight control signals include at least the pitch, roll, and throttle signals.

[0124] The flying car and flight control signal conversion module is mainly used to convert flight control signals into control signals for drones, so that the converted control signals for drones can be used to control the drone and the manned aircraft to have at least the same instantaneous forward speed, the same instantaneous translational speed, and the same instantaneous vertical speed.

[0125] The data transmission signal module is mainly used to send commands to the drone with its position locked, and can send converted control signals for the drone.

[0126] The drone flight control module is mainly used to respond to control signals to control the drone. The timing of its control can be the same as the timing of the flying car flight control module responding to the flight control signals to control the manned aircraft, so as to achieve the same control of the drone while the flying car is performing flight actions.

[0127] While the manned aircraft performs flight maneuvers, the drones are controlled in the same way. That is, after controlling each drone to accompany the flying car, the drones located at various shooting positions can also be controlled to photograph the flying car. The photos are taken during the accompanying flight, and the drone's gimbal camera can use image recognition technology to keep the flying car as the subject within the framing range. The image recognition technology for the specific photography process can use relevant technologies in the existing technology, and will not be described in detail in this embodiment of the invention.

[0128] It should be noted that if the flying car requires multiple drones to shoot from the same angle simultaneously, since the coordinated movement of the flying car and the drones does not include yaw, the drone's shooting angle can be adjusted while yawing. Adjusting the shooting angle adjusts the drone's position at the same time. In other cases, the drone's position can only be redefined when the flying car is hovering or stationary.

[0129] In some embodiments of the present invention, the process of controlling a drone to achieve accompaniment flight provided by the embodiments of the present invention allows users to conveniently customize the formation position and shooting angle of the drone wingman; and its wingman standby point conversion method can realize the relative position locking of the drone and the flying car in space; and the implementation method of the flying car flight control signal conversion module can realize the synchronous control of the flying car and the drone by the user.

[0130] It should be noted that the related processes for controlling the drone to achieve flight companionship provided in the embodiments of the present invention, such as position locking and signal conversion-based control processes, can also be applied to ordinary vehicles (such as pure electric vehicles, fuel vehicles, hybrid vehicles, etc.) to achieve synchronous accompanying photography of ordinary vehicles by drones.

[0131] In this embodiment of the invention, in order to achieve accompanying flight photography through the coordination of manned aircraft and drones, after locking the position of the drone and determining its standby point, the conversion between the flight control signals of the manned aircraft and the control signals of the drone can be used to enable the manned aircraft and the drone to have corresponding instantaneous forward speed, corresponding instantaneous translational speed and corresponding instantaneous vertical speed. Based on the coordination of the manned aircraft and the drone, the problem of the drone's lagging judgment and control is avoided, allowing the drone to maintain synchronous relative stillness with the manned aircraft. This enables the drone to maintain and shoot at any position, realizing the accompanying flight photography of the manned aircraft by the drone, and achieving the effect of synchronous accompanying flight.

[0132] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0133] Reference Figure 7 The diagram shows a structural block diagram of an embodiment of a drone's flight control device according to the present invention, which may specifically include the following modules:

[0134] The accompaniment position determination module 701 is used to determine the accompaniment position of at least one UAV in response to a position locking command for at least one UAV.

[0135] The control signal conversion module 702 is used to receive flight control signals for the manned aircraft and convert the flight control signals to obtain control signals for the UAVs; the control signal response module 703 is used to respond to the flight control signals to perform corresponding flight control on the manned aircraft and respond to the control signals to perform corresponding control on the UAVs, so that each UAV located at each escort position can perform corresponding escort control on the manned aircraft.

[0136] In one embodiment of the present invention, the escort location determination module 701 may include the following sub-modules:

[0137] The standby point display submodule is used to respond to the position locking command of at least one UAV and display at least one standby point on the onboard terminal of the manned aircraft; the standby point is used to indicate the accompaniment point of the UAV accompanying the manned aircraft.

[0138] The escort position determination submodule is used to respond to the confirmation command for the target escort point and determine the escort position of at least one drone based on the target escort point.

[0139] In one embodiment of the present invention, the escort position is determined based on the coordinate information of the target escort point; the escort position determination submodule may include the following units:

[0140] The coordinate information generation unit is used to perform positioning transformation on the target accompaniment point and generate the coordinate information corresponding to the target accompaniment point.

[0141] In one embodiment of the present invention, the coordinate information includes longitude information and latitude information, and the coordinate information generation unit may include the following sub-units:

[0142] The relative distance determination subunit is used to obtain the axis of the manned spacecraft and the axis positioning coordinates, and to determine the relative distance between the target escort point and the axis.

[0143] The latitude and longitude generation sub-unit is used to determine the longitude and latitude information corresponding to the target escort point based on the relative distance and the axis positioning coordinates of the manned aircraft.

[0144] Specifically, the onboard terminal of the manned aircraft displays the standby point on a planar display, and the relative distance includes the relative lateral distance and the relative longitudinal distance. The process of determining the relative distance between the target escort point and the axis includes acquiring the planar information of the target escort point and the axis of the manned aircraft; the planar information includes the relative straight-line distance; acquiring the angle between the target escort point and the axis relative to the north-south vertical axis; and calculating the relative lateral distance and relative longitudinal distance between the target escort point and the axis based on the Pythagorean theorem, using the relative straight-line distance and the angle relative to the north-south vertical axis. Furthermore, the axis positioning coordinates of the manned aircraft include axis positioning longitude information and axis positioning latitude information. The process of determining the longitude and latitude information corresponding to the target escort point based on the relative distance and the axis positioning coordinates of the manned aircraft includes generating the longitude information corresponding to the target escort point using the axis positioning longitude information and the relative lateral distance; and generating the latitude information corresponding to the target escort point using the axis positioning latitude information and the relative longitudinal distance.

[0145] In one embodiment of the present invention, the coordinate information includes height information, and the coordinate information generation unit may include the following sub-units:

[0146] The target standby altitude range confirmation subunit is used to respond to the confirmation command for the target standby altitude range of the UAV and obtain the current flight altitude of the manned aircraft; wherein, the standby altitude range of the UAV includes the set altitude for each standby altitude range, and the set altitude is set relative to the altitude of the manned aircraft.

[0147] The altitude information generation subunit is used to obtain the target set altitude corresponding to the target standby altitude range, and to generate the altitude information corresponding to the target escort point by using the current flight altitude of the manned aircraft and the target set altitude.

[0148] In one embodiment of the present invention, the flight control signal includes at least a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal is used to indicate the forward speed in a preset first direction, the roll signal is used to indicate the instantaneous translational speed in a preset second direction, and the throttle signal is used to indicate the instantaneous vertical speed in a preset third direction.

[0149] The control signal conversion module 702 may include the following sub-modules:

[0150] The speed determination submodule is used to determine the forward speed, instantaneous translation speed, and instantaneous vertical speed of the manned aircraft in the preset first direction, based on the flight control pitch signal, roll signal, and throttle signal in the flight control signals.

[0151] The control signal generation submodule is used to generate flight control pitch, roll, and throttle signals for the UAV by using the forward speed, instantaneous translation speed, and instantaneous vertical speed of the manned aircraft.

[0152] In this embodiment of the invention, after locking the position of the UAV and determining the standby point, the accompanying flight control device of the UAV provided by this embodiment can, based on the conversion between the flight control signal of the manned aircraft and the control signal of the UAV, enable the manned aircraft and the UAV to have corresponding instantaneous forward speed, corresponding instantaneous translational speed and corresponding instantaneous vertical speed. Based on the coordination between the manned aircraft and the UAV, the problem of UAV's lagging judgment and control is avoided, allowing the UAV to maintain synchronous relative stillness with the manned aircraft, thus realizing the accompanying flight control of the UAV on the manned aircraft.

[0153] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0154] This invention also provides a manned aircraft, comprising:

[0155] The system includes the aforementioned drone's flight control device, processor, memory, and a computer program stored in the memory and capable of running on the processor. When executed by the processor, the computer program implements the various processes of the aforementioned drone flight control method embodiments and achieves the same technical effects. To avoid repetition, these will not be described again here. It should be noted that manned aircraft can include, but is not limited to, ordinary manned aircraft (such as rotorcraft) and vehicles such as flying cars; the embodiments of this invention do not impose such limitations.

[0156] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described drone escort control method and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0157] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0158] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0160] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0162] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0163] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0164] The foregoing has provided a detailed description of a drone escort control method, a drone escort control device, a corresponding manned aircraft, and a corresponding computer-readable storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the flight of an unmanned aerial vehicle (UAV), characterized in that, The method includes: In response to a position lock command for at least one drone, determine the accompaniment position of at least one drone; The system receives flight control signals for a manned aircraft, the flight control signals including at least a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal indicates the forward speed in a preset first direction, the roll signal indicates the instantaneous translational speed in a preset second direction, and the throttle signal indicates the instantaneous vertical speed in a preset third direction; the system converts the flight control signals to obtain control signals for an unmanned aerial vehicle (UAV), including: determining the forward speed in the preset first direction, the instantaneous translational speed in the preset second direction, and the instantaneous vertical speed in the preset third direction of the manned aircraft based on the flight control pitch signal, roll signal, and throttle signal in the flight control signals; and generating flight control pitch signals, roll signals, and throttle signals for the UAV using the forward speed in the preset first direction, the instantaneous translational speed in the preset second direction, and the instantaneous vertical speed in the preset third direction of the manned aircraft. The system responds to the flight control signal to perform corresponding flight control on the manned aircraft and responds to the control signal to perform corresponding control on the unmanned aerial vehicle, so that each unmanned aerial vehicle located at each escort position performs corresponding escort control on the manned aircraft.

2. The method according to claim 1, characterized in that, The response to the position-locking command for at least one UAV, determining the escort position of at least one UAV, includes: In response to a command to lock the position of at least one UAV, at least one standby point is displayed on the onboard terminal of the manned aircraft; the standby point is used to indicate the accompaniment point where the UAV is accompanying the manned aircraft. In response to the confirmation command for the target accompaniment point, the accompaniment position of at least one UAV is determined based on the target accompaniment point.

3. The method according to claim 2, characterized in that, The escort position is determined based on the coordinate information of the target escort point; determining the escort position of at least one UAV based on the target escort point includes: The target accompaniment point is located and converted to generate the coordinate information corresponding to the target accompaniment point.

4. The method according to claim 3, characterized in that, The coordinate information includes longitude and latitude information. The step of performing a positioning transformation on the target stalking point to generate the coordinate information corresponding to the target stalking point includes: Obtain the axis center and axis center positioning coordinates of the manned aircraft, and determine the relative distance between the target escort point and the axis center; Based on the relative distance and the axis positioning coordinates of the manned aircraft, the longitude and latitude information corresponding to the target escort point are determined.

5. The method according to claim 4, characterized in that, The onboard terminal of the manned aircraft displays the standby point based on a planar display, and the relative distance includes relative lateral distance and relative longitudinal distance; determining the relative distance between the target escort point and the axis includes: Obtain the planar information between the target escort point and the axis of the manned aircraft; the planar information includes the relative straight-line distance; Obtain the angle between the target escort point and the axis relative to the north-south vertical axis; Based on the Pythagorean theorem, the relative lateral distance and the relative longitudinal distance between the target stalking point and the axis are calculated using the angle between the relative straight-line distance and the relative north-south vertical axis. The axisymmetric coordinates of the manned spacecraft include axisymmetric longitude and axisymmetric latitude information; determining the longitude and latitude information corresponding to the target rendezvous point based on the relative distance and the axisymmetric coordinates of the manned spacecraft includes: Using the axis positioning longitude information and the relative lateral distance, the longitude information corresponding to the target escort point is generated; Furthermore, using the axis positioning latitude information and the relative longitudinal distance, the latitude information corresponding to the target escort point is generated.

6. The method according to claim 3 or 4, characterized in that, The coordinate information includes altitude information. The step of performing a positioning transformation on the target accompaniment point to generate the coordinate information corresponding to the target accompaniment point includes: In response to a confirmation command for the target standby altitude range of the UAV, the current flight altitude of the manned aircraft is obtained; wherein, the standby altitude range of the UAV includes a set altitude for each standby altitude range, and the set altitude is set relative to the altitude of the manned aircraft; Obtain the target set altitude corresponding to the target standby altitude range, and generate the altitude information corresponding to the target escort point using the current flight altitude of the manned aircraft and the target set altitude.

7. A flight control device for an unmanned aerial vehicle (UAV), characterized in that, The device includes: The accompaniment position determination module is used to determine the accompaniment position of at least one drone in response to a position locking command for at least one drone. A control signal conversion module is used to receive flight control signals for a manned aircraft, the flight control signals including at least a flight control pitch signal, a roll signal, and a throttle signal, wherein the flight control pitch signal is used to indicate the forward speed in a preset first direction, the roll signal is used to indicate the instantaneous translational speed in a preset second direction, and the throttle signal is used to indicate the instantaneous vertical speed in a preset third direction; the module converts the flight control signals to obtain control signals for an unmanned aerial vehicle (UAV), including: a speed determination submodule, used to determine the forward speed corresponding to the preset first direction, the instantaneous translational speed corresponding to the preset second direction, and the instantaneous vertical speed of the manned aircraft based on the flight control pitch signal, roll signal, and throttle signal in the flight control signals; and a control signal generation submodule, used to generate the flight control pitch signal, roll signal, and throttle signal for the UAV using the forward speed, instantaneous translational speed, and instantaneous vertical speed of the manned aircraft. The control signal response module is used to respond to the flight control signal to perform corresponding flight control on the manned aircraft, and to respond to the control signal to perform corresponding control on the UAV, so that each UAV located at each escort position performs corresponding escort control on the manned aircraft.

8. A manned aircraft, characterized in that, include: The drone accompaniment control device, processor, memory, and computer program stored in the memory and capable of running on the processor as described in claim 7, wherein the computer program, when executed by the processor, implements the drone accompaniment control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the flight control method for the UAV as described in any one of claims 1-6.

Images