Aircraft control method, device and system and vehicle

Abstract

The invention relates to an aircraft control method, device and system and a vehicle, and relates to the technical field of vehicles. The problem that it is difficult for a driver to simultaneously drive a vehicle and operate an aircraft in the vehicle driving process in the related technology is solved at least. The method comprises the steps of obtaining a current driving state of a vehicle; target equipment is determined from multiple pieces of to-be-selected control equipment based on the current driving state, the multiple pieces of to-be-selected control equipment comprise master control equipment and slave control equipment, the master control equipment is located at the driving position, the slave control equipment is located at the position, except the driving position, in the vehicle, and the target equipment can send a control instruction to the aircraft.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a method, device, system, and vehicle for controlling an aircraft. Background Art

[0002] With the continuous development of technology, in-vehicle drone technology has emerged. A vehicle can control a drone to take photos and videos in a target area and transmit the photos and videos to the vehicle, enabling the occupants in the vehicle to obtain the on-site situation of the target area in a timely manner.

[0003] One prior art provides a terrain modeling method, which can use a central control screen to control a drone to perform terrain scanning within a target scanning range and transmit the point cloud data of the target scanning range to the central control screen. Another prior art provides an in-vehicle drone control method, which can control the movement of the drone through a steering wheel.

[0004] However, the above methods cannot solve the problem that it is difficult for a driver to drive a vehicle and operate a drone simultaneously during the driving process of the vehicle. Therefore, a new method is needed to achieve the control of the drone while driving the vehicle. Summary of the Invention

[0005] According to the first aspect provided by this application, this application provides a method, device, system, and vehicle for controlling an aircraft to at least solve the technical problem that it is difficult for a driver to drive a vehicle and operate an aircraft simultaneously during the driving process of the vehicle in related technologies.

[0006] The technical solution of this application is applied to an aircraft control device. The aircraft control method includes: obtaining the current driving state of the vehicle. Based on the current driving state, determining a target device from a master control device and a slave control device, where the master control device is located at the driver's position, and the slave control device is located at a position other than the driver's position in the vehicle, and the target device is capable of sending a control command to the aircraft.

[0007] In a possible implementation manner, the current driving state includes at least one of the following: the current gear information of the vehicle, the current speed of the vehicle. Determining a target device from the master control device and the slave control device based on the current driving state includes: when the current gear information indicates that the vehicle is currently in a stopped state, or the current speed of the vehicle is less than or equal to a preset speed threshold, using the master control device as the target device. When the current speed of the vehicle is greater than the preset speed threshold, using the slave control device as the target device.

[0008] In a possible implementation manner, the number of slave devices is multiple. Taking the slave devices as target devices includes: obtaining the console information corresponding to each slave device among the multiple slave devices, where the console information is used to indicate whether there is an operator within the preset distance of the slave device. Based on the console information corresponding to each slave device, determining at least one first candidate device, where the first candidate device is a slave device with an operator within the preset distance. Determining the target device from among the at least one first candidate device.

[0009] In a possible implementation manner, determining the target device from among the at least one first candidate device includes: obtaining the position information of the aircraft and the position information of each first candidate device among the at least one first candidate device, where the position information of the aircraft is used to indicate the relative position between the aircraft and the vehicle, and the position information of the first candidate device is used to indicate the position of the first candidate device in the vehicle. Based on the position information of each first candidate device and the position information of the aircraft, determining the target device from among the at least one first candidate device.

[0010] In a possible implementation manner, the position of the target device in the vehicle is the same as the position of the aircraft relative to the vehicle.

[0011] In a possible implementation manner, taking the slave device as the target device includes: sending a permission application instruction through the master device, where the permission application instruction is used to indicate obtaining the control permission of the aircraft. In response to the operator's permission adjustment operation, generating a target instruction through the master device, where the target instruction is used to indicate whether to agree that the slave device obtains the control permission of the aircraft. In the case where the target instruction is used to indicate agreeing that the slave device obtains the control permission of the aircraft, taking the slave device as the target device.

[0012] In a possible implementation manner, the target device is used to control the movement of the aircraft, and the aircraft includes a camera. The aircraft control method further includes: obtaining the rotation direction of the steering wheel. Sending a rotation instruction to the aircraft, where the rotation instruction is used to indicate the camera to rotate in the rotation direction.

[0013] In a possible implementation manner, the aircraft control method further includes: receiving image data from the aircraft through the master device of the vehicle and / or the slave device of the vehicle.

[0014] According to a second aspect provided by the present application, there is provided an aircraft control device, where the device includes an acquisition module and a processing module. The acquisition module is used to acquire the current driving state of the vehicle. The processing module is used to determine a target device from the master device and the slave device based on the current driving state, where the master device is located at the driver's seat, the slave device is located at a position in the vehicle other than the driver's seat, and the target device can send a control instruction to the aircraft.

[0015] In a possible implementation, the current driving state includes at least one of the following: the current gear information of the vehicle, the current speed of the vehicle. The processing module is configured to use the main control device as the target device when the current gear information indicates that the vehicle is currently in a stopped state, or when the current speed of the vehicle is less than or equal to a preset speed threshold. The processing module is further configured to use the slave control device as the target device when the current speed of the vehicle is greater than the preset speed threshold.

[0016] In a possible implementation, the number of slave control devices is multiple. The obtaining module is configured to obtain the console information corresponding to each slave control device among the multiple slave control devices, and the console information is used to indicate whether there is an operator within a preset distance of the slave control device. The processing module is configured to determine at least one first candidate device based on the console information corresponding to each slave control device, and the first candidate device is a slave control device with an operator within the preset distance. The processing module is further configured to determine the target device from among the at least one first candidate device.

[0017] In a possible implementation, the obtaining module is configured to obtain the position information of the aircraft and the position information of each first candidate device among the at least one first candidate device. The position information of the aircraft is used to indicate the relative position between the aircraft and the vehicle, and the position information of the first candidate device is used to indicate the position of the first candidate device in the vehicle. The processing module is configured to determine the target device from among the at least one first candidate device based on the position information of each first candidate device and the position information of the aircraft.

[0018] In a possible implementation, the position of the target device in the vehicle is the same as the position of the aircraft relative to the vehicle.

[0019] In a possible implementation, the processing module is configured to send a permission application instruction through the main control device, and the permission application instruction is used to indicate obtaining the control permission of the aircraft. The processing module is further configured to generate a target instruction through the main control device in response to the operator's permission adjustment operation, and the target instruction is used to indicate whether to agree that the slave control device obtains the control permission of the aircraft. The processing module is further configured to use the slave control device as the target device when the target instruction is used to indicate agreeing that the slave control device obtains the control permission of the aircraft.

[0020] In a possible implementation, the target device is used to control the movement of the aircraft, and the aircraft includes a camera. The processing module is configured to send a rotation instruction to the aircraft, and the rotation instruction is used to indicate that the camera rotates in the rotation direction. In a possible implementation, the processing module is configured to receive image data from the aircraft through the main control device of the vehicle and / or the slave control device of the vehicle.

[0021] According to a third aspect provided by the present application, there is provided an aircraft control device, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the method according to the first aspect and any possible implementation manner thereof.

[0022] According to a fourth aspect provided by the present application, there is provided a vehicle, the vehicle includes the aircraft control device according to the second aspect, and the vehicle is configured to implement the method according to the first aspect and any possible implementation manner thereof as described above.

[0023] According to a fifth aspect provided by the present application, there is provided an aircraft control system, the aircraft control system includes the aircraft control device according to the second aspect, and the aircraft control system is configured to implement the method according to the first aspect and any possible implementation manner thereof as described above.

[0024] According to a sixth aspect provided by the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by the processor of the aircraft control device, the aircraft control device can be enabled to execute the method according to the first aspect and any possible implementation manner thereof.

[0025] According to a seventh aspect provided by the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the aircraft control device, the aircraft control device is enabled to perform the method according to the first aspect and any possible implementation manner thereof.

[0026] Advantages of the present invention:

[0027] (1) The current driving state of the vehicle can be obtained. Subsequently, based on the current driving state, the target device can be determined from the master device and the slave device. In this way, the vehicle state can be automatically detected, and the control authority of the aircraft can be automatically allocated based on the current driving state of the vehicle, so as to control the aircraft collaboratively through the master device and the slave device, realizing that during the driving process of the vehicle, when the driver is unable to control the aircraft, other occupants can control the aircraft.

[0028] (2) When the vehicle is stationary, the driver can directly control the aircraft for precise shooting or operation. When the vehicle is driving, the driver can focus on driving, and other occupants in the vehicle can control the aircraft. In this way, while improving the driving safety of the vehicle, the operation convenience can be enhanced.

[0029] (3) The operating console information corresponding to each slave device among multiple slave devices can be obtained to determine whether there is an operator in front of the slave device. Subsequently, based on the operating console information corresponding to each slave device, at least one first candidate device can be determined. Then, a target device can be determined from the at least one first candidate device. In this way, the slave device with an operator can be preferentially used as the target device, so that the aircraft can be controlled in a timely manner.

[0030] (4) By determining the target device based on the position of the aircraft, the flight state and mission execution status of the aircraft can be intuitively understood, thereby making more accurate control decisions and improving the efficiency of mission execution.

[0031] (5) By determining whether to allocate the control authority of the aircraft to the slave device through the master device, it can be ensured that the operation of the aircraft is always under control, avoiding unauthorized control actions, thereby improving the safety and reliability of flight.

[0032] (6) By controlling the camera of the aircraft through the steering wheel, the driver can more conveniently view the flight situation of the aircraft while driving the vehicle and can more easily adjust the rotation direction of the camera.

[0033] (7) By receiving image data from the aircraft through the master device and / or the slave device of the vehicle, the control situation of the aircraft can be viewed, so that more accurate control of the aircraft can be achieved.

[0034] It should be noted that the technical effects brought by any implementation manner in the second aspect to the seventh aspect can refer to the technical effects brought by the corresponding implementation manner in the first aspect, which will not be elaborated here.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation to this application.

[0037] Figure 1 is a system architecture diagram of an aircraft control system shown according to an exemplary embodiment;

[0038] Figure 2 is an example schematic diagram of a candidate control device shown according to an exemplary embodiment;

[0039] Figure 3 is a flowchart of an aircraft control method shown according to an exemplary embodiment;

[0040] Figure 4 is a schematic flowchart of another aircraft control method shown according to an exemplary embodiment;

[0041] Figure 5 is a schematic structural diagram of an aircraft control device shown according to an exemplary embodiment;

[0042] Figure 6 is a schematic structural diagram of another aircraft control device shown according to an exemplary embodiment. Detailed implementation manners

[0043] To enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0044] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0045] With the rapid development of automotive intelligence and unmanned aerial vehicle technology, the demand of drivers for simultaneously driving a vehicle and controlling an unmanned aerial vehicle is increasing day by day. Drivers need to highly concentrate their attention during driving to cope with complex traffic environments. Controlling an unmanned aerial vehicle while driving a vehicle will distract the driver's attention and increase driving risks.

[0046] Some methods can operate and control an unmanned aerial vehicle by moving the operation seat and display it on multiple display screens. However, this method still distracts the driver's attention when controlling the unmanned aerial vehicle.

[0047] To solve the above problems, the present application provides an aircraft control method, which includes: obtaining the current driving state of the vehicle. After that, based on the current driving state, a target device can be determined from the master device and the slave device. In this way, the vehicle state can be automatically detected, and the control authority of the aircraft can be automatically allocated based on the current driving state of the vehicle, so as to jointly control the aircraft through the master device and the slave device, realizing that when the vehicle is driving, other passengers can control the aircraft when the driver cannot control the aircraft.

[0048] It should be noted that the execution subject of the aircraft control method provided in this application can be an aircraft control device, and this device can be a vehicle. At the same time, this device can also be the Central Processing Unit (CPU) of the vehicle, or the control module for controlling the aircraft in this device, or the in-vehicle device in the vehicle. In the embodiments of this application, the vehicle executes the aircraft control method as an example to illustrate the aircraft control method provided in the embodiments of this application.

[0049] The implementation environment of the embodiments of this application will be introduced below.

[0050] As Figure 1 shown, a kind of aircraft control system provided in the embodiments of this application includes: a vehicle 101 and an aircraft 102. Among them, the vehicle 101 is deployed with the aircraft 102.

[0051] The vehicle 101 is used to send an identity binding request to the aircraft 102 to establish an identity binding relationship with the aircraft 102. And the vehicle 101 is also used to send a control instruction to the aircraft to control the movement of the aircraft 102. And the vehicle 101 is also used to receive image data from the aircraft 102.

[0052] The aircraft 102 is used to take pictures and send image data to the vehicle 101.

[0053] It should be noted that this application places no restrictions on the vehicle 101 and the aircraft 102. For example, the vehicle 101 can be a sedan, a bus or a minivan. The aircraft 102 can be a drone.

[0054] In the embodiments of this application, the vehicle 101 includes an interaction system. The interaction system includes a plurality of candidate control devices and a steering wheel. The plurality of candidate control devices include: a main control device (i.e., the first control unit) and a slave control device (i.e., the second control unit).

[0055] Among them, the main control device includes: a central control screen and an instrument screen, and the slave control device includes: a co-pilot screen and a rear row screen. The aircraft 102 includes a camera, wings, an aircraft communication system and an aircraft control system.

[0056] It should be noted that this application places no limitation on the number of main control devices. For example, the number of main control devices can be one or two.

[0057] Exemplarily, as Figure 2 shown, the vehicle 101 is deployed with an instrument screen, a steering wheel, a co-pilot screen, a central control screen and a rear row screen. The rear row screen includes a left rear row screen and a right rear row screen. Among them, the steering wheel, the instrument screen and the central control screen are in the driver's seat, the co-pilot screen is in the co-pilot seat, the left rear row screen is at a position behind the driver's seat, and the right rear row screen is at a position behind the co-pilot seat.

[0058] In a possible design, vehicle 101 can determine a target device from the central control screen, the co-pilot screen, the instrument screen, and the rear-row screen. The target device can obtain the control authority of the aircraft to send a control instruction to the aircraft 102.

[0059] Optionally, when the vehicle 101 is stationary, the vehicle 101 can determine the central control screen as the target device.

[0060] The vehicle 101 can determine the target device from the co-pilot screen, the instrument screen, and the rear-row screen through the central control screen.

[0061] It should be noted that the main control device can default to having the control authority of the aircraft, and the slave control device can default to not having the control authority of the aircraft.

[0062] Optionally, the vehicle 101 includes a vehicle-wide communication system.

[0063] In a possible design, the vehicle 101 can interact with the interaction system through the vehicle-wide communication system. The vehicle 101 can also interact with the aircraft 102 through the vehicle-wide communication system.

[0064] In this way, secure data transmission can be carried out through the vehicle-wide communication system, and collaborative work can be achieved.

[0065] It should be noted that in software development, the communication protocol of the vehicle-wide communication system can be written to ensure that multiple candidate control devices and the steering wheel in the interaction system can collaboratively transmit instructions and data to the vehicle-wide communication system. At the same time, the communication between the vehicle-wide communication system and the aircraft communication system needs to encrypt the entire process to ensure the security of communication.

[0066] Optionally, the vehicle 101 can obtain the rotation direction of the steering wheel and, based on the rotation direction of the steering wheel, send a rotation instruction to the vehicle-wide communication system. The rotation instruction is used to instruct the camera to rotate in the rotation direction.

[0067] It should be noted that the operator can control the rotation of the steering wheel in the vehicle 101 to control the camera in the aircraft 102 to rotate in the rotation direction.

[0068] In another possible design, the steering wheel is equipped with buttons. The vehicle 101 can obtain the button information of the steering wheel and, based on the button information of the steering wheel, send a rotation instruction and a photographing instruction to the vehicle-wide communication system.

[0069] In some embodiments, the vehicle 101 can control the camera of the aircraft 102 through the main control device and the slave control device to control the rotation, photographing, and recording of the camera of the aircraft 102.

[0070] It should be noted that there are no restrictions on the way the master device and slave device of this application obtain the camera of the aircraft. For example, the master device and slave device may default to having camera control permissions. Another example is that the master device can send a camera control instruction to the slave device, and the camera control instruction is used to indicate whether to agree that the slave device obtains the control permission of the camera.

[0071] Specifically, the vehicle 101 can send a camera control instruction to the aircraft communication system through the vehicle communication system. After that, the vehicle communication system can send a camera control instruction to the aircraft communication system. Then, the master device and slave device can control the camera of the aircraft 102, and the camera performs operations such as rotation / photo taking / recording after the aircraft communication system parses the instruction.

[0072] In some embodiments, while the vehicle 101 controls the movement of the aircraft 102 through the target device, the vehicle 101 can control the rotation of the camera, take pictures, and record videos through an alternative control device other than the target device.

[0073] It should be noted that the operator can control the aircraft through the virtual keys of the target device in the vehicle 101.

[0074] Optionally, in response to the operator's control trigger operation, the target device can generate a control instruction and send the control instruction to the vehicle communication system.

[0075] In a possible design, the operation instruction includes at least one of the following: a self-check instruction, a takeoff instruction, a forward instruction, a backward instruction, a raise instruction, a lower instruction, a steering instruction, a follow instruction, a surround instruction, and a landing instruction.

[0076] Optionally, when the vehicle 101 is stationary, the target device can generate a takeoff instruction to control the takeoff of the aircraft 102.

[0077] Exemplarily, when the vehicle 101 is currently in a stopped state, the operator can click the self-check button on the central control screen, and the self-check button is used to control the central control screen to generate a self-check instruction. In response to the operator's self-check trigger operation, the central control screen can generate a self-check instruction and send the self-check instruction to the aircraft 102 through the vehicle communication system. The self-check instruction is used to instruct the aircraft 102 to determine whether the current location meets the takeoff conditions (such as whether it is a restricted flight area). Subsequently, the aircraft 102 can receive the self-check instruction. If the current location does not meet the takeoff conditions, the aircraft 102 is in a standby state and sends a self-check message to the vehicle communication system. The self-check message is used to indicate that the current location of the aircraft 102 does not meet the takeoff conditions; if the current location meets the takeoff conditions, the aircraft 102 sends a self-check message to the vehicle communication system. The self-check message is used to indicate that the current location of the aircraft 102 meets the takeoff conditions. When the self-check message is used to indicate that the current location of the aircraft 102 meets the takeoff conditions, the operator can click the takeoff button on the central control screen, and the takeoff button is used to control the aircraft 102 to take off. Subsequently, the operator can control the aircraft 102 to perform operations such as forward / backward / ascend / descend / turn / follow / circle through the central control screen.

[0078] Optionally, the target device can generate a landing instruction to control the landing of the aircraft 102.

[0079] Exemplarily, the operator can click the landing button on the central control screen, and the landing button is used to send a landing instruction. Subsequently, the vehicle 101 can detect whether the vehicle 101 is currently in a stopped state. If the vehicle 101 is not currently in a stopped state, a prompt message is sent through the central control screen, such as "The vehicle is driving normally. Please operate after parking." If the vehicle 101 is currently in a stopped state, the vehicle 101 can send a landing instruction to the aircraft 102 through the vehicle communication system. The landing instruction is used to control the landing of the aircraft 102. After the aircraft 102 lands successfully, the vehicle 101 can receive a landing message from the aircraft 102 through the vehicle communication system. The landing message is used to indicate that the aircraft has landed, such as "The aircraft has landed and the flight mission has been completed."

[0080] Optionally, the target device can generate a follow instruction to control the aircraft 102 to follow the vehicle 101.

[0081] Exemplarily, when the vehicle 101 is in a driving state, the vehicle 101 can send a follow instruction to the aircraft communication system through the vehicle communication system, so that the aircraft 102 can automatically follow the vehicle 101 and transmit the picture in real time.

[0082] It should be noted that use cases corresponding to the rotation of the steering wheel and buttons, the interactive interface displayed on the screen, and the control logic can be written in software development.

[0083] In some embodiments, the aircraft 102 may receive control instructions from the vehicle communication system through the aircraft communication system and decrypt the control instructions. Thereafter, the control instructions may be transmitted to the aircraft control system.

[0084] Optionally, the aircraft 102 may send the status of the aircraft control system to the vehicle communication system through the aircraft communication system.

[0085] It should be noted that in software development, a communication algorithm for the aircraft communication system needs to be written so that the aircraft communication system can adapt to the vehicle communication protocol and ensure a certain degree of anti-interference.

[0086] In one possible design, the aircraft 102 may receive control instructions from the aircraft communication system through the aircraft control system to control the flight of the aircraft 102.

[0087] It should be noted that in software development, a control algorithm for the aircraft control system needs to be written so that the aircraft can adjust parameters such as the flight trajectory, altitude, camera shooting angle, and focal length through the received instructions. At the same time, the aircraft control system also needs to monitor the status of the aircraft in real time and transmit the status information to the aircraft communication system.

[0088] Optionally, the aircraft 102 may receive control instructions from the vehicle communication system through the aircraft communication system and control the propellers to execute the control instructions through the aircraft control system.

[0089] For example, the aircraft 102 may receive a takeoff instruction from the vehicle communication system through the aircraft communication system.

[0090] Exemplarily, the aircraft 102 may parse the takeoff instruction from the vehicle communication system through the aircraft communication system. Thereafter, the aircraft 102 may send the parsed takeoff instruction to the aircraft control system through the aircraft communication system. Thereafter, the aircraft 102 may control the propellers and wings to take off vertically through the aircraft control system. After the aircraft 102 takes off, the aircraft 102 may transmit the real-time video to the vehicle communication system through the aircraft communication system through the camera to display the real-time video on the main control device and / or slave control devices of the vehicle 101.

[0091] Or, the aircraft 102 may receive a landing instruction from the vehicle communication system through the aircraft communication system.

[0092] Exemplarily, the aircraft 102 can parse the landing instruction from the vehicle communication system through the aircraft communication system. After that, the aircraft 102 can determine its current location and detect the current location to determine whether the current location meets the landing conditions. If the current location does not meet the landing conditions, the aircraft 102 sends a replacement message to the vehicle 101, and the replacement message is used to instruct the vehicle to change the landing location. If the current location meets the landing conditions, the aircraft 102 can send a landing request to the vehicle communication system through the aircraft communication system. After that, the aircraft 102 can control the aircraft 102 to land through the aircraft control system.

[0093] It should be noted that after the hardware integration and software development are completed, the vehicle communication system, the aircraft control system, and the aircraft communication system need to be debugged. During the debugging process, each system needs to be tested to ensure that they can work properly. At the same time, the coordination of the vehicle communication system, the aircraft control system, and the aircraft communication system also needs to be tested to ensure that the systems can work together.

[0094] For ease of understanding, the aircraft control method provided in this application will be specifically introduced below with reference to the accompanying drawings.

[0095] Figure 3 is a flowchart of an aircraft control method shown according to an exemplary embodiment, as Figure 3 shown, the aircraft control method includes:

[0096] S301. Obtain the current driving state of the vehicle.

[0097] In the embodiment of the present application, the current driving state includes at least one of the following: the current gear information of the vehicle, the current speed of the vehicle.

[0098] In a possible implementation, after the vehicle starts, it can send an identity binding request to the aircraft, and the identity binding request includes the identification information and permission information of the vehicle. After that, the aircraft can verify the identification information and permission information of the vehicle. After the aircraft passes the verification, an identity binding relationship can be established between the aircraft and the vehicle. After that, the vehicle can send a connection request to the aircraft. In response to the connection request, the aircraft and the vehicle establish a connection and enter a standby state. After that, the current driving state of the vehicle can be obtained.

[0099] In this way, data intercommunication and information security between the aircraft and the vehicle can be ensured.

[0100] S302. Determine a target device from multiple candidate control devices based on the current driving state.

[0101] Among them, the multiple candidate control devices include a master control device and slave control devices. The master control device is located at the driver's seat, and the slave control devices are located at positions in the vehicle other than the driver's seat. The target device can send control instructions to the aircraft.

[0102] In a possible implementation, when the current gear information indicates that the vehicle is currently in a stopped state, or when the current speed of the vehicle is less than or equal to a preset speed threshold, the master control device can be used as the target device.

[0103] It should be noted that this application does not limit the preset speed threshold. For example, the preset speed threshold can be 5 kilometers per hour (km / h), 10 km / h, 15 km / h, 20 km / h, 25 km / h.

[0104] Exemplarily, if the current gear information of the vehicle is in the P gear, the master control device is used as the target device. If the current gear information of the vehicle is in the D gear, the preset speed threshold is 10 km / h, and the current speed of the vehicle is 5 km / h, the master control device is used as the target device.

[0105] In another possible implementation, when the current speed of the vehicle is greater than the preset speed threshold, the slave control device can be used as the target device.

[0106] Exemplarily, if the current gear information of the vehicle is in the D gear, the preset speed threshold is 10 km / h, and the current speed of the vehicle is 15 km / h, the slave control device is used as the target device.

[0107] In a possible design, a permission application instruction can be sent by the master control device. The permission application instruction is used to indicate obtaining the control permission of the aircraft. Then, in response to the operator's permission adjustment operation, a target instruction can be generated by the master control device. The target instruction is used to indicate whether to agree that the slave control device obtains the control permission of the aircraft. Then, when the target instruction is used to indicate agreeing that the slave control device obtains the control permission of the aircraft, the slave control device can be used as the target device.

[0108] Optionally, the master control device can receive a permission application instruction from the slave control device. Then, a permission application instruction can be sent by the master control device.

[0109] It should be noted that this application does not limit the form of sending the permission application instruction. For example, the permission application instruction can be displayed on the screen of the master control device in text form, or the permission application instruction can be broadcast by voice.

[0110] For example, slave device 1 sends permission application instruction 1 to the master device, slave device 2 sends permission application instruction 2 to the master device, and slave device 3 sends permission application instruction 3 to the master device. Afterwards, the master device may display "slave device 1 applies for permission", "slave device 2 applies for permission", and "slave device 3 applies for permission" on the screen. Alternatively, the master device may announce "slave device 1 applies for permission", "slave device 2 applies for permission", and "slave device 3 applies for permission" by voice.

[0111] It should be noted that the present application does not limit the form of the permission adjustment operation. For example, the permission adjustment operation may be in the form of clicking on the screen of the master device or in the form of a voice answer.

[0112] For example, the master device may display "Slave device 1 applies for permission", "Slave device 2 applies for permission", and "Slave device 3 applies for permission" on the screen. The operator may click "Slave device 1 applies for permission" and click "Approve application". After that, the master device generates a target instruction, which is used to indicate that slave device 1 is allowed to obtain the control permission of the aircraft.

[0113] Alternatively, the master device can announce by voice “Slave device 1 applies for permission”, “Slave device 2 applies for permission” and “Slave device 3 applies for permission”. The operator can answer by voice “Select slave device 1”. After that, the master device generates a target instruction, which is used to indicate that slave device 1 is allowed to obtain the control permission of the aircraft.

[0114] It is understandable that by determining whether to allocate the control authority of the aircraft to the slave device through the master control device, it can be ensured that the operation of the aircraft is always carried out in a controlled state, avoiding unauthorized control behavior, thereby improving the safety and reliability of the flight.

[0115] In this way, when the vehicle is stationary, the driver can directly control the aircraft for precise shooting or operation. When the vehicle is moving, the driver can focus on driving, and other passengers in the car can control the aircraft. In this way, the driving safety of the vehicle can be improved while the convenience of operation can be improved.

[0116] In some embodiments, if the master control device fails to respond to the permission request instruction of the slave control device within a preset time, the master control device generates a target instruction, which is used to indicate that the slave control device is not allowed to obtain the control authority of the aircraft.

[0117] It should be noted that the present application does not limit the preset time. For example, the preset time can be 5 seconds, 7 seconds, 10 seconds, 12 seconds, or 15 seconds.

[0118] It should be noted that, in order to prevent operation conflicts, when the target instruction is used to indicate disagreement to obtain the control authority of the aircraft from the slave control device, the slave control device cannot apply for the operation authority again.

[0119] In some embodiments, after the slave control device is used as the target device, if the vehicle returns to the stopped state, the master control device can be used as the target device again.

[0120] Based on the above technical solution, the current driving state of the vehicle can be obtained. Then, based on the current driving state, the target device can be determined from the master control device and the slave control device. In this way, the vehicle state can be automatically detected, and the control authority of the aircraft can be automatically allocated based on the current driving state of the vehicle, so as to jointly control the aircraft through the master control device and the slave control device, and realize that during the driving process of the vehicle, when the driver cannot control the aircraft, other passengers can control the aircraft.

[0121] In the embodiments of the present application, the number of slave control devices is multiple.

[0122] Figure 4 It is a schematic flowchart of another aircraft control method shown according to an exemplary embodiment, as Figure 4 shown, S302 includes:

[0123] S401. Obtain the console information corresponding to each slave control device among multiple slave control devices.

[0124] Among them, the console information is used to indicate whether there is an operator within the preset distance of the slave control device.

[0125] In a possible implementation manner, an infrared sensor is deployed on the slave control device, and infrared detection can be performed through the infrared sensor of the slave control device to obtain the console information corresponding to each slave control device among multiple slave control devices.

[0126] S402. Determine at least one first candidate device based on the console information corresponding to each slave control device.

[0127] Among them, the first candidate device is a slave control device with an operator within the preset distance.

[0128] It should be noted that the present application does not limit the preset distance. For example, the preset distance can be 0.03 meters, 0.05 meters, 0.07 meters, 0.1 meters, 0.3 meters.

[0129] Exemplarily, the preset distance is 0.03 meters. The operating console information of the slave control device 1 is used to indicate that there is no operator within 0.07 meters of the slave control device. The operating console information of the slave control device 2 is used to indicate that there is an operator within 0.07 meters of the slave control device. The operating console information of the slave control device 2 is used to indicate that there is an operator within 0.05 meters of the slave control device. Then, the slave control device 2 and the slave control device 3 are the first candidate devices.

[0130] S403. Determine the target device from at least one first candidate device.

[0131] In a possible implementation, if the number of the first candidate devices is one, then determine this first candidate device as the target device.

[0132] In another possible implementation, the target device can be determined from at least one first candidate device based on the priority of the first candidate devices.

[0133] Optionally, the priorities of the first candidate devices are pre-stored in the aircraft control device.

[0134] Exemplarily, if the priority of the co-pilot screen is greater than the priority of the rear row screen, then determine the co-pilot screen as the target device.

[0135] It should be noted that the present application does not limit the setting method of the priority. For example, the priority can be set according to the position of the slave control device.

[0136] In another possible implementation, the position information of the aircraft and the position information of each of the at least one first candidate device can be obtained. The position information of the aircraft is used to indicate the relative position between the aircraft and the vehicle, and the position information of the first candidate device is used to indicate the position of the first candidate device in the vehicle. Then, based on the position information of each first candidate device and the position information of the aircraft, the target device can be determined from at least one first candidate device.

[0137] In the embodiment of the present application, the position of the target device in the vehicle is the same as the position of the aircraft relative to the vehicle.

[0138] Exemplarily, if the position information of the aircraft is used to indicate that the aircraft is in the front left of the vehicle, then determine the first candidate device located in the front left of the vehicle as the target device. If the position information of the aircraft is used to indicate that the aircraft is in the rear left of the vehicle, then determine the first candidate device located in the rear left of the vehicle as the target device. If the position information of the aircraft is used to indicate that the aircraft is in the front right of the vehicle, then determine the first candidate device located in the front right of the vehicle as the target device. If the position information of the aircraft is used to indicate that the aircraft is in the rear right of the vehicle, then determine the first candidate device located in the rear right of the vehicle as the target device.

[0139] In this way, by determining the target device based on the position of the aircraft, the flight state of the aircraft and the task execution situation can be intuitively understood, so as to make more accurate control decisions and improve the efficiency of task execution.

[0140] Based on the above technical solution, the console information corresponding to each slave device among multiple slave devices can be obtained to determine whether there is an operator in front of the slave device. Then, based on the console information corresponding to each slave device, at least one first candidate device can be determined. Then, a target device can be determined from the at least one first candidate device. In this way, the slave device with an operator can be preferentially used as the target device, so that the aircraft can be controlled in a timely manner.

[0141] In some embodiments, the target device is used to control the movement of the aircraft, and the aircraft includes a camera. The rotation direction of the steering wheel can be obtained. Then, a rotation instruction can be sent to the aircraft, and the rotation instruction is used to instruct the camera to rotate in the rotation direction.

[0142] It can be understood that by controlling the camera of the aircraft through the steering wheel, the driver can more conveniently view the flight situation of the aircraft while driving the vehicle and can more easily adjust the rotation direction of the camera.

[0143] In some embodiments, image data from the aircraft can be received through the master device of the vehicle and / or the slave device of the vehicle.

[0144] It should be noted that the master device and the slave device are default to have the camera viewing permission.

[0145] It can be understood that by receiving the image data from the aircraft through the master device of the vehicle and / or the slave device of the vehicle, the control situation of the aircraft can be viewed, so that more accurate control of the aircraft can be achieved.

[0146] In some embodiments, the target device can send a control instruction to the aircraft to control the movement of the aircraft.

[0147] In a possible implementation manner, in response to a control trigger operation on the target device, the target device can send a control instruction to the aircraft.

[0148] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of methods. To implement the above functions, the aircraft control device includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the manner of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0149] According to the above method, the embodiments of the present application can divide the function modules of the aircraft control device. For example, the aircraft control device can include each function module corresponding to each function division, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software function module. It should be noted that the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0150] Figure 5 is a schematic structural diagram of an aircraft control device shown according to an exemplary embodiment. Referring to Figure 5 , the aircraft control device includes an acquisition module 501 and a processing module 502.

[0151] The acquisition module 501 is used to acquire the current driving state of the vehicle.

[0152] The processing module 502 is used to determine a target device from multiple candidate control devices based on the current driving state. The multiple candidate control devices include a main control device and slave control devices. The main control device is located at the driver's seat, and the slave control devices are located at positions in the vehicle other than the driver's seat. The target device can send a control instruction to the aircraft.

[0153] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0154] Figure 6 is a schematic structural diagram of another aircraft control device shown according to an exemplary embodiment. As Figure 6 shown, the aircraft control device includes, but is not limited to: a processor 601 and a memory 602.

[0155] Among them, the above-mentioned memory 602 is used to store the executable instructions of the above-mentioned processor 601. It can be understood that the above-mentioned processor 601 is configured to execute instructions to implement the aircraft control method in the above-mentioned embodiments.

[0156] It should be noted that those skilled in the art can understand that Figure 6 the structure of the aircraft control device shown in Figure 6 does not constitute a limitation on the aircraft control device. The aircraft control device may include more or fewer components than

[0157] shown, or combine certain components, or have different component arrangements.

[0158] The processor 601 is the control center of the aircraft control device, connecting various parts of the entire aircraft control device through various interfaces and lines. By running or executing the software programs and / or modules stored in the memory 602, and calling the data stored in the memory 602, it executes various functions of the aircraft control device and processes data, thereby monitoring the entire aircraft control device. The processor 601 may include one or more processing units. Optionally, the processor 601 may integrate an application processor and a modulation / demodulation processor. Among them, the application processor mainly processes the operating system, the operator interface, and application programs, etc., and the modulation / demodulation processor mainly processes wireless communication. It can be understood that the above-mentioned modulation / demodulation processor may not be integrated into the processor 601 either.

[0158] The memory 602 can be used to store software programs and various data. The memory 602 may mainly include a program storage area and a data storage area. Among them, the program storage area may store the operating system, application programs required by at least one functional module (such as the determination unit, the processing unit, etc.). In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0159] In an exemplary embodiment, the present application embodiment also provides a vehicle, which includes an aircraft control device, and the vehicle can execute through the aircraft control device to complete the method in the above-mentioned embodiments.

[0160] According to the fifth aspect provided by the present application, an aircraft control system is provided. The aircraft control system includes a vehicle and an aircraft. The aircraft control system can execute through the vehicle and the aircraft to complete the method in the above-mentioned embodiments.

[0161] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as the memory 602 including instructions. The above-mentioned instructions can be executed by the processor 601 of the aircraft control device to implement the method in the above-mentioned embodiments.

[0162] In actual implementation, Figure 5 the functions of the acquisition module 501 and the processing module 502 in Figure 6 can both be implemented by the processor 601 in

[0163] calling a computer program stored in the memory 602. The specific execution process can refer to the description of the method part in the above embodiment, which will not be elaborated here.

[0164] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0165] It should be noted that when the instructions in the above computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the aircraft control device, the various processes of the above method embodiment are implemented, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be elaborated here.

[0166] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual application, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0167] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces. The indirect coupling or communication connection of the device or unit may be in an electrical, mechanical or other form.

[0168] The unit described as a separation component may or may not be physically separated. The component shown as a unit may be a single physical unit or multiple physical units, that is, it may be located in one place or distributed to multiple different places. One can select some or all of the classification units according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] In addition, in each embodiment of the present application, each functional unit may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0170] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions for causing a device (which may be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs and other various media that can store program codes.

[0171] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling an aircraft, characterized in that, The method includes: Obtaining the current driving state of the vehicle; Based on the current driving state, determining a target device from a master control device and a slave control device, where the master control device is located at the driver's seat, the slave control device is located at a position in the vehicle other than the driver's seat, and the target device is capable of sending a control instruction to the aircraft.

2. The aircraft control method according to claim 1, wherein The current driving state includes at least one of the following: the current gear information of the vehicle, the current speed of the vehicle; determining the target device from the master control device and the slave control device based on the current driving state includes: When the current gear information is used to indicate that the vehicle is currently in a stopped state, or the current speed of the vehicle is less than or equal to a preset speed threshold, using the master control device as the target device; When the current speed of the vehicle is greater than the preset speed threshold, using the slave control device as the target device.

3. The aircraft control method according to claim 2, characterized in that The number of slave control devices is multiple; using the slave control device as the target device includes: Obtaining the operation console information corresponding to each of the multiple slave control devices, where the operation console information is used to indicate whether there is an operator within a preset distance of the slave control device; Based on the operation console information corresponding to each slave control device, determining at least one first candidate device, where the first candidate device is a slave control device with an operator within the preset distance; Determining the target device from the at least one first candidate device.

4. The aircraft control method according to claim 3, wherein Determining the target device from the at least one first candidate device includes: Obtaining the position information of the aircraft and the position information of each of the at least one first candidate device, where the position information of the aircraft is used to indicate the relative position between the aircraft and the vehicle, and the position information of the first candidate device is used to indicate the position of the first candidate device in the vehicle; Based on the position information of each first candidate device and the position information of the aircraft, determining the target device from the at least one first candidate device.

5. The aircraft control method according to claim 4, characterized in that, The position of the target device in the vehicle is the same as the position of the aircraft relative to the vehicle.

6. The aircraft control method according to any one of claims 2-5, characterized in that, Using the slave control device as the target device includes: Sending a permission application instruction through the master control device, where the permission application instruction is used to indicate obtaining the control permission of the aircraft; In response to the operator's permission adjustment operation, generating a target instruction through the master control device, where the target instruction is used to indicate whether to agree that the slave control device obtains the control permission of the aircraft; When the target instruction is used to indicate agreeing that the slave control device obtains the control permission of the aircraft, using the slave control device as the target device.

7. The aircraft control method according to any one of claims 1-5, characterized in that The target device is used to control the movement of the aircraft, and the aircraft includes a camera; the aircraft control method further includes: Obtaining the rotation direction of the steering wheel; Sending a rotation instruction to the aircraft, where the rotation instruction is used to indicate that the camera rotates in the rotation direction.

8. The aircraft control method according to any one of claims 1-5, characterized in that, The aircraft control method further includes: Receive image data from the aircraft through the master control device of the vehicle and / or the slave control device of the vehicle.

9. An aircraft control system, characterized in that, The aircraft control system includes a vehicle and an aircraft that execute the aircraft control method according to any one of claims 1 to 8.

10. An aircraft control device, characterized in that, The device includes an acquisition module and a processing module; The acquisition module acquires the current driving state of the vehicle; The processing module determines a target device from the master control device and the slave control device based on the current driving state, the master control device is located at the driver's seat, the slave control device is located at a position in the vehicle other than the driver's seat, and the target device can send a control command to the aircraft.

11. An aircraft control device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the aircraft control method according to any one of claims 1 to 8.

12. A vehicle, characterized in that, The vehicle includes the aircraft control device according to claim 11.

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