Aerial vehicle flight control method and device thereof
A method for controlling an aerial vehicle includes determining whether flight indication data of an environment where a current position of the aerial vehicle lies is stored. The method further includes in response to a determination that the flight indication data is not stored: sending a download request for downloading the flight indication data from an external device that is external to the aerial vehicle; and receiving the flight indication data. The method further includes controlling, based on the flight indication data, the aerial vehicle to perform flight operations.
1 . A method for controlling a first aerial vehicle, comprising:
sending a download request for downloading flight indication data from an external device that is external to the first aerial vehicle, wherein the external device is configured to receive second environmental data uploaded by a second aerial vehicle different from the first aerial vehicle, and to update a three-dimensional environmental map based on the second environmental data and position data corresponding to the second environmental data, the flight indication data including the updated three-dimensional environmental map, no-fly zone indication information, and obstacle information;
receiving the flight indication data; and
controlling, based on the flight indication data, the first aerial vehicle to perform flight operations, comprising controlling the first aerial vehicle to avoid an obstacle indicated by the obstacle information, wherein, during the controlling of the first aerial vehicle to perform the flight operations, the first aerial vehicle detects environmental data and sends the detected environmental data to the external device, such that the external device maintains updated environmental data and continuously updates the updated three-dimensional environmental map to facilitate a future flight.
2 . The method of claim 1 , wherein the flight indication data further includes at least one of:
flight path data, including coordinate points of a flight path; or
aerial vehicle dock data, including position coordinates of a position of an aerial vehicle dock.
3 . The method of claim 1 , further comprising:
updating data stored in the first aerial vehicle according to the flight indication data from the external device.
4 . The method of claim 1 , wherein the external device includes a server, and sending the download request includes sending the download request to the server.
5 . The method of claim 4 , wherein:
the flight indication data provided by the server is a first set of flight indication data;
the method further comprising:
receiving a second set of flight indication data broadcasted by one or more another aerial vehicles at a preset radio frequency.
6 . The method of claim 5 , wherein compared to the second set of flight indication data, the first set of flight indication data has higher priority to be used for controlling the first aerial vehicle to perform the flight operations.
7 . The method of claim 1 , wherein the flight indication data includes the three-dimensional environmental map, the three-dimensional environmental map being obtained, at the server, by merging the environmental data and positions corresponding to the environmental data.
8 . The method of claim 1 , wherein the external device keeps a three-dimensional environmental map updated based on a preset selection rule, the selection rule comprising one or more of: a receiving time of the environmental data, an image quality of image data in the environmental data, or one or more differences among image contents in environmental data having same contents.
9 . The method of claim 1 , wherein the flight indication data includes flight path data, and the controlling comprises generating a flight control instruction according to the flight path data and position data of the first aerial vehicle so as to cause the first aerial vehicle to fly along a path indicated by the flight path data.
10 . The method of claim 1 , wherein the flight indication data includes aerial vehicle dock data, and the controlling comprises controlling the first aerial vehicle to fly toward a dock indicated by the aerial vehicle dock data to land on a landing platform of the dock and/or to obtain power from the dock.
11 . The method of claim 1 , wherein the external device continuously updates the updated three-dimensional environmental map by: determining a receiving time of the environmental data; determining a latest update time of map content of a region corresponding to position data of the environmental data; and updating map content of a position region according to the environmental data in response to the environmental data having the receiving time later than the latest update time.
12 . The method of claim 1 , wherein the first aerial vehicle detects environmental images and distance data in real time, and combines the environmental images and the distance data with positioning data of the first aerial vehicle.
13 . A method for controlling a first aerial vehicle, comprising:
sending a download request for downloading flight indication data from an external device that is external to the first aerial vehicle, wherein the external device is configured to receive second environmental data uploaded by a second aerial vehicle different from the first aerial vehicle, and to update a three-dimensional environmental map based on the second environmental data and position data corresponding to the second environmental data;
receiving the flight indication data, the flight indication data including the updated three-dimensional environmental map, and the three-dimensional environmental map being obtained based on data detected by one or more other aerial vehicles, the flight indication data further including no-fly zone indication information and obstacle information;
generating, based on at least a part of the flight indication data, a flight control instruction to control the first aerial vehicle; and
controlling, based on the generated flight control instruction, the first aerial vehicle to perform flight operations, comprising controlling the first aerial vehicle to avoid an obstacle indicated by the obstacle information, wherein, during the controlling of the first aerial vehicle to perform the flight operations, the first aerial vehicle detects environmental data and sends the detected environmental data to the external device, such that the external device maintains updated environmental data and continuously updates the updated three-dimensional environmental map to facilitate a future flight.
14 . The method of claim 13 , further comprising:
controlling, based on at least a part of the flight control instruction, the first aerial vehicle to perform at least one of:
changing a yaw or an altitude of the first aerial vehicle;
adjusting a flight path.
15 . The method of claim 13 , wherein the three-dimensional environmental map is obtained by merging environmental data detected by different types of sensors mounted on one or more another aerial vehicles.
16 . The method of claim 15 , wherein the one or more another aerial vehicles send the environmental data to the external device or broadcast the environmental data at a preset radio frequency.
17 . The method of claim 16 , wherein the external device is configured to manage and update the environmental data.
18 . The method of claim 16 , wherein the three-dimensional environmental map is obtained, at the external device, by merging the environmental data and positions corresponding to the environmental data.
19 . A method for controlling a first aerial vehicle, comprising:
obtaining flight indication data containing a position region associated with the flight indication data, wherein the flight indication data includes a first set of flight indication data stored in the first aerial vehicle and a second set of flight indication data from the external device external to the first aerial vehicle, both the first set of flight indication data and the second set of flight indication data containing the position region, wherein the external device is configured to receive second environmental data uploaded by a second aerial vehicle different from the first aerial vehicle, and to update a three-dimensional environmental map based on the second environmental data and position data corresponding to the second environmental data, and the flight indication data includes the updated three-dimensional environmental map, no-fly zone indication information, and obstacle information;
determining whether a current position of the first aerial vehicle is within the position region associated with the flight indication data; and
controlling, in response to the current position being within the position region, the first aerial vehicle to perform flight operations based on the obtained flight indication data, comprising controlling the first aerial vehicle to avoid an obstacle indicated by the obstacle information, wherein, during the controlling of the first aerial vehicle to perform the flight operations, the first aerial vehicle detects environmental data and sends the detected environmental data to the external device, such that the external device maintains updated environmental data and continuously updates the updated three-dimensional environmental map to facilitate a future flight.
20 . The method of claim 19 , wherein the second set of flight indication data is obtained from at least one of a server or one or more another aerial vehicles.