Patent Publication Number: US-2017349280-A1

Title: Following remote controlling method for aircraft

Description:
BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The technical field relates to aircraft and more particularly related to following remote controlling method for aircraft. 
     Description of Related Art 
     Please refer to  FIG. 1  which is an architecture diagram of an aircraft system according to the related art. As shown in  FIG. 1 , all of the aircraft systems of the related art are configured to control aircraft  12  by operating a joystick  100 - 102  of a remote controller  10 . More specifically, the user may operate the joystick  100  to control the aircraft  12  to move toward a designated direction, and may operate the joystick  102  to control the aircraft to front the designated direction. 
     Besides, a design principle of operating the remote controller  10  is to assume that the remote aircraft  12  is an axial origin. Above-mentioned design principle is not intuitive because the user must consider the direction in view of the aircraft  12  when operating the rocker  100 - 102 . 
     Take selfie by the aircraft  12  arranged a camera for example, above-mentioned design principle will cause this situation that the direction in view of the aircraft  12  is opposite to the direction in view of the user (namely, left side of the aircraft  12  is equal to right side of the user) when the aircraft  12  fronts the user. The user must operate the joystick  100  left actually for controlling the aircraft  12  to move toward left side of the user if the user expects that the aircraft  12  moves toward right side of the user. Above-mentioned design principle will greatly increase a probability of inputting erroneously operation by user. 
     SUMMARY OF THE INVENTION 
     The present disclosed example is directed to a following remote controlling method for aircraft which controls an aircraft via configuring a user as an axial origin. 
     One of the exemplary embodiments, a following remote controlling method for aircraft, comprising: a) receiving a pointing operation at a remote controlling device, wherein the pointing operation is to move the remote control device to face an expectant direction; b) generating a pointing signal according to the pointing operation; c) sending the pointing signal to outside; d) receiving the pointing signal from the remote controlling device and a target signal from a target device at an aircraft; e) controlling the aircraft to move toward the expectant direction according to the pointing signal; and, f) controlling the aircraft to keep a following distance from the target device according to the target signal during moving. 
     The present disclosed example can effectively reduce a probability of inputting erroneously operation via controlling the aircraft by point operations. 
    
    
     
       BRIEF DESCRIPTION OF DRAWING 
       The features of the present disclosed example believed to be novel are set forth with particularity in the appended claims. The present disclosed example itself, however, may be best understood by reference to the following detailed description of the present disclosed example, which describes an exemplary embodiment of the present disclosed example, taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  which is an architecture diagram of an aircraft system according to the related art; 
         FIG. 2  is an architecture diagram of an aircraft system according to the first embodiment of the present disclosed example; 
         FIG. 3  is a flowchart of a following remote controlling method for aircraft according to the first embodiment of the present disclosed example; 
         FIG. 4  is a schematic view of a pointing operation of the disclosed example; 
         FIG. 5  is the first part of flowchart of a following remote controlling method for aircraft according to the second embodiment of the present disclosed example; 
         FIG. 6  is the second part of flowchart of a following remote controlling method for aircraft according to the second embodiment of the present disclosed example; 
         FIG. 7  is a schematic view of calculating a moving direction and a destination coordinate of the disclosed example; 
         FIG. 8  is the first part of flowchart of a following remote controlling method for aircraft according to the third embodiment of the present disclosed example; 
         FIG. 9  is the second part of flowchart of a following remote controlling method for aircraft according to the third embodiment of the present disclosed example; 
         FIG. 10  is a partial flowchart of a following remote controlling method for aircraft according to the fourth embodiment of the present disclosed example; 
         FIG. 11  is a partial flowchart of a following remote controlling method for aircraft according to the fifth embodiment of the present disclosed example; 
         FIG. 12  is a partial flowchart of a following remote controlling method for aircraft according to the sixth embodiment of the present disclosed example; 
         FIG. 13  is a schematic view of automatic steering of the disclosed example; 
         FIG. 14  is a schematic view of moving an aircraft of the disclosed example; 
         FIG. 15  is a flowchart of track-recording and track-following according to the seventh embodiment of the present disclosed example; and 
         FIG. 16  is a flowchart of function operation according to the eighth embodiment of the present disclosed example. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     In cooperation with attached drawings, the technical contents and detailed description of the present disclosed example are described thereinafter according to a preferable embodiment, being not used to limit its executing scope. Any equivalent variation and modification made according to appended claims is all covered by the claims claimed by the present disclosed example. 
     First, please refer to  FIG. 2 , which is an architecture diagram of an aircraft system according to the first embodiment of the present disclosed example. The present disclosed example discloses a following remote controlling method for aircraft (the following remote controlling method as abbreviation) which is applied to an aircraft system  2  shown in  FIG. 2 . 
     More specifically, the present disclosed example may make the user operate an aircraft  20  with pointing manner intuitively, and may make the aircraft  20  follow the user wearing a target device  24  automatically. 
     In the present disclosed example, the aircraft system  2  mainly comprises the aircraft  20  (such as steamboat, hot air balloon, rotorcraft or wing aircraft), a remote controlling device  22  and the target device  24 . 
     The aircraft  20  comprises at least one transceiver  202 , a magnetometer  204 , a memory  206 , a drive device  208 , an altimeter  210 , a locator  212 , a camera  214  and a processor  200  electrically connected to above-mentioned elements. The memory  206  is used to store data. The drive device  208  is used to control the aircraft  20  to move or wheel around. The camera  214  is used to capture the images. The processor  200  is used to control the aircraft  20 . 
     The remote controlling device  22  comprises a transceiver module, a magnetometer module, a gyro module  226 , an accelerometer module  228 , a human-machine interface  230  and a processor module  220  electrically connected to above-mentioned elements. The gyro module  226  (such as three-axis gyroscope) is used to detect at least one tilt angle of the remote controlling device  22 . The accelerometer module  228  (such as triaxial accelerometer) is used to detect at least one motion acceleration of the remote controlling device  22 . The human-machine interface  230  (such as knob, button, joystick, screen, speaker, indicator light or any combination of above elements.) is used to receive an operation from the user and/or feedback information to the user. The processor module  220  is used to control the remote controlling device  22 . 
     Preferably, a shape of a casing of the remote controlling device  22  is designed for applying to one hand operation and one hand holding by user (such as a columnar casing or arranging a grip for one hand holding). Thus, the user may point the remote controlling device  22  toward any direction smoothly for controlling the aircraft  20  move toward the designated pointing direction intuitively (described later). 
     The target device  24  comprises a transceiver unit  242 , a locator unit  244 , an altimeter unit  246  and a processor module  240  electrically connected to above-mentioned elements and used to control the target device  24 . 
     Preferably, the target device  24  is worn by the user (the user wearing the target device  24  may be the same or different with the user holding the remote controlling device  22 ), and may send a special target signal to the aircraft  20  for making the aircraft  20  recognize a current position of the target device  24  (namely, the current position of the user) according to the target signal and follow the target device  24  automatically when detecting that the target device  24  moves (described later). 
     Next, the other elements will be described, the transceiver  202 , the transceiver module  222 , and the transceiver unit  242  (such as ultrasonic transceiver, radio frequency transceiver or infrared transceiver) are used to transmit the signal(s). The magnetometer  204  and the magnetometer module  224  (such as three-axis geomagnetism meter) are used to detect geomagnetic variation and generate a current azimuth angle of device. The altimeter  210  and the altimeter unit  246  (such as barometric altimeter, radar altimeter or ultrasonic altimeter) are used to detect a current altitude of device. The locator  212  and the locator unit  244  (such as the indoor positioning device using beacon technology or the device using Global Positioning System (GPS) technology) are used to retrieve a current coordinate of device. 
     Next, the following remote controlling method of each embodiment of the present disclosed example will be described. Please be noted that the following remote controlling method of each embodiment of the present disclosed example is implemented by the aircraft system  2  shown in  FIG. 2 . Furthermore, the memory  206  stores a computer program. The computer program contains computer-executable program codes or machine codes used to implement aforementioned embodiments. When the processor  200  executes the computer-executable program codes or the machine codes, the processor  200  may control the aircraft  20  to interact with the remote controlling device  2  and the target device  24  for implementing each step of the following remote controlling method of the present disclosed example. 
     Please refer to  FIG. 3 , which is a flowchart of a following remote controlling method for aircraft according to the first embodiment of the present disclosed example. The following remote controlling method of this embodiment comprises following steps. 
     Step S 100 : the remote controlling device  22  receives a pointing operation of the user. More specifically, the user may hold and point the remote controlling device  22  toward an expectant direction (namely, the user points the remote controlling device  22  toward a destination which the user wants the aircraft  20  arrive at) for completing the pointing operation. 
     Thus, the present disclosed example can make the user input the operation intuitively via assuming that the user is the axial origin. 
     Preferably, the human-machine interface  30  of the remote controlling device  22  may comprises a set of pointing operation button(s), the remote controlling device  22  receives the pointing operation when detecting that any pointing operation button is pressed. 
     The present disclosed example can effectively prevent the user from inputting the non-intended pointing operation via receiving the pointing operation during the pointing operation button being pressed. 
     Step S 102 : the remote controlling device  22  generates a pointing signal according to the received pointing operation. Preferably, the remote controlling device  22  may detect geomagnetic variation induced by the pointing operation via the magnetometer module  224 , detect tilt variation induced by the pointing operation via the gyro module  226 , and/or detect acceleration variation induced by the pointing operation via the accelerometer module  228 . Then the remote controlling device  22  generates the pointing signal corresponding to the detected geomagnetic variation, tilt variation and/or acceleration variation. 
     Step S 104 : the remote controlling device  22  sends the generated pointing signal to outside via the transceiver module  222 . 
     Step S 106 : the target device  24  sends the target signal. Preferably, the target signal is a signal based on time-domain (such as a space-domain signal including a specific frequency or wavelength or a signal including a sending time) or a signal including a position (such as the signal of GPS coordinate of the target device  24 ) of the target device  24 . 
     Step S 108 : the processor  200  of the aircraft  20  receives the pointing signal sent by the remote controlling device  22  and the target signal sent by the target device  24  via transceiver  202 . 
     Please be noted that the aircraft  20  may simultaneously use two types of different transmission technologies to respectively receive the pointing signal and the target signal. 
     For example, the transceiver module  222  of the remote controlling device  22  may be a radio frequency transceiver, and send the pointing signal in radio frequency form to outside. The transceiver unit  242  of the target device  24  may be an ultrasonic transceiver, and send the target signal in ultrasonic form to outside. The transceiver  202  of the aircraft  20  may comprises both a radio frequency transceiver and an ultrasonic transceiver, so as to receive the pointing signal in radio frequency form via the radio frequency transceiver and the target signal in ultrasonic form via the ultrasonic transceiver simultaneously. 
     Step S 110 : the processor  200  of the aircraft  20  decodes the received pointing signal, and controls the aircraft  20  to move toward the expectant direction via the drive device  208  according to the received pointing signal. 
     Preferably, the processor  200  determines a moving direction approaching towards the expectant direction according to the geomagnetic variation, tilt variation and/or acceleration variation instructed by the pointing signal, and controls the aircraft  20  to move toward the moving direction. 
     Step S 108 : the processor  200  controls the aircraft  20  to keep a default following distance (such as 5 meters) from target device  24  during the aircraft  20  moving every time. 
     More specifically, the processor  200  may calculate an actual distance between the aircraft  20  and the target device  24  continually according to the target signal, and make the actual distance be equal to the following distance via controlling the aircraft  20  to move continually. 
     Furthermore, the processor  200  may control the aircraft  20  to move for keeping the following distance from the target device  24  and following the user automatically when detecting that the target device  24  moves. 
     Preferably, the user may adjust above-mentioned following distance according to a purpose of the aircraft  20 . For example, when using aircraft  20  for aerial photography, the user may adjust the following distance according to a focal length of the lens of camera  214 , such as configuring the following distance as 1 meter when the focal length is 16 millimeters or configuring the following distance as 3 meters when the focal length is 50 millimeters, so as to capture with the ideal shooting range. In another example, when using aircraft  20  for loading the goods in the store, the user may adjust the following distance as 1 meter for making the user easy to place goods. 
     The present disclosed example can effectively reduce a probability of inputting erroneously operation via controlling the aircraft by point operations. Besides, the present disclosed can effectively make the aircraft follow the user automatically. 
     Please refer to  FIG. 4 , which is a schematic view of a pointing operation of the disclosed example,  FIG. 4  is exemplified to explain how to control the aircraft via the pointing operation in the present disclosed example. As shown in  FIG. 4 , the initial position of the aircraft  20  is position  51 , and the aircraft  20  keeps the following distance (such as 3 meters) from the user wearing the target device  24 . 
     The user may move the remote controlling device  22  to point the expectant direction E 1  for completing the first time pointing operation. Then, the aircraft  20  executes the first time motion from the position S 1  toward the user-designated expectant direction E 1 , and determines that the current position is in the expectant direction E 1  and the actual distance between the aircraft  20  and the target device  24  is just equal to the following distance when moving to the position S 2 , and the aircraft  20  stops moving. 
     Then, the aircraft  20  may move the remote controlling device  22  to point the expectant direction E 2  for completing the second time pointing operation. The aircraft  20  executes the second time motion from the position S 2  toward the user-designated expectant direction E 2  after completion of operation, and determines that the current position is in the expectant direction E 2  and the actual distance between the aircraft  20  and the target device  24  is just equal to the following distance when moving to the position S 3 , and the aircraft  20  stops moving. 
     Thus, the user may operate the aircraft to move intuitively via assuming that the user is an axial origin. 
     Please refer to  FIG. 3 ,  FIG. 5  and  FIG. 6  simultaneously,  FIG. 5  is the first part of flowchart of a following remote controlling method for aircraft according to the second embodiment of the present disclosed example,  FIG. 6  is the second part of flowchart of a following remote controlling method for aircraft according to the second embodiment of the present disclosed example. Compare to the first embodiment shown in  FIG. 3 , in this embodiment, the step S 102  comprises the steps S 20 , S 22 , and the step S 110  comprises the steps S 24 -S 28 . 
     Step S 20 : the remote controlling device  22  detects a pointing azimuth angle corresponding to the expectant direction via the magnetometer module  224  when receiving the pointing operation, and adds the detected pointing azimuth angle into the pointing signal. More specifically, the pointing azimuth angle is a horizontal angle making a specific reference direction as a starting point (0 degrees) of angle. 
     For example, the pointing azimuth angle corresponding to the expectant direction is 50 degrees if the reference direction is toward North and the expectant direction is 50 degrees toward North East. The pointing azimuth angle is 180 degrees if the reference direction is toward South. 
     The present disclosed example can clearly indicate the horizontal angle of the expectant direction via the pointing azimuth angle. 
     Step S 22 : the remote controlling device  22  calculates a vertical pointing elevation angle corresponding to the expectant direction when receiving the pointing operation, and adds the pointing elevation angle into the pointing signal. 
     Preferably, the remote controlling device  22  may detect a set of tilt angle(s) (such as three-axis tilt angles) of the remote controlling device  22  having received the pointing operation via the gyro module  226 , and may calculate the pointing elevation angle according to a vertical composition (such as z-axis angle) of the tilt angle. 
     Or, the remote controlling device  22  may detect a set of moving vector(s) (such as three-axis moving vectors) of the remote controlling device  22  having received the pointing operation via the accelerometer module  228 , and may calculate the pointing elevation angle according to a vertical composition (such as z-axis vector) of the moving vector. 
     In this embodiment, the step S 110  comprises the steps S 24 -S 28 , the details are as follows. 
     Step S 24 : the processor  200  of the aircraft  20  retrieves a current flying azimuth angle of the aircraft  20  via the magnetometer  204  after receiving the pointing signal from the remote controlling device  22 , and compares the flying azimuth angle with the pointing azimuth angle of the pointing signal. 
     If the flying azimuth angle is not matched with the pointing azimuth angle, the processor  20  may determine that the aircraft  20  is not in the expectant direction, and executes the step S 26 . If the flying azimuth angle is matched with the pointing azimuth angle, the processor  20  may determine that the aircraft  20  is in the expectant direction, and executes the step S 112 . 
     Step: S 26 : the processor  200  determines the moving direction according to the pointing azimuth angle and the flying azimuth angle. 
     Preferably, the processor  200  may determine a horizontal moving direction and a vertical moving direction according to the following distance, the pointing elevation angle and an azimuth angle difference between the pointing azimuth angle and the flying azimuth angle. 
     Furthermore, the processor  200  may determine a destination coordinate of this movement according to the following distance, the pointing elevation angle and the azimuth angle difference. More specifically, the processor  200  will configure the located three-dimensional space as a three-dimensional coordinate system, and calculate the destination coordinate via making the target device  24  as the origin (described later). 
     The step S 28 : the processor  200  controls the aircraft  20  to move toward the moving direction until reaching the destination coordinate. 
     Please be noted that although this embodiment is configured to calculate the moving direction by using both pointing azimuth angle and pointing elevation angle, but this specific example is not intended to limit the scope of the present disclosed example. 
     In another embodiment of the present disclosed example, the remote controlling device  22  may not retrieve the pointing elevation angle (namely, the step S 22  will not be executed). Besides, in the step S 26 , the processor  200  determines the moving direction according to the pointing azimuth angle and the flying azimuth angle. In step S 28 , the processor  200  controls the aircraft  20  to move toward the expectant direction until the pointing azimuth angle is matched with the flying azimuth angle. 
     Furthermore, the step S 26  is configured to determine the horizontal moving direction. Besides, in the step S 28 , the aircraft  20  keeps a default vertical following distance from the target device  24  until the pointing azimuth angle is matched with the flying azimuth angle. Thus, the aircraft  20  can move to the user-designated position correctly without retrieving the pointing elevation angle. 
       FIG. 7  is a schematic view of calculating a moving direction and a destination coordinate of the disclosed example,  FIG. 7  are exemplified to explain a preferred manner of calculating the destination coordinate. 
     As shown in  FIG. 7 , in this example, the azimuth angle difference between the pointing azimuth angle and the flying azimuth angle is −30 degrees, the pointing elevation angle is 60 degrees, the following distance is 4 meters, and the initial position of the aircraft  20  is position S 1 . 
     Next, the description will explain how to calculate the coordinate (destination coordinate) of position S 2 . First, the processor  200  configures the located three-dimensional space as a three-dimensional coordinate system, and configures the position of the target device  24  as origin O corresponding to the coordinate (0,0,0). Then, the processor  200  may calculate the altitude of the position S 2  valued 4×sin 60° =2√{square root over (3)} meters and being the Z-axis coordinate of the position S 2 . Then, the processor  200  may calculates the horizontal coordinates (namely, X-axis coordinate and Y-axis coordinate) of the position S 2 . The X-axis coordinate of the position S 2  is 4×cos 60° sin(−30°)=−1 meters, and the Y-axis coordinate of the position S 2  is 4×cos 60° cos(−30°)=√{square root over (3)} meters. 
     In summary, the processor  200  may determine that the coordinate of the position S 2  is (−1,√3,2√3). 
     Thus, the present disclosed example can effectively calculate destination coordinate without the Positioning system (such as GPS or indoor positioning system). 
     Please refer to the  FIG. 3 ,  FIG. 8  and  FIG. 9  simultaneously,  FIG. 8  is the first part of flowchart of a following remote controlling method for aircraft according to the third embodiment of the present disclosed example,  FIG. 9  is the second part of flowchart of a following remote controlling method for aircraft according to the third embodiment of the present disclosed example. Compare to a first embodiment shown in  FIG. 3 , the step S 106  of this embodiment comprises the steps S 30 , S 32 , and the step S 110  comprises the steps S 34 -S 38 . 
     Step S 30 : the target device  24  retrieves a target coordinate (such as GPS coordinate or beacon coordinate) via the locator unit  24 , and adds the retrieved target coordinate into the target signal. 
     Step S 32 : the target device  24  sends the target signal to outside. 
     In this embodiment, the step S 110  comprises the steps S 34 -S 38  which are described in detail below. 
     Step S 34 : the processor  200  of the aircraft  20  retrieves the current flying azimuth angle via the magnetometer  204  after receiving the target signal and the pointing signal, and compared the flying azimuth angle with the pointing azimuth angle of the pointing signal. 
     If the pointing azimuth angle is not matched with the flying azimuth angle, the processor  200  executes the step S 36 . Otherwise, the processor  200  executes the step S 112 . 
     Step S 36 : the processor  200  retrieves the current flying coordinate via the locator  212 , and determines the moving direction and the destination coordinate according to the target coordinate of the target signal, the pointing azimuth angle of the pointing signal, the current flying coordinate and the flying azimuth angle. 
     Preferably, the processor  200  determines the horizontal moving direction according to the azimuth angle difference between the pointing azimuth angle and the flying azimuth angle, and determines the vertical moving direction and the destination coordinate according to the target coordinate, the flying coordinate and the azimuth angle difference. 
     Step S 38 : the processor  200  controls the aircraft  20  to move toward the determined moving direction until reaching destination coordinate. 
     The present disclosed example can control the aircraft to move to the designated position accurately via positioning system (such as GPS or indoor positioning system). 
     Besides, via determining the moving direction according to both azimuth angle and coordinate, the present disclosed example can effectively prevent the target coordinate or the flying coordinate from error caused by signal-drifting, such that the calculated moving direction includes error. 
     Next, following description will describe how the present disclosed example to implement the automatic follow function. Please refer to  FIG. 3  and  FIG. 10  simultaneously,  FIG. 10  is a partial flowchart of a following remote controlling method for aircraft according to the fourth embodiment of the present disclosed example. In this embodiment, the target signal may instruct a sending time (for example, the target signal may comprise the sending time, or the wavelength or frequency of the target signal may be fixed, so as to calculate the sending time according to the phase of the received target signal and the current time). Compare to the first embodiment shown in  FIG. 3 , the step S 112  of this embodiment comprises steps S 400 -S 410 . 
     Step S 400 : the processor  200  of the aircraft  20  retrieves the receiving time and the sending time of the target signal. 
     More specifically, the processor  200  makes the current time as the receiving time of this target signal and records when receiving the target signal (namely, the step S 108  is executed) every time. Besides, the processor  200  may retrieve the sending time in the target signal. 
     Step S 402 : the processor  200  calculates the actual distance between the aircraft  20  and the target device  24  according to the receiving time, the sending time and a signal propagation velocity. 
     Take transmitting the target signal in ultrasound (the signal propagation velocity is 340 meters per second) form for example, the sending time is zero seconds, the receiving time is 0.01 seconds, the processor  200  may calculate the actual distance is (0.01−0)×340=3.4 meters. 
     Step S 404 : the processor  200  determines whether the actual distance is greater than the following distance. If the processor  200  determines that the actual distance is greater than the following distance, the processor  200  executes the step S 406 . Otherwise, the processor  200  executes the step S 408 . 
     Step S 406 : the processor  200  controls the aircraft  20  to approach the target device  24  for reducing the actual distance, so as to make the actual distance be matched with the following distance. 
     Step S 408 : the processor  200  determines whether the actual distance is less than the following distance. If the processor  200  determines that the actual distance is less than the following distance, the processor  200  executes the step S 410 . Otherwise, the processor  200  terminates the following remote controlling method. 
     Step S 410 : the processor  200  controls the aircraft  20  to keep the target device  24  away for increasing the actual distance, so as to make the actual distance be matched with the following distance. 
     Thus, the present disclosed example can make the aircraft  20  follow the target device  24  automatically, and keep the following distance from the target device  24 . 
     The present disclosed example further provides a The present invention also provides an altitude-following function having ability of making the aircraft  20  descend and climb automatically according to the altitude variation of the target device  24 . Please refer to the  FIG. 3  and  FIG. 11  simultaneously,  FIG. 11  is a partial flowchart of a following remote controlling method for aircraft according to the fifth embodiment of the present disclosed example. In this embodiment, the target signal comprises a target altitude. 
     Preferably, the target device  24  may retrieve above target altitude via the altimeter unit  246  or retrieve above target altitude (such as the altitude of GPS coordinate) via the locator unit  244 . Compare to the first embodiment shown in  FIG. 3 , the following remote controlling method of this embodiment comprises steps S 50 -S 58 . 
     Step S 50 : the processor  200  retrieves the target altitude and a flying altitude, and calculates an actual vertical distance between the aircraft  20  and the target device  24  according to the target altitude and the flying altitude. 
     Preferably, the processor  200  retrieves the target altitude in the target signal. Besides, the processor  200  may detect the current flying altitude via the altimeter  210 , or retrieve the current flying altitude via the locator  212 . 
     Step S 52 : the processor  200  determines whether the actual vertical distance is greater than the default following vertical distance. If the processor  200  determines that the actual vertical distance is greater than the following vertical distance, the processor  200  executes the step S 54 . Otherwise, the processor  200  executes the step S 56 . 
     Step S 54 : the processor  200  controls the aircraft  20  to descend for reducing altitude, so as to making the actual vertical distance be matched with the following vertical distance. 
     Step S 56 : the processor  200  determines whether the actual vertical distance is less than the default following vertical distance. If the processor  200  determines that the actual vertical distance is less than the following vertical distance, the processor  200  executes the step S 58 . Otherwise, the processor  200  terminals the following remote controlling method. 
     Step S 58 : the processor  200  controls the aircraft  20  to climb for increasing altitude, so as to making the actual vertical distance be matched with the following vertical distance. Thus, the present disclosed example can make the aircraft  20  keep the fixed following vertical distance from the target device  24 . 
     Please refer to the  FIG. 3  and  FIG. 12  simultaneously,  FIG. 12  is a partial flowchart of a following remote controlling method for aircraft according to the sixth embodiment of the present disclosed example. The present disclosed example further provides an automatic wheel around function having ability of making the aircraft  20  front the target device  24 . Besides, in this embodiment, the aircraft  20  comprises a plurality of the transceivers  202 . Compare to the first embodiment shown in  FIG. 3 , the following remote controlling method of this embodiment further comprises steps S 60 -S 64 . 
     Step S 60 : the processor  200  of the aircraft  20  receives the same target signal via the plurality of the transceivers  202 , and records the receiving time of each transceiver  202  receiving the target signal. 
     Step S 62 : the processor  200  calculates a receiving time difference between the plurality of the receiving time, and determines whether the receiving time difference is matched with a default time difference (such as 0 second or less than 0.001 second). 
     If the processor  200  determines that the receiving time difference is not matched with the default time difference, the processor  200  executes the step S 64 . Otherwise, the processor  200  determines that the aircraft  20  has fronted the target device  24 , and terminates the following remote controlling method. 
     Step S 64 : the processor  200  moves or wheels around (such as clockwise spin or counterclockwise spin) according to the receiving time difference for making the aircraft  22  face to the target device  24 . 
     In one embodiment, above-mentioned automatic wheel around function is configured to make the front of the camera  214  face to the target device  24  automatically. More specifically, the aircraft  20  has been arranged an electric cradle head (such as PT head, not shown in figures) electrically connected to the processor  200 , the camera  214  is arranged on the electric cradle head, the processor  200  may control the electric cradle head to pan or tilt to make the front of the camera  214  face to the different direction. Besides, the processor  200  may recognize an angle difference between the front of the aircraft  20  and the front of the camera  24 . For example, the electric cradle head may be arranged an angle encoder, the processor  200  may retrieve the current rotation angle of the electric cradle head via the angle encoder, and calculate the angle difference between the front of the aircraft  20  and the front of the camera  214 . 
     Besides, the aircraft  20  is mainly used to provide a selfie function, above-mentioned control “the front of the aircraft  20  fronts to the target device  24 ” could be appreciated that making the aircraft  20  move or wheel around for making the front of the aircraft  20  face to the target device  24 , or could be appreciated that making the lens of the camera  214  arranged on the aircraft  20  front the target device  24  via panning or tilting the electric cradle head, but this specific example is not intended to limit the scope of the present disclosed example. 
     Furthermore, the operation of panning or tilting in the electric cradle head is independent with the operation of wheeling the aircraft  20 , such as the processor  200  may control the aircraft  20  to stop wheeling or rotate a specific angle clockwise, and control the electric cradle head to pan a specific angle clockwise simultaneously. 
     Please refer to  FIG. 13 , which is a schematic view of automatic steering of the disclosed example. In this example, the aircraft  20  comprises two transceivers  2020 ,  2022 . Besides, the two transceivers  2020 ,  2022  are respectively arranged on both sides of the aircraft  20 . 
     As shown in  FIG. 13 , the aircraft  20  at position S 1  fronts the target device  24 . In this situation, a receiving time of the transceiver  2020  is the same as a receiving time of the transceiver  2022 . Furthermore, the actual distance D 1  which the aircraft  20  calculated according to the receiving time of the transceiver  2020  is also the same as the actual distance D 2  which the aircraft  20  calculated according to the receiving time of the transceiver  2022 . 
     The aircraft  20  at position S 2  didn&#39;t front the target device  24 . In this situation, the receiving time of the transceiver  2020  is greater than the receiving time of the transceiver  2022  (the distance between the transceiver  2022  and the target device  24  is shorter than the distance between the transceiver  2020  and the target device  24 ). Besides, the actual distance D 3  which the aircraft  20  calculated according to the receiving time of the transceiver  2020  is greater than the actual distance D 4  which the aircraft  20  calculated according to the receiving time of the transceiver  2022 . 
     Besides, in this situation, the aircraft  20  may turn counterclockwise automatically until the actual distance D 3  is the same as the actual distance D 4  (namely, the aircraft  20  fronts the target device  24 ). 
     The aircraft  20  at position S 3  didn&#39;t front the target device  24 . In this situation, the receiving time of the transceiver  2020  is less than the receiving time of the transceiver  2022  (the distance between the transceiver  2022  and the target device  24  is longer than the distance between the transceiver  2020  and the target device  24 ). Besides, the actual distance D 5  which the aircraft  20  calculated according to the receiving time of the transceiver  2020  is less than the actual distance D 6  which the aircraft  20  calculated according to the receiving time of the transceiver  2022 . 
     Besides, in this situation, the aircraft  20  may turn clockwise automatically until the actual distance D 5  is the same as the actual distance D 6  (namely, the aircraft  20  fronts the target device  24 ). 
     Please refer to  FIG. 14 , which is a schematic view of moving an aircraft of the disclosed example,  FIG. 14  is used to describe how to determine whether the aircraft  20  had moved toward the expectant direction via the automatic wheel around function. 
     In this example, the magnetometer  204  is arranged on the aircraft  20  fixedly, above manner makes the magnetometer  204  may detect the geomagnetic variation (namely, detecting the corresponded azimuth angle) corresponding to the spin when the aircraft  20  spins. 
     Besides, in this example, the flying azimuth angle detected by the magnetometer  204  is 0 degrees when the aircraft  20  locates at position Si and fronts the target device  24 . 
     When the aircraft  20  moves to the position S 2  and its front faces to the target device  24 , the magnetometer  204  may detect that the flying azimuth angle had changed to 30 degrees (the aircraft  20  spun 30 degrees) because of the spin of the aircraft  20 . 
     Furthermore, as shown in figure, the spin angle of the aircraft  20  (namely, flying azimuth angle) is the same as the circling angle of the aircraft  20  circling the target device  24  when the aircraft  20  fronts the target device  24 . 
     Thus, it said that the aircraft  20  is in the expectant direction and could stop moving when the aircraft  20  moves continually until the flying azimuth angle is matched with the pointing azimuth angle (namely, the azimuth angle difference is equal to zero degrees). 
     Please refer to  FIG. 15 , which is a flowchart of track-recording and track-following according to the seventh embodiment of the present disclosed example. This embodiment provides a track-recording function and a track-following function having ability of recording a flying track of aircraft  20  and controlling the aircraft  20  to cruise automatically according to the recorded flying track. Compare to the first embodiment shown in  FIG. 3 , the following remote controlling method of this embodiment further comprises following steps for implementing the track-recording function and the track-following function. 
     Step S 700 : the processor  200  of the aircraft  20  switches to the track-recording mode. Preferably, the human-machine interface  230  of the remote controlling device  22  further comprises a track-recording button. The remote controlling device  22  may generate and send a track-recording signal to the aircraft  20  for making the processor  200  switch to the track-recording mode when the track-recording button is pressed. 
     Step S 702 : the processor  200  records the flying track of the aircraft  20  based on time-domain in the track-recording mode. 
     Preferably, the processor  200  records all of the received pointing signals (each pointing signal may comprises pointing elevation angle, pointing azimuth angle and following distance) sent by the remote controlling device  22  for generating the flying track. 
     Preferably, the processor  200  records the control parameters (such as spin angle, moving altitude and moving distance) used to control the drive device  208  to move every time for generating the flying track. 
     Preferably, the processor  200  configures the located three-dimensional space as a three-dimensional coordinate system, and records the coordinate variation of the aircraft  20  in three-dimensional space for generating the flying track. 
     Step S 704 : the processor  200  determines whether the processor  200  may stop recording the flying track. 
     Preferably, the human-machine interface  230  of the remote controlling device  22  further comprises a button of stopping recording track. The remote controlling device  22  may generate and send signal of stopping recording track to the aircraft  20  for making the processor  200  store the recorded flying track (such as exporting as a track file) in the memory  206  and leave the track-recording mode when above button of stopping recording track is pressed. 
     If the processor  200  determines that the processor  200  may stop recording the flying track, the processor  200  executes step S 706 . Otherwise, the processor  200  executes the step S 702 . 
     Step S 706 : the processor  200  switches to the track-following mode. Preferably, the human-machine interface  230  of the remote controlling device  22  further comprises a track-following button. The remote controlling device  22  may generate and send a track-following signal to the aircraft  20  for making the processor  200  switch to the track-following mode when above-mentioned track-following button is pressed. 
     Step S 708 : the processor  200  loads the flying track stored in the memory  206  in advance in the track-following mode. 
     Step S 710 : the processor  200  controls the aircraft  20  to move along the loaded flying track. 
     The present disclosed example can make the aircraft  20  cruise automatically according to the pre-planned flying track. 
     Please refer to  FIG. 16 , which is a flowchart of function operation according to the eighth embodiment of the present disclosed example. This embodiment provides a plurality of operation functions. Compare to the first embodiment shown in  FIG. 3 , the following remote controlling method of this embodiment further comprises following steps for implementing the plurality of the operation functions. 
     Step S 80 : the processor  200  of the aircraft  20  receives the operation signal sent from the remote controlling device  22 . 
     More specifically, the human-machine interface  230  of the remote controlling device  22  further comprises various operation buttons. The remote controlling device  22  may generate and send the corresponded operation signal to the aircraft  20  when each operation button is pressed. 
     For example, the human-machine interface  230  may comprise a plane-fixed operation button, a fine-tuning operation knob, a distance-adjusting knob and a recording on/off button. 
     The remote controlling device  22  may generate and send a plane-fixed operation signal to outside when the plane-fixed operation button is pressed. The remote controlling device  22  may generate and send a fine-tuning operation signal comprising a fine-tuning direction and a fine-tuning distance to outside when the fine-tuning operation knob is turned. The remote controlling device  22  may generate and send a distance-adjusting signal corresponding to the operation to outside when the distance-adjusting knob is turned. The remote controlling device  22  may generate and send a recording signal to outside when the recording on/off button is pressed first time, and may generate and send a stopping recording signal to outside when the recording on/off button is pressed again. 
     Step S 82 : processor  200  executes the corresponded operation according to the received operation signal. For example, the processor  200  may determine a plane corresponding to the expectant direction when receiving the plane-fixed operation signal from the remote controlling device  22 , and configure the plane as a movable range of the aircraft  20  for making the aircraft  20  limited to moving in the plane. 
     The processor  200  may control the aircraft  20  to move the fine-tuning distance bias toward the fine-tuning direction (such as moving 30 centimeters toward left or descending 50 centimeters toward down) according to the fine-tuning operation signal when receiving the fine-tuning operation signal from the remote controlling device  22 . 
     The processor  200  may adjust value of the following distance (such as increasing the following distance or decreasing the following distance) according to the distance-adjusting signal when receiving the distance-adjusting signal from the remote controlling device  22 . 
     The processor  200  may control the camera  214  of the aircraft  20  to start to record video. Besides, the processor  200  may further start to record the flying track of the aircraft  20  based on time. 
     The processor  200  may control the camera  214  to stop recording video. Besides, the processor  200  may further stop recording the flying track of the aircraft  20  when determining that the processor  200  is still recording the flying track. 
     The above mentioned are only preferred specific examples in the present disclosed example, and are not thence restrictive to the scope of claims of the present disclosed example. Therefore, those who apply equivalent changes incorporating contents from the present disclosed example are included in the scope of this application, as stated herein.