WO2018072063A1 - 一种对飞行器的飞行控制方法、装置及飞行器 - Google Patents

一种对飞行器的飞行控制方法、装置及飞行器 Download PDF

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Publication number
WO2018072063A1
WO2018072063A1 PCT/CN2016/102288 CN2016102288W WO2018072063A1 WO 2018072063 A1 WO2018072063 A1 WO 2018072063A1 CN 2016102288 W CN2016102288 W CN 2016102288W WO 2018072063 A1 WO2018072063 A1 WO 2018072063A1
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WIPO (PCT)
Prior art keywords
aircraft
flight
obstacle
control
flight mode
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PCT/CN2016/102288
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English (en)
French (fr)
Inventor
胡骁
刘昂
张立天
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680065358.XA priority Critical patent/CN108351650B/zh
Priority to CN202011527574.6A priority patent/CN112650267B/zh
Priority to PCT/CN2016/102288 priority patent/WO2018072063A1/zh
Publication of WO2018072063A1 publication Critical patent/WO2018072063A1/zh
Priority to US16/384,300 priority patent/US20190243356A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the present invention relates to the field of flight control technologies, and in particular, to a flight control method, apparatus, and aircraft for an aircraft.
  • UAV Unmanned Aerial Vehicle
  • other aircraft mount images of certain areas by mounting cameras such as cameras and cameras. It can meet the needs of users such as scene shooting and area monitoring. .
  • the user when shooting an environmental object, the user is generally required to manually control the flight of the aircraft to take certain target images, or the user is required to plan a flight route for the aircraft to fly autonomously on the route to achieve environmental shooting on the route. All of these methods require the user to manually participate in the flight control of the aircraft or perform complex route planning, and the control method is relatively cumbersome.
  • the embodiment of the invention provides a flight control method, device and aircraft for an aircraft, which can quickly control the aircraft to capture a target object desired by the user.
  • an embodiment of the present invention provides a flight control method for an aircraft, including:
  • the target area position is a position of the target area in the image captured by the camera device, and the camera device is mounted on the aircraft;
  • an embodiment of the present invention further provides a flight control device for an aircraft, including:
  • An acquisition module configured to acquire a target area position, where the target area position refers to a position of a target area in the image captured by the camera device, where the camera device is mounted on the aircraft;
  • a determining module configured to determine, according to the target area position, a relative direction of the target object corresponding to the target area with respect to the aircraft; determining a first direction of the aircraft according to the relative direction, the first direction The direction of flight near the target object;
  • control module configured to determine a second direction according to the first direction if the aircraft is in a first flight mode, and control the aircraft to fly according to the second direction, where the second direction is the first The opposite direction of the direction.
  • an embodiment of the present invention further provides an aircraft, including: a flight controller and a power component, the power component is configured to provide flight power to the aircraft; and the flight controller is configured to acquire a target area location.
  • the target area position refers to a position of a target area in the image in an image captured by the imaging device, the imaging device is mounted on the aircraft; and the target area is determined according to the target area position.
  • Determining a relative direction of the target object relative to the aircraft Determining a relative direction of the target object relative to the aircraft; determining a first direction of the aircraft based on the relative direction, the first direction being a direction of flight near the target object; if the aircraft is in a first flight mode Determining a second direction according to the first direction, and transmitting a flight control instruction to the power component according to the second direction, where the flight control instruction is used to control the flight of the aircraft, and the second direction is Said the opposite direction of the first direction.
  • the direction of the flight of the aircraft is determined based on the position of the area in the image, and the user only needs to select the target to be photographed in the image area, the operation is simple, the flight control efficiency for the shooting target is improved, and the user is satisfied to fly. Automation and intelligent needs for control and image capture.
  • FIG. 1 is a schematic structural view of a flight control system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an aircraft with an imaging device according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of a flight control method for an aircraft according to an embodiment of the present invention.
  • FIG. 5 is a schematic flow chart of another flight control method for an aircraft according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a flight control device for an aircraft according to an embodiment of the present invention.
  • Fig. 7 is a schematic structural view of an aircraft according to an embodiment of the present invention.
  • the aircraft 101 completes the shooting of the environment by mounting the imaging device 102, and transmits the image data of the captured environmental image to the ground end in real time during the shooting process.
  • a schematic structural diagram of a flight control system includes an aircraft 101 , an imaging device 102 mounted on the aircraft 101 , and a ground end.
  • the imaging device 102 can transmit the captured image data to the aircraft 101 by wire or wirelessly, and the image data is transmitted by the aircraft 101 to the ground terminal.
  • the camera 102 can also directly transmit image data to the ground end.
  • the ground end may be a dedicated remote controller of the aircraft 101, or may be a smart terminal such as a smart phone, a tablet computer or a personal computer that establishes a communication connection with the aircraft 101 or the camera device 102. In the example of FIG. Description.
  • the ground end can receive and display relevant data of the aircraft 101 or the camera 102, and can also send control commands to the aircraft 101 or the camera 102 to control the flight of the aircraft 101 or the camera 102.
  • the camera 102 captures a picture image obtained within a range of its lens angle of view. After transmitting the captured screen image to the smart terminal 103, the smart terminal 103 displays the received image on the display screen to the user.
  • the user can select a target area among the displayed images by means of a touch screen click or a mouse click.
  • the target area may be a point selected by the user or a small area selected by the user.
  • the image 201 captured by the imaging device 102 is displayed, and the user selects the target area 202 by means of a touch screen.
  • the smart terminal 103 can determine the position of the target area in the image according to the user's selection, and further determine the relative direction of the target object corresponding to the target area relative to the aircraft 101.
  • the target area can be located in the image picture.
  • the positional orientation determines the relative direction of the target area, and if it is below the image picture, it is determined that the actual position of the target object corresponding to the target area in the environment is below the aircraft 101.
  • the aircraft 101 and/or the pan/tilt can be adjusted, thereby adjusting the shooting angle of the camera device 102, so that the camera device 102 is facing the target object, or the target object is located in the middle region of the image. nearby.
  • the flying height of the aircraft 101 is lowered, and the target area is located near the middle area of the image, so that the camera device 102 can be photographed or given to the target object.
  • the target object is located near the middle region of the image; or when the target region is directly below the aircraft 101, the pitch angle of the pan/tilt is adjusted so that the target region is located near the middle region of the image, and the camera device 102 can also be made positive
  • the target object is photographed or the target object is located in the vicinity of the middle region of the image.
  • the pitch angle of the pan/tilt 301 is adjusted to enable the imaging device 102 to capture the target object.
  • the embodiment of the present invention further determines the flight direction of the aircraft 101.
  • the aircraft 101 may have at least two flight modes, including a first flight mode and a second flight mode, the determined flight directions being different according to different flight modes.
  • the first direction of flying close to the target object may be first determined, for example, if the relative direction is that the target object is at the lower right of the aircraft 101, then the target is determined to be toward the target. The lower right of the object is the first direction.
  • the aircraft 101 After determining the first direction, if the aircraft 101 is in the first flight mode, determining the second direction according to the first direction, determining the second direction as the final flight direction of the aircraft 101, the second direction being the first direction The opposite direction of the direction. That is to say, when the aircraft 101 is in the first flight mode, the aircraft 101 is flying in a flight mode away from the target object, and at this time, near and far images for the target object can be captured.
  • the first direction is directly determined as the final flight direction of the aircraft 101. That is to say, when the aircraft 101 is in the second flight mode, the aircraft 101 is flying in a flight mode close to the target object, and at this time, a far and near image for the target object can be taken.
  • the user can configure directly on the application APP to set the flight mode of the aircraft 101.
  • the aircraft 101 is placed in a first flight mode or a second flight mode.
  • the user can also configure the mode of shooting.
  • the near and far shooting mode is set, it is determined that the aircraft 101 is in the first flight mode, and when the shooting mode is far and near, then It is determined that the aircraft 101 is in the second flight mode.
  • the aircraft 101 may also include other flight modes, specifically including a third flight mode in which the aircraft 101 performs headless flight, that is, in the third flight mode, the yaw angle of the aircraft may be used by the user.
  • a third flight mode in which the aircraft 101 performs headless flight
  • the aircraft 101 only needs to ensure that the flight direction is flying in the first direction (the direction close to the target object) or the second direction (the direction away from the target object), or the aircraft 101 is in a preset
  • the user can rotate the aircraft 101 by a remote controller or the like as needed, so that either side of the aircraft 101 faces the flight direction or the rear of the flight direction.
  • the aircraft may be controlled to enter a third flight mode when detecting that the user issues a control command for instructing to switch to the third flight mode, and in the third flight mode, the user may arbitrarily adjust the yaw angle of the aircraft, for example, in the aircraft according to the During flight in one direction or second direction, if a flight control command including a yaw angle is received, the aircraft is switched into a third flight mode. In the third flight mode, the aircraft 101 releases the yaw yaw control to the user, and while ensuring that the aircraft 101 is flying in the first direction or the second direction, the user can control the yaw of the aircraft 101 to arbitrarily control the rotating aircraft 101.
  • the user can reselect the target area at any time on the interface selected for the target area.
  • the smart terminal 103 detects the selection event of the user on the interface in real time, uses the selected area of the user as the target area, and recalculates the position of the target area in the image, and sends it to the aircraft 101, and the aircraft 101 performs the above-mentioned one according to the position.
  • the series is processed to get a new flight direction.
  • the corresponding flight mode may be exited as needed.
  • the aircraft is controlled to exit the current flight mode.
  • the exit condition that satisfies the preset includes receiving an exit control command for instructing the aircraft to exit the current flight mode.
  • Or satisfying the preset exit condition includes: detecting that the current position of the aircraft satisfies a preset flight limit condition, specifically, when the aircraft automatically flies in the determined first direction or the second direction, if the flight is to For a preset flight-definition zone, such as an airport-limited flight zone, the aircraft's position meets the flight restriction conditions and needs to be withdrawn.
  • the current flight mode can hover and notify the user to switch to manual control mode.
  • satisfying the preset exit condition includes: detecting that the aircraft meets a preset obstacle avoidance condition, specifically, if the aircraft is detected to be hitting an obstacle in the process of flying in the first direction or the second direction For example, if the distance from the obstacle is less than the preset obstacle avoidance distance threshold, it is determined that the obstacle avoidance condition is met, the current flight mode needs to be exited, the hovering may be performed, and the user is notified to switch to the manual control mode.
  • satisfying the preset exit condition includes: detecting that the flight distance of the aircraft in the current flight mode reaches a preset distance threshold, in the first flight mode, the second flight mode, or the third flight mode, The user can set the corresponding flight distance. When the flight distance is automatically flighted according to the first direction or the second direction, the flight can be stopped, and the current flight mode is also exited.
  • the aircraft 101 determines the flight direction, for example, during the automatic flight in the first direction or the second direction described above, it is possible to detect whether there is an obstacle in front of the flight, so as to perform obstacle avoidance processing and achieve safety.
  • the purpose of the flight for the aircraft 101 with the obstacle detection module, for example, the aircraft 101 with the binocular sensor disposed on the plurality of sides of the aircraft 101 can sense the obstacle information in the direction corresponding to each side, and then can directly detect the obstacle based on the corresponding obstacle. Module information to achieve autonomous obstacle avoidance.
  • the pan/tilt on the aircraft 101 for mounting the camera 102 can be rotated 360°, then The pan/tilt direction is controlled toward the photographed picture, and by rotating the aircraft 101, the first side of the aircraft 101 is rotated into the flight direction for detecting an obstacle in the flight direction.
  • FIG. 4 is a schematic flowchart of a flight control method for an aircraft according to an embodiment of the present invention.
  • the method of the embodiment of the present invention may be performed by an aircraft, and may be an aircraft of a type such as UAV.
  • the method of the embodiment of the invention comprises the following steps.
  • S401 Acquire a target area position, where the target area position refers to a position of the target area in the image in the image captured by the imaging device, and the camera device is mounted on the aircraft.
  • the target area may be determined by the user in the image, may be a small area of the finger touch screen click confirmation, or may be an area of the sliding confirmation.
  • the pixel position of the confirmed target area can be used as the position of the target area.
  • the relative direction refers to a direction of the target object corresponding to the target area relative to the aircraft in the viewing direction of the camera mounted by the aircraft, and the relative direction may be one
  • the general direction is, for example, a relative direction at the lower right and upper left of the aircraft.
  • S403 Determine a first direction of the aircraft according to the relative direction, where the first direction is a direction of flying close to the target object. After the relative direction is determined, the first direction can be determined. For example, when the target object is determined to be at the lower right of the aircraft, the first direction is a direction that can indicate that the aircraft is flying to the lower right.
  • S404 if the aircraft is in the first flight mode, determining a second direction according to the first direction, and controlling the aircraft flight according to the second direction, where the second direction is opposite to the first direction direction.
  • the aircraft In the first flight mode, the aircraft flies in a direction away from the target object. After determining the direction, controlling the aircraft to fly in a determined direction may refer to prior art implementations.
  • S405 If the aircraft is in the second flight mode, the aircraft flight is controlled according to the first direction. In the second flight mode, the aircraft flies in a direction close to the target object. After determining the direction, controlling the aircraft to fly in a determined direction may refer to prior art implementations.
  • the direction of the flight of the aircraft is determined based on the position of the area in the image, and the user only needs to select the target to be photographed in the image area, the operation is simple, the flight control efficiency for the shooting target is improved, and the user is satisfied to fly. Automation and intelligent needs for control and image capture.
  • FIG. 5 it is a schematic flowchart of another method for controlling flight of an aircraft according to an embodiment of the present invention.
  • the method of the embodiment of the present invention may be performed by an aircraft, and may be an aircraft of a type such as UAV.
  • the method of the embodiment of the invention comprises the following steps.
  • S501 Acquire a target area position, where the target area position refers to a position of the target area in the image in the image captured by the imaging device, and the camera device is mounted on the aircraft.
  • S502 Determine, according to the target area location, a relative direction of the target object corresponding to the target area with respect to the aircraft.
  • S503 Determine a first direction of the aircraft according to the relative direction, where the first direction is a direction of flying close to the target object.
  • S505 issuing, according to the second direction and the detected obstacle information in the second direction, a control instruction to control the aircraft in the second direction and bypassing the obstacle information Obstacle flight.
  • the aircraft is provided with an obstacle detecting module, and in the S505, the detecting station
  • the obstacle information in the second direction includes: transmitting a posture adjustment instruction to the aircraft, the posture adjustment instruction is for controlling adjustment of a posture of the aircraft, so that the obstacle detection module can detect the second direction An obstacle and enable the camera to capture an image including the target object during flight of the aircraft in the second direction.
  • the obstacle detection module may be located on one or more sides of the aircraft, and during the flight of the aircraft in the second direction, the obstacle detection module may not detect an obstacle in the second direction, for example
  • the second direction side of the aircraft is the front side, and when the binocular ranging sensor as the obstacle detecting module is located on the rear side, the binocular ranging sensor cannot detect the obstacle in the second direction.
  • the obstacle detection module can be configured to detect the obstacle in the second direction by the aircraft attitude adjustment, and enable the imaging device to be captured during the flight of the aircraft in the second direction.
  • An image of the target object can be oriented in the second direction by rotating the aircraft, so that the obstacle detecting module can sense the obstacle in the second direction, rotate the lens of the camera device, and cover the lens angle of view of the camera device. The target object.
  • An obstacle detecting module is disposed on the aircraft, the shooting module is rotatably mounted on the aircraft through a pan/tilt, and detecting the obstacle information in the second direction comprises: sending a posture adjustment instruction to the aircraft The posture adjustment command is configured to control an attitude of the aircraft to be adjusted, so that the obstacle detection module can detect an obstacle in the second direction; send a rotation instruction to the pan/tilt, and the rotation instruction is used to The pan/tilt rotation is controlled such that the camera device can capture an image including the target object during the flight of the aircraft in the second direction.
  • the process of enabling the obstacle detecting module to detect the obstacle in the second direction and the flying of the camera device in the second direction by adjusting the attitude of the aircraft and the pan/tilt angle respectively can be achieved.
  • the pan/tilt can be a three-axis pan/tilt that can rotate on the pitch PITCH, the roll ROLL, and the yaw YAW axis.
  • the pan/tilt can also be a 360-degree rotating pan/tilt that can be rotated quickly after the aircraft is rotated to align the target object.
  • the method described in the embodiments corresponding to FIG. 4 and FIG. 5 can also be performed by a smart terminal or a dedicated remote controller, and the location of the target area selected by the user is obtained by the smart terminal, the dedicated remote controller, etc., based on the location of the target area. Determining the direction of flight (first direction or second direction), and then transmitting a control command to the determined flight direction to the aircraft, causing the aircraft to determine the first direction or Flying in the second direction.
  • the intelligent terminal or the dedicated remote controller can also control the aircraft, the pan/tilt, and the like according to the position of the obstacle detection module on the aircraft, thereby realizing the autonomous obstacle avoidance function while capturing the environmental object corresponding to the target area.
  • the aircraft is controlled to rotate in the yaw direction according to the yaw angle.
  • the aircraft is switched into a third flight mode, that is, the flight control including the yaw angle is detected at the detection.
  • the third flight mode into which the aircraft enters can be considered.
  • the aircraft in the first flight mode, automatically flies in the second direction, or automatically flies in the first direction in the second flight mode, or in the third flight mode, it is also possible to detect whether the aircraft satisfies the preset.
  • the exit condition is controlled, and if the exit condition is met, the aircraft is controlled to exit the current flight mode.
  • the exit condition that satisfies the preset includes: receiving an exit control instruction for instructing the aircraft to exit the current flight mode, detecting that the current position of the aircraft meets a preset flight limit condition, and detecting the aircraft
  • the preset obstacle avoidance condition is met, and any one or more of the flight distance of the aircraft in the current flight mode is reached to a preset distance threshold.
  • the embodiment of the invention further provides a computer storage medium, wherein the computer storage medium stores a program, and the stored program is used to execute the flight control method for the aircraft of FIG. 4 or FIG. 5 when executed.
  • the direction of the flight of the aircraft is determined based on the position of the area in the image, and the user only needs to select the target to be photographed in the image area, the operation is simple, the flight control efficiency for the shooting target is improved, and the user is satisfied to fly. Automation and intelligent needs for control and image capture.
  • the flight control device for an aircraft and the aircraft will be described below with respect to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a flight control device for an aircraft according to an embodiment of the present invention.
  • the device may be disposed in an aircraft, and may specifically be a flight controller disposed in the aircraft.
  • the device includes the following modules.
  • the acquiring module 601 is configured to acquire a target area position, where the target area position refers to a position of the target area in the image in the image captured by the camera, the camera device is mounted on the aircraft; 602. Determine, according to the location of the target area, that the target area is corresponding. a relative direction of the target object relative to the aircraft; determining a first direction of the aircraft according to the relative direction, the first direction being a direction of flying close to the target object; and a control module 603 for The aircraft is in the first flight mode, the second direction is determined according to the first direction, and the aircraft is controlled to fly according to the second direction, the second direction being the opposite direction of the first direction.
  • control module 603 is further configured to control the aircraft to fly according to the first direction when the aircraft is in the second flight mode.
  • control module 603 is further configured to release the control of the yaw direction of the aircraft if the aircraft is detected to enter the third flight mode during the flight of the aircraft, and receive the bias When the flight control command of the voyage angle is commanded, the aircraft is controlled to rotate in the yaw direction according to the yaw angle.
  • control module 603 is further configured to control the aircraft to exit the current flight mode if it is detected that the aircraft meets the preset exit condition during the flight according to the current flight mode;
  • the current flight mode of the aircraft includes a first flight mode, or a second flight mode, or a third flight mode.
  • satisfying the preset exit condition comprises: receiving an exit control instruction for instructing the aircraft to exit the current flight mode, detecting that the current position of the aircraft satisfies a preset flight limit condition, detecting the The aircraft satisfies the preset obstacle avoidance condition, and detects that the flight distance of the aircraft in the current flight mode reaches any one or more of the preset distance thresholds.
  • control module 603 is configured to issue a control command to control the aircraft in the second direction according to the second direction and the detected obstacle information in the second direction. And bypassing the obstacle indicated by the obstacle information to fly.
  • the aircraft is provided with an obstacle detection module for detecting an obstacle; the control module 603 is specifically configured to send an attitude adjustment instruction for the aircraft, and the attitude adjustment instruction is used to control the adjustment center. Determining the attitude of the aircraft, enabling the obstacle detection module to detect an obstacle in the second direction, and enabling the camera to capture the target object during flight of the aircraft in the second direction Image.
  • the aircraft is provided with an obstacle detecting module for detecting an obstacle
  • the shooting module is rotatably mounted on the aircraft through a pan/tilt
  • the control module 603 is specifically configured to send An attitude adjustment command of the aircraft, the attitude adjustment instruction is used to control the adjustment a posture of the aircraft, the obstacle detecting module capable of detecting an obstacle in the second direction; transmitting a rotation instruction for the pan/tilt, the rotation instruction for controlling the rotation of the gimbal
  • the camera device can capture an image including the target object during the flight of the aircraft in the second direction.
  • the direction of the flight of the aircraft is determined based on the position of the area in the image, and the user only needs to select the target to be photographed in the image area, the operation is simple, the flight control efficiency for the shooting target is improved, and the user is satisfied to fly. Automation and intelligent needs for control and image capture.
  • FIG. 7 is a schematic structural diagram of an aircraft according to an embodiment of the present invention, which is mainly a schematic diagram of various structural modules for flight control in an aircraft.
  • the aircraft of the embodiment of the present invention includes a power supply module, a landing gear, and various The structure of the indicator light and the like further includes: a communication interface 701, a flight controller 702, a power component 703, and a memory 704.
  • the power component 703 may specifically include a motor, a propeller, an electronic governor, and the like, and the propeller is fixed at On the rotating shaft of the motor, the electronic governor controls the rotation direction and speed of the motor under the control of the flight controller 702, thereby driving the propeller to rotate, and realizing the control of the flight direction and speed of the aircraft. .
  • the memory 704 may include a volatile memory 704, such as a random access memory (RAM); the memory 704 may also include a non-volatile memory 704, such as Flash memory 704 (flash memory).
  • volatile memory 704 such as a random access memory (RAM)
  • non-volatile memory 704 such as Flash memory 704 (flash memory).
  • the flight controller 702 can include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the memory 704 is further configured to store program instructions.
  • the flight controller 702 can invoke the program instructions to implement a flight control method for an aircraft as shown in the embodiments of Figures 4 and 5 of the present application.
  • the communication interface 701 is used to interact with the ground end or with other aircraft and intelligence. Terminal interaction, used to control signals, or to transmit captured image data.
  • the power component 703 is configured to provide flight power to the aircraft.
  • the flight controller 702 calls a program instruction stored in the memory 704 for acquiring a target area position, where the target area position refers to a target area in the image captured by the camera device in the image.
  • the camera device is mounted on the aircraft; determining a relative direction of the target object corresponding to the target area with respect to the aircraft according to the target area position; determining the first of the aircraft according to the relative direction a direction in which the first direction is a direction of flight near the target object; if the aircraft is in a first flight mode, determining a second direction according to the first direction, and directing the power according to the second direction Component 703 sends a flight control command for controlling flight of the aircraft, the second direction being the opposite direction of the first direction.
  • the flight controller 702 is further configured to control the aircraft flight according to the first direction if the aircraft is in the second flight mode.
  • the flight controller 702 is further configured to release the yaw direction control of the aircraft if the aircraft is detected to enter the third flight mode during the flight of the aircraft, and receive the When the flight control command of the yaw angle is commanded, the aircraft is controlled to rotate in the yaw direction according to the yaw angle.
  • the flight controller 702 is further configured to control the aircraft to exit the current flight mode if the aircraft is detected to meet the preset exit condition during the flight according to the current flight mode.
  • the current flight mode of the aircraft includes a first flight mode, or a second flight mode, or a third flight mode.
  • satisfying the preset exit condition comprises: receiving an exit control instruction for instructing the aircraft to exit the current flight mode, detecting that the current position of the aircraft satisfies a preset flight limit condition, detecting the The aircraft satisfies the preset obstacle avoidance condition, and detects that the flight distance of the aircraft in the current flight mode reaches any one or more of the preset distance thresholds.
  • the aircraft further includes an obstacle detection module 705, which can be used to detect obstacle information in a flight direction, and the flight controller 702 is specifically configured to use the second direction and the detected location
  • the obstacle information in the second direction issues a control command to control the aircraft to fly in the second direction and bypass the obstacle indicated by the obstacle information.
  • the flight controller 702 is specifically configured to send an attitude adjustment instruction for the aircraft, where the posture adjustment instruction is used to control and adjust an attitude of the aircraft, so that the obstacle is inspected.
  • the measuring module 705 is capable of detecting an obstacle in the second direction and enabling the camera to capture an image including the target object during the flight of the aircraft in the second direction.
  • the flight controller 702 is specifically configured to send an attitude adjustment instruction for the aircraft, where the posture adjustment instruction is used to control the posture of the aircraft, so that the obstacle detection module 705 can detect the An obstacle in the second direction; transmitting a rotation instruction for the pan/tilt, the rotation instruction for controlling the pan-tilt rotation, so that the camera device can shoot during the flight of the aircraft in the second direction To the image including the target object.
  • the direction of the flight of the aircraft is determined based on the position of the area in the image, and the user only needs to select the target to be photographed in the image area, the operation is simple, the flight control efficiency for the shooting target is improved, and the user is satisfied to fly. Automation and intelligent needs for control and image capture.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

一种对飞行器的飞行控制方法、装置及飞行器，所述方法具体包括：获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上（S401）；根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向（S402）；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向（S403）；若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向（S404）。采用该方法，能够自动确定针对拍摄目标的飞行方向并飞行，满足了用户对飞行器拍摄的智能化、自动化需求。

Description

一种对飞行器的飞行控制方法、装置及飞行器
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或该专利披露。
技术领域
本发明涉及飞行控制技术领域，尤其涉及一种对飞行器的飞行控制方法、装置及飞行器。
背景技术
通过挂载摄像机、照相机等摄像装置来拍摄某些区域的影像，是UAV(Unmanned Aerial Vehicle，无人机)等飞行器的基本功能，通过挂载的摄像装置能够满足景物拍摄、区域监测等用户需求。
目前在拍摄环境对象时，一般需要用户手动控制飞行器飞行来拍摄某些目标画面，或者需要用户规划一段航线使飞行器在该航线上自主飞行，实现对航线上的环境拍摄。这些方式都需要用户手动全程参与对飞行器的飞行控制、或进行复杂的航线规划，控制方式相对繁琐。
发明内容
本发明实施例提供了一种对飞行器的飞行控制方法、装置及飞行器，可快捷对飞行器进行控制拍摄用户想要的目标对象。
一方面，本发明实施例提供了一种对飞行器的飞行控制方法，包括：
获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；
根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；
根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；
若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反 方向。
相应地，本发明实施例还提供了一种对飞行器的飞行控制装置，包括：
获取模块，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；
确定模块，用于根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；
控制模块，用于若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
相应地，本发明实施例还提供了一种飞行器，包括：飞行控制器和动力组件，所述动力组件，用于给飞行器提供飞行动力；所述飞行控制器，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向向所述动力组件发送飞行控制指令，所述飞行控制指令用于控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
本发明实施例基于区域在影像中的位置确定出飞行器飞行的方向，用户只需选择影像区域中想要拍摄的目标即可，操作简单，提高了针对拍摄目标的飞行控制效率，满足用户对飞行控制以及影像拍摄的自动化、智能化需求。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的飞行控制***的结构示意图；
图2是本发明实施例的一种用户界面的示意图；
图3是本发明实施例的一种带摄像装置的飞行器的示意图；
图4是本发明实施例的一种对飞行器的飞行控制方法的流程示意图；
图5是本发明实施例的另一种对飞行器的飞行控制方法的流程示意图；
图6是本发明实施例的一种对飞行器的飞行控制装置的结构示意图；
图7是本发明实施例的一种飞行器的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例中，飞行器101通过挂载摄像装置102完成对环境的拍摄，并在拍摄的过程中将拍摄得到的环境画面的影像数据实时传输给地面端。如图1所示，为本发明实施例的飞行控制***的结构示意图，包括飞行器101、挂载在飞行器101上的摄像装置102以及地面端。
摄像装置102可以通过有线或无线的方式将拍摄得到的影像数据发送给飞行器101，由飞行器101将影像数据传输给地面端。摄像装置102也可以直接将影像数据传输给地面端。地面端可以为飞行器101的专用遥控器，也可以为与飞行器101或者摄像装置102建立通信连接的智能手机、平板电脑、个人电脑等智能终端，图1中以智能终端103为例对地面端进行说明。地面端可以接收并显示飞行器101或者摄像装置102的相关数据，也可以发送控制指令给飞行器101或者摄像装置102，以控制飞行器101飞行或者摄像装置102摄像。
飞行器101在环境中飞行的过程中，所述摄像装置102会拍摄获取到其镜头视角范围内的画面影像。将拍摄到的画面影像发送给所述智能终端103之后，所述智能终端103在其显示屏上将接收到的影像显示给用户。在本发明实施例中，用户可以通过触屏点击的方式、或鼠标点击的方式等选择方式在显示的影像中选择一个目标区域。该目标区域可以为用户选择的一个点，也可以为用户选择的一小块区域。具体如图2所示，在目标区域选择界面中，显示有摄像装置102拍摄到的影像201，用户通过触屏的方式选择出目标区域202。
智能终端103可以根据用户的选择，确定目标区域在影像中的位置，进而确定所述目标区域所对应的目标对象相对于飞行器101的相对方向，例如，可以将目标区域在影像图片中所处的位置方位来确定目标区域的相对方向，如果在影像图片的下方，则确定该目标区域所对应的目标对象在环境中的实际位置是在飞行器101的下方。根据确定的相对方向，可以调整飞行器101和/或云台，进而调节摄像装置102的拍摄角度，使所述摄像装置102正对所述目标对象拍摄，或者使所述目标对象位于影像的中间区域附近。例如，当目标区域在飞行器101的正下方时，降低飞行器101的飞行高度，使所述目标区域位于影像的中间区域附近，就可以使所述摄像装置102正对所述目标对象拍摄或者使所述目标对象位于影像的中间区域附近；或当目标区域在飞行器101的正下方时，调节云台的俯仰角度，使所述目标区域位于影像的中间区域附近，也可以使所述摄像装置102正对所述目标对象拍摄或者使所述目标对象位于影像的中间区域附近，具体如图3所示，调整云台301的俯仰角，使摄像装置102能够拍摄得到目标对象。
在确定了目标对象的相对方向后，本发明实施例再进一步确定飞行器101的飞行方向。在本发明实施例中，飞行器101可以具有至少两种飞行模式，包括第一飞行模式和第二飞行模式，根据不同的飞行模式，确定的飞行方向并不相同。具体的，根据目标对象相对于飞行器101的相对方向，可以首先确定出靠近所述目标对象飞行的第一方向，例如，如果相对方向为目标对象在飞行器101的右下方，则确定朝向所述目标对象的右下方为第一方向。
在确定了第一方向后，如果飞行器101处于第一飞行模式，则根据第一方向确定第二方向，将第二方向确定为飞行器101最终的飞行方向，所述第二方向为所述第一方向的相反方向。也就是说，在飞行器101处于第一飞行模式时，飞行器101是按照远离目标对象飞行的飞行方式飞行，此时可以拍摄针对目标对象的由近及远的影像。
在确定了第一方向后，如果飞行器101处于第二飞行模式，则直接将第一方向确定为飞行器101最终的飞行方向。也就是说，在飞行器101处于第二飞行模式时，飞行器101是按照靠近目标对象飞行的飞行方式飞行，此时可以拍摄针对目标对象的由远及近的影像。
用户可以直接在应用APP上进行配置，来设定飞行器101的飞行模式， 使飞行器101处于第一飞行模式或者第二飞行模式。或者，用户也可以针对拍摄的模式进行配置，当设定了由近及远的拍摄模式时，则确定该飞行器101为第一飞行模式，而设定了由远及近的拍摄模式时，则确定该飞行器101为第二飞行模式。
飞行器101还可以包括其他飞行模式，具体可以包括第三飞行模式，在第三飞行模式下飞行器101进行无头飞行，也就是说，在第三飞行模式下，飞行器的偏航yaw角度可以由用户任意控制。在飞行器进入第三飞行模式时，飞行器101只需要保证飞行方向是在第一方向(靠近目标对象的方向)或第二方向(远离目标对象的方向)上飞行，或者飞行器101在一个预先设定的飞行轨迹上飞行，用户可以根据需要通过遥控器等任意旋转飞行器101，使飞行器101的任何一面朝向飞行方向上或者朝向飞行方向的后方。可以在检测到用户发出用于指示切换到第三飞行模式的控制指令时控制飞行器进入第三飞行模式，在第三飞行模式下，用户可以任意调整飞行器的偏航角度，例如，在飞行器按照第一方向或第二方向飞行的过程中，如果接收到的包括偏航角度的飞行控制指令时，则将所述飞行器切换进入第三飞行模式。在第三飞行模式下，飞行器101释放偏航yaw控制权给用户，在保证飞行器101按照第一方向或第二方向飞行的同时，用户可以控制飞行器101的yaw进而任意控制旋转飞行器101。
在飞行器101按照第一方向或第二方向飞行的过程中，在针对目标区域选择的界面上，用户可以随时重新对目标区域进行选择。智能终端103实时检测用户在该界面上的选择事件，将用户选中的区域作为目标区域，并重新计算该目标区域在影像中的位置，发送给飞行器101，由飞行器101根据该位置进行上述的一系列处理，得到新的飞行方向。
在所述飞行器101处于所述第一飞行模式、或第二飞行模式、或第三飞行模式自动飞行的过程中，可以根据需要退出相应的飞行模式。具体的，在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式。满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令。或者满足所述预置的退出条件包括：可以是检测到所述飞行器当前的位置满足预置的限飞条件，具体的，飞行器在确定的第一方向或第二方向自动飞行时，如果飞行至预先设定的限飞区，例如机场等限飞区域，则飞行器的位置满足限飞条件，需要退出 当前的飞行模式，可以悬停，并通知用户转为手动控制模式。或者满足所述预置的退出条件包括：检测到所述飞行器满足预置的避障条件，具体的，飞行器在按照第一方向或第二方向飞行的过程中，如果检测到即将撞上障碍物，例如距离障碍物的距离小于预置的避障距离阈值，则确定满足避障条件，需要退出当前的飞行模式，可以悬停，并通知用户转为手动控制模式。或者满足所述预置的退出条件包括：检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值，在上述的第一飞行模式、第二飞行模式或者第三飞行模式下，用户可以设置对应的飞行距离，当按照第一方向或第二方向自动飞行该飞行距离后，即可停止飞行，此时也会退出当前的飞行模式。
在飞行器101确定了飞行方向后飞行的过程中，例如在上述的第一方向上或第二方向上自动飞行的过程中，可以检测飞行前方是否存在障碍物，以便于执行避障处理，达到安全飞行的目的。对于有障碍物检测模块的飞行器101，例如在飞行器101的多个侧面都配置了双目传感器的飞行器101，可以感知各个侧面所对应方向上的障碍物信息，那么可以直接基于对应的障碍物检测模块的信息来实现自主避障功能。如果飞行器101只有第一侧面存在障碍物检测模块，在第一侧面的后面没有避障的障碍物检测模块，但是飞行器101上的用于挂载摄像装置102的云台可以360°旋转，那么可以控制云台方向朝向拍摄的画面，而通过旋转飞行器101，使飞行器101的第一侧面转动到飞行方向上，用于检测飞行方向上的障碍物。
具体请参见图4，是本发明实施例的一种对飞行器的飞行控制方法的流程示意图，本发明实施例的所述方法可以由飞行器来执行，具体可以为UAV等类型的飞行器。本发明实施例的所述方法包括如下步骤。
S401：获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上。所述目标区域可以由用户在影像中选择确定，可以是手指触屏点击确认的一小区域，也可以是滑动确认的一个区域。可以根据确认的目标区域的像素位置作为目标区域的位置。
S402：根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向。所述相对方向是指目标区域所对应的目标对象在飞行器挂载的摄像装置的视角方向上相对于飞行器的方向，该相对方向可以为一个 大致方向，例如，是在飞行器的右下方、左上方等相对方向。
S403：根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向。在确定了相对方向后，即可确定所述第一方向，例如，确定目标对象在飞行器的右下方时，则第一方向是可以指示飞行器向右下方飞行的方向。
S404：若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。在第一飞行模式下，飞行器为远离所述目标对象的方向飞行。在确定了方向后，控制飞行器按照确定的方向飞行可参考现有技术的实现方式。
S405：若所述飞行器处于第二飞行模式，则根据所述第一方向控制所述飞行器飞行。在第二飞行模式下，飞行器为靠近所述目标对象的方向飞行。在确定了方向后，控制飞行器按照确定的方向飞行可参考现有技术的实现方式。
本发明实施例基于区域在影像中的位置确定出飞行器飞行的方向，用户只需选择影像区域中想要拍摄的目标即可，操作简单，提高了针对拍摄目标的飞行控制效率，满足用户对飞行控制以及影像拍摄的自动化、智能化需求。
再请参见图5，是本发明实施例的另一种对飞行器的飞行控制方法的流程示意图，本发明实施例的所述方法可以由飞行器来执行，具体可以为UAV等类型的飞行器。本发明实施例的所述方法包括如下步骤。
S501：获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上。
S502：根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向。
S503：根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向。
S504：若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，所述第二方向为所述第一方向的相反方向。
S505：根据所述第二方向和检测到的在所述第二方向上的障碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
具体的，所述飞行器上设置有障碍物检测模块，在所述S505中，检测所 述第二方向上的障碍物信息包括：发送姿态调整指令至所述飞行器，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。所述障碍物检测模块可能位于所述飞行器的某一个或者多个侧面，而飞行器在所述第二方向上飞行的过程中，障碍物检测模块可能检测不到第二方向上的障碍物，例如，飞行器的第二方向一侧为前侧，而作为障碍物检测模块的双目测距传感器位于的后侧时，双目测距传感器不能检测到第二方向上的障碍物。此时，可以通过飞行器姿态调整，使所述障碍物检测模块能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。具体可以通过旋转飞行器，使障碍物检测模块朝向第二方向上，使障碍物检测模块能够感测第二方向上的障碍物，转动摄像装置的镜头，使摄像装置的镜头视角范围内覆盖了所述目标对象。
所述飞行器上设置有障碍物检测模块，所述拍摄模块通过云台可旋转地挂载在所述飞行器上，检测所述第二方向上的障碍物信息包括：发送姿态调整指令至所述飞行器，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物；发送旋转指令至所述云台，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。可以通过分别调整飞行器的姿态和云台角度，来实现使所述障碍物检测模块能够检测所述第二方向上的障碍物，而使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。所述云台可以为三轴云台，能在俯仰PITCH、横滚ROLL以及偏航YAW轴上旋转。当然，云台也可以为360度旋转的云台，能够在飞行器旋转后，快速进行旋转，以对准所述目标对象。
S506：若所述飞行器处于第二飞行模式，则根据所述第一方向控制所述飞行器飞行。在第二飞行模式下，飞行器向所述目标对象飞行。
当然，图4和图5对应的实施例所描述的方法也可以由一个智能终端或者专用遥控器来执行，由智能终端、专用遥控器等获取用户选择的目标区域的位置，基于目标区域位置最终确定飞行方向(第一方向或第二方向)，然后发送往确定的飞行方向飞行的控制指令给飞行器，使飞行器在确定的第一方向或第 二方向上飞行。智能终端或者专用遥控器还能够根据飞行器上的障碍物检测模块的位置，相应地控制飞行器、云台等，从而实现拍摄包括目标区域所对应的环境对象的同时，完成自主避障功能。
在所述飞行器按照第一方向飞行或者第二方向飞行的过程中，还可以检测飞行是否进入了第三飞行模式，如果进入了第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。具体的，在飞行器飞行的过程中，如果接收到包括偏航角度的飞行控制指令时，则将所述飞行器切换进入第三飞行模式，也就是说，在检测接收到包括偏航角度的飞行控制指令时，可以认为飞行器进入的第三飞行模式。
另外，在第一飞行模式下按照第二方向自动飞行，或者在第二飞行模式下按照第一方向自动飞行，或者在第三飞行模式下飞行的过程中，还可以检测飞行器是否满足预置的退出条件，若满足退出条件，则控制所述飞行器退出当前的飞行模式。其中具体的，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
本发明实施例还提供了一种计算机存储介质，所述计算机存储介质中存储有程序，所存储的程序在执行时，用于执行上述图4或图5的对飞行器的飞行控制方法。
本发明实施例基于区域在影像中的位置确定出飞行器飞行的方向，用户只需选择影像区域中想要拍摄的目标即可，操作简单，提高了针对拍摄目标的飞行控制效率，满足用户对飞行控制以及影像拍摄的自动化、智能化需求。
下面对本发明实施例的对飞行器的飞行控制装置以及飞行器进行描述。
请参见图6，是本发明实施例的一种对飞行器的飞行控制装置的结构示意图，本发明实施例的所述装置可以设置在飞行器中，具体可以是所述飞行器中设置的飞行控制器，具体的，所述装置包括如下模块。
获取模块601，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；确定模块602，用于根据所述目标区域位置确定所述目标区域所对应 的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；控制模块603，用于若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
进一步可选地，所述控制模块603，还用于在所述飞行器处于第二飞行模式时，根据所述第一方向控制所述飞行器飞行。
进一步可选地，所述控制模块603，还用于在所述飞行器的飞行过程中，如果检测到所述飞行器进入第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。
进一步可选地，所述控制模块603，还用于在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式；所述飞行器的当前飞行模式包括第一飞行模式、或第二飞行模式、或第三飞行模式。
进一步可选地，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
进一步可选地，所述控制模块603，用于根据所述第二方向和检测到的在所述第二方向上的障碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
进一步可选地，所述飞行器上设置有用于检测障碍物的障碍物检测模块；所述控制模块603，具体用于发送针对所述飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
进一步可选地，所述飞行器上设置有用于检测障碍物的障碍物检测模块，所述拍摄模块通过云台可旋转地挂载在所述飞行器上，所述控制模块603，具体用于发送针对所述飞行器的姿态调整指令，所述姿态调整指令用于控制调整 所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物；发送针对所述云台的旋转指令，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
本发明实施例中所述装置的各个模块的具体实现可参考上述各个实施例中相应功能描述和方法步骤的具体描述。
本发明实施例基于区域在影像中的位置确定出飞行器飞行的方向，用户只需选择影像区域中想要拍摄的目标即可，操作简单，提高了针对拍摄目标的飞行控制效率，满足用户对飞行控制以及影像拍摄的自动化、智能化需求。
再请参见图7，是本发明实施例的一种飞行器的结构示意图，主要为飞行器的内部进行飞行控制各个结构模块的示意图，本发明实施例的所述飞行器包括供电模块、起落架、各种指示灯等结构，进一步还包括：通信接口701、飞行控制器702、动力组件703以及存储器704，所述动力组件703具体可以包括电机、螺旋桨、电子调速器等部件组成，所述螺旋桨固定在所述电机的转轴上，所述电子调速器在所述飞行控制器702的控制下控制所述电机的转动方向和速度，进而带动螺旋桨转动，实现对所述飞行器的飞行方向和速度的控制。
所述存储器704可以包括易失性存储器704(volatile memory)，例如随机存取存储器704(random-access memory，RAM)；存储器704也可以包括非易失性存储器704(non-volatile memory)，例如快闪存储器704(flash memory)。
所述飞行控制器702器可以包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic,GAL)或其任意组合。
可选地，所述存储器704还用于存储程序指令。所述飞行控制器702可以调用所述程序指令，实现如本申请图4和5实施例中所示的对飞行器的飞行控制方法。
具体的，所述通信接口701，用于与地面端交互或者与其他飞行器、智能 终端交互，用于控制信号，或者传输拍摄到的影像数据。所述动力组件703，用于给飞行器提供飞行动力。所述飞行控制器702，调用所述存储器704中存储的程序指令，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向向所述动力组件703发送飞行控制指令，所述飞行控制指令用于控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
进一步可选地，所述飞行控制器702，还用于若所述飞行器处于第二飞行模式，则根据所述第一方向控制所述飞行器飞行。
进一步可选地，所述飞行控制器702，还用于在所述飞行器的飞行过程中，如果检测到所述飞行器进入第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。
进一步可选地，所述飞行控制器702，还用于在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式；所述飞行器的当前飞行模式包括第一飞行模式、或第二飞行模式、或第三飞行模式。
进一步可选地，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
进一步可选地，所述飞行器还包括障碍物检测模块705，可以用于检测飞行方向上的障碍物信息，所述飞行控制器702，具体用于根据所述第二方向和检测到的在所述第二方向上的障碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
进一步可选地，所述飞行控制器702，具体用于发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检 测模块705能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
进一步可选地，所述飞行控制器702，具体用于发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块705能够检测所述第二方向上的障碍物；发送针对所述云台的旋转指令，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
本发明实施例中所述飞行器的飞行控制器702的具体实现可参考上述各个实施例中相应功能描述和方法步骤的具体描述。
本发明实施例基于区域在影像中的位置确定出飞行器飞行的方向，用户只需选择影像区域中想要拍摄的目标即可，操作简单，提高了针对拍摄目标的飞行控制效率，满足用户对飞行控制以及影像拍摄的自动化、智能化需求。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (24)

  1. 一种对飞行器的飞行控制方法，其特征在于，包括：
    获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；
    根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；
    根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；
    若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
  2. 如权利要求1所述的方法，其特征在于，还包括：
    若所述飞行器处于第二飞行模式，则根据所述第一方向控制所述飞行器飞行。
  3. 如权利要求1或2所述的方法，其特征在于，还包括：
    在所述飞行器的飞行过程中，如果检测到所述飞行器进入第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。
  4. 如权利要求1-3任一项所述的方法，其特征在于，还包括：
    在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式；所述飞行器的当前飞行模式包括第一飞行模式、或第二飞行模式、或第三飞行模式。
  5. 如权利要求4所述的方法，其特征在于，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞 行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
  6. 如权利要求1-5任一项所述的方法，其特征在于，所述根据所述第二方向控制所述飞行器飞行，包括：
    根据所述第二方向和检测到的在所述第二方向上的障碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
  7. 如权利要求6所述的方法，其特征在于，所述飞行器上设置有障碍物检测模块，检测所述第二方向上的障碍物信息包括：
    发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
  8. 如权利要求6所述的方法，其特征在于，所述飞行器上设置有障碍物检测模块，所述拍摄模块通过云台可旋转地挂载在所述飞行器上，检测所述第二方向上的障碍物信息包括：
    发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物；
    发送针对所述云台的旋转指令，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
  9. 一种对飞行器的飞行控制装置，其特征在于，包括：
    获取模块，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；
    确定模块，用于根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；
    控制模块，用于若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
  10. 如权利要求9所述的装置，其特征在于，
    所述控制模块，还用于在所述飞行器处于第二飞行模式时，根据所述第一方向控制所述飞行器飞行。
  11. 如权利要求9或10所述的装置，其特征在于，
    所述控制模块，还用于在所述飞行器的飞行过程中，如果检测到所述飞行器进入第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。
  12. 如权利要求9-11任一项所述的装置，其特征在于，
    所述控制模块，还用于在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式；所述飞行器的当前飞行模式包括第一飞行模式、或第二飞行模式、或第三飞行模式。
  13. 如权利要求12速搜的装置，其特征在于，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
  14. 如权利要求9-13任一项所述的装置，其特征在于，
    所述控制模块，用于根据所述第二方向和检测到的在所述第二方向上的障 碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
  15. 如权利要求14所述的装置，其特征在于，所述飞行器上设置有用于检测障碍物的障碍物检测模块；
    所述控制模块，具体用于发送针对所述飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
  16. 如权利要求14所述的装置，其特征在于，所述飞行器上设置有用于检测障碍物的障碍物检测模块，所述拍摄模块通过云台可旋转地挂载在所述飞行器上，
    所述控制模块，具体用于发送针对所述飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物；发送针对所述云台的旋转指令，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
  17. 一种飞行器，其特征在于，包括：飞行控制器和动力组件，
    所述动力组件，用于给飞行器提供飞行动力；
    所述飞行控制器，用于获取目标区域位置，所述目标区域位置是指在摄像装置所拍摄到的影像中的目标区域在所述影像中的位置，所述摄像装置挂载在飞行器上；根据所述目标区域位置确定所述目标区域所对应的目标对象相对于所述飞行器的相对方向；根据所述相对方向，确定所述飞行器的第一方向，所述第一方向为靠近所述目标对象飞行的方向；若所述飞行器处于第一飞行模式，则根据所述第一方向确定第二方向，并根据所述第二方向向所述动力组件发送飞行控制指令，所述飞行控制指令用于控制所述飞行器飞行，所述第二方向为所述第一方向的相反方向。
  18. 如权利要求17所述的飞行器，其特征在于，
    所述飞行控制器，还用于若所述飞行器处于第二飞行模式，则根据所述第一方向控制所述飞行器飞行。
  19. 如权利要求17或18所述的飞行器，其特征在于，
    所述飞行控制器，还用于在所述飞行器的飞行过程中，如果检测到所述飞行器进入第三飞行模式，则释放飞行器偏航方向控制权，并在接收到包括偏航角度的飞行控制指令时，控制所述飞行器根据所述偏航角度在偏航方向上转动。
  20. 如权利要求17-19任一项所述的飞行器，其特征在于，
    所述飞行控制器，还用于在所述飞行器根据当前的飞行模式飞行的过程中，如果检测到飞行器满足预置的退出条件，则控制所述飞行器退出当前的飞行模式；所述飞行器的当前飞行模式包括第一飞行模式、或第二飞行模式、或第三飞行模式。
  21. 如权利要求20所述的飞行器，其特征在于，满足所述预置的退出条件包括：接收到用于指示飞行器退出当前飞行模式的退出控制指令，检测到所述飞行器当前的位置满足预置的限飞条件，检测到所述飞行器满足预置的避障条件，检测到所述飞行器在当前飞行模式下的飞行距离达到预置的距离阈值中的任意一种或多种。
  22. 如权利要求17-21任一项所述的飞行器，其特征在于，
    所述飞行控制器，具体用于根据所述第二方向和检测到的在所述第二方向上的障碍物信息，发出控制指令控制所述飞行器在所述第二方向上、且绕过所述障碍物信息所指示的障碍物飞行。
  23. 如权利要求22所述的飞行器，其特征在于，
    所述飞行控制器，具体用于发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述 第二方向上的障碍物，并使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
  24. 如权利要求22所述的飞行器，其特征在于，
    所述飞行控制器，具体用于发送针对飞行器的姿态调整指令，所述姿态调整指令用于控制调整所述飞行器的姿态，使所述障碍物检测模块能够检测所述第二方向上的障碍物；发送针对所述云台的旋转指令，所述旋转指令用于控制所述云台旋转，使所述摄像装置在所述飞行器沿第二方向飞行的过程中能够拍摄到包括所述目标对象的影像。
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