WO2018112848A1 - Flight control method and apparatus - Google Patents

Flight control method and apparatus Download PDF

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Publication number
WO2018112848A1
WO2018112848A1 PCT/CN2016/111564 CN2016111564W WO2018112848A1 WO 2018112848 A1 WO2018112848 A1 WO 2018112848A1 CN 2016111564 W CN2016111564 W CN 2016111564W WO 2018112848 A1 WO2018112848 A1 WO 2018112848A1
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WO
WIPO (PCT)
Prior art keywords
target
horizontal plane
drone
flying
angle
Prior art date
Application number
PCT/CN2016/111564
Other languages
French (fr)
Chinese (zh)
Inventor
郭灼
苏冠华
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 PCT/CN2016/111564 priority Critical patent/WO2018112848A1/en
Priority to CN201680076224.8A priority patent/CN108450032B/en
Priority to CN202110169187.8A priority patent/CN112987782A/en
Publication of WO2018112848A1 publication Critical patent/WO2018112848A1/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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • Embodiments of the present invention relate to the field of UAV technologies, and in particular, to a flight control method and apparatus.
  • the existing drone captures the picture through the camera device disposed thereon, and displays the picture to the user in real time through the display interface. If the user is interested in an object in the picture, the drone can be controlled to enter the pointing flight mode. That is, the user specifies a position on the screen, and the aircraft flies toward the position. However, when the camera is facing the ground, it is safe to consider that the aircraft cannot enter the pointing flight mode.
  • Embodiments of the present invention provide a flight control method and apparatus for preventing an unmanned aerial vehicle from easily touching an obstacle, ensuring flight safety of the drone, and expanding a target position range of the drone's pointing flight.
  • an embodiment of the present invention provides a flight control method, including:
  • an embodiment of the present invention provides a flight control apparatus, including:
  • a target determining module configured to determine a first target according to a specified position in the image
  • a flight mode determining module configured to determine the unmanned according to the size of the angle when the angle between the connection between the first target and the current position of the drone and the horizontal plane is greater than the first preset angle Flight mode of the aircraft;
  • a control module configured to control the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
  • an embodiment of the present invention provides a flight control apparatus, including: a memory and a processor;
  • the memory for storing code for executing a flight control method
  • the processor configured to invoke the code stored in the memory, to perform: determining a first target according to a specified position in an image; and connecting to a current location of the first target and the drone When the angle between the line and the horizontal plane is greater than the first preset angle, determining the flight mode of the drone according to the size of the angle; controlling the drone to fly to the second target according to the determined flight mode, The distance between the second target and the first target is not less than a preset distance.
  • an embodiment of the present invention provides a flight control system for a drone, including: a drone; and a flight control device according to the second or third aspect of the present invention.
  • the flight control method and apparatus provided by the embodiments of the present invention, and the flight control system of the drone when the first target determined according to the specified position in the image and the current position of the drone are at an angle with the horizontal plane
  • the drone is controlled to fly toward the second target, so that the drone flies to the second target at a preset distance from the first target, so that the drone does not easily touch the obstacle It ensures the safety of the drone flight and also expands the target range of the drone's pointing flight.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention
  • FIG. 2 is a flowchart of a flight control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of determining a first target by using multiple imaging devices according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an angle between a first target and a current position of a drone and a horizontal plane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a first target and a current position of a drone according to an embodiment of the present invention, wherein an angle between a line and a horizontal plane is greater than a first preset angle;
  • FIG. 6 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a first target and a current position of a drone according to an embodiment of the present invention, wherein an angle between a line and a horizontal plane is greater than a first preset angle and less than a second preset angle;
  • FIG. 9 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a first target and a current position of a drone and an angle between a horizontal plane and a horizontal plane are greater than a second preset angle according to an embodiment of the present invention
  • FIG. 12 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a ground control device for controlling flight of a drone according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of displaying a preset icon according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of displaying a preset icon according to an embodiment of the present invention.
  • FIG. 16 is a schematic structural diagram of a flight control device according to Embodiment 1 of the present invention.
  • FIG. 17 is a schematic structural diagram of a flight control device according to Embodiment 2 of the present invention.
  • FIG. 18 is a schematic structural diagram of a flight control system of a drone according to an embodiment of the present invention.
  • Embodiments of the present invention provide flight control methods and apparatus, as well as flight control systems for drones.
  • the following description of the invention uses a drone as an example of a drone.
  • the drone can be a small or large drone.
  • the drone may be a rotorcraft, for example, a multi-rotor drone powered by air by a plurality of pushing devices, embodiments of the invention are not limited thereto, drones It can also be other types of drones.
  • FIG. 1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorless drone as an example.
  • the unmanned flight system 100 can include a drone 110, a pan/tilt head 120, a display device 130, and a steering device 140.
  • the drone 110 can include a power system 150, a flight control system 160, and a rack 170.
  • the drone 110 can be in wireless communication with a ground control device, which can include the steering device 140 and/or the display device 130.
  • Rack 170 can include a fuselage and a stand (also known as a landing gear).
  • the fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame.
  • the tripod is coupled to the fuselage for supporting when the drone 110 is landing.
  • the powertrain 150 may include an electronic governor (referred to as ESC) 151, one or more propellers 153, and one or more motors 152 corresponding to one or more propellers 153, wherein the motor 152 is coupled to the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the corresponding arm; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160, and provide a driving current to the motor 152 according to the driving signal to control The rotational speed of the motor 152.
  • Motor 152 is used to drive the propeller to rotate to power the flight of drone 110, which enables drone 110 to achieve one or more degrees of freedom of motion.
  • the drone 110 can be rotated about one or more axes of rotation.
  • the above-described rotating shaft may include a roll axis, a pan axis, and a pitch axis.
  • the motor 152 can be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brush motor.
  • Flight control system 160 may include flight controller 161 and sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system can be a global positioning system (English: Global Positioning System, referred to as: GPS) or.
  • the flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 in accordance with pre-programmed program instructions, or may control the drone 110 in response to one or more control commands from the steering device 140.
  • the pan/tilt 120 can include an ESC 121 and a motor 122.
  • the pan/tilt is used to carry the photographing device 123.
  • the flight controller 161 can control the motion of the platform 120 through the ESC 121 and the motor 122.
  • the platform 120 may further include a controller for controlling the movement of the platform 120 by controlling the ESC 121 and the motor 122.
  • the platform 120 can be independent of the drone 110 or a portion of the drone 110.
  • the motor 122 can be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brush motor.
  • the gimbal can be located at the top of the drone or at the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller.
  • Display device 130 can communicate with drone 110 wirelessly and can be used to display gesture information for drone 110.
  • an image taken by the photographing device can also be displayed on the display device 130.
  • the display device 130 may be a stand-alone device or may be disposed in the manipulation device 140.
  • the display device can include a screen.
  • the screen may or may not be a touch screen.
  • the screen can be a light emitting diode (LED) screen, an OLED screen, a liquid crystal display (LCD) screen, a plasma screen, or any other type of screen.
  • the display device can be configured to display a graphical user interface (GUI).
  • GUI graphical user interface
  • the GUI can display an image that can allow the user to control the actions of the UAV.
  • a user can select a target from the image.
  • the target can be a stationary target or a moving target.
  • the user can select the direction of travel from the image.
  • a user may select a portion of the image (eg, a point, region, and/or object) to define the target and/or direction.
  • the user can select the target and/or direction by directly touching the screen (eg, a touch screen).
  • the user can touch a part of the screen.
  • the user can touch that portion of the screen by touching a point on the screen.
  • the user may select an area from a pre-existing set of regions on the screen, or may draw a border for one region, or specify a portion of the plane in any other manner.
  • Users can by means of user interaction devices (eg, mouse, joystick, keyboard, trackball, touch panel, buttons, verbal commands, gesture recognition, attitude sensors, thermal sensors, touch capacitive sensors, or any other
  • the device selects the portion of the image to select the target and/or direction.
  • the touch screen can be configured to detect a user's touch location, touch duration, touch pressure, and/or touch motion, wherein each of the above-described touch modes can indicate a particular input command of the user.
  • the image on the display device can show a view collected by means of the payload of the movable object.
  • an image collected by the imaging device can be displayed on the display device.
  • This can be considered a first person video (FPV).
  • FPV first person video
  • a single imaging device can be provided and A single FPV can be provided.
  • a plurality of imaging devices having different fields of view may be provided.
  • the video can be converted between the plurality of FPVs, or the plurality of FPVs can be displayed simultaneously.
  • the plurality of FPVs may correspond to (or be generated by) different imaging devices that may have different fields of view.
  • the user at the user terminal can select a portion of the image collected by the imaging device to specify the target and/or direction of motion of the movable object.
  • the image on the display device can display a map that can be generated by means of information from the payload of the movable object.
  • This map may optionally be generated by means of a plurality of imaging devices (eg, a right camera, a left camera, or more), which may utilize stereo mapping techniques. In some cases, this map may be generated based on location information about the UAV relative to the environment, the imaging device relative to the environment, and/or the UAV relative to the imaging device.
  • the location information may include gesture information, spatial location information, angular velocity, linear velocity, angular acceleration, and/or linear acceleration.
  • Such a map may alternatively be generated by means of one or more additional sensors, such as described in more detail elsewhere herein.
  • Such a map can be a two-dimensional map or a three-dimensional map. It can be converted between 2D map video and 3D map video, or 2D map video and 3D map video can be displayed simultaneously.
  • the user at the user terminal can select a portion of this map to specify the target and/or direction of motion of the movable object.
  • the video may be converted between one or more FPVs and one or more of the atlas images, or the one or more FPVs and one or more of the atlas images may be displayed simultaneously.
  • the user can use either of these videos to select a target or direction.
  • the portion selected by the user may include the target and/or direction.
  • the user can select this portion using any of the selection techniques described.
  • the image may be provided in a 3D virtual environment displayed on a user terminal (eg, a virtual reality system or an augmented reality system).
  • the 3D virtual environment can optionally correspond to a 3D map.
  • the virtual environment can include a plurality of points or objects that can be manipulated by a user. The user can manipulate these points or objects through a variety of different actions in the virtual environment. Examples of such actions may include selecting one or more points or objects, dragging and dropping, panning, rotating, spinning, pushing, pulling, zooming in, zooming out, and the like. Any type of moving action on these points or objects in a three dimensional virtual space is conceivable.
  • a user at the user terminal can manipulate these points or objects in the virtual environment to control the flight path of the UAV and/or the motion characteristics of the UAV.
  • the handling device 140 can communicate with the drone 110 wirelessly for remote manipulation of the drone 110.
  • the operating device can be, for example, a remote control or a device equipped with a control drone
  • the user terminal of the program (English: Application, abbreviation: APP), because it is a terminal device configured with a touch screen, the user can output a flight control instruction or a camera instruction to the drone through a touch screen of the terminal device, such as a remote controller, a knee
  • the user's input is received by the manipulation device, and the drone can be controlled by the input device of the pull wheel, the button, the button, the joystick, or the user interface (UI) on the user terminal. .
  • the execution body of the flight control method of the present invention may be a drone in an unmanned flight system or a ground control device in an unmanned flight system, and is not limited herein.
  • FIG. 2 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
  • the image may be, for example, an image displayed in an interactive interface, and the specified location may be determined by an operation of the interactive interface.
  • the image shows an obstacle surface such as a ground or a ceiling.
  • the user wants to control the drone to fly toward a certain point on the ground or a certain direction on the ceiling, the user interacts with the ground in the image through the interactive interface.
  • the position or the position on the ceiling is subjected to the contact operation, and accordingly, the position corresponding to the contact operation of the present embodiment is taken as the pointing position.
  • the specified location may be obtained based on selected points in the one or more images. These images may be captured by the imaging device on the drone at the current location. When the user selects one or more points in the image on the display, at least a portion of the specified location displayed in the image can be selected. In some cases, selecting the one or more points may cause the selected display to be displayed throughout the specified location in the image.
  • the selected point in the one or more images may be associated with a set of image coordinates.
  • the target can be located at a second target location associated with a set of world goals.
  • a transformation from the set of image coordinates to the set of world coordinates can be generated.
  • a direction vector from the current location to the second target location can be calculated.
  • a path for controlling the flight of the drone can be generated.
  • selected points in the initialization image can be received from the user.
  • the initialization image can be included within the one or more images. Can provide multiple object candidates for this user to choose Alternatively, each of the object candidates can be referred to using a bounding box. When the user selects a bounding box associated with the selected target candidate, the selected target candidate can be received as the target.
  • a projection transformation of the first object in the one or more images may be obtained based on state information of the imaging device.
  • the status information of the imaging device may be determined based on position and orientation information of the drone and posture information of the imaging device.
  • selected points in the initialization image can be received from the user.
  • the initialization image can be included within the one or more images.
  • Determining the first target according to the specified position in the image specifically, determining the position of the first target in the real world (ie, world coordinates), or alternatively, determining that the first target is relatively unreal in the real world The orientation of the machine.
  • determining the position of the first target in the real world it may be determined using a single imaging device, or a plurality of imaging devices.
  • the imaging device can be translated in a lateral direction relative to the target and perpendicular to the direction from the imaging device to the first target (by moving the movable object).
  • the imaging device can capture a plurality of images during this lateral translation.
  • the plurality of images may be provided to the image analyzer, the image analyzer then calculating a distance from the first target to the movable object based on: (1) the first target change in the plurality of images And (2) the travel distance of the movable object during the lateral translation.
  • the distance covered during the lateral translation can be recorded by the imaging device and/or the IMU on the movable object.
  • the distance covered during the lateral translation can be obtained from one or more Global Navigation Satellite Systems (GNSS).
  • GNSS Global Navigation Satellite Systems
  • the GNSS receiver on the imaging device and/or the movable object can determine the estimated position, velocity, and time of accuracy (PVT) by processing the signals broadcast by the satellites.
  • the PVT information can be used to calculate the distance covered during the lateral translation.
  • the IMU may be an electronic device configured to measure and report the speed, orientation, and gravity of the UAV using a combination of multiple accelerometers and multiple gyroscopes.
  • a magnetometer can optionally be included.
  • the IMU can use one or more accelerometers to detect the current rate of acceleration and one or more gyroscopes to detect changes in rotational properties (like pitch, roll, and yaw).
  • a magnetometer can be included to assist in calibrating for orientation deviation.
  • a single imaging device can be used to determine a first target, the imaging device For time of flight (TOF) cameras.
  • the first target can be determined without moving the TOF camera.
  • a time-of-flight camera may be a range imaging camera system that can resolve a distance based on known light speeds by measuring the time of flight of the optical signal between the camera and the object for each point of the image. In some cases, tracking accuracy can be improved with a TOF camera.
  • FIG. 3 illustrates an example in which a plurality of imaging devices can be used to determine a first target.
  • a first imaging device 304 and a second imaging device 306 can be provided.
  • the first imaging device and the second imaging device may be arranged at different locations.
  • the first imaging device can be a payload carried by the movable object 302, and the second imaging device can be located on or within the movable object.
  • the first imaging device can be a camera and the second imaging device can be a binocular vision sensor.
  • the first imaging device and the second imaging device can be part of the same binocular camera.
  • the first IMU may be arranged on a payload, such as on the first imaging device itself, or on a carrier that couples the payload to the movable object.
  • the second IMU can be located within the body of the movable object.
  • the first imaging device and the second imaging device can have different optical axes.
  • the first imaging device can have a first optical axis 305 and the second imaging device can have a second optical axis 307.
  • the first imaging device and the second imaging device may belong to different inertial frame of reference that move independently of each other.
  • the first imaging device and the second imaging device may belong to the same inertial frame of reference.
  • the first imaging device can be configured to capture an image 310 that is displayed on an output device of the user terminal.
  • the second imaging device can be configured to capture a binocular image 314 comprising a left eye image 314-1 and a right eye image 314-2.
  • the first imaging device and the second imaging device can capture a plurality of images of one target 308.
  • the position of the first target in the captured images may be different because the first imaging device and the second imaging device are at different locations.
  • the location 308' of the target in image 310 can be located at the bottom right corner of the image.
  • the position 308-1' of the target in the left eye image 314-1 and the position 308-2' of the target in the right eye image 314-2 may be located in the left portion of the corresponding left and right eye images.
  • the locations 308-1' and 308-2' in the left and right eye images may also be slightly different due to binocular vision.
  • the difference in position between the first imaging device and the second imaging device may be determined based on real-time position information obtained from the first IMU and the second IMU.
  • the real-time location information from the first IMU may indicate the actual location of the first imaging device because the first IMU is mounted on the payload.
  • the real-time location information from the second IMU may indicate the actuality of the second imaging device.
  • the position is because the second IMU is mounted on the body of the movable object at the second imaging device.
  • the flight controller may adjust the pose of the movable object and/or payload based on the calculated position difference.
  • the image analyzer can be configured to associate the images obtained by the second imaging device with the images obtained by the first imaging device based on the calculated position differences.
  • the first target may be determined based on an association between the images of the first and second imaging devices and a difference in position of the first and second imaging devices at different times.
  • the actual location of the first target is not known. Tracking can be based primarily on the size and/or location of the first target in the image.
  • the movable object can be configured to move toward the target until the size of the first target within the image reaches a predetermined threshold.
  • the imaging device of the movable object may zoom the lens onto the first target without the need for a movable object until the size of the first target within the image reaches a predetermined threshold.
  • the imaging device can zoom in and the movable object can move toward the target object at the same time until the size of the target reaches a predetermined threshold within the image.
  • the actual location of the first target may be known.
  • the size of the first target within the image includes a feature length of the first target within the image.
  • the feature length of the first target within the image may be the most significant size scale based on the first target.
  • the most significant size scale for the target may be represented by the length, width, height, thickness, radians, and/or circumference of the salient portion of the first target.
  • the predetermined threshold may be defined based on the width of the image.
  • the movable object can be configured to move toward the first target and/or can actuate the imaging device until a first target within the image is displayed in the target area.
  • the target area can be the central portion of the image, as well as any other portion of the image.
  • Such actuation of the imaging device in n degrees of freedom may be accomplished using a carrier (eg, a pan/tilt).
  • the movable object can be configured to move from the first position to the second position along the path.
  • the surrounding environment may include an obstacle in the path between the movable object and the first target. These obstacles may be stationary, mobile, or in motion.
  • information about the external environment is necessary to circumvent such obstacles by moving the object in real time by re-planning the path.
  • information about the external environment may be provided as a 3D map based on one or more images captured by one or more imaging devices. The flight path of the movable object may be generated by using the 3D map.
  • FIG. 4 is the first target and the drone provided by the embodiment of the present invention.
  • a obstacle avoidance range is preset in the front, but when the pointing position is within the obstacle avoidance range, the drone flies toward the pointing position according to the pointing flight mode; When the pointing position exceeds this obstacle avoidance range, the drone cannot fly toward the pointing position.
  • the first preset angle is determined according to the obstacle avoidance range of the drone, such that the angle between the first target and the current position of the drone and the horizontal plane is greater than the first When the angle is preset, the first target does not belong to the obstacle avoidance range of the drone.
  • the angle is greater than the first preset angle
  • determining a flight mode of the drone according to the size of the angle and controlling the drone to fly according to the determined flight mode of the drone
  • the second target, the distance between the second target and the first target is not less than a preset distance.
  • one way is to calculate the coordinates of the second target, generate a path from the current position to the second target according to the coordinates of the current position and the coordinates of the second target, and then control the drone to fly to the second target according to the path.
  • the geographic coordinates of the pointing position in the geographic environment can be calculated according to the geographical environment (three-dimensional environment) in the image.
  • the direction vector of the pointing position in the image is acquired, and the intersection between the direction vector and the obstacle surface (for example, the ground or the ceiling) in the image is determined, and the geographical coordinates of the intersection are taken as the geographical coordinates of the designated position.
  • one way is: determining a target direction for the drone to move based on the specified position in the image, and when the drone flies along the target direction to the distance obstacle surface (ie, the plane where the first target is located) preset The distance is changed to the flight direction until the flight to the second target, which may be the target located above the first target.
  • the drone finally flies to a second target that is not less than the preset distance from the first target, so that the drone does not easily touch the obstacle and ensures the flight safety of the drone.
  • the target direction of the drone can be dynamically adjusted such that the drone evades one or more obstacles in the target direction.
  • the attitude of the imaging device and/or UAV can be adjusted to maintain the first target within the field of view of the imaging device when the drone circumvents the one or more obstacles.
  • the yaw angle movement and translational movement of the drone can be controlled to maintain the first target within the field of view.
  • the target (which may be the first target or the second target) no longer exists in the one or more images and/or within the field of view of the imaging device, it may be determined that a flight failure toward the target has occurred.
  • the position and orientation of the movable object and/or the pose of the imaging device can be adjusted to recapture the target in one or more subsequent images.
  • the one or more subsequent images can be analyzed to detect the target and, once detected, can fly toward the target.
  • the distance and/or speed of the target relative to the drone can be obtained.
  • the target may be flown based on the distance and/or speed of the target relative to the UAV.
  • the flight path of the drone may be an optimized route between the current location (associated with the drone) and the target (associated with the first target or the second target).
  • the path may be optimized based on one or more parameters including flight distance, time of flight, energy consumption, altitude, weather effects including wind direction and wind speed, and/or tracking of the target (eg, rate and direction of the target).
  • the path can also be optimized to cause the drone to circumvent one or more obstacles between the current location and the target.
  • the path can include multiple lines and/or multiple curves.
  • the path can be configured to minimize the energy consumption of the drone when the drone moves from the current location to the target.
  • the path can be configured to minimize the impact of weather on drone movement.
  • This path can be optimized based on wind speed and wind direction.
  • the path can be configured to reduce the movement of the drone in the upwind.
  • the path can be configured to account for changes in altitude and pressure as the drone moves toward the target.
  • the path may be configured based on a surrounding landscape between the current location and the second target.
  • the path can be configured to take into account the man-made structures and natural terrain that are present in the surrounding landscape.
  • the path may be configured to pass around/over/under the obstacles in the path between the current location and the second target, such as man-made structures and natural terrain.
  • a 3D model of the surrounding landscape can be obtained based on: (1) one or more images captured by one or more imaging devices on the drone, and (2) global positioning Topographic map obtained from system (GPS) data.
  • GPS global positioning Topographic map obtained from system
  • the GPS data can be provided from a server to a user terminal for controlling the drone.
  • the path can be configured such that when the drone is from the current When the position is moved to the target, the point of interest is maintained within the field of view of the imaging device of the drone, wherein the point of interest may be a target and/or other object.
  • the first target belongs to the obstacle avoidance range of the drone, and the flight mode of the drone is determined to be the pointing flight mode according to the prior art scheme. And according to the pointing flight mode, flying toward the first target.
  • the embodiment can control the The man-machine flies toward the second target, so that the drone flies to a second target at a preset distance from the first target, so that the drone does not easily touch the obstacle, thereby ensuring the flight safety of the drone, and at the same time
  • the target position range of the drone's pointing flight is expanded.
  • the drone When the drone flies to the second target in the following manner: determining the target direction for the drone to move based on the specified position in the image, when the drone flies along the target direction to the obstacle surface (ie, the first target) The plane in which it is located) changes the flight direction when the preset distance is close to the preset distance until it reaches the second target; the flight path of the drone has multiple ways. The following is an example.
  • the second target is located on a first horizontal plane
  • the first horizontal plane is a horizontal plane that is at a preset distance from the first target.
  • an implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle (as shown in FIG. 5); The flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; for example, as shown in FIG.
  • a feasible implementation manner of the foregoing S203 is: controlling the drone to fly from the current position to the first horizontal plane to the first horizontal plane, and the vertical speed of the drone when the drone reaches the first horizontal plane It is 0, and then the drone is controlled to fly along the first horizontal plane to the second target.
  • the speed of the drone's horizontal direction also drops to zero.
  • the second target is located on a first horizontal plane
  • the first horizontal plane is a horizontal plane that is at a preset distance from the first target.
  • an implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle (as shown in FIG. 5);
  • the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at a side of the first horizontal plane facing away from the first target Flying from the first position to the second target according to an arc trajectory; for example, as shown in FIG.
  • a feasible implementation manner of the foregoing S203 is: controlling the drone to fly from the current position toward the first target to the third position, wherein the distance between the first position and the first target in the vertical direction is greater than The distance between a horizontal plane and the first target in the vertical direction, and then controlling the drone to fly from the first position toward the second target to the second target in accordance with the curved trajectory.
  • the second target is located on a first horizontal plane
  • the first horizontal plane is a horizontal plane that is at a preset distance from the first target.
  • an implementation manner of determining an airplane mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle and less than a second preset angle, The second preset angle is greater than the first preset angle, as shown in FIG. 8; determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then along the The first horizontal plane flies to the second target; for example, see FIG.
  • the second target is located on a first horizontal plane
  • the first horizontal plane is a horizontal plane that is at a preset distance from the first target.
  • an implementation manner of determining an airplane mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle and less than a second preset angle, The second preset angle is greater than the first preset angle, as shown in FIG. 8; determining that the flight mode of the drone is: flying from the current position toward the first target to the first a position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second target according to an arc trajectory; for example, as shown in FIG.
  • the flight of the drone in the direction of the first target may be a direction along the line connecting the current position to the first target toward the first target, or may not fly along the connection, as long as the flight process makes no one The closer the distance between the machine and the first target belongs to the solution of the embodiment of the present invention.
  • the Flying the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being a connection between the first target and the current position The intersection of the line with the first horizontal plane.
  • the direction along the line connecting the current position and the second target is toward the first horizontal plane, and the position reaching the first horizontal plane is the second position, that is, between the current position and the second target.
  • the intersection of the line and the first horizontal plane in controlling the drone When flying to the second position of the first horizontal plane, the speed of the drone's vertical direction drops to zero.
  • the Flying the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, the third position being located at the first horizontal plane facing away from the first target a side; flying from the third position to the first horizontal surface in an arcuate trajectory.
  • FIG. 10 it is shown that the flight along the direction between the current position and the first target is directed toward the first horizontal plane, when flying to the third position, but the embodiment is not limited to only the current position.
  • the flight in the direction of the line with the first target may also fly toward the first horizontal plane along the direction of the line between the current position and the second target.
  • the distance between the third position and the first target in the vertical direction is greater than the distance between the first horizontal plane and the first target in the vertical direction, and then flies to the first horizontal plane according to the curved trajectory, and controls the drone to fly to the first horizontal plane.
  • the speed of the drone's vertical direction drops to zero.
  • the implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than or equal to a second preset angle (as shown in FIG. 11)
  • the second preset angle is greater than the first preset angle
  • determining that the flight mode of the drone is: flying from the current position to the second target along a horizontal plane where the current position is located,
  • the second target is at the same horizontal plane as the current location, and the line connecting the second target and the first target is perpendicular to a horizontal plane; for example, as shown in FIG.
  • a feasible implementation manner of the foregoing S203 is: controlling the drone to start from the current position (when the speed of the drone in the vertical direction is reduced to 0) to fly to the second target along the horizontal plane where the current position is located ( At this time, the horizontal speed of the drone is reduced to 0), the second target is located in the vertical direction of the first target, and the distance between the second target and the vertical direction of the first target is equal to the vertical position of the current position and the first target. The distance of the direction.
  • the execution body of the method is a ground control device
  • the determining a specified position in the image as the first target comprises: acquiring a frame operation through the interaction interface; when the frame operation frame is selected
  • the position of the frame operation frame selection is the first target. For example, as shown in FIG. 13, the image captured by the drone through the photographing device is displayed through the interactive interface.
  • the user can perform a frame operation on the object through the interactive interface.
  • the ground control device of the embodiment acquires the frame operation through the interactive interface, and acquires an object in the image selected by the drawing operation frame, After determining whether the object in the image belongs to a preset type (for example, a person, a car, etc.), when the object in the image does not belong to the preset type, determining the position of the object in the image selected by the frame operation frame (ie, designating The position is a first target, and then when the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, the solution shown in the above S202 and S203 is performed; When the angle between the line connecting the first target and the current position of the drone and the horizontal plane is less than or equal to the first preset angle, the drone flight is controlled according to the pointing flight mode. When the object in the image is not a preset follower object, the drone flight is controlled according to the tracking flight mode.
  • a preset type for example, a person, a car, etc.
  • the object in the image selected by the frame operation frame belongs to a preset type, determining that the object is a target following object; controlling the drone to follow the target following the object according to the object
  • the object flies.
  • the execution body of the method is a ground control device, the method further comprising: displaying a preset icon at the pointing position in the image; the determining the size according to the size of the angle
  • the method further includes: moving a preset icon displayed at the pointing position in the image to a position in the image corresponding to the second target.
  • a preset icon is displayed at a specified position in the image, as shown in FIG. 14, to indicate that the user successfully specifies the position in the image.
  • the preset icon displayed at the specified position in the image is moved from the specified position to the position corresponding to the second target in the image to indicate that the drone will fly to the The second goal. As shown in FIG. 15, it is used to indicate that the drone is controlled to fly to the second target when the first target is at the designated position, so as to avoid touching the obstacle and ensure flight safety.
  • FIG. 16 is a schematic structural diagram of a flight control apparatus according to Embodiment 1 of the present invention.
  • the flight control apparatus 400 of this embodiment may include: a target determining module 401, an airplane mode determining module 402, and a control module 403.
  • a target determining module 401 configured to determine a first target according to a specified position in the image
  • the flight mode determining module 402 is configured to determine, according to the size of the angle, when the angle between the connection between the first target and the current position of the drone and the horizontal plane is greater than the first preset angle Flight mode of man and machine;
  • the control module 403 is configured to control the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
  • the flight mode determining module 402 is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: fly from the current position to the Determining a first horizontal plane, and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second target according to an arc trajectory;
  • the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  • the flight mode determining module 402 is configured to: when the angle is greater than the first preset angle and less than the second preset angle, the second preset angle is greater than the first Determining an angle, determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; or determining the none The flight mode of the human machine is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, according to An arcuate trajectory flying from the first position to the second target;
  • the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  • the flight mode determining module 402 determines that the flight mode of the drone is flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target Flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being the first target and The intersection of the line between the current position and the first horizontal plane.
  • the flight mode determining module 402 determines that the flight mode of the drone is flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target Flying from the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, the third position being located at the first horizontal plane One side of the first target; flying from the third position to the first horizontal surface in an arcuate trajectory.
  • the flight module determining module 402 is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is: along the current location
  • the horizontal plane flies from the current position to the second target, the second target is at the same level as the current position, and the line connecting the second target and the first target is perpendicular to a horizontal plane.
  • the target determining module 401 is specifically configured to: obtain a frame operation by using an interaction interface; and determine the frame when the object in the image selected by the frame operation frame does not belong to a preset type.
  • the position selected by the operation frame is the first target.
  • the target determining module 401 is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target following object;
  • the control module 403 is further configured to control the drone to follow the object to fly according to the object as a target following object.
  • the flight control device 400 of the embodiment further includes: a display module 404.
  • a display module 404 configured to display a preset icon at the specified position in the image; and after the flight mode determining module 402 determines the flight mode of the drone according to the size of the angle, A preset icon displayed at the pointing position in the image is moved to a position in the image corresponding to the second target.
  • the device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 17 is a schematic structural diagram of a flight control apparatus according to Embodiment 2 of the present invention.
  • the flight control apparatus 500 of this embodiment may include: a memory 501 and a processor 502.
  • the memory 501 is coupled to the processor 502 via a bus.
  • the processor 502 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), and an application-specific integrated circuit (English: Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 501 is configured to store code for executing a flight control method
  • the processor 502 is configured to invoke the code stored in the memory 501, and execute: Determining a first target according to a specified position in the image; and when the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, according to the angle Sizing to determine a flight mode of the drone; controlling the drone to fly to a second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a pre- Set the distance.
  • the processor 502 is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: fly from the current location to the first a horizontal plane, and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: flying from the current position toward the first target to the first Position, the first position is located on a side of the first horizontal plane facing away from the first target, and flies from the first position to the second target according to an arc trajectory;
  • the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  • the processor 502 is configured to: when the angle is greater than the first preset angle and less than the second preset angle, the second preset angle is greater than the first preset An angle determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; or determining the drone The flight mode is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, in a curved shape Trajecting from the first position to the second target;
  • the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  • Flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being the first target and the current The intersection between the line of locations and the first horizontal plane.
  • Flying from the current position to the first horizontal plane includes: moving from the current position toward the first Flying in a direction of a target to a third position, the third position being located on a side of the first horizontal plane facing away from the first target; flying from the third position to the first horizontal plane in accordance with an arcuate trajectory .
  • the processor 502 is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is: along a horizontal plane where the current position is located Flying from the current position to the second target, the second target is at the same level as the current position, and the line connecting the second target and the first target is perpendicular to a horizontal plane.
  • the flight control device 500 in the above embodiment may be a drone or may be a ground control device.
  • the flight control device 500 of the embodiment is a ground control device, and the flight control device 500 further includes: an interaction interface 503.
  • the interactive interface 503 is coupled to the processor 502 via a bus.
  • the interaction interface 503 is configured to detect a picture frame operation.
  • the processor 502 is specifically configured to: acquire the frame operation by using the interaction interface 503; and determine the frame when the object in the image selected by the frame operation frame does not belong to a preset type.
  • the position selected by the operation frame is the first target.
  • the processor 502 is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target following object; follow the object as a target An object that controls the drone to fly following the object.
  • an interaction interface 503 is configured to display a preset icon at the pointing position in the image; and after the processor 502 determines the flight mode of the drone according to the size of the angle And moving a preset icon displayed at the pointing position in the image to a position in the image corresponding to the second target.
  • the device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 18 is a schematic structural diagram of a flight control system of a drone according to an embodiment of the present invention.
  • the flight control system 800 of the drone of the present embodiment includes: a flight control device 600 and a drone. 700.
  • the flight control device 600 can adopt the structure of the device embodiment shown in FIG. 16 or FIG. 17, which can correspondingly implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principle and the technical effect are similar. Narration.

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Abstract

Disclosed are a flight control method and apparatus (400). The method comprises: determining a designated position in an image as a first target (S201); when an included angle of a connecting line between the first target and the current position of an unmanned aerial vehicle and the horizontal plane is greater than a first pre-set angle, determining a flight mode of the unmanned aerial vehicle according to the size of the included angle (S202); and according to the determined flight mode, controlling the unmanned aerial vehicle to fly towards a second target, with the distance between the second target and the first target being no less than a pre-set distance (S203). Even if the included angle of the connecting line between the first target and the current position of the unmanned aerial vehicle and the horizontal plane is greater than the first pre-set angle, the unmanned aerial vehicle can still be controlled to fly towards the second target, meaning that the unmanned aerial vehicle flies to the second target at a pre-set distance from the first target, such that the unmanned aerial vehicle will not easily collide with obstacles, thus ensuring the flight safety of the unmanned aerial vehicle, and also expanding the target position range that the unmanned aerial vehicle can fly in.

Description

飞行控制方法和装置Flight control method and device 技术领域Technical field
本发明实施例涉及无人机技术领域，尤其涉及一种飞行控制方法和装置。Embodiments of the present invention relate to the field of UAV technologies, and in particular, to a flight control method and apparatus.
背景技术Background technique
现有的无人机通过设置于其上的摄像装置拍摄画面，并将画面通过显示界面实时展示给用户，若用户对画面中的某一对象感兴趣，则可以控制无人机进入指点飞行模式，即用户在画面上指定一个位置，飞机朝着该位置飞行。但是，当拍摄装置朝向地面时，处于安全考虑，飞机无法进入指点飞行模式。The existing drone captures the picture through the camera device disposed thereon, and displays the picture to the user in real time through the display interface. If the user is interested in an object in the picture, the drone can be controlled to enter the pointing flight mode. That is, the user specifies a position on the screen, and the aircraft flies toward the position. However, when the camera is facing the ground, it is safe to consider that the aircraft cannot enter the pointing flight mode.
发明内容Summary of the invention
本发明实施例提供一种飞行控制方法和装置，用于使无人机不会轻易触碰到障碍物，保证无人机飞行安全，扩大无人机指点飞行的目标位置范围。Embodiments of the present invention provide a flight control method and apparatus for preventing an unmanned aerial vehicle from easily touching an obstacle, ensuring flight safety of the drone, and expanding a target position range of the drone's pointing flight.
第一方面，本发明实施例提供一种飞行控制方法，包括：In a first aspect, an embodiment of the present invention provides a flight control method, including:
根据在图像中的指定位置确定第一目标；Determining a first target based on a specified location in the image;
当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；When the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, determining the flight mode of the drone according to the size of the angle;
根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。Controlling the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
第二方面，本发明实施例提供一种飞行控制装置，包括：In a second aspect, an embodiment of the present invention provides a flight control apparatus, including:
目标确定模块，用于根据在图像中的指定位置确定第一目标；a target determining module, configured to determine a first target according to a specified position in the image;
飞行模式确定模块，用于当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；a flight mode determining module, configured to determine the unmanned according to the size of the angle when the angle between the connection between the first target and the current position of the drone and the horizontal plane is greater than the first preset angle Flight mode of the aircraft;
控制模块，用于根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。And a control module, configured to control the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
第三方面，本发明实施例提供一种飞行控制装置，包括：存储器和处理器； In a third aspect, an embodiment of the present invention provides a flight control apparatus, including: a memory and a processor;
所述存储器，用于存储执行飞行控制方法的代码；The memory for storing code for executing a flight control method;
所述处理器，用于调用所述存储器中存储的所述代码，执行：根据在图像中的指定位置确定第一目标；以及当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。The processor, configured to invoke the code stored in the memory, to perform: determining a first target according to a specified position in an image; and connecting to a current location of the first target and the drone When the angle between the line and the horizontal plane is greater than the first preset angle, determining the flight mode of the drone according to the size of the angle; controlling the drone to fly to the second target according to the determined flight mode, The distance between the second target and the first target is not less than a preset distance.
第四方面，本发明实施例提供一种无人机的飞行控制***，包括：无人机；以及如本发明第二方面或者第三方面提供的飞行控制装置。In a fourth aspect, an embodiment of the present invention provides a flight control system for a drone, including: a drone; and a flight control device according to the second or third aspect of the present invention.
本发明实施例提供的飞行控制方法和装置，以及无人机的飞行控制***中，当根据在图像中的指定位置确定的第一目标与无人机的当前位置的连线与水平面的夹角大于第一预置角度时，控制所述无人机朝第二目标飞行，使得无人机飞行至距离第一目标预置距离的第二目标，这样无人机不会轻易触碰到障碍物，保证了无人机飞行安全，也扩大了无人机指点飞行的目标位置范围。The flight control method and apparatus provided by the embodiments of the present invention, and the flight control system of the drone, when the first target determined according to the specified position in the image and the current position of the drone are at an angle with the horizontal plane When the first preset angle is greater than the first preset angle, the drone is controlled to fly toward the second target, so that the drone flies to the second target at a preset distance from the first target, so that the drone does not easily touch the obstacle It ensures the safety of the drone flight and also expands the target range of the drone's pointing flight.
附图说明DRAWINGS
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，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1是根据本发明的实施例的无人飞行***100的示意性架构图；1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention;
图2为本发明实施例提供的飞行控制方法的流程图；2 is a flowchart of a flight control method according to an embodiment of the present invention;
图3为本发明实施例提供的使用多个成像装置来确定第一目标的一种示意图；FIG. 3 is a schematic diagram of determining a first target by using multiple imaging devices according to an embodiment of the present invention; FIG.
图4为本发明实施例提供的第一目标和无人机的当前位置的连线与水平面的夹角的示意图；4 is a schematic diagram of an angle between a first target and a current position of a drone and a horizontal plane according to an embodiment of the present invention;
图5为本发明实施例提供的第一目标和无人机的当前位置的连线与水平面的夹角大于第一预置角度的示意图；FIG. 5 is a schematic diagram of a first target and a current position of a drone according to an embodiment of the present invention, wherein an angle between a line and a horizontal plane is greater than a first preset angle;
图6为本发明实施例提供的无人机的飞行模式的一种示意图；6 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention;
图7为本发明实施例提供的无人机的飞行模式的一种示意图； FIG. 7 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention; FIG.
图8为本发明实施例提供的第一目标和无人机的当前位置的连线与水平面的夹角大于第一预置角度且小于第二预置角度的示意图；FIG. 8 is a schematic diagram of a first target and a current position of a drone according to an embodiment of the present invention, wherein an angle between a line and a horizontal plane is greater than a first preset angle and less than a second preset angle;
图9为本发明实施例提供的无人机的飞行模式的一种示意图；FIG. 9 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention; FIG.
图10为本发明实施例提供的无人机的飞行模式的一种示意图；FIG. 10 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention; FIG.
图11为本发明实施例提供的第一目标和无人机的当前位置的连线与水平面的夹角大于第二预置角度的示意图；11 is a schematic diagram of a first target and a current position of a drone and an angle between a horizontal plane and a horizontal plane are greater than a second preset angle according to an embodiment of the present invention;
图12为本发明实施例提供的无人机的飞行模式的一种示意图；FIG. 12 is a schematic diagram of a flight mode of a drone according to an embodiment of the present invention; FIG.
图13为本发明实施例提供的地面控制设备控制无人机飞行的一种示意图；FIG. 13 is a schematic diagram of a ground control device for controlling flight of a drone according to an embodiment of the present invention; FIG.
图14为本发明实施例提供的显示预置图标的一种示意图；FIG. 14 is a schematic diagram of displaying a preset icon according to an embodiment of the present invention;
图15为本发明实施例提供的显示预置图标的一种示意图；FIG. 15 is a schematic diagram of displaying a preset icon according to an embodiment of the present invention;
图16为本发明实施例一提供的飞行控制装置的结构示意图；16 is a schematic structural diagram of a flight control device according to Embodiment 1 of the present invention;
图17为本发明实施例二提供的飞行控制装置的结构示意图；17 is a schematic structural diagram of a flight control device according to Embodiment 2 of the present invention;
图18为本发明实施例提供的一种无人机的飞行控制***的结构示意图。FIG. 18 is a schematic structural diagram of a flight control system of a drone according to an embodiment of the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚，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。The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明的实施例提供了飞行控制方法和装置，以及无人机的飞行控制***。以下对本发明的描述使用无人机作为无人机的示例。对于本领域技术人员将会显而易见的是，可以不受限制地使用其他类型的无人机，本发明的实施例可以应用于各种类型的无人机。例如，无人机可以是小型或大型的无人机。在某些实施例中，无人机可以是旋翼无人机(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼无人机，本发明的实施例并不限于此，无人机也可以是其它类型的无人机。Embodiments of the present invention provide flight control methods and apparatus, as well as flight control systems for drones. The following description of the invention uses a drone as an example of a drone. It will be apparent to those skilled in the art that other types of drones can be used without limitation, and embodiments of the present invention can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone powered by air by a plurality of pushing devices, embodiments of the invention are not limited thereto, drones It can also be other types of drones.
图1是根据本发明的实施例的无人飞行***100的示意性架构图。本实施例以旋翼无人机为例进行说明。 1 is a schematic architectural diagram of an unmanned flight system 100 in accordance with an embodiment of the present invention. This embodiment is described by taking a rotorless drone as an example.
无人飞行***100可以包括无人机110、云台120、显示设备130和操纵设备140。其中，无人机110可以包括动力***150、飞行控制***160和机架170。无人机110可以与地面控制设备进行无线通信，其中，该地面控制设备可以包括操纵设备140和/或显示设备130。The unmanned flight system 100 can include a drone 110, a pan/tilt head 120, a display device 130, and a steering device 140. The drone 110 can include a power system 150, a flight control system 160, and a rack 170. The drone 110 can be in wireless communication with a ground control device, which can include the steering device 140 and/or the display device 130.
机架170可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机110着陆时起支撑作用。 Rack 170 can include a fuselage and a stand (also known as a landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The tripod is coupled to the fuselage for supporting when the drone 110 is landing.
动力***150可以包括电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152，其中电机152连接在电子调速器151与螺旋桨153之间，电机152和螺旋桨153设置在对应的机臂上；电子调速器151用于接收飞行控制***160产生的驱动信号，并根据驱动信号提供驱动电流给电机152，以控制电机152的转速。电机152用于驱动螺旋桨旋转，从而为无人机110的飞行提供动力，该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中，无人机110可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、平移轴和俯仰轴。应理解，电机152可以是直流电机，也可以交流电机。另外，电机152可以是无刷电机，也可以有刷电机。The powertrain 150 may include an electronic governor (referred to as ESC) 151, one or more propellers 153, and one or more motors 152 corresponding to one or more propellers 153, wherein the motor 152 is coupled to the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are disposed on the corresponding arm; the electronic governor 151 is configured to receive the driving signal generated by the flight control system 160, and provide a driving current to the motor 152 according to the driving signal to control The rotational speed of the motor 152. Motor 152 is used to drive the propeller to rotate to power the flight of drone 110, which enables drone 110 to achieve one or more degrees of freedom of motion. In some embodiments, the drone 110 can be rotated about one or more axes of rotation. For example, the above-described rotating shaft may include a roll axis, a pan axis, and a pitch axis. It should be understood that the motor 152 can be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brush motor.
飞行控制***160可以包括飞行控制器161和传感***162。传感***162用于测量无人机的姿态信息，即无人机110在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感***162例如可以包括陀螺仪、电子罗盘、惯性测量单元(英文：Inertial Measurement Unit，简称：IMU)、视觉传感器、全球导航卫星***和气压计等传感器中的至少一种。例如，全球导航卫星***可以是全球定位***(英文：Global Positioning System，简称：GPS)或者。飞行控制器161用于控制无人机110的飞行，例如，可以根据传感***162测量的姿态信息控制无人机110的飞行。应理解，飞行控制器161可以按照预先编好的程序指令对无人机110进行控制，也可以通过响应来自操纵设备140的一个或多个控制指令对无人机110进行控制。 Flight control system 160 may include flight controller 161 and sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of a gyroscope, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system can be a global positioning system (English: Global Positioning System, referred to as: GPS) or. The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 can be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 in accordance with pre-programmed program instructions, or may control the drone 110 in response to one or more control commands from the steering device 140.
云台120可以包括电调121和电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电调121和电机122控制云台120的运动。可选地， 作为另一实施例，云台120还可以包括控制器，用于通过控制电调121和电机122来控制云台120的运动。应理解，云台120可以独立于无人机110，也可以为无人机110的一部分。应理解，电机122可以是直流电机，也可以交流电机。另外，电机122可以是无刷电机，也可以有刷电机。还应理解，云台可以位于无人机的顶部，也可以位于无人机的底部。The pan/tilt 120 can include an ESC 121 and a motor 122. The pan/tilt is used to carry the photographing device 123. The flight controller 161 can control the motion of the platform 120 through the ESC 121 and the motor 122. Optionally, As another embodiment, the platform 120 may further include a controller for controlling the movement of the platform 120 by controlling the ESC 121 and the motor 122. It should be understood that the platform 120 can be independent of the drone 110 or a portion of the drone 110. It should be understood that the motor 122 can be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brush motor. It should also be understood that the gimbal can be located at the top of the drone or at the bottom of the drone.
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备，拍摄装置123可以与飞行控制器通信，并在飞行控制器的控制下进行拍摄。The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller.
显示设备130可以通过无线方式与无人机110进行通信，并且可以用于显示无人机110的姿态信息。另外，还可以在显示设备130上显示拍摄装置拍摄的图像。应理解，显示设备130可以是独立的设备，也可以设置在操纵设备140中。 Display device 130 can communicate with drone 110 wirelessly and can be used to display gesture information for drone 110. In addition, an image taken by the photographing device can also be displayed on the display device 130. It should be understood that the display device 130 may be a stand-alone device or may be disposed in the manipulation device 140.
该显示设备可以包括屏幕。该屏幕可以是或者可以不是触摸屏。该屏幕可以是发光二极管(LED)屏幕、OLED屏幕、液晶显示器(LCD)屏幕、等离子体屏幕、或任何其他类型的屏幕。该显示设备可以被配置成用于显示一个图形用户界面(GUI)。该GUI可以显示出可以允许用户控制UAV的动作的图像。例如，用户可以从该图像中选择目标。该目标可以是静止的目标或移动的目标。用户可以从该图像中选择行进方向。用户可以选择该图像的一部分(例如，点、区域、和/或物体)来限定该目标和/或方向。用户可以通过直接触摸屏幕(例如，触摸屏)来选择该目标和/或方向。用户可以触摸屏幕的一部分。用户可以通过触摸屏幕上的一个点来触摸屏幕的该部分。替代地，用户可以在屏幕上从预先存在的区域集合中选择一个区域、或者可以针对一个区域绘出边界、或者以任何其他方式指定该平面的一部分。用户可以通过借助于用户交互装置(例如，鼠标、操纵杆、键盘、跟踪球、触式控制板、按钮、口头命令、手势识别、姿态传感器、热学传感器、触碰式电容性传感器、或任何其他装置)选择图像的该部分来选择目标和/或方向。触摸屏可以被配置成用于检测用户的触摸位置、触摸时长、触摸压力、和/或触摸运动，其中上述触摸方式中的每一种都可以指明用户的特定输入命令。The display device can include a screen. The screen may or may not be a touch screen. The screen can be a light emitting diode (LED) screen, an OLED screen, a liquid crystal display (LCD) screen, a plasma screen, or any other type of screen. The display device can be configured to display a graphical user interface (GUI). The GUI can display an image that can allow the user to control the actions of the UAV. For example, a user can select a target from the image. The target can be a stationary target or a moving target. The user can select the direction of travel from the image. A user may select a portion of the image (eg, a point, region, and/or object) to define the target and/or direction. The user can select the target and/or direction by directly touching the screen (eg, a touch screen). The user can touch a part of the screen. The user can touch that portion of the screen by touching a point on the screen. Alternatively, the user may select an area from a pre-existing set of regions on the screen, or may draw a border for one region, or specify a portion of the plane in any other manner. Users can by means of user interaction devices (eg, mouse, joystick, keyboard, trackball, touch panel, buttons, verbal commands, gesture recognition, attitude sensors, thermal sensors, touch capacitive sensors, or any other The device selects the portion of the image to select the target and/or direction. The touch screen can be configured to detect a user's touch location, touch duration, touch pressure, and/or touch motion, wherein each of the above-described touch modes can indicate a particular input command of the user.
该显示设备上的图像可以显示出借助于可移动物体的有效载荷所收集到的视图。例如，可以将成像装置收集的图像显示在该显示设备上。这可以被视为第一人称视像(FPV)。在一些情形下，可以提供单一的成像装置并且 可以提供单一的FPV。替代地，可以提供具有不同视野的多个成像装置。可以在这多个FPV之间转换视像，或者可以同时显示出这多个FPV。这多个FPV可以对应于可以具有不同视野的不同成像装置(或由其产生)。用户终端处的用户可以选择该成像装置所收集的图像的一部分来指定可移动物体的目标和/或运动方向。The image on the display device can show a view collected by means of the payload of the movable object. For example, an image collected by the imaging device can be displayed on the display device. This can be considered a first person video (FPV). In some cases, a single imaging device can be provided and A single FPV can be provided. Alternatively, a plurality of imaging devices having different fields of view may be provided. The video can be converted between the plurality of FPVs, or the plurality of FPVs can be displayed simultaneously. The plurality of FPVs may correspond to (or be generated by) different imaging devices that may have different fields of view. The user at the user terminal can select a portion of the image collected by the imaging device to specify the target and/or direction of motion of the movable object.
在另一个实例中，该显示设备上的图像可以显示出可以借助于来自可移动物体的有效载荷的信息而生成的图谱。这个图谱可以可选地是借助于多个成像装置(例如，右相机、左相机、或更多相机)生成的，这可以利用立体映射技术。在一些情形下，这个图可以是基于关于UAV相对于环境的、成像装置相对于环境的、和/或UAV相对于成像装置的位置信息而生成的。位置信息可以包括姿势信息、空间位置信息、角速度、线速度、角加速度、和/或线加速度。这种图谱可以可选地是借助于一个或多个额外传感器而生成的，例如在本文其他地方更详细描述的。这种图谱可以是二维图谱或三维图谱。可以在二维图谱视像与三维图谱视像之间转换，或者可以同时显示二维图谱视像和三维图谱视像。用户终端处的用户可以选择这个图谱的一部分来指定可移动物体的目标和/或运动方向。可以在一个或多个FPV与一个或多个图谱视像之间转换视像，或者可以同时显示该一个或多个FPV和一个或多个图谱视像。用户可以使用这些视像中的任一个来对目标或方向进行选择。用户选择的部分可以包括目标和/或方向。用户可以使用所描述的任一选择技术来选择该部分。In another example, the image on the display device can display a map that can be generated by means of information from the payload of the movable object. This map may optionally be generated by means of a plurality of imaging devices (eg, a right camera, a left camera, or more), which may utilize stereo mapping techniques. In some cases, this map may be generated based on location information about the UAV relative to the environment, the imaging device relative to the environment, and/or the UAV relative to the imaging device. The location information may include gesture information, spatial location information, angular velocity, linear velocity, angular acceleration, and/or linear acceleration. Such a map may alternatively be generated by means of one or more additional sensors, such as described in more detail elsewhere herein. Such a map can be a two-dimensional map or a three-dimensional map. It can be converted between 2D map video and 3D map video, or 2D map video and 3D map video can be displayed simultaneously. The user at the user terminal can select a portion of this map to specify the target and/or direction of motion of the movable object. The video may be converted between one or more FPVs and one or more of the atlas images, or the one or more FPVs and one or more of the atlas images may be displayed simultaneously. The user can use either of these videos to select a target or direction. The portion selected by the user may include the target and/or direction. The user can select this portion using any of the selection techniques described.
在一些实施例中，该图像可以是以显示于用户终端(例如，虚拟现实***或增强现实***)上的3D虚拟环境来提供的。该3D虚拟环境可以可选地对应于一个3D图谱。该虚拟环境可以包括可以由用户操纵的多个点或物体。用户可以通过在该虚拟环境中的多种不同动作来操纵这些点或物体。这些动作的实例可以包括：选择一个或多个点或物体、拖放、平移、旋转、自旋、推、拉、放大、缩小等。可以想到在三维虚拟空间中对这些点或物体的任何类型的移动动作。用户终端处的用户可以操纵虚拟环境中的这些点或物体以控制UAV的飞行路径和/或UAV的运动特性。In some embodiments, the image may be provided in a 3D virtual environment displayed on a user terminal (eg, a virtual reality system or an augmented reality system). The 3D virtual environment can optionally correspond to a 3D map. The virtual environment can include a plurality of points or objects that can be manipulated by a user. The user can manipulate these points or objects through a variety of different actions in the virtual environment. Examples of such actions may include selecting one or more points or objects, dragging and dropping, panning, rotating, spinning, pushing, pulling, zooming in, zooming out, and the like. Any type of moving action on these points or objects in a three dimensional virtual space is conceivable. A user at the user terminal can manipulate these points or objects in the virtual environment to control the flight path of the UAV and/or the motion characteristics of the UAV.
操纵设备140可以通过无线方式与无人机110进行通信，用于对无人机110进行远程操纵。操纵设备例如可以是遥控器或者安装有控制无人机的应 用程序(英文：Application，简称：APP)的用户终端，由于是配置有触摸屏的终端设备，用户可以通过对终端设备的触摸屏对无人机输出飞行控制指令或者拍摄装置指令，例如遥控器、膝上型电脑、智能手机、平板电脑、地面控制站、智能手表、智能手环等中的一种或多种。本发明的实施例中，通过操纵设备接收用户的输入，可以指通过遥控器上的拔轮、按钮、按键、摇杆等输入装置或者用户终端上的用户界面(UI)对无人机进行操控。The handling device 140 can communicate with the drone 110 wirelessly for remote manipulation of the drone 110. The operating device can be, for example, a remote control or a device equipped with a control drone The user terminal of the program (English: Application, abbreviation: APP), because it is a terminal device configured with a touch screen, the user can output a flight control instruction or a camera instruction to the drone through a touch screen of the terminal device, such as a remote controller, a knee One or more of a laptop, a smart phone, a tablet, a ground control station, a smart watch, a smart bracelet, and the like. In the embodiment of the present invention, the user's input is received by the manipulation device, and the drone can be controlled by the input device of the pull wheel, the button, the button, the joystick, or the user interface (UI) on the user terminal. .
应理解，上述对于无人飞行***各组成部分的命名仅是出于标识的目的，并不应理解为对本发明的实施例的限制。It should be understood that the above-mentioned nomenclature of the components of the unmanned flight system is for the purpose of identification only and is not to be construed as limiting the embodiments of the invention.
本发明的飞行控制方法的执行主体可以是无人飞行***中的无人机，也可以是无人飞行***中的地面控制设备，在此不做限制。The execution body of the flight control method of the present invention may be a drone in an unmanned flight system or a ground control device in an unmanned flight system, and is not limited herein.
图2为本发明实施例提供的飞行控制方法的流程图，如图2所示，本实施例的方法可以包括：2 is a flowchart of a flight control method according to an embodiment of the present invention. As shown in FIG. 2, the method in this embodiment may include:
S201、根据在图像中的指定位置确定第一目标。S201. Determine a first target according to a specified position in the image.
本实施例中，图像例如可以是交互界面中显示的图像，该指定位置可以是通过交互界面的操作来确定。例如：图像中显示有地面或者天花板等障碍面，当用户想要控制无人机朝着地面的某一点或者天花板上的某一方向指点飞行时，用户通过交互界面对图像中的地面的某一位置或者天花板上的某一位置进行触点操作，相应地，本实施例将该触点操作对应的位置作为指点位置。In this embodiment, the image may be, for example, an image displayed in an interactive interface, and the specified location may be determined by an operation of the interactive interface. For example, the image shows an obstacle surface such as a ground or a ceiling. When the user wants to control the drone to fly toward a certain point on the ground or a certain direction on the ceiling, the user interacts with the ground in the image through the interactive interface. The position or the position on the ceiling is subjected to the contact operation, and accordingly, the position corresponding to the contact operation of the present embodiment is taken as the pointing position.
指定位置可以是基于该一个或多个图像中的选定点来获取的。这些图像可以是由该无人机上的成像装置在该当前位置处捕捉的。当用户在该显示器上的图像中选择一个或多个点时，就可以选定显示在该图像中的指定位置的至少一部分。在一些情况下，选择该一个或多个点可以致使选定显示在该图像中的整个指定位置。The specified location may be obtained based on selected points in the one or more images. These images may be captured by the imaging device on the drone at the current location. When the user selects one or more points in the image on the display, at least a portion of the specified location displayed in the image can be selected. In some cases, selecting the one or more points may cause the selected display to be displayed throughout the specified location in the image.
在该一个或多个图像中的该选定点可以是与一组图像坐标相关联的。目标可以位于与一组世界目标相关联的第二目标位置处。可以生成从该组图像坐标到该组世界坐标的变换。基于该变换可以计算出从该当前位置到该第二目标位置的方向向量。基于该方向向量可以生成供控制无人机飞行的路径。The selected point in the one or more images may be associated with a set of image coordinates. The target can be located at a second target location associated with a set of world goals. A transformation from the set of image coordinates to the set of world coordinates can be generated. Based on the transformation, a direction vector from the current location to the second target location can be calculated. Based on the direction vector, a path for controlling the flight of the drone can be generated.
在一些实施例中，可以从用户接收初始化图像中的选定点。该初始化图像可以被包括在该一个或多个图像内。可以提供多个物体候选项供该用户选 择，其中每个物体候选项可以是使用边界框指代的。当用户选择与选定的目标候选项相关联的边界框时，可以接收该选定的目标候选项作为目标。In some embodiments, selected points in the initialization image can be received from the user. The initialization image can be included within the one or more images. Can provide multiple object candidates for this user to choose Alternatively, each of the object candidates can be referred to using a bounding box. When the user selects a bounding box associated with the selected target candidate, the selected target candidate can be received as the target.
在一些实施例中，基于该成像装置的状态信息可以获得该第一目标在该一个或多个图像中的投影变换。该成像装置的状态信息可以是基于无人机的位置和姿态信息以及该成像装置的姿态信息来确定的。In some embodiments, a projection transformation of the first object in the one or more images may be obtained based on state information of the imaging device. The status information of the imaging device may be determined based on position and orientation information of the drone and posture information of the imaging device.
在一些实施例中，可以从用户接收初始化图像中的选定点。该初始化图像可以被包括在该一个或多个图像内。In some embodiments, selected points in the initialization image can be received from the user. The initialization image can be included within the one or more images.
根据在图像中的指定位置确定第一目标，具体的，可以是确定第一目标在真实世界中的位置(即，世界坐标)，或者，也可以是确定第一目标在真实世界中相对无人机的方位。Determining the first target according to the specified position in the image, specifically, determining the position of the first target in the real world (ie, world coordinates), or alternatively, determining that the first target is relatively unreal in the real world The orientation of the machine.
其中，在确定第一目标在真实世界中的位置时，可以使用单一成像装置、或多个成像装置来确定。Wherein, when determining the position of the first target in the real world, it may be determined using a single imaging device, or a plurality of imaging devices.
当是使用单一成像装置确定出该第一目标时，可以使用三角测量方法来确定。首先，可以使该成像装置相对于该目标以横向方式、并且垂直于从该成像装置到该第一目标方向进行平移(通过移动该可移动物体)。在这个横向平移过程中，该成像装置可以捕捉多个图像。可以将该多个图像提供给该图像分析器，该图像分析器接着基于以下各项来计算从该第一目标到可移动物体的距离：(1)在该多个图像中该第一目标变化、以及(2)在该横向平移过程中该可移动物体的行进距离。在该横向平移过程中所覆盖的距离可以由该成像装置和/或可移动物体上的IMU进行记录。替代地，在该横向平移过程中所覆盖的距离可以从一个或多个全球导航卫星***(GNSS)来获得。例如，该成像装置和/或可移动物体上的GNSS接收器可以通过处理这些卫星所广播的信号来确定估算位置、速度和准确时间(PVT)。该PVT信息可以用来计算在该横向平移过程中所覆盖的距离。When the first target is determined using a single imaging device, triangulation can be used to determine. First, the imaging device can be translated in a lateral direction relative to the target and perpendicular to the direction from the imaging device to the first target (by moving the movable object). The imaging device can capture a plurality of images during this lateral translation. The plurality of images may be provided to the image analyzer, the image analyzer then calculating a distance from the first target to the movable object based on: (1) the first target change in the plurality of images And (2) the travel distance of the movable object during the lateral translation. The distance covered during the lateral translation can be recorded by the imaging device and/or the IMU on the movable object. Alternatively, the distance covered during the lateral translation can be obtained from one or more Global Navigation Satellite Systems (GNSS). For example, the GNSS receiver on the imaging device and/or the movable object can determine the estimated position, velocity, and time of accuracy (PVT) by processing the signals broadcast by the satellites. The PVT information can be used to calculate the distance covered during the lateral translation.
该IMU可以是被配置成使用多个加速度计与多个陀螺仪的组合来测量并报告UAV的速度、取向和重力的电子装置。可以可选地包括磁强计。该IMU可以使用一个或多个加速度计来检测当前加速速率、并且使用一个或多个陀螺仪来检测旋转属性(像俯仰、横滚和偏航)的变化。可以包括磁强计来辅助针对取向偏离进行校准。The IMU may be an electronic device configured to measure and report the speed, orientation, and gravity of the UAV using a combination of multiple accelerometers and multiple gyroscopes. A magnetometer can optionally be included. The IMU can use one or more accelerometers to detect the current rate of acceleration and one or more gyroscopes to detect changes in rotational properties (like pitch, roll, and yaw). A magnetometer can be included to assist in calibrating for orientation deviation.
在一些实施例中，可以使用单个成像装置来确定第一目标，该成像装置 为飞行时间(TOF)相机。在这些实施例中，可以在不移动该TOF相机的情况下确定第一目标。飞行时间相机(TOF相机)可以是能通过针对图像的每个点测量该相机与对象之间的光信号的飞行时间、基于已知的光速而解析距离的范围成像相机***。在一些情况下，使用TOF相机可以改善跟踪精度。In some embodiments, a single imaging device can be used to determine a first target, the imaging device For time of flight (TOF) cameras. In these embodiments, the first target can be determined without moving the TOF camera. A time-of-flight camera (TOF camera) may be a range imaging camera system that can resolve a distance based on known light speeds by measuring the time of flight of the optical signal between the camera and the object for each point of the image. In some cases, tracking accuracy can be improved with a TOF camera.
在一些其他实施例中，可以使用多个成像装置来确定第一目标。图3示出了可以使用多个成像装置来确定第一目标的实例。可以提供第一成像装置304和第二成像装置306。该第一成像装置和第二成像装置可以布置在不同位置处。例如，第一成像装置可以是可移动物体302搭载的有效载荷，而第二成像装置可以位于该可移动物体上或之内。在一些实施例中，第一成像装置可以是相机并且第二成像装置可以是双目视觉传感器。在一些实施例中，该第一成像装置和第二成像装置可以是同一双目相机的一部分。第一IMU可以布置在有效载荷上、例如第一成像装置自身上、或者将有效载荷联接到可移动物体的载具上。第二IMU可以位于该可移动物体的本体内。该第一成像装置和第二成像装置可以具有不同的光学轴线。例如，第一成像装置可以具有第一光学轴线305而第二成像装置可以具有第二光学轴线307。该第一成像装置和第二成像装置可以属于彼此独立移动的不同惯性参照系。替代地，该第一成像装置和第二成像装置可以属于同一惯性参照系。该第一成像装置可以被配置成用于捕捉图像310，该图像被显示在用户终端的输出装置上。该第二成像装置可以被配置成用于捕捉包括左眼图像314-1和右眼图像314-2的双目图像314。如图3所示，该第一成像装置和第二成像装置可以捕捉一个目标308的多个图像。然而，第一目标在所捕捉的这些图像中的位置可以不同，因为第一成像装置和第二成像装置是在不同的位置处。例如在图3中，目标在图像310中的位置308’可以位于该图像的右底拐角处。相反，该目标在左眼图像314-1中的位置308-1’和该目标在右眼图像314-2中的位置308-2’可以位于对应的左眼和右眼图像的左部分中。在左眼和右眼图像中的位置308-1’和308-2’也可能由于双目视觉而略微不同。In some other embodiments, multiple imaging devices can be used to determine the first target. FIG. 3 illustrates an example in which a plurality of imaging devices can be used to determine a first target. A first imaging device 304 and a second imaging device 306 can be provided. The first imaging device and the second imaging device may be arranged at different locations. For example, the first imaging device can be a payload carried by the movable object 302, and the second imaging device can be located on or within the movable object. In some embodiments, the first imaging device can be a camera and the second imaging device can be a binocular vision sensor. In some embodiments, the first imaging device and the second imaging device can be part of the same binocular camera. The first IMU may be arranged on a payload, such as on the first imaging device itself, or on a carrier that couples the payload to the movable object. The second IMU can be located within the body of the movable object. The first imaging device and the second imaging device can have different optical axes. For example, the first imaging device can have a first optical axis 305 and the second imaging device can have a second optical axis 307. The first imaging device and the second imaging device may belong to different inertial frame of reference that move independently of each other. Alternatively, the first imaging device and the second imaging device may belong to the same inertial frame of reference. The first imaging device can be configured to capture an image 310 that is displayed on an output device of the user terminal. The second imaging device can be configured to capture a binocular image 314 comprising a left eye image 314-1 and a right eye image 314-2. As shown in FIG. 3, the first imaging device and the second imaging device can capture a plurality of images of one target 308. However, the position of the first target in the captured images may be different because the first imaging device and the second imaging device are at different locations. For example, in Figure 3, the location 308' of the target in image 310 can be located at the bottom right corner of the image. Conversely, the position 308-1' of the target in the left eye image 314-1 and the position 308-2' of the target in the right eye image 314-2 may be located in the left portion of the corresponding left and right eye images. The locations 308-1' and 308-2' in the left and right eye images may also be slightly different due to binocular vision.
该第一成像装置与第二成像装置之间的位置差异可以是基于从该第一IMU和第二IMU获得的实时位置信息来确定的。来自第一IMU的实时位置信息可以指示第一成像装置的实际位置，因为该第一IMU是安装在该有效载荷上的。同样地，来自第二IMU的实时位置信息可以指示第二成像装置的实 际位置，因为该第二IMU是安装在该可移动物体的本体上在该第二成像装置处。在一些情形下，该飞行控制器可以基于所计算出的位置差异来调整该可移动物体和/或有效载荷的姿态。该图像分析器可以被配置成基于所计算出的位置差异来将该第二成像装置所获得的这些图像与该第一成像装置所获得的这些图像进行关联。可以基于该第一与第二成像装置的图像之间的关联、以及该第一与第二成像装置在不同时刻的位置差异来确定第一目标。The difference in position between the first imaging device and the second imaging device may be determined based on real-time position information obtained from the first IMU and the second IMU. The real-time location information from the first IMU may indicate the actual location of the first imaging device because the first IMU is mounted on the payload. Similarly, the real-time location information from the second IMU may indicate the actuality of the second imaging device. The position is because the second IMU is mounted on the body of the movable object at the second imaging device. In some cases, the flight controller may adjust the pose of the movable object and/or payload based on the calculated position difference. The image analyzer can be configured to associate the images obtained by the second imaging device with the images obtained by the first imaging device based on the calculated position differences. The first target may be determined based on an association between the images of the first and second imaging devices and a difference in position of the first and second imaging devices at different times.
在一些实施例中，第一目标的实际位置是不需要知道的。跟踪可以主要基于图像中第一目标的大小和/或位置。例如，该可移动物体可以被配置成朝向该目标移动到在该图像内该第一目标的大小达到预定阈值。替代地，该可移动物体的成像装置可以镜头拉近到该第一目标上，而无需可移动物体，直到在该图像内该第一目标的大小达到预定阈值。可选地，该成像装置可以拉近镜头，并且可移动物体可以同时朝向目标物体移动，直到在该图像内该目标的大小达到预定阈值。在一些实施例中，第一目标的实际位置可以是已知的。在该图像内该第一目标的大小包括该图像内该第一目标的特征长度。该图像内该第一目标的特征长度可以是基于该第一目标的最显著尺寸标度。该目标的最显著尺寸标度可以是用该第一目标的显著部分的长度、宽度、高度、厚度、弧度、和/或圆周表示的。该预定阈值可以是基于该图像的宽度限定的。在一些实施例中，该可移动物体可以被配置成朝向第一目标移动和/或可以致动该成像装置直到图像内的第一目标被显示在目标区域中。该目标区域可以是该图像的中央部分、以及该图像的任何其他部分。该成像装置以n个自由度的这种致动可以是使用载具(例如，云台)来实现的。In some embodiments, the actual location of the first target is not known. Tracking can be based primarily on the size and/or location of the first target in the image. For example, the movable object can be configured to move toward the target until the size of the first target within the image reaches a predetermined threshold. Alternatively, the imaging device of the movable object may zoom the lens onto the first target without the need for a movable object until the size of the first target within the image reaches a predetermined threshold. Alternatively, the imaging device can zoom in and the movable object can move toward the target object at the same time until the size of the target reaches a predetermined threshold within the image. In some embodiments, the actual location of the first target may be known. The size of the first target within the image includes a feature length of the first target within the image. The feature length of the first target within the image may be the most significant size scale based on the first target. The most significant size scale for the target may be represented by the length, width, height, thickness, radians, and/or circumference of the salient portion of the first target. The predetermined threshold may be defined based on the width of the image. In some embodiments, the movable object can be configured to move toward the first target and/or can actuate the imaging device until a first target within the image is displayed in the target area. The target area can be the central portion of the image, as well as any other portion of the image. Such actuation of the imaging device in n degrees of freedom may be accomplished using a carrier (eg, a pan/tilt).
该可移动物体可以被配置成沿着该路径从该第一位置移动到该第二位置。对于许多真实世界的应用而言，仅已知第一目标和可移动物体的位置可能不足以进行实时跟踪。例如，周围环境可能在可移动物体与第一目标之间的路径中包括障碍物。这些障碍物可能是静止的、能够移动的、或在运动中的。这样，关于外部环境的信息对于通过实时地重新规划路径来使可移动物体规避此类障碍物是必须的。在一些实施例中，关于外部环境的信息可以提供成基于一个或多个成像装置所捕捉的一个或多个图像的3D图谱。该可移动物体的飞行路径可以是通过使用该3D图谱来生成的。The movable object can be configured to move from the first position to the second position along the path. For many real-world applications, only the location of the first target and the movable object is known to be insufficient for real-time tracking. For example, the surrounding environment may include an obstacle in the path between the movable object and the first target. These obstacles may be stationary, mobile, or in motion. Thus, information about the external environment is necessary to circumvent such obstacles by moving the object in real time by re-planning the path. In some embodiments, information about the external environment may be provided as a 3D map based on one or more images captured by one or more imaging devices. The flight path of the movable object may be generated by using the 3D map.
S202、当所述第一目标和所述无人机的当前位置的连线与水平面的夹角 大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式。S202, when the first target and the current position of the drone are connected to a horizontal plane When the first preset angle is greater than the first preset angle, the flight mode of the drone is determined according to the size of the angle.
S203、根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。S203. Control the UAV to fly to the second target according to the determined flight mode, where a distance between the second target and the first target is not less than a preset distance.
本实施例中，在确定第一目标之后，可以获取第一目标与无人机的当前位置的连线与水平面的夹角，图4为本发明实施例提供的第一目标和无人机的当前位置的连线与水平面的夹角的示意图，如图4所示，指点位置(即第一目标)位于一障碍面上，该障碍面可以是位于无人机下方的地面，也可以是位于无人机上方的天花板，本实施例并不以此为限。本实施例判断该夹角是否大于第一预置角度。现有技术中为了保证无人机的飞行安全，在前方预设有一避障范围，只是当指点位置位于该避障范围之内时，无人机根据指点飞行模式朝该指点位置飞行；而当指点位置超过这个避障范围时，无人机无法朝该指点位置飞行。在一些实施例中，该第一预置角度是根据无人机的避障范围来确定的，这样使得当第一目标与无人机的当前位置的连线性与水平面的夹角大于第一预置角度时，该第一目标不属于该无人机的避障范围。In this embodiment, after determining the first target, the angle between the connection of the first target and the current position of the drone and the horizontal plane may be obtained, and FIG. 4 is the first target and the drone provided by the embodiment of the present invention. A schematic diagram of the angle between the connection of the current position and the horizontal plane, as shown in FIG. 4, the pointing position (ie, the first target) is located on a barrier surface, which may be located on the ground below the drone or may be located The ceiling above the drone is not limited to this embodiment. In this embodiment, it is determined whether the angle is greater than the first preset angle. In the prior art, in order to ensure the flight safety of the drone, a obstacle avoidance range is preset in the front, but when the pointing position is within the obstacle avoidance range, the drone flies toward the pointing position according to the pointing flight mode; When the pointing position exceeds this obstacle avoidance range, the drone cannot fly toward the pointing position. In some embodiments, the first preset angle is determined according to the obstacle avoidance range of the drone, such that the angle between the first target and the current position of the drone and the horizontal plane is greater than the first When the angle is preset, the first target does not belong to the obstacle avoidance range of the drone.
因此，当确定上述的夹角大于第一预置角度时，根据该夹角的大小来确定无人机的飞行模式，并根据确定的无人机的飞行模式，控制所述无人机飞行至第二目标，该第二目标与第一目标之间的距离不小于预置距离。Therefore, when it is determined that the angle is greater than the first preset angle, determining a flight mode of the drone according to the size of the angle, and controlling the drone to fly according to the determined flight mode of the drone The second target, the distance between the second target and the first target is not less than a preset distance.
例如，一种方式为，计算获取第二目标的坐标，根据当前位置的坐标与第二目标的坐标生成当前位置到第二目标的路径，然后控制无人机按照这种路径飞行至第二目标。例如，在图像中确定出指点位置之后，根据图像中的地理环境(三维环境)，可以计算出指点位置在地理环境中的地理坐标。或者，获取图像中的指点位置的方向向量，确定该方向向量与图像中的障碍面(例如地面或者天花板)之间的交叉点，将该交叉点的地理坐标作为指定位置的地理坐标。For example, one way is to calculate the coordinates of the second target, generate a path from the current position to the second target according to the coordinates of the current position and the coordinates of the second target, and then control the drone to fly to the second target according to the path. . For example, after the pointing position is determined in the image, the geographic coordinates of the pointing position in the geographic environment can be calculated according to the geographical environment (three-dimensional environment) in the image. Alternatively, the direction vector of the pointing position in the image is acquired, and the intersection between the direction vector and the obstacle surface (for example, the ground or the ceiling) in the image is determined, and the geographical coordinates of the intersection are taken as the geographical coordinates of the designated position.
又例如，一种方式为：基于在图像中的指定位置来确定供无人机移动的目标方向，当无人机沿该目标方向飞行至距离障碍面(即第一目标所在的平面)预置距离时改变飞行方向，直至飞行至第二目标，该第二目标可以是位于第一目标上方的目标。这样使得无人机最终飞行至距离第一目标不小于预置距离的第二目标，这样无人机不会轻易触碰到障碍物，保证了无人机飞行安全。 For another example, one way is: determining a target direction for the drone to move based on the specified position in the image, and when the drone flies along the target direction to the distance obstacle surface (ie, the plane where the first target is located) preset The distance is changed to the flight direction until the flight to the second target, which may be the target located above the first target. In this way, the drone finally flies to a second target that is not less than the preset distance from the first target, so that the drone does not easily touch the obstacle and ensures the flight safety of the drone.
在一些实施例中，可以动态地调整无人机的目标方向，使得无人机规避在该目标方向上的一个或多个障碍物。可以调整该成像装置和/或UAV的姿态以便当该无人机规避该一个或多个障碍物时将该第一目标维持在该成像装置的视野内。例如，可以控制无人机的偏航角移动和平移移动以便将第一目标维持在视野内。In some embodiments, the target direction of the drone can be dynamically adjusted such that the drone evades one or more obstacles in the target direction. The attitude of the imaging device and/or UAV can be adjusted to maintain the first target within the field of view of the imaging device when the drone circumvents the one or more obstacles. For example, the yaw angle movement and translational movement of the drone can be controlled to maintain the first target within the field of view.
在一些实施例中，当目标(可以是第一目标或第二目标)不再存在于该一个或多个图像中和/或该成像装置的视野内时，可以确定发生了朝向目标飞行失败。在此类情形下，可以调整该可移动物体的位置和姿态和/或该成像装置的姿态以便在一个或多个后续图像中重新捕捉到该目标。可以分析该一个或多个后续图像以检测目标，并且一旦检测到就可以朝向该目标飞行。In some embodiments, when the target (which may be the first target or the second target) no longer exists in the one or more images and/or within the field of view of the imaging device, it may be determined that a flight failure toward the target has occurred. In such cases, the position and orientation of the movable object and/or the pose of the imaging device can be adjusted to recapture the target in one or more subsequent images. The one or more subsequent images can be analyzed to detect the target and, once detected, can fly toward the target.
在一些实施例中，可以获得目标相对于无人机的距离和/或速度。可以基于目标相对于UAV的距离和/或速度来朝向该目标飞行。In some embodiments, the distance and/or speed of the target relative to the drone can be obtained. The target may be flown based on the distance and/or speed of the target relative to the UAV.
在一些实施例中，无人机的飞行路径可以是当前位置(与无人机相关联)与目标(与第一目标或第二目标相关联)之间的优化路线。该路径可以基于一个或多个参数来优化，包括飞行距离、飞行时间、能量消耗、海拔、包括风向和风速的天气影响、和/或对目标的跟踪(例如，目标的速率和方向)。该路径也可以被优化来使无人机在该当前位置与该目标之间规避一个或多个障碍物。该路径可以包括多条直线和/或多条曲线。In some embodiments, the flight path of the drone may be an optimized route between the current location (associated with the drone) and the target (associated with the first target or the second target). The path may be optimized based on one or more parameters including flight distance, time of flight, energy consumption, altitude, weather effects including wind direction and wind speed, and/or tracking of the target (eg, rate and direction of the target). The path can also be optimized to cause the drone to circumvent one or more obstacles between the current location and the target. The path can include multiple lines and/or multiple curves.
例如，该路径可以被配置成在无人机从该当前位置移动到目标时使得该无人机的能量消耗最小化。该路径可以被配置成用于使得天气对无人机移动的影响最小化。该路径可以基于风速和风向来优化。该路径可以被配置成用于减小无人机在逆风中的移动。该路径可以被配置成考虑当无人机朝向目标移动时海拔和压力的改变。该路径可以基于该当前位置与该第二目标之间的周围景观来配置。例如，该路径可以被配置成考虑在该周围景观中存在的人造结构和自然地形。例如，该路径可以被配置成在该当前位置与该第二目标之间的路径中的障碍物例如人造结构和自然地形的周围/上方/下方经过。For example, the path can be configured to minimize the energy consumption of the drone when the drone moves from the current location to the target. The path can be configured to minimize the impact of weather on drone movement. This path can be optimized based on wind speed and wind direction. The path can be configured to reduce the movement of the drone in the upwind. The path can be configured to account for changes in altitude and pressure as the drone moves toward the target. The path may be configured based on a surrounding landscape between the current location and the second target. For example, the path can be configured to take into account the man-made structures and natural terrain that are present in the surrounding landscape. For example, the path may be configured to pass around/over/under the obstacles in the path between the current location and the second target, such as man-made structures and natural terrain.
在一些实施例中，可以基于以下各项来获得周围景观的3D模型：(1)由该无人机上的一个或多个成像装置所捕捉的一个或多个图像，以及(2)从全球定位***(GPS)数据获得的地形图。该GPS数据可以从服务器被提供到用来控制无人机的用户终端。该路径可以被配置成使得，当无人机在从当前 位置移动到目标时，兴趣点维持在该无人机的成像装置的视野内，其中该兴趣点可以是目标和/或其他物体。In some embodiments, a 3D model of the surrounding landscape can be obtained based on: (1) one or more images captured by one or more imaging devices on the drone, and (2) global positioning Topographic map obtained from system (GPS) data. The GPS data can be provided from a server to a user terminal for controlling the drone. The path can be configured such that when the drone is from the current When the position is moved to the target, the point of interest is maintained within the field of view of the imaging device of the drone, wherein the point of interest may be a target and/or other object.
当确定上述的该夹角小于或等于第一预置角度时，该第一目标属于该无人机的避障范围，可以按现有技术的方案，确定无人机的飞行模式为指点飞行模式，并根据该指点飞行模式，朝第一目标飞行。When it is determined that the angle is less than or equal to the first preset angle, the first target belongs to the obstacle avoidance range of the drone, and the flight mode of the drone is determined to be the pointing flight mode according to the prior art scheme. And according to the pointing flight mode, flying toward the first target.
综上所述，通过本发明实施例的上述方案，即使第一目标与无人机的当前位置的连线与水平面的夹角大于第一预置角度时，本实施例也可以控制所述无人机朝该第二目标飞行，使得无人机飞行至距离第一目标预置距离的第二目标，这样无人机不会轻易触碰到障碍物，保证了无人机飞行安全，同时相对于现有技术而言扩大了无人机指点飞行的目标位置范围。In summary, according to the above solution of the embodiment of the present invention, even if the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, the embodiment can control the The man-machine flies toward the second target, so that the drone flies to a second target at a preset distance from the first target, so that the drone does not easily touch the obstacle, thereby ensuring the flight safety of the drone, and at the same time In the prior art, the target position range of the drone's pointing flight is expanded.
当无人机采用以下方式飞行至第二目标时：基于在图像中的指定位置来确定供无人机移动的目标方向，当无人机沿该目标方向飞行至距离障碍面(即第一目标所在的平面)预置距离或者接近预置距离时改变飞行方向，直至飞行至第二目标；无人机的飞行路径有多种方式。下面进行举例说明。When the drone flies to the second target in the following manner: determining the target direction for the drone to move based on the specified position in the image, when the drone flies along the target direction to the obstacle surface (ie, the first target) The plane in which it is located) changes the flight direction when the preset distance is close to the preset distance until it reaches the second target; the flight path of the drone has multiple ways. The following is an example.
可选地，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。相应地，根据所述夹角的大小确定所述无人机的飞行模式的一种实现方式为：当所述夹角大于所述第一预置角度时(如图5所示)；确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；例如可以参见如图6所示。相应地，上述S203的一种可行的实现方式为：控制无人机从当前位置朝第一水平面飞行至第一水平面上，在无人机到达第一水平面时无人机的垂直方向的速度降为0，然后再控制无人机沿着第一水平面飞行至第二目标，在无人机到达第二目标时无人机的水平方向的速度也降为0。Optionally, the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane that is at a preset distance from the first target. Correspondingly, an implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle (as shown in FIG. 5); The flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; for example, as shown in FIG. Correspondingly, a feasible implementation manner of the foregoing S203 is: controlling the drone to fly from the current position to the first horizontal plane to the first horizontal plane, and the vertical speed of the drone when the drone reaches the first horizontal plane It is 0, and then the drone is controlled to fly along the first horizontal plane to the second target. When the drone reaches the second target, the speed of the drone's horizontal direction also drops to zero.
可选地，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。相应地，根据所述夹角的大小确定所述无人机的飞行模式的一种实现方式为：当所述夹角大于所述第一预置角度时(如图5所示)；确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；例如可以参见图7所示，其中，无人机朝第一目标的方向飞行可以是沿着当 前位置与第一目标的连线朝第一目标的方向，也可以不沿着该连线飞行，只要飞行的过程使得无人机与第一目标的距离更近均属于本发明实施例的方案。相应地，上述S203的一种可行的实现方式为：控制无人机从当前位置朝第一目标的方向飞行至第三位置，其中，第一位置与第一目标在垂直方向上的距离大于第一水平面与第一目标在垂直方向上的距离，然后再控制无人机按照弧形轨迹从第一位置朝着第二目标飞行至第二目标。Optionally, the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane that is at a preset distance from the first target. Correspondingly, an implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle (as shown in FIG. 5); The flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at a side of the first horizontal plane facing away from the first target Flying from the first position to the second target according to an arc trajectory; for example, as shown in FIG. 7, wherein the flight of the drone toward the first target may be along The connection between the front position and the first target in the direction of the first target may also not fly along the connection, as long as the flight process makes the distance between the drone and the first target closer to the solution of the embodiment of the present invention. . Correspondingly, a feasible implementation manner of the foregoing S203 is: controlling the drone to fly from the current position toward the first target to the third position, wherein the distance between the first position and the first target in the vertical direction is greater than The distance between a horizontal plane and the first target in the vertical direction, and then controlling the drone to fly from the first position toward the second target to the second target in accordance with the curved trajectory.
可选地，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。相应地，根据所述夹角的大小确定所述无人机的飞行模式的一种实现方式为：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，(如图8所示)；确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；例如可以参见如图6所示。Optionally, the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane that is at a preset distance from the first target. Correspondingly, an implementation manner of determining an airplane mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle and less than a second preset angle, The second preset angle is greater than the first preset angle, as shown in FIG. 8; determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then along the The first horizontal plane flies to the second target; for example, see FIG.
可选地，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。相应地，根据所述夹角的大小确定所述无人机的飞行模式的一种实现方式为：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，(如图8所示)；确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；例如可以参见图7所示，其中，无人机朝第一目标的方向飞行可以是沿着当前位置与第一目标的连线朝第一目标的方向，也可以不沿着该连线飞行，只要飞行的过程使得无人机与第一目标的距离更近均属于本发明实施例的方案。Optionally, the second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane that is at a preset distance from the first target. Correspondingly, an implementation manner of determining an airplane mode of the drone according to the size of the angle is: when the angle is greater than the first preset angle and less than a second preset angle, The second preset angle is greater than the first preset angle, as shown in FIG. 8; determining that the flight mode of the drone is: flying from the current position toward the first target to the first a position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second target according to an arc trajectory; for example, as shown in FIG. , wherein the flight of the drone in the direction of the first target may be a direction along the line connecting the current position to the first target toward the first target, or may not fly along the connection, as long as the flight process makes no one The closer the distance between the machine and the first target belongs to the solution of the embodiment of the present invention.
可选地，当确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第一水平面的交点位置。例如如图9所示，沿着当前位置与第二目标之间的连线的方向朝第一水平面飞行，到达第一水平面的位置为第二位置，即为当前位置与第二目标之间的连线与第一水平面的交点位置，在控制无人机 飞行至第一水平面的第二位置时，无人机的垂直方向的速度降为0。Optionally, when it is determined that the flight mode of the drone is flying from the current position to the first horizontal plane and then flying along the first horizontal plane to the second target, the Flying the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being a connection between the first target and the current position The intersection of the line with the first horizontal plane. For example, as shown in FIG. 9, the direction along the line connecting the current position and the second target is toward the first horizontal plane, and the position reaching the first horizontal plane is the second position, that is, between the current position and the second target. The intersection of the line and the first horizontal plane, in controlling the drone When flying to the second position of the first horizontal plane, the speed of the drone's vertical direction drops to zero.
可选地，当确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：从所述当前位置朝着所述第一目标的方向飞行至第三位置，所述第三位置位于所述第一水平面背向所述第一目标的一侧；按照弧形轨迹从所述第三位置飞行至所述第一水平面上。例如如图10所示，示出的是沿着当前位置与第一目标之间的连线的方向朝第一水平面飞行，在飞行至第三位置时，但本实施例不限于只根据当前位置与第一目标之间的连线的方向飞行，例如也可以沿着当前位置与第二目标之间的连线的方向朝第一水平面飞行。该第三位置与第一目标在垂直方向的距离大于第一水平面与第一目标在垂直方向的距离，然后再按照弧形轨迹飞行至第一水平面上，在控制无人机飞行至第一水平面的第二位置时，无人机的垂直方向的速度降为0。Optionally, when it is determined that the flight mode of the drone is flying from the current position to the first horizontal plane and then flying along the first horizontal plane to the second target, the Flying the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, the third position being located at the first horizontal plane facing away from the first target a side; flying from the third position to the first horizontal surface in an arcuate trajectory. For example, as shown in FIG. 10, it is shown that the flight along the direction between the current position and the first target is directed toward the first horizontal plane, when flying to the third position, but the embodiment is not limited to only the current position. The flight in the direction of the line with the first target, for example, may also fly toward the first horizontal plane along the direction of the line between the current position and the second target. The distance between the third position and the first target in the vertical direction is greater than the distance between the first horizontal plane and the first target in the vertical direction, and then flies to the first horizontal plane according to the curved trajectory, and controls the drone to fly to the first horizontal plane. In the second position, the speed of the drone's vertical direction drops to zero.
可选地，所述根据所述夹角的大小确定所述无人机的飞行模式的一种实现方式为：当所述夹角大于或等于第二预置角度(如图11所示)时，所述第二预置角度大于所述第一预置角度，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面；例如如图12所示。相应地，上述S203的一种可行的实现方式为：控制无人机从当前位置开始(此时无人机的垂直方向的速度降为0)沿着当前位置所在的水平面飞行至第二目标(此时无人机的水平方向的速度降为0)，该第二目标位于第一目标的垂直方向上，而且第二目标与第一目标的垂直方向的距离等于当前位置与第一目标的垂直方向的距离。Optionally, the implementation manner of determining the flight mode of the drone according to the size of the angle is: when the angle is greater than or equal to a second preset angle (as shown in FIG. 11) The second preset angle is greater than the first preset angle, and determining that the flight mode of the drone is: flying from the current position to the second target along a horizontal plane where the current position is located, The second target is at the same horizontal plane as the current location, and the line connecting the second target and the first target is perpendicular to a horizontal plane; for example, as shown in FIG. Correspondingly, a feasible implementation manner of the foregoing S203 is: controlling the drone to start from the current position (when the speed of the drone in the vertical direction is reduced to 0) to fly to the second target along the horizontal plane where the current position is located ( At this time, the horizontal speed of the drone is reduced to 0), the second target is located in the vertical direction of the first target, and the distance between the second target and the vertical direction of the first target is equal to the vertical position of the current position and the first target. The distance of the direction.
在一些实施例中，所述方法的执行主体是地面控制设备，所述将在图像中的指定位置确定为第一目标，包括：通过交互界面获取画框操作；当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。例如如图13所示，无人机通过拍摄装置拍到的图像通过交互界面来显示，当要控制无人机根据用户选择的对象飞行时，用户可以通过交互界面对该对象进行画框操作，相应地，本实施例的地面控制设备通过交互界面获取该画框操作，获取该画操作框选的该图像中的对象，然 后判断该图像中的对象是否属于预设类型(例如人、汽车等)，当该图像中的对象不属于预设类型时，确定该画框操作框选的图像中的对象的位置(即指定位置)为第一目标，然后当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，执行上述S202和S203所示的方案；当所述第一目标和所述无人机的当前位置的连线与水平面的夹角小于等于第一预置角度时，根据指点飞行模式控制无人机飞行。当该图像中的对象不是预设跟随对象时，根据跟踪飞行模式控制无人机飞行。In some embodiments, the execution body of the method is a ground control device, and the determining a specified position in the image as the first target comprises: acquiring a frame operation through the interaction interface; when the frame operation frame is selected When the object in the image does not belong to the preset type, it is determined that the position of the frame operation frame selection is the first target. For example, as shown in FIG. 13, the image captured by the drone through the photographing device is displayed through the interactive interface. When the drone is to be controlled to fly according to the object selected by the user, the user can perform a frame operation on the object through the interactive interface. Correspondingly, the ground control device of the embodiment acquires the frame operation through the interactive interface, and acquires an object in the image selected by the drawing operation frame, After determining whether the object in the image belongs to a preset type (for example, a person, a car, etc.), when the object in the image does not belong to the preset type, determining the position of the object in the image selected by the frame operation frame (ie, designating The position is a first target, and then when the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, the solution shown in the above S202 and S203 is performed; When the angle between the line connecting the first target and the current position of the drone and the horizontal plane is less than or equal to the first preset angle, the drone flight is controlled according to the pointing flight mode. When the object in the image is not a preset follower object, the drone flight is controlled according to the tracking flight mode.
可选地，当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。其中，如何跟随对象飞行的实现方式可以参见现有技术中的相关描述，此处不再赘述。Optionally, when the object in the image selected by the frame operation frame belongs to a preset type, determining that the object is a target following object; controlling the drone to follow the target following the object according to the object The object flies. For the implementation of how to follow the object flight, refer to the related description in the prior art, and details are not described herein again.
在一些实施例中，所述方法的执行主体是地面控制设备，所述方法还包括：在所述图像中的所述指点位置处显示预置图标；所述根据所述夹角的大小确定所述无人机的飞行模式之后，还包括：将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。本实施例中，在将图像中的指定位置确定为第一目标后，在图像中的指定位置处显示预置图标，如图14所示，以指示用户在图像中成功指定位置。当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式，根据无人机的飞行模式确定出第二目标之后，将图像中指定位置处显示的该预置图标由该指定位置处移动到图像中对应第二目标的位置处，以指示无人机将飞行到该第二目标处。如图15所示，用于指示在指定位置在第一目标时控制无人机飞行至第二目标，用于避免触碰到障碍物，保证飞行安全。In some embodiments, the execution body of the method is a ground control device, the method further comprising: displaying a preset icon at the pointing position in the image; the determining the size according to the size of the angle After the flight mode of the drone, the method further includes: moving a preset icon displayed at the pointing position in the image to a position in the image corresponding to the second target. In this embodiment, after the designated position in the image is determined as the first target, a preset icon is displayed at a specified position in the image, as shown in FIG. 14, to indicate that the user successfully specifies the position in the image. When the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, determining the flight mode of the drone according to the size of the angle, according to After the flight mode of the man machine determines the second target, the preset icon displayed at the specified position in the image is moved from the specified position to the position corresponding to the second target in the image to indicate that the drone will fly to the The second goal. As shown in FIG. 15, it is used to indicate that the drone is controlled to fly to the second target when the first target is at the designated position, so as to avoid touching the obstacle and ensure flight safety.
图16为本发明实施例一提供的飞行控制装置的结构示意图，如图16所示，本实施例的飞行控制装置400可以包括：目标确定模块401、飞行模式确定模块402和控制模块403。FIG. 16 is a schematic structural diagram of a flight control apparatus according to Embodiment 1 of the present invention. As shown in FIG. 16, the flight control apparatus 400 of this embodiment may include: a target determining module 401, an airplane mode determining module 402, and a control module 403.
目标确定模块401，用于根据在图像中的指定位置确定第一目标；a target determining module 401, configured to determine a first target according to a specified position in the image;
飞行模式确定模块402，用于当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式； The flight mode determining module 402 is configured to determine, according to the size of the angle, when the angle between the connection between the first target and the current position of the drone and the horizontal plane is greater than the first preset angle Flight mode of man and machine;
控制模块403，用于根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。The control module 403 is configured to control the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
可选地，所述飞行模式确定模块402，具体用于：当所述夹角大于所述第一预置角度时，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Optionally, the flight mode determining module 402 is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: fly from the current position to the Determining a first horizontal plane, and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second target according to an arc trajectory;
其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
可选地，所述飞行模式确定模块402，具体用于：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Optionally, the flight mode determining module 402 is configured to: when the angle is greater than the first preset angle and less than the second preset angle, the second preset angle is greater than the first Determining an angle, determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; or determining the none The flight mode of the human machine is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, according to An arcuate trajectory flying from the first position to the second target;
其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
可选地，当所述飞行模式确定模块402确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第一水平面的交点位置。Optionally, when the flight mode determining module 402 determines that the flight mode of the drone is flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target Flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being the first target and The intersection of the line between the current position and the first horizontal plane.
可选地，当所述飞行模式确定模块402确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：从所述当前位置朝着所述第一目标的方向飞行至第三位置，所述第三位置位于所述第一水平面背向所述第一目标的一侧；按照弧形轨迹从所述第三位置飞行至所述第一水平面上。 Optionally, when the flight mode determining module 402 determines that the flight mode of the drone is flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target Flying from the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, the third position being located at the first horizontal plane One side of the first target; flying from the third position to the first horizontal surface in an arcuate trajectory.
可选地，所述飞行模块确定模块402，具体用于：当所述夹角不小于所述第二预置角度时，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面。Optionally, the flight module determining module 402 is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is: along the current location The horizontal plane flies from the current position to the second target, the second target is at the same level as the current position, and the line connecting the second target and the first target is perpendicular to a horizontal plane.
可选地，所述目标确定模块401，具体用于：通过交互界面获取画框操作；当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。Optionally, the target determining module 401 is specifically configured to: obtain a frame operation by using an interaction interface; and determine the frame when the object in the image selected by the frame operation frame does not belong to a preset type. The position selected by the operation frame is the first target.
可选地，所述目标确定模块401，还用于当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；Optionally, the target determining module 401 is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target following object;
所述控制模块403，还用于根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。The control module 403 is further configured to control the drone to follow the object to fly according to the object as a target following object.
可选地，本实施例的飞行控制装置400还包括：显示模块404。Optionally, the flight control device 400 of the embodiment further includes: a display module 404.
显示模块404，用于在所述图像中的所述指定位置处显示预置图标；以及在所述飞行模式确定模块402根据所述夹角的大小确定所述无人机的飞行模式之后，将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。a display module 404, configured to display a preset icon at the specified position in the image; and after the flight mode determining module 402 determines the flight mode of the drone according to the size of the angle, A preset icon displayed at the pointing position in the image is moved to a position in the image corresponding to the second target.
本实施例的装置，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。The device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
图17为本发明实施例二提供的飞行控制装置的结构示意图，如图17所示，本实施例的飞行控制装置500可以包括：存储器501和处理器502。存储器501与处理器502通过总线连接。FIG. 17 is a schematic structural diagram of a flight control apparatus according to Embodiment 2 of the present invention. As shown in FIG. 17, the flight control apparatus 500 of this embodiment may include: a memory 501 and a processor 502. The memory 501 is coupled to the processor 502 via a bus.
上述处理器502可以是中央处理单元(英文：Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(英文：Digital Signal Processor，DSP)、专用集成电路(英文：Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(英文：Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The processor 502 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP), and an application-specific integrated circuit (English: Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
所述存储器501，用于存储执行飞行控制方法的代码；The memory 501 is configured to store code for executing a flight control method;
所述处理器502，用于调用所述存储器501中存储的所述代码，执行： 根据在图像中的指定位置确定第一目标；以及当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。The processor 502 is configured to invoke the code stored in the memory 501, and execute: Determining a first target according to a specified position in the image; and when the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, according to the angle Sizing to determine a flight mode of the drone; controlling the drone to fly to a second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a pre- Set the distance.
可选地，所述处理器502，具体用于：当所述夹角大于所述第一预置角度时，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Optionally, the processor 502 is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: fly from the current location to the first a horizontal plane, and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: flying from the current position toward the first target to the first Position, the first position is located on a side of the first horizontal plane facing away from the first target, and flies from the first position to the second target according to an arc trajectory;
其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
可选地，所述处理器502，具体用于：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Optionally, the processor 502 is configured to: when the angle is greater than the first preset angle and less than the second preset angle, the second preset angle is greater than the first preset An angle determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; or determining the drone The flight mode is: flying from the current position toward the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, in a curved shape Trajecting from the first position to the second target;
其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
可选地，当所述处理器502确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第一水平面的交点位置。Optionally, when the processor 502 determines that the flight mode of the drone is to fly from the current position to the first horizontal plane and then to the second target along the first horizontal plane, Flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position being the first target and the current The intersection between the line of locations and the first horizontal plane.
可选地，当所述处理器502确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：从所述当前位置朝着所述第 一目标的方向飞行至第三位置，所述第三位置位于所述第一水平面背向所述第一目标的一侧；按照弧形轨迹从所述第三位置飞行至所述第一水平面上。Optionally, when the processor 502 determines that the flight mode of the drone is to fly from the current position to the first horizontal plane and then to the second target along the first horizontal plane, Flying from the current position to the first horizontal plane includes: moving from the current position toward the first Flying in a direction of a target to a third position, the third position being located on a side of the first horizontal plane facing away from the first target; flying from the third position to the first horizontal plane in accordance with an arcuate trajectory .
可选地，所述处理器502，具体用于：当所述夹角不小于所述第二预置角度时，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面。Optionally, the processor 502 is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is: along a horizontal plane where the current position is located Flying from the current position to the second target, the second target is at the same level as the current position, and the line connecting the second target and the first target is perpendicular to a horizontal plane.
可选地，上述实施例中的飞行控制装置500可以为无人机，或者可以为地面控制设备。Optionally, the flight control device 500 in the above embodiment may be a drone or may be a ground control device.
可选地，本实施例的飞行控制装置500为地面控制设备，该飞行控制装置500还包括：交互界面503。交互界面503与处理器502通过总线连接。Optionally, the flight control device 500 of the embodiment is a ground control device, and the flight control device 500 further includes: an interaction interface 503. The interactive interface 503 is coupled to the processor 502 via a bus.
可选地，交互界面503，用于检测画框操作。Optionally, the interaction interface 503 is configured to detect a picture frame operation.
所述处理器502，具体用于：通过所述交互界面503获取所述画框操作；当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。The processor 502 is specifically configured to: acquire the frame operation by using the interaction interface 503; and determine the frame when the object in the image selected by the frame operation frame does not belong to a preset type. The position selected by the operation frame is the first target.
可选地，所述处理器502，还用于当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。Optionally, the processor 502 is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target following object; follow the object as a target An object that controls the drone to fly following the object.
可选地，交互界面503，用于在所述图像中的所述指点位置处显示预置图标；以及在所述处理器502根据所述夹角的大小确定所述无人机的飞行模式之后，将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。Optionally, an interaction interface 503 is configured to display a preset icon at the pointing position in the image; and after the processor 502 determines the flight mode of the drone according to the size of the angle And moving a preset icon displayed at the pointing position in the image to a position in the image corresponding to the second target.
本实施例的装置，可以用于执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。The device in this embodiment may be used to implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
图18为本发明实施例提供的一种无人机的飞行控制***的结构示意图，如图18所示，本实施例的无人机的飞行控制***800包括：飞行控制装置600和无人机700。其中，飞行控制装置600可以采用图16或图17所示装置实施例的结构，其对应地，可以执行本发明上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。FIG. 18 is a schematic structural diagram of a flight control system of a drone according to an embodiment of the present invention. As shown in FIG. 18, the flight control system 800 of the drone of the present embodiment includes: a flight control device 600 and a drone. 700. The flight control device 600 can adopt the structure of the device embodiment shown in FIG. 16 or FIG. 17, which can correspondingly implement the technical solutions of the foregoing method embodiments of the present invention, and the implementation principle and the technical effect are similar. Narration.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读 取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(英文：Read-Only Memory，简称：ROM)、随机存取存储器(英文：Random Access Memory，简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to program instructions, and the foregoing program may be stored in a computer readable In the storage medium, when the program is executed, the steps including the foregoing method embodiments are performed; and the foregoing storage medium includes: read-only memory (English: Read-Only Memory, abbreviated as: ROM), random access memory (English: Random Access Memory (RAM), disk or optical disk, etc., which can store program code.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (28)

  1. 一种飞行控制方法，其特征在于，包括：A flight control method, comprising:
    根据在图像中的指定位置确定第一目标；Determining a first target based on a specified location in the image;
    当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；When the angle between the line connecting the first target and the current position of the drone and the horizontal plane is greater than the first preset angle, determining the flight mode of the drone according to the size of the angle;
    根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。Controlling the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述夹角的大小确定所述无人机的飞行模式，包括：The method according to claim 1, wherein the determining the flight mode of the drone according to the size of the angle comprises:
    当所述夹角大于所述第一预置角度时，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；Determining, when the angle is greater than the first preset angle, the flight mode of the drone: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the location State the second goal;
    或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at the first horizontal plane facing away from the first One side of the target, flying from the first position to the second target in accordance with an arcuate trajectory;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述夹角的大小确定所述无人机的飞行模式，包括：The method according to claim 1, wherein the determining the flight mode of the drone according to the size of the angle comprises:
    当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，When the angle is greater than the first preset angle and less than the second preset angle, the second preset angle is greater than the first preset angle,
    确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；Determining a flight mode of the drone: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target;
    或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；Or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at the first horizontal plane facing away from the first One side of the target, flying from the first position to the second target in accordance with an arcuate trajectory;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  4. 根据权利要求2或3所述的方法，其特征在于，当确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面 飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：The method according to claim 2 or 3, wherein when it is determined that the flight mode of the drone is from the current position to the first horizontal plane, and then along the first horizontal plane When flying to the second target, the flying from the current position to the first horizontal plane includes:
    从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第一水平面的交点位置。Flying from the current position to a second position on the first horizontal plane, the second position being an intersection of a line between the first target and the current position and the first horizontal plane.
  5. 根据权利要求2或3所述的方法，其特征在于，当确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：The method according to claim 2 or 3, wherein when it is determined that the flight mode of the drone is to fly from the current position to the first horizontal plane, then fly along the first horizontal plane to the location When the second target is described, the flight from the current position to the first horizontal plane includes:
    从所述当前位置朝着所述第一目标的方向飞行至第三位置，所述第三位置位于所述第一水平面背向所述第一目标的一侧；Flying from the current position toward the first target to a third position, the third position being located on a side of the first horizontal plane facing away from the first target;
    按照弧形轨迹从所述第三位置飞行至所述第一水平面上。Flying from the third position to the first horizontal surface in accordance with an arcuate trajectory.
  6. 根据权利要求3所述的方法，其特征在于，所述根据所述夹角的大小确定所述无人机的飞行模式，还包括：The method according to claim 3, wherein the determining the flight mode of the drone according to the size of the included angle further comprises:
    当所述夹角不小于所述第二预置角度时，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面。Determining, when the angle is not less than the second preset angle, the flight mode of the drone: flying from the current position to the second target along a horizontal plane where the current position is located, The second target is located at the same horizontal plane as the current location, and the line connecting the second target and the first target is perpendicular to a horizontal plane.
  7. 根据权利要求1-6任意一项所述的方法，其特征在于，所述方法的执行主体是地面控制设备，所述将在图像中的指定位置确定为第一目标，包括：The method according to any one of claims 1-6, wherein the execution subject of the method is a ground control device, and the determining a specified position in the image as the first target comprises:
    通过交互界面获取画框操作；Obtaining a frame operation through an interactive interface;
    当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。When the object in the image selected by the frame operation frame does not belong to the preset type, it is determined that the position of the frame operation frame selection is the first target.
  8. 根据权利要求7所述的方法，其特征在于，还包括：The method of claim 7 further comprising:
    当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；Determining that the object is a target following object when the object in the image selected by the frame operation frame belongs to a preset type;
    根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。The drone is controlled to follow the object according to the object as the target following the object.
  9. 根据权利要求1-8任意一项所述的方法，其特征在于，所述方法的执行主体是地面控制设备，所述方法还包括：The method according to any one of claims 1-8, wherein the execution subject of the method is a ground control device, the method further comprising:
    在所述图像中的所述指点位置处显示预置图标；Displaying a preset icon at the pointing position in the image;
    所述根据所述夹角的大小确定所述无人机的飞行模式之后，还包括：After determining the flight mode of the drone according to the size of the angle, the method further includes:
    将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。 A preset icon displayed at the pointing position in the image is moved to a position in the image corresponding to the second target.
  10. 一种飞行控制装置，其特征在于，包括：A flight control device, comprising:
    目标确定模块，用于根据在图像中的指定位置确定第一目标；a target determining module, configured to determine a first target according to a specified position in the image;
    飞行模式确定模块，用于当所述第一目标和所述无人机的当前位置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；a flight mode determining module, configured to determine the unmanned according to the size of the angle when the angle between the connection between the first target and the current position of the drone and the horizontal plane is greater than the first preset angle Flight mode of the aircraft;
    控制模块，用于根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。And a control module, configured to control the drone to fly to the second target according to the determined flight mode, wherein a distance between the second target and the first target is not less than a preset distance.
  11. 根据权利要求10所述的装置，其特征在于，所述飞行模式确定模块，具体用于：当所述夹角大于所述第一预置角度时，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；The device according to claim 10, wherein the flight mode determining module is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: Flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: from the current position toward the Flying in a direction to the first target to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second in accordance with an arcuate trajectory aims;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  12. 根据权利要求10所述的装置，其特征在于，所述飞行模式确定模块，具体用于：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；The device according to claim 10, wherein the flight mode determining module is configured to: when the angle is greater than the first preset angle and less than the second preset angle, the second Determining, by the preset angle, that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second Targeting; or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at the first horizontal plane facing away from the One side of the first target, flying from the first position to the second target in accordance with an arcuate trajectory;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  13. 根据权利要求11或12所述的装置，其特征在于，当所述飞行模式确定模块确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第 一水平面的交点位置。The apparatus according to claim 11 or 12, wherein said flight mode determining module determines that said flight mode of said drone is to fly from said current position to said first horizontal plane, and then along said When the first horizontal plane flies to the second target, the flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the first a second position is a connection between the first target and the current location and the second The intersection of a horizontal plane.
  14. 根据权利要求11或12述的装置，其特征在于，当所述飞行模式确定模块确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：从所述当前位置朝着所述第一目标的方向飞行至第三位置，所述第三位置位于所述第一水平面背向所述第一目标的一侧；按照弧形轨迹从所述第三位置飞行至所述第一水平面上。The apparatus according to claim 11 or 12, wherein said flight mode determining module determines that said UAV flight mode is from said current position to said first horizontal plane, and then along said When a horizontal plane flies to the second target, the flight from the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, the third a position on a side of the first horizontal plane facing away from the first target; flying from the third position to the first horizontal plane in an arcuate trajectory.
  15. 根据权利要求12所述的装置，其特征在于，所述飞行模块确定模块，具体用于：当所述夹角不小于所述第二预置角度时，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面。The device according to claim 12, wherein the flight module determining module is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is Flying from the current position to the second target along a horizontal plane in which the current location is located, the second target being at the same horizontal plane as the current location, and the second target and the first target The line is perpendicular to the horizontal plane.
  16. 根据权利要求10-15任意一项所述的装置，其特征在于，所述目标确定模块，具体用于：通过交互界面获取画框操作；当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。The device according to any one of claims 10-15, wherein the target determining module is specifically configured to: obtain a picture frame operation through an interaction interface; and in the image selected by the frame operation frame When the object does not belong to the preset type, it is determined that the position selected by the frame operation frame is the first target.
  17. 根据权利要求16所述的装置，其特征在于，所述目标确定模块，还用于当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；The device according to claim 16, wherein the object determining module is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target to follow Object
    所述控制模块，还用于根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。The control module is further configured to control the drone to follow the object flying according to the object as a target following object.
  18. 根据权利要求10-17任意一项所述的装置，其特征在于，还包括：The device according to any one of claims 10-17, further comprising:
    显示模块，用于在所述图像中的所述指定位置处显示预置图标；以及在所述飞行模式确定模块根据所述夹角的大小确定所述无人机的飞行模式之后，将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。a display module for displaying a preset icon at the specified position in the image; and after the flight mode determining module determines a flight mode of the drone according to the size of the angle, A preset icon displayed at the pointing position in the image is moved to a position in the image corresponding to the second target.
  19. 一种飞行控制装置，其特征在于，包括：存储器和处理器；A flight control device, comprising: a memory and a processor;
    所述存储器，用于存储执行飞行控制方法的代码；The memory for storing code for executing a flight control method;
    所述处理器，用于调用所述存储器中存储的所述代码，执行：根据在图像中的指定位置确定第一目标；以及当所述第一目标和所述无人机的当前位 置的连线与水平面的夹角大于第一预置角度时，根据所述夹角的大小确定所述无人机的飞行模式；根据所述确定的飞行模式控制所述无人机飞行至第二目标，其中，所述第二目标与所述第一目标之间的距离不小于预置距离。The processor, configured to invoke the code stored in the memory, to perform: determining a first target according to a specified position in an image; and when the first target and a current bit of the drone When the angle between the connected line and the horizontal plane is greater than the first preset angle, the flight mode of the drone is determined according to the size of the angle; and the drone is controlled to fly according to the determined flight mode. a second target, wherein a distance between the second target and the first target is not less than a preset distance.
  20. 根据权利要求19所述的装置，其特征在于，所述处理器，具体用于：当所述夹角大于所述第一预置角度时，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；The device according to claim 19, wherein the processor is configured to: when the angle is greater than the first preset angle, determine that the flight mode of the drone is: Flying the current position to the first horizontal plane and then flying along the first horizontal plane to the second target; or determining that the flight mode of the drone is: from the current position toward the first Flying in a direction to a first position, the first position being located on a side of the first horizontal plane facing away from the first target, flying from the first position to the second target in accordance with an arcuate trajectory;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  21. 根据权利要求19所述的装置，其特征在于，所述处理器，具体用于：当所述夹角大于所述第一预置角度且小于第二预置角度时，所述第二预置角度大于所述第一预置角度，确定所述无人机的飞行模式为：从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标；或者，确定所述无人机的飞行模式为：从所述当前位置朝着所述第一目标的方向飞行至第一位置，所述第一位置位于所述第一水平面背向所述第一目标的一侧，按照弧形轨迹从所述第一位置飞行至所述第二目标；The device according to claim 19, wherein the processor is specifically configured to: when the angle is greater than the first preset angle and less than a second preset angle, the second preset The angle is greater than the first preset angle, determining that the flight mode of the drone is: flying from the current position to the first horizontal plane, and then flying along the first horizontal plane to the second target; Or determining that the flight mode of the drone is: flying from the current position toward the first target to a first position, the first position being located at the first horizontal plane facing away from the first One side of the target, flying from the first position to the second target in accordance with an arcuate trajectory;
    其中，所述第二目标位于第一水平面上，所述第一水平面是与所述第一目标的距离为所述预置距离的水平面。The second target is located on a first horizontal plane, and the first horizontal plane is a horizontal plane whose distance from the first target is the preset distance.
  22. 根据权利要求20或21所述的装置，其特征在于，当所述处理器确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至所述第一水平面，包括：从所述当前位置飞行至所述第一水平面上的第二位置，所述第二位置为所述第一目标与所述当前位置之间的连线与所述第一水平面的交点位置。The apparatus according to claim 20 or 21, wherein said processor determines that said UAV is flying from said current position to said first horizontal plane, and then along said first When the horizontal plane flies to the second target, the flying from the current position to the first horizontal plane includes: flying from the current position to a second position on the first horizontal surface, the second position a intersection position of the line between the first target and the current position and the first horizontal plane.
  23. 根据权利要求20或21述的装置，其特征在于，当所述处理器确定所述无人机的飞行模式为从所述当前位置飞行至所述第一水平面，再沿着所述第一水平面飞行至所述第二目标时，所述从所述当前位置飞行至第一水平面，包括：从所述当前位置朝着所述第一目标的方向飞行至第三位置，所述 第三位置位于所述第一水平面背向所述第一目标的一侧；按照弧形轨迹从所述第三位置飞行至所述第一水平面上。The apparatus according to claim 20 or 21, wherein said processor determines that said UAV is flying from said current position to said first horizontal plane and then along said first horizontal plane When flying to the second target, the flying from the current position to the first horizontal plane includes: flying from the current position toward the first target to a third position, The third position is located on a side of the first horizontal plane facing away from the first target; flying from the third position to the first horizontal surface in an arcuate trajectory.
  24. 根据权利要求21所述的装置，其特征在于，所述处理器，具体用于：当所述夹角不小于所述第二预置角度时，确定所述无人机的飞行模式为：沿着所述当前位置所在的水平面从所述当前位置飞行至所述第二目标，所述第二目标与所述当前位置位于同一水平面，且所述第二目标和所述第一目标的连线垂直于水平面。The device according to claim 21, wherein the processor is configured to: when the angle is not less than the second preset angle, determine that the flight mode of the drone is: a horizontal plane in which the current position is located, flying from the current position to the second target, the second target being in the same horizontal plane as the current position, and a connection between the second target and the first target Vertical to the horizontal plane.
  25. 根据权利要求19-24任意一项所述的装置，其特征在于，所述装置为地面控制设备，所述装置还包括：The device according to any one of claims 19-24, wherein the device is a ground control device, the device further comprising:
    交互界面，用于检测画框操作；An interactive interface for detecting a frame operation;
    所述处理器，具体用于：通过所述交互界面获取所述画框操作；当所述画框操作框选的所述图像中的对象不属于预设类型时，确定所述画框操作框选的位置为所述第一目标。The processor is configured to: obtain the frame operation by using the interaction interface; and determine, when the object in the image selected by the frame operation frame does not belong to a preset type, determine the frame operation frame The selected location is the first target.
  26. 根据权利要求25所述的装置，其特征在于，所述处理器，还用于当所述画框操作框选的所述图像中的对象属于预设类型时，确定所述对象为目标跟随对象；根据所述对象为目标跟随对象，控制所述无人机跟随所述对象飞行。The device according to claim 25, wherein the processor is further configured to: when the object in the image selected by the frame operation frame belongs to a preset type, determine that the object is a target following object And controlling the drone to follow the object to fly according to the object as the target following the object.
  27. 根据权利要求19-26任意一项所述的装置，其特征在于，所述装置为地面控制设备，所述装置还包括：交互界面，用于在所述图像中的所述指点位置处显示预置图标；以及在所述处理器根据所述夹角的大小确定所述无人机的飞行模式之后，将所述图像中的所述指点位置处显示的预置图标移动到所述图像中对应所述第二目标的位置处。The device according to any one of claims 19 to 26, wherein the device is a ground control device, the device further comprising: an interactive interface for displaying a pre-position at the pointing position in the image Setting an icon; and after determining, by the processor, the flight mode of the drone according to the size of the angle, moving a preset icon displayed at the pointing position in the image to a corresponding image in the image The location of the second target.
  28. 根据权利要求19-24任意一项所述的装置，其特征在于，Apparatus according to any one of claims 19-24, wherein
    所述装置为无人机；The device is a drone;
    或者，所述装置为地面控制设备。 Alternatively, the device is a ground control device.
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