WO2018214068A1 - Flight control method, device and system, and machine readable storage medium - Google Patents

Flight control method, device and system, and machine readable storage medium Download PDF

Info

Publication number
WO2018214068A1
WO2018214068A1 PCT/CN2017/085761 CN2017085761W WO2018214068A1 WO 2018214068 A1 WO2018214068 A1 WO 2018214068A1 CN 2017085761 W CN2017085761 W CN 2017085761W WO 2018214068 A1 WO2018214068 A1 WO 2018214068A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
flight
user
command
changing
Prior art date
Application number
PCT/CN2017/085761
Other languages
French (fr)
Chinese (zh)
Inventor
苏冠华
缪宝杰
钱杰
胡骁
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/CN2017/085761 priority Critical patent/WO2018214068A1/en
Priority to CN202210217555.6A priority patent/CN114510069A/en
Priority to CN201780005487.4A priority patent/CN108513649B/en
Publication of WO2018214068A1 publication Critical patent/WO2018214068A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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

  • the present invention relates to the field of drone technology, and more particularly to flight control methods, devices, machine readable storage media, and systems.
  • Unmanned vehicles such as unmanned aerial vehicles (UAVs) have been developed for use in a variety of applications, including consumer applications and industrial applications. For example, drones can be manipulated for entertainment, photography/camera, surveillance, delivery, or other applications, and drones expand all aspects of personal life.
  • UAVs unmanned aerial vehicles
  • the drone When the drone is flying in autonomous flight mode, the drone can fly autonomously to achieve some flight purpose. However, the user cannot control the flight of the drone and affect the user experience.
  • the present invention provides flight control methods, apparatus, machine readable storage media, and systems.
  • a flight control method for use in a drone, comprising:
  • a first operational command from a user for changing flight parameters of the drone in an autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, The first operation command is used to change flight parameters in the specific strategy;
  • the flight parameters of the drone are changed according to the first operational command.
  • a drone comprising:
  • a processor configured to acquire, in an autonomous flight mode, a first operational command from a user for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy The first operation command is used to change flight parameters in the specific policy;
  • the processor is further configured to change a flight parameter of the drone according to the first operation command.
  • a control device comprising:
  • a processor configured to generate a first operational command for changing a flight parameter of the drone in the autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy, The first operation command is used to change flight parameters in the specific strategy;
  • the processor is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.
  • a machine readable storage medium on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:
  • the flight parameters of the drone are changed according to the first operational command.
  • a machine readable storage medium on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:
  • a flight control system includes a drone and a control device
  • the control device is configured to generate, in an autonomous flight mode, a first operation command for changing a flight parameter of the drone; in the autonomous flight mode, the drone is according to a specific strategy Flight parameters autonomously flying, the first operational command being used to change flight parameters in the particular strategy;
  • the control device is further configured to send the first operation command to the drone;
  • the drone is configured to acquire, in an autonomous flight mode, a first operation command from a user for changing flight parameters of the drone; and change a flight of the drone according to the first operation command parameter.
  • the user when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
  • FIG. 1 is a schematic diagram of an application scenario of an embodiment
  • FIG. 2 is a schematic diagram of an embodiment of a flight control method
  • FIG. 3 is a schematic diagram of another embodiment of a flight control method
  • 4A is a schematic diagram of another embodiment of a flight control method
  • 4B, 4C, and 4D are schematic diagrams of application scenarios
  • FIG. 5A is a schematic diagram of another embodiment of a flight control method
  • 5B, 5C, and 5D are schematic diagrams of application scenarios
  • Figure 6 is a block diagram of an embodiment of a drone
  • Figure 7 is a block diagram of one embodiment of a control device.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information without departing from the scope of the invention.
  • second information may also be referred to as the first information.
  • word "if” may be interpreted as "when", or "when", or "in response to determination.”
  • the embodiment of the invention provides a flight control method, which can be applied to a system including a control device and a drone, and the control device can be a remote controller, a mobile terminal (such as a mobile phone), a wristband, a smart watch, etc.
  • the type of control device is not limited.
  • FIG. 1 it is a schematic diagram of an application scenario of a flight control method method.
  • the control device can communicate with the drone, and the connection manner of the two can include, but is not limited to, a wired connection or a wireless connection.
  • the connection mode is not limited.
  • the wireless connection such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.
  • a flow chart of the flight control method can be applied to a drone.
  • Step 201 In the autonomous flight mode, acquire a first operation command from the user for changing flight parameters of the drone.
  • the drone In the autonomous flight mode, the drone can fly autonomously according to flight parameters in a particular strategy, and the first operational command is used to change flight parameters in that particular strategy.
  • Step 202 Change flight parameters of the drone according to the first operation command.
  • the autonomous flight mode may include, but is not limited to, a smart following mode; or a pointing flight mode.
  • the smart follow mode may mean that after determining a subject (such as a certain user), the drone locks the subject, and by following the subject, the subject is always placed in the shooting screen of the drone.
  • the surround follow-up in the smart follow mode may be that the drone performs a surround flight to the subject, such as following the subject counterclockwise, or following the subject clockwise.
  • the spiral follow-up in the smart follow mode may be that the drone follows the subject in a spiral rising manner, and the subject is always placed in the shooting screen of the drone.
  • away from the target in the smart follow mode the drone may follow the subject in a manner that is farther and farther away from the subject, but also the subject is located in the shooting screen of the drone.
  • the pointing flight mode may mean that after determining the flight destination (which may also be referred to as a flight target), the drone always flies in the direction of the flight destination until the drone reaches the flight destination.
  • the flight destination which may also be referred to as a flight target
  • the flight parameters described above may include, but are not limited to, one or any combination of: direction of motion, speed of motion, altitude of flight, heading direction, and the like.
  • the above specific strategy may be a strategy related to flight mode and flight parameters, and may be configured according to actual experience.
  • the flight strategy in a particular strategy A may include: the flight mode is a surround follow in the smart follow mode, or a spiral rise follow, or away from target follow, and the like.
  • the flight parameters in the specific strategy A may include: the moving direction is to follow the object counterclockwise, the moving speed is 6 m / s, the flying height is 10 m, the head direction is directly in front, and the distance between the drone and the subject is 6 meters, etc.; of course, the flight parameters are not limited to the above, and there are no restrictions on the flight parameters. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy A.
  • the surround autonomous flight is adopted, and the moving direction is to follow the object counterclockwise, the moving speed is 6 m/s, and the flying height is 10 Meter, the direction of the nose is directly in front, and the distance between the drone and the subject is 6 meters.
  • the first operation command may change the flight parameter in the specific strategy A.
  • the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific strategy.
  • the flight control parameters are used to change the direction of motion from counterclockwise to the subject, to follow the subject clockwise; to change the speed of 6 m/s to 5 m/s; to change the altitude of 10 m to the flying height 12 meters.
  • the flight strategy in the specific strategy B may include: the flight mode is a flight toward a flight destination in the pointing flight mode or a flight after determining a flight direction, and the like.
  • the flight parameters in the specific strategy B may include: the moving direction may be forward, the moving speed is 6 m/s, the flying height is 10 m, the head direction is directly in front, and the like.
  • the flight parameters are not limited to the above, and the flight parameters are not limited.
  • the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy B, such as autonomous flight using the pointing flight mode, the moving direction is forward flight, the moving speed is 6 m / s, and the flying height is 10 m.
  • the direction of the nose is directly in front.
  • the first operation command may change a flight parameter in the specific policy B.
  • the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific policy B. The process of changing the flight parameters will be described in detail in the subsequent process.
  • the process for "acquiring the first operation command for changing the flight parameters of the drone from the user” may include, but is not limited to, the following manner: mode one: acquiring the posture information of the user, and according to the posture The information acquires a first operational command for changing the flight parameters of the drone.
  • Manner 2 The first operation command sent by the control device for changing the flight parameters of the drone.
  • the drone can collect the posture information of the user through the camera device, such as the user raising the right hand and the user raising the left hand.
  • the UAV can obtain a first operation command corresponding to the posture information by querying the posture table, and the posture table is used for recording the correspondence between the posture information and the operation command.
  • the gesture table is used to record the correspondence between the posture information A (such as the user raising the right hand) and the operation command A (such as the accelerated flight), the posture information B (such as the user raising the left hand) and the operation command B (such as the deceleration flight). Correspondence. Based on this, the drone collects the attitude information for the user to lift the right At the time of hand, the first operation command for accelerating flight of the drone is obtained by querying the attitude table.
  • control device may include, but is not limited to, a remote controller, a mobile terminal, a wristband, a smart watch, and the like. Therefore, the processing of the second method may be classified as follows:
  • the first operation command is sent by the control device after detecting the posture information of the control device.
  • the control device may detect the posture information of the control device, and generate a first operation for changing the flight parameter of the drone according to the posture information. command.
  • the posture information of the control device is the posture information A
  • a first operation command for performing an accelerated flight on the drone is generated
  • the posture information of the control device is the posture information B
  • the generation is performed for the drone The first operational command to slow down the flight.
  • the first operation command is sent by the control device after detecting the user's operation on the joystick.
  • the control device is a remote controller
  • the remote controller can detect the operation mode of the user on the joystick, and generate a first operation command for changing the flight parameters of the drone according to the operation mode. For example, when the user operates the joystick in the manner of operation A (such as pushing up to the joystick), a first operation command for accelerating flight of the drone is generated, and when the user operates the joystick as operation B (If pushed down to the rocker), a first operational command is generated for decelerating the drone.
  • the first operation command is sent by the mobile terminal after detecting the operation of the user on the operation interface.
  • the control device is a mobile terminal
  • the mobile terminal can detect the operation mode of the user on the operation interface, and generate a first operation command for changing the flight parameters of the drone according to the operation mode. For example, when the user operates the operation interface as operation A (such as sliding to the right), a first operation command for performing an accelerated flight on the drone is generated, and when the user operates the operation interface as operation B (eg, When sliding to the left, a first operational command for decelerating flight of the drone is generated.
  • operation A such as sliding to the right
  • operation B eg, When sliding to the left, a first operational command for decelerating flight of the drone is generated.
  • the drone can also detect the user’s voice information, and according to the The sound information acquires a first operational command for changing the flight parameters of the drone.
  • the manner of obtaining the first operation command is not limited, as long as the first operation command can be obtained.
  • the process of “changing the flight parameters of the drone according to the first operation command” may include, but is not limited to, if the mode is: in the process of changing the moving direction of the drone according to the first operation command, Turning the drone to the left and/or turning the drone to the right according to the first operation command; further, when the autonomous flight mode is the smart following mode, the direction of motion may include following the subject counterclockwise and/or clockwise Following the subject; therefore, turning the drone to the left according to the first operation command may also follow the subject clockwise, and turning the drone right according to the first operation command may also follow the subject counterclockwise.
  • the unmanned aerial vehicle may be accelerated and/or decelerated according to the first operation command; further, the moving speed may further include a flight speed value; therefore, When the UAV is subjected to accelerated flight and/or deceleration flight according to the first operational command, the motion speed may be adjusted to the flight speed value.
  • the drone may be shifted to a high degree (eg, 1 meter to a high altitude) and/or to a low offset according to the first operation command (eg, Low flight 1 meter).
  • the head of the drone can be turned left and/or the head can be turned right according to the first operation command; by moving the head of the drone to the left Turning and/or turning the nose to the right can make the shooting target always in the shooting screen of the drone, ensuring the shooting effect.
  • the drone when the yaw axis of the gimbal (that is, the yaw angle) and the yaw axis of the drone are fixed to each other, the drone can be controlled by turning the nose of the drone to the left and/or turning the nose to the right.
  • the yaw angle so that the yaw angle of the gimbal can be controlled. That is to say, by adjusting the direction of the nose of the drone, the purpose of adjusting the gimbal is achieved, so that the shooting target is within the shooting picture of the gimbal.
  • the yaw axis of the gimbal is decoupled from the yaw axis of the drone, it is not necessary to adjust the head direction of the drone, and the posture of the gimbal on the drone can be directly changed, so that the shooting target is shot at the gimbal. Inside the picture.
  • the drone in the pointing flight mode, can also acquire a second operation command from the user for changing the posture of the pan/tilt on the drone, and change the pan/tilt on the drone according to the second operation command. attitude.
  • the drone can receive the control device to transmit the change on the drone A second operational command of the attitude of the gimbal, the control device comprising a remote controller, or a mobile terminal.
  • the user when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
  • FIG. 3 is a flow chart of a flight control method
  • the method can be applied to a control device.
  • Step 301 In the autonomous flight mode, generate a first operation command for changing flight parameters of the drone.
  • the drone In the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, and the first operational command is used to change flight parameters in the particular strategy.
  • Step 302 Send the first operation command to the drone, so that the drone changes the flight parameters of the drone according to the first operation command.
  • the specific change process refer to the process shown in FIG. 2 .
  • the autonomous flight mode may include, but is not limited to, a smart following mode; or a pointing flight mode.
  • the smart follow mode may mean that after determining a subject (such as a certain user), the drone locks the subject, and by following the subject, the subject is always placed in the shooting screen of the drone.
  • the surround follow-up in the smart follow mode may be that the drone performs a surround flight to the subject, such as following the subject counterclockwise, or following the subject clockwise.
  • the spiral follow-up in the smart follow mode may be that the drone follows the subject in a spiral rising manner, and the subject is always placed in the shooting screen of the drone.
  • away from the target in the smart follow mode the drone may follow the subject in a manner that is farther and farther away from the subject, but also the subject is located in the shooting screen of the drone.
  • the pointing flight mode may mean that after determining the flight destination (which may also be referred to as a flight target), the drone always flies in the direction of the flight destination until the drone reaches the flight destination.
  • the flight destination which may also be referred to as a flight target
  • the flight parameters described above may include, but are not limited to, one or any combination of: direction of motion, speed of motion, altitude of flight, heading direction, and the like. Based on this, the above specific strategy can It is a strategy related to flight mode and flight parameters, which can be configured according to actual experience.
  • the flight strategy in a particular strategy A may include: the flight mode is a surround follow in the smart follow mode, or a spiral rise follow, or away from target follow, and the like.
  • the flight parameters in the specific strategy A may include: the moving direction is to follow the object counterclockwise, the moving speed is 6 m / s, the flying height is 10 m, the head direction is directly in front, and the distance between the drone and the subject is 6 meters, etc.; of course, the flight parameters are not limited to the above, and there are no restrictions on the flight parameters. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy A.
  • the surround autonomous flight is adopted, and the moving direction is to follow the object counterclockwise, the moving speed is 6 m/s, and the flying height is 10 Meter, the direction of the nose is directly in front, and the distance between the drone and the subject is 6 meters.
  • the first operation command may change the flight parameter in the specific strategy A.
  • the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific strategy.
  • the flight control parameters are used to change the direction of motion from counterclockwise to the subject, to follow the subject clockwise; to change the speed of 6 m/s to 5 m/s; to change the altitude of 10 m to the flying height 12 meters.
  • the flight strategy in the specific strategy B may include: the flight mode is a flight toward a flight destination in the pointing flight mode or a flight after determining a flight direction, and the like.
  • the flight parameters in the specific strategy B may include: the moving direction may be forward, the moving speed is 6 m/s, the flying height is 10 m, the head direction is directly in front, and the like.
  • the flight parameters are not limited to the above, and the flight parameters are not limited.
  • the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy B, such as autonomous flight using the pointing flight mode, the moving direction is forward flight, the moving speed is 6 m / s, and the flying height is 10 m.
  • the direction of the nose is directly in front.
  • the first operation command may change a flight parameter in the specific policy B.
  • the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific policy B. The process of changing the flight parameters will be described in detail in the subsequent process.
  • the control device before generating a first operational command to change the flight parameters of the drone, can also obtain flight control parameters.
  • the first operational command may also carry the acquired flight control parameters, and the flight control parameters are used to cause the drone to change the flight parameters of the drone according to the flight control parameters.
  • the flight control parameters may include, but are not limited to, one or any combination of the following: flight control parameters for turning the drone left and/or right; for accelerating flight and/or deceleration flight of the drone Flight control parameters; flight control parameters for high and/or low offset of the drone; flight control parameters for turning the nose of the drone to the left and/or to the right of the nose .
  • a process for "control device acquires flight control parameters, generating a first operational command for changing flight parameters of the drone based on flight control parameters including but not limited to:
  • the control device when the control device is a mobile terminal, a wristband, a smart watch, or the like, the control device can detect the posture information of the control device, obtain the flight control parameter according to the posture information, and generate the change according to the flight control parameter.
  • the first operational command of the flight parameters of the human machine For example, when the attitude information of the control device is the attitude information A, the flight control parameter is determined as a flight control parameter for performing an accelerated flight on the drone, and a first operation command for performing an accelerated flight on the drone is generated.
  • the remote controller can detect the operation mode of the user on the joystick, and obtain flight control parameters according to the operation mode, and generate flight parameters for changing the drone according to the flight control parameter.
  • the first operational command For example, when the user operates the joystick as operation A (eg, pushes up to the joystick), the flight control parameters are determined as flight control parameters for the accelerated flight of the drone, and are generated for the drone.
  • the first operational command to accelerate the flight.
  • the mobile terminal can detect the operation mode of the user on the operation interface, obtain flight control parameters according to the operation mode, and generate a first function for changing the flight parameters of the drone according to the flight control parameter.
  • Operational commands For example, when the user operates the operation interface as operation A (such as sliding to the right), the flight control parameter is determined as a flight control parameter for the accelerated flight of the drone, and is generated for the accelerated flight of the drone. The first operational command.
  • the operation of the user interface on the operation interface may be a virtual button on the operation interface, or a virtual option, or a virtual joystick operation.
  • the virtual wave on the operation interface is followed.
  • a lever (such as a subsequent rocker control bar, a first virtual joystick, a second virtual joystick, etc.) operates as an example.
  • the manner of generating the first operation command for changing the flight parameters of the drone is not limited, and the manner of generating the first operation command is not limited.
  • the joystick control bar may also be displayed on the operation interface; the motion of the drone is determined according to the operation of the joystick control bar by the user. direction.
  • the process of determining the direction of movement of the drone according to the operation of the joystick control bar by the user may include: determining the moving direction of the drone after receiving the operation of moving the joystick control bar to the right by the user To follow the subject counterclockwise, or to follow the subject clockwise; when receiving the user moving the joystick control bar to the left, determine the direction of movement of the drone to follow the subject clockwise, or Follow the subject counterclockwise.
  • the joystick control bar may also be displayed on the operation interface, and the drone is determined according to the operation of the joystick control bar by the user. Movement speed. Further, the process of determining the movement speed of the drone according to the operation of the joystick control bar by the user may include: receiving an operation of the user clicking the rocker control bar or moving on the joystick control bar After that, the location of the user operation is determined, and the speed of the drone is determined to be a flight speed value corresponding to the position of the operation; wherein different positions of the joystick control bar correspond to different flight speed values, for example, position 1 corresponds to The flight speed is 6 m/s.
  • the mobile terminal may also display a flight speed value corresponding to the operated position on the operation interface.
  • the mobile target may also display the first virtual joystick on the operation interface; and determine the drone according to the operation of the first virtual joystick by the user. Head direction and / or flight height.
  • the process of “determining the head direction and/or the flying height of the drone according to the operation of the first virtual joystick by the user” may include: when receiving the user sliding the first virtual joystick to the right, Or after clicking on the right side or long pressing on the right side (for example, pressing 3 seconds), it is determined that the nose direction of the drone is the right turn of the nose; or, when the user receives the first virtual joystick Swipe left, or click on the left, or at After long-pressing on the left side (for example, pressing 3 seconds), it is determined that the head direction of the drone is left-turning, wherein the length of sliding to the left, the number of clicks on the left side, or long-pressing on the left side The length of time can control the degree of left turn of the nose.
  • the duration of the press can control the degree to which the drone is shifted to a low degree.
  • the greater the length of the leftward sliding the greater the degree of drift of the drone to the low; or, when the user receives the first virtual joystick After sliding up, or clicking on the top, or long pressing on the top (for example, pressing for 3 seconds), it is determined that the flying height of the drone is shifted upward, wherein the length of the upward sliding, the number of clicks above, Or the duration of the long press on the top can control the drone High degree of offset, for example, sliding up the length of the greater, the greater the UAV to a high degree of offset.
  • the second virtual joystick is displayed on the operation interface; and then, the drone is determined according to the operation of the second virtual joystick by the user. Movement speed.
  • the process of determining the motion speed of the drone according to the operation of the second virtual joystick by the user may include: when receiving the user, sliding the second virtual joystick to the right or clicking on the right side, Or press the command on the right side (for example, press 3 seconds), or on the second virtual joystick to slide up, or click on the top, or press and hold on the top (for example, press 3 seconds) to determine the drone's
  • the speed of movement is to accelerate the flight; or, when receiving a command that the user slides to the left on the second virtual joystick, or clicks on the left side, or long presses on the left side (eg, presses 3 seconds), or on the second virtual joystick Swipe down, or click below, or after pressing the long press (for example, press 3 seconds), make sure the
  • control device may further generate a second operation command for changing the attitude of the pan/tilt on the drone, and send the second operation command to the drone to make the drone
  • the attitude of the pan/tilt on the drone can be changed according to the second operation command.
  • the control device Before generating a second operational command for changing the attitude of the pan/tilt on the drone, the control device further The PTZ control parameter may be obtained, and the second operation command may carry the PTZ control parameter, and the PTZ control parameter is used to enable the UAV to change the posture of the PTZ on the UAV according to the PTZ control parameter.
  • the control device when the control device is a mobile terminal, the operation mode of the user on the operation interface may be detected, and the PTZ control parameter is acquired according to the operation mode, and the second posture for changing the posture of the PTZ on the UAV is generated. Operational commands. Further, the mobile terminal may display the third virtual joystick on the operation interface, and after receiving the operation of the user sliding on the third virtual joystick (that is, the operation mode of the user on the operation interface), determining the sliding direction of the user and the unmanned The control direction of the on-board pan/tilt is the same.
  • the control device when the control device is a mobile terminal, a wristband, a smart watch, or the like, the control device may detect the posture information of the control device, and generate a posture for changing the posture of the pan/tilt on the drone according to the posture information.
  • the second operation command sends the second operation command to the drone.
  • the control device may acquire the PTZ control parameter according to the posture information, and generate a second operation command for changing the posture of the PTZ on the UAV according to the PTZ control parameter. For example, detecting the moving direction of the mobile terminal, and determining that the moving direction of the mobile terminal is the same as the control direction of the pan/tilt on the drone.
  • the user when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
  • Application scenario 1 takes the control device as the mobile terminal and the autonomous flight mode as the smart follow mode (such as the surround follow-up of the smart follow mode) as an example.
  • the smart follow mode such as the surround follow-up of the smart follow mode
  • FIG 4A a flow chart of the flight control method.
  • step 401 the user pulls the frame/clicks on the subject and locks the subject.
  • FIG. 4B a schematic diagram of the user locking the frame on the FPV screen for the subject indicates that the specific policy is the smart follow mode.
  • Step 402 The mobile terminal displays a joystick control bar (ie, a virtual joystick control bar) on the operation interface.
  • a joystick control bar ie, a virtual joystick control bar
  • the different positions of the joystick control bar correspond to different flight speed values, when the user clicks the designation of the joystick control bar In the position, based on the position clicked by the user, the flight speed value corresponding to the position (for example, 6 m/s) is determined. When the user clicks on the specified position of the joystick control bar, the corresponding flight speed value can also be displayed.
  • the mobile terminal can also display a reset button on the moving joystick control bar, and when the user clicks the reset button, it indicates that the flight speed value is adjusted to zero.
  • Step 403 The mobile terminal determines flight control parameters according to the operation of the joystick control bar by the user.
  • the mobile terminal determines that the direction of motion of the drone is to follow the object counterclockwise, that is, the flight control parameter is used to set the direction of motion of the drone to follow the parameters of the subject counterclockwise; after receiving the operation of moving the joystick control bar to the left by the user, the mobile terminal determines that the direction of motion of the drone is to follow the subject clockwise, that is, the flight control parameter is used for The direction of movement of the human machine is set to be a parameter that follows the subject clockwise.
  • the mobile terminal After receiving the operation of the user clicking the joystick control bar, the mobile terminal determines the location of the user operation, and determines that the speed of the drone is a flight speed value corresponding to the position, that is, the flight control parameter is used to drive the drone The motion speed is set to the parameter of the flight speed value, and so on.
  • Step 404 The mobile terminal generates a first operation command according to the flight control parameter.
  • Step 405 The mobile terminal sends the first operation command to the drone.
  • Step 406 The drone receives the first operation command sent by the mobile terminal.
  • Step 407 The mobile terminal changes the flight parameters of the drone according to the first operation command.
  • Application scenario 2 taking the control device as the mobile terminal, and the autonomous flight mode as an example for determining the flight mode of the flight destination.
  • FIG. 5A an example of a flow chart of the flight control method.
  • step 501 the user clicks on a specific area (such as the ground, etc.), and the drone flies to the flight destination.
  • a specific area such as the ground, etc.
  • the user clicks on the ground of the operation interface, the mobile terminal pops up the button go, and the user clicks the button go, and the drone can fly to the flight destination at the default speed according to the current height.
  • Step 502 The mobile terminal displays the first virtual joystick and the second virtual joystick on the operation interface.
  • the virtual joystick on the left side is the first virtual joystick, and the user is in the first virtual rocker.
  • the lever slides to the right it indicates that the direction of the nose of the drone is right-turning; when the user slides the first virtual joystick to the left, the head of the drone is turned to the left of the nose; the user is at the first
  • the virtual rocker slides down it indicates that the flying height of the drone is shifted to a low direction; when the user slides up the first virtual rocker, it indicates that the flying height of the drone is shifted to a high direction.
  • the virtual joystick on the right side is a second virtual joystick, and when the user slides up the second virtual joystick, it indicates that the speed of the drone is accelerated, and when the user slides down the second virtual joystick, Indicates that the speed of the drone is slowed down.
  • the mobile terminal when the user clicks on the subject in the operation interface, the mobile terminal can control the drone, and the subject is always located in the shooting screen of the drone.
  • Step 503 The mobile terminal determines flight control parameters according to the operation of the first virtual joystick and/or the second virtual joystick by the user.
  • the mobile terminal determines that the head direction of the drone is the right turn of the nose, that is, the flight control parameter is used to direction the head of the drone Set to the parameter of the right turn of the nose; after receiving the operation of the user sliding the first virtual joystick to the left, the mobile terminal determines that the head direction of the drone is the left turn of the nose, that is, the flight control parameter is used for The nose direction of the drone is set to the parameter of the left turn of the nose; after receiving the operation of the user sliding down the first virtual rocker, the mobile terminal determines that the flying height of the drone is a low offset, that is, flying The control parameter is a parameter for setting the flying height of the drone to a low offset; after receiving the operation of the user sliding up the first virtual joystick, the mobile terminal determines that the flying height of the drone is high.
  • the shift, ie the flight control parameter is a parameter used to set the flying height of the drone to a high offset.
  • the mobile terminal determines that the speed of the drone is an accelerated flight, that is, the flight control parameter is used to set the flight speed of the drone to be accelerated. Flight parameters.
  • the mobile terminal determines that the speed of the drone is a deceleration flight, that is, the flight control parameter is used to set the flight speed of the drone to decelerate flight. parameter.
  • Step 504 The mobile terminal generates a first operation command according to the flight control parameter.
  • Step 505 The mobile terminal sends the first operation command to the drone.
  • Step 506 The drone receives the first operation command sent by the mobile terminal.
  • Step 507 The mobile terminal changes the flight parameters of the drone according to the first operation command.
  • an embodiment of the present invention further provides a drone.
  • the drone includes:
  • a processor 601 configured to acquire, in an autonomous flight mode, a first operation command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomous according to flight parameters in a specific strategy Flying, the first operation command is used to change flight parameters in the specific strategy; the processor is further configured to change flight parameters of the drone according to the first operation command.
  • the drone may further include a receiver 602, the receiver may acquire a first operation command for changing a flight parameter of the drone, and will be used to change flight parameters of the drone
  • the first operation command is sent to the processor to cause the processor to acquire the first operation command.
  • the processor 601 is further configured to acquire, in a process of acquiring a first operation command from a user for changing a flight parameter of the drone, acquiring posture information of the user, and acquiring, according to the posture information, for changing a first operational command of the flight parameters of the drone; or
  • the flight parameter includes one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; the processor, further configured to change a moving direction of the drone according to the first operation command a process of rotating the drone left and/or turning the drone right according to the first operation command; in the process of changing the speed of movement of the drone according to the first operation command And performing an accelerated flight and/or a deceleration flight on the drone according to the first operation command;
  • the drone In the process of changing the flying height of the drone according to the first operation command, the drone is subjected to a high offset and/or a low offset according to the first operation command;
  • the nose of the drone is turned left and/or the head is turned right according to the first operation command.
  • the processor 601 is further configured to acquire a user from the user for changing a second operation command of the attitude of the pan/tilt on the drone; changing the posture of the pan/tilt on the drone according to the second operation command; the processor is further configured to acquire the The second operation command sent by the control device for changing the posture of the pan/tilt on the drone during the second operation command of the attitude of the gimbal on the human machine; the control device comprises a remote controller or a mobile terminal.
  • the embodiment of the present invention further provides a control device.
  • the control device includes:
  • a processor 701 configured to generate, in an autonomous flight mode, a first operational command for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy The first operation command is used to change flight parameters in the specific policy;
  • the processor 701 is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.
  • the control device may further include a transmitter 702, and the processor may send the first operation command to the transmitter, where the first operation command is sent by the transmitter to the drone.
  • the processor 701 is further configured to acquire a flight control parameter before generating a first operation command for changing a flight parameter of the drone; the first operation command further carrying the acquired flight control parameter
  • the flight control parameter is configured to cause the drone to change a flight parameter of the drone according to the flight control parameter; wherein the flight parameter comprises one or any combination of: a moving direction, a moving speed, Flight altitude, head direction; the flight control parameters include one or any combination of: flight control parameters for turning the drone left and/or right; for accelerating the drone Flight control parameters for flight and/or deceleration flight; flight control parameters for high-offset and/or low-offset of the drone; for turning the nose of the drone to the left and / or flight control parameters for the right turn of the nose.
  • the processor 701 is further configured to detect posture information of the control device, acquire a flight control parameter according to the posture information, and generate a first operation command for changing a flight parameter of the drone according to the flight control parameter. Or, when the control device is a remote controller, detecting a user operation mode of the joystick, acquiring flight control parameters according to the operation mode, and generating a first function for changing flight parameters of the drone according to the flight control parameter Operation command; or, when the control device is mobile In the end, the operation mode of the user on the operation interface is detected, the flight control parameter is acquired according to the operation mode, and the first operation command for changing the flight parameter of the drone is generated according to the flight control parameter.
  • the control device is a mobile terminal
  • the processor 701 is further configured to display a joystick control bar on the operation interface; determine a motion direction of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement direction of the drone, after receiving the operation of moving the joystick control bar to the right by the user, determining that the direction of movement of the drone is to follow the object counterclockwise, or to follow the subject clockwise After receiving the operation of moving the joystick control bar to the left by the user, determining that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise;
  • the processor 701 is further configured to display a joystick control bar on the operation interface; determine a motion speed of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement speed of the drone, after receiving the operation of the user clicking the rocker control bar or moving on the joystick control bar, determining the position of the user operation, and determining the speed of the drone is The flight speed value corresponding to the operated position is displayed on the operation interface, wherein the different positions of the joystick control bar correspond to different flight speed values.
  • the control device is a mobile terminal
  • the processor 701 is further configured to display a first virtual joystick on the operation interface; determine a nose direction and/or a flight height of the drone according to a user operation on the first virtual joystick; During the operation of the rocker to determine the nose direction and/or the flying height of the drone, when receiving the user sliding the first virtual joystick to the right, or clicking on the right side, or long pressing on the right side After the operation, determining that the head direction of the drone is a right turn of the nose; or, when receiving the user, sliding the first virtual joystick to the left, or clicking on the left side, or long pressing on the left side After the operation, it is determined that the head direction of the drone is the left turn of the nose; or, when the user receives the operation that the first virtual rocker slides down, clicks below, or performs a long press Determining that the flying height of the drone is a low offset; or, after receiving an operation of the user sliding the first virtual rocker upward, or clicking above, or long pressing on the upper side, determining the The flying height
  • the processor is further configured to display a second virtual joystick on the operation interface;
  • the operation of the second virtual joystick determines the speed of movement of the drone; in the process of determining the speed of movement of the drone according to the operation of the second virtual joystick by the user, when receiving the second virtual joystick of the user Determining the drone by swiping to the right, or clicking on the right side, or pressing a command on the right side, or swiping up the second virtual joystick, or clicking above, or pressing a command on the top
  • the speed of movement is to accelerate the flight; or, when receiving a command that the user slides to the left on the second virtual joystick, or clicks on the left side, or long presses on the left side, or the second virtual joystick is down After sliding, or clicking below, or after issuing a long press command, determine the speed of the drone to slow down.
  • the processor 701 is further configured to generate, in the pointing flight mode, a second operation command for changing a posture of the pan/tilt on the drone; and send the second operation command to the drone to And causing the drone to change the posture of the pan/tilt on the drone according to the second operation command.
  • the processor 701 is further configured to: acquire a PTZ control parameter before generating a second operation command for changing a posture of the PTZ on the UAV; and the second operation command carries the PTZ control parameter, And the pan/tilt control parameter is configured to enable the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
  • the processor 701 is further configured to detect a user operation mode of the operation interface, obtain a PTZ control parameter according to the operation mode, and generate a second operation command for changing a posture of the PTZ on the UAV;
  • the processor is further configured to display a third virtual joystick on the operation interface; after receiving the operation of the third virtual joystick sliding by the user, determining the sliding direction of the user and the control direction of the pan/tilt on the drone.
  • the processor is further configured to detect posture information of the control device, generate a second operation command for changing a posture of the pan/tilt on the drone according to the posture information, and Two operational commands are sent to the drone.
  • the embodiment of the present invention further provides a machine readable storage medium, which can be applied to a drone, and the machine readable storage medium stores a plurality of computer instructions.
  • the computer instruction is executed, the following processing is performed:
  • the flight parameters of the drone are changed according to the first operational command.
  • the machine readable storage medium is further processed to: acquire, in a process of acquiring a first operation command from a user for changing a flight parameter of the drone, acquiring posture information of the user according to the posture The information acquires a first operational command for changing a flight parameter of the drone; or receives a first operational command sent by the control device for changing a flight parameter of the drone.
  • the flight parameters include one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; and the machine readable storage medium is further processed to perform a process of changing a position according to the first operation command In the process of describing the direction of motion of the drone, turning the drone left and/or turning the drone right according to the first operation command; changing the none according to the first operation command During the moving speed of the human machine, the unmanned aerial vehicle is subjected to accelerated flight and/or deceleration flight according to the first operation command; and the process of changing the flying height of the drone according to the first operation command Performing a high offset and/or a low offset to the drone according to the first operation command; in a process of changing a head direction of the drone according to the first operation command, Rotating the nose of the drone to the left and/or turning the nose to the right according to the first operation command.
  • the machine readable storage medium is also processed as follows when executed:
  • the embodiment of the present invention further provides a machine readable storage medium, where the machine readable storage medium is applicable to a control device, where the computer readable storage medium stores a plurality of computer instructions.
  • the computer instruction When the computer instruction is executed, the following processing is performed:
  • machine readable storage medium is further processed as follows when executed:
  • the flight parameters include one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; the flight control parameters include the following One or any combination: flight control parameters for turning the drone left and/or right; flight control parameters for performing accelerated and/or decelerating flight of the drone; The drone performs flight control parameters that are shifted to a high offset and/or to a low offset; flight control parameters for turning the nose of the drone to the left and/or turning the nose to the right.
  • machine readable storage medium is further processed as follows when executed:
  • Detecting posture information of the control device acquiring flight control parameters according to the posture information, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is a remote controller Detecting a user operation mode of the joystick, acquiring a flight control parameter according to the operation mode, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is When the terminal is moved, the operation mode of the user on the operation interface is detected, the flight control parameter is acquired according to the operation mode, and the first operation command for changing the flight parameter of the drone is generated according to the flight control parameter.
  • the control device is a mobile terminal
  • the machine readable storage medium is also processed as follows when executed:
  • the control device is a mobile terminal
  • the machine readable storage medium is also processed as follows when executed:
  • the machine readable storage medium is further processed to: generate a second operation command for changing a posture of the pan/tilt on the drone; and send the second operation command to the The drone is configured to cause the drone to change the drone according to the second operation command The attitude of the gimbal.
  • the machine readable storage medium is further processed to: obtain a pan/tilt control parameter before generating a second operation command for changing a posture of the pan/tilt on the drone; the second operation command carries the The pan/tilt control parameter is used, and the pan/tilt control parameter is used to cause the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
  • the machine-readable storage medium is further processed to: detect a user operation mode of the operation interface, acquire a PTZ control parameter according to the operation mode, and generate a posture for changing a posture of the PTZ on the UAV. Second operation command;
  • the posture information generates a second operation command for changing the posture of the pan/tilt on the drone according to the posture information, and transmits the second operation command to the drone.
  • the embodiment of the present invention may further provide a flight control system, the flight control system including a drone and a control device; wherein: the control device is used in an autonomous flight mode Generating a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operational command being used to change a flight parameter in a specific strategy; the control device is further configured to send the first operation command to the drone; and the drone is configured to acquire a user from the user in an autonomous flight mode And a first operation command for changing a flight parameter of the drone; and changing a flight parameter of the drone according to the first operation command.
  • the system, apparatus, module or unit set forth in the above embodiments may be implemented by a computer chip or an entity, or by a product having a certain function.
  • a typical implementation device is a computer, and the specific form of the computer may be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, and a game control.
  • embodiments of the invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • these computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction means implements the functions specified in one or more blocks of the flowchart or in a flow or block diagram of the flowchart.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage media (which may include, but not limited to, disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media which may include, but not limited to, disk storage, CD-ROM, optical storage, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A flight control method, device and system, and a machine readable storage medium. The flight control method comprises: acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of an unmanned aerial vehicle, in the autonomous flight mode, the unmanned aerial vehicle autonomously flying according to flight parameters in a specific strategy, the first operational command being used for changing the flight parameters in the specific strategy (201); and changing the flight parameters of the unmanned aerial vehicle according to the first operational command (202). When the unmanned aerial vehicle is flying in the autonomous flight mode, a user can adjust the flight parameters of the unmanned aerial vehicle on the basis of the autonomous flight of the unmanned aerial vehicle, so that the flight of the unmanned aerial vehicle can be controlled, thereby improving the user experience.

Description

飞行控制方法、设备、机器可读存储介质以及***Flight control method, device, machine readable storage medium, and system 技术领域Technical field
本发明涉及无人机技术领域，尤其涉及飞行控制方法、设备、机器可读存储介质以及***。The present invention relates to the field of drone technology, and more particularly to flight control methods, devices, machine readable storage media, and systems.
背景技术Background technique
诸如无人飞行器(UAV，简称无人机)等无人载具已被开发用于各种领域，包括消费者应用和行业应用等。例如，可以操纵无人机用于娱乐、摄影/摄像、监视、递送或其他应用，无人机拓展了个人生活的方方面面。Unmanned vehicles such as unmanned aerial vehicles (UAVs) have been developed for use in a variety of applications, including consumer applications and industrial applications. For example, drones can be manipulated for entertainment, photography/camera, surveillance, delivery, or other applications, and drones expand all aspects of personal life.
当无人机在自主飞行模式下飞行时，无人机可以自主飞行，以达到某种飞行目的。但是，用户无法控制无人机的飞行，影响用户使用体验。When the drone is flying in autonomous flight mode, the drone can fly autonomously to achieve some flight purpose. However, the user cannot control the flight of the drone and affect the user experience.
发明内容Summary of the invention
本发明提供飞行控制方法、设备、机器可读存储介质以及***。The present invention provides flight control methods, apparatus, machine readable storage media, and systems.
本发明第一方面，提供一种飞行控制方法，应用于无人机，包括：According to a first aspect of the present invention, a flight control method is provided for use in a drone, comprising:
在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, The first operation command is used to change flight parameters in the specific strategy;
根据所述第一操作命令改变所述无人机的飞行参数。The flight parameters of the drone are changed according to the first operational command.
本发明第二方面，提供另一种飞行控制方法，应用于控制设备，包括：According to a second aspect of the present invention, there is provided another flight control method, which is applied to a control device, comprising:
在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Generating, in an autonomous flight mode, a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operation Commands are used to change flight parameters in the particular strategy;
将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。 Transmitting the first operational command to the drone to cause the drone to change flight parameters of the drone according to the first operational command.
本发明第三方面，提供一种无人机，所述无人机包括：In a third aspect of the invention, a drone is provided, the drone comprising:
处理器，用于在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；a processor, configured to acquire, in an autonomous flight mode, a first operational command from a user for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy The first operation command is used to change flight parameters in the specific policy;
所述处理器，还用于根据所述第一操作命令改变所述无人机的飞行参数。The processor is further configured to change a flight parameter of the drone according to the first operation command.
本发明第四方面，提供一种控制设备，所述控制设备包括：According to a fourth aspect of the invention, a control device is provided, the control device comprising:
处理器，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；a processor, configured to generate a first operational command for changing a flight parameter of the drone in the autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy, The first operation command is used to change flight parameters in the specific strategy;
所述处理器，还用于将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。The processor is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.
本发明第五方面，提供一种机器可读存储介质，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：According to a fifth aspect of the present invention, a machine readable storage medium is provided, on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:
在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, the first An operation command is used to change flight parameters in the specific strategy;
根据所述第一操作命令改变所述无人机的飞行参数。The flight parameters of the drone are changed according to the first operational command.
本发明第六方面，提供一种机器可读存储介质，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：According to a sixth aspect of the present invention, a machine readable storage medium is provided, on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:
在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Generating, in an autonomous flight mode, a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operation Commands are used to change flight parameters in the particular strategy;
将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。Transmitting the first operational command to the drone to cause the drone to change flight parameters of the drone according to the first operational command.
本发明第七方面，提供一种飞行控制***，包括无人机和控制设备；According to a seventh aspect of the present invention, a flight control system includes a drone and a control device;
所述控制设备，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的 飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；The control device is configured to generate, in an autonomous flight mode, a first operation command for changing a flight parameter of the drone; in the autonomous flight mode, the drone is according to a specific strategy Flight parameters autonomously flying, the first operational command being used to change flight parameters in the particular strategy;
所述控制设备，还用于将所述第一操作命令发送给所述无人机；The control device is further configured to send the first operation command to the drone;
所述无人机，用于在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；根据所述第一操作命令改变所述无人机的飞行参数。The drone is configured to acquire, in an autonomous flight mode, a first operation command from a user for changing flight parameters of the drone; and change a flight of the drone according to the first operation command parameter.
基于上述技术方案，本发明实施例中，当无人机在自主飞行模式下飞行时，在无人机自主飞行的基础上，用户可以调整无人机的飞行参数，从而可以控制无人机的飞行，提高用户使用体验。Based on the above technical solution, in the embodiment of the present invention, when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
附图说明DRAWINGS
为了更加清楚地说明本发明实施例或者现有技术中的技术方案，下面将对本发明实施例或者现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据本发明实施例的这些附图获得其它的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below. Obviously, the drawings in the following description It is merely some of the embodiments described in the present invention, and those skilled in the art can also obtain other drawings according to the drawings of the embodiments of the present invention.
图1是一个实施例的应用场景示意图；FIG. 1 is a schematic diagram of an application scenario of an embodiment;
图2是一个飞行控制方法的实施例示意图；2 is a schematic diagram of an embodiment of a flight control method;
图3是另一个飞行控制方法的实施例示意图；3 is a schematic diagram of another embodiment of a flight control method;
图4A是另一个飞行控制方法的实施例示意图；4A is a schematic diagram of another embodiment of a flight control method;
图4B、图4C和图4D是应用场景示意图；4B, 4C, and 4D are schematic diagrams of application scenarios;
图5A是另一个飞行控制方法的实施例示意图；FIG. 5A is a schematic diagram of another embodiment of a flight control method; FIG.
图5B、图5C和图5D是应用场景示意图；5B, 5C, and 5D are schematic diagrams of application scenarios;
图6是无人机的一个实施例框图；Figure 6 is a block diagram of an embodiment of a drone;
图7是控制设备的一个实施例框图。 Figure 7 is a block diagram of one embodiment of a control device.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做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。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all 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. Further, the features of the following embodiments and examples may be combined with each other without conflict.
本发明使用的术语仅仅是出于描述特定实施例的目的，而非限制本发明。本发明和权利要求书所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其它含义。应当理解，本文中使用的术语“和/或”是指包含一个或多个相关联的列出项目的任何或所有可能组合。The terminology used herein is for the purpose of describing particular embodiments, The singular forms "a", "the" and "the" It will be understood that the term "and/or" as used herein refers to any and all possible combinations of one or more of the associated listed items.
尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，此外，所使用的词语“如果”可以被解释成为“在……时”，或者“当……时”，或者“响应于确定”。Although the terms first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are used to distinguish the same type of information from each other. For example, the first information may also be referred to as the second information without departing from the scope of the invention. Similarly, the second information may also be referred to as the first information. Depending on the context, in addition, the word "if" may be interpreted as "when", or "when", or "in response to determination."
本发明实施例提出一种飞行控制方法，该方法可以应用于包括控制设备和无人机的***，该控制设备可以为遥控器、移动终端(如手机)、手环、智能手表等，对此控制设备的类型不做限制。参见图1所示，为飞行控制方法方法的应用场景示意图。其中，控制设备能够与无人机进行通信，且二者的连接方式可以包括但不限于有线连接或者无线连接，对此连接方式不做限制，在图1中以无线连接(如WiFi、OcuSync、Lightbridge、Auxiliary等)为例。The embodiment of the invention provides a flight control method, which can be applied to a system including a control device and a drone, and the control device can be a remote controller, a mobile terminal (such as a mobile phone), a wristband, a smart watch, etc. The type of control device is not limited. Referring to FIG. 1 , it is a schematic diagram of an application scenario of a flight control method method. The control device can communicate with the drone, and the connection manner of the two can include, but is not limited to, a wired connection or a wireless connection. The connection mode is not limited. In FIG. 1, the wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary, etc.) as an example.
参见图2所示，为该飞行控制方法的流程图，该方法可以应用于无人机。Referring to Figure 2, a flow chart of the flight control method can be applied to a drone.
步骤201，在自主飞行模式下，获取来自用户的用于改变无人机的飞行参数的第一操作命令。在自主飞行模式中，无人机可以根据特定策略中的飞行参数自主飞行，且该第一操作命令用于改变该特定策略中的飞行参数。 Step 201: In the autonomous flight mode, acquire a first operation command from the user for changing flight parameters of the drone. In the autonomous flight mode, the drone can fly autonomously according to flight parameters in a particular strategy, and the first operational command is used to change flight parameters in that particular strategy.
步骤202，根据该第一操作命令改变无人机的飞行参数。Step 202: Change flight parameters of the drone according to the first operation command.
在一个例子中，自主飞行模式可以包括但不限于：智能跟随模式；或者，指点飞行模式。其中，智能跟随模式可以是指：在确定拍摄对象(如某个用户)后，无人机锁定该拍摄对象，通过跟随该拍摄对象，始终使该拍摄对象位于无人机的拍摄画面内。例如，智能跟随模式中的环绕跟随，可以是无人机对拍摄对象进行环绕飞行，如沿逆时针跟随拍摄对象、或者沿顺时针跟随拍摄对象。又例如，智能跟随模式中的螺旋上升跟随，可以是无人机采用螺旋上升方式跟随拍摄对象，始终使拍摄对象位于无人机的拍摄画面内。又例如，智能跟随模式中的远离目标跟随，可以是无人机采用距离拍摄对象越来越远的方式跟随拍摄对象，但是也要使拍摄对象位于无人机的拍摄画面内。In one example, the autonomous flight mode may include, but is not limited to, a smart following mode; or a pointing flight mode. The smart follow mode may mean that after determining a subject (such as a certain user), the drone locks the subject, and by following the subject, the subject is always placed in the shooting screen of the drone. For example, the surround follow-up in the smart follow mode may be that the drone performs a surround flight to the subject, such as following the subject counterclockwise, or following the subject clockwise. For another example, the spiral follow-up in the smart follow mode may be that the drone follows the subject in a spiral rising manner, and the subject is always placed in the shooting screen of the drone. For another example, away from the target in the smart follow mode, the drone may follow the subject in a manner that is farther and farther away from the subject, but also the subject is located in the shooting screen of the drone.
此外，指点飞行模式可以是指：在确定飞行目的地(也可以称为飞行目标)后，无人机始终朝着飞行目的地的方向飞行，一直到无人机到达飞行目的地。或者，在未确定飞行目的地的情况下，也可以确定一个飞行方向，即无人机始终沿着该飞行方向飞行，一直到用户控制无人机停止飞行。In addition, the pointing flight mode may mean that after determining the flight destination (which may also be referred to as a flight target), the drone always flies in the direction of the flight destination until the drone reaches the flight destination. Alternatively, in the case where the flight destination is not determined, it is also possible to determine a flight direction in which the drone always travels in the flight direction until the user controls the drone to stop flying.
在一个例子中，上述飞行参数可以包括但不限于以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向等。基于此，上述特定策略可以是与飞行模式、飞行参数有关的策略，可以根据实际经验进行配置。In one example, the flight parameters described above may include, but are not limited to, one or any combination of: direction of motion, speed of motion, altitude of flight, heading direction, and the like. Based on this, the above specific strategy may be a strategy related to flight mode and flight parameters, and may be configured according to actual experience.
例如，特定策略A中的飞行策略可以包括：飞行模式为智能跟随模式中的环绕跟随、或者螺旋上升跟随、或者远离目标跟随等。特定策略A中的飞行参数可以包括：运动方向为沿逆时针跟随拍摄对象，运动速度为6米/秒，飞行高度为10米，机头方向为正前方，无人机与拍摄对象的距离为6米等；当然，该飞行参数并不局限于上述内容，对此飞行参数不做限制。基于此，无人机可以根据特定策略A中的飞行策略和飞行参数自主飞行，如采用环绕跟随自主飞行，运动方向为沿逆时针跟随拍摄对象，运动速度为6米/秒，飞行高度为10米，机头方向为正前方，无人机与拍摄对象的距离为6米等。 For example, the flight strategy in a particular strategy A may include: the flight mode is a surround follow in the smart follow mode, or a spiral rise follow, or away from target follow, and the like. The flight parameters in the specific strategy A may include: the moving direction is to follow the object counterclockwise, the moving speed is 6 m / s, the flying height is 10 m, the head direction is directly in front, and the distance between the drone and the subject is 6 meters, etc.; of course, the flight parameters are not limited to the above, and there are no restrictions on the flight parameters. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy A. For example, the surround autonomous flight is adopted, and the moving direction is to follow the object counterclockwise, the moving speed is 6 m/s, and the flying height is 10 Meter, the direction of the nose is directly in front, and the distance between the drone and the subject is 6 meters.
进一步，上述第一操作命令可以改变该特定策略A中的飞行参数，例如，该第一操作命令可以携带飞行控制参数，该飞行控制参数用于改变该特定策略中的飞行参数。例如，飞行控制参数用于将运动方向从沿逆时针跟随拍摄对象，改变为沿顺时针跟随拍摄对象；将运动速度6米/秒改变为5米/秒；将飞行高度10米改变为飞行高度12米。以此类推，后续步骤详细介绍该过程。Further, the first operation command may change the flight parameter in the specific strategy A. For example, the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific strategy. For example, the flight control parameters are used to change the direction of motion from counterclockwise to the subject, to follow the subject clockwise; to change the speed of 6 m/s to 5 m/s; to change the altitude of 10 m to the flying height 12 meters. By analogy, the next steps detail the process.
又例如，特定策略B中的飞行策略可以包括：飞行模式为指点飞行模式中的朝飞行目的地进行飞行或者确定一个飞行方向后的飞行等。此外，特定策略B中的飞行参数可以包括：运动方向可以为向前，运动速度为6米/秒，飞行高度为10米，机头方向为正前方等。然，该飞行参数并不局限于上述内容，对此飞行参数不做限制。基于此，无人机可以根据特定策略B中的飞行策略和飞行参数自主飞行，如采用指点飞行模式自主飞行，运动方向为向前飞行，运动速度为6米/秒，飞行高度为10米，机头方向为正前方。For another example, the flight strategy in the specific strategy B may include: the flight mode is a flight toward a flight destination in the pointing flight mode or a flight after determining a flight direction, and the like. In addition, the flight parameters in the specific strategy B may include: the moving direction may be forward, the moving speed is 6 m/s, the flying height is 10 m, the head direction is directly in front, and the like. However, the flight parameters are not limited to the above, and the flight parameters are not limited. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy B, such as autonomous flight using the pointing flight mode, the moving direction is forward flight, the moving speed is 6 m / s, and the flying height is 10 m. The direction of the nose is directly in front.
进一步，上述第一操作命令可以改变该特定策略B中的飞行参数，例如，该第一操作命令可以携带飞行控制参数，该飞行控制参数用于改变该特定策略B中的飞行参数。在后续过程中会详细介绍该改变飞行参数的过程。Further, the first operation command may change a flight parameter in the specific policy B. For example, the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific policy B. The process of changing the flight parameters will be described in detail in the subsequent process.
在一个例子中，针对“获取来自用户的用于改变无人机的飞行参数的第一操作命令”的过程，可以包括但不限于如下方式：方式一、获取用户的姿态信息，并根据该姿态信息获取用于改变无人机的飞行参数的第一操作命令。方式二、接收控制设备发送的用于改变无人机的飞行参数的第一操作命令。In one example, the process for "acquiring the first operation command for changing the flight parameters of the drone from the user" may include, but is not limited to, the following manner: mode one: acquiring the posture information of the user, and according to the posture The information acquires a first operational command for changing the flight parameters of the drone. Manner 2: The first operation command sent by the control device for changing the flight parameters of the drone.
针对方式一，无人机可以通过摄像装置采集到用户的姿态信息，如用户举起右手、用户举起左手等。无人机可以通过查询姿态表，得到与该姿态信息对应的第一操作命令，该姿态表用于记录姿态信息与操作命令的对应关系。For the first method, the drone can collect the posture information of the user through the camera device, such as the user raising the right hand and the user raising the left hand. The UAV can obtain a first operation command corresponding to the posture information by querying the posture table, and the posture table is used for recording the correspondence between the posture information and the operation command.
例如，该姿态表用于记录姿态信息A(如用户举起右手)与操作命令A(如加速飞行)的对应关系，姿态信息B(如用户举起左手)与操作命令B(如减速飞行)的对应关系。基于此，无人机采集到姿态信息为用户举起右 手时，通过查询姿态表，得到用于对无人机进行加速飞行的第一操作命令。For example, the gesture table is used to record the correspondence between the posture information A (such as the user raising the right hand) and the operation command A (such as the accelerated flight), the posture information B (such as the user raising the left hand) and the operation command B (such as the deceleration flight). Correspondence. Based on this, the drone collects the attitude information for the user to lift the right At the time of hand, the first operation command for accelerating flight of the drone is obtained by querying the attitude table.
针对方式二，由于控制设备可以包括但不限于遥控器、移动终端、手环、智能手表等类型，因此，可以将方式二的处理过程，区分为如下情况：For the second mode, the control device may include, but is not limited to, a remote controller, a mobile terminal, a wristband, a smart watch, and the like. Therefore, the processing of the second method may be classified as follows:
情况一、第一操作命令是控制设备在检测到本控制设备的姿态信息后发送的。具体的，当控制设备为移动终端、手环、智能手表等设备时，控制设备可以检测到本控制设备的姿态信息，并根据该姿态信息生成用于改变无人机的飞行参数的第一操作命令。例如，当控制设备的姿态信息为姿态信息A时，生成用于对无人机进行加速飞行的第一操作命令，当控制设备的姿态信息为姿态信息B时，生成用于对无人机进行减速飞行的第一操作命令。Case 1: The first operation command is sent by the control device after detecting the posture information of the control device. Specifically, when the control device is a mobile terminal, a wristband, a smart watch, or the like, the control device may detect the posture information of the control device, and generate a first operation for changing the flight parameter of the drone according to the posture information. command. For example, when the posture information of the control device is the posture information A, a first operation command for performing an accelerated flight on the drone is generated, and when the posture information of the control device is the posture information B, the generation is performed for the drone The first operational command to slow down the flight.
情况二、第一操作命令是控制设备在检测到用户对摇杆的操作后发送的。具体的，当控制设备为遥控器时，则遥控器可以检测到用户对摇杆的操作方式，并根据该操作方式生成用于改变无人机的飞行参数的第一操作命令。例如，当用户对摇杆的操作方式为操作A(如向上推到摇杆)时，生成用于对无人机进行加速飞行的第一操作命令，当用户对摇杆的操作方式为操作B(如向下推到摇杆)时，生成用于对无人机进行减速飞行的第一操作命令。Case 2: The first operation command is sent by the control device after detecting the user's operation on the joystick. Specifically, when the control device is a remote controller, the remote controller can detect the operation mode of the user on the joystick, and generate a first operation command for changing the flight parameters of the drone according to the operation mode. For example, when the user operates the joystick in the manner of operation A (such as pushing up to the joystick), a first operation command for accelerating flight of the drone is generated, and when the user operates the joystick as operation B (If pushed down to the rocker), a first operational command is generated for decelerating the drone.
情况三、第一操作命令是移动终端在检测到用户对操作界面的操作后发送的。当控制设备为移动终端时，移动终端可以检测到用户对操作界面的操作方式，并根据该操作方式生成用于改变无人机的飞行参数的第一操作命令。例如，当用户对操作界面的操作方式为操作A(如向右滑动)时，生成用于对无人机进行加速飞行的第一操作命令，当用户对操作界面的操作方式为操作B(如向左滑动)时，生成用于对无人机进行减速飞行的第一操作命令。Case 3: The first operation command is sent by the mobile terminal after detecting the operation of the user on the operation interface. When the control device is a mobile terminal, the mobile terminal can detect the operation mode of the user on the operation interface, and generate a first operation command for changing the flight parameters of the drone according to the operation mode. For example, when the user operates the operation interface as operation A (such as sliding to the right), a first operation command for performing an accelerated flight on the drone is generated, and when the user operates the operation interface as operation B (eg, When sliding to the left, a first operational command for decelerating flight of the drone is generated.
当然，在实际应用中，并不局限于上述“获取来自用户的用于改变无人机的飞行参数的第一操作命令”的方式，如无人机还可以检测用户的声音信息，并根据该声音信息获取用于改变无人机的飞行参数的第一操作命令。对此第一操作命令的获取方式不做限制，只要能够获取到第一操作命令即可。 Of course, in practical applications, it is not limited to the above manner of “acquiring the first operation command for changing the flight parameters of the drone from the user”, and the drone can also detect the user’s voice information, and according to the The sound information acquires a first operational command for changing the flight parameters of the drone. The manner of obtaining the first operation command is not limited, as long as the first operation command can be obtained.
在一个例子中，针对“根据该第一操作命令改变无人机的飞行参数”的过程，可以包括但不限于如果方式：在根据第一操作命令改变无人机的运动方向的过程中，可以根据第一操作命令将无人机左转和/或将无人机右转；进一步的，在自主飞行模式为智能跟随模式时，运动方向可以包括沿逆时针跟随拍摄对象和/或沿顺时针跟随拍摄对象；因此，根据第一操作命令将无人机左转还可以是沿顺时针跟随拍摄对象，根据第一操作命令将无人机右转还可以是沿逆时针跟随拍摄对象。在根据第一操作命令改变无人机的运动速度的过程中，可以根据第一操作命令对无人机进行加速飞行和/或减速飞行；进一步的，运动速度还可以包括飞行速度值；因此，根据第一操作命令对无人机进行加速飞行和/或减速飞行时，可以将运动速度调整为所述飞行速度值。In an example, the process of “changing the flight parameters of the drone according to the first operation command” may include, but is not limited to, if the mode is: in the process of changing the moving direction of the drone according to the first operation command, Turning the drone to the left and/or turning the drone to the right according to the first operation command; further, when the autonomous flight mode is the smart following mode, the direction of motion may include following the subject counterclockwise and/or clockwise Following the subject; therefore, turning the drone to the left according to the first operation command may also follow the subject clockwise, and turning the drone right according to the first operation command may also follow the subject counterclockwise. In the process of changing the moving speed of the drone according to the first operation command, the unmanned aerial vehicle may be accelerated and/or decelerated according to the first operation command; further, the moving speed may further include a flight speed value; therefore, When the UAV is subjected to accelerated flight and/or deceleration flight according to the first operational command, the motion speed may be adjusted to the flight speed value.
在根据第一操作命令改变无人机的飞行高度的过程中，可以根据第一操作命令对无人机进行向高偏移(如向高飞行1米)和/或向低偏移(如向低飞行1米)。在根据第一操作命令改变无人机的机头方向的过程中，可以根据第一操作命令将无人机的机头左转和/或机头右转；通过将无人机的机头左转和/或机头右转，可以使得拍摄目标始终在无人机的拍摄画面内，保证拍摄效果。In the process of changing the flying height of the drone according to the first operation command, the drone may be shifted to a high degree (eg, 1 meter to a high altitude) and/or to a low offset according to the first operation command (eg, Low flight 1 meter). In the process of changing the head direction of the drone according to the first operation command, the head of the drone can be turned left and/or the head can be turned right according to the first operation command; by moving the head of the drone to the left Turning and/or turning the nose to the right can make the shooting target always in the shooting screen of the drone, ensuring the shooting effect.
其中，在云台的yaw轴(也就是偏航角)与无人机的yaw轴相互固定时，通过将无人机的机头左转和/或机头右转，可以控制无人机的偏航角，这样就可以达到控制云台的偏航角的目的。也就是说，通过调整无人机的机头方向，达到调整云台的目的，使得拍摄目标在云台的拍摄画面内。此外，若云台的yaw轴与无人机的yaw轴解耦，则无须要调整无人机的机头方向，可以直接改变无人机上云台的姿态，从而使得拍摄目标在云台的拍摄画面内。Wherein, when the yaw axis of the gimbal (that is, the yaw angle) and the yaw axis of the drone are fixed to each other, the drone can be controlled by turning the nose of the drone to the left and/or turning the nose to the right. The yaw angle, so that the yaw angle of the gimbal can be controlled. That is to say, by adjusting the direction of the nose of the drone, the purpose of adjusting the gimbal is achieved, so that the shooting target is within the shooting picture of the gimbal. In addition, if the yaw axis of the gimbal is decoupled from the yaw axis of the drone, it is not necessary to adjust the head direction of the drone, and the posture of the gimbal on the drone can be directly changed, so that the shooting target is shot at the gimbal. Inside the picture.
以下结合具体实施例，对改变无人机上云台的姿态的过程进行详细说明。The process of changing the attitude of the pan/tilt on the drone will be described in detail below in conjunction with the specific embodiments.
在一个例子中，在指点飞行模式下，无人机还可以获取来自用户的用于改变无人机上云台的姿态的第二操作命令，并根据该第二操作命令改变无人机上云台的姿态。其中，针对“获取来自用户的用于改变无人机上云台的姿态的第二操作命令”的过程，无人机可以接收控制设备发送的用于改变无人机上 云台的姿态的第二操作命令，该控制设备包括遥控器，或者，移动终端。In an example, in the pointing flight mode, the drone can also acquire a second operation command from the user for changing the posture of the pan/tilt on the drone, and change the pan/tilt on the drone according to the second operation command. attitude. Wherein, for the process of “acquiring a second operation command from the user for changing the posture of the pan/tilt on the drone”, the drone can receive the control device to transmit the change on the drone A second operational command of the attitude of the gimbal, the control device comprising a remote controller, or a mobile terminal.
基于上述技术方案，本发明实施例中，当无人机在自主飞行模式下飞行时，在无人机自主飞行的基础上，用户可以调整无人机的飞行参数，从而可以控制无人机的飞行，提高用户使用体验。Based on the above technical solution, in the embodiment of the present invention, when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
参见图3所示，为飞行控制方法的流程图，该方法可以应用于控制设备。Referring to Figure 3, which is a flow chart of a flight control method, the method can be applied to a control device.
步骤301，在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令。在自主飞行模式中，该无人机根据特定策略中的飞行参数自主飞行，且该第一操作命令用于改变该特定策略中的飞行参数。Step 301: In the autonomous flight mode, generate a first operation command for changing flight parameters of the drone. In the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, and the first operational command is used to change flight parameters in the particular strategy.
步骤302，将该第一操作命令发送给无人机，以使无人机根据该第一操作命令改变无人机的飞行参数，具体的改变过程可以参见图2所示的流程。Step 302: Send the first operation command to the drone, so that the drone changes the flight parameters of the drone according to the first operation command. For the specific change process, refer to the process shown in FIG. 2 .
在一个例子中，自主飞行模式可以包括但不限于：智能跟随模式；或者，指点飞行模式。其中，智能跟随模式可以是指：在确定拍摄对象(如某个用户)后，无人机锁定该拍摄对象，通过跟随该拍摄对象，始终使该拍摄对象位于无人机的拍摄画面内。例如，智能跟随模式中的环绕跟随，可以是无人机对拍摄对象进行环绕飞行，如沿逆时针跟随拍摄对象、或者沿顺时针跟随拍摄对象。又例如，智能跟随模式中的螺旋上升跟随，可以是无人机采用螺旋上升方式跟随拍摄对象，始终使拍摄对象位于无人机的拍摄画面内。又例如，智能跟随模式中的远离目标跟随，可以是无人机采用距离拍摄对象越来越远的方式跟随拍摄对象，但是也要使拍摄对象位于无人机的拍摄画面内。In one example, the autonomous flight mode may include, but is not limited to, a smart following mode; or a pointing flight mode. The smart follow mode may mean that after determining a subject (such as a certain user), the drone locks the subject, and by following the subject, the subject is always placed in the shooting screen of the drone. For example, the surround follow-up in the smart follow mode may be that the drone performs a surround flight to the subject, such as following the subject counterclockwise, or following the subject clockwise. For another example, the spiral follow-up in the smart follow mode may be that the drone follows the subject in a spiral rising manner, and the subject is always placed in the shooting screen of the drone. For another example, away from the target in the smart follow mode, the drone may follow the subject in a manner that is farther and farther away from the subject, but also the subject is located in the shooting screen of the drone.
此外，指点飞行模式可以是指：在确定飞行目的地(也可以称为飞行目标)后，无人机始终朝着飞行目的地的方向飞行，一直到无人机到达飞行目的地。或者，在未确定飞行目的地的情况下，也可以确定一个飞行方向，即无人机始终沿着该飞行方向飞行，一直到用户控制无人机停止飞行。In addition, the pointing flight mode may mean that after determining the flight destination (which may also be referred to as a flight target), the drone always flies in the direction of the flight destination until the drone reaches the flight destination. Alternatively, in the case where the flight destination is not determined, it is also possible to determine a flight direction in which the drone always travels in the flight direction until the user controls the drone to stop flying.
在一个例子中，上述飞行参数可以包括但不限于以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向等。基于此，上述特定策略可以 是与飞行模式、飞行参数有关的策略，可以根据实际经验进行配置。In one example, the flight parameters described above may include, but are not limited to, one or any combination of: direction of motion, speed of motion, altitude of flight, heading direction, and the like. Based on this, the above specific strategy can It is a strategy related to flight mode and flight parameters, which can be configured according to actual experience.
例如，特定策略A中的飞行策略可以包括：飞行模式为智能跟随模式中的环绕跟随、或者螺旋上升跟随、或者远离目标跟随等。特定策略A中的飞行参数可以包括：运动方向为沿逆时针跟随拍摄对象，运动速度为6米/秒，飞行高度为10米，机头方向为正前方，无人机与拍摄对象的距离为6米等；当然，该飞行参数并不局限于上述内容，对此飞行参数不做限制。基于此，无人机可以根据特定策略A中的飞行策略和飞行参数自主飞行，如采用环绕跟随自主飞行，运动方向为沿逆时针跟随拍摄对象，运动速度为6米/秒，飞行高度为10米，机头方向为正前方，无人机与拍摄对象的距离为6米等。For example, the flight strategy in a particular strategy A may include: the flight mode is a surround follow in the smart follow mode, or a spiral rise follow, or away from target follow, and the like. The flight parameters in the specific strategy A may include: the moving direction is to follow the object counterclockwise, the moving speed is 6 m / s, the flying height is 10 m, the head direction is directly in front, and the distance between the drone and the subject is 6 meters, etc.; of course, the flight parameters are not limited to the above, and there are no restrictions on the flight parameters. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy A. For example, the surround autonomous flight is adopted, and the moving direction is to follow the object counterclockwise, the moving speed is 6 m/s, and the flying height is 10 Meter, the direction of the nose is directly in front, and the distance between the drone and the subject is 6 meters.
进一步，上述第一操作命令可以改变该特定策略A中的飞行参数，例如，该第一操作命令可以携带飞行控制参数，该飞行控制参数用于改变该特定策略中的飞行参数。例如，飞行控制参数用于将运动方向从沿逆时针跟随拍摄对象，改变为沿顺时针跟随拍摄对象；将运动速度6米/秒改变为5米/秒；将飞行高度10米改变为飞行高度12米。以此类推，后续步骤详细介绍该过程。Further, the first operation command may change the flight parameter in the specific strategy A. For example, the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific strategy. For example, the flight control parameters are used to change the direction of motion from counterclockwise to the subject, to follow the subject clockwise; to change the speed of 6 m/s to 5 m/s; to change the altitude of 10 m to the flying height 12 meters. By analogy, the next steps detail the process.
又例如，特定策略B中的飞行策略可以包括：飞行模式为指点飞行模式中的朝飞行目的地进行飞行或者确定一个飞行方向后的飞行等。此外，特定策略B中的飞行参数可以包括：运动方向可以为向前，运动速度为6米/秒，飞行高度为10米，机头方向为正前方等。然，该飞行参数并不局限于上述内容，对此飞行参数不做限制。基于此，无人机可以根据特定策略B中的飞行策略和飞行参数自主飞行，如采用指点飞行模式自主飞行，运动方向为向前飞行，运动速度为6米/秒，飞行高度为10米，机头方向为正前方。For another example, the flight strategy in the specific strategy B may include: the flight mode is a flight toward a flight destination in the pointing flight mode or a flight after determining a flight direction, and the like. In addition, the flight parameters in the specific strategy B may include: the moving direction may be forward, the moving speed is 6 m/s, the flying height is 10 m, the head direction is directly in front, and the like. However, the flight parameters are not limited to the above, and the flight parameters are not limited. Based on this, the drone can fly autonomously according to the flight strategy and flight parameters in the specific strategy B, such as autonomous flight using the pointing flight mode, the moving direction is forward flight, the moving speed is 6 m / s, and the flying height is 10 m. The direction of the nose is directly in front.
进一步，上述第一操作命令可以改变该特定策略B中的飞行参数，例如，该第一操作命令可以携带飞行控制参数，该飞行控制参数用于改变该特定策略B中的飞行参数。在后续过程中会详细介绍该改变飞行参数的过程。Further, the first operation command may change a flight parameter in the specific policy B. For example, the first operation command may carry a flight control parameter, and the flight control parameter is used to change a flight parameter in the specific policy B. The process of changing the flight parameters will be described in detail in the subsequent process.
在一个例子中，在生成用于改变无人机的飞行参数的第一操作命令之前， 控制设备还可以获取飞行控制参数。第一操作命令还可以携带获取的飞行控制参数，且该飞行控制参数用于使无人机根据该飞行控制参数改变无人机的飞行参数。进一步的，飞行控制参数可以包括但不限于以下之一或者任意组合：用于将无人机左转和/或右转的飞行控制参数；用于对无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将无人机的机头左转和/或机头右转的飞行控制参数。In one example, before generating a first operational command to change the flight parameters of the drone, The control device can also obtain flight control parameters. The first operational command may also carry the acquired flight control parameters, and the flight control parameters are used to cause the drone to change the flight parameters of the drone according to the flight control parameters. Further, the flight control parameters may include, but are not limited to, one or any combination of the following: flight control parameters for turning the drone left and/or right; for accelerating flight and/or deceleration flight of the drone Flight control parameters; flight control parameters for high and/or low offset of the drone; flight control parameters for turning the nose of the drone to the left and/or to the right of the nose .
在一个例子中，针对“控制设备获取飞行控制参数，根据飞行控制参数生成用于改变无人机的飞行参数的第一操作命令”的过程，包括但不限于：In one example, a process for "control device acquires flight control parameters, generating a first operational command for changing flight parameters of the drone based on flight control parameters," including but not limited to:
方式一，当控制设备为移动终端、手环、智能手表等设备时，控制设备可以检测到本控制设备的姿态信息，根据该姿态信息获取飞行控制参数，根据该飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。如当控制设备的姿态信息为姿态信息A时，确定飞行控制参数为用于对无人机进行加速飞行的飞行控制参数，生成用于对无人机进行加速飞行的第一操作命令。In the first method, when the control device is a mobile terminal, a wristband, a smart watch, or the like, the control device can detect the posture information of the control device, obtain the flight control parameter according to the posture information, and generate the change according to the flight control parameter. The first operational command of the flight parameters of the human machine. For example, when the attitude information of the control device is the attitude information A, the flight control parameter is determined as a flight control parameter for performing an accelerated flight on the drone, and a first operation command for performing an accelerated flight on the drone is generated.
方式二，当控制设备为遥控器时，则遥控器可以检测到用户对摇杆的操作方式，并根据该操作方式获取飞行控制参数，根据该飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。例如，当用户对摇杆的操作方式为操作A(如向上推到摇杆)时，确定飞行控制参数为用于对无人机进行加速飞行的飞行控制参数，并生成用于对无人机进行加速飞行的第一操作命令。In the second mode, when the control device is a remote controller, the remote controller can detect the operation mode of the user on the joystick, and obtain flight control parameters according to the operation mode, and generate flight parameters for changing the drone according to the flight control parameter. The first operational command. For example, when the user operates the joystick as operation A (eg, pushes up to the joystick), the flight control parameters are determined as flight control parameters for the accelerated flight of the drone, and are generated for the drone. The first operational command to accelerate the flight.
方式三，当控制设备为移动终端时，移动终端可以检测用户对操作界面的操作方式，根据该操作方式获取飞行控制参数，根据该飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。例如，当用户对操作界面的操作方式为操作A(如向右滑动)时，确定飞行控制参数为用于对无人机进行加速飞行的飞行控制参数，生成用于对无人机进行加速飞行的第一操作命令。In the third manner, when the control device is a mobile terminal, the mobile terminal can detect the operation mode of the user on the operation interface, obtain flight control parameters according to the operation mode, and generate a first function for changing the flight parameters of the drone according to the flight control parameter. Operational commands. For example, when the user operates the operation interface as operation A (such as sliding to the right), the flight control parameter is determined as a flight control parameter for the accelerated flight of the drone, and is generated for the accelerated flight of the drone. The first operational command.
其中，用户对操作界面的操作，可以是对操作界面上的虚拟按键、或虚拟选项、或虚拟摇杆的操作，为了方便描述，后续以对操作界面上的虚拟摇 杆(如后续的摇杆控制条、第一虚拟摇杆、第二虚拟摇杆等)进行操作为例。The operation of the user interface on the operation interface may be a virtual button on the operation interface, or a virtual option, or a virtual joystick operation. For the convenience of description, the virtual wave on the operation interface is followed. A lever (such as a subsequent rocker control bar, a first virtual joystick, a second virtual joystick, etc.) operates as an example.
当然，在实际应用中，并不局限于上述“生成用于改变无人机的飞行参数的第一操作命令”的方式，对此第一操作命令的生成方式不做限制。Of course, in practical applications, the manner of generating the first operation command for changing the flight parameters of the drone is not limited, and the manner of generating the first operation command is not limited.
在一个例子中，在自主飞行模式为智能跟随模式，且控制设备为移动终端时，则还可以在操作界面显示摇杆控制条；根据用户对该摇杆控制条的操作确定无人机的运动方向。进一步的，针对“根据用户对摇杆控制条的操作确定无人机的运动方向”的过程，可以包括：当接收到用户向右移动摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；当接收到用户向左移动摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象。In an example, when the autonomous flight mode is the smart follow mode and the control device is a mobile terminal, the joystick control bar may also be displayed on the operation interface; the motion of the drone is determined according to the operation of the joystick control bar by the user. direction. Further, the process of determining the direction of movement of the drone according to the operation of the joystick control bar by the user may include: determining the moving direction of the drone after receiving the operation of moving the joystick control bar to the right by the user To follow the subject counterclockwise, or to follow the subject clockwise; when receiving the user moving the joystick control bar to the left, determine the direction of movement of the drone to follow the subject clockwise, or Follow the subject counterclockwise.
在一个例子中，在自主飞行模式为智能跟随模式，且控制设备为移动终端时，则还可以在操作界面显示摇杆控制条，并根据用户对该摇杆控制条的操作确定无人机的运动速度。进一步的，针对“根据用户对该摇杆控制条的操作确定无人机的运动速度”的过程，可以包括：当接收到用户点击该摇杆控制条或者在该摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与该操作的位置对应的飞行速度值；其中，该摇杆控制条的不同位置对应不同的飞行速度值，例如，位置1对应飞行速度值6米/秒。In an example, when the autonomous flight mode is the intelligent following mode, and the control device is a mobile terminal, the joystick control bar may also be displayed on the operation interface, and the drone is determined according to the operation of the joystick control bar by the user. Movement speed. Further, the process of determining the movement speed of the drone according to the operation of the joystick control bar by the user may include: receiving an operation of the user clicking the rocker control bar or moving on the joystick control bar After that, the location of the user operation is determined, and the speed of the drone is determined to be a flight speed value corresponding to the position of the operation; wherein different positions of the joystick control bar correspond to different flight speed values, for example, position 1 corresponds to The flight speed is 6 m/s.
在一个例子中，在确定无人机的运动速度为与该操作的位置对应的飞行速度值后，移动终端还可以在操作界面显示与操作的位置对应的飞行速度值。In one example, after determining that the speed of movement of the drone is a flight speed value corresponding to the position of the operation, the mobile terminal may also display a flight speed value corresponding to the operated position on the operation interface.
在一个例子中，在自主飞行模式为指点飞行模式，且控制设备为移动终端时，移动针对还可以在操作界面显示第一虚拟摇杆；根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度。进一步的，针对“根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度”的过程，可以包括：当接收到用户在该第一虚拟摇杆向右滑动、或者在右侧点击、或者在右侧长按(如按3秒)的操作之后，则确定无人机的机头方向为机头右转；或者，当接收到用户在该第一虚拟摇杆向左滑动、或者在左侧点击、或者在 左侧长按(如按3秒)的操作之后，则确定无人机的机头方向为机头左转，其中，向左滑动的长度、在左侧点击的次数、或者在左侧长按的时长可以控制机头左转的程度，例如，向左滑动的长度越大，机头向左转的程度越大；或者，当接收到用户在该第一虚拟摇杆向下滑动、或者在下方点击、或者在下方长按(如按3秒)的操作之后，则确定无人机的飞行高度为向低偏移，其中，向下滑动的长度、在下方点击的次数、或者在下方长按的时长可以控制无人机向低偏移的程度，例如，向左滑动的长度越大，无人机向低偏移的程度越大；或者，当接收到用户在该第一虚拟摇杆向上滑动、或者在上方点击、或者在上方长按(如按3秒)的操作之后，则确定无人机的飞行高度为向高偏移，其中，向上滑动的长度、在上方点击的次数、或者在上方长按的时长可以控制无人机向高偏移的程度，例如，向上滑动的长度越大，无人机向高偏移的程度越大。In an example, when the autonomous flight mode is the pointing flight mode, and the control device is a mobile terminal, the mobile target may also display the first virtual joystick on the operation interface; and determine the drone according to the operation of the first virtual joystick by the user. Head direction and / or flight height. Further, the process of “determining the head direction and/or the flying height of the drone according to the operation of the first virtual joystick by the user” may include: when receiving the user sliding the first virtual joystick to the right, Or after clicking on the right side or long pressing on the right side (for example, pressing 3 seconds), it is determined that the nose direction of the drone is the right turn of the nose; or, when the user receives the first virtual joystick Swipe left, or click on the left, or at After long-pressing on the left side (for example, pressing 3 seconds), it is determined that the head direction of the drone is left-turning, wherein the length of sliding to the left, the number of clicks on the left side, or long-pressing on the left side The length of time can control the degree of left turn of the nose. For example, the greater the length of sliding to the left, the greater the degree of turning the nose to the left; or, when receiving the user, sliding down on the first virtual rocker, or Click below, or press and hold down (for example, 3 seconds) to determine that the flying height of the drone is low, where the length of the slide down, the number of clicks below, or below The duration of the press can control the degree to which the drone is shifted to a low degree. For example, the greater the length of the leftward sliding, the greater the degree of drift of the drone to the low; or, when the user receives the first virtual joystick After sliding up, or clicking on the top, or long pressing on the top (for example, pressing for 3 seconds), it is determined that the flying height of the drone is shifted upward, wherein the length of the upward sliding, the number of clicks above, Or the duration of the long press on the top can control the drone High degree of offset, for example, sliding up the length of the greater, the greater the UAV to a high degree of offset.
在一个例子中，在自主飞行模式为指点飞行模式，且控制设备为移动终端时，在操作界面显示第二虚拟摇杆；然后，根据用户对该第二虚拟摇杆的操作确定无人机的运动速度。进一步的，针对“根据用户对该第二虚拟摇杆的操作确定无人机的运动速度”的过程，可以包括：当接收到用户在第二虚拟摇杆向右滑动、或者在右侧点击、或者在右侧长按(如按3秒)的命令、或者在第二虚拟摇杆向上滑动、或者在上方点击、或者在上方长按(如按3秒)的命令后，确定无人机的运动速度为加速飞行；或者，当接收到用户在第二虚拟摇杆向左滑动、或者在左侧点击、或者在左侧长按(如按3秒)的命令、或者在第二虚拟摇杆向下滑动、或者在下方点击、或者在下发长按(如按3秒)的命令后，确定无人机的运动速度为减速飞行。In one example, when the autonomous flight mode is the pointing flight mode, and the control device is a mobile terminal, the second virtual joystick is displayed on the operation interface; and then, the drone is determined according to the operation of the second virtual joystick by the user. Movement speed. Further, the process of determining the motion speed of the drone according to the operation of the second virtual joystick by the user may include: when receiving the user, sliding the second virtual joystick to the right or clicking on the right side, Or press the command on the right side (for example, press 3 seconds), or on the second virtual joystick to slide up, or click on the top, or press and hold on the top (for example, press 3 seconds) to determine the drone's The speed of movement is to accelerate the flight; or, when receiving a command that the user slides to the left on the second virtual joystick, or clicks on the left side, or long presses on the left side (eg, presses 3 seconds), or on the second virtual joystick Swipe down, or click below, or after pressing the long press (for example, press 3 seconds), make sure the drone's speed is slow.
在一个例子中，在指点飞行模式下，控制设备还可以生成用于改变无人机上云台的姿态的第二操作命令，并将第二操作命令发送给无人机，以使该无人机可以根据该第二操作命令改变该无人机上云台的姿态。In an example, in the pointing flight mode, the control device may further generate a second operation command for changing the attitude of the pan/tilt on the drone, and send the second operation command to the drone to make the drone The attitude of the pan/tilt on the drone can be changed according to the second operation command.
在生成用于改变无人机上云台的姿态的第二操作命令之前，控制设备还 可以获取云台控制参数，且第二操作命令可以携带该云台控制参数，且该云台控制参数用于使无人机根据该云台控制参数改变无人机上云台的姿态。Before generating a second operational command for changing the attitude of the pan/tilt on the drone, the control device further The PTZ control parameter may be obtained, and the second operation command may carry the PTZ control parameter, and the PTZ control parameter is used to enable the UAV to change the posture of the PTZ on the UAV according to the PTZ control parameter.
在一个例子中，当控制设备为移动终端时，则可以检测用户对操作界面的操作方式，并根据该操作方式获取云台控制参数，并生成用于改变无人机上云台的姿态的第二操作命令。进一步的，移动终端可以在操作界面显示第三虚拟摇杆，当接收到用户在第三虚拟摇杆滑动的操作(也就是用户对操作界面的操作方式)后，确定用户的滑动方向与无人机上云台的控制方向相同。In an example, when the control device is a mobile terminal, the operation mode of the user on the operation interface may be detected, and the PTZ control parameter is acquired according to the operation mode, and the second posture for changing the posture of the PTZ on the UAV is generated. Operational commands. Further, the mobile terminal may display the third virtual joystick on the operation interface, and after receiving the operation of the user sliding on the third virtual joystick (that is, the operation mode of the user on the operation interface), determining the sliding direction of the user and the unmanned The control direction of the on-board pan/tilt is the same.
在一个例子中，当控制设备为移动终端、手环、智能手表等设备时，控制设备可以检测到本控制设备的姿态信息，并根据该姿态信息生成用于改变无人机上云台的姿态的第二操作命令，并将第二操作命令发送给无人机。具体的，控制设备可以根据该姿态信息获取云台控制参数，根据该云台控制参数生成用于改变无人机上云台的姿态的第二操作命令。例如，检测移动终端的运动方向，并确定移动终端的运动方向与无人机上云台的控制方向相同。In an example, when the control device is a mobile terminal, a wristband, a smart watch, or the like, the control device may detect the posture information of the control device, and generate a posture for changing the posture of the pan/tilt on the drone according to the posture information. The second operation command sends the second operation command to the drone. Specifically, the control device may acquire the PTZ control parameter according to the posture information, and generate a second operation command for changing the posture of the PTZ on the UAV according to the PTZ control parameter. For example, detecting the moving direction of the mobile terminal, and determining that the moving direction of the mobile terminal is the same as the control direction of the pan/tilt on the drone.
基于上述技术方案，本发明实施例中，当无人机在自主飞行模式下飞行时，在无人机自主飞行的基础上，用户可以调整无人机的飞行参数，从而可以控制无人机的飞行，提高用户使用体验。Based on the above technical solution, in the embodiment of the present invention, when the drone is flying in the autonomous flight mode, on the basis of the autonomous flight of the drone, the user can adjust the flight parameters of the drone, thereby controlling the drone's Fly to improve the user experience.
以下结合几个具体应用场景，对上述飞行控制方法进行详细说明。The above flight control method will be described in detail below in combination with several specific application scenarios.
应用场景1，以控制设备为移动终端，自主飞行模式为智能跟随模式(如智能跟随模式的环绕跟随)为例。参见图4A所示，为飞行控制方法的流程图。Application scenario 1 takes the control device as the mobile terminal and the autonomous flight mode as the smart follow mode (such as the surround follow-up of the smart follow mode) as an example. Referring to Figure 4A, a flow chart of the flight control method.
步骤401，用户拉框/点击拍摄对象，锁定拍摄对象。如图4B所示，为用户对拍摄对象在FPV画面拉框锁定的示意图，表示特定策略为智能跟随模式。In step 401, the user pulls the frame/clicks on the subject and locks the subject. As shown in FIG. 4B, a schematic diagram of the user locking the frame on the FPV screen for the subject indicates that the specific policy is the smart follow mode.
步骤402，移动终端在操作界面显示摇杆控制条(即虚拟摇杆控制条)。Step 402: The mobile terminal displays a joystick control bar (ie, a virtual joystick control bar) on the operation interface.
如图4C所示，当用户向右移动摇杆控制条时，表示沿逆时针跟随拍摄对象；当用户向左移动摇杆控制条时，表示沿顺时针跟随拍摄对象。此外，摇杆控制条的不同位置对应不同的飞行速度值，当用户点击摇杆控制条的指定 位置时，基于用户点击的位置，确定与该位置对应的飞行速度值(如6米/秒)。当用户点击摇杆控制条的指定位置时，还可以显示对应的飞行速度值。As shown in FIG. 4C, when the user moves the joystick control bar to the right, it means that the subject is followed counterclockwise; when the user moves the joystick control bar to the left, it means that the subject is followed clockwise. In addition, the different positions of the joystick control bar correspond to different flight speed values, when the user clicks the designation of the joystick control bar In the position, based on the position clicked by the user, the flight speed value corresponding to the position (for example, 6 m/s) is determined. When the user clicks on the specified position of the joystick control bar, the corresponding flight speed value can also be displayed.
如图4D所示，当用户松开手指后，移动终端还可以在移动摇杆控制条上显示重置按钮，当用户点击该重置按钮时，表示将飞行速度值调整为0。As shown in FIG. 4D, after the user releases the finger, the mobile terminal can also display a reset button on the moving joystick control bar, and when the user clicks the reset button, it indicates that the flight speed value is adjusted to zero.
步骤403，移动终端根据用户对摇杆控制条的操作，确定飞行控制参数。Step 403: The mobile terminal determines flight control parameters according to the operation of the joystick control bar by the user.
例如，当接收到用户向右移动摇杆控制条的操作后，移动终端确定无人机的运动方向为沿逆时针跟随拍摄对象，即飞行控制参数是用于将无人机的运动方向设置为沿逆时针跟随拍摄对象的参数；当接收到用户向左移动摇杆控制条的操作后，移动终端确定无人机的运动方向为沿顺时针跟随拍摄对象，即飞行控制参数是用于将无人机的运动方向设置为为沿顺时针跟随拍摄对象的参数。当接收到用户点击摇杆控制条的操作后，移动终端确定用户操作的位置，并确定无人机的运动速度为与位置对应的飞行速度值，即飞行控制参数是用于将无人机的运动速度设置为该飞行速度值的参数，以此类推。For example, after receiving the operation of moving the joystick control bar to the right by the user, the mobile terminal determines that the direction of motion of the drone is to follow the object counterclockwise, that is, the flight control parameter is used to set the direction of motion of the drone to Follow the parameters of the subject counterclockwise; after receiving the operation of moving the joystick control bar to the left by the user, the mobile terminal determines that the direction of motion of the drone is to follow the subject clockwise, that is, the flight control parameter is used for The direction of movement of the human machine is set to be a parameter that follows the subject clockwise. After receiving the operation of the user clicking the joystick control bar, the mobile terminal determines the location of the user operation, and determines that the speed of the drone is a flight speed value corresponding to the position, that is, the flight control parameter is used to drive the drone The motion speed is set to the parameter of the flight speed value, and so on.
步骤404，移动终端根据该飞行控制参数生成第一操作命令。Step 404: The mobile terminal generates a first operation command according to the flight control parameter.
步骤405，移动终端将该第一操作命令发送给无人机。Step 405: The mobile terminal sends the first operation command to the drone.
步骤406，无人机接收移动终端发送的第一操作命令。Step 406: The drone receives the first operation command sent by the mobile terminal.
步骤407，移动终端根据该第一操作命令改变无人机的飞行参数。Step 407: The mobile terminal changes the flight parameters of the drone according to the first operation command.
应用场景2，以控制设备为移动终端，自主飞行模式为确定飞行目的地的指点飞行模式为例。参见图5A所示，为飞行控制方法的流程图的示例。Application scenario 2, taking the control device as the mobile terminal, and the autonomous flight mode as an example for determining the flight mode of the flight destination. Referring to FIG. 5A, an example of a flow chart of the flight control method.
步骤501，用户点击特定区域(如地面等)，无人机向飞行目的地飞行。In step 501, the user clicks on a specific area (such as the ground, etc.), and the drone flies to the flight destination.
如图5B所示，用户点击操作界面的地面，移动终端弹出按钮go，用户点击按钮go，无人机即可以按照当前高度以默认速度向飞行目的地飞行。As shown in FIG. 5B, the user clicks on the ground of the operation interface, the mobile terminal pops up the button go, and the user clicks the button go, and the drone can fly to the flight destination at the default speed according to the current height.
步骤502，移动终端在操作界面显示第一虚拟摇杆和第二虚拟摇杆。Step 502: The mobile terminal displays the first virtual joystick and the second virtual joystick on the operation interface.
如图5C所示，位于左侧的虚拟摇杆为第一虚拟摇杆，用户在第一虚拟摇 杆向右滑动时，表示无人机的机头方向为机头右转；用户在第一虚拟摇杆向左滑动时，表示无人机的机头方向为机头左转；用户在第一虚拟摇杆向下滑动时，表示无人机的飞行高度为向低偏移；用户在第一虚拟摇杆向上滑动时，表示无人机的飞行高度为向高偏移。此外，位于右侧的虚拟摇杆为第二虚拟摇杆，用户在第二虚拟摇杆向上滑动时，表示无人机的运动速度为加速飞行；用户在第二虚拟摇杆向下滑动时，表示无人机的运动速度为减速飞行。As shown in FIG. 5C, the virtual joystick on the left side is the first virtual joystick, and the user is in the first virtual rocker. When the lever slides to the right, it indicates that the direction of the nose of the drone is right-turning; when the user slides the first virtual joystick to the left, the head of the drone is turned to the left of the nose; the user is at the first When the virtual rocker slides down, it indicates that the flying height of the drone is shifted to a low direction; when the user slides up the first virtual rocker, it indicates that the flying height of the drone is shifted to a high direction. In addition, the virtual joystick on the right side is a second virtual joystick, and when the user slides up the second virtual joystick, it indicates that the speed of the drone is accelerated, and when the user slides down the second virtual joystick, Indicates that the speed of the drone is slowed down.
在一个例子中，如图5D所示，当用户点击操作界面中的拍摄对象时，移动终端可以控制无人机，将该拍摄对象始终位于无人机的拍摄画面内。In one example, as shown in FIG. 5D, when the user clicks on the subject in the operation interface, the mobile terminal can control the drone, and the subject is always located in the shooting screen of the drone.
步骤503，移动终端根据用户对第一虚拟摇杆和/或第二虚拟摇杆的操作，确定飞行控制参数。Step 503: The mobile terminal determines flight control parameters according to the operation of the first virtual joystick and/or the second virtual joystick by the user.
例如，当接收到用户在第一虚拟摇杆向右滑动的操作之后，移动终端确定无人机的机头方向为机头右转，即飞行控制参数是用于将无人机的机头方向设置为机头右转的参数；当接收到用户在第一虚拟摇杆向左滑动的操作之后，移动终端确定无人机的机头方向为机头左转，即飞行控制参数是用于将无人机的机头方向设置为机头左转的参数；当接收到用户在第一虚拟摇杆向下滑动的操作之后，移动终端确定无人机的飞行高度为向低偏移，即飞行控制参数是用于将无人机的飞行高度设置为向低偏移的参数；当接收到用户在第一虚拟摇杆向上滑动的操作之后，移动终端确定无人机的飞行高度为向高偏移，即飞行控制参数是用于将无人机的飞行高度设置为向高偏移的参数。For example, after receiving the operation of the user sliding the first virtual joystick to the right, the mobile terminal determines that the head direction of the drone is the right turn of the nose, that is, the flight control parameter is used to direction the head of the drone Set to the parameter of the right turn of the nose; after receiving the operation of the user sliding the first virtual joystick to the left, the mobile terminal determines that the head direction of the drone is the left turn of the nose, that is, the flight control parameter is used for The nose direction of the drone is set to the parameter of the left turn of the nose; after receiving the operation of the user sliding down the first virtual rocker, the mobile terminal determines that the flying height of the drone is a low offset, that is, flying The control parameter is a parameter for setting the flying height of the drone to a low offset; after receiving the operation of the user sliding up the first virtual joystick, the mobile terminal determines that the flying height of the drone is high. The shift, ie the flight control parameter, is a parameter used to set the flying height of the drone to a high offset.
又例如，当接收到用户在第二虚拟摇杆向上滑动的命令后，移动终端确定无人机的运动速度为加速飞行，即飞行控制参数是用于将无人机的飞行运动速度设置为加速飞行的参数。当接收到用户在第二虚拟摇杆向下滑动的命令后，移动终端确定无人机的运动速度为减速飞行，即飞行控制参数是用于将无人机的飞行运动速度设置为减速飞行的参数。For another example, after receiving the command that the user slides up the second virtual joystick, the mobile terminal determines that the speed of the drone is an accelerated flight, that is, the flight control parameter is used to set the flight speed of the drone to be accelerated. Flight parameters. After receiving the command that the user slides down the second virtual joystick, the mobile terminal determines that the speed of the drone is a deceleration flight, that is, the flight control parameter is used to set the flight speed of the drone to decelerate flight. parameter.
步骤504，移动终端根据该飞行控制参数生成第一操作命令。 Step 504: The mobile terminal generates a first operation command according to the flight control parameter.
步骤505，移动终端将该第一操作命令发送给无人机。Step 505: The mobile terminal sends the first operation command to the drone.
步骤506，无人机接收移动终端发送的第一操作命令。Step 506: The drone receives the first operation command sent by the mobile terminal.
步骤507，移动终端根据该第一操作命令改变无人机的飞行参数。Step 507: The mobile terminal changes the flight parameters of the drone according to the first operation command.
基于与上述方法同样的发明构思，本发明实施例中还提供一种无人机，如图6所示，所述无人机包括：Based on the same inventive concept as the above method, an embodiment of the present invention further provides a drone. As shown in FIG. 6, the drone includes:
处理器601，用于在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；所述处理器，还用于根据所述第一操作命令改变所述无人机的飞行参数。a processor 601, configured to acquire, in an autonomous flight mode, a first operation command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomous according to flight parameters in a specific strategy Flying, the first operation command is used to change flight parameters in the specific strategy; the processor is further configured to change flight parameters of the drone according to the first operation command.
其中，所述无人机还可以包括接收器602，所述接收器可以获取用于改变所述无人机的飞行参数的第一操作命令，并将用于改变所述无人机的飞行参数的第一操作命令发送给所述处理器，以使所述处理器获取到第一操作命令。Wherein, the drone may further include a receiver 602, the receiver may acquire a first operation command for changing a flight parameter of the drone, and will be used to change flight parameters of the drone The first operation command is sent to the processor to cause the processor to acquire the first operation command.
所述处理器601，还用于在获取来自用户的用于改变所述无人机的飞行参数的第一操作命令的过程中，获取用户的姿态信息，并根据所述姿态信息获取用于改变所述无人机的飞行参数的第一操作命令；或者，The processor 601 is further configured to acquire, in a process of acquiring a first operation command from a user for changing a flight parameter of the drone, acquiring posture information of the user, and acquiring, according to the posture information, for changing a first operational command of the flight parameters of the drone; or
接收控制设备发送的用于改变所述无人机的飞行参数的第一操作命令。Receiving, by the control device, a first operation command for changing a flight parameter of the drone.
所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；所述处理器，还用于在根据所述第一操作命令改变所述无人机的运动方向的过程，根据所述第一操作命令将所述无人机左转和/或将所述无人机右转；在根据所述第一操作命令改变所述无人机的运动速度的过程中，根据所述第一操作命令对所述无人机进行加速飞行和/或减速飞行；The flight parameter includes one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; the processor, further configured to change a moving direction of the drone according to the first operation command a process of rotating the drone left and/or turning the drone right according to the first operation command; in the process of changing the speed of movement of the drone according to the first operation command And performing an accelerated flight and/or a deceleration flight on the drone according to the first operation command;
在根据所述第一操作命令改变所述无人机的飞行高度的过程中，根据所述第一操作命令对所述无人机进行向高偏移和/或向低偏移；In the process of changing the flying height of the drone according to the first operation command, the drone is subjected to a high offset and/or a low offset according to the first operation command;
在根据所述第一操作命令改变所述无人机的机头方向的过程中，根据所述第一操作命令将所述无人机的机头左转和/或机头右转。In the process of changing the head direction of the drone according to the first operation command, the nose of the drone is turned left and/or the head is turned right according to the first operation command.
在指点飞行模式下：所述处理器601，还用于获取来自用户的用于改变所 述无人机上云台的姿态的第二操作命令；根据所述第二操作命令改变所述无人机上云台的姿态；所述处理器还用于在获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令的过程中，接收控制设备发送的用于改变所述无人机上云台的姿态的第二操作命令；控制设备包括遥控器或移动终端。In the pointing flight mode: the processor 601 is further configured to acquire a user from the user for changing a second operation command of the attitude of the pan/tilt on the drone; changing the posture of the pan/tilt on the drone according to the second operation command; the processor is further configured to acquire the The second operation command sent by the control device for changing the posture of the pan/tilt on the drone during the second operation command of the attitude of the gimbal on the human machine; the control device comprises a remote controller or a mobile terminal.
基于与上述方法同样的发明构思，本发明实施例中还提供一种控制设备，如图7所示，所述控制设备包括：Based on the same inventive concept as the above method, the embodiment of the present invention further provides a control device. As shown in FIG. 7, the control device includes:
处理器701，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；a processor 701, configured to generate, in an autonomous flight mode, a first operational command for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy The first operation command is used to change flight parameters in the specific policy;
所述处理器701，还用于将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。The processor 701 is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.
其中，所述控制设备还可以包括发射器702，所述处理器可以将所述第一操作命令发送给发射器，由发射器将所述第一操作命令发送给所述无人机。The control device may further include a transmitter 702, and the processor may send the first operation command to the transmitter, where the first operation command is sent by the transmitter to the drone.
在一个例子中，所述处理器701，还用于在生成用于改变无人机的飞行参数的第一操作命令之前，获取飞行控制参数；所述第一操作命令还携带获取的飞行控制参数，所述飞行控制参数用于使所述无人机根据所述飞行控制参数改变所述无人机的飞行参数；其中，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；所述飞行控制参数包括以下之一或者任意组合：用于将所述无人机左转和/或右转的飞行控制参数；用于对所述无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对所述无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将所述无人机的机头左转和/或机头右转的飞行控制参数。In one example, the processor 701 is further configured to acquire a flight control parameter before generating a first operation command for changing a flight parameter of the drone; the first operation command further carrying the acquired flight control parameter The flight control parameter is configured to cause the drone to change a flight parameter of the drone according to the flight control parameter; wherein the flight parameter comprises one or any combination of: a moving direction, a moving speed, Flight altitude, head direction; the flight control parameters include one or any combination of: flight control parameters for turning the drone left and/or right; for accelerating the drone Flight control parameters for flight and/or deceleration flight; flight control parameters for high-offset and/or low-offset of the drone; for turning the nose of the drone to the left and / or flight control parameters for the right turn of the nose.
所述处理器701，还用于检测所述控制设备的姿态信息，根据所述姿态信息获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为遥控器时，检测用户对摇杆的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为移动终 端时，检测用户对操作界面的操作方式，根据所述操作方式获取飞行控制参数，根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。The processor 701 is further configured to detect posture information of the control device, acquire a flight control parameter according to the posture information, and generate a first operation command for changing a flight parameter of the drone according to the flight control parameter. Or, when the control device is a remote controller, detecting a user operation mode of the joystick, acquiring flight control parameters according to the operation mode, and generating a first function for changing flight parameters of the drone according to the flight control parameter Operation command; or, when the control device is mobile In the end, the operation mode of the user on the operation interface is detected, the flight control parameter is acquired according to the operation mode, and the first operation command for changing the flight parameter of the drone is generated according to the flight control parameter.
在自主飞行模式为智能跟随模式，且所述控制设备为移动终端时：When the autonomous flight mode is a smart follow mode, and the control device is a mobile terminal:
所述处理器701，还用于在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动方向；在根据用户对所述摇杆控制条的操作确定无人机的运动方向的过程中，当接收到用户向右移动所述摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；当接收到用户向左移动所述摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象；The processor 701 is further configured to display a joystick control bar on the operation interface; determine a motion direction of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement direction of the drone, after receiving the operation of moving the joystick control bar to the right by the user, determining that the direction of movement of the drone is to follow the object counterclockwise, or to follow the subject clockwise After receiving the operation of moving the joystick control bar to the left by the user, determining that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise;
所述处理器701，还用于在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动速度；在根据用户对所述摇杆控制条的操作确定无人机的运动速度的过程中，当接收到用户点击所述摇杆控制条或者在所述摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与所述操作的位置对应的飞行速度值，在操作界面显示所述飞行速度值；其中，所述摇杆控制条的不同位置对应不同的飞行速度值。The processor 701 is further configured to display a joystick control bar on the operation interface; determine a motion speed of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement speed of the drone, after receiving the operation of the user clicking the rocker control bar or moving on the joystick control bar, determining the position of the user operation, and determining the speed of the drone is The flight speed value corresponding to the operated position is displayed on the operation interface, wherein the different positions of the joystick control bar correspond to different flight speed values.
在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时：When the autonomous flight mode is a pointing flight mode, and the control device is a mobile terminal:
所述处理器701，还用于在操作界面显示第一虚拟摇杆；根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度；在根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度的过程中，当接收到用户在所述第一虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的操作后，确定所述无人机的机头方向为机头右转；或者，当接收到用户在所述第一虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的操作后，确定所述无人机的机头方向为机头左转；或者，当接收到用户在所述第一虚拟摇杆向下滑动、或在下方点击、或在下发长按的操作后，确定所述无人机的飞行高度为向低偏移；或者，当接收到用户在所述第一虚拟摇杆向上滑动、或在上方点击、或在上方长按的操作后，确定所述无人机的飞行高度为向高偏移；The processor 701 is further configured to display a first virtual joystick on the operation interface; determine a nose direction and/or a flight height of the drone according to a user operation on the first virtual joystick; During the operation of the rocker to determine the nose direction and/or the flying height of the drone, when receiving the user sliding the first virtual joystick to the right, or clicking on the right side, or long pressing on the right side After the operation, determining that the head direction of the drone is a right turn of the nose; or, when receiving the user, sliding the first virtual joystick to the left, or clicking on the left side, or long pressing on the left side After the operation, it is determined that the head direction of the drone is the left turn of the nose; or, when the user receives the operation that the first virtual rocker slides down, clicks below, or performs a long press Determining that the flying height of the drone is a low offset; or, after receiving an operation of the user sliding the first virtual rocker upward, or clicking above, or long pressing on the upper side, determining the The flying height of the drone is shifted to a high altitude;
所述处理器，还用于在操作界面显示第二虚拟摇杆；根据用户对所述第 二虚拟摇杆的操作确定无人机的运动速度；在根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度的过程中，当接收到用户在所述第二虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的命令、或者在所述第二虚拟摇杆向上滑动、或者在上方点击、或者在上方长按的命令后，确定无人机的运动速度为加速飞行；或者，当接收到用户在所述第二虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的命令、或者在所述第二虚拟摇杆向下滑动、或在下方点击、或在下发长按的命令后，确定无人机的运动速度为减速飞行。The processor is further configured to display a second virtual joystick on the operation interface; The operation of the second virtual joystick determines the speed of movement of the drone; in the process of determining the speed of movement of the drone according to the operation of the second virtual joystick by the user, when receiving the second virtual joystick of the user Determining the drone by swiping to the right, or clicking on the right side, or pressing a command on the right side, or swiping up the second virtual joystick, or clicking above, or pressing a command on the top The speed of movement is to accelerate the flight; or, when receiving a command that the user slides to the left on the second virtual joystick, or clicks on the left side, or long presses on the left side, or the second virtual joystick is down After sliding, or clicking below, or after issuing a long press command, determine the speed of the drone to slow down.
所述处理器701，还用于在指点飞行模式下，生成用于改变所述无人机上云台的姿态的第二操作命令；将所述第二操作命令发送给所述无人机，以使所述无人机根据所述第二操作命令改变所述无人机上云台的姿态。The processor 701 is further configured to generate, in the pointing flight mode, a second operation command for changing a posture of the pan/tilt on the drone; and send the second operation command to the drone to And causing the drone to change the posture of the pan/tilt on the drone according to the second operation command.
所述处理器701，还用于在生成用于改变所述无人机上云台的姿态的第二操作命令之前，获取云台控制参数；所述第二操作命令携带所述云台控制参数，且所述云台控制参数用于使所述无人机根据所述云台控制参数改变所述无人机上云台的姿态。The processor 701 is further configured to: acquire a PTZ control parameter before generating a second operation command for changing a posture of the PTZ on the UAV; and the second operation command carries the PTZ control parameter, And the pan/tilt control parameter is configured to enable the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
所述处理器701，还用于检测用户对操作界面的操作方式，根据所述操作方式获取云台控制参数，并生成用于改变所述无人机上云台的姿态的第二操作命令；其中，所述处理器，还用于在操作界面显示第三虚拟摇杆；当接收到用户在所述第三虚拟摇杆滑动的操作后，确定用户的滑动方向与无人机上云台的控制方向相同；或者，所述处理器，还用于检测所述控制设备的姿态信息，根据所述姿态信息生成用于改变所述无人机上云台的姿态的第二操作命令，并将所述第二操作命令发送给所述无人机。The processor 701 is further configured to detect a user operation mode of the operation interface, obtain a PTZ control parameter according to the operation mode, and generate a second operation command for changing a posture of the PTZ on the UAV; The processor is further configured to display a third virtual joystick on the operation interface; after receiving the operation of the third virtual joystick sliding by the user, determining the sliding direction of the user and the control direction of the pan/tilt on the drone The processor is further configured to detect posture information of the control device, generate a second operation command for changing a posture of the pan/tilt on the drone according to the posture information, and Two operational commands are sent to the drone.
基于与上述方法同样的发明构思，本发明实施例中还提供一种机器可读存储介质，该机器可读存储介质可以应用于无人机，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：Based on the same inventive concept as the above method, the embodiment of the present invention further provides a machine readable storage medium, which can be applied to a drone, and the machine readable storage medium stores a plurality of computer instructions. When the computer instruction is executed, the following processing is performed:
在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数； Acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, the first An operation command is used to change flight parameters in the specific strategy;
根据所述第一操作命令改变所述无人机的飞行参数。The flight parameters of the drone are changed according to the first operational command.
所述机器可读存储介质被执行时还进行如下处理：在获取来自用户的用于改变所述无人机的飞行参数的第一操作命令的过程中，获取用户的姿态信息，根据所述姿态信息获取用于改变所述无人机的飞行参数的第一操作命令；或者，接收控制设备发送的用于改变所述无人机的飞行参数的第一操作命令。The machine readable storage medium is further processed to: acquire, in a process of acquiring a first operation command from a user for changing a flight parameter of the drone, acquiring posture information of the user according to the posture The information acquires a first operational command for changing a flight parameter of the drone; or receives a first operational command sent by the control device for changing a flight parameter of the drone.
所述飞行参数包括以下之一或任意组合：运动方向、运动速度、飞行高度、机头方向；所述机器可读存储介质被执行时还进行如下处理：在根据所述第一操作命令改变所述无人机的运动方向的过程中，根据所述第一操作命令将所述无人机左转和/或将所述无人机右转；在根据所述第一操作命令改变所述无人机的运动速度的过程中，根据所述第一操作命令对所述无人机进行加速飞行和/或减速飞行；在根据所述第一操作命令改变所述无人机的飞行高度的过程中，根据所述第一操作命令对所述无人机进行向高偏移和/或向低偏移；在根据所述第一操作命令改变所述无人机的机头方向的过程中，根据所述第一操作命令将所述无人机的机头左转和/或机头右转。The flight parameters include one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; and the machine readable storage medium is further processed to perform a process of changing a position according to the first operation command In the process of describing the direction of motion of the drone, turning the drone left and/or turning the drone right according to the first operation command; changing the none according to the first operation command During the moving speed of the human machine, the unmanned aerial vehicle is subjected to accelerated flight and/or deceleration flight according to the first operation command; and the process of changing the flying height of the drone according to the first operation command Performing a high offset and/or a low offset to the drone according to the first operation command; in a process of changing a head direction of the drone according to the first operation command, Rotating the nose of the drone to the left and/or turning the nose to the right according to the first operation command.
在指点飞行模式下，所述机器可读存储介质被执行时还进行如下处理：In the pointing flight mode, the machine readable storage medium is also processed as follows when executed:
获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令；根据所述第二操作命令改变所述无人机上云台的姿态；在获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令的过程中，接收控制设备发送的用于改变所述无人机上云台的姿态的第二操作命令。Acquiring a second operation command from the user for changing the posture of the pan/tilt on the drone; changing a posture of the pan/tilt on the drone according to the second operation command; and acquiring the user from the user for changing the posture In the process of the second operation command of the attitude of the pan/tilt on the drone, the second operation command sent by the control device for changing the posture of the pan/tilt on the drone is received.
基于与上述方法同样的发明构思，本发明实施例中还提供一种机器可读存储介质，该机器可读存储介质可以应用于控制设备，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：Based on the same inventive concept as the above method, the embodiment of the present invention further provides a machine readable storage medium, where the machine readable storage medium is applicable to a control device, where the computer readable storage medium stores a plurality of computer instructions. When the computer instruction is executed, the following processing is performed:
在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Generating, in an autonomous flight mode, a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operation Commands are used to change flight parameters in the particular strategy;
将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。 Transmitting the first operational command to the drone to cause the drone to change flight parameters of the drone according to the first operational command.
在一个例子中，所述机器可读存储介质被执行时还进行如下处理：In one example, the machine readable storage medium is further processed as follows when executed:
在生成用于改变无人机的飞行参数的第一操作命令之前，获取飞行控制参数；所述第一操作命令还携带获取的飞行控制参数，所述飞行控制参数用于使所述无人机根据所述飞行控制参数改变所述无人机的飞行参数；其中，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；所述飞行控制参数包括以下之一或者任意组合：用于将所述无人机左转和/或右转的飞行控制参数；用于对所述无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对所述无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将所述无人机的机头左转和/或机头右转的飞行控制参数。Acquiring flight control parameters prior to generating a first operational command for changing flight parameters of the drone; the first operational command further carrying acquired flight control parameters, the flight control parameters being used to cause the drone Changing flight parameters of the drone according to the flight control parameter; wherein the flight parameters include one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; the flight control parameters include the following One or any combination: flight control parameters for turning the drone left and/or right; flight control parameters for performing accelerated and/or decelerating flight of the drone; The drone performs flight control parameters that are shifted to a high offset and/or to a low offset; flight control parameters for turning the nose of the drone to the left and/or turning the nose to the right.
在一个例子中，所述机器可读存储介质被执行时还进行如下处理：In one example, the machine readable storage medium is further processed as follows when executed:
检测所述控制设备的姿态信息，根据所述姿态信息获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为遥控器时，检测用户对摇杆的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为移动终端时，检测用户对操作界面的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。Detecting posture information of the control device, acquiring flight control parameters according to the posture information, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is a remote controller Detecting a user operation mode of the joystick, acquiring a flight control parameter according to the operation mode, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is When the terminal is moved, the operation mode of the user on the operation interface is detected, the flight control parameter is acquired according to the operation mode, and the first operation command for changing the flight parameter of the drone is generated according to the flight control parameter.
在自主飞行模式为智能跟随模式，且所述控制设备为移动终端时：When the autonomous flight mode is a smart follow mode, and the control device is a mobile terminal:
所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动方向；在根据用户对所述摇杆控制条的操作确定无人机的运动方向的过程中，当接收到用户向右移动所述摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；当接收到用户向左移动所述摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象；Displaying a rocker control bar on the operation interface; determining a moving direction of the drone according to a user operation of the joystick control bar; and determining a moving direction of the drone according to a user operation of the joystick control bar After receiving the operation of moving the joystick control bar to the right, determining that the direction of motion of the drone is to follow the object counterclockwise, or to follow the subject clockwise; when receiving the user moving to the left After the operation of the joystick control bar, it is determined that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise;
在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动速度；在根据用户对所述摇杆控制条的操作确定无人机的运动速 度的过程中，当接收到用户点击所述摇杆控制条或者在所述摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与所述操作的位置对应的飞行速度值，在操作界面显示所述飞行速度值；其中，所述摇杆控制条的不同位置对应不同的飞行速度值。Displaying a joystick control bar on the operation interface; determining a movement speed of the drone according to operation of the joystick control bar by the user; determining a movement speed of the drone according to operation of the joystick control bar by the user In the process of determining the position of the user operation after determining that the user clicks the joystick control bar or moves on the joystick control bar, and determines that the speed of the drone is the same as the operation The flight speed value corresponding to the position displays the flight speed value on the operation interface; wherein different positions of the joystick control bar correspond to different flight speed values.
在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时：When the autonomous flight mode is a pointing flight mode, and the control device is a mobile terminal:
所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
在操作界面显示第一虚拟摇杆；根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度；在根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度的过程中，当接收到用户在所述第一虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的操作后，确定所述无人机的机头方向为机头右转；或者，当接收到用户在所述第一虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的操作后，确定所述无人机的机头方向为机头左转；或者，当接收到用户在所述第一虚拟摇杆向下滑动、或在下方点击、或在下发长按的操作后，确定所述无人机的飞行高度为向低偏移；或者，当接收到用户在所述第一虚拟摇杆向上滑动、或在上方点击、或在上方长按的操作后，确定所述无人机的飞行高度为向高偏移；Displaying a first virtual joystick on the operation interface; determining a nose direction and/or a flight height of the drone according to the operation of the first virtual joystick by the user; determining the drone according to the operation of the first virtual joystick by the user In the process of the head direction and/or the flying height, when the user receives the operation of sliding the first virtual joystick to the right, or clicking on the right side or long pressing on the right side, determining the drone The head direction is the right turn of the nose; or, when the user receives the operation of sliding the first virtual joystick to the left, or clicking on the left side or long pressing on the left side, determining the drone The head direction is the left turn of the nose; or, when the user receives the operation of sliding down the first virtual rocker, or clicking below, or pressing the long press, determining the flight of the drone The height is a low offset; or, when the user receives an operation of sliding the first virtual rocker upward, or clicking above, or long pressing on the upper side, determining that the flying height of the drone is high Offset
在操作界面显示第二虚拟摇杆；根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度；在根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度的过程中，当接收到用户在所述第二虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的命令、或者在所述第二虚拟摇杆向上滑动、或者在上方点击、或者在上方长按的命令后，确定无人机的运动速度为加速飞行；或者，当接收到用户在所述第二虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的命令、或者在所述第二虚拟摇杆向下滑动、或在下方点击、或在下发长按的命令后，确定无人机的运动速度为减速飞行。Displaying a second virtual joystick on the operation interface; determining a movement speed of the drone according to operation of the second virtual joystick by the user; determining a movement speed of the drone according to operation of the second virtual joystick by the user In the process, when receiving a command that the user slides to the right on the second virtual joystick, or clicks on the right side, or long presses on the right side, or slides up on the second virtual joystick, or above After clicking, or pressing the command on the top, determining the speed of the drone to accelerate the flight; or, when receiving the user, sliding the second virtual joystick to the left, or clicking on the left side, or on the left side The long-pressing command, or after the second virtual joystick slides down, or clicks down, or after issuing a long press command, determines that the speed of the drone is decelerated.
在指点飞行模式下，所述机器可读存储介质被执行时还进行如下处理：生成用于改变所述无人机上云台的姿态的第二操作命令；将所述第二操作命令发送给所述无人机，以使无人机根据所述第二操作命令改变所述无人机上 云台的姿态。In the pointing flight mode, the machine readable storage medium is further processed to: generate a second operation command for changing a posture of the pan/tilt on the drone; and send the second operation command to the The drone is configured to cause the drone to change the drone according to the second operation command The attitude of the gimbal.
所述机器可读存储介质被执行时还进行如下处理：在生成用于改变所述无人机上云台的姿态的第二操作命令之前，获取云台控制参数；所述第二操作命令携带所述云台控制参数，且所述云台控制参数用于使所述无人机根据所述云台控制参数改变所述无人机上云台的姿态。The machine readable storage medium is further processed to: obtain a pan/tilt control parameter before generating a second operation command for changing a posture of the pan/tilt on the drone; the second operation command carries the The pan/tilt control parameter is used, and the pan/tilt control parameter is used to cause the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
所述机器可读存储介质被执行时还进行如下处理：检测用户对操作界面的操作方式，根据所述操作方式获取云台控制参数，并生成用于改变所述无人机上云台的姿态的第二操作命令；The machine-readable storage medium is further processed to: detect a user operation mode of the operation interface, acquire a PTZ control parameter according to the operation mode, and generate a posture for changing a posture of the PTZ on the UAV. Second operation command;
在操作界面显示第三虚拟摇杆；当接收到用户在所述第三虚拟摇杆滑动的操作后，确定用户的滑动方向与无人机上云台的控制方向相同；或者，检测所述控制设备的姿态信息，根据所述姿态信息生成用于改变所述无人机上云台的姿态的第二操作命令，并将所述第二操作命令发送给所述无人机。Displaying a third virtual joystick on the operation interface; after receiving the operation of sliding the third virtual joystick by the user, determining that the sliding direction of the user is the same as the control direction of the pan/tilt on the drone; or detecting the control device The posture information generates a second operation command for changing the posture of the pan/tilt on the drone according to the posture information, and transmits the second operation command to the drone.
基于与上述方法同样的发明构思，本发明实施例中还可以提供一种飞行控制***，所述飞行控制***包括无人机和控制设备；其中：所述控制设备，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；所述控制设备，还用于将所述第一操作命令发送给所述无人机；所述无人机，用于在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；根据所述第一操作命令改变所述无人机的飞行参数。Based on the same inventive concept as the above method, the embodiment of the present invention may further provide a flight control system, the flight control system including a drone and a control device; wherein: the control device is used in an autonomous flight mode Generating a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operational command being used to change a flight parameter in a specific strategy; the control device is further configured to send the first operation command to the drone; and the drone is configured to acquire a user from the user in an autonomous flight mode And a first operation command for changing a flight parameter of the drone; and changing a flight parameter of the drone according to the first operation command.
上述实施例阐明的***、装置、模块或单元，可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机，计算机的具体形式可以是个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件收发设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任意几种设备的组合。The system, apparatus, module or unit set forth in the above embodiments may be implemented by a computer chip or an entity, or by a product having a certain function. A typical implementation device is a computer, and the specific form of the computer may be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, and a game control. A combination of a tablet, a tablet, a wearable device, or any of these devices.
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然， 在实施本发明时可以把各单元的功能在同一个或多个软件和/或硬件中实现。For the convenience of description, the above devices are described separately by function into various units. of course, The functions of the various units may be implemented in one or more software and/or hardware in the practice of the invention.
本领域内的技术人员应明白，本发明实施例可提供为方法、***、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the invention may take the form of a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
本发明是参照根据本发明实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可以由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其它可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其它可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
而且，这些计算机程序指令也可以存储在能引导计算机或其它可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或者多个流程和/或方框图一个方框或者多个方框中指定的功能。Moreover, these computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The instruction means implements the functions specified in one or more blocks of the flowchart or in a flow or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其它可编程数据处理设备，使得在计算机或者其它可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其它可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The steps are provided to implement the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.
本领域技术人员应明白，本发明的实施例可提供为方法、***或计算机程序产品。因此，本发明可以采用完全硬件实施例、完全软件实施例、或者结合软件和硬件方面的实施例的形式。而且，本发明可以采用在一个或者多个其中包含有计算机可用程序代码的计算机可用存储介质(可以包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。 Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can be embodied in the form of a computer program product embodied on one or more computer-usable storage media (which may include, but not limited to, disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
以上所述仅为本发明实施例而已，并不用于限制本发明。对于本领域技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进，均应包含在本发明的权利要求范围之内。 The above is only the embodiments of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

Claims (56)

  1. 一种飞行控制方法，其特征在于，应用于无人机，所述方法包括：A flight control method is characterized in that it is applied to a drone, and the method includes:
    在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, The first operation command is used to change flight parameters in the specific strategy;
    根据所述第一操作命令改变所述无人机的飞行参数。The flight parameters of the drone are changed according to the first operational command.
  2. 根据权利要求1所述的方法，其特征在于，The method of claim 1 wherein
    所述自主飞行模式包括：智能跟随模式；或者，指点飞行模式。The autonomous flight mode includes: an intelligent following mode; or, a pointing flight mode.
  3. 根据权利要求1所述的方法，其特征在于，所述获取来自用户的用于改变所述无人机的飞行参数的第一操作命令的过程，具体包括：The method according to claim 1, wherein the obtaining the first operation command from the user for changing the flight parameters of the drone includes:
    获取用户的姿态信息，并根据所述姿态信息获取用于改变所述无人机的飞行参数的第一操作命令；或者，Acquiring the posture information of the user, and acquiring, according to the posture information, a first operation command for changing a flight parameter of the drone; or
    接收控制设备发送的用于改变所述无人机的飞行参数的第一操作命令。Receiving, by the control device, a first operation command for changing a flight parameter of the drone.
  4. 根据权利要求3所述的方法，其特征在于，所述第一操作命令是所述控制设备在检测到所述控制设备的姿态信息后发送的。The method according to claim 3, wherein the first operation command is sent by the control device after detecting the posture information of the control device.
  5. 根据权利要求3所述的方法，其特征在于，所述控制设备包括遥控器或者移动终端；所述第一操作命令是所述遥控器在检测到用户对摇杆的操作后发送的；或者，是所述移动终端在检测到用户对操作界面的操作后发送的。The method according to claim 3, wherein the control device comprises a remote controller or a mobile terminal; the first operation command is sent by the remote controller after detecting a user's operation on the joystick; or The mobile terminal is sent after detecting an operation of the user on the operation interface.
  6. 根据权利要求1所述的方法，其特征在于，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向。The method of claim 1 wherein said flight parameters comprise one or any combination of: direction of motion, speed of motion, altitude of flight, direction of nose.
  7. 根据权利要求6所述的方法，其特征在于，The method of claim 6 wherein:
    根据所述第一操作命令改变所述无人机的运动方向，包括：Changing the movement direction of the drone according to the first operation command, including:
    根据所述第一操作命令将所述无人机左转和/或将所述无人机右转；Rotating the drone left and/or turning the drone right according to the first operation command;
    根据所述第一操作命令改变所述无人机的运动速度，包括：Changing the movement speed of the drone according to the first operation command comprises:
    根据所述第一操作命令对所述无人机进行加速飞行和/或减速飞行；Performing an accelerated flight and/or a deceleration flight on the drone according to the first operation command;
    根据所述第一操作命令改变所述无人机的飞行高度，包括：Changing the flying height of the drone according to the first operation command, including:
    根据所述第一操作命令对所述无人机进行向高偏移和/或向低偏移； Performing a high offset and/or a low offset to the drone according to the first operation command;
    根据所述第一操作命令改变所述无人机的机头方向，包括：Changing the head direction of the drone according to the first operation command, including:
    根据所述第一操作命令将所述无人机的机头左转和/或机头右转。Rotating the nose of the drone to the left and/or turning the nose to the right according to the first operation command.
  8. 根据权利要求6所述的方法，其特征在于，The method of claim 6 wherein:
    在自主飞行模式为智能跟随模式时，所述运动方向包括沿逆时针跟随拍摄对象、沿顺时针跟随拍摄对象；所述运动速度包括飞行速度值。When the autonomous flight mode is the smart follow mode, the motion direction includes following the subject counterclockwise, following the subject clockwise; the motion speed includes a flight speed value.
  9. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1 further comprising:
    在指点飞行模式下，获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令；根据所述第二操作命令改变所述无人机上云台的姿态。In the pointing flight mode, acquiring a second operation command from the user for changing the posture of the pan/tilt on the drone; and changing the posture of the pan/tilt on the drone according to the second operation command.
  10. 根据权利要求9所述的方法，其特征在于，所述获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令的过程，具体包括：The method according to claim 9, wherein the obtaining the second operation command from the user for changing the posture of the pan/tilt on the drone comprises:
    接收控制设备发送的用于改变所述无人机上云台的姿态的第二操作命令；其中，所述控制设备具体包括：遥控器，或者，移动终端。And receiving, by the control device, a second operation command for changing a posture of the pan/tilt on the drone; wherein the control device specifically includes: a remote controller, or a mobile terminal.
  11. 一种飞行控制方法，其特征在于，应用于控制设备，所述方法包括：A flight control method is characterized in that it is applied to a control device, and the method includes:
    在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；Generating, in an autonomous flight mode, a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, the first operation Commands are used to change flight parameters in the particular strategy;
    将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。Transmitting the first operational command to the drone to cause the drone to change flight parameters of the drone according to the first operational command.
  12. 根据权利要求11所述的方法，其特征在于，The method of claim 11 wherein
    所述自主飞行模式包括：智能跟随模式；或者，指点飞行模式。The autonomous flight mode includes: an intelligent following mode; or, a pointing flight mode.
  13. 根据权利要求11所述的方法，其特征在于，所述方法还包括：The method of claim 11 wherein the method further comprises:
    在生成用于改变无人机的飞行参数的第一操作命令之前，获取飞行控制参数；所述第一操作命令还携带获取的飞行控制参数，所述飞行控制参数用于使所述无人机根据所述飞行控制参数改变所述无人机的飞行参数。Acquiring flight control parameters prior to generating a first operational command for changing flight parameters of the drone; the first operational command further carrying acquired flight control parameters, the flight control parameters being used to cause the drone The flight parameters of the drone are changed according to the flight control parameters.
  14. 根据权利要求13所述的方法，其特征在于，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；The method according to claim 13, wherein the flight parameters comprise one or any combination of: a moving direction, a moving speed, a flying height, a nose direction;
    所述飞行控制参数包括以下之一或者任意组合：用于将所述无人机左转 和/或右转的飞行控制参数；用于对所述无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对所述无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将所述无人机的机头左转和/或机头右转的飞行控制参数。The flight control parameter includes one or any combination of the following: for turning the drone to the left And/or a right-turning flight control parameter; a flight control parameter for performing an accelerated flight and/or a deceleration flight of the drone; for performing a high offset and/or a low bias to the drone Flight control parameters for shifting; flight control parameters for turning the nose of the drone to the left and/or turning the nose to the right.
  15. 根据权利要求13所述的方法，其特征在于，The method of claim 13 wherein:
    在自主飞行模式为智能跟随模式时，所述运动方向包括沿逆时针跟随拍摄对象、沿顺时针跟随拍摄对象；所述运动速度包括飞行速度值。When the autonomous flight mode is the smart follow mode, the motion direction includes following the subject counterclockwise, following the subject clockwise; the motion speed includes a flight speed value.
  16. 根据权利要求13所述的方法，其特征在于，所述方法还包括：The method of claim 13 wherein the method further comprises:
    检测所述控制设备的姿态信息，根据所述姿态信息获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。Detecting attitude information of the control device, acquiring flight control parameters according to the attitude information, and generating a first operation command for changing flight parameters of the drone according to the flight control parameters.
  17. 根据权利要求13所述的方法，其特征在于，The method of claim 13 wherein:
    所述控制设备具体包括：遥控器，或者，移动终端；所述方法还包括：The control device specifically includes: a remote controller, or a mobile terminal; the method further includes:
    当控制设备为遥控器时，检测用户对摇杆的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为移动终端时，检测用户对操作界面的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。When the control device is a remote controller, detecting a user operation mode of the joystick, acquiring flight control parameters according to the operation mode, and generating a first operation command for changing flight parameters of the drone according to the flight control parameter; Or, when the control device is a mobile terminal, detecting a user operation mode of the operation interface, acquiring flight control parameters according to the operation mode, and generating a first operation for changing flight parameters of the drone according to the flight control parameter command.
  18. 根据权利要求13所述的方法，其特征在于，在自主飞行模式为智能跟随模式，且所述控制设备为移动终端时，所述方法还包括：The method according to claim 13, wherein when the autonomous flight mode is a smart follow mode, and the control device is a mobile terminal, the method further includes:
    在操作界面显示摇杆控制条；Displaying a joystick control bar on the operation interface;
    根据用户对所述摇杆控制条的操作确定无人机的运动方向。The direction of movement of the drone is determined based on the user's operation of the joystick control strip.
  19. 根据权利要求18所述的方法，其特征在于，所述根据用户对所述摇杆控制条的操作确定无人机的运动方向的过程，具体包括：The method according to claim 18, wherein the determining the direction of movement of the drone according to the operation of the joystick control bar by the user comprises:
    当接收到用户向右移动所述摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；After receiving the operation of moving the joystick control bar to the right by the user, determining that the direction of motion of the drone is to follow the subject in a counterclockwise direction, or to follow the subject in a clockwise direction;
    当接收到用户向左移动所述摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象。After receiving the operation of the user moving the joystick control bar to the left, it is determined that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise.
  20. 根据权利要求13所述的方法，其特征在于，在自主飞行模式为智能 跟随模式，且所述控制设备为移动终端时，所述方法还包括：The method of claim 13 wherein the autonomous flight mode is intelligent When the mode is the following, and the control device is a mobile terminal, the method further includes:
    在操作界面显示摇杆控制条；Displaying a joystick control bar on the operation interface;
    根据用户对所述摇杆控制条的操作确定无人机的运动速度。The speed of movement of the drone is determined according to the user's operation of the joystick control bar.
  21. 根据权利要求20所述的方法，其特征在于，所述根据用户对所述摇杆控制条的操作确定无人机的运动速度的过程，具体包括：The method according to claim 20, wherein the determining the motion speed of the drone according to the operation of the joystick control bar by the user comprises:
    当接收到用户点击所述摇杆控制条或者在所述摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与所述操作的位置对应的飞行速度值；其中，所述摇杆控制条的不同位置对应不同的飞行速度值。After receiving an operation of the user clicking the rocker control bar or moving on the joystick control bar, determining a position of the user operation, and determining that the speed of the drone is a flight speed corresponding to the operated position a value; wherein different positions of the joystick control bar correspond to different flight speed values.
  22. 根据权利要求21所述的方法，其特征在于，所述确定无人机的运动速度为与所述操作的位置对应的飞行速度值之后，所述方法还包括：The method according to claim 21, wherein after the determining that the speed of movement of the drone is a flight speed value corresponding to the position of the operation, the method further comprises:
    在所述操作界面显示与所述操作的位置对应的飞行速度值。A flight speed value corresponding to the position of the operation is displayed on the operation interface.
  23. 根据权利要求13所述的方法，其特征在于，在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时，所述方法还包括：The method according to claim 13, wherein when the autonomous flight mode is a pointing flight mode, and the control device is a mobile terminal, the method further includes:
    在操作界面显示第一虚拟摇杆；Displaying a first virtual joystick on the operation interface;
    根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度。The nose direction and/or flight height of the drone is determined based on the user's operation of the first virtual joystick.
  24. 根据权利要求23所述的方法，其特征在于，所述根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度的过程，具体包括：The method according to claim 23, wherein the determining the head direction and/or the flying height of the drone according to the operation of the first virtual joystick by the user comprises:
    当接收到用户在所述第一虚拟摇杆向右滑动、或者在右侧点击、或者在右侧长按的操作后，确定所述无人机的机头方向为机头右转；或者，After receiving the operation that the user slides to the right of the first virtual joystick, or clicks on the right side or long presses on the right side, determining that the head direction of the drone is a right turn of the nose; or
    当接收到用户在所述第一虚拟摇杆向左滑动、或者在左侧点击、或者在左侧长按的操作后，确定所述无人机的机头方向为机头左转；或者，After receiving the operation that the user slides to the left of the first virtual joystick, or clicks on the left side or long presses on the left side, it is determined that the head direction of the drone is a left turn of the nose; or
    当接收到用户在所述第一虚拟摇杆向下滑动、或者在下方点击、或者在下发长按的操作后，确定所述无人机的飞行高度为向低偏移；或者，Determining that the flying height of the drone is a low offset after receiving the user sliding down the first virtual rocker, or clicking below, or after performing a long press operation; or
    当接收到用户在所述第一虚拟摇杆向上滑动、或者在上方点击、或者在上方长按的操作后，确定所述无人机的飞行高度为向高偏移。After receiving the operation that the user slides up or clicks on the first virtual joystick or presses on the upper side, it is determined that the flying height of the drone is shifted to a high direction.
  25. 根据权利要求13所述的方法，其特征在于，在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时，所述方法还包括： The method according to claim 13, wherein when the autonomous flight mode is a pointing flight mode, and the control device is a mobile terminal, the method further includes:
    在操作界面显示第二虚拟摇杆；Displaying a second virtual joystick on the operation interface;
    根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度。The speed of movement of the drone is determined according to the operation of the second virtual joystick by the user.
  26. 根据权利要求25所述的方法，其特征在于，所述根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度的过程，具体包括：The method according to claim 25, wherein the determining the motion speed of the drone according to the operation of the second virtual joystick by the user comprises:
    当接收到用户在所述第二虚拟摇杆向右滑动、或者在右侧点击、或者在右侧长按的命令、或者在所述第二虚拟摇杆向上滑动、或者在上方点击、或者在上方长按的命令后，确定无人机的运动速度为加速飞行；或者，Receiving a command that the user slides to the right on the second virtual joystick, or clicks on the right side, or long presses on the right side, or slides up on the second virtual joystick, or clicks on the top, or After pressing the command on the top, determine the speed of the drone to accelerate the flight; or,
    当接收到用户在所述第二虚拟摇杆向左滑动、或者在左侧点击、或者在左侧长按的命令、或者在所述第二虚拟摇杆向下滑动、或者在下方点击、或者在下发长按的命令后，确定无人机的运动速度为减速飞行。Receiving a command that the user slides to the left on the second virtual joystick, or clicks on the left side, or long presses on the left side, or slides down on the second virtual joystick, or clicks below, or After issuing a long press command, it is determined that the speed of the drone is slowed down.
  27. 根据权利要求12所述的方法，其特征在于，所述方法还包括：The method of claim 12, wherein the method further comprises:
    在指点飞行模式下，生成用于改变所述无人机上云台的姿态的第二操作命令；将所述第二操作命令发送给所述无人机，以使所述无人机根据所述第二操作命令改变所述无人机上云台的姿态。Generating, in the pointing flight mode, a second operational command for changing a posture of the pan/tilt on the drone; transmitting the second operational command to the drone to cause the drone to be The second operation command changes the attitude of the pan/tilt on the drone.
  28. 根据权利要求27所述的方法，其特征在于，所述方法还包括：The method of claim 27, wherein the method further comprises:
    在生成用于改变所述无人机上云台的姿态的第二操作命令之前，获取云台控制参数；所述第二操作命令携带所述云台控制参数，且所述云台控制参数用于使所述无人机根据所述云台控制参数改变所述无人机上云台的姿态。Obtaining a PTZ control parameter before generating a second operation command for changing a posture of the PTZ on the UAV; the second operation command carries the PTZ control parameter, and the PTZ control parameter is used for And causing the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
  29. 根据权利要求28所述的方法，其特征在于，The method of claim 28 wherein:
    所述控制设备具体包括：遥控器，或者，移动终端；所述方法还包括：The control device specifically includes: a remote controller, or a mobile terminal; the method further includes:
    当控制设备为移动终端时，检测用户对操作界面的操作方式，根据所述操作方式获取云台控制参数，并生成用于改变所述无人机上云台的姿态的第二操作命令。When the control device is a mobile terminal, detecting a user operation mode of the operation interface, acquiring a PTZ control parameter according to the operation mode, and generating a second operation command for changing a posture of the PTZ on the UAV.
  30. 根据权利要求28所述的方法，其特征在于，The method of claim 28 wherein:
    在所述控制设备为移动终端时，所述方法还包括：When the control device is a mobile terminal, the method further includes:
    在操作界面显示第三虚拟摇杆；Displaying a third virtual joystick on the operation interface;
    当接收到用户在所述第三虚拟摇杆滑动的操作后，确定用户的滑动方向 与无人机上云台的控制方向相同。Determining the sliding direction of the user after receiving the user's operation of sliding the third virtual joystick It is in the same direction as the head of the drone.
  31. 根据权利要求27所述的方法，其特征在于，所述方法还包括：The method of claim 27, wherein the method further comprises:
    检测所述控制设备的姿态信息，根据所述姿态信息生成用于改变所述无人机上云台的姿态的第二操作命令，将所述第二操作命令发送给所述无人机。Detecting posture information of the control device, generating a second operation command for changing a posture of the pan/tilt on the drone according to the posture information, and transmitting the second operation command to the drone.
  32. 一种无人机，其特征在于，所述无人机包括：A drone, characterized in that the drone includes:
    处理器，用于在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；a processor, configured to acquire, in an autonomous flight mode, a first operational command from a user for changing a flight parameter of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy The first operation command is used to change flight parameters in the specific policy;
    所述处理器，还用于根据所述第一操作命令改变所述无人机的飞行参数。The processor is further configured to change a flight parameter of the drone according to the first operation command.
  33. 根据权利要求32所述的无人机，其特征在于，The drone according to claim 32, characterized in that
    所述处理器，还用于在获取来自用户的用于改变所述无人机的飞行参数的第一操作命令的过程中，获取用户的姿态信息，并根据所述姿态信息获取用于改变所述无人机的飞行参数的第一操作命令；或者，The processor is further configured to acquire, in a process of acquiring a first operation command from a user for changing a flight parameter of the drone, acquire posture information of the user, and acquire, according to the posture information, a change The first operational command of the flight parameters of the drone; or
    接收控制设备发送的用于改变所述无人机的飞行参数的第一操作命令。Receiving, by the control device, a first operation command for changing a flight parameter of the drone.
  34. 根据权利要求32所述的无人机，其特征在于，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；The drone according to claim 32, wherein the flight parameter comprises one or any combination of: a moving direction, a moving speed, a flying height, a nose direction;
    所述处理器，还用于在根据所述第一操作命令改变所述无人机的运动方向的过程，根据所述第一操作命令将所述无人机左转和/或将所述无人机右转；The processor is further configured to: in the process of changing a moving direction of the drone according to the first operation command, turn the drone to a left according to the first operation command, and/or the Turn left and right;
    在根据所述第一操作命令改变所述无人机的运动速度的过程中，根据所述第一操作命令对所述无人机进行加速飞行和/或减速飞行；In a process of changing a moving speed of the drone according to the first operation command, performing an accelerated flight and/or a deceleration flight on the drone according to the first operation command;
    在根据所述第一操作命令改变所述无人机的飞行高度的过程中，根据所述第一操作命令对所述无人机进行向高偏移和/或向低偏移；In the process of changing the flying height of the drone according to the first operation command, the drone is subjected to a high offset and/or a low offset according to the first operation command;
    在根据所述第一操作命令改变所述无人机的机头方向的过程中，根据所述第一操作命令将所述无人机的机头左转和/或机头右转。In the process of changing the head direction of the drone according to the first operation command, the nose of the drone is turned left and/or the head is turned right according to the first operation command.
  35. 根据权利要求32所述的无人机，其特征在于，在指点飞行模式下：A drone according to claim 32, wherein in the pointing flight mode:
    所述处理器，还用于获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令；根据所述第二操作命令改变所述无人机上云台的姿态； The processor is further configured to acquire a second operation command from the user for changing a posture of the pan/tilt on the drone; and change a posture of the pan/tilt on the drone according to the second operation command;
    其中，所述处理器，还用于在获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令的过程中，接收控制设备发送的用于改变所述无人机上云台的姿态的第二操作命令；所述控制设备包括：遥控器或移动终端。The processor is further configured to: in a process of acquiring a second operation command from the user for changing a posture of the pan/tilt on the drone, receiving, by the control device, a cloud for changing the drone a second operational command of the attitude of the station; the control device comprising: a remote controller or a mobile terminal.
  36. 一种控制设备，其特征在于，所述控制设备包括：A control device, characterized in that the control device comprises:
    处理器，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；a processor, configured to generate a first operational command for changing a flight parameter of the drone in the autonomous flight mode; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a specific strategy, The first operation command is used to change flight parameters in the specific strategy;
    所述处理器，还用于将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。The processor is further configured to send the first operation command to the drone, so that the drone changes a flight parameter of the drone according to the first operation command.
  37. 根据权利要求36所述的控制设备，其特征在于，所述处理器，还用于在生成用于改变无人机的飞行参数的第一操作命令之前，获取飞行控制参数；所述第一操作命令还携带获取的飞行控制参数，所述飞行控制参数用于使所述无人机根据所述飞行控制参数改变所述无人机的飞行参数；其中，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；所述飞行控制参数包括以下之一或者任意组合：用于将所述无人机左转和/或右转的飞行控制参数；用于对所述无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对所述无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将所述无人机的机头左转和/或机头右转的飞行控制参数。The control device according to claim 36, wherein said processor is further configured to acquire a flight control parameter before generating a first operational command for changing a flight parameter of the drone; said first operation The command also carries acquired flight control parameters for causing the drone to change flight parameters of the drone according to the flight control parameters; wherein the flight parameters include one or any of the following Combination: motion direction, motion speed, flight altitude, nose direction; the flight control parameters include one or any combination of the following: flight control parameters for turning the drone left and/or right; Flight control parameters for accelerating flight and/or decelerating flight of the drone; flight control parameters for high-offset and/or low-offset of the drone; for The flight control parameters of the left hand of the man-machine and/or the right turn of the nose.
  38. 根据权利要求36所述的控制设备，其特征在于，The control device according to claim 36, wherein
    所述处理器，还用于检测所述控制设备的姿态信息，根据所述姿态信息获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为遥控器时，检测用户对摇杆的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为移动终端时，检测用户对操作界面的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。The processor is further configured to detect posture information of the control device, acquire a flight control parameter according to the posture information, and generate a first operation command for changing a flight parameter of the drone according to the flight control parameter; Or, when the control device is a remote controller, detecting a user operation mode of the joystick, acquiring flight control parameters according to the operation mode, and generating a first operation for changing flight parameters of the drone according to the flight control parameter Or; when the control device is a mobile terminal, detecting a user operation mode of the operation interface, acquiring flight control parameters according to the operation mode, and generating a flight parameter for changing the flight parameters of the drone according to the flight control parameter An operation command.
  39. 根据权利要求36所述的控制设备，其特征在于，在自主飞行模式为 智能跟随模式，且所述控制设备为移动终端时：The control device according to claim 36, wherein in the autonomous flight mode is Intelligent following mode, and when the control device is a mobile terminal:
    所述处理器，还用于在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动方向；在根据用户对所述摇杆控制条的操作确定无人机的运动方向的过程中，当接收到用户向右移动所述摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；当接收到用户向左移动所述摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象；The processor is further configured to display a joystick control bar on the operation interface; determine a motion direction of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement direction of the human machine, after receiving the operation of moving the joystick control bar to the right by the user, determining that the movement direction of the drone is to follow the object counterclockwise, or to follow the object clockwise; After receiving the operation of moving the joystick control bar to the left by the user, determining that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise;
    所述处理器，还用于在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动速度；在根据用户对所述摇杆控制条的操作确定无人机的运动速度的过程中，当接收到用户点击所述摇杆控制条或者在所述摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与所述操作的位置对应的飞行速度值，在操作界面显示所述飞行速度值；其中，所述摇杆控制条的不同位置对应不同的飞行速度值。The processor is further configured to display a joystick control bar on the operation interface; determine a motion speed of the drone according to operation of the joystick control bar by the user; and determine, according to operation of the joystick control bar by the user During the movement speed of the human machine, after receiving the operation of the user clicking the rocker control bar or moving on the joystick control bar, determining the position of the user operation, and determining the speed of the drone is The flight speed value corresponding to the position of the operation displays the flight speed value on the operation interface; wherein different positions of the joystick control bar correspond to different flight speed values.
  40. 根据权利要求36所述的控制设备，其特征在于，在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时：The control device according to claim 36, wherein when the autonomous flight mode is a pointing flight mode, and the control device is a mobile terminal:
    所述处理器，还用于在操作界面显示第一虚拟摇杆；根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度；在根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度的过程中，当接收到用户在所述第一虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的操作后，确定所述无人机的机头方向为机头右转；或者，当接收到用户在所述第一虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的操作后，确定所述无人机的机头方向为机头左转；或者，当接收到用户在所述第一虚拟摇杆向下滑动、或在下方点击、或在下发长按的操作后，确定所述无人机的飞行高度为向低偏移；或者，当接收到用户在所述第一虚拟摇杆向上滑动、或在上方点击、或在上方长按的操作后，确定所述无人机的飞行高度为向高偏移；The processor is further configured to display the first virtual joystick on the operation interface; determine the nose direction and/or the flight height of the drone according to the operation of the first virtual joystick by the user; The operation of the lever determines the head direction and/or the flying height of the drone, when receiving the user's operation of sliding the first virtual joystick to the right, or clicking on the right side, or long pressing on the right side After that, it is determined that the head direction of the drone is the right turn of the nose; or, when receiving the operation that the user slides to the left on the first virtual joystick, or clicks on the left side or long presses on the left side After that, determining that the head direction of the drone is a left turn of the nose; or, after receiving the operation that the user slides down the first virtual rocker, or clicks below, or performs a long press Determining that the flying height of the drone is a low offset; or determining that the user does not perform an operation after the first virtual rocker slides upward, or clicks above, or long presses above The flying height of the man-machine is shifted to a high direction;
    所述处理器，还用于在操作界面显示第二虚拟摇杆；根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度；在根据用户对所述第二虚拟摇杆 的操作确定无人机的运动速度的过程中，当接收到用户在所述第二虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的命令、或者在所述第二虚拟摇杆向上滑动、或者在上方点击、或者在上方长按的命令后，确定无人机的运动速度为加速飞行；或者，当接收到用户在所述第二虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的命令、或者在所述第二虚拟摇杆向下滑动、或在下方点击、或在下发长按的命令后，确定无人机的运动速度为减速飞行。The processor is further configured to display a second virtual joystick on the operation interface; determine a motion speed of the drone according to operation of the second virtual joystick by the user; and use the second virtual joystick according to the user During the operation of determining the speed of movement of the drone, when receiving a command that the user slides to the right on the second virtual joystick, or clicks on the right side, or long presses on the right side, or in the second Determining the speed of movement of the drone to accelerate flight after the virtual rocker slides up, or clicks on the top, or after pressing the command on the top; or, when receiving the user, sliding the second virtual joystick to the left, or Determine the speed of the drone to decelerate by clicking on the left side, or pressing the command on the left side, or after the second virtual joystick slides down, or clicks down, or after a long press command is issued. flight.
  41. 根据权利要求36所述的控制设备，其特征在于，The control device according to claim 36, wherein
    所述处理器，还用于在指点飞行模式下，生成用于改变所述无人机上云台的姿态的第二操作命令；将所述第二操作命令发送给所述无人机，以使所述无人机根据所述第二操作命令改变所述无人机上云台的姿态。The processor is further configured to generate, in the pointing flight mode, a second operation command for changing a posture of the pan/tilt on the drone; and send the second operation command to the drone to enable The drone changes the attitude of the pan/tilt on the drone according to the second operation command.
  42. 根据权利要求41所述的控制设备，其特征在于，所述处理器，还用于在生成用于改变所述无人机上云台的姿态的第二操作命令之前，获取云台控制参数；所述第二操作命令携带所述云台控制参数，且所述云台控制参数用于使所述无人机根据所述云台控制参数改变所述无人机上云台的姿态。The control device according to claim 41, wherein the processor is further configured to acquire a PTZ control parameter before generating a second operation command for changing a posture of the PTZ on the UAV; The second operation command carries the PTZ control parameter, and the PTZ control parameter is used to cause the UAV to change the posture of the PTZ on the UAV according to the PTZ control parameter.
  43. 根据权利要求42所述的控制设备，其特征在于，所述处理器，还用于检测用户对操作界面的操作方式，根据所述操作方式获取云台控制参数，并生成用于改变所述无人机上云台的姿态的第二操作命令；The control device according to claim 42, wherein the processor is further configured to detect a user operation mode of the operation interface, obtain a PTZ control parameter according to the operation mode, and generate a change for the a second operational command of the attitude of the gimbal on the human machine;
    其中，所述处理器，还用于在操作界面显示第三虚拟摇杆；当接收到用户在所述第三虚拟摇杆滑动的操作后，确定用户的滑动方向与无人机上云台的控制方向相同；或者，所述处理器，还用于检测所述控制设备的姿态信息，根据所述姿态信息生成用于改变所述无人机上云台的姿态的第二操作命令，并将所述第二操作命令发送给所述无人机。The processor is further configured to display a third virtual joystick on the operation interface; and after receiving the operation of the user sliding the third virtual joystick, determine the sliding direction of the user and the control of the pan/tilt on the drone The direction is the same; or the processor is further configured to detect posture information of the control device, generate a second operation command for changing a posture of the pan/tilt on the drone according to the posture information, and A second operational command is sent to the drone.
  44. 一种机器可读存储介质，其特征在于，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:
    在自主飞行模式下，获取来自用户的用于改变所述无人机的飞行参数的第一操作命令；在自主飞行模式中，无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数； Acquiring, in an autonomous flight mode, a first operational command from a user for changing flight parameters of the drone; in the autonomous flight mode, the drone is autonomously flying according to flight parameters in a particular strategy, the first An operation command is used to change flight parameters in the specific strategy;
    根据所述第一操作命令改变所述无人机的飞行参数。The flight parameters of the drone are changed according to the first operational command.
  45. 根据权利要求44所述的机器可读存储介质，其特征在于，A machine readable storage medium according to claim 44, wherein
    所述机器可读存储介质被执行时还进行如下处理：在获取来自用户的用于改变所述无人机的飞行参数的第一操作命令的过程中，The machine readable storage medium is further processed as follows: in obtaining a first operational command from a user for changing flight parameters of the drone,
    获取用户的姿态信息，并根据所述姿态信息获取用于改变所述无人机的飞行参数的第一操作命令；或者，Acquiring the posture information of the user, and acquiring, according to the posture information, a first operation command for changing a flight parameter of the drone; or
    接收控制设备发送的用于改变所述无人机的飞行参数的第一操作命令。Receiving, by the control device, a first operation command for changing a flight parameter of the drone.
  46. 根据权利要求44所述的机器可读存储介质，其特征在于，所述飞行参数包括以下之一或任意组合：运动方向、运动速度、飞行高度、机头方向；The machine readable storage medium of claim 44, wherein the flight parameters comprise one or any combination of: a direction of motion, a speed of motion, a flying height, a head direction;
    所述机器可读存储介质被执行时还进行如下处理：在根据所述第一操作命令改变所述无人机的运动方向的过程中，根据所述第一操作命令将所述无人机左转和/或将所述无人机右转；在根据所述第一操作命令改变所述无人机的运动速度的过程中，根据所述第一操作命令对所述无人机进行加速飞行和/或减速飞行；在根据所述第一操作命令改变所述无人机的飞行高度的过程中，根据所述第一操作命令对所述无人机进行向高偏移和/或向低偏移；在根据所述第一操作命令改变所述无人机的机头方向的过程中，根据所述第一操作命令将所述无人机的机头左转和/或机头右转。The machine readable storage medium is further processed to: when the direction of movement of the drone is changed according to the first operation command, the drone is left according to the first operation command Rotating and/or turning the drone right; during the process of changing the speed of movement of the drone according to the first operation command, accelerating flight of the drone according to the first operation command And/or decelerating flight; in the process of changing the flying height of the drone according to the first operation command, the drone is shifted to a high and/or low according to the first operation command Offset; in the process of changing the direction of the nose of the drone according to the first operation command, turning the nose of the drone to the left and/or turning the nose to the right according to the first operation command .
  47. 根据权利要求44所述的机器可读存储介质，其特征在于，在指点飞行模式下，所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium of claim 44, wherein, in the pointing flight mode, the machine readable storage medium is further processed as follows when executed:
    获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令；根据所述第二操作命令改变所述无人机上云台的姿态；在获取来自用户的用于改变所述无人机上云台的姿态的第二操作命令的过程中，接收控制设备发送的用于改变所述无人机上云台的姿态的第二操作命令。Acquiring a second operation command from the user for changing the posture of the pan/tilt on the drone; changing a posture of the pan/tilt on the drone according to the second operation command; and acquiring the user from the user for changing the posture In the process of the second operation command of the attitude of the pan/tilt on the drone, the second operation command sent by the control device for changing the posture of the pan/tilt on the drone is received.
  48. 一种机器可读存储介质，其特征在于，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:
    在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行， 所述第一操作命令用于改变所述特定策略中的飞行参数；In the autonomous flight mode, generating a first operational command for changing flight parameters of the drone; in the autonomous flight mode, the drone autonomously flies according to flight parameters in a particular strategy, The first operation command is used to change flight parameters in the specific strategy;
    将所述第一操作命令发送给所述无人机，以使所述无人机根据所述第一操作命令改变所述无人机的飞行参数。Transmitting the first operational command to the drone to cause the drone to change flight parameters of the drone according to the first operational command.
  49. 根据权利要求48所述的机器可读存储介质，其特征在于，A machine readable storage medium according to claim 48, wherein
    所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
    在生成用于改变无人机的飞行参数的第一操作命令之前，获取飞行控制参数；所述第一操作命令还携带获取的飞行控制参数，所述飞行控制参数用于使所述无人机根据所述飞行控制参数改变所述无人机的飞行参数；其中，所述飞行参数包括以下之一或者任意组合：运动方向、运动速度、飞行高度、机头方向；所述飞行控制参数包括以下之一或者任意组合：用于将所述无人机左转和/或右转的飞行控制参数；用于对所述无人机进行加速飞行和/或减速飞行的飞行控制参数；用于对所述无人机进行向高偏移和/或向低偏移的飞行控制参数；用于将所述无人机的机头左转和/或机头右转的飞行控制参数。Acquiring flight control parameters prior to generating a first operational command for changing flight parameters of the drone; the first operational command further carrying acquired flight control parameters, the flight control parameters being used to cause the drone Changing flight parameters of the drone according to the flight control parameter; wherein the flight parameters include one or any combination of: a moving direction, a moving speed, a flying height, a nose direction; the flight control parameters include the following One or any combination: flight control parameters for turning the drone left and/or right; flight control parameters for performing accelerated and/or decelerating flight of the drone; The drone performs flight control parameters that are shifted to a high offset and/or to a low offset; flight control parameters for turning the nose of the drone to the left and/or turning the nose to the right.
  50. 根据权利要求48所述的机器可读存储介质，其特征在于，A machine readable storage medium according to claim 48, wherein
    所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
    检测所述控制设备的姿态信息，根据所述姿态信息获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为遥控器时，检测用户对摇杆的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令；或者，当控制设备为移动终端时，检测用户对操作界面的操作方式，根据所述操作方式获取飞行控制参数，并根据所述飞行控制参数生成用于改变无人机的飞行参数的第一操作命令。Detecting posture information of the control device, acquiring flight control parameters according to the posture information, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is a remote controller Detecting a user operation mode of the joystick, acquiring a flight control parameter according to the operation mode, and generating a first operation command for changing a flight parameter of the drone according to the flight control parameter; or, when the control device is When the terminal is moved, the operation mode of the user on the operation interface is detected, the flight control parameter is acquired according to the operation mode, and the first operation command for changing the flight parameter of the drone is generated according to the flight control parameter.
  51. 根据权利要求48所述的机器可读存储介质，其特征在于，在自主飞行模式为智能跟随模式，且所述控制设备为移动终端时：A machine readable storage medium according to claim 48, wherein when the autonomous flight mode is a smart follow mode and the control device is a mobile terminal:
    所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
    在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动方向；在根据用户对所述摇杆控制条的操作确定无人机的运动方 向的过程中，当接收到用户向右移动所述摇杆控制条的操作后，确定无人机的运动方向为沿逆时针跟随拍摄对象，或者，沿顺时针跟随拍摄对象；当接收到用户向左移动所述摇杆控制条的操作后，确定无人机的运动方向为沿顺时针跟随拍摄对象，或者，沿逆时针跟随拍摄对象；Displaying a joystick control bar on the operation interface; determining a movement direction of the drone according to a user operation of the joystick control bar; determining a motion of the drone according to a user operation of the joystick control bar In the process of the direction, after receiving the operation of moving the joystick control bar to the right, the movement direction of the drone is determined to follow the object counterclockwise, or the subject is followed clockwise; when the user is received After moving the joystick control bar to the left, it is determined that the direction of motion of the drone is to follow the subject clockwise, or to follow the subject counterclockwise;
    在操作界面显示摇杆控制条；根据用户对所述摇杆控制条的操作确定无人机的运动速度；在根据用户对所述摇杆控制条的操作确定无人机的运动速度的过程中，当接收到用户点击所述摇杆控制条或者在所述摇杆控制条上移动的操作后，确定用户操作的位置，并确定无人机的运动速度为与所述操作的位置对应的飞行速度值，在操作界面显示所述飞行速度值；其中，所述摇杆控制条的不同位置对应不同的飞行速度值。Displaying a rocker control bar on the operation interface; determining a movement speed of the drone according to the operation of the joystick control bar by the user; determining the movement speed of the drone according to the operation of the joystick control bar by the user After receiving the operation of the user clicking the rocker control bar or moving on the joystick control bar, determining the position of the user operation, and determining that the speed of the drone is a flight corresponding to the position of the operation The speed value is displayed on the operation interface, wherein the different positions of the joystick control bar correspond to different flight speed values.
  52. 根据权利要求48所述的机器可读存储介质，其特征在于，在自主飞行模式为指点飞行模式，且所述控制设备为移动终端时：A machine-readable storage medium according to claim 48, wherein when the autonomous flight mode is a pointing flight mode and the control device is a mobile terminal:
    所述机器可读存储介质被执行时还进行如下处理：The machine readable storage medium is also processed as follows when executed:
    在操作界面显示第一虚拟摇杆；根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度；在根据用户对第一虚拟摇杆的操作确定无人机的机头方向和/或飞行高度的过程中，当接收到用户在所述第一虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的操作后，确定所述无人机的机头方向为机头右转；或者，当接收到用户在所述第一虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的操作后，确定所述无人机的机头方向为机头左转；或者，当接收到用户在所述第一虚拟摇杆向下滑动、或在下方点击、或在下发长按的操作后，确定所述无人机的飞行高度为向低偏移；或者，当接收到用户在所述第一虚拟摇杆向上滑动、或在上方点击、或在上方长按的操作后，确定所述无人机的飞行高度为向高偏移；Displaying a first virtual joystick on the operation interface; determining a nose direction and/or a flight height of the drone according to the operation of the first virtual joystick by the user; determining the drone according to the operation of the first virtual joystick by the user In the process of the head direction and/or the flying height, when the user receives the operation of sliding the first virtual joystick to the right, or clicking on the right side or long pressing on the right side, determining the drone The head direction is the right turn of the nose; or, when the user receives the operation of sliding the first virtual joystick to the left, or clicking on the left side or long pressing on the left side, determining the drone The head direction is the left turn of the nose; or, when the user receives the operation of sliding down the first virtual rocker, or clicking below, or pressing the long press, determining the flight of the drone The height is a low offset; or, when the user receives an operation of sliding the first virtual rocker upward, or clicking above, or long pressing on the upper side, determining that the flying height of the drone is high Offset
    在操作界面显示第二虚拟摇杆；根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度；在根据用户对所述第二虚拟摇杆的操作确定无人机的运动速度的过程中，当接收到用户在所述第二虚拟摇杆向右滑动、或在右侧点击、或在右侧长按的命令、或者在所述第二虚拟摇杆向上滑动、或者在上 方点击、或者在上方长按的命令后，确定无人机的运动速度为加速飞行；或者，当接收到用户在所述第二虚拟摇杆向左滑动、或在左侧点击、或在左侧长按的命令、或者在所述第二虚拟摇杆向下滑动、或在下方点击、或在下发长按的命令后，确定无人机的运动速度为减速飞行。Displaying a second virtual joystick on the operation interface; determining a movement speed of the drone according to operation of the second virtual joystick by the user; determining a movement speed of the drone according to operation of the second virtual joystick by the user In the process, when receiving a command that the user slides to the right on the second virtual joystick, or clicks on the right side, or long presses on the right side, or slides up on the second virtual joystick, or on the After clicking or pressing the command on the top, determining the speed of the drone to accelerate the flight; or, when receiving the user, sliding the second virtual joystick to the left, or clicking on the left side, or on the left The command of the side length is pressed, or after the second virtual joystick slides down, or clicks below, or after a long press command is issued, it is determined that the speed of the drone is a deceleration flight.
  53. 根据权利要求48所述的机器可读存储介质，其特征在于，在指点飞行模式下，所述机器可读存储介质被执行时还进行如下处理：生成用于改变所述无人机上云台的姿态的第二操作命令；将所述第二操作命令发送给所述无人机，以使无人机根据所述第二操作命令改变所述无人机上云台的姿态。A machine-readable storage medium according to claim 48, wherein, in the pointing flight mode, the machine-readable storage medium is further processed to: generate a change for the pan/tilt on the drone a second operation command of the gesture; transmitting the second operation command to the drone to cause the drone to change the attitude of the pan/tilt on the drone according to the second operation command.
  54. 根据权利要求51所述的机器可读存储介质，其特征在于，A machine readable storage medium according to claim 51, wherein
    所述机器可读存储介质被执行时还进行如下处理：在生成用于改变所述无人机上云台的姿态的第二操作命令之前，获取云台控制参数；所述第二操作命令携带所述云台控制参数，且所述云台控制参数用于使所述无人机根据所述云台控制参数改变所述无人机上云台的姿态。The machine readable storage medium is further processed to: obtain a pan/tilt control parameter before generating a second operation command for changing a posture of the pan/tilt on the drone; the second operation command carries the The pan/tilt control parameter is used, and the pan/tilt control parameter is used to cause the drone to change the posture of the pan/tilt on the drone according to the pan/tilt control parameter.
  55. 根据权利要求54所述的机器可读存储介质，其特征在于，A machine readable storage medium according to claim 54 wherein:
    所述机器可读存储介质被执行时还进行如下处理：检测用户对操作界面的操作方式，根据所述操作方式获取云台控制参数，并生成用于改变所述无人机上云台的姿态的第二操作命令；The machine-readable storage medium is further processed to: detect a user operation mode of the operation interface, acquire a PTZ control parameter according to the operation mode, and generate a posture for changing a posture of the PTZ on the UAV. Second operation command;
    在操作界面显示第三虚拟摇杆；当接收到用户在所述第三虚拟摇杆滑动的操作后，确定用户的滑动方向与无人机上云台的控制方向相同；或者，检测所述控制设备的姿态信息，根据所述姿态信息生成用于改变所述无人机上云台的姿态的第二操作命令，并将所述第二操作命令发送给所述无人机。Displaying a third virtual joystick on the operation interface; after receiving the operation of sliding the third virtual joystick by the user, determining that the sliding direction of the user is the same as the control direction of the pan/tilt on the drone; or detecting the control device The posture information generates a second operation command for changing the posture of the pan/tilt on the drone according to the posture information, and transmits the second operation command to the drone.
  56. 一种飞行控制***，其特征在于，所述***包括无人机和控制设备；A flight control system, characterized in that the system comprises a drone and a control device;
    所述控制设备，用于在自主飞行模式下，生成用于改变无人机的飞行参数的第一操作命令；在所述自主飞行模式中，所述无人机根据特定策略中的飞行参数自主飞行，所述第一操作命令用于改变所述特定策略中的飞行参数；The control device is configured to generate, in an autonomous flight mode, a first operational command for changing a flight parameter of the drone; in the autonomous flight mode, the drone is autonomous according to flight parameters in a specific strategy Flying, the first operational command is used to change flight parameters in the specific strategy;
    所述控制设备，还用于将所述第一操作命令发送给所述无人机；The control device is further configured to send the first operation command to the drone;
    所述无人机，用于在自主飞行模式下，获取来自用户的用于改变所述无 人机的飞行参数的第一操作命令；根据所述第一操作命令改变所述无人机的飞行参数。 The drone is configured to acquire, from the user, the change in the autonomous flight mode a first operational command of a flight parameter of the human machine; changing a flight parameter of the drone according to the first operational command.
PCT/CN2017/085761 2017-05-24 2017-05-24 Flight control method, device and system, and machine readable storage medium WO2018214068A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2017/085761 WO2018214068A1 (en) 2017-05-24 2017-05-24 Flight control method, device and system, and machine readable storage medium
CN202210217555.6A CN114510069A (en) 2017-05-24 2017-05-24 Flight control method, flight control device, unmanned aerial vehicle and computer-readable storage medium
CN201780005487.4A CN108513649B (en) 2017-05-24 2017-05-24 Flight control method, flight control device, machine-readable storage medium, and flight control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085761 WO2018214068A1 (en) 2017-05-24 2017-05-24 Flight control method, device and system, and machine readable storage medium

Publications (1)

Publication Number Publication Date
WO2018214068A1 true WO2018214068A1 (en) 2018-11-29

Family

ID=63375450

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/085761 WO2018214068A1 (en) 2017-05-24 2017-05-24 Flight control method, device and system, and machine readable storage medium

Country Status (2)

Country Link
CN (2) CN108513649B (en)
WO (1) WO2018214068A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112394738A (en) * 2019-08-14 2021-02-23 杭州海康机器人技术有限公司 Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109316745B (en) * 2018-10-12 2022-05-31 网易（杭州）网络有限公司 Virtual object motion control method and device, electronic equipment and storage medium
CN109062259A (en) * 2018-10-31 2018-12-21 西安天问智能科技有限公司 A kind of unmanned plane automatic obstacle-avoiding method and device thereof
CN109324605A (en) * 2018-11-19 2019-02-12 广州极飞科技有限公司 A kind of flying vehicles control method, apparatus, equipment and storage medium
CN110069071B (en) * 2019-05-15 2022-06-14 深圳铂石空间科技有限公司 Unmanned aerial vehicle navigation method and device, storage medium and electronic equipment
WO2020227996A1 (en) * 2019-05-15 2020-11-19 深圳市大疆创新科技有限公司 Photography control method and apparatus, control device and photography device
CN110347171B (en) * 2019-07-12 2022-06-03 深圳市道通智能航空技术股份有限公司 Aircraft control method and aircraft
CN113031630A (en) * 2019-12-24 2021-06-25 广州极飞科技股份有限公司 Speed control curve acquisition method, speed control method and related device
WO2021189215A1 (en) * 2020-03-23 2021-09-30 深圳市大疆创新科技有限公司 Control method and apparatus for movable platform, movable platform, and storage medium
CN112771465A (en) * 2020-04-27 2021-05-07 深圳市大疆创新科技有限公司 Control method, system and device of unmanned aerial vehicle and storage medium
WO2022134034A1 (en) * 2020-12-25 2022-06-30 深圳市大疆创新科技有限公司 Cradle head control method and mobile platform
CN114902151A (en) * 2020-12-30 2022-08-12 深圳市大疆创新科技有限公司 Unmanned aerial vehicle control method and device, unmanned aerial vehicle, terminal, system and storage medium
CN113741497A (en) * 2021-08-25 2021-12-03 深圳市道通智能航空技术股份有限公司 Control method and device for direction of holder and terminal

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006083408A1 (en) * 2004-12-31 2006-08-10 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
CN104932526A (en) * 2015-05-29 2015-09-23 深圳市大疆创新科技有限公司 Flight equipment control method and flight equipment
CN104950906A (en) * 2015-06-15 2015-09-30 中国人民解放军国防科学技术大学 Unmanned aerial vehicle remote measuring and control system and method based on mobile communication network
CN105120011A (en) * 2015-09-22 2015-12-02 杨珊珊 Aerial photographed data download system and method
CN105334861A (en) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 Unmanned plane flight control module, unmanned plane flight control system and unmanned plane
CN105938371A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Flight control system, method and remote controller of unmanned aerial vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7778744B2 (en) * 2006-04-20 2010-08-17 Honeywell International Inc. Avionics framework
CN104881033B (en) * 2015-03-27 2018-09-04 深圳市大疆灵眸科技有限公司 Cloud platform control system, cloud platform control method and unmanned vehicle
CN104750114B (en) * 2015-04-08 2018-11-13 王宏博 Portable unmanned machine manipulates case
CN104991478A (en) * 2015-08-04 2015-10-21 安徽泽众安全科技有限公司 Unmanned aerial vehicle handheld portable control terminal
CN105721862B (en) * 2016-02-01 2017-11-21 杭州电子科技大学 A kind of unmanned plane video quality determines method
CN105739514A (en) * 2016-03-23 2016-07-06 普宙飞行器科技（深圳）有限公司 Operation and control method of unmanned aerial vehicle and unmanned aerial vehicle system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006083408A1 (en) * 2004-12-31 2006-08-10 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for avoidance of power lines or trip wires by fixed and rotary winged aircraft
CN104932526A (en) * 2015-05-29 2015-09-23 深圳市大疆创新科技有限公司 Flight equipment control method and flight equipment
CN104950906A (en) * 2015-06-15 2015-09-30 中国人民解放军国防科学技术大学 Unmanned aerial vehicle remote measuring and control system and method based on mobile communication network
CN105120011A (en) * 2015-09-22 2015-12-02 杨珊珊 Aerial photographed data download system and method
CN105334861A (en) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 Unmanned plane flight control module, unmanned plane flight control system and unmanned plane
CN105938371A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Flight control system, method and remote controller of unmanned aerial vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112394738A (en) * 2019-08-14 2021-02-23 杭州海康机器人技术有限公司 Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller
CN112394738B (en) * 2019-08-14 2024-04-02 杭州海康威视数字技术股份有限公司 Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller

Also Published As

Publication number Publication date
CN108513649B (en) 2022-04-05
CN108513649A (en) 2018-09-07
CN114510069A (en) 2022-05-17

Similar Documents

Publication Publication Date Title
WO2018214068A1 (en) Flight control method, device and system, and machine readable storage medium
US11720126B2 (en) Motion and image-based control system
US11644832B2 (en) User interaction paradigms for a flying digital assistant
US11914370B2 (en) System and method for providing easy-to-use release and auto-positioning for drone applications
US11573562B2 (en) Magic wand interface and other user interaction paradigms for a flying digital assistant
US20190250601A1 (en) Aircraft flight user interface
US10587790B2 (en) Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
CN108279694B (en) Electronic device and control method thereof
US8577535B2 (en) System and method for providing perceived first-order control of an unmanned vehicle
JP2018522306A (en) Drone control device and method
CN107643758A (en) Shoot the autonomous system and method that include unmanned plane and earth station of mobile image
US20120249784A1 (en) Method and apparatus for digital video latency reduction by real-time warping
WO2019140695A1 (en) Method and device for controlling flight of aircraft
WO2018227345A1 (en) Control method and unmanned aerial vehicle
KR102117338B1 (en) Method for controling unmanned moving object based on cylindrical coordinate system and recording medium storing program for executing the same, and computer prograom stored in recording medium for executing the same
KR101876829B1 (en) Induction control system for indoor flight control of small drones
WO2022188151A1 (en) Image photographing method, control apparatus, movable platform, and computer storage medium
WO2022141187A1 (en) Systems and methods for controlling an unmanned aerial vehicle using a body-attached remote control
KR20180106178A (en) Unmanned aerial vehicle, electronic device and control method thereof
US20230111932A1 (en) Spatial vector-based drone control

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17910589

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17910589

Country of ref document: EP

Kind code of ref document: A1