CN108513649A

CN108513649A - Flight control method, equipment, machine readable storage medium and system

Info

Publication number: CN108513649A
Application number: CN201780005487.4A
Authority: CN
Inventors: 苏冠华; 缪宝杰; 钱杰; 胡骁
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2017-05-24
Filing date: 2017-05-24
Publication date: 2018-09-07
Anticipated expiration: 2037-05-24
Also published as: CN114510069A; CN108513649B; WO2018214068A1

Abstract

A kind of flight control method, equipment, machine readable storage medium and system, flight control method include：Under autonomous flight pattern, the first operational order of the flight parameter from the user for changing unmanned plane is obtained；In autonomous flight pattern, unmanned plane is according to the flight parameter autonomous flight in specific policy, and the first operational order is for changing the flight parameter (201) in specific policy；Change the flight parameter (202) of unmanned plane according to the first operational order.When unmanned plane flight under autonomous flight pattern, on the basis of unmanned plane autonomous flight, user can adjust the flight parameter of unmanned plane, so as to control the flight of unmanned plane, improve the user experience.

Description

Flight control method, equipment, machine readable storage medium and system

Technical field

The present invention relates to air vehicle technique field more particularly to flight control method, equipment, machine readable storage medium with And system.

Background technology

Such as unmanned vehicles such as unmanned vehicle (UAV, abbreviation unmanned plane) are developed to various fields, including consumption Person applies and sector application etc..For example, can manipulate unmanned plane for entertaining, photographic/camera, monitoring, delivering or other application, Unmanned plane has expanded the every aspect of personal lifestyle.

When unmanned plane flight under autonomous flight pattern, unmanned plane can be with autonomous flight, to reach certain air objective. But user is unable to control the flight of unmanned plane, affects user experience.

Invention content

The present invention provides flight control method, equipment, machine readable storage medium and system.

First aspect present invention provides a kind of flight control method, is applied to unmanned plane, including：

Under autonomous flight pattern, the first operation of the flight parameter from the user for changing the unmanned plane is obtained Order；In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, and described first Operational order is for changing the flight parameter in the specific policy；

Change the flight parameter of the unmanned plane according to first operational order.

Second aspect of the present invention provides another flight control method, is applied to control device, including：

Under autonomous flight pattern, the first operational order of the flight parameter for changing unmanned plane is generated；It is described from In main offline mode, the unmanned plane is used for according to the flight parameter autonomous flight in specific policy, first operational order Change the flight parameter in the specific policy；

First operational order is sent to the unmanned plane, so that the unmanned plane is according to first operational order Change the flight parameter of the unmanned plane.

Third aspect present invention, provides a kind of unmanned plane, and the unmanned plane includes：

Processor is joined under autonomous flight pattern, obtaining the flight from the user for changing the unmanned plane The first several operational orders；In autonomous flight pattern, unmanned plane is described according to the flight parameter autonomous flight in specific policy First operational order is for changing the flight parameter in the specific policy；

The processor is additionally operable to change the flight parameter of the unmanned plane according to first operational order.

Fourth aspect present invention, provides a kind of control device, and the control device includes：

Processor, the first operation life under autonomous flight pattern, generating the flight parameter for changing unmanned plane It enables；In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, first behaviour It orders for changing the flight parameter in the specific policy；

The processor is additionally operable to first operational order being sent to the unmanned plane, so that the unmanned plane root Change the flight parameter of the unmanned plane according to first operational order.

Fifth aspect present invention provides a kind of machine readable storage medium, is stored on the machine readable storage medium Several computer instructions, the computer instruction, which is performed, to be handled as follows：

Under autonomous flight pattern, the first operation of the flight parameter from the user for changing the unmanned plane is obtained Order；In autonomous flight pattern, unmanned plane is according to the flight parameter autonomous flight in specific policy, first operational order For changing the flight parameter in the specific policy；

Sixth aspect present invention provides a kind of machine readable storage medium, is stored on the machine readable storage medium Several computer instructions, the computer instruction, which is performed, to be handled as follows：

Seventh aspect present invention provides a kind of flight control system, including unmanned plane and control device；

The control device, under autonomous flight pattern, generating first of the flight parameter for changing unmanned plane Operational order；In the autonomous flight pattern, the unmanned plane is described according to the flight parameter autonomous flight in specific policy First operational order is for changing the flight parameter in the specific policy；

The control device is additionally operable to first operational order being sent to the unmanned plane；

The unmanned plane, it is from the user for changing the winged of the unmanned plane under autonomous flight pattern, obtaining First operational order of row parameter；Change the flight parameter of the unmanned plane according to first operational order.

Based on the above-mentioned technical proposal, in the embodiment of the present invention, when unmanned plane flight under autonomous flight pattern, at nobody On the basis of machine autonomous flight, user can adjust the flight parameter of unmanned plane, so as to control the flight of unmanned plane, improve User experience.

Description of the drawings

It, below will be to the present invention in order to clearly illustrate the embodiment of the present invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below Attached drawing is only some embodiments described in the present invention for those of ordinary skill in the art can also be according to this hair These attached drawings of bright embodiment obtain other attached drawings.

Fig. 1 is the application scenarios schematic diagram of one embodiment；

Fig. 2 is the embodiment schematic diagram of a flight control method；

Fig. 3 is the embodiment schematic diagram of another flight control method；

Fig. 4 A are the embodiment schematic diagrams of another flight control method；

Fig. 4 B, Fig. 4 C and Fig. 4 D are application scenarios schematic diagrams；

Fig. 5 A are the embodiment schematic diagrams of another flight control method；

Fig. 5 B, Fig. 5 C and Fig. 5 D are application scenarios schematic diagrams；

Fig. 6 is one embodiment block diagram of unmanned plane；

Fig. 7 is one embodiment block diagram of control device.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.In addition, in the absence of conflict, in following embodiment and embodiment Feature can be combined with each other.

Terminology used in the present invention is not intended to limit the present invention merely for the sake of the purpose of description specific embodiment.The present invention It is also intended to including most forms with the "an" of singulative used in claims, " described " and "the", unless up and down Text clearly shows that other meanings.It should be appreciated that term "and/or" used herein refers to comprising one or more associated List items purpose any or all may combine.

Although may describe various information using term first, second, third, etc. in the present invention, these information are not answered It is limited to these terms.These terms are used for same type of information being distinguished from each other out.For example, not departing from the scope of the invention In the case of, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.Depend on In context, in addition, used word " if " can be construed to " ... when ", either " when ... " or " ring It should be in determination ".

The embodiment of the present invention proposes that a kind of flight control method, this method can be applied to include control device and unmanned plane System, the control device can be remote controler, mobile terminal (such as mobile phone), bracelet, smartwatch, to this control device Type is not limited.It is shown in Figure 1, it is the application scenarios schematic diagram of flight control method method.Wherein, control device can It is communicated with unmanned plane, and the connection type of the two can include but is not limited to wired connection or wireless connection, to this company It connects mode not to be limited, in Fig. 1 by taking wireless connection (such as WiFi, OcuSync, Lightbridge, Auxiliary) as an example.

Shown in Figure 2, for the flow chart of the flight control method, this method can be applied to unmanned plane.

Step 201, under autonomous flight pattern, the first of the flight parameter from the user for changing unmanned plane is obtained Operational order.In autonomous flight pattern, unmanned plane can according to the flight parameter autonomous flight in specific policy, and this first Operational order is for changing the flight parameter in the specific policy.

Step 202, change the flight parameter of unmanned plane according to first operational order.

In one example, autonomous flight pattern can include but is not limited to：Intelligent follow the mode；Alternatively, giving directions flight Pattern.Wherein, intelligent follow the mode can refer to：After determining reference object (such as some user), unmanned plane locks the shooting Object makes the reference object be located in the shooting picture of unmanned plane always by following the reference object.For example, intelligence follows In pattern around following, can be that unmanned plane carries out reference object to surround flight, such as along track shot object counterclockwise or Person is along track shot object clockwise.In another example the spiral in intelligent follow the mode follows, can be that unmanned plane uses spiral shell Rising manner track shot object is revolved, reference object is made to be located in the shooting picture of unmanned plane always.In another example intelligently following mould Separate target in formula follows, can be unmanned plane using apart from reference object it is more and more remoter by the way of track shot object, but It is that reference object also to be made to be located in the shooting picture of unmanned plane.

In addition, indication offline mode can refer to：After (being referred to as airbound target) with determining air objective, nobody Machine flies towards the direction on air objective ground always, until unmanned plane is with reaching air objective.Alternatively, not determining flight mesh Ground in the case of, can also determine a heading, i.e., unmanned plane flies along the heading always, until user It controls unmanned plane and stops flight.

In one example, above-mentioned flight parameter can include but is not limited to following one or arbitrary combination：Movement side To, movement velocity, flying height, heading etc..Based on this, above-mentioned specific policy can be and offline mode, flight parameter Related strategy can be configured according to practical experience.

For example, the countermeasures in specific policy A may include：Offline mode be in intelligent follow the mode around with With or spiral follow or follow far from target.Flight parameter in specific policy A may include：The direction of motion For along track shot object counterclockwise, movement velocity is 6 meter per seconds, flying height is 10 meters, and heading is front, nobody Machine is 6 meters etc. at a distance from reference object；Certainly, which is not limited to the above, is not done to this flight parameter Limitation.Based on this, unmanned plane can be according to the countermeasures and flight parameter autonomous flight in specific policy A, such as using circular It is along track shot object counterclockwise to follow autonomous flight, the direction of motion, and movement velocity is 6 meter per seconds, and flying height is 10 meters, Heading is front, and unmanned plane is 6 meters etc. at a distance from reference object.

Further, above-mentioned first operational order can change the flight parameter in specific policy A, for example, first behaviour Flight control parameter can be carried by making order, and the flight control parameter is for changing the flight parameter in the specific policy.For example, Flight control parameter is used to from along track shot object counterclockwise change into the direction of motion along track shot object clockwise； 6 meter per second of movement velocity is changed into 5 meter per seconds；Flying height is changed into 12 meters of flying height for 10 meters.And so on, it is follow-up to walk Suddenly the process is discussed in detail.

In another example the countermeasures in specific policy B may include：Offline mode be give directions in offline mode towards flight Destination carries out flying or determining the flight etc. after a heading.In addition, the flight parameter in specific policy B can wrap It includes：The direction of motion can be that forward, movement velocity is 6 meter per seconds, and flying height is 10 meters, and heading is front etc..So, The flight parameter is not limited to the above, is not limited to this flight parameter.Based on this, unmanned plane can be according to specific plan Countermeasures in slightly B and flight parameter autonomous flight are such as to fly forward using offline mode autonomous flight, the direction of motion is given directions Row, movement velocity are 6 meter per seconds, and flying height is 10 meters, and heading is front.

Further, above-mentioned first operational order can change the flight parameter in specific policy B, for example, first behaviour Flight control parameter can be carried by making order, and the flight control parameter is for changing the flight parameter in specific policy B.Rear The process of the change of flight parameter can be discussed in detail during continuous.

In one example, for " the first operation for obtaining the flight parameter from the user for changing unmanned plane is ordered Enable " process, can include but is not limited to such as under type：Mode one, the posture information for obtaining user, and according to the posture information Obtain the first operational order of the flight parameter for changing unmanned plane.Mode two, receiving control apparatus send for changing First operational order of the flight parameter of unmanned plane.

For mode one, unmanned plane can collect the posture information of user by photographic device, as user lift the right hand, User lifts left hand etc..Unmanned plane can obtain the first operational order corresponding with the posture information, be somebody's turn to do by inquiring posture table Posture table is for recording posture information and the correspondence of operational order.

For example, the posture table is for recording posture information A (such as user lifts the right hand) and operational order A (as accelerated to fly) Correspondence, the correspondence of posture information B (such as user lifts left hand) and operational order B (such as decelerating flight).Based on this, It is user when lifting the right hand that unmanned plane, which collects posture information, by inquiring posture table, is obtained for accelerating to unmanned plane First operational order of flight.

For mode two, since control device can include but is not limited to remote controler, mobile terminal, bracelet, smartwatch Etc. types therefore the processing procedure of mode two can be divided into following situation：

Situation one, the first operational order are that control device is sent after the posture information for detecting this control device.Tool Body, when control device is the equipment such as mobile terminal, bracelet, smartwatch, control device can detect this control device Posture information, and according to the posture information generate for changing unmanned plane flight parameter the first operational order.For example, working as When the posture information of control device is posture information A, the first operational order for unmanned plane accelerate flight is generated, when When the posture information of control device is posture information B, the first operational order for carrying out decelerating flight to unmanned plane is generated.

Situation two, the first operational order are that control device is sent after detecting user to the operation of rocking bar.Specifically, When control device is remote controler, then remote controler can detect mode of operation of the user to rocking bar, and according to the mode of operation Generate the first operational order of the flight parameter for changing unmanned plane.For example, when user is operation A to the mode of operation of rocking bar When (being such as pushed up to rocking bar), the first operational order for unmanned plane accelerate flight is generated, when user is to rocking bar When mode of operation is operation B (being such as pushed downward upon rocking bar), the first operational order for carrying out decelerating flight to unmanned plane is generated.

Situation three, the first operational order are that mobile terminal is sent after detecting user to the operation of operation interface.When When control device is mobile terminal, mobile terminal can detect mode of operation of the user to operation interface, and according to the operation Mode generates the first operational order of the flight parameter for changing unmanned plane.For example, when user is to the operation side of operation interface When formula is operation A (as slided to the right), the first operational order for unmanned plane accelerate flight is generated, when user is to behaviour When the mode of operation for making interface is operation B (as slided to the left), the first operation for carrying out decelerating flight to unmanned plane is generated Order.

Certainly, in practical applications, it is not limited to above-mentioned " to obtain the flight from the user for changing unmanned plane to join The mode of the first several operational order " as unmanned plane can also detect the acoustic information of user, and is obtained according to the acoustic information For changing the first operational order of the flight parameter of unmanned plane.The acquisition modes of this first operational order are not limited, only It wants that the first operational order can be got.

It in one example, can be with for the process of " flight parameter for changing unmanned plane according to first operational order " Including but not limited to if mode：It, can basis during changing the direction of motion of unmanned plane according to the first operational order Unmanned plane is turned left and/or unmanned plane is turned right by the first operational order；Further, it is that intelligence follows mould in autonomous flight pattern When formula, the direction of motion may include along track shot object counterclockwise and/or along track shot object clockwise；Therefore, according to First operational order can also be unmanned plane left-hand rotation along track shot object clockwise, according to the first operational order by unmanned plane Right-hand rotation can also be along track shot object counterclockwise.In the process for the movement velocity for changing unmanned plane according to the first operational order In, unmanned plane can be carried out according to the first operational order accelerating flight and/or decelerating flight；Further, movement velocity is also It may include flying speed value；Therefore, when accelerate flight and/or decelerating flight to unmanned plane according to the first operational order, Movement velocity can be adjusted to the flying speed value.

It, can be according to the first operational order pair during changing the flying height of unmanned plane according to the first operational order Unmanned plane deviated (such as to 1 meter of row of low flight) to height offset (such as to 1 meter of height flight) and/or to low.According to the first operation During order changes the heading of unmanned plane, the head of unmanned plane can be turned left according to the first operational order and/or Head is turned right；By that by the head left-hand rotation of unmanned plane and/or head right-hand rotation, can make photographic subjects always in the bat of unmanned plane It takes the photograph in picture, ensures shooting effect.

Wherein, when the yaw axis of the yaw axis (namely yaw angle) of holder and unmanned plane is fixed to each other, by by nobody The head of machine turns left and/or head is turned right, and can control the yaw angle of unmanned plane, can thus reach the yaw of control holder The purpose at angle.That is, by adjusting the heading of unmanned plane, achieve the purpose that adjust holder so that photographic subjects exist In the shooting picture of holder.In addition, if the yaw axis of holder and the yaw decoupler shafts of unmanned plane, need not adjust the machine of unmanned plane Head direction, can be directly changed the posture of holder on unmanned plane, so that photographic subjects are in the shooting picture of holder.

Below in conjunction with specific embodiment, the process to changing the posture of holder on unmanned plane is described in detail.

In one example, in the case where giving directions offline mode, unmanned plane can also obtain from the user for changing nobody Second operational order of the posture of holder on machine, and according to the posture of holder on second operational order change unmanned plane.Wherein, For the process of " obtain the second operational order from the user for changing the posture of holder on unmanned plane ", unmanned plane can be with The second operational order for changing the posture of holder on unmanned plane that receiving control apparatus is sent, the control device include remote control Device, alternatively, mobile terminal.

It is shown in Figure 3, it is the flow chart of flight control method, this method can be applied to control device.

Step 301, under autonomous flight pattern, the first operational order of the flight parameter for changing unmanned plane is generated. In autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, and first operational order is used In changing the flight parameter in the specific policy.

Step 302, which is sent to unmanned plane, so that unmanned plane changes according to first operational order The flight parameter of unmanned plane, specific change process may refer to flow shown in Fig. 2.

In one example, before generating the first operational order for changing the flight parameter of unmanned plane, control is set It is standby to obtain flight control parameter.First operational order can also carry the flight control parameter of acquisition, and the flight control The flight parameter that parameter processed is used to that unmanned plane to be made to change unmanned plane according to the flight control parameter.Further, flight control ginseng Number can include but is not limited to following one or arbitrary combination：Flight for turning left and/or turning right unmanned plane controls ginseng Number；Flight control parameter for unmanned plane accelerate flight and/or decelerating flight；For carrying out unmanned plane to high partially Move and/or to low offset flight control parameter；For the flight that the head of unmanned plane turns left and/or head is turned right to be controlled ginseng Number.

In one example, for " control device obtains flight control parameter, is generated according to flight control parameter for changing The process of first operational order of the flight parameter of change unmanned plane ", including but not limited to：

Mode one, when control device is the equipment such as mobile terminal, bracelet, smartwatch, control device can detect The posture information of this control device obtains flight control parameter according to the posture information, is generated and used according to the flight control parameter In the first operational order of the flight parameter for changing unmanned plane.Such as when the posture information of control device is posture information A, determine Flight control parameter is the flight control parameter for unmanned plane accelerate flight, is generated for accelerating to unmanned plane First operational order of flight.

Mode two, when control device is remote controler, then remote controler can detect mode of operation of the user to rocking bar, and Flight control parameter is obtained according to the mode of operation, the flight parameter for changing unmanned plane is generated according to the flight control parameter The first operational order.For example, when user to the mode of operation of rocking bar is operation A (being such as pushed up to rocking bar) when, determine flight Control parameter is the flight control parameter for unmanned plane accelerate flight, and is generated for carrying out accelerating to fly to unmanned plane The first capable operational order.

Mode three, when control device is mobile terminal, mobile terminal can detect operation side of the user to operation interface Formula, flight control parameter is obtained according to the mode of operation, and the flight for changing unmanned plane is generated according to the flight control parameter First operational order of parameter.For example, when user to the mode of operation of operation interface is operation A (as slided to the right) when, determine Flight control parameter is the flight control parameter for unmanned plane accelerate flight, is generated for accelerating to unmanned plane First operational order of flight.

Wherein, operation of the user to operation interface, can be in operation interface virtual key or virtual option or The operation of virtual rocking bar, for the convenience of description, subsequently in operation interface virtual rocking bar (such as subsequent rocking bar control strip, First virtual rocking bar, second virtual rocking bar etc.) operated for.

Certainly, in practical applications, it is not limited to above-mentioned " to generate the first behaviour of the flight parameter for changing unmanned plane Order " mode, the generating mode of this first operational order is not limited.

In one example, it is intelligent follow the mode in autonomous flight pattern, and when control device is mobile terminal, then also Rocking bar control strip can be shown in operation interface；The movement side of unmanned plane is determined to the operation of the rocking bar control strip according to user To.Further, it for the process of " direction of motion for determining unmanned plane to the operation of rocking bar control strip according to user ", can wrap It includes：When receive user move right rocking bar control strip operation after, determine that the direction of motion of unmanned plane is along following counterclockwise Reference object, alternatively, along track shot object clockwise；After receiving user and being moved to the left the operation of rocking bar control strip, really The direction of motion for determining unmanned plane is along track shot object clockwise, alternatively, along track shot object counterclockwise.

In one example, it is intelligent follow the mode in autonomous flight pattern, and when control device is mobile terminal, then also Rocking bar control strip can be shown in operation interface, and determine the movement speed of unmanned plane to the operation of the rocking bar control strip according to user Degree.It further, can be with for the process of " movement velocity for determining unmanned plane to the operation of the rocking bar control strip according to user " Including：After receiving user and clicking the rocking bar control strip or the operation moved on the rocking bar control strip, determine that user grasps The position of work, and determine that the movement velocity of unmanned plane is flying speed value corresponding with the position of the operation；Wherein, the rocking bar control The different location of item processed corresponds to different flying speed values, for example, position 1 corresponds to 6 meter per second of flying speed value.

In one example, it is flying speed value corresponding with the position of the operation in the movement velocity for determining unmanned plane Afterwards, mobile terminal can also show flying speed value corresponding with the position of operation in operation interface.

In one example, it is to give directions offline mode in autonomous flight pattern, it is mobile and when control device is mobile terminal For can also show the first virtual rocking bar in operation interface；Unmanned plane is determined according to the operation of the first virtual rocking bar of user couple Heading and/or flying height.Further, for " according to the determining unmanned plane of the operation of the first virtual rocking bar of user couple The process of heading and/or flying height " may include：Slide to the right in the first virtual rocking bar when receiving user or Person clicks on right side or after the operation of right side long-press (as pressed 3 seconds), it is determined that the heading of unmanned plane is that head is right Turn；Alternatively, when receive user the first virtual rocking bar slide to the left or left side click or left side long-press (such as By 3 seconds) operation after, it is determined that the heading of unmanned plane is that head turns left, wherein the length slided to the left, in left side The number of click or left side long-press duration can control head left-hand rotation degree, for example, the length slided to the left is got over Greatly, the degree that Nose Left turns is bigger；Alternatively, when receiving user in the first virtual rocking bar slide downward or in lower section It clicks or after the operation of lower section long-press (as pressed 3 seconds), it is determined that the flying height of unmanned plane is to low offset, wherein The length of slide downward can control unmanned plane to low offset in the number of lower section click or in the duration of lower section long-press Degree, for example, the length slided to the left is bigger, the degree of unmanned plane to low offset is bigger；Alternatively, when receive user this After the operation of one virtual rocking bar upward sliding or above click or above long-press (as pressed 3 seconds), it is determined that nothing Man-machine flying height is to be deviated to height, wherein the length of upward sliding, the number clicked above or long-press above Duration can control degree of the unmanned plane to height offset, for example, the length of upward sliding is bigger, journey of the unmanned plane to height offset Degree is bigger.

In one example, autonomous flight pattern be give directions offline mode, and control device be mobile terminal when, grasping Make the second virtual rocking bar of interface display；Then, the movement speed of unmanned plane is determined to the operation of the second virtual rocking bar according to user Degree.It further, can for the process of " movement velocity for determining unmanned plane to the operation of the second virtual rocking bar according to user " To include：It slides to the right in the second virtual rocking bar or is clicked or in right side long-press (as by 3 on right side when receiving user Second) order or click in the second virtual rocking bar upward sliding or above or above long-press (as by 3 seconds) After order, determine that the movement velocity of unmanned plane is to accelerate to fly；Alternatively, being slided to the left in the second virtual rocking bar when receiving user It is dynamic or clicked in left side or in the order of left side long-press (as pressed 3 seconds) or in the second virtual rocking bar slide downward or Person clicks in lower section or after the order for issuing long-press (as by 3 seconds), determines that the movement velocity of unmanned plane is decelerating flight.

In one example, in the case where giving directions offline mode, control device can also generate for changing holder on unmanned plane Posture the second operational order, and the second operational order is sent to unmanned plane so that the unmanned plane can according to this second Operational order changes the posture of holder on the unmanned plane.

Before generating the second operational order for changing the posture of holder on unmanned plane, control device can also obtain Cradle head control parameter, and the second operational order can carry the cradle head control parameter, and the cradle head control parameter is for making nobody Machine is according to the posture of holder on the cradle head control parameter change unmanned plane.

In one example, when control device is mobile terminal, then operation side of the user to operation interface can be detected Formula, and cradle head control parameter is obtained according to the mode of operation, and generate for changing the second behaviour of the posture of holder on unmanned plane It orders.Further, mobile terminal can show the virtual rocking bar of third in operation interface, virtual in third when receiving user After the operation (namely mode of operation of the user to operation interface) of rocking bar sliding, determine in the glide direction and unmanned plane of user The control direction of holder is identical.

In one example, when control device is the equipment such as mobile terminal, bracelet, smartwatch, control device can be with It detects the posture information of this control device, and is generated for changing the of the posture of holder on unmanned plane according to the posture information Two operational orders, and the second operational order is sent to unmanned plane.Specifically, control device can be obtained according to the posture information Cradle head control parameter generates the second operational order for changing the posture of holder on unmanned plane according to the cradle head control parameter. For example, the direction of motion of detection mobile terminal, and determine the direction of motion of mobile terminal and the control direction of holder on unmanned plane It is identical.

Below in conjunction with several concrete application scenes, above-mentioned flight control method is described in detail.

Application scenarios 1, using control device as mobile terminal, autonomous flight pattern is intelligent follow the mode (as intelligence follows Surrounding for pattern follows) for.It is the flow chart of flight control method shown in Fig. 4 A.

Step 401, user draws frame/click reference object, locks reference object.As shown in Figure 4 B, be user to shooting pair As drawing the schematic diagram that frame locks in FPV pictures, indicate that specific policy is intelligent follow the mode.

Step 402, mobile terminal shows rocking bar control strip (i.e. virtual rocking bar control strip) in operation interface.

As shown in Figure 4 C, it when user moves right rocking bar control strip, indicates along track shot object counterclockwise；Work as user When being moved to the left rocking bar control strip, indicate along track shot object clockwise.In addition, the different location of rocking bar control strip corresponds to not Same flying speed value when the user clicks when the designated position of rocking bar control strip, based on the position that user clicks, determines and the position Set corresponding flying speed value (such as 6 meter per seconds).When the user clicks when the designated position of rocking bar control strip, correspondence can also be shown Flying speed value.

As shown in Figure 4 D, after user unclamps finger, mobile terminal can also show resetting on mobile rocking bar control strip Button when the user clicks when the reset button, indicates flying speed value being adjusted to 0.

Step 403, operation of the mobile terminal according to user to rocking bar control strip determines flight control parameter.

For example, when receive user move right rocking bar control strip operation after, mobile terminal determines the movement of unmanned plane Direction is along track shot object counterclockwise, i.e. flight control parameter is for setting along the inverse time direction of motion of unmanned plane to The parameter of needle track shot object；After receiving user and being moved to the left the operation of rocking bar control strip, mobile terminal determines nobody The direction of motion of machine is along track shot object clockwise, i.e. flight control parameter is for the direction of motion of unmanned plane to be arranged For for along the parameter of track shot object clockwise.After receiving the operation of user's click rocking bar control strip, mobile terminal is true Determine the position of user's operation, and determine that the movement velocity of unmanned plane is flying speed value corresponding with position, is i.e. flight control ginseng Number is the parameter for setting the movement velocity of unmanned plane to the flying speed value, and so on.

Step 404, mobile terminal generates the first operational order according to the flight control parameter.

Step 405, which is sent to unmanned plane by mobile terminal.

Step 406, unmanned plane receives the first operational order that mobile terminal is sent.

Step 407, mobile terminal changes the flight parameter of unmanned plane according to first operational order.

Application scenarios 2, using control device as mobile terminal, autonomous flight pattern is to determine the indication flight on air objective ground For pattern.It is the example of the flow chart of flight control method shown in Fig. 5 A.

Step 501, user clicks specific region (such as ground), and unmanned plane to air objective flies.

As shown in Figure 5 B, the ground at user's clicking operation interface, mobile terminal ejector button go, user click button go, Unmanned plane can to air objective be flown according to present level with default speed.

Step 502, mobile terminal shows the first virtual rocking bar and the second virtual rocking bar in operation interface.

As shown in Figure 5 C, the virtual rocking bar for being located at left side is the first virtual rocking bar, and user is slided to the right in the first virtual rocking bar When dynamic, indicate that the heading of unmanned plane is turned right for head；User indicates unmanned plane when the first virtual rocking bar slides to the left Heading turns left for head；User indicates that the flying height of unmanned plane is to low inclined in the first virtual rocking bar slide downward It moves；User indicates that the flying height of unmanned plane is to be deviated to height in the first virtual rocking bar upward sliding.In addition, being located at right side Virtual rocking bar be the second virtual rocking bar, user indicates that the movement velocity of unmanned plane is in the second virtual rocking bar upward sliding Accelerate flight；User indicates that the movement velocity of unmanned plane is decelerating flight in the second virtual rocking bar slide downward.

In one example, as shown in Figure 5 D, when the user clicks reference object in operation interface when, mobile terminal can be with Unmanned plane is controlled, which is always positioned in the shooting picture of unmanned plane.

Step 503, mobile terminal determines and flies according to the operation of the first virtual rocking bar of user couple and/or the second virtual rocking bar Row control parameter.

For example, after receiving user in the operation that the first virtual rocking bar slides to the right, mobile terminal determines unmanned plane Heading be head turn right, i.e., flight control parameter be for by the heading of unmanned plane be set as head right-hand rotation ginseng Number；After receiving user in the operation that the first virtual rocking bar slides to the left, mobile terminal determines the heading of unmanned plane Turn left for head, i.e., flight control parameter is the parameter for setting the heading of unmanned plane to head left-hand rotation；Work as reception To user after the operation of the first virtual rocking bar slide downward, mobile terminal determines that the flying height of unmanned plane is to low inclined It moves, i.e., flight control parameter is for setting the flying height of unmanned plane to the parameter to low offset；Exist when receiving user After the operation of first virtual rocking bar upward sliding, mobile terminal determines that the flying height of unmanned plane is to be deviated to height, that is, flies Control parameter is for setting the flying height of unmanned plane to the parameter to height offset.

In another example after receiving user in the order of the second virtual rocking bar upward sliding, mobile terminal determines unmanned plane Movement velocity be accelerate fly, i.e., flight control parameter be for by the sporting flying speed of unmanned plane be set as accelerate flight Parameter.After receiving user in the order of the second virtual rocking bar slide downward, mobile terminal determines the movement speed of unmanned plane Degree is decelerating flight, i.e. flight control parameter is the parameter for setting the sporting flying speed of unmanned plane to decelerating flight.

Step 504, mobile terminal generates the first operational order according to the flight control parameter.

Step 505, which is sent to unmanned plane by mobile terminal.

Step 506, unmanned plane receives the first operational order that mobile terminal is sent.

Step 507, mobile terminal changes the flight parameter of unmanned plane according to first operational order.

Based on inventive concept same as the above method, a kind of unmanned plane is also provided in the embodiment of the present invention, such as Fig. 6 institutes Show, the unmanned plane includes：

Processor 601, under autonomous flight pattern, obtaining the flight from the user for changing the unmanned plane First operational order of parameter；In autonomous flight pattern, unmanned plane is according to the flight parameter autonomous flight in specific policy, institute The first operational order is stated for changing the flight parameter in the specific policy；The processor is additionally operable to according to described first Operational order changes the flight parameter of the unmanned plane.

Wherein, the unmanned plane can also include receiver 602, the receiver can obtain for changing it is described nobody First operational order of the flight parameter of machine, and will be sent for changing the first operational order of the flight parameter of the unmanned plane To the processor, so that the processor gets the first operational order.

The processor 601 is additionally operable to obtaining the of the flight parameter from the user for changing the unmanned plane During one operational order, obtain the posture information of user, and according to the posture information obtain for changing it is described nobody First operational order of the flight parameter of machine；Alternatively,

First operational order of the flight parameter for changing the unmanned plane that receiving control apparatus is sent.

The flight parameter includes following one or arbitrary combination：The direction of motion, movement velocity, flying height, head Direction；The processor is additionally operable to the process in the direction of motion for changing the unmanned plane according to first operational order, root The unmanned plane is turned left according to first operational order and/or the unmanned plane is turned right；It is ordered according to first operation During enabling the movement velocity for changing the unmanned plane, the unmanned plane is carried out accelerating to fly according to first operational order Row and/or decelerating flight；

During changing the flying height of the unmanned plane according to first operational order, grasped according to described first It orders and the unmanned plane is carried out to height offset and/or to low offset；

During changing the heading of the unmanned plane according to first operational order, grasped according to described first Head left-hand rotation and/or head by the unmanned plane is ordered to be turned right.

In the case where giving directions offline mode：The processor 601 is additionally operable to obtain from the user for changing the unmanned plane Second operational order of the posture of upper holder；Change the posture of holder on the unmanned plane according to second operational order；Institute State processor be additionally operable to obtain it is from the user for changing the second operational order of the posture of holder on the unmanned plane In the process, the second operational order for changing the posture of holder on the unmanned plane that receiving control apparatus is sent；Control is set Standby includes remote controler or mobile terminal.

Based on inventive concept same as the above method, a kind of control device is also provided in the embodiment of the present invention, such as Fig. 7 institutes Show, the control device includes：

Processor 701, the first operation under autonomous flight pattern, generating the flight parameter for changing unmanned plane Order；In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, and described first Operational order is for changing the flight parameter in the specific policy；

The processor 701 is additionally operable to first operational order being sent to the unmanned plane, so that the unmanned plane Change the flight parameter of the unmanned plane according to first operational order.

Wherein, the control device can also include transmitter 702, and the processor can be by first operational order It is sent to transmitter, first operational order is sent to the unmanned plane by transmitter.

In one example, the processor 701 is additionally operable to generating first of the flight parameter for changing unmanned plane Before operational order, flight control parameter is obtained；First operational order also carries the flight control parameter of acquisition, described to fly The flight parameter that row control parameter is used to that the unmanned plane to be made to change the unmanned plane according to the flight control parameter；Wherein, The flight parameter includes following one or arbitrary combination：The direction of motion, movement velocity, flying height, heading；It is described Flight control parameter includes following one or arbitrary combination：Flight control for turning left and/or turning right the unmanned plane Parameter；Flight control parameter for the unmanned plane accelerate flight and/or decelerating flight；For to the unmanned plane It carries out to high offset and/or to the flight control parameter of low offset；For the head of the unmanned plane being turned left and/or head is right The flight control parameter turned.

The processor 701 is additionally operable to detect the posture information of the control device, is obtained and is flown according to the posture information Row control parameter, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane； Alternatively, when control device is remote controler, detection user obtains flight control to the mode of operation of rocking bar according to the mode of operation Parameter processed, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane；Alternatively, When control device is mobile terminal, detection user obtains according to the mode of operation and flies to the mode of operation of operation interface Control parameter generates the first operational order of the flight parameter for changing unmanned plane according to the flight control parameter.

It is intelligent follow the mode in autonomous flight pattern, and when the control device is mobile terminal：

The processor 701 is additionally operable to show rocking bar control strip in operation interface；According to user to the rocking bar control strip Operation determine unmanned plane the direction of motion；In the movement side for determining unmanned plane to the operation of the rocking bar control strip according to user During, when receive user move right the rocking bar control strip operation after, determine that the direction of motion of unmanned plane is Along track shot object counterclockwise, alternatively, along track shot object clockwise；It is moved to the left the rocking bar control when receiving user After the operation of item processed, determine that the direction of motion of unmanned plane is along track shot object clockwise, alternatively, along track shot counterclockwise Object；

The processor 701 is additionally operable to show rocking bar control strip in operation interface；According to user to the rocking bar control strip Operation determine unmanned plane movement velocity；In the movement speed for determining unmanned plane to the operation of the rocking bar control strip according to user During degree, after receiving user and clicking the rocking bar control strip or the operation moved on the rocking bar control strip, It determines the position of user's operation, and determines that the movement velocity of unmanned plane is flying speed value corresponding with the position of the operation, The flying speed value is shown in operation interface；Wherein, the different location of the rocking bar control strip corresponds to different flying speeds Value.

Autonomous flight pattern be give directions offline mode, and the control device be mobile terminal when：

The processor 701 is additionally operable to show the first virtual rocking bar in operation interface；According to the first virtual rocking bar of user couple Operation determine unmanned plane heading and/or flying height；Nothing is being determined according to the operation of the first virtual rocking bar of user couple During man-machine heading and/or flying height, slide to the right in the described first virtual rocking bar when receiving user or It is clicked on right side or after the operation of right side long-press, determines that the heading of the unmanned plane is turned right for head；Alternatively, when connecing Receive user the described first virtual rocking bar slide to the left or left side click or after the operation of left side long-press, determine described in The heading of unmanned plane turns left for head；Alternatively, when receiving user in the described first virtual rocking bar slide downward or under Side clicks or after issuing the operation of long-press, determines that the flying height of the unmanned plane is to low offset；Alternatively, when receiving User clicks in the described first virtual rocking bar upward sliding or above or above after the operation of long-press, determine it is described nobody The flying height of machine is to be deviated to height；

The processor is additionally operable to show the second virtual rocking bar in operation interface；It is virtually shaken to described second according to user The operation of bar determines the movement velocity of unmanned plane；In the fortune for determining unmanned plane to the operation of the described second virtual rocking bar according to user During dynamic speed, slide to the right in the described second virtual rocking bar or grown in right side click or on right side when receiving user It the order pressed or clicks in the described second virtual rocking bar upward sliding or above or the order of long-press above Afterwards, determine that the movement velocity of unmanned plane is to accelerate to fly；Alternatively, being slided to the left in the described second virtual rocking bar when receiving user It moves or in left side click or in the order of left side long-press or in the described second virtual rocking bar slide downward or in lower section point It hits or after issuing the order of long-press, determines that the movement velocity of unmanned plane is decelerating flight.

The processor 701 is additionally operable in the case where giving directions offline mode, generates the appearance for changing holder on the unmanned plane Second operational order of state；Second operational order is sent to the unmanned plane, so that the unmanned plane is according to described Two operational orders change the posture of holder on the unmanned plane.

The processor 701 is additionally operable to generating for changing the second operation life of the posture of holder on the unmanned plane Before order, cradle head control parameter is obtained；Second operational order carries the cradle head control parameter, and the cradle head control is joined Number is for making the unmanned plane according to the posture of holder on unmanned plane described in the cradle head control parameter change.

The processor 701 is additionally operable to mode of operation of the detection user to operation interface, is obtained according to the mode of operation Cradle head control parameter, and generate the second operational order for changing the posture of holder on the unmanned plane；Wherein, the processing Device is additionally operable to show the virtual rocking bar of third in operation interface；When receiving operation of the user in the third virtual rocking bar sliding Afterwards, determine that the glide direction of user is identical as the control direction of holder on unmanned plane；Alternatively, the processor, is additionally operable to detect The posture information of the control device is generated according to the posture information for changing the of the posture of holder on the unmanned plane Two operational orders, and second operational order is sent to the unmanned plane.

Based on inventive concept same as the above method, a kind of machine readable storage Jie is also provided in the embodiment of the present invention Matter, the machine readable storage medium can be applied to unmanned plane, several computers are stored on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

The machine readable storage medium, which is performed, to be also handled as follows：It is from the user for changing institute obtaining During the first operational order for stating the flight parameter of unmanned plane, the posture information of user is obtained, according to the posture information Obtain the first operational order of the flight parameter for changing the unmanned plane；Alternatively, receiving control apparatus transmission is used to change Become the first operational order of the flight parameter of the unmanned plane.

The flight parameter includes following one or arbitrary combination：The direction of motion, movement velocity, flying height, head side To；The machine readable storage medium, which is performed, to be also handled as follows：Described in being changed according to first operational order During the direction of motion of unmanned plane, according to first operational order by the unmanned plane turn left and/or by it is described nobody Machine is turned right；During changing the movement velocity of the unmanned plane according to first operational order, grasped according to described first It orders and the unmanned plane is carried out to accelerate flight and/or decelerating flight；Changing the nothing according to first operational order During man-machine flying height, the unmanned plane is carried out to height offset and/or to low according to first operational order Offset；During changing the heading of the unmanned plane according to first operational order, operated according to described first The head of the unmanned plane turns left for order and/or head is turned right.

In the case where giving directions offline mode, the machine readable storage medium, which is performed, to be also handled as follows：

Obtain the second operational order from the user for changing the posture of holder on the unmanned plane；According to described Two operational orders change the posture of holder on the unmanned plane；It is from the user for changing holder on the unmanned plane obtaining Posture the second operational order during, receiving control apparatus send the posture for changing holder on the unmanned plane The second operational order.

Based on inventive concept same as the above method, a kind of machine readable storage Jie is also provided in the embodiment of the present invention Matter, the machine readable storage medium can be applied to control device, several calculating are stored on the machine readable storage medium Machine instructs, and the computer instruction, which is performed, to be handled as follows：

In one example, the machine readable storage medium, which is performed, is also handled as follows：

Before generating the first operational order for changing the flight parameter of unmanned plane, flight control parameter is obtained；Institute The flight control parameter that the first operational order also carries acquisition is stated, the flight control parameter is for making the unmanned plane according to institute State the flight parameter that flight control parameter changes the unmanned plane；Wherein, the flight parameter includes following one or arbitrary Combination：The direction of motion, movement velocity, flying height, heading；The flight control parameter includes following one or arbitrary Combination：Flight control parameter for turning left and/or turning right the unmanned plane；For carrying out acceleration flight to the unmanned plane And/or the flight control parameter of decelerating flight；For carrying out the unmanned plane to high offset and/or to the flight control of low offset Parameter processed；For by the head of the unmanned plane turns left and/or head is turned right flight control parameter.

The posture information for detecting the control device obtains flight control parameter according to the posture information, and according to institute State the first operational order of the flight parameter that flight control parameter generates for changing unmanned plane；Alternatively, when control device is distant When controlling device, detection user obtains flight control parameter, and fly according to described to the mode of operation of rocking bar according to the mode of operation Row control parameter generates the first operational order of the flight parameter for changing unmanned plane；Alternatively, when control device is mobile whole When end, detection user obtains flight control parameter, and according to described to the mode of operation of operation interface according to the mode of operation Flight control parameter generates the first operational order of the flight parameter for changing unmanned plane.

The machine readable storage medium, which is performed, to be also handled as follows：

Rocking bar control strip is shown in operation interface；The fortune of unmanned plane is determined to the operation of the rocking bar control strip according to user Dynamic direction；During determining the direction of motion of unmanned plane to the operation of the rocking bar control strip according to user, when receiving User move right the rocking bar control strip operation after, determine unmanned plane the direction of motion be along track shot pair counterclockwise As alternatively, along track shot object clockwise；After receiving user and being moved to the left the operation of the rocking bar control strip, determine The direction of motion of unmanned plane is along track shot object clockwise, alternatively, along track shot object counterclockwise；

Rocking bar control strip is shown in operation interface；The fortune of unmanned plane is determined to the operation of the rocking bar control strip according to user Dynamic speed；During determining the movement velocity of unmanned plane to the operation of the rocking bar control strip according to user, when receiving After user clicks the rocking bar control strip or the operation moved on the rocking bar control strip, the position of user's operation is determined, And determine that the movement velocity of unmanned plane is flying speed value corresponding with the position of the operation, show described fly in operation interface Scanning frequency angle value；Wherein, the different location of the rocking bar control strip corresponds to different flying speed values.

The first virtual rocking bar is shown in operation interface；The machine of unmanned plane is determined according to the operation of the first virtual rocking bar of user couple Head direction and/or flying height；The heading of unmanned plane is being determined according to the operation of the first virtual rocking bar of user couple and/or is being flown During row height, is slided to the right in the described first virtual rocking bar when receiving user or click on right side or grow on right side After the operation pressed, determine that the heading of the unmanned plane is turned right for head；Alternatively, virtual described first when receiving user Rocking bar slides or is clicked in left side or after the operation of left side long-press, determine that the heading of the unmanned plane is head to the left Turn left；It clicks in the described first virtual rocking bar slide downward or in lower section alternatively, working as and receiving user or is issuing long-press After operation, determine that the flying height of the unmanned plane is to low offset；Alternatively, when receiving user in the described first virtual rocking bar Upward sliding is clicked or above after the operation of long-press, determines that the flying height of the unmanned plane is to high partially above It moves；

The second virtual rocking bar is shown in operation interface；Unmanned plane is determined to the operation of the described second virtual rocking bar according to user Movement velocity；During determining the movement velocity of unmanned plane to the operation of the described second virtual rocking bar according to user, when User is received to slide to the right in the described second virtual rocking bar or in right side click or in the order of right side long-press or in institute It states the second virtual rocking bar upward sliding or clicks above or above after the order of long-press, determine the movement of unmanned plane Speed is to accelerate to fly；Alternatively, when receive user the described second virtual rocking bar slide to the left or left side click or The order of left side long-press or the described second virtual rocking bar slide downward or lower section click or in the order for issuing long-press Afterwards, determine that the movement velocity of unmanned plane is decelerating flight.

In the case where giving directions offline mode, the machine readable storage medium, which is performed, to be also handled as follows：Generation is used for Change the second operational order of the posture of holder on the unmanned plane；Second operational order is sent to the unmanned plane, So that unmanned plane changes the posture of holder on the unmanned plane according to second operational order.

The machine readable storage medium, which is performed, to be also handled as follows：It is generating for changing on the unmanned plane Before second operational order of the posture of holder, cradle head control parameter is obtained；Second operational order carries the holder control Parameter processed, and the cradle head control parameter is for making the unmanned plane according to unmanned plane described in the cradle head control parameter change The posture of holder.

The machine readable storage medium, which is performed, to be also handled as follows：Detect operation side of the user to operation interface Formula obtains cradle head control parameter according to the mode of operation, and generates for changing the of the posture of holder on the unmanned plane Two operational orders；

The virtual rocking bar of third is shown in operation interface；When receiving operation of the user in the third virtual rocking bar sliding Afterwards, determine that the glide direction of user is identical as the control direction of holder on unmanned plane；Alternatively, detecting the posture of the control device Information generates the second operational order for changing the posture of holder on the unmanned plane according to the posture information, and by institute It states the second operational order and is sent to the unmanned plane.

Based on inventive concept same as the above method, a kind of flight control system can also be provided in the embodiment of the present invention System, the flight control system includes unmanned plane and control device；Wherein：The control device, in autonomous flight pattern Under, generate the first operational order of the flight parameter for changing unmanned plane；In the autonomous flight pattern, the unmanned plane According to the flight parameter autonomous flight in specific policy, first operational order is for changing the flight in the specific policy Parameter；The control device is additionally operable to first operational order being sent to the unmanned plane；The unmanned plane is used for Under autonomous flight pattern, the first operational order of the flight parameter from the user for changing the unmanned plane is obtained；According to First operational order changes the flight parameter of the unmanned plane.

System, device, module or the unit that above-described embodiment illustrates can realize by computer chip or entity, or It is realized by the product with certain function.A kind of typically to realize that equipment is computer, the concrete form of computer can be Personal computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, is led at laptop computer It is arbitrary in equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these equipment of navigating The combination of several equipment.

For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this The function of each unit is realized can in the same or multiple software and or hardware when invention.

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program production Product.Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects can be used in the present invention The form of example.Moreover, the embodiment of the present invention can be used in one or more wherein include computer usable program code meter The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of sequence product.

The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It is generally understood that being realized by computer program instructions each in flowchart and/or the block diagram The combination of flow and/or box in flow and/or box and flowchart and/or the block diagram.These computer journeys can be provided Sequence instruct to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with Generate a machine so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes It sets.

Computer or the processing of other programmable datas can be guided to set moreover, these computer program instructions can also be stored in In standby computer-readable memory operate in a specific manner so that instruction stored in the computer readable memory generates Manufacture including command device, the command device are realized in one flow of flow chart or multiple flows and/or block diagram one The function of being specified in a box or multiple boxes.

These computer program instructions can also be loaded into computer or other programmable data processing devices so that calculate Series of operation steps are executed on machine or other programmable devices to generate computer implemented processing, in computer or The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.

It will be understood by those skilled in the art that the embodiment of the present invention can be provided as method, system or computer program product. Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects may be used in the present invention The form of example.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which may be used at one or more, The computer implemented in machine usable storage medium (can include but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of program product.

The foregoing is merely the embodiment of the present invention, are not intended to restrict the invention.Those skilled in the art are come It says, the invention may be variously modified and varied.It is all within spirit and principles of the present invention made by it is any modification, equally replace It changes, improve, should be included within scope of the presently claimed invention.

Claims

1. a kind of flight control method, which is characterized in that it is applied to unmanned plane, the method includes：

Under autonomous flight pattern, the first operation life of the flight parameter from the user for changing the unmanned plane is obtained It enables；In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, first behaviour It orders for changing the flight parameter in the specific policy；

2. according to the method described in claim 1, it is characterized in that,

The autonomous flight pattern includes：Intelligent follow the mode；Alternatively, giving directions offline mode.

3. according to the method described in claim 1, it is characterized in that, the acquisition is from the user for changing the unmanned plane Flight parameter the first operational order process, specifically include：

The posture information of user is obtained, and the of the flight parameter for changing the unmanned plane is obtained according to the posture information One operational order；Alternatively,

4. according to the method described in claim 3, it is characterized in that, first operational order is the control device is detecting It is sent after to the posture information of the control device.

5. according to the method described in claim 3, it is characterized in that, the control device includes remote controler or mobile terminal； First operational order is that the remote controler is sent after detecting user to the operation of rocking bar；Alternatively, being the movement What terminal was sent after detecting user to the operation of operation interface.

6. according to the method described in claim 1, it is characterized in that, the flight parameter includes following one or arbitrary group It closes：The direction of motion, movement velocity, flying height, heading.

7. according to the method described in claim 6, it is characterized in that,

Change the direction of motion of the unmanned plane according to first operational order, including：

The unmanned plane is turned left according to first operational order and/or the unmanned plane is turned right；

Change the movement velocity of the unmanned plane according to first operational order, including：

The unmanned plane is carried out according to first operational order to accelerate flight and/or decelerating flight；

Change the flying height of the unmanned plane according to first operational order, including：

The unmanned plane is carried out to height offset and/or to low offset according to first operational order；

Change the heading of the unmanned plane according to first operational order, including：

The head of the unmanned plane is turned left according to first operational order and/or head is turned right.

8. according to the method described in claim 6, it is characterized in that,

When autonomous flight pattern is intelligent follow the mode, the direction of motion includes along track shot object counterclockwise, along suitable Hour hands track shot object；The movement velocity includes flying speed value.

9. according to the method described in claim 1, it is characterized in that, the method further includes：

In the case where giving directions offline mode, the second operation life from the user for changing the posture of holder on the unmanned plane is obtained It enables；Change the posture of holder on the unmanned plane according to second operational order.

10. according to the method described in claim 9, it is characterized in that, it is described obtain it is from the user for changing it is described nobody The process of the second operational order of the posture of holder, specifically includes on machine：

The second operational order for changing the posture of holder on the unmanned plane that receiving control apparatus is sent；Wherein, described Control device specifically includes：Remote controler, alternatively, mobile terminal.

11. a kind of flight control method, which is characterized in that it is applied to control device, the method includes：

Under autonomous flight pattern, the first operational order of the flight parameter for changing unmanned plane is generated；Described autonomous winged In row pattern, the unmanned plane according to the flight parameter autonomous flight in specific policy, first operational order for changing Flight parameter in the specific policy；

First operational order is sent to the unmanned plane, so that the unmanned plane changes according to first operational order The flight parameter of the unmanned plane.

12. according to the method for claim 11, which is characterized in that

13. according to the method for claim 11, which is characterized in that the method further includes：

Before generating the first operational order for changing the flight parameter of unmanned plane, flight control parameter is obtained；Described One operational order also carries the flight control parameter of acquisition, and the flight control parameter is for making the unmanned plane be flown according to described Row control parameter changes the flight parameter of the unmanned plane.

14. according to the method for claim 13, which is characterized in that the flight parameter includes following one or arbitrary group It closes：The direction of motion, movement velocity, flying height, heading；

The flight control parameter includes following one or arbitrary combination：For what the unmanned plane was turned left and/or was turned right Flight control parameter；Flight control parameter for the unmanned plane accelerate flight and/or decelerating flight；For to institute Unmanned plane is stated to carry out to high offset and/or to the flight control parameter of low offset；For by the head of the unmanned plane turn left and/ Or the flight control parameter that head is turned right.

15. according to the method for claim 13, which is characterized in that

16. according to the method for claim 13, which is characterized in that the method further includes：

The posture information for detecting the control device obtains flight control parameter according to the posture information, and is flown according to described Row control parameter generates the first operational order of the flight parameter for changing unmanned plane.

17. according to the method for claim 13, which is characterized in that

The control device specifically includes：Remote controler, alternatively, mobile terminal；The method further includes：

When control device is remote controler, detection user obtains flight control to the mode of operation of rocking bar according to the mode of operation Parameter processed, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane；Alternatively, When control device is mobile terminal, detection user obtains according to the mode of operation and flies to the mode of operation of operation interface Control parameter, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane.

18. according to the method for claim 13, which is characterized in that in autonomous flight pattern be intelligent follow the mode, and institute State control device be mobile terminal when, the method further includes：

Rocking bar control strip is shown in operation interface；

The direction of motion of unmanned plane is determined to the operation of the rocking bar control strip according to user.

19. according to the method for claim 18, which is characterized in that the operation according to user to the rocking bar control strip The process for determining the direction of motion of unmanned plane, specifically includes：

When receive user move right the rocking bar control strip operation after, determine unmanned plane the direction of motion be along counterclockwise Track shot object, alternatively, along track shot object clockwise；

After receiving user and being moved to the left the operation of the rocking bar control strip, determine that the direction of motion of unmanned plane is along clockwise Track shot object, alternatively, along track shot object counterclockwise.

20. according to the method for claim 13, which is characterized in that in autonomous flight pattern be intelligent follow the mode, and institute State control device be mobile terminal when, the method further includes：

Rocking bar control strip is shown in operation interface；

The movement velocity of unmanned plane is determined to the operation of the rocking bar control strip according to user.

21. according to the method for claim 20, which is characterized in that the operation according to user to the rocking bar control strip The process for determining the movement velocity of unmanned plane, specifically includes：

After receiving user and clicking the rocking bar control strip or the operation moved on the rocking bar control strip, user is determined The position of operation, and determine that the movement velocity of unmanned plane is flying speed value corresponding with the position of the operation；Wherein, described The different location of rocking bar control strip corresponds to different flying speed values.

22. according to the method for claim 21, which is characterized in that the movement velocity of the determining unmanned plane be and the behaviour After the corresponding flying speed value in position of work, the method further includes：

Flying speed value corresponding with the position of the operation is shown in the operation interface.

23. according to the method for claim 13, which is characterized in that in autonomous flight pattern be to give directions offline mode, and institute State control device be mobile terminal when, the method further includes：

The first virtual rocking bar is shown in operation interface；

The heading and/or flying height of unmanned plane are determined according to the operation of the first virtual rocking bar of user couple.

24. according to the method for claim 23, which is characterized in that the operation according to the first virtual rocking bar of user couple is true Determine the heading of unmanned plane and/or the process of flying height, specifically includes：

It is slided to the right in the described first virtual rocking bar or in right side click or in the behaviour of right side long-press when receiving user After work, determine that the heading of the unmanned plane is turned right for head；Alternatively,

It is slided to the left in the described first virtual rocking bar or in left side click or in the behaviour of left side long-press when receiving user After work, determine that the heading of the unmanned plane turns left for head；Alternatively,

When receive user the described first virtual rocking bar slide downward or lower section click or in the behaviour for issuing long-press After work, determine that the flying height of the unmanned plane is to low offset；Alternatively,

It is clicked in the described first virtual rocking bar upward sliding or above or the behaviour of long-press above when receiving user After work, determine that the flying height of the unmanned plane is to be deviated to height.

25. according to the method for claim 13, which is characterized in that in autonomous flight pattern be to give directions offline mode, and institute State control device be mobile terminal when, the method further includes：

The second virtual rocking bar is shown in operation interface；

The movement velocity of unmanned plane is determined to the operation of the described second virtual rocking bar according to user.

26. according to the method for claim 25, which is characterized in that it is described according to user to the behaviour of the described second virtual rocking bar The process for making the movement velocity of determining unmanned plane, specifically includes：

It is slided to the right in the described second virtual rocking bar or in right side click or in the life of right side long-press when receiving user It enables or clicks or above after the order of long-press, determine in the described second virtual rocking bar upward sliding or above The movement velocity of unmanned plane is to accelerate to fly；Alternatively,

It is slided to the left in the described second virtual rocking bar or in left side click or in the life of left side long-press when receiving user It enables or in the described second virtual rocking bar slide downward or in lower section click or after issuing the order of long-press, determines The movement velocity of unmanned plane is decelerating flight.

27. according to the method for claim 12, which is characterized in that the method further includes：

In the case where giving directions offline mode, the second operational order for changing the posture of holder on the unmanned plane is generated；It will be described Second operational order is sent to the unmanned plane, so that the unmanned plane changes the unmanned plane according to second operational order The posture of upper holder.

28. according to the method for claim 27, which is characterized in that the method further includes：

Before generating for changing the second operational order of the posture of holder on the unmanned plane, cradle head control parameter is obtained； Second operational order carries the cradle head control parameter, and the cradle head control parameter is for making the unmanned plane according to institute State the posture of holder on unmanned plane described in cradle head control parameter change.

29. according to the method for claim 28, which is characterized in that

When control device is mobile terminal, detection user obtains the mode of operation of operation interface according to the mode of operation Cradle head control parameter, and generate the second operational order for changing the posture of holder on the unmanned plane.

30. according to the method for claim 28, which is characterized in that

When the control device is mobile terminal, the method further includes：

The virtual rocking bar of third is shown in operation interface；

After receiving user in the operation of the virtual rocking bar sliding of the third, cloud in the glide direction and unmanned plane of user is determined The control direction of platform is identical.

31. according to the method for claim 27, which is characterized in that the method further includes：

The posture information for detecting the control device is generated according to the posture information for changing holder on the unmanned plane Second operational order is sent to the unmanned plane by the second operational order of posture.

32. a kind of unmanned plane, which is characterized in that the unmanned plane includes：

Processor, under autonomous flight pattern, obtaining the flight parameter from the user for changing the unmanned plane First operational order；In autonomous flight pattern, unmanned plane is according to the flight parameter autonomous flight in specific policy, and described first Operational order is for changing the flight parameter in the specific policy；

33. unmanned plane according to claim 32, which is characterized in that

The processor is additionally operable in the first operation life for obtaining the flight parameter from the user for changing the unmanned plane During order, the posture information of user is obtained, and the flight for changing the unmanned plane is obtained according to the posture information First operational order of parameter；Alternatively,

34. unmanned plane according to claim 32, which is characterized in that the flight parameter includes following one or arbitrary Combination：The direction of motion, movement velocity, flying height, heading；

The processor is additionally operable to the process in the direction of motion for changing the unmanned plane according to first operational order, root The unmanned plane is turned left according to first operational order and/or the unmanned plane is turned right；

During changing the movement velocity of the unmanned plane according to first operational order, ordered according to first operation It enables and the unmanned plane is carried out to accelerate flight and/or decelerating flight；

During changing the flying height of the unmanned plane according to first operational order, ordered according to first operation It enables and the unmanned plane is carried out to height offset and/or to low offset；

During changing the heading of the unmanned plane according to first operational order, ordered according to first operation Head left-hand rotation and/or head by the unmanned plane is enabled to turn right.

35. unmanned plane according to claim 32, which is characterized in that in the case where giving directions offline mode：

The processor is additionally operable to obtain the second operation life from the user for changing the posture of holder on the unmanned plane It enables；Change the posture of holder on the unmanned plane according to second operational order；

Wherein, the processor, be additionally operable to obtain it is from the user for changing the of the posture of holder on the unmanned plane During two operational orders, what receiving control apparatus was sent operates for changing second of the posture of holder on the unmanned plane Order；The control device includes：Remote controler or mobile terminal.

36. a kind of control device, which is characterized in that the control device includes：

Processor, under autonomous flight pattern, generating the first operational order of the flight parameter for changing unmanned plane； In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, the first operation life It enables for changing the flight parameter in the specific policy；

The processor is additionally operable to first operational order being sent to the unmanned plane, so that the unmanned plane is according to institute State the flight parameter that the first operational order changes the unmanned plane.

37. control device according to claim 36, which is characterized in that the processor is additionally operable to generating for changing Become before the first operational order of the flight parameter of unmanned plane, obtains flight control parameter；First operational order also carries The flight control parameter of acquisition, the flight control parameter is for making the unmanned plane change institute according to the flight control parameter State the flight parameter of unmanned plane；Wherein, the flight parameter includes following one or arbitrary combination：The direction of motion, movement speed Degree, flying height, heading；The flight control parameter includes following one or arbitrary combination：For by it is described nobody The flight control parameter that machine turns left and/or turns right；Flight for the unmanned plane accelerate flight and/or decelerating flight Control parameter；For carrying out the unmanned plane to high offset and/or to the flight control parameter of low offset；For by the nothing The flight control parameter that man-machine head turns left and/or head is turned right.

38. control device according to claim 36, which is characterized in that

The processor is additionally operable to detect the posture information of the control device, and flight control is obtained according to the posture information Parameter, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane；Alternatively, working as When control device is remote controler, detection user obtains flight control parameter to the mode of operation of rocking bar according to the mode of operation, And the first operational order of the flight parameter for changing unmanned plane is generated according to the flight control parameter；Alternatively, when control When equipment is mobile terminal, detection user obtains flight control ginseng to the mode of operation of operation interface according to the mode of operation Number, and according to flight control parameter generation for changing the first operational order of the flight parameter of unmanned plane.

39. control device according to claim 36, which is characterized in that in autonomous flight pattern it is intelligent follow the mode, And the control device be mobile terminal when：

The processor is additionally operable to show rocking bar control strip in operation interface；Operation according to user to the rocking bar control strip Determine the direction of motion of unmanned plane；In the mistake for the direction of motion for determining unmanned plane to the operation of the rocking bar control strip according to user Cheng Zhong, when receive user move right the rocking bar control strip operation after, determine unmanned plane the direction of motion be along the inverse time Needle track shot object, alternatively, along track shot object clockwise；It is moved to the left the rocking bar control strip when receiving user After operation, determine that the direction of motion of unmanned plane is along track shot object clockwise, alternatively, along track shot object counterclockwise；

The processor is additionally operable to show rocking bar control strip in operation interface；Operation according to user to the rocking bar control strip Determine the movement velocity of unmanned plane；In the mistake for the movement velocity for determining unmanned plane to the operation of the rocking bar control strip according to user Cheng Zhong is determined and is used after receiving user and clicking the rocking bar control strip or the operation moved on the rocking bar control strip The position of family operation, and determine that the movement velocity of unmanned plane is flying speed value corresponding with the position of the operation, it is operating Flying speed value described in interface display；Wherein, the different location of the rocking bar control strip corresponds to different flying speed values.

40. control device according to claim 36, which is characterized in that in autonomous flight pattern to give directions offline mode, And the control device be mobile terminal when：

The processor is additionally operable to show the first virtual rocking bar in operation interface；According to the operation of the first virtual rocking bar of user couple Determine the heading and/or flying height of unmanned plane；Unmanned plane is being determined according to the operation of the first virtual rocking bar of user couple During heading and/or flying height, slided to the right in the described first virtual rocking bar or on right side when receiving user It clicks or after the operation of right side long-press, determines that the heading of the unmanned plane is turned right for head；Alternatively, when receiving use It is slided to the left in the described first virtual rocking bar or in left side click or after the operation of left side long-press, determines the unmanned plane in family Heading be head turn left；Alternatively, when receiving user in the described first virtual rocking bar slide downward or in lower section point It hits or after issuing the operation of long-press, determines that the flying height of the unmanned plane is to low offset；Alternatively, when receiving user It clicks in the described first virtual rocking bar upward sliding or above or above after the operation of long-press, determines the unmanned plane Flying height is to be deviated to height；

The processor is additionally operable to show the second virtual rocking bar in operation interface；According to user to the described second virtual rocking bar Operation determines the movement velocity of unmanned plane；In the movement speed for determining unmanned plane to the operation of the described second virtual rocking bar according to user During degree, slided to the right in the described second virtual rocking bar or in right side click or in right side long-press when receiving user It order or clicks in the described second virtual rocking bar upward sliding or above or above after the order of long-press, really The movement velocity for determining unmanned plane is to accelerate to fly；Alternatively, when receive user the described second virtual rocking bar slide to the left or Left side click or left side long-press order or the described second virtual rocking bar slide downward or lower section click or After the order for issuing long-press, determine that the movement velocity of unmanned plane is decelerating flight.

41. control device according to claim 36, which is characterized in that

The processor is additionally operable in the case where giving directions offline mode, is generated for changing the of the posture of holder on the unmanned plane Two operational orders；Second operational order is sent to the unmanned plane, so that the unmanned plane is operated according to described second Order changes the posture of holder on the unmanned plane.

42. control device according to claim 41, which is characterized in that the processor is additionally operable to generating for changing Become before the second operational order of the posture of holder on the unmanned plane, obtains cradle head control parameter；Second operational order The cradle head control parameter is carried, and the cradle head control parameter is for making the unmanned plane change according to the cradle head control parameter Become the posture of holder on the unmanned plane.

43. control device according to claim 42, which is characterized in that the processor is additionally operable to detection user to behaviour The mode of operation for making interface obtains cradle head control parameter according to the mode of operation, and generates for changing on the unmanned plane Second operational order of the posture of holder；

Wherein, the processor is additionally operable to show the virtual rocking bar of third in operation interface；It is empty in the third when receiving user After the operation of quasi- rocking bar sliding, determine that the glide direction of user is identical as the control direction of holder on unmanned plane；Alternatively, the place Device is managed, is additionally operable to detect the posture information of the control device, is generated for changing the unmanned plane according to the posture information Second operational order of the posture of upper holder, and second operational order is sent to the unmanned plane.

44. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

Under autonomous flight pattern, the first operation life of the flight parameter from the user for changing the unmanned plane is obtained It enables；In autonomous flight pattern, unmanned plane is used according to the flight parameter autonomous flight in specific policy, first operational order Flight parameter in the change specific policy；

45. machine readable storage medium according to claim 44, which is characterized in that

The machine readable storage medium, which is performed, to be also handled as follows：It is from the user for changing the nothing obtaining During first operational order of man-machine flight parameter,

46. machine readable storage medium according to claim 44, which is characterized in that the flight parameter include it is following it One or arbitrary combination：The direction of motion, movement velocity, flying height, heading；

The machine readable storage medium, which is performed, to be also handled as follows：Described in being changed according to first operational order During the direction of motion of unmanned plane, according to first operational order by the unmanned plane turn left and/or by it is described nobody Machine is turned right；During changing the movement velocity of the unmanned plane according to first operational order, grasped according to described first It orders and the unmanned plane is carried out to accelerate flight and/or decelerating flight；Changing the nothing according to first operational order During man-machine flying height, the unmanned plane is carried out to height offset and/or to low according to first operational order Offset；During changing the heading of the unmanned plane according to first operational order, operated according to described first The head of the unmanned plane turns left for order and/or head is turned right.

47. machine readable storage medium according to claim 44, which is characterized in that described in the case where giving directions offline mode Machine readable storage medium, which is performed, to be also handled as follows：

Obtain the second operational order from the user for changing the posture of holder on the unmanned plane；It is grasped according to described second Make the posture that order changes holder on the unmanned plane；Obtaining the appearance from the user for changing holder on the unmanned plane During second operational order of state, receiving control apparatus send for changing the of the posture of holder on the unmanned plane Two operational orders.

48. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

49. machine readable storage medium according to claim 48, which is characterized in that

Before generating the first operational order for changing the flight parameter of unmanned plane, flight control parameter is obtained；Described One operational order also carries the flight control parameter of acquisition, and the flight control parameter is for making the unmanned plane be flown according to described Row control parameter changes the flight parameter of the unmanned plane；Wherein, the flight parameter includes following one or arbitrary combination： The direction of motion, movement velocity, flying height, heading；The flight control parameter includes following one or arbitrary combination： Flight control parameter for turning left and/or turning right the unmanned plane；For to the unmanned plane carry out accelerate flight and/or The flight control parameter of decelerating flight；For carrying out controlling ginseng to height offset and/or to the flight of low offset to the unmanned plane Number；For by the head of the unmanned plane turns left and/or head is turned right flight control parameter.

50. machine readable storage medium according to claim 48, which is characterized in that

The posture information for detecting the control device obtains flight control parameter according to the posture information, and is flown according to described Row control parameter generates the first operational order of the flight parameter for changing unmanned plane；Alternatively, when control device is remote controler When, detection user obtains flight control parameter, and control according to the flight to the mode of operation of rocking bar according to the mode of operation Parameter processed generates the first operational order of the flight parameter for changing unmanned plane；Alternatively, when control device is mobile terminal, Mode of operation of the user to operation interface is detected, flight control parameter is obtained according to the mode of operation, and according to the flight Control parameter generates the first operational order of the flight parameter for changing unmanned plane.

51. machine readable storage medium according to claim 48, which is characterized in that autonomous flight pattern be intelligence with With pattern, and when the control device is mobile terminal：

Rocking bar control strip is shown in operation interface；The movement side of unmanned plane is determined to the operation of the rocking bar control strip according to user To；During determining the direction of motion of unmanned plane to the operation of the rocking bar control strip according to user, when receiving user Move right after the operation of the rocking bar control strip, determine the direction of motion of unmanned plane be along track shot object counterclockwise, or Person, along track shot object clockwise；After receiving user and being moved to the left the operation of the rocking bar control strip, unmanned plane is determined The direction of motion be along track shot object clockwise, alternatively, along track shot object counterclockwise；

Rocking bar control strip is shown in operation interface；The movement speed of unmanned plane is determined to the operation of the rocking bar control strip according to user Degree；During determining the movement velocity of unmanned plane to the operation of the rocking bar control strip according to user, when receiving user After clicking the rocking bar control strip or the operation moved on the rocking bar control strip, the position of user's operation is determined, and really The movement velocity for determining unmanned plane is flying speed value corresponding with the position of the operation, and the flight speed is shown in operation interface Angle value；Wherein, the different location of the rocking bar control strip corresponds to different flying speed values.

52. machine readable storage medium according to claim 48, which is characterized in that fly to give directions in autonomous flight pattern Row pattern, and the control device be mobile terminal when：

The first virtual rocking bar is shown in operation interface；The head side of unmanned plane is determined according to the operation of the first virtual rocking bar of user couple To and/or flying height；Determining that the heading of unmanned plane and/or flight are high according to the operation of the first virtual rocking bar of user couple During degree, slided to the right in the described first virtual rocking bar or in right side click or in right side long-press when receiving user After operation, determine that the heading of the unmanned plane is turned right for head；Alternatively, when receiving user in the described first virtual rocking bar Sliding to the left is clicked in left side or after the operation of left side long-press, determines that the heading of the unmanned plane is that head is left Turn；Alternatively, when receiving user in the described first virtual rocking bar slide downward or in lower section click or in the behaviour for issuing long-press After work, determine that the flying height of the unmanned plane is to low offset；Alternatively, when receive user the described first virtual rocking bar to Upper sliding is clicked or above after the operation of long-press, determines that the flying height of the unmanned plane is to be deviated to height above；

The second virtual rocking bar is shown in operation interface；The fortune of unmanned plane is determined to the operation of the described second virtual rocking bar according to user Dynamic speed；During determining the movement velocity of unmanned plane to the operation of the described second virtual rocking bar according to user, work as reception It slides to the right or is clicked on right side or in the order of right side long-press or described the in the described second virtual rocking bar to user It two virtual rocking bar upward slidings or clicks above or above after the order of long-press, determines the movement velocity of unmanned plane To accelerate to fly；Alternatively, being slided to the left in the described second virtual rocking bar or in left side click or in left side when receiving user The order of long-press or the described second virtual rocking bar slide downward or lower section click or after issuing the order of long-press, Determine that the movement velocity of unmanned plane is decelerating flight.

53. machine readable storage medium according to claim 48, which is characterized in that described in the case where giving directions offline mode Machine readable storage medium, which is performed, to be also handled as follows：It generates for changing the of the posture of holder on the unmanned plane Two operational orders；Second operational order is sent to the unmanned plane, so that unmanned plane is according to second operational order Change the posture of holder on the unmanned plane.

54. machine readable storage medium according to claim 51, which is characterized in that

The machine readable storage medium, which is performed, to be also handled as follows：It is generating for changing holder on the unmanned plane Posture the second operational order before, obtain cradle head control parameter；Second operational order carries the cradle head control ginseng Number, and the cradle head control parameter is for making the unmanned plane according to holder on unmanned plane described in the cradle head control parameter change Posture.

55. machine readable storage medium according to claim 54, which is characterized in that

The machine readable storage medium, which is performed, to be also handled as follows：Mode of operation of the user to operation interface is detected, Cradle head control parameter is obtained according to the mode of operation, and is generated for changing the second behaviour of the posture of holder on the unmanned plane It orders；

The virtual rocking bar of third is shown in operation interface；After receiving user in the operation of the virtual rocking bar sliding of the third, really The glide direction for determining user is identical as the control direction of holder on unmanned plane；Alternatively, the posture information of the control device is detected, The second operational order for changing the posture of holder on the unmanned plane is generated according to the posture information, and by described second Operational order is sent to the unmanned plane.

56. a kind of flight control system, which is characterized in that the system comprises unmanned planes and control device；

The control device, the first operation under autonomous flight pattern, generating the flight parameter for changing unmanned plane Order；In the autonomous flight pattern, the unmanned plane is according to the flight parameter autonomous flight in specific policy, and described first Operational order is for changing the flight parameter in the specific policy；

The unmanned plane is joined under autonomous flight pattern, obtaining the flight from the user for changing the unmanned plane The first several operational orders；Change the flight parameter of the unmanned plane according to first operational order.